CN101839978B - Freeway green channel open vehicle load factor obtaining method - Google Patents
Freeway green channel open vehicle load factor obtaining method Download PDFInfo
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- CN101839978B CN101839978B CN2010101201300A CN201010120130A CN101839978B CN 101839978 B CN101839978 B CN 101839978B CN 2010101201300 A CN2010101201300 A CN 2010101201300A CN 201010120130 A CN201010120130 A CN 201010120130A CN 101839978 B CN101839978 B CN 101839978B
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Abstract
The invention discloses a freeway green channel open vehicle load factor obtaining method. The invention records the radar echo data of an open vehicle at first, removes coupled wave, intercepts carriage area, searches the outline of cargo, eliminates interference factors and finally obtains load factor. The invention provides a reference open vehicle cargo load volume fraction. When incapable of observing the side of the vehicle, the green channel detection personnel can know the load situation of the open vehicle, which provides a certain evidence for detecting if the open vehicle carries forbidden objects, and discriminate the transportation vehicle which does not accord with the load factor. The method has the advantages of high detection speed and accuracy rate.
Description
Technical field
The invention belongs to radar detection and technical field of image processing, be specifically related to a kind of freeway green channel open vehicle load factor obtaining method.
Background technology
In order to serve agriculture, rural areas and farmers; Further reduce the transportation cost of fresh and live agricultural product; Stablize the market price of agricultural product, strengthen support dynamics, Ministry of Communications's regulation agricultural production; To the legal loading fresh and live agricultural product of the car load haulage vehicle that on " green channel " of the whole nation " five vertical two horizontal strokes " highway, goes, exempt from toll.
When national policy is supported agriculture, rural areas and farmers, the promotion people's livelihood; Part green channel vehicle but with load in mixture, means such as camouflage; Carry a large amount of non-agricultural product secretly at vehicle interior; Only cover with a spot of fresh and live agricultural product the outside, escapes to pay freeway toll, has influenced the sound development of green channel policy.Other has the part vehicle to ignore national policy, and overload transportation in violation of rules and regulations not only endangers self and autre vie property safety, is unfavorable for the maintenance of highway, returns country and has brought very big loss.
In order to ensure that country's " green channel " policy effectively carries out, reduce the loss of state-owned assets, must hit sternly that utilization is carried secretly and illegal activities that highway toll is paid in means escape such as overload.But freeway management department still lacks effective detection means at present, prevents to carry secretly main dependence manual method and checks, inspection speed is slow, labour intensity big and loss is very high; Prevent that overload from mainly being to utilize the ground platform scale to the driving vehicle check weighing, have dynamic indeterminable problem.
The green channel open car for rain and sun, is used big canvas usually and is covered in whole compartment in transportation, makes the testing staff can't directly see the situation of lade in the compartment.The ratio of open car lade volume and whole compartment volume is called the cargo loading volume fraction, is called for short charging ratio.In order to prevent to carry secretly and overload, charging ratio is an important measurement index.When the charging ratio of open car hangs down, show in the not high then open car of goods accumulation to exist the probability of the entrainment of violating a ban little, otherwise then need the emphasis inspection; If obtained the charging ratio of open car, in conjunction with the proportion of compartment volume and lade, can obtain the weight of lade, judge thus whether open car overloads.
The method of obtaining charging ratio is at present mainly checked by manual work and is estimated.For rain and sun, all there is one deck canvas to hide usually outside the whole compartment of open car, the testing staff can raise canvas and check cargo height; Or ascending stair gets into the interior observation; These two kinds of methods all exist evaluated error big, the problem that accuracy rate can't guarantee, and canvas is by many lanyard; Raise the operation length consuming time of canvas, efficient is very low.
Summary of the invention
The objective of the invention is to utilize radar equipment to green channel open car admission radar return data; After the open car echo data handled; Find out the position of the echo of the goods surface generation that open car loads in the radar return data image, obtain the charging ratio of open car at last.
Electromagnetic wave can see through agricultural product transmission such as trees, vegetables and melon and fruit, and in the electromagnetic transmission process, fresh and live agricultural product has served as electromagnetic transmission medium.The velocity of propagation of electromagnetic wave in different medium there are differences, and different medium is also variant to absorption of electromagnetic wave and reflection potential, and the different medium that therefore in the radar return data image, appears can be distinguished each other.
The present invention utilizes the electromagnetic wave of radar antenna emission, and open car detects to green channel; When the open car of lade through the radar antenna below; Electromagnetic wave is by air borne in goods the time; Because the specific inductive capacity of air and goods is different, echo data can produce notable difference, in the radar return data image of open car, can find out the particular location of the goods outline line of goods surface echo data formation.Radar return data to open car are handled, and obtain the cargo loading volume fraction of open car at last, are called for short charging ratio.
The acquisition methods of open car charging ratio comprises following step:
Step 1: to open car admission radar return data;
The radar equipment of green passage open car is made up of antenna support frame, radar antenna, radar host computer and control computer.The antenna support frame is " door " font antenna holder; When open car is detected; With the radar antenna mouth down, be lifted on the centre position of antenna support frame, radar antenna links to each other with the radar host computer of placing on antenna support frame next door through cable; Communicate through USB (Universal Serial Bus abbreviates USB as) interface between radar host computer and the control computer.When open car passes through green channel vehicle detection point; Ordering about open car at the uniform velocity crosses from the radar antenna below with 3～8 kilometers/hour speed; Control computer is through radar host computer control radar antenna launching electromagnetic wave and receive the echo data of open car; After open car passed through the radar illumination zone fully, data recording was accomplished.
Step 2: uncoupling ripple and intercepting go out carriage area;
The radar return data of admission are arranged in the data matrix that the capable N of M is listed as by the sequencing of time, are shown as raw data image F, and wherein M is a sampling number that the reception echo comprises, and N is the total number that receives echo in the data recording time.Data among the raw data image F have passed through delivery and normalization is handled, and span is 0～1.Because transmitter and receiver splits and works the coupling influence that the received echoed signal of receiver can be transmitted simultaneously in the radar antenna.Transmit and be coupled to the beginning part that the coupled waves that receives in the signal concentrates on the reception signal, invalid information, subsequent treatment should be removed for ease.Coupled waves is shown as the horizontal stripe belt-like zone of the top in raw data image F.The weak signal zone that is close to below, this zone is the aerial echo of radar wave, with the difference of the data in coupled waves zone greater than 0.6.Value through analyzing coupled waves zone and weak signal zone distributes; Can confirm the estimated value H of the dead line position of coupled waves; Obtain the average I of all data that list in 1～H line range; Wherein the value of H is relevant with radar parameter, can estimate to obtain through observing raw data image F, and I is value in 0.6～1.Is the average of all data in the interval acquiring different rows interval since the 1st row with W; Just obtain the average of W * N data successively; Till average was less than I, this moment, this average was exactly the dead line position X of coupled waves in raw data image F less than the maximum row position that the capable interval of I comprises
1, wherein W rounds numerical value in 20～50 scope.Active data partly is the carriage area echo data of open car during detection; In the admission data procedures when open car is not in the range of exposures at radar wave; Radar wave shines directly into ground after through air borne; Receive the strong reflection ripple that echo comprises ground, echo data does not at this moment comprise the effective information of open car.The ground echo data are greater than 0.8, and are distributed on the multirow, remove the echo data that comprises ground echo, at first will obtain ground echo line position D, and the value of D and radar SF and ground are to the distance dependent of radar antenna.Each lists in the line range of D-100～D+100 the data number greater than 0.8 among the statistics raw data image F, and by corresponding columns series arrangement, forming length is the sequence Y of N, and getting among the sequence Y peaked 1/2～1/3 is the first thresholding T
1, the first thresholding T
1Round numerical value, as the number thresholding of search ground echo end column position and begin column position.The head end that lists the sequence Y of data number from correspondence the 1st begins caudad to do search, and first that obtains is less than the first thresholding T
1The corresponding column position of sequence member be the end column position Y of ground echo
1, corresponding, the tail end that lists the sequence Y of data number from corresponding N begins head-end and does search, and first that obtains is less than the first thresholding T
1The corresponding column position of sequence member be the begin column position Y of ground echo
2Echo line position X at the bottom of definite then compartment
2, end to the D-200 behavior from capable beginning of D, find out Y
1～Y
2Each lists first line position less than 0.3 data place in the row scope, if the Y that obtains
2-Y
1+ 1 line position difference each other is all less than 100, and the minimum value of getting in this N line position is X
2If, there is one in the difference greater than 100, then set X
2=D.The dead line position X that combines coupled waves again
1End column position Y with ground echo
1With begin column position Y
2, intercepting goes out carriage area image G from raw data image F.
Step 3: search goods outline line;
There are differences when utilizing electromagnetic wave in different medium, to propagate, especially from the air borne to the goods in the time difference more tangible principle, in carriage area image G, find out the position of goods surface echo data.The all corresponding data of each point among the carriage area image G, then a plurality of adjacent datas constitute line segment.The value of goods surface echo data is bigger than the value of echo data in the air; Generally greater than 0.5; Goods surface echo data are shown as the many rows bold curve section on the line direction in carriage area image G; Bold curve section among each row is extended distributions on column direction, and has between the segment of curve and be interrupted, and the segment of curve that difference is arranged are on the different line positions.Because the goods surface echo data in each row all are made up of the point in many rows segment of curve; Generally occupy 50～200 row; Setting wherein, the position of the point of line position minimum is the position of goods surface echo data; The minimum point of line position in the different lines constitutes a curve, is called the goods outline line, and the line position of goods outline line is the minimum value of the line position of the point in row's bold curve section of goods surface echo data the top in the respective column.At first to confirm the line position variation range of goods outline line during search goods outline line, the second thresholding T is set in 0.6～0.8 scope
2Value, the second thresholding T
2It is the search thresholding when confirming the line position variation range of goods outline line.In carriage area image G, since the 1st the row search for each row in first greater than the second thresholding T
2The line position of data, the minimum value that all B that obtain list in the line position is x
Min, maximal value is x
Max, set x
Min～x
MaxIt is the line position variation range of outline line.The value of adding up the goods outline line then distributes, and the 3rd thresholding T is set in 0.5～0.7
3Value, the 3rd thresholding T
3Be the value of the statistics goods outline line search thresholding when distributing, the 3rd thresholding T
3Value be less than the second thresholding T
2In the line position variation range of goods outline line, search for all greater than the 3rd thresholding T
3All data, minimum value wherein is V
Min, maximal value is V
MaxWith V
Min～V
MaxScope evenly be divided into ten intervals, obtain each interval in the distribution number of data, the central value in the interval that maximum number is corresponding is the 4th thresholding T
4, the 4th thresholding T
4It is exactly the search thresholding of confirming the line position of goods outline line.In each row, all seek first greater than the 4th thresholding T at last since the 1st row
4The line position of data, the line position that then obtains is exactly the line position of goods outline line in each row, has so just tentatively obtained the position distribution of goods outline line, correspondence be a series of points that are distributed on the different lines.
Step 4: get rid of disturbing factor;
Getting rid of disturbing factor is in order from the top goods outline line that tentatively obtains, to remove the point that belongs to tailstock echo data and entrainment echo data.The headstock of open car and the echo data of the tailstock also are shown as many bold curve sections sometimes greater than 0.5 in carriage area data image G, wherein the influence of the tailstock is especially obvious.Be interrupted owing on column direction, have between many rows bold curve section of goods surface echo data, maybe the tailstock echo data erroneous judgement of discontinuities below be the goods outline line during search, need to get rid of this disturbing factor.In addition, if violated entrainment is arranged in the open car, also possibly need judge with the erroneous judgement of entrainment echo data for the goods outline line.To the goods outline line position that tentatively obtains; At first to find out the abnormity point that belongs to tailstock echo data and entrainment echo data; Though the line position of tailstock echo data and entrainment echo data is all greater than the line position of goods outline line; But the goods outline line is the curve that fluctuating is arranged, and can not be only judges whether to be abnormity point according to the size of the line position of goods outline line mid point, but will see the difference of line position between the difference; If in the goods outline line that tentatively obtains certain any line position adjacent with this left and right sides each 10 list in 20 differences of line position a little and have one greater than 150, then demarcation this be abnormity point.Each abnormity point that obtains all will be handled, and to an abnormity point p, first intercepting is the maximum rectangle area image O in the lower left corner with p, and 0.6 times of value of establishing this abnormity point p is the 5th thresholding T
5, as the threshold value of conversion bianry image.According to the 5th thresholding T
5Area image O converts bianry image to this rectangle, utilizes the refinement computing in the mathematical morphology then, to obtaining refined image S behind the bianry image " refinement ".Near in refined image S several abnormity point of elder generation's searching p value is 1 starting point, all will carry out point search to each starting point.To one of them starting point q
1When carrying out point search, note Q is the set of the point that searches, and Q initially is made as empty set, at first with starting point q
1Be included into Q, then with q
1Be current reference point, the next value of search is 1 point in the R of hunting zone, and it is the rectangle region of search in the lower left corner with current reference point that hunting zone R is one, and counting of the length of region of search and wide correspondence rounds numerical value in 20～50 scope.If search next value and be 1 some q
2, need to judge q
2With among the Q whether have a few on a curve, basis for estimation is the coefficient of three rank fitting of a polynomials.If not on a curve with regard to cut-off point q
2, the next value of continuation search is 1 point, otherwise with q
2Be included into Q, and with q
2For current reference point continues in the R of the hunting zone next value of search is 1 point, by that analogy, is 1 point up to search less than next one value, and then the point search to a starting point finishes, and interior last point that is included into of Q this moment is q
nAfter point search finishes, need to judge whether the abnormity point p when pre-treatment belongs to tailstock echo data.Because being the tailstock baffle plate of lade surface, tailstock echo data produces; The minimum row position of tailstock echo data should be identical with the line position of the same goods outline line that lists; But consider the resolution of radar return and the precision problem of point search, possibly have difference between the line position of the minimum row position of tailstock echo data and the same goods outline line that lists.Point q
nLine position be exactly the minimum row position of tailstock echo data, according to engineering experience and concrete test operation, in 50～150 scopes, round numerical value as the 6th thresholding T
6, be used for judging this time point q
nLine position whether near the line position of the goods outline line in the same row.The 6th thresholding T
6Value more little, the false dismissal probability during actual detected is more little, but the probability of wrong report can increase simultaneously, and the 6th thresholding T
6Value when increasing, the probability of wrong report reduces, but false dismissal probability can increase.Like fruit dot q
nThe absolute value of difference of line position of line position and the goods outline line in the same row less than T
6, explain that the abnormity point p that handles this moment belongs to tailstock echo data, should finish processing to abnormity point p, directly reject, otherwise continue the next starting point of abnormity point p is carried out point search, to the last a starting point.If after having searched for last starting point, also fail rejecting abnormalities point p, after then the position of recording exceptional point p is the entrainment position, again abnormity point p is rejected.Analogize in proper order, each abnormity point is carried out the operation of above step successively after, just in the goods outline line, rejected all abnormity point.
Step 5: obtain charging ratio;
After having got rid of the disturbing factor of tailstock echo and entrainment echo, in order to obtain charging ratio, need to have rejected listing of abnormity point at all earlier and reset outline line, obtain that all list the particular location of goods outline line among the whole carriage area image G; Then; In carriage area image G, confirm roof line position Z; (A-Z) * and B obtains the compartment volume, is summed to the unloaded volume V in compartment again after the line position of the goods outline line in the B row is all deducted Z, and the compartment volume deducts the compartment, and unloaded volume (A-Z) * B-V is a measurement of cargo; At last, ((A-Z) * B-V)/((A-Z) * B) obtains the charging ratio of open car to measurement of cargo divided by the compartment volume.
The invention has the advantages that:
(1) the present invention for the green channel testing staff provide can reference the open car charging ratio, in the time can not observing directly interior, can understand the cargo loading situation of open car;
(2) whether the present invention exists violated entrainment that foundation is provided for detecting in the open car, can also screen out the haulage vehicle that does not meet the charging ratio requirement;
(3) method detection speed of the present invention is fast, and accuracy rate is high.
Description of drawings
Fig. 1 is a freeway green channel open vehicle load factor obtaining method process flow diagram of the present invention;
Fig. 2 is a freeway green channel open vehicle load factor deriving means structural drawing of the present invention;
Fig. 3 is the raw data image of open car of the present invention;
Fig. 4 is the carriage area image of intercepting of the present invention;
The location map of the goods outline line that Fig. 5 tentatively obtains for the present invention;
Fig. 6 is the corresponding refined image of abnormity point of the present invention;
Fig. 7 is the corresponding matched curve figure of abnormity point of the present invention.
| Among the figure: | 1. antenna support frame | 2. radar antenna | 3. radar host computer |
| 4. control computer | 5. open car | 6. goods is surperficial |
Embodiment
To combine accompanying drawing and embodiment that the present invention is done further detailed description below.
The present invention is through the green channel open car 5 admission radar return data of radar equipment to running on expressway; After the radar return data are handled; Obtain a ratio that characterizes open car 5 charging ratios, processing procedure is as shown in Figure 1, comprises following five steps:
Step 1: to open car admission radar return data;
The radar equipment of green passage open car 5 is made up of antenna support frame 1, radar antenna 2, radar host computer 3 and control computer 4.When open car 5 is detected; Radar antenna 2 mouth downs; Be lifted on the centre position of antenna support frame 1, radar antenna 2 links to each other with the radar host computer of placing on antenna support frame 1 next door 3 through cable, communicates through USB interface between radar host computer 3 and the control computer 4.When open car 5 passes through green channel vehicle detection point; Ordering about open car 5 at the uniform velocity crosses from radar antenna 2 belows with 3～8 kilometers/hour speed; Control computer 4 is through radar host computer 3 control radar antennas, 2 launching electromagnetic waves and receive the echo data of open car 5; After open car 5 passed through the irradiation area of radar antenna 2 fully, data recording was accomplished.
As shown in Figure 2, antenna support frame 1 is " door " font antenna holder, stands vertically on the ground.Radar antenna 2 mouth downs are lifted on the centre position of antenna support frame 1, link to each other with the radar host computer of placing on antenna support frame 1 next door 3 through cable, communicate through USB interface between radar host computer 3 and the control computer 4.As green channel open car 5 when radar antenna 2 belows are passed through; Control computer 4 is through radar host computer 3 sending controling instructions and parameter instruction; Make radar antenna 2 launching electromagnetic wave and receive echo data under the parameters of corresponding open car 5, can obtain the radar return data of open car 5 various pieces.
Step 2: uncoupling ripple and intercepting go out carriage area;
After echo data has been enrolled in 2 pairs of open cars 5 that pass through from the below of radar antenna; Just form a radar return data matrix; Processing is afterwards all carried out around this radar return data matrix; All as a pixel, then the radar return data matrix constitutes a width of cloth raw data image, is designated as F with each data in the radar return data matrix.
Radar antenna 2 emissions is pulse signal among the present invention, forms a line after the sampling of a reception echo pulse signal, and a plurality of reception echo pulse signals are made row alignment by the sequencing of time of reception and arranged, and form the radar return data matrix.Data after the sampling are plural numbers, need adopt linear function conversion carrying out normalization to handle then to all the data elder generation deliverys in the radar return data matrix, and the span of data is 0～1 after the normalization.If received N row echo pulse signal during to open car 5 admission data altogether; The sampling number of every row echo pulse signal is M; Just obtain the radar return data matrix of the capable N row of M, the data of the capable j row of the i of this radar return data matrix be designated as data (i, j); Corresponding is i sampled value of j echo pulse signal, wherein N and actual data recording time T
RPRF is relevant with pulse repetition rate, and value is T
R* PRF removes the round values after the fraction part, M and time of reception window length T
WWith SF F
SRelevant, value is T
W* F
SRemove the round values after the fraction part, the i value is got the round values in 1～M scope, and j value is got the interior round values of 1～N scope.In the radar return data matrix, line number 1～M arranges from top to bottom, and columns 1～N arranges from left to right; The value of the data of each particular locations all is the sampled value of echo pulse signal, that is to say that data (1,1) are positioned at the upper left corner of data matrix; The value of these data is the 1st sampled values of the 1st echo pulse signal; (M N) is positioned at the lower right corner of data matrix to data, and the value of these data is M sampled values of N echo pulse signal.Because the data recording time T of the open car 5 of different length
RDifference, and pulse repetition rate PRF also can change, so the N value can respective change.Equally, time of reception window length T
WWith SF F
SDuring variation, the M value also can respective change, so the concrete size of data matrix is indefinite.
The raw data image F of typical open car 5 is as shown in Figure 3.The data recording time T that this raw data image is corresponding
RBe 13.2s, pulse repetition rate PRF is 128, time of reception window length T
WBe 68.3ns, SF F
SBe 30GHz, therefore enrolled 1689 row echo pulse signals altogether, the sampling number of every row echo pulse signal is 2049.As can be seen from the figure horizontal ordinate is represented 1～1689 columns scope, and ordinate is represented 1～2049 line number scope.Data in image value in 0～1, the scale strip on image the right has indicated the gray scale of different value representative.Demonstrate the radar return data of open car 5 among Fig. 3 from headstock to tailstock various piece.
Because transmitter and receiver splits and works the coupling influence that the received echoed signal of receiver can be transmitted simultaneously in the radar antenna 2.Transmit and be coupled to the beginning part that the coupled waves that receives in the signal concentrates on the reception signal, belong to invalid information.As can be seen from Figure 3; Coupled waves is shown as the horizontal stripe belt-like zone of the top in raw data image F; Each band all occupies the N row, be distributed on the several rows, and the data on the band is all greater than 0.8; Have 3 bands among Fig. 3, each coupled waves bar interband also has 5～10 line data less than 0.3 be interrupted.The weak signal zone that is close to this horizontal stripe belt-like zone below is the aerial echo data of radar wave of emission, and little of the value of the data that the value of the data in this weak signal zone is more regional than coupled waves are generally less than 0.3 more.When radar antenna 2 parameters fixedly the time, the dead line position X of the coupled waves of reception in raw data image F
1Constant, in the reality because radar parameter is different, coupled waves dead line position X
1Value indefinite.Coupled waves dead line position X can be set earlier
1Estimated value H.Because H is an estimated value, do not require accurately, can obtain through observing raw data image F.Observe last band in the coupled waves zone behind the enlarged image F; The rough span of confirming the dead line position of this band; The value of H is greater than the maximal value that this span comprises, but can not be greater than the minimum row position that the vehicle echo data occurs, as can be seen from Figure 3 data greater than the dead line position of last band in 0.8 coupled waves zone between 50～150; And the minimum row position that the vehicle echo data occurs is greater than 200, and then H can be made as 200.Try to achieve the average I of all the H * N that lists data in 1～H line range then.In order to obtain more accurate coupled waves dead line position than H, be the line range of dividing 1～H at interval with W, suppose can be divided into k at most
WIndividual row is interval, then (k
W+ 1) * W＞H.Owing to also have less than 0.3 between each coupled waves band, occupy being interrupted of 1～10 row, so W rounds numerical value in 20～50, and can not be greater than H/3.Obtain the interval 1～W of row successively, W+1～2 * W, 2 * W+1～3 * W ..., (k
W-1) * W+1～k
WThe average of all data that list the in * W is the average that the interval obtains W * N data successively with W since the 1st row just, and establishing first average is k less than the capable interval of I
iIndividual row is interval, then the maximal value k that comprises of this row interval
i* W is exactly coupled waves dead line position, is designated as X
1, X
1Get the round values in 1～M.Concerning raw data image shown in Figure 3, the average I that tries to achieve is 0.4116, and the value of W is made as 20, and it is interval to have divided 10 row, and first average is that the 6th row is interval less than the capable interval of I, then X
1Value be 120.
Active data partly is the carriage area echo data of open car 5 during processing; In the admission data procedures when open car 5 is not in the range of exposures at radar wave; The electromagnetic wave of radar antenna 2 emission shines ground after through air borne, receives the direct strong reflection ripple that echo has comprised ground, is shown as between Fig. 3 two ends ordinate 900～1100 row the ground echo data greater than 0.8; At this moment echo data does not include effective information, need remove.After radar antenna 2 stationkeeping, ground and radar antenna 2 distances are constant, and the position of ground echo data in Fig. 3 is also constant, can confirm ground echo line position D according to actual conditions, and the value of D is 2*R
D* F
S/ C removes the round values after the fraction part, wherein R
DBe the vertical range of radar antenna 2 to ground, F
SBe SF, C is the light velocity.For raw data image shown in Figure 3, R
DBe 5 meters, then ground echo line position D is 1000.As can be seen from Figure 3, when open car 5 passed through radar antenna 2 belows, the ground echo data have at the image middle part was interrupted, and what discontinuities showed is exactly the echo data of open car 5, and the column position at discontinuities two ends is respectively ground echo end column position Y
1With begin column position Y
2Each lists the number greater than 0.8 data in D-100～D+100 line range among the statistics raw data image F, and by corresponding columns series arrangement, having obtained length is the sequence Y of N, and getting peaked 1/2～1/3 of Y is the first thresholding T
1, the first thresholding T
1Round numerical value, as the number thresholding of end of search ground echo and begin column position.The head end that lists the sequence Y of data number from correspondence the 1st begins caudad to do search, and first that obtains is less than the first thresholding T
1The corresponding column position of sequence member be the end column position Y of ground echo
1, corresponding, the tail end that lists the sequence Y of data number from corresponding N begins head-end and does search, and first that obtains is less than the first thresholding T
1The corresponding column position of sequence member be the begin column position Y of ground echo
2, Y
1And Y
2All get the round values in 1～N, and Y
1≤Y
2The Y that raw data image among Fig. 3 is corresponding
1Be 569 row, Y
2Be 1302 row.
Also need confirm the echo line position X at the bottom of the compartment at last
2, in raw data image F, be benchmark with ground echo line position D, end to the D-200 behavior from capable beginning of D, at Y
1～Y
2Find out in every row first line position in the row scope, obtained Y less than 0.3 data
2-Y
1+ 1 line position is if these line positions difference is each other then got this Y all less than 100
2-Y
1Minimum value in+1 line position is the echo line position X at the bottom of the compartment
2But sometimes because the propagation attenuation of echo in goods is strong, and the echo data at the bottom of the compartment is less than 0.3, show not obvious, the Y that then obtains
2-Y
1One of difference between+1 line position maybe be greater than 100, at this moment can directly set ground echo line position D and be the echo line position X at the bottom of the compartment
2Carry out subsequent treatment.This moment in raw data image F intercepting X
1～X
2OK, Y
1～Y
2All data between the row, the carriage area image G that obtains is effective compartment area image of open car 5.Capable B is listed as if the matrix that carriage area image G is corresponding is A, wherein A=X
2-X
1+ 1, B=Y
2-Y
1+ 1.Echo among Fig. 3 at the bottom of the compartment shows and is not obvious, X
2=D=1000, in conjunction with before the Y that obtains
1, Y
2And X
1Value, intercepting 120～1000 row, the carriage area image G that all data between 569～1302 row constitute provides in Fig. 4, corresponding A value is 881, the B value is 734.
Step 3: search goods outline line;
Because the difference of specific inductive capacity, electromagnetic wave 6 o'clock on the goods surface in 5 from the air borne to the open car, the value of echo data has obvious variation, and this variation is reflected to the goods surface echo data that just formed differentiation air and goods in the 2-D data image.The all corresponding data of each point among the carriage area image G, then a plurality of adjacent datas constitute line segment.The echo data on goods surface 6 is shown as the many rows bold curve section on the line direction in carriage area image G, the bold curve section among each row is extended distributions on column direction, and has between the segment of curve and be interrupted, and the segment of curve that difference is arranged are on the different line positions.The value of goods cross-sectional data is bigger than the value of echo data in the air, generally greater than 0.5.Because the goods surface echo data in each row all are made up of the point in many rows segment of curve; Generally occupy 50～200 row; Setting wherein, the position of the point of line position minimum is the position of goods surface echo data; The minimum point of line position in the different lines constitutes a curve, is called the goods outline line, and the line position of goods outline line is the minimum value of the line position of the point in row's bold curve section of goods surface echo data the top in the respective column.Can find out has tangible goods surface echo data among Fig. 4, in ordinate 380～480 row many rows bold curve section greater than 0.5 is arranged among the figure.
The goods surface 6 of loading in the open car 5 in the reality is not a plane, and as can be seen from Figure 4 the line position of goods outline line changes on the different lines, confirm to search for the 4th thresholding T of goods outline line
4, need know the line position variation range of goods outline line, otherwise the data greater than 0.5 of goods outline line below can influence the 4th thresholding T
4Setting.In addition, open car 5 lade situation are various in the reality, and the line position variation range of goods outline line is indefinite; Some goods such as watermelon because water cut is big, heavy, generally can only be adorned more than half car and can not fill; Otherwise can be overweight, and other goods such as banana can be filled car load usually.Therefore the goods outline line to be searched for and the line position variation range of goods outline line must be confirmed earlier.Each row among the carriage area image G are sought first greater than the second thresholding T since the 1st row
2Data, write down the line position of these data, all B that obtain list the minimum value x in the line position
MinTo maximal value x
MaxBe the roughly line range at goods outline line place, the value of adding up the goods outline line then distributes, and the 3rd thresholding T is set in 0.5～0.7
3Value, the 3rd thresholding T
3Be the value of the statistics goods outline line search thresholding when distributing, the 3rd thresholding T
3Value be less than the second thresholding T
2At x
Min～x
MaxLine range in, the record B list all greater than the 3rd thresholding T
3Data, minimum value wherein is V
Min, maximal value is V
Max, the x that the carriage area image G that provides among Fig. 4 is corresponding
MinBe 249, x
MaxBe 465, V
MinBe 0.53, V
MaxBe 0.84.With V
Min～V
MaxScope evenly be divided into ten intervals, obtain each DATA DISTRIBUTION number in interval, wherein the central value in the pairing interval of maximum number is the 4th thresholding T of search goods outline line
4In carriage area image G, each column data is all sought first greater than the 4th thresholding T since the 1st row then
4The line position of data; The line position that then obtains is exactly the line position of goods outline line in each row; Tentatively obtained the line position that all B list the goods outline line thus and distributed, corresponding is a series of points that are distributed on the different lines, as shown in Figure 5; Wherein horizontal ordinate is the column position of point in carriage area image G, and ordinate is the line position of point in carriage area image G.
Step 4: get rid of disturbing factor;
Getting rid of disturbing factor is in order from the top goods outline line that tentatively obtains, to remove the point that belongs to tailstock echo data and entrainment echo data.The headstock of open car 5 and the echo data of the tailstock also are shown as many bold curve sections sometimes greater than 0.5 in carriage area image G, wherein the influence of the tailstock is especially obvious.Because goods surface echo data are made up of the discontinuous bold curve section of many rows; Being interrupted of 20～40 row arranged between column direction upper curve section; Possibly be the goods outline line with the tailstock echo data erroneous judgement of discontinuities below during search, need judge and get rid of this disturbing factor.On the other hand, if violated entrainment is arranged in the open car 5, also possibly also need judge with the erroneous judgement of entrainment echo data for the goods outline line.Though the line position of tailstock echo data and entrainment echo data is all greater than the line position of goods outline line; But the goods outline line has fluctuating; Can not be only judge, but will see the difference of line position between the difference according to the size of the line position of goods outline line mid point.If in the goods outline line that tentatively obtains certain any line position adjacent with this left and right sides each 10 list in 20 differences of line position a little and have one greater than 150, then demarcation this be abnormity point.
The headstock of open car 5 and tailstock echo data are shown as two cross curves that are made up of many bold curve sections in Fig. 4; Wherein the influence of the tailstock is especially obvious; In the goods outline line position distribution that tentatively obtains that Fig. 5 provides, just have the tailstock echo data erroneous judgement with goods outline line below to be the situation of goods outline line, the small arrow among the figure has been pointed to an abnormity point that belongs to this situation; The position is (763,389).
Each abnormity point will be handled respectively, and to one of them abnormity point p, the concrete steps of processing are: the position of establishing abnormity point p is (i
p, j
p), the value of these position data is m
p, i wherein
pBe the line position of this abnormity point in carriage area image G, j
pBe the column position of abnormity point in carriage area image G, m
pThat corresponding is j
pThe i of individual echo pulse signal
pIndividual sampled value.At first in the cut-away view picture all line positions smaller or equal to i
pAnd column position is more than or equal to j
pThe data area formed of point, be the maximum rectangle data image O in the lower left corner with abnormity point p among the carriage area image G just, the line position of data and column position will be reset among the image O, with different in G, that is to say the data (i among the G
p-i
k, j
p+ j
k) in O, be designated as data (i in addition
p-i
k, j
k+ 1), this operation does not influence subsequent step.Set the 5th thresholding T
5Be 0.6 * m
p, as the threshold value of conversion bianry image.According to the 5th thresholding T
5O transfers bianry image to the rectangle data image, that is to say more than or equal to the 5th thresholding T
5Data become 1, will be less than the 5th thresholding T
5Data become 0.Utilize the refinement computing of deriving by switch change-over in the mathematical morphology then, this bianry image is carried out " refinement ", obtain refined image S at last.Fig. 6 has provided the corresponding refined image of the abnormity point that small arrow is pointed out among Fig. 5, and comparison diagram 4 can find out that " refinement " operation has become the bold curve section of tailstock echo data into thin segment of curve, is convenient to next step point search.
At first in refined image S, find out near several starting points of abnormity point p, need carry out point search each starting point.If one of them starting point q
1The position be (i
1, j
1), then put q
1Value be 1, and satisfy | i
1-i
p|+| j
1-j
p|＜100.To starting point q
1When carrying out point search, establish earlier record searching to the set of point be Q, Q is initially empty set, at first with starting point q
1Be included into Q, then with q
1In the R of hunting zone, searching for next value for current reference point is 1 point, and it is the rectangle region of search in the lower left corner with current reference point that hunting zone R is one, and counting of the length of region of search and wide correspondence rounds numerical value in 20～50 scope.Search order in the R of hunting zone is: at first press each row of columns sequential search from small to large, each is gone by line number sequential search from big to small in each row.If search next value and be 1 some q
2, need to judge q
2With among the Q whether have a few on a curve, basis for estimation is the coefficient of three rank fitting of a polynomials.Respectively pair set Q with comprise q
2Set { Q, q
2Carry out three rank fitting of a polynomials, obtain two groups of fitting coefficients, every group has four fitting coefficients respectively, asks absolute value after corresponding fitting coefficient subtracts each other, with four absolute value additions, and if greater than 0.1 with regard to cut-off point q
2, the next value of continuation search is 1 point, otherwise with q
2Be included into Q, and with q
2For current reference point continues in the R of the hunting zone next value of search is 1 point, by that analogy, and till search is at 1 less than next one value, then at this moment to starting point q
1Point search finish, write down the some q that last is included among the Q at last
nThe position be (i
n, j
n).
After the point search end to a starting point, need judge whether the abnormity point p of current search belongs to tailstock echo data.Because being the tailstock baffle plate of 6 tops, goods surface, tailstock echo data produces; The minimum row position of tailstock echo data should be identical with the line position of the same goods outline line that lists; But consider the resolution of radar return and the precision problem of point search, possibly have difference between the line position of the minimum row position of tailstock echo data and the same goods outline line that lists.Point q
nLine position be exactly the minimum row position of tailstock echo data.According to engineering experience and concrete test operation, in 50～150 scopes, round numerical value as the 6th thresholding T
6, be used for judging point q
nLine position i
nWhether near j
nThe line position U of goods outline line in the row, the 6th thresholding T
6Value more little, the false dismissal probability during actual detected is more little, but the probability of wrong report can increase simultaneously, and the 6th thresholding T
6Value when increasing, the probability of wrong report reduces, but false dismissal probability can increase.If | U-i
n|＜T
6, explain that the abnormity point p of this moment belongs to tailstock echo data, should finish processing to abnormity point p, directly reject, otherwise continue the next starting point of abnormity point p is carried out point search, to the last a starting point.If after having searched for last starting point, also fail rejecting abnormalities point p, after then the position of recording exceptional point p is the entrainment position, again abnormity point p is rejected.When handled for the abnormity point of (763,389) position that small arrow among Fig. 5 is pointed out, the position of starting point in refined image S of finding was (765; 4), this starting point carried out point search after, be convenient the observation; To doing three rank fitting of a polynomials in the Q a little, the matched curve figure that obtains provides in Fig. 7, can see that circle has marked last point; The position is (427,215), simultaneously; It is the 215+389-1=603 row that the 215th row correspond among the carriage area image G, and the line position of goods outline line is 413 in the 603rd row, at this moment the 6th thresholding T
6Be made as 80, | 427-413|＜80, therefore directly with this abnormity point elimination.
Step 5: obtain charging ratio;
After having got rid of the disturbing factor of the tailstock and entrainment, in order to obtain charging ratio, need to have rejected listing of abnormity point at all earlier and reset the goods outline line, obtain that all list the particular location of goods outline line in the whole compartment image G; Then; In carriage area image G, confirm roof line position Z; (A-Z) * and B obtains the compartment volume, is summed to the unloaded volume V in compartment again after the line position of the goods outline line in the B row is all deducted Z, and the compartment volume deducts the compartment, and unloaded volume (A-Z) * B-V is a measurement of cargo; At last, ((A-Z) * B-V)/((A-Z) * B) obtains the charging ratio of open car 5 to measurement of cargo divided by the compartment volume.
List when resetting the goods outline line rejecting abnormalities point some, setting principle is approaching with original goods outline line, and newly-installed point can be connected with near the point that lists original goods outline line mutually.If at I
1List and rejected abnormity point and I
1-1 row and I
1+ 1 lists and does not have abnormity point, establishes I
1-1 row and I
1The line position of the goods outline line of+1 row is respectively J
1And J
2, then when I listed the point of resetting the goods outline line, the line position of point was to (J
1+ J
2Value behind the round of)/2.If at I
1～I
nAbnormity point, wherein I have all been rejected in the row
n＞I
1, and I
1-1 row and I
n+ 1 lists and does not have abnormity point, and corresponding line position is respectively J
3And J
4, then at I
1～I
nList all and will establish the point that goods is put outline line again, the line position of point is followed successively by J
3+ k * (J
4-J
3)/(I
n-I
1+ 2) value behind the round, k=1 wherein, 2 ..., (I
n-I
1), list the point that the goods outline line is all arranged at all B at last.
Generally speaking, open car 5 can install many cross bars that are arranged in parallel additional at roof in order to load more goods, links to each other with the car wall of both sides, compartment, and the extreme higher position of cross bar can be assumed to roof.If do not install cross bar additional, suppose that then extreme higher position, goods surface is a roof.Radar wave is propagated in air before shining cross bar or goods surface; The radar return data distribute very close in the value that lists; And the echo data that shines after cross bar or the goods surface has been distributed with great changes in the value that lists; Confirm the roof line position according to these characteristics, find, be assumed to roof line position Z from the nearest cross bar echo of radar antenna 2 or the line position of goods surface echo.From the 1st row beginning of carriage area image G, obtain the standard deviation of the data on the different lines in each row successively, till the standard deviation of certain delegation was greater than 0.1, then this line position was roof line position Z, (A-Z) * B is the compartment volume.Be summed to the unloaded volume V in compartment again after the line position of the goods outline line in the B row all deducted Z; The compartment volume deducts the compartment zero load, and volume (A-Z) * B-V is a measurement of cargo, and ((A-Z) * B-V)/((A-Z) * B) is exactly the charging ratio of open car 5 to measurement of cargo divided by the compartment volume.The staff can be with reference to the size of charging ratio; In the time can not observing directly interior; Can understand the cargo loading situation to a certain extent; Screen out the haulage vehicle that does not meet the charging ratio requirement, in addition, whether the entrainment position of writing down in the step 4 also can exist violated entrainment that reference frame is provided for detecting in the open car 5.
Claims (8)
1. a freeway green channel open vehicle load factor obtaining method is characterized in that, this method comprises the steps:
Step 1: to open car admission radar return data;
When open car (5) is detected; Radar antenna (2) mouth down is lifted on and stands vertically on the ground; Be shaped as the centre position of the antenna support frame (1) of " door " font; Radar antenna (2) links to each other with the radar host computer of placing on antenna support frame (1) next door (3) through cable, communicates through USB between radar host computer (3) and the control computer (4);
When open car (5) passes through green channel vehicle detection point; Ordering about open car (5) at the uniform velocity crosses from radar antenna (2) below with 3～8 kilometers/hour speed; Control computer (4) is through radar host computer (3) control radar antenna (2) launching electromagnetic wave and receive the echo data of open car (5); After open car (5) passed through the irradiation area of radar antenna (2) fully, data recording was accomplished;
Step 2: uncoupling ripple and intercepting go out carriage area;
After radar antenna (2) has been enrolled echo data to the open car (5) that passes through from its below; Just form a radar return data matrix; All as a pixel, then the radar return data matrix constitutes a width of cloth raw data image, is designated as F with each data in this radar return data matrix;
The dead line position of coupled waves in raw data image F is X
1, the echo line position at the bottom of the compartment is X
2Open car (5) is Y through the end column position of ground echo before and after the radar antenna (2)
1, the begin column position is Y
2
Intercepting X in raw data image F
1～X
2OK, Y
1～Y
2All data between the row, the carriage area image G that obtains is effective compartment area image of open car (5);
Capable B is listed as if the matrix that carriage area image G is corresponding is A, wherein line number A=X
2-X
1+ 1, columns B=Y
2-Y
1+ 1;
Step 3: search goods outline line;
At first confirm the line position variation range of goods outline line, the second thresholding T
2Be the search thresholding when confirming the line position variation range of goods outline line, value in 0.6～0.8 scope is sought first greater than the second thresholding T to each row among the carriage area image G since the 1st row
2The line position of data, all B that obtain list the minimum value x in the line position
MinTo maximal value x
MaxIt is the line position variation range of goods outline line;
The data value of adding up the goods outline line then distributes, and the 3rd thresholding T is set in 0.5～0.7
3Value, the 3rd thresholding T
3Be the data value of the statistics outline line search thresholding when distributing, the 3rd thresholding T
3Value be less than the second thresholding T
2At x
Min～x
MaxLine range in the search all greater than the 3rd thresholding T
3Data, minimum value wherein is V
Min, maximal value is V
MaxWith V
Min～V
MaxScope evenly be divided into ten intervals, obtain each interval in the distribution number of data, the central value in the interval that maximum number is corresponding is the 4th thresholding T
4, the 4th thresholding T
4Search thresholding as the line position of confirming the goods outline line;
In carriage area image G, each column data is all sought first greater than the 4th thresholding T since the 1st row at last
4The line position of data, the line position that then obtains is exactly the line position of goods outline line in each row, tentatively obtained the line position that all B list the goods outline line thus and distributed;
Step 4: get rid of disturbing factor;
The all corresponding data of each point among the carriage area image G; At first demarcate abnormity point; If in the goods outline line that tentatively obtains certain any line position adjacent with this left and right sides each 10 list in 20 differences of line position a little and have one greater than 150, then demarcation this be abnormity point;
Will handle respectively each abnormity point then, establish p and be one of them abnormity point, the concrete steps of processing are: the position of establishing abnormity point p is (i
p, j
p), the value of these position data is m
p, i wherein
pBe the line position of this abnormity point in carriage area image G, j
pBe the column position of abnormity point in carriage area image G, m
pThat corresponding is j
pThe i of individual echo pulse signal
pIndividual sampled value;
All line positions are smaller or equal to i in the cut-away view picture
pAnd column position is more than or equal to j
pThe data area formed of point, be the maximum rectangle data image O in the lower left corner with abnormity point p among the carriage area image G just; Set the 5th thresholding T
5Be 0.6 * m
p, as the threshold value of conversion bianry image; According to the 5th thresholding T
5O converts bianry image into image, will be more than or equal to the 5th thresholding T
5Data become 1, will be less than the 5th thresholding T
5Data become 0; Utilize the refinement computing of deriving by switch change-over in the mathematical morphology then, this bianry image is carried out " refinement ", obtain refined image S at last;
At first in refined image S, find out near the starting point of this abnormity point p, each starting point is carried out point search; One of them starting point q
1The position be (i
1, j
1), then put q
1Value be 1, and satisfy | i
1-i
p|+| j
1-j
p|＜100;
To starting point q
1When carrying out point search, establish earlier record searching to the set of point be Q, Q is initially empty set, at first with starting point q
1Be included into Q, then with q
1In the R of hunting zone, searching for next value for current reference point is 1 point; If search next value and be 1 some q
2, need to judge q
2With among the Q whether have a few on a curve, basis for estimation is the coefficient of three rank fitting of a polynomials; Respectively pair set Q with comprise q
2Set { Q, q
2Carry out three rank fitting of a polynomials, obtain two groups of fitting coefficients, every group has four fitting coefficients respectively, asks absolute value after corresponding fitting coefficient subtracts each other, with four absolute value additions that obtain, and if greater than 0.1 with regard to cut-off point q
2, the next value of continuation search is 1 point, otherwise with q
2Be included into Q, and with q
2For current reference point continues in the R of the hunting zone next value of search is 1 point, by that analogy, and till search is at 1 less than next one value, at this moment to starting point q
1Search finish, write down last the some q that is included among the Q at last
nThe position be (i
n, j
n);
Obtaining a q
nThe position after, judge whether the abnormity point p when pre-treatment belongs to tailstock echo data; In 50～150 scopes, round the 6th thresholding T of numerical value
6, be used for judging point q
nLine position i
nWhether near j
nThe line position U of goods outline line in the row; The 6th thresholding T
6Value more little, the false dismissal probability during actual detected is more little, but the probability of wrong report can increase simultaneously, and the 6th thresholding T
6Value when increasing, the probability of wrong report reduces, but false dismissal probability can increase; If | U-i
n|＜T
6, explain that the abnormity point p of this moment belongs to tailstock echo, should finish processing to abnormity point p, directly reject, otherwise continue the next starting point of abnormity point p is carried out point search, to the last a starting point; If after having searched for last starting point, also fail rejecting abnormalities point p, after then the position of recording exceptional point p is the entrainment position, again abnormity point p is rejected;
Step 5: obtain charging ratio;
After having got rid of the disturbing factor of the tailstock and entrainment,, rejected listing of abnormity point at all and reset the goods outline line, obtained that all list the particular location of goods outline line in the whole carriage area image G in order to obtain charging ratio; Then; In carriage area image G, confirm roof line position Z; (A-Z) * and B obtains the compartment volume, is summed to the unloaded volume V in compartment again after the line position of the goods outline line in the B row is all deducted Z, and the compartment volume deducts the compartment, and unloaded volume (A-Z) * B-V is a measurement of cargo; At last, ((A-Z) * B-V)/((A-Z) * B) obtains the charging ratio of open car (5) to measurement of cargo divided by the compartment volume.
2. a kind of freeway green channel open vehicle load factor obtaining method according to claim 1; It is characterized in that the radar return data matrix described in the step 2 is to do the row alignment arrangement by a plurality of echo pulse signals that form a line by the sequencing of time of reception to form;
Data after the sampling are plural numbers, and all the data elder generation deliverys in the radar return data matrix adopt linear function conversion carrying out normalization to handle then, and the span of data is 0～1 after the normalization;
If received N row echo pulse signal altogether during to open car (5) admission data, the sampling number of every row echo pulse signal is M, obtains the radar return data matrix of the capable N row of M; The data of the capable j row of the i of this radar return data matrix are designated as data, and (i, j), corresponding is i sampled value of j echo pulse signal, wherein N and actual data recording time T
RPRF is relevant with pulse repetition rate, and value is T
R* PRF removes the round values after the fraction part, M and time of reception window length T
WWith SF F
SRelevant, value is T
W* F
SRemove the round values after the fraction part, the i value is got the round values in 1～M scope, and j value is got the interior round values of 1～N scope;
In the radar return data matrix, line number 1～M arranges from top to bottom, and columns 1～N arranges from left to right; The value of the data of each particular locations all is the sampled value of echo pulse signal, that is to say that data (1,1) are positioned at the upper left corner of data matrix; The value of these data is the 1st sampled values of the 1st echo pulse signal; (M N) is positioned at the lower right corner of data matrix to data, and the value of these data is M sampled values of N echo pulse signal.
3. according to a kind of freeway green channel open vehicle load factor obtaining method described in the claim 1, it is characterized in that the distribution range of the coupled waves described in the step 2 concentrates on the beginning part that receives signal, belongs to invalid information; Coupled waves is shown as the horizontal stripe belt-like zone of the top in raw data image F, each band all occupies the N row, and the data on each band are all greater than 0.8.
4. according to a kind of freeway green channel open vehicle load factor obtaining method described in the claim 1, it is characterized in that the dead line position X of the coupled waves described in the step 2 in raw data image F
1Definite method following:
When radar antenna (2) parameter fixedly the time, the dead line position X of the coupled waves of reception in raw data image F
1Constant; Coupled waves dead line position X at first is set
1Estimated value H; H is an estimated value; Obtain through observing raw data image F: observe last band in the coupled waves zone after amplifying raw data image F; The rough span of confirming the dead line position of this band, the value of H is greater than the maximal value that this span comprises, but is not more than the minimum row position that the vehicle echo data occurs;
Try to achieve the average I of all the H * N that lists data in 1～H line range then; In order to obtain more accurate coupled waves dead line position than H, be the line range of dividing 1～H at interval with W, establish and be divided into k at most
WIndividual row is interval, then (k
W+ 1) * W＞H; W rounds numerical value in 20～50, and is not more than H/3; Obtain the interval 1～W of row successively, W+1～2 * W, 2 * W+1～3 * W ..., (k
W-1) * W+1～k
WThe average of all data that list the in * W is the average that the interval obtains W * N data successively with W since the 1st row, and establishing first average is k less than the capable interval of I
iIndividual row is interval, then the maximal value k that comprises of this row interval
i* W is exactly coupled waves dead line position X
1, X
1Get the round values in 1～M.
5. according to a kind of freeway green channel open vehicle load factor obtaining method described in the claim 1, it is characterized in that the end column position Y of the ground echo described in the step 2
1With begin column position Y
2Definite method following:
After radar antenna (2) stationkeeping, ground and radar antenna (2) distance is constant, and the position of ground echo data in raw data image F is also constant, and the value of ground echo line position D is 2 * R
D* F
S/ C removes the round values after the fraction part, wherein R
DBe the vertical range of radar antenna (2) to ground, F
SBe SF, C is the light velocity;
When open car (5) passed through radar antenna (2) below, the ground echo data have at the image middle part was interrupted, and what discontinuities showed is exactly the echo data of open car (5), and the column position at discontinuities two ends is respectively ground echo end column position Y
1With begin column position Y
2Among the statistics raw data image F in D-100～D+100 line range in each row greater than the number of 0.8 data, the columns series arrangement by corresponding obtains the sequence Y that length is N, getting peaked 1/2～1/3 in the data of composition sequence Y is the first thresholding T
1, the first thresholding T
1Round numerical value, as the number thresholding of end of search ground echo and begin column position; The head end that lists the sequence Y of data number from correspondence the 1st begins caudad to do search, and first that obtains is less than the first thresholding T
1The corresponding column position of sequence member be the end column position Y of ground echo
1, corresponding, the tail end that lists the sequence Y of data number from corresponding N begins head-end and does search, and first that obtains is less than the first thresholding T
1The corresponding column position of sequence member be the begin column position Y of ground echo
2, Y
1And Y
2All get the round values in 1～N, and Y
1≤Y
2
6. according to a kind of freeway green channel open vehicle load factor obtaining method described in the claim 1, it is characterized in that the echo line position X at the bottom of the compartment described in the step 2
2Definite method following:
In raw data image F, be benchmark with ground echo line position D, end to the D-200 behavior from capable beginning of D, at Y
1～Y
2Find out in every row first line number in the row scope, obtain Y less than 0.3 data
2-Y
1+ 1 line position;
If these line positions difference each other, is then got minimum value in these line positions echo line position X at the bottom of as the compartment all less than 100
2
If one of these line positions difference each other is greater than 100, at this moment directly with the echo line position X of ground echo line position D at the bottom of as the compartment
2
7. according to a kind of freeway green channel open vehicle load factor obtaining method described in the claim 1; It is characterized in that; It is the rectangle region of search in the lower left corner with current reference point that hunting zone R described in the step 4 is one, and counting of the length of region of search and wide correspondence rounds numerical value in 20～50 scope.
8. according to a kind of freeway green channel open vehicle load factor obtaining method described in the claim 1; It is characterized in that; The order of in the R of hunting zone, carrying out point search in the step 4 is: at first press each row of columns sequential search from small to large, each is gone by line number sequential search from big to small in each row.
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| CN108345858A (en) * | 2018-02-11 | 2018-07-31 | 杭州鸿泉物联网技术股份有限公司 | A kind of vehicle load condition detection method and system |
| CN108680148B (en) * | 2018-05-08 | 2019-10-11 | 吉林大学 | A kind of method and system measuring car body datum mark |
| CN112396264A (en) * | 2019-08-14 | 2021-02-23 | 顺丰科技有限公司 | Logistics loading rate measurement modeling method, device, equipment and storage medium |
| CN110736971B (en) * | 2019-11-05 | 2022-03-25 | 中国电波传播研究所（中国电子科技集团公司第二十二研究所） | Real-time identification method for non-cooperative target in sea clutter measurement area of shore-based radar |
| CN113487542B (en) * | 2021-06-16 | 2023-08-04 | 成都唐源电气股份有限公司 | Extraction method of contact net wire abrasion area |
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