CN101319895B - Hand-hold traffic accident fast on-site coordinate machine - Google Patents
Hand-hold traffic accident fast on-site coordinate machine Download PDFInfo
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- CN101319895B CN101319895B CN200810040697XA CN200810040697A CN101319895B CN 101319895 B CN101319895 B CN 101319895B CN 200810040697X A CN200810040697X A CN 200810040697XA CN 200810040697 A CN200810040697 A CN 200810040697A CN 101319895 B CN101319895 B CN 101319895B
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Abstract
The invention relates to a hand-held traffic accident site fast surveying instrument which includes a calibration device, a hand-held terminal, an automatic calibration module, a coordinate exchange and image generating module, a size dimension module, a vehicle system and an information management module; wherein, the calibration device is sued for carrying out calibration on the measuring size and location of shooting; the hand-held terminal integrates a digital vidicon and a flat computer in a whole; a touch screen and an induction pen are adopted as input tools; the vehicle system and the hand-held terminal are realized to be wirelessly connected by the Bluetooth technology; the operation on the vehicle system can be controlled, a site graph and a site survey note can be printed as well as organization and management can be carried out on the site collected data from the hand-held terminal. The automatic calibration module, the coordinate exchange and image generating module and the size dimension module are arranged on the hand-held terminal; the size dimension module is arranged on the hand-held terminal; the information management module is arranged on the vehicle system for providing support for processing the accident site image and managing the site collected data. The accident site fast surveying instrument of the invention has the advantages of short period, high precision and high reliability.
Description
Technical field
What the present invention relates to is the instrument of surveying and mapping in a kind of Digital Measuring Technique field, specifically, is a kind of hand-hold traffic accident fast on-site coordinate machine.
Background technology
Domestic and international most of site survey of traffic accident mainly is to judge by human eye at present, hand is touched, the tape measure amount, classic methods such as manual drawing, so easy generation test leakage, the wrong survey, leak picture, phenomenons such as wrong picture, and traditional site inspection method also is subjected to environment, the restriction of weather and time, occur in the zanjon location or meet sleet as traffic hazard, thick fog weather and night etc. all will bring very big difficulty to the inspection of the scene of a crime, in addition, along with highway, the development of sky way and bridge, processing is had higher requirement to the scene of a traffic accident, promptly should in the shortest time, gather maximum scene of the accident information, resume traffic unimpeded with the fastest speed simultaneously.Traditional scene of the accident investigation method can't be carried out second extraction to scene of the accident information, in case reconnoitre end, the scene is promptly removed, if it is incomplete to collect evidence, or when conflicting between data, then can't carry out second extraction, and accident treatment is got into a difficult position.The traffic police who carries out the work in the scene of a traffic accident passes through manual mode of drawing, cause scene of the accident data storage, file and retrieve extremely inconvenient, the foundation that lacks system, complete, imagery for the processing of great, difficult traffic hazard, new ideas such as scene of the accident imagery recovery and digital three-dimensional reproduction just more are difficult to realize, so the incompatible needs of traffic hazard fast processing now of traditional scene of the accident exploration method.
The photogrammetric human eye vision principle that is based on is converted to digital signal with the grey scale signal of image by coupling device CCD, and methods such as application image processing then, pattern-recognition, artificial intelligence and computer vision are obtained a special kind of skill of research object data.Contrast other and measure as total powerstation, laser measurement, GPS etc., photogrammetric survey method has advantages such as instrument and equipment is popularized, measuring process is simple.Different according to measuring object and metering system, the photogrammetric longshot that can be divided into is measured and close-range photogrammetry.
Find by prior art documents, Chinese invention patent (application number 95116541.0), announced a kind of system of the computer-aided mapping scene of a traffic accident, the collection support equipment, software development, close-shot photography measure technique and mathematical algorithm are in one, bar at the scene sets up standard, the sign ball, use camera, the camera intrinsic shooting, through scanner, sound blaster becomes the digitized image file, by the subsidiary program, stereoscopic model recovery routine and plotter program obtain monumented point planimetric coordinates data file, monumented point spatial coordinate data file and draw out plane, the scene of the accident, sectional view, this system's image processing process time is long, complicated operation, be unsuitable for execute-in-place, cause scene photo in time not generate in the scene of a traffic accident, make troubles to accident treatment, and the graphic scene that is generated can not satisfy traffic police department scene photo drafting industry standard.The photogrammetric dimension analysis of U.S.'s patent of invention (application number 20040150816) system, provide two point locations by control module and a standard point, define a reference plane with this, as photogrammetric reference field, adopt square as size datum, determine the dimension scale of measured figure, this system only analyzes scene of a traffic accident dimension information, can not describe vehicle and pedestrian's the attitude that stops in detail, simultaneously, adopt square as size datum, can not satisfy some high precision dimensional measurement requirement.
Summary of the invention
The present invention is directed to the deficiencies in the prior art and defective, a kind of hand-hold traffic accident fast on-site coordinate machine is provided, it is measured fast to the scene of the accident that meets China's actual conditions, can be for gathering from the traffic accident scene diagram sheet, scene photo is demarcated automatically, coordinate conversion and size marking, scene photo generates to print and provide omnidistance to the data management that gather the scene of the accident and supports, when satisfying the mapping requirement of the conventional traffic scene of the accident, can effectively improve scene of a traffic accident mapping precision, shorten the scene of a traffic accident mapping time, for vehicle supervision department provides very big facility.
The present invention is achieved by the following technical solutions, the present invention includes caliberating device, handheld terminal, automatic demarcating module, coordinate transform and image generation module, size marking module, onboard system and information management module.Onboard system and handheld terminal adopt Bluetooth technology to realize wireless connections, can control the operation of onboard system from handheld terminal; Automatically demarcating module, coordinate transform and image generation module, size marking module are installed on the handheld terminal, and information management module is installed on the onboard system, wherein:
Described caliberating device is demarcated photogrammetric location and size, and caliberating device is made of square tube red and white, adopts fabricated structure;
Described handheld terminal collection Digital Video and flat computer are one, adopt touch-screen and induction pen as input tool, by the processing of automatic demarcating module, coordinate transform and image generation module, size marking module, realize that the traffic accident scene diagram sheet is gathered and processing;
Described automatic demarcating module is discerned the position and the size of caliberating device automatically from the digital photograph of the scene of the accident, and the calibrating parameters of computational photogrammetry system;
Described coordinate transform and image generation module be according to the calibrating parameters of Digital Photogrammetric System, is X-Y scheme coordinate in the accident situ map with the two dimensional image coordinate conversion in the digital photograph;
Described size marking module marks key position in the accident situ map, obtains the figure coordinate of selected element, and marks the relative size of key position automatically;
Described onboard system is printed scene photo and on-site land survey notes according to the control of handheld terminal, and the collection in worksite data are organized and managed;
Described information management module receives the traffic accident scene diagram and the accident relevant information of coming from the handheld terminal transmission, and these information are classified and managed.
Described caliberating device comprises the principal mark earnest of cross and right angle form, the auxiliary calibration thing of straight-bar form, being respectively applied for coordinate transform and orthographic view generates and the complex scene image mosaic, demarcate thing and constitute, adopt fabricated structure by scalable square tube red and white.Caliberating device adopts the plane reference technology according to the actual needs of drawing traffic accident scene diagram, to reduce the required number of pictures of conventional three-dimensional calibration technique, shortens and demarcates and Measuring Time.Caliberating device is made of scalable square tube red and white, regracting when carrying is so that carry, only need draw back suitable length as required during use, and employing fabricated structure, can be combined into straight-bar, cross and right angle form according to different field demands, wherein cross and right angle form are the principal mark earnest, are used for coordinate transform and orthographic view and generate, the straight-bar form is the auxiliary calibration thing, is used for the complex scene image mosaic.In addition, caliberating device adopts color red and white and straight flange shape, and the image that helps in the image recognition processes is caught automatically.The shape and size design of caliberating device, can reduce the number of times that the scene of a traffic accident is demarcated as far as possible, improve the precision that the scene of a traffic accident is demarcated, efficiently solve stated accuracy and conflicting technical barrier of nominal time in the existing scene of a traffic accident photogrammetric technology, both can improve on-site proving precision and on-the-spot mapping precision, can shorten on-site proving and mapping time again.
Described handheld terminal is the core technology of hand-hold traffic accident scene surveying instrument, collection Digital Video and flat computer are one, size is little, in light weight, the scene of the accident only needs a people just can finish whole operations, adopt touch-screen and induction pen as input tool, adopt automatic demarcating module, coordinate transform and image generation module, flush bonding modules such as size marking module provide operation support, realize the fast processing and the conversion of image graphics, scene photo drawing process and traditional manual drawing are basic identical, meet traffic police personnel's existing custom, and repertoire is realized solidifying, only need the simple click menu to realize, use simple.Solved the photogrammetric equipment of the existing scene of a traffic accident simultaneously owing to the simple conflicting technical barrier of measuring accuracy that adopts ordinary digital camera and general-purpose computing system to cause and use, both can improve photogrammetric precision, simplified the use of Digital Photogrammetric System again, when satisfying national relevant laws and regulations and standard-required, can meet traffic-police to drawing the custom of scene photo.
The hand-hold traffic accident scene surveying instrument that the present invention developed, the drafting function and the output function of scene photo are independently separated, adopt handheld terminal to realize the real-time rendering of scene photo, onboard system is realized the printout of scene photo, realize the wireless connections of handheld terminal and onboard system by Bluetooth technology, handheld terminal functional requirement and structure are light to require conflicting technical barrier to solve, both can be at the on-the-spot output in time of accident treatment scene photo, the function and the structure of handheld terminal have been simplified again, reduce the weight of handheld terminal, made things convenient for the use of handheld terminal.
Described automatic demarcating module comprises demarcates automatic recognin module of thing and calibrating parameters calculating sub module.Demarcate the automatic recognin module of thing and adopt the template matches model method,, the traffic accident scene diagram sheet is mated and discerns Automatic Logos principal mark earnest contour shape by the template of predefined principal mark earnest form and color; The calibrating parameters computing module is according to demarcating the thing profile, and contrast principal mark earnest standard size is mated the demarcation angle and the dimension scale of conversion x, y both direction.In system calibrating, need in the image of photogrammetric acquisition, catch the coordinate figure of calibration point, the error of coordinate figure directly influences the stated accuracy of Digital Photogrammetric System, thereby influence photogrammetric result's precision, both at home and abroad in the existing Digital Photogrammetric System, general all adopt mouse hand-manipulated on image, to catch a little method, not only calibration process is long, and calibrated error is bigger, the present invention adopts image recognition technology, by to principal mark earnest feature and color identification, is gone out the position coordinates of calibration point by Computer Automatic Recognition, avoid the time waste and the data error of artificial selection calibration point, effectively improved stated accuracy.
Described coordinate transform and image generation module comprise three submodules: coordinate transform submodule, image generate submodule and image mosaic submodule.
Described coordinate transform submodule adopts photogrammetric principle, utilize its basic calculating formula as coordinate and object coordinates conversion, the stipulations coordinate figure of measurement point in the image plane coordinate system is converted into the coordinate figure of measurement point in the object space coordinate system of plane, calculate the object coordinates of all key points, draw complete accident situ map based on this.
It is to the conversion to orthographic view of the skeleton view gathered by shooting that described image generates submodule, from the graphics principle, the image of photogrammetric acquisition is a kind of skeleton view, and accident situ map is a kind of orthograph, from data layout, the image of photogrammetric acquisition is a kind of dot chart, and is a kind of polar plot by the accident situ map of computer drawing, and the mutual conversion of these two kinds of figure is very complicated and consuming time.In the existing both at home and abroad research, generally at first utilize photogrammetric general-purpose system to obtain measurement data, then these measurement data are imported the common CAD system, draw the scene photo of vector quantization, whole process is consuming time longer, but according to present China relevant laws and regulations and standard, need the litigant sign then and there the approval scene photo be a kind of paper document, the present invention is according to the actual needs of drawing traffic accident scene diagram, a kind of new method of directly drawing scene photo on photogrammetric image has been proposed, utilize embedded system,, the image transitions of skeleton view is become the image of orthogonal projection according to the calibrating parameters of Digital Photogrammetric System, then directly on orthographic view, measure and the mark relative dimensions, improved the efficient of drawing scene photo greatly, can satisfy needs at scene of the accident output scene photo.
Described image mosaic submodule is at some major traffic accidents, scene of the accident scope is bigger, and may need splice many images because object such as accident vehicle to the stopping of sight line, can not reflect whole scene of the accident overall picture in a photographs.Both at home and abroad in the existing Digital Photogrammetric System, the splicing more complicated of many images, consuming time more, the present invention is according to the actual needs of drawing traffic accident scene diagram, proposed a kind of many images by the auxiliary quick joining method of auxiliary calibration thing, by the auxiliary calibration thing, promptly straight-bar is demarcated thing, on orthographic view, according to the position of auxiliary calibration thing and the quick splicing of many images of direction realization.
Described size marking module is according to key position in the selected accident situ map of induction pen, for example vehicle parking position, human body leave position, braking trace starting point and final position etc., obtain the figure coordinate of these selected elements, and mark the relative size of these key positions automatically.
Described onboard system comprises three subsystems: on-vehicle host subsystem, communication subsystem and printout subsystem.Onboard system and handheld terminal adopt Bluetooth technology to realize wireless connections, can control the operation of onboard system from handheld terminal; Onboard system is connected to laser printer, can print accident situ map in the scene of the accident; Onboard system is equipped with the traffic accident information administration module, is used to preserve traffic accident scene diagram and other related data and information.
Described information management module comprises four submodules: file transfer interface sub-module, printing controlling sub, accident information classification and storage submodule and scene photo information secondary acquisition submodule.
Described file transfer interface sub-module is obtained the traffic accident scene diagram after treatment that handheld terminal sends by the onboard system communication subsystem, and leave in predefined file layout and memory location on the on-vehicle host subsystem of onboard system, and import printing control model and accident information classification and storage module automatically.
Described printing controlling sub, scene photo and exploration notes that the file transfer interface is transmitted print, and can operate on on-vehicle host, also can control printing by long-range handheld terminal.
Described accident information classification and storage submodule and scene photo information secondary acquisition submodule be to traffic hazard institute image data storage, call and gather again verification, can effectively manage accident information, especially to the traffic hazard of the type of taking place frequently, the case volume information is very under the complicated situation, can effectively organize various related datas, provide efficiently, data query efficiently, and, guarantee the validity and the high reliability of data by the data check function.
The present invention to drawing the requirement of traffic accident scene diagram (X-Y scheme), studies high-precision two-dimentional scaling method according to China's relevant laws and regulations and standard, can either guarantee the mapping precision of scene photo, has shortened the mapping time of scene photo again.The present invention meets the scene of a traffic accident mapping system of scene of the accident mapping flow process and custom by the reasonable combination to photography scene, data processing and scene photo output function.The present invention shortens the drafting time of scene photo, is implemented in the scene photo of the on-the-spot output of accident treatment by photogrammetric acquisition.
The main foundation that traffic accident scene diagram is that traffic hazard is handled, identified, the training of insurance reason, law court are tried a case etc., traffic accident scene diagram must be accurate.Traditional manual measurement method adopts simple tools such as tape measure, measuring accuracy is limited, and possible test leakage did not have the part information of concern at that time, existing photogrammetric survey method is in order to improve measuring accuracy, adopted complicated three-dimensional scaling method, but the caliberating device structure more complicated of this three-dimensional scaling method, the time of in-site measurement and data processing is longer.It is a professional very strong job that scene of a traffic accident exploration and scene photo are drawn, and must observe the flow process of stipulating in national relevant laws and regulations and the standard, and traffic-police has also formed certain custom in the long-term work practice.General common digital camera or the digital camera of adopting of existing traffic hazard Digital Photogrammetric System is as measuring equipment, adopt desk-top or notebook computer as data analysis and treatment facility, adopt mouse and keyboard as input medium, inconvenient in scene of a traffic accident use, do not meet long-term scene of the accident exploration that forms of traffic-police and scene photo drafting custom.The scene of a traffic accident mapping time is made up of two parts: scene of the accident exploration time and scene photo are drawn the time, and the scene of a traffic accident mapping time is longer, and the road traffic that may cause stops up more serious, also may produce secondary traffic hazard.The on-site land survey time of traditional-handwork mapping method is longer, but the time of drawing scene photo is shorter, the on-site land survey time of existing photogrammetric survey method can be very short, but it is longer to draw time of scene photo, is difficult to handle on-the-spot output scene photo in traffic hazard and allows litigant's approval of signing.
The invention has the beneficial effects as follows: can highly effective gathering scene of a traffic accident information, the picture of being gathered is carried out interactive fast processing and printout, and can organize and store all casualty datas, have characteristics such as standardization, high-level efficiency and high reliability; Provide simultaneously the secondary acquisition of traffic accident scene diagram, avoid the loss of significant data to bring unnecessary trouble to accident treatment as data.The present invention compares with existing realization technology, can realize comprising the demarcation of the high precision scene of a traffic accident, photo site information acquisition, image coordinate conversion and scene photo generation, scene photo size marking, scene photo and the printing of on-site land survey notes and collection in worksite information management in interior scene of a traffic accident mapping overall process, and the scene of the accident mapping cycle is short, precision height, reliability height, meet Chinese traffic police department use habit, can realize on-the-spot mapping fast various types of traffic hazards.Compare with the conventional traffic scene of the accident measuring method of drawing tape measure at present, can improve the data acquisition precision more than 20%, the highest scene of the accident data acquisition precision can reach more than 95%, the scene of the accident mapping time shortened to 8 minutes by 15 minutes, and provided collection in worksite efficient data management and secondary acquisition.In addition, the present invention has perfect on-site proving, coordinate conversion and the support of size marking theory of algorithm, compares with traditional scene of the accident investigation method, has more cogency.
Description of drawings
Fig. 1 traffic accident fast on-site coordinate machine is formed structural representation.
Fig. 2 caliberating device synoptic diagram, wherein: a, b, c are respectively straight-bar, cross, the three kinds of structures in right angle.
Fig. 3 surveying instrument hardware is formed and information flow diagram.
Fig. 4 surveying instrument flush bonding module and information flow diagram.
Fig. 5 surveying instrument uses schematic flow sheet.
Embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated: present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 1, the present embodiment traffic accident fast on-site coordinate machine is formed structural representation, comprise: caliberating device, handheld terminal and embedded automatic demarcating module, coordinate transform and image generation module, size marking module, onboard system and information management module.
At first the caliberating device of putting in the scene of a traffic accident need be put the principal mark earnest, then need to put simultaneously the auxiliary calibration thing for some complex scene for general; After putting caliberating device, site traffic police takes pictures to the scene by the incidental digital camera of handheld terminal, click mode with induction pen then, to take a picture and adopt three flush bonding modules of handheld terminal: demarcating module, coordinate transform and image generation module, size marking module are handled automatically, generate the traffic accident scene diagram of standard; By Radio Transmission Technology, traffic accident scene diagram is sent to the police car onboard system at last, information management module prints and data management scene photo.
Present embodiment handheld terminal synoptic diagram, the handheld terminal main body is a single card microcomputer, integrated digital camera function disposes induction pen simultaneously as input media, can support two kinds of input modes of touch-screen and induction pen.By the digital camera of 800 everything elements, can directly obtain outside photo; The embedded automatic demarcating module of handheld terminal, coordinate transform and image generation module, three image processing modules of size marking module, be used for to captured traffic accident scene diagram sheet demarcate that thing is discerned automatically, calibrating parameters generates automatically, skeleton view is to orthogonal projection conversion and the operation of scene of a traffic accident orthographic view size marking automatically, generates the scene photo that meets scene of a traffic accident exploration country and traffic-police's industry standard.
As shown in Figure 2, present embodiment caliberating device synoptic diagram, comprise straight-bar (figure a), cross (figure b), right angle (figure c) three kinds of forms, all can stretch, in case of necessity, cross and right angle can also split into the straight-bar form and use, and demarcate thing stage casing sectional area 50mm * 20mm, draw Shen maximum length 1200mm, scale error is less than 0.05mm, the automatic identification error maximal value of test calibration thing through the real case checking, can satisfy the photogrammetric requirement of traffic hazard less than 0.1mm.Three kinds of forms are demarcated thing and are all adopted planar structure, principal mark earnest, i.e. cross and right angle form, have only two fixed settings of x, y, auxiliary calibration thing, i.e. straight-bar form, have only the unidirectional demarcation of horizontal plane, can satisfy the demarcation needs of the photogrammetric planar structure scene photo of the scene of a traffic accident.
As shown in Figure 3, present embodiment surveying instrument hardware is formed and information flow diagram, comprise caliberating device, handheld terminal and onboard system, it is the carrier that the traffic hazard treatment people is operated, caliberating device is used for photogrammetric location and size are demarcated, adopt fabricated structure, be convenient to carry with the scene in the way and put; Handheld terminal collection Digital Video and flat computer are one, adopt touch-screen and induction pen as input tool, operate in the flush bonding module of independent development, realize that the traffic accident scene diagram sheet is gathered and processing; Onboard system and handheld terminal adopt Bluetooth technology to realize wireless connections, comprise on-vehicle host and laser printer, print scene photo and on-site land survey notes, and the collection in worksite data are organized and managed.
1, caliberating device, according to the relevant laws and regulations and the standard of present China, accident situ map is a kind of typical floor plan, according to the actual needs of drawing traffic accident scene diagram, adopt the plane reference technology, fabricated structure is convenient to carry with the scene in the way and is put, and shape and color are special and eye-catching, the image that helps in the image recognition processes is caught automatically, shape and size are reasonable in design, can reduce the number of times that the scene of a traffic accident is demarcated, and improve the precision that the scene of a traffic accident is demarcated.
The photogrammetric reference data that provides is provided caliberating device, in the traffic accident scene diagram sheet, play the effect of location and scale calibration, the application image recognition technology can directly be obtained the coordinate and the size of calibration point, adopt embedded system to calculate the calibrating parameters of mapping system, for the subsequent treatment of traffic accident scene diagram sheet provides theoretical principle.
2, handheld terminal, collection Digital Video and flat computer are one, and size is little, and is in light weight, the scene of the accident only needs a people just can finish whole operations, adopt touch-screen and induction pen as input tool, scene photo drawing process and traditional manual drawing are basic identical, meet traffic police personnel's existing custom, adopt embedded system, repertoire is realized solidifying, and only needs the simple click menu to realize, uses simple.
Handheld terminal is as collection, processing and the drawing tool of scene photo, independently separate with Video Out, adopt handheld terminal to realize the real-time rendering of scene photo, adopt onboard system to realize the printout of scene photo, adopt Bluetooth technology to realize the wireless connections of handheld terminal and onboard system, make handheld terminal when satisfying functional requirement, can guarantee the requirement that structure is light.
3, onboard system, onboard system comprise on-vehicle host subsystem, communication subsystem and three subsystems of printout subsystem.The on-vehicle host subsystem is common desktop PC, and the mount message administration module is used for receiving scene photo data and scene photo print command from handheld terminal, carries out scene photo by the printer that connects and prints, and traffic accident scene diagram is managed; Communication subsystem is special in carrying out data and set bluetooth wireless interface and the interface routine of instruction transmission with handheld terminal, be used in 100 meters scopes receiving the data and the instruction of handheld terminal, and specify the interface of the packet memory location accepted and handheld terminal instruction and information management module; The printout subsystem is the common laser printer that is connected with the on-vehicle host subsystem, is used at scene of the accident real time print output traffic accident scene diagram.
As shown in Figure 4, present embodiment flush bonding module and information flow diagram, comprise automatic demarcating module, coordinate transform and image generation module, size marking module and information management module, be installed in respectively on handheld terminal and the onboard system, processing of scene of the accident image and collection in worksite data are managed, automatically demarcating module, coordinate transform and image generation module, size marking module are installed on the handheld terminal, and information management module is installed on the onboard system.Automatically demarcating module is discerned the position and the size of caliberating device automatically from the digital photograph of the scene of the accident, and the calibrating parameters of computational photogrammetry system; Coordinate transform and image generation module be according to the calibrating parameters of Digital Photogrammetric System, is X-Y scheme coordinate in the accident situ map with the two dimensional image coordinate conversion in the digital photograph; The size marking module marks key position in the accident situ map, obtains the figure coordinate of selected element, and marks the relative size of key position automatically; Information management module is installed on the onboard system, receives the traffic accident scene diagram and the other accident relevant information of coming from the handheld terminal transmission, and these information are classified and managed.
1, automatic demarcating module
Automatically demarcating module comprises the demarcation automatic identification module of thing and two modules of calibrating parameters computing module.At first demarcate the automatic identification module of thing and from the digital photograph of the scene of the accident, automatically identify the position and the size of principal mark earnest, calculate the calibrating parameters of Digital Photogrammetric System then by the calibrating parameters computing module.Demarcate the automatic identification module of thing and adopt the template matches model method, at first define the template of cross and right angle two kinds of principal mark earnest form and color, then the traffic accident scene diagram sheet is discerned and mated, if meet the masterplate feature, then Automatic Logos are demarcated the thing contour shape.The calibrating parameters computing module is according to demarcating the principal mark earnest profile that the automatic identification module of thing is drawn, contrast demarcation thing standard size is mated, the demarcation angle and the dimension scale of conversion x, y both direction are as the input parameter of coordinate transform and image generation module.
2, coordinate transform and image generation module
Coordinate transform and image generation module comprise that coordinate transform submodule, image generate submodule and three submodules of image mosaic submodule.According to the calibrating parameters of Digital Photogrammetric System, be X-Y scheme coordinate in the accident situ map with the two dimensional image coordinate conversion in the digital photograph, obtain the scene of the accident image under the orthogonal projection condition.
A) the coordinate transform submodule adopts photogrammetric principle, and its basic calculating formula as coordinate and object coordinates conversion is as follows:
In the formula: I, J are the stipulations coordinate figure (by the picture coordinate figure of measurement point unique determine) of measurement point in the image plane coordinate system, and X, Y are the coordinate figure (just coordinate figure in traffic accident scene diagram) of measurement point in the object space coordinate system of plane, k
iIt is the calibration coefficient of mapping system.Carrying out the mapping system timing signal, the I of known calibration point, J, X, Y need to calculate mapping system calibration coefficient k
iBecause 8 calibration coefficients are arranged, so minimum must have 4 calibration points.When carrying out scene of a traffic accident measurement, calibration coefficient k
iKnown, according to picture coordinate I, the J of measurement point, just can calculate object coordinates X, the Y of measurement point by above formula.If calculated the object coordinates of all key points, just can draw out complete accident situ map.
B) to generate submodule be to the conversion to orthographic view of the skeleton view gathered by shooting to image, according to the actual needs of drawing traffic accident scene diagram, directly on photogrammetric image, draw scene photo, calibrating parameters according to Digital Photogrammetric System, the image transitions of skeleton view is become the image of orthogonal projection, directly on orthographic view, measure also mark relative dimensions then.
C) the image mosaic submodule is at some major traffic accidents, scene of the accident scope is bigger, and may be because object stopping such as accident vehicles to sight line, can not in a photographs, reflect and need splice whole scene of the accident overall picture, on orthographic view many images, position and direction according to the auxiliary calibration device, adopt Harris Corner Detection operator extraction unique point, merge, generate seamless image splicing by Feature Points Matching and color.
Coordinate transform and image generation module receive the calibrating parameters that automatic demarcating module transmits, the traffic accident scene diagram sheet is carried out operations such as coordinate transform, image generation and image mosaic, with the two dimensional image coordinate conversion in the digital photograph is X-Y scheme coordinate in the accident situ map, obtains the scene of the accident image under the orthogonal projection condition.
3, the size marking module is according to key position in the selected accident situ map of induction pen, for example vehicle parking position, human body leave position, braking trace starting point and final position etc., obtain the figure coordinate of these selected elements, and mark the relative size of these key positions automatically.
The size marking module is to carry out size marking on the scene of the accident two dimension orthographic view that coordinate transform and image generation module are generated, and generates complete traffic accident scene diagram.
4, information management module is installed on the on-vehicle host, comprises four submodules: file transfer interface sub-module, printing controlling sub, accident information classification and storage submodule and scene photo information secondary acquisition submodule.When the traffic police personnel go out the scene, the information management module that is installed on the onboard system receives from next traffic accident scene diagram and the other accident relevant information of handheld terminal transmission, after getting back to office, transfer data to the accident information management system of Traffic Police Headquarters's internal unity again.
A) the transmission interface submodule obtains the traffic accident scene diagram after treatment that handheld terminal sends by the onboard system communication subsystem, and leave in predefined file layout and memory location on the on-vehicle host subsystem of onboard system, and import printing control model and accident information classification and storage module automatically.
B) print controlling sub, scene photo and exploration notes that the file transfer interface module is transmitted print, and can operate on on-vehicle host, also can control printing by long-range handheld terminal.
C) accident information classification and storage submodule and scene photo information secondary acquisition submodule be to traffic hazard institute image data storage, call and gather again verification, can effectively manage accident information.
The scene photo that is generated by the coordinate transform on the handheld terminal and image generation module and size marking module, by the wireless communication interface between handheld terminal and the onboard system, be transferred to and classify in the information management module and store, and can be supported in the scene of a traffic accident scene photo is printed output.
Surveying instrument of the present invention uses schematic flow sheet as shown in Figure 5, and traffic-police uses the step of surveying instrument as follows in the scene of a traffic accident:
The first step: put caliberating device.After traffic-police arrives the scene of the accident, according to preliminary observation to the scene of the accident, the object of selecting accident situ map mainly to describe.Near description object, put caliberating device.
In second step, obtain scene photograph.As possible, preferably all objects that accident situ map will be described are found a view in a photo.As required, adjust the position of caliberating device.
In the 3rd step, calculate calibration coefficient.Traffic-police uses induction pen simple click menu, and surveying instrument can be finished the calibrated and calculated process automatically fast, obtains the calibration coefficient of mapping system.
In the 4th step, realize coordinate conversion.Traffic-police uses induction pen simple click menu, and surveying instrument can be finished the conversion Calculation of image coordinate automatically fast, obtains the accident situ map under the orthogonal projection.
The 5th step, the mark dimension of picture.Traffic-police uses induction pen to select key point on traffic accident scene diagram, marks the coordinate and the size of this key point.
The 6th step, the output scene photo.Traffic-police uses induction pen simple click menu, and the scene photo after the dimensioning is transferred to onboard system, the printout traffic accident scene diagram, and allow litigant's approval of signing.
More than whole process, only need a traffic-police just can finish whole tasks.
Claims (8)
1. hand-hold traffic accident fast on-site coordinate machine, it is characterized in that, comprise caliberating device, handheld terminal, onboard system, automatic demarcating module, coordinate transform and image generation module, size marking module and information management module, onboard system and handheld terminal adopt Bluetooth technology to realize wireless connections, operation by handheld terminal control onboard system, automatically demarcating module, coordinate transform and image generation module, size marking module are installed on the handheld terminal, information management module is installed on the onboard system, wherein:
Described caliberating device is demarcated photogrammetric location and size, and caliberating device is made of square tube red and white, adopts fabricated structure;
Described handheld terminal is a single card microcomputer, integrated digital camera, adopt touch-screen and induction pen as input tool,, the digital photograph of the scene of a traffic accident is gathered and handled by the processing of automatic demarcating module, coordinate transform and image generation module, size marking module;
Described automatic demarcating module is discerned the position and the size of caliberating device automatically from the digital photograph of accident shooting, and the calibrating parameters of computational photogrammetry system;
Described coordinate transform and image generation module be according to the calibrating parameters of Digital Photogrammetric System, is X-Y scheme coordinate in the accident situ map with the two dimensional image coordinate conversion in the digital photograph;
Described size marking module marks key position in the accident situ map, according to the key position in the selected accident situ map of induction pen, obtains the figure coordinate of selected element, and marks the relative size of key position automatically;
Described onboard system is printed scene photo and on-site land survey notes according to the control of handheld terminal, and the collection in worksite data are organized and managed;
Described information management module receives the traffic accident scene diagram and the accident relevant information of coming from the handheld terminal transmission, and traffic accident scene diagram and accident relevant information are classified and managed.
2. hand-hold traffic accident fast on-site coordinate machine according to claim 1, it is characterized in that, described caliberating device comprises the principal mark earnest of cross and right angle form and the auxiliary calibration thing of straight-bar form, and principal mark earnest and auxiliary calibration thing are used to carry out coordinate transform, orthographic view generates and the complex scene image mosaic.
3. hand-hold traffic accident fast on-site coordinate machine according to claim 1, it is characterized in that, described handheld terminal is a single card microcomputer, photographic means is the 800 everything prime number sign indicating number cameras mutually integrated with single card microcomputer, input media is induction pen and touch-screen, the embedded automatic demarcating module of handheld terminal, coordinate transform and image generation module, three image processing modules of size marking module.
4. hand-hold traffic accident fast on-site coordinate machine according to claim 1, it is characterized in that, described automatic demarcating module comprises demarcates automatic recognin module of thing and calibrating parameters calculating sub module, demarcate the automatic recognin module of thing and adopt the template matches model method, template by predefined principal mark earnest form and color, the digital photograph that the scene of a traffic accident is taken mates and discerns Automatic Logos principal mark earnest contour shape; The calibrating parameters calculating sub module is according to demarcating the thing profile, and contrast principal mark earnest standard size is mated the demarcation angle and the dimension scale of conversion x, y both direction.
5. hand-hold traffic accident fast on-site coordinate machine according to claim 1 is characterized in that, described coordinate transform and image generation module comprise three submodules: coordinate transform submodule, image generate submodule and image mosaic submodule, wherein:
Described coordinate transform submodule adopts photogrammetric principle, utilize its basic calculating formula as coordinate and object coordinates conversion, the stipulations coordinate figure of measurement point in the image plane coordinate system is converted into the coordinate figure of measurement point in the object space coordinate system of plane, calculate the object coordinates of all key points, draw complete accident situ map based on this;
Described image generates the digital photograph that submodule is gathered shooting, and promptly skeleton view is changed, and the image transitions of skeleton view is become the image of orthogonal projection, directly measures and dimensioning on orthographic view then;
When described image mosaic submodule can not reflect whole scene of the accident overall picture in the digital photograph that a scene of a traffic accident is taken, many images are spliced, image mosaic at first needs scene of a traffic accident digital photograph is carried out the orthogonal projection conversion, then orthographic view is spliced, according to the position of auxiliary calibration thing and the splicing of many orthographic views of direction realization.
6. hand-hold traffic accident fast on-site coordinate machine according to claim 1, it is characterized in that, described size marking module is according to the key position in the selected accident situ map of induction pen, comprise that vehicle parking position, human body leave position, braking trace starting point and final position, obtain the figure coordinate of these key positions, and mark the relative size of these key positions automatically.
7. hand-hold traffic accident fast on-site coordinate machine according to claim 1, it is characterized in that, described onboard system comprises three subsystems: on-vehicle host subsystem, communication subsystem and printout subsystem, on-vehicle host subsystem are common desktop PC, the mount message administration module; Communication subsystem is special in carrying out data and set bluetooth wireless interface and the interface routine of instruction transmission with handheld terminal, and specifies the interface of the packet memory location accepted and handheld terminal instruction and information management module; The printout subsystem is the common laser printer that is connected with the on-vehicle host subsystem.
8. according to claim 1 or 7 described hand-hold traffic accident fast on-site coordinate machines, it is characterized in that, described information management module comprises four submodules: file transfer interface sub-module, printing controlling sub, accident information classification and storage submodule and scene photo information secondary acquisition submodule, wherein:
Described file transfer interface sub-module is obtained the traffic accident scene diagram after treatment that handheld terminal sends by the onboard system communication subsystem, and leave in predefined file layout and memory location on the on-vehicle host subsystem of onboard system, and import printing controlling sub and accident information classification and storage submodule automatically;
Described printing controlling sub, scene photo and exploration notes that the file transfer interface sub-module is transmitted print, and operate on on-vehicle host, or control printing by long-range handheld terminal;
Described accident information classification and storage submodule and scene photo information secondary acquisition submodule be to traffic hazard institute image data storage, call and gather again verification.
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Families Citing this family (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101650176B (en) * | 2009-08-28 | 2011-12-21 | 浙江工业大学 | Traffic accident scene surveying instrument based on active, stereoscopic and omnibearing vision |
| CN102968548B (en) * | 2012-09-29 | 2016-01-06 | 昆山市智汽电子科技有限公司 | A kind of method of vehicle calibration, equipment and system thereof |
| CN102980562B (en) * | 2012-11-15 | 2015-03-25 | 北京中软鸿美信息技术有限公司 | System and method for scene of traffic accident image processing |
| CN105627993B (en) * | 2014-01-13 | 2018-05-04 | 天津职业技术师范大学 | A kind of experimental system for showing scene of a traffic accident photorecce principle |
| CN103954268A (en) * | 2014-03-13 | 2014-07-30 | 刘国栋 | Portable traffic accident on-site surveying instrument |
| CN103954270B (en) * | 2014-05-04 | 2015-04-08 | 吉林大学 | System and method for investigating scenes of traffic accidents based on unmanned aerial vehicle and WIFI (Wireless Fidelity) |
| CN105222757B (en) * | 2015-09-18 | 2017-03-08 | 北京林业大学 | A kind of CCD coordinates iPad photography to obtain the method for measurement of public security case geological information |
| TWI582388B (en) | 2015-10-16 | 2017-05-11 | 財團法人工業技術研究院 | Image stitching method and image stitching device |
| CN107038722A (en) * | 2016-02-02 | 2017-08-11 | 深圳超多维光电子有限公司 | Equipment positioning method and device |
| CN105700791A (en) * | 2016-03-04 | 2016-06-22 | 沈阳天择智能交通工程有限公司 | Road traffic accident field sketch recognizing and drawing method |
| CN106352803A (en) * | 2016-09-28 | 2017-01-25 | 北京信路威科技股份有限公司 | Calibration distance measurement method and system based on video stitching image |
| CN109816751A (en) * | 2017-11-20 | 2019-05-28 | 南京模幻天空航空科技有限公司 | Navigation channel Accident Handling Method based on unmanned plane aerial photography and Visual identification technology |
| CN109961471B (en) * | 2017-12-14 | 2021-05-28 | 北京猎户星空科技有限公司 | Method and device for marking position of object in image and electronic equipment |
| CN112184823A (en) * | 2019-07-03 | 2021-01-05 | 上海飞猿信息科技有限公司 | Quick calibration method for panoramic system |
| CN111784803B (en) * | 2020-07-01 | 2024-08-30 | 中国三峡建工(集团)有限公司 | Automatic acquisition system and method for mutual relation data of drill cores |
| CN112989445A (en) * | 2021-03-10 | 2021-06-18 | 广东警官学院(广东省公安司法管理干部学院) | Drawing method of traffic accident scene investigation quick drawing system |
| CN114742684A (en) * | 2022-06-13 | 2022-07-12 | 山东承势电子科技有限公司 | Intelligent on-site survey big data analysis method and system |
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