CN101143596A - Reciprocating type cableway bus visual sense speed reducing control system and its method - Google Patents
Reciprocating type cableway bus visual sense speed reducing control system and its method Download PDFInfo
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- CN101143596A CN101143596A CNA2007101134431A CN200710113443A CN101143596A CN 101143596 A CN101143596 A CN 101143596A CN A2007101134431 A CNA2007101134431 A CN A2007101134431A CN 200710113443 A CN200710113443 A CN 200710113443A CN 101143596 A CN101143596 A CN 101143596A
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Abstract
The invention discloses a reciprocating cableway passenger vehicle visual reducing control system and a method of the system, which solves the problems of easy damage, difficult maintenance, high operation cost, no visibility during the whole control process, etc. of the operation reducing control systems in the current cableway passenger vehicles, and has the advantages of fast detection, convenience in use, effective reduction of operation cost, improvement of operation stability, etc. The structure is that the invention includes a cable and a passenger vehicle connected with the cable; a cableway station is provided with at least a color camera device matching with the passenger vehicle; the color camera device is connected with a computer by an image acquisition card; the computer connects the image information processed by the software with a reduction executive mechanism by a data acquisition card I/O; the computer sets a pair of detection lines on the template image by the software, which are corresponding to the positions of the reduction points of the passenger vehicle on the cable.
Description
Technical field
The present invention relates to a kind of operation control system and method for cableway bus, relate in particular to a kind of reciprocating type cableway bus visual sense speed reducing control system and method thereof.
Background technology
In reciprocating type passenger aerial ropeway, the running velocity of passenger vehicle is generally the 2-6 meter per second at present.The operation of passenger vehicle have an acceleration, at the uniform velocity, the process of slowing down.When passenger vehicle enters the station, run slowly to the parking that puts in place.Effective setting of deceleration point is the important content of cableway bus safe operation.For preventing to dash the station, passenger vehicle is during by deceleration point, and must run slowly is important step in the electric control system.Orthodox method is speed reducing switch to be installed on the ropeway carrying-rope or to be used step-by-step counting in control program.The former is fragile to need periodic replacement, increases operating cost, and needs aloft work during maintenance, and certain security risk is arranged.The latter needs accurate Calculation.Both all do not possess visuality to passenger vehicle inbound case and operational process.
Summary of the invention
Purpose of the present invention be exactly for the operation Deceleration Control System that solves present cableway bus fragile, maintenance is difficult, the operating cost height, and whole control process does not possess problems such as visuality, provide a kind of and have detection fast, easy to use, can effectively reduce operating cost, improve the reciprocating type cableway bus visual sense speed reducing control system and the method thereof of advantages such as operation stability.
For achieving the above object, the present invention adopts following technical scheme:
A kind of reciprocating type cableway bus visual sense speed reducing control system, it comprises that hawser reaches and hawser bonded assembly passenger vehicle, on cableway terminal, be provided with at least one color image pickup apparatus that matches with passenger vehicle, this color image pickup apparatus is connected with computing machine by image pick-up card, graphicinformation after computing machine is handled software is connected with the deceleration actuating unit by data collecting card I/O, computing machine utilizes software that a pair of detection line is set on template image, and they are corresponding with passenger vehicle deceleration point position on the hawser.
Described passenger vehicle is monochromatic passenger vehicle for the car body color.
A kind of control method of reciprocating type cableway bus visual sense speed reducing control system, its method is:
1) passenger vehicle moves to the decelerate position parking, and color image pickup apparatus collection image this moment is as template image;
2) a pair of vertical detection line is set on the template image, detection line length should equal or slightly be longer than the vertical dimension of template image microbus, and the position setting principle of detection line is advisable at most with the pixel number consistent with the passenger vehicle shade of color; The conformability of tone can be determined pixel tone threshold value TP in view of the above according to the hsv color spatial model, and near the left and right sides of car body, spacing distance is advisable to surpass 1/2 of width over sides of car body respectively in the position of two detection lines; Above-mentioned length, highly, the linear module of width, distance etc. is pixel (Pixel);
3) under different illumination conditions, the pixel number consistent with the passenger vehicle shade of color on the detection line in the template image added up, choose 3-5 low value, get its average again as pixel number threshold value LP;
4) passenger vehicle operation, color image pickup apparatus images acquired information;
5) graphicinformation is sent into computing machine, and computing machine utilizes software that image is handled, and obtains the RGB three primary colours space of image;
6) the RGB three primary colours space with image is converted to the hsv color space;
7) computing machine is to the pixel order CP of two detection line statistical color tones in threshold value TP scope;
8) whether the computer statistics two detection lines CP that counts all reaches the threshold value LP that counts; As all not reaching, then return step 4) and proceed image acquisition; As reach, which reaches the threshold value LP that counts earlier then to judge two detection lines;
9) computing machine reaches the priority of the threshold value LP that counts according to detection line, and it is up or descending judging passenger vehicle.If uply then the deceleration actuating unit is sent control commands corresponding.
The image of the passenger vehicle that the present invention is entered the station by the monitoring CCD colour TV camera picked-up that is installed on the cableway terminal, be transferred to monitoring host computer, software system by research and development are handled image, detect and send restriction signal when passenger vehicle advances to the preset deceleration position, drive actuating unit by I/O and carry out deceleration-operation, ensure that bus safety enters the station.In the whole process, passenger vehicle turnover station image and other keypoint parts of cableway such as circuit, machine room etc. are located image and can be presented at host picture in real time, and the handled easily personnel carry out overall monitor to the ropeway operation situation.
The color of cableway bus car body mostly is bright-colored such as redness or yellow, with on every side environmental color very big difference is arranged.Therefore make full use of colouring information, select suitable color space to help realization fast whether passenger vehicle to be reached the judgement of the decelerate position that enters the station.Treated at first obtaining is the RGB three primary colours after the image acquisition.RGB is a kind of application color model more widely, can transform mutually more easily with other color model (YUV, CMY, HSV etc.).But the rgb color pattern also has its limitation, as being subjected to the influence of illumination easily.Because the Illumination intensity difference of different time on the ropeway line, feasible R, G with a kind of color, B value have bigger variation when the different time of deceleration point position.
The HSV color space more can adapt to the occasion that Illumination intensity changes than RGB pattern.Therefore, the present invention will use the feature space that the hsv color model is differentiated as the passenger vehicle color.Wherein: tone H (Hue) is for detecting the main foundation of passenger vehicle color, mainly is because H is not easy to be subjected to the influence of the power of light; Degree of saturation specific humidity in the S representative color (Saturation), it is worth between 0 to 1; The shading value of V representative color (Value), it is worth between 0 to 1.
Two detection lines about when preestablishing passenger vehicle arrival decelerate position.In the passenger vehicle operational process, to the pixel hsv color primary system meter on two detection lines in the consecutive image of taking, count the pixel tone and belong to the pixel quantity CP of passenger car body shade of color scope, set pixel quantity threshold value LP, think that then passenger vehicle arrives decelerate position if CP reaches; Reach the sequencing of detection threshold again by two detection lines, judge that the present state of passenger vehicle is up (entering the station) or descending (leaving from station), if up (entering the station) then sends restriction signal, drive actuating unit by I/O and carry out deceleration-operation, ensure that bus safety enters the station.
The invention has the beneficial effects as follows: the new mode that it provides a kind of cableway bus to enter the station deceleration control.Its utilization machine vision technique makes passenger vehicle realize slowing down in the distance of appointment, reaches purpose of safe operation, can be substituted in speed reducing switch is installed on the ropeway carrying-rope or in control program with orthodox methods such as step-by-step countings, the raising reliability.This method has been saved because of changing the cost that switch causes on the one hand because of need not on the cableway rope speed reducing switch to be set, on the one hand the risk that may exist when not having aloft work to avoid plant maintenance.And passenger vehicle enters the station and the operational process situation is visual in real time, takes into account security monitoring.
Description of drawings
Fig. 1 is a system architecture scheme drawing of the present invention;
Fig. 2 is provided with scheme drawing for detection line of the present invention position;
Fig. 3 is the visual sense speed reducing control flow chart that example provides for entering the station with the positive red passenger vehicle in right side.
Wherein, 1. passenger vehicle, 2. hawser, 3. color image pickup apparatus, 4. image pick-up card, 5. computing machine, 6. data collecting card, 7. deceleration actuating unit, 8. detection line.
The specific embodiment
The invention will be further described below in conjunction with accompanying drawing and embodiment.
Among Fig. 1, Fig. 2, set of systems of the present invention becomes: it comprises that hawser 2 reaches and hawser 2 bonded assembly passenger vehicles 1, on cableway terminal, then be provided with at least one color image pickup apparatus 3 that matches with passenger vehicle 1, this color image pickup apparatus 3 is connected with computing machine 5 by image pick-up card 4, and the graphicinformation after computing machine 5 is handled software is connected with deceleration actuating unit 7 by data collecting card 6I/O.Image pick-up card is the Color Image Acquisition card, and model is DH-CG410 or DH-QP300 etc.Data collecting card is the data collecting card of relay output, and model is for grinding magnificent PCI1761 etc.Computing machine 5 utilizes software that a pair of detection line 8 is set in the template image of its collection, and they are corresponding with the deceleration point position of passenger vehicle 1 on the hawser 2.It is monochromatic that the car body of passenger vehicle 1 should be.
Control method of the present invention is:
1) passenger vehicle moves to the decelerate position parking, and color image pickup apparatus collection image this moment is as template image;
2) a pair of vertical detection line is set on the template image.Detection line length should equal or slightly be longer than the vertical dimension of template image microbus.The position setting principle of detection line is advisable at most with the pixel number consistent with the passenger vehicle shade of color.The conformability of tone can be determined pixel tone threshold value TP in view of the above according to the hsv color spatial model.Article two, the position of detection line is respectively near the left and right sides of car body, and spacing distance is advisable to surpass 1/2 of width over sides of car body.Above-mentioned length, highly, the linear module of width, distance etc. is pixel (Pixel).
3) under different illumination conditions, the pixel number consistent with the passenger vehicle shade of color on the detection line in the template image added up, choose 3-5 low value, get its average again as pixel number threshold value LP.
4) passenger vehicle operation, color image pickup apparatus images acquired information.
5) graphicinformation is sent into computing machine, and computing machine utilizes software that image is handled, and obtains the RGB three primary colours space of image.
6) the RGB three primary colours space with image is converted to the hsv color space.
7) computing machine is to the pixel order CP of two detection line statistical color tones in threshold value TP scope.
8) whether the computer statistics two detection lines CP that counts all reaches the threshold value LP that counts; As all not reaching, then return step 4) and proceed image acquisition; As reach, which reaches the threshold value LP that counts earlier then to judge two detection lines.
9) computing machine reaches the priority of the threshold value LP that counts according to detection line, and it is up or descending judging passenger vehicle.If uply then the deceleration actuating unit is sent control commands corresponding.
Claims (3)
1. reciprocating type cableway bus visual sense speed reducing control system, it comprises that hawser reaches and hawser bonded assembly passenger vehicle, it is characterized in that: on cableway terminal, be provided with at least one color image pickup apparatus that matches with passenger vehicle, this color image pickup apparatus is connected with computing machine by image pick-up card, graphicinformation after computing machine is handled software is connected with the deceleration actuating unit by data collecting card I/O, computing machine utilizes software that a pair of detection line is set on template image, and they are corresponding with passenger vehicle deceleration point position on the hawser.
2. reciprocating type cableway bus visual sense speed reducing control system according to claim 1 is characterized in that: described passenger vehicle is monochromatic passenger vehicle for the car body color.
3. the control method of the described reciprocating type cableway bus visual sense speed reducing control system of claim, it is characterized in that: its method is:
1) passenger vehicle moves to the decelerate position parking, and color image pickup apparatus collection image this moment is as template image;
2) a pair of vertical detection line is set on the template image, detection line length should equal or slightly be longer than the vertical dimension of template image microbus, and the position setting principle of detection line is advisable at most with the pixel number consistent with the passenger vehicle shade of color; The conformability of tone can be determined pixel tone threshold value TP in view of the above according to the hsv color spatial model, and near the left and right sides of car body, spacing distance is advisable to surpass 1/2 of width over sides of car body respectively in the position of two detection lines; Above-mentioned length, highly, the linear module of width, distance etc. is pixel (Pixel);
3) under different illumination conditions, the pixel number consistent with the passenger vehicle shade of color on the detection line in the template image added up, choose 3-5 low value, get its average again as pixel number threshold value LP;
4) passenger vehicle operation, color image pickup apparatus images acquired information;
5) graphicinformation is sent into computing machine, and computing machine utilizes software that image is handled, and obtains the RGB three primary colours space of image;
6) the RGB three primary colours space with image is converted to the hsv color space;
7) computing machine is to the pixel order CP of two detection line statistical color tones in threshold value TP scope;
8) whether the computer statistics two detection lines CP that counts all reaches the threshold value LP that counts; As all not reaching, then return step 4) and proceed image acquisition; As reach, which reaches the threshold value LP that counts earlier then to judge two detection lines;
9) computing machine reaches the priority of the threshold value LP that counts according to detection line, and it is up or descending judging passenger vehicle.If uply then the deceleration actuating unit is sent control commands corresponding.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007101134431A CN100542868C (en) | 2007-10-23 | 2007-10-23 | Reciprocating type cableway bus visual sense speed reducing control system and method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2007101134431A CN100542868C (en) | 2007-10-23 | 2007-10-23 | Reciprocating type cableway bus visual sense speed reducing control system and method thereof |
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| CN101143596A true CN101143596A (en) | 2008-03-19 |
| CN100542868C CN100542868C (en) | 2009-09-23 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104442836A (en) * | 2014-11-27 | 2015-03-25 | 无锡北斗星通信息科技有限公司 | Intelligent cable car speed control device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AT503502A3 (en) * | 2006-03-23 | 2010-07-15 | Innova Patent Gmbh | METHOD FOR OPERATING A CABLEWAY SYSTEM AND CABLE CARRIER SYSTEM |
| CN201092330Y (en) * | 2007-10-23 | 2008-07-30 | 山东省科学院自动化研究所 | Reciprocating type cableway carriage vision deceleration control system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104442836A (en) * | 2014-11-27 | 2015-03-25 | 无锡北斗星通信息科技有限公司 | Intelligent cable car speed control device |
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| CN100542868C (en) | 2009-09-23 |
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Assignee: Shandong Automation System Engineering Co. Assignor: Automation Inst., Shandong Prov. Contract record no.: 2010370000553 Denomination of invention: Reciprocating type cableway bus visual sense speed reducing control system and its method Granted publication date: 20090923 License type: Exclusive License Open date: 20080319 Record date: 20101126 |
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Granted publication date: 20090923 Termination date: 20121023 |