CN105314122B - A kind of unmanned plane collected evidence for emergency command and road occupying - Google Patents
A kind of unmanned plane collected evidence for emergency command and road occupying Download PDFInfo
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Abstract
The invention discloses a kind of unmanned plane collected evidence for emergency command and road occupying, the unmanned plane is provided with preceding to binocular camera and backward binocular camera, and forward direction binocular image concatenation module corresponding to the forward direction binocular camera, forward direction monocular vehicle identification module, and corresponding to the backward binocular image concatenation module of the backward binocular camera.Forward direction binocular camera includes preceding lens camera and preceding lens camera to the right to the left, and forward direction binocular image concatenation module is used for the video image to binocular camera before splicing, to spliced map and preceding mesh figure to the right before output；The backward binocular image concatenation module is used for the video image for splicing backward binocular camera, exports backward spliced map.The monocular vehicle identification module is used for before the video image identification vehicle attribute of lens camera to the right.Unmanned plane of the present invention can carry out illegal detection, evidence obtaining to the vehicle for taking Emergency Vehicle Lane, timely and effectively dredge traffic congestion.
Description
Technical field
The invention belongs to unmanned air vehicle technique field, more particularly to a kind of unmanned plane collected evidence for emergency command and road occupying.
Background technology
In recent years, with the lasting rising of private car recoverable amount, congestion in road is and huge, rapid growth into normality
The traffic safety of driver colony, civilized attainment are very different, and fatigue driving, road occupying are travelled, transfinited, random lane change, striven
Rob the traffic offence unlawful practices such as row still multiple, trigger traffic accident, deteriorate the traffic of this congestion, extend the congestion time.
These phenomenons are similarly present in the road conditions of highway, when knock into the back etc. major accident when because congestion in road, great Liang Che
Take high speed Emergency Vehicle Lane, cause breakdown lorry not reach the spot in time, pick-up operation can not be carried out in time, so as to cause
The dead tragedy of driver and crew.Some high-speed ball-forming machines or gunlock have been installed on a highway at present, but these are imaged
Machine to overall road conditions mostly for monitoring, setting height(from bottom) is high, it is impossible to see vehicle details clearly.Also at gantry of expressway
Some bayonet socket cameras are mounted with frame, but these cameras are used only to read car license board information, or flow is counted.
Both current above-mentioned camera packing densities are all little, simply disposed in the key point of highway, it is impossible to whole
Highway forms effective covering.But traffic accident generation and congestion occur all to be random, congestion in most cases occurs
Place is not in the effective coverage range of video camera.
So once occurring the situation of the traffic congestion caused by accident, existing camera can not clearly observe accident point
Details, high speed traffic police also just can not carry out emergency command according to existing camera.High speed traffic police is tired in traffic dispersion simultaneously, to malice
The illegal vehicle for taking Emergency Vehicle Lane can not carry out evidence obtaining punishment, therefore can not the situation for taking Emergency Vehicle Lane illegal to this malice
Effectively contain and frighten.
Unmanned plane because its have maneuverability, be swift in response, unmanned flight and operation require low advantage, using the more next moon
Extensively.Existing scheme on unmanned plane by carrying camera or camera, vehicle snapshot or fact to taking Emergency Vehicle Lane
Video recording., also can not be to disliking without intelligent function but on the whole, function is single, it is impossible to provide clearly high-speed road conditions overall picture
The illegal vehicle for taking Emergency Vehicle Lane of meaning is identified, it is impossible to carries out emergency command for high speed traffic police and provides reference.
The content of the invention
It is an object of the invention to provide a kind of unmanned plane collected evidence for emergency command and road occupying, by being hung on unmanned plane
The high-definition camera of load splices quasi- stereoscopic full views figure, and carries out capturing identification violation occupying-road vehicles, and control terminal passes through unmanned plane
The megaphone of upper carry realizes emergency command.
To realize object above, technical solution of the present invention is as follows：
A kind of unmanned plane collected evidence for emergency command and road occupying, the unmanned plane be provided with before to binocular camera and after
To binocular camera, and forward direction binocular image concatenation module corresponding to the forward direction binocular camera, forward direction monocular vehicle
Identification module, and corresponding to the backward binocular image concatenation module of the backward binocular camera, wherein：
The forward direction binocular camera includes preceding lens camera and preceding lens camera to the right to the left, and the preceding mesh to the right is imaged
Machine is used to capture Emergency Vehicle Lane vehicle；
The forward direction binocular image concatenation module is used for the video image to binocular camera before splicing, to splicing before output
Figure and preceding mesh figure to the right；
The backward binocular image concatenation module is used for the video image for splicing backward binocular camera, the backward splicing of output
Figure；
The monocular vehicle identification module is used for before the video image identification vehicle attribute of lens camera to the right.
Further, the angle of preceding lens camera and the preceding lens camera to the right to the left is less than 45 degree, the unmanned plane
The binocular solid range finder module being connected with forward direction binocular camera is additionally provided with, for according to preceding three-dimensional to binocular camera foundation
3 D visual image, obtains the depth information of image.
Further, the monocular vehicle identification module is additionally operable to the three-dimensional set up according to the binocular solid range finder module
3 D visual image, the three-dimensional vehicle model progress intelligent Matching with pre-establishing, identifies the vehicle of vehicle.
Further, the unmanned plane is provided with main control module, and the main control module is according to the binocular solid ranging mould
The depth information to be captured vehicle that block is obtained, control unmanned plane is closer or far from the vehicle to be captured.
Further, the unmanned plane is additionally provided with megaphone, for reporting the monocular vehicle identification module identification
The vehicle of the illegal occupancy Emergency Vehicle Lane gone out, or receive commander's progress voice broadcast service of control centre.
Further, the unmanned plane is provided with main control module, and the monocular vehicle identification module is additionally operable to identify often
Vehicle fleet size before frame to the right in mesh figure, is compared with default threshold value, if greater than default threshold value, then notifies master control mould
Block reduces the flying height of unmanned plane, otherwise raises the flying height of unmanned plane.
Unmanned plane of the present invention is additionally provided with communication transmission module, the communication transmission module be used to transmitting unmanned plane with
To binocular camera and the video code flow of backward binocular camera before the communication control of control centre, and transmission.
Unmanned plane of the present invention is additionally provided with navigation module, and the navigation module is used to provide based on map for unmanned plane
Navigation.
Unmanned plane of the present invention be additionally provided with before to radar and lower to radar, the forward direction radar, which is used to detecting front, to be hindered
Hinder thing, ensure the safety of flight, it is described lower to be used for height of the sensorcraft apart from ground to radar.
It is used for the mesh camera of carry four on the unmanned plane that emergency command and road occupying are collected evidence, unmanned plane the invention provides a kind of,
Splicing vision signal is real-time transmitted to control terminal by receiving base station, is high so as to provide clearly high-speed road conditions overall picture
Fast traffic police carries out emergency command and provides reference.Preceding mesh to the right judges overall width, vehicle commander, identification vehicle category before coordinating to binocular ranging
Property, illegal detection, evidence obtaining, and real-time broadcasting are carried out to the vehicle for taking Emergency Vehicle Lane.According to unmanned plane during flying speed and height
Etc. parameter, the maximum quantity for taking Emergency Vehicle Lane motor vehicle is estimated.The present invention can timely and effectively dredge traffic congestion, make
Obtaining breakdown lorry can reach the spot in time, carry out pick-up operation, reduce the generation of tragedy.
Brief description of the drawings
Fig. 1 is unmanned plane structured flowchart of the present invention；
Fig. 2 a are that unmanned plane video camera of the present invention is distributed top view；
Fig. 2 b are that unmanned plane video camera of the present invention is distributed side view；
Fig. 3 is video image spliced panoramic figure of the present invention；
Fig. 4 is unmanned plane during flying of embodiment of the present invention height and camera coverage length relation schematic diagram.
Embodiment
Technical solution of the present invention is described in further details with reference to the accompanying drawings and examples, following examples are not constituted
Limitation of the invention.
As shown in figure 1, a kind of unmanned plane collected evidence for emergency command and road occupying of the present embodiment, including main control module, with
And be connected to the flight module of main control module, it is forward direction radar, lower to radar, navigation module and communication transmission module.
Wherein, navigation module is used to provide the navigation based on map, such as GPS navigation or Beidou navigation for unmanned plane, leads
Model plane block can be navigated by default pre- winged path locus, and carry out aiding in flying according to pathway station ID marks are received
OK.Forward direction radar is used to detect front obstacle, ensures the safety of flight.It is lower to be used for sensorcraft apart from ground to radar
Highly, in order to enable unmanned plane carry video camera see clearly it is illegal occupancy Emergency Vehicle Lane vehicle license plate, unmanned plane
Flying height is advisable with 4-5 meters.
Communication transmission module is used to transmit unmanned plane and the communication control of control centre, and transmits the video codes of video camera
Stream.The present embodiment communication transmission module is using being wirelessly transferred, and such as WIFI or 4G are mounted alternately with wirelessly in the both sides of road
Base station is transmitted, or wireless base station is installed in the greenbelt of road, the communication of unmanned plane and control centre is realized.Ensure nobody
Machine is on any one direction lane during flight, and both sides of the road respectively have a base station to receive unmanned plane signal, unmanned plane all the time
Simultaneously using two base station transmission code streams, that is, mitigate each BTS channel transmission bandwidth, while can guarantee that the high code check of unmanned plane again
The transmission bandwidth of code stream.To ensure the integrality of image, forward direction binocular code stream is transmitted using same channel, and backward binocular code stream is real
Existing another same channel transmission.Wireless base station antenna is directional aerial, it is ensured that signal is transmitted only along highway.
Main control module is used for the information exchange of each module of unmanned plane, and control flight module action drives unmanned plane during flying.Example
As according to the control instruction and navigation module, forward direction radar, the lower parameter to radar received from communication transmission module, control
Flight module action.By the gps signal and base station IDs signal that constantly receive in flight course, heading is corrected, and lead to
Cross preceding to radar and lower to radar detection, correct flying height.On the flight and control of unmanned plane, repeat no more here.
A kind of unmanned plane collected evidence for emergency command and road occupying of the present embodiment, in order to which emergency command is better achieved and accounts for
Road is collected evidence, to binocular camera and backward binocular camera before being provided with.As shown in Figure 2 a, forward direction binocular camera include it is preceding to
Left lens camera Ca and preceding lens camera Cb to the right, backward binocular camera shooting include after to the left lens camera Ca' and after to the right mesh take the photograph
Camera Cb'.The axis angle of two video cameras of forward direction binocular camera facing forward is β, backward binocular camera backwards
The axis angles of two video cameras be β '.Because forward direction binocular camera also needs to carry out binocular ranging, its angle β is general
Less than 45 degree, and the angle β ' of backward binocular camera is generally higher than 50 degree, it is observed that the bigger visual field.Forward direction binocular is taken the photograph
Two camera structures of camera are identical, and the horizontal field of view angle of each video camera is α.Two camera structures of backward binocular camera
Identical, the horizontal field of view angle of each video camera is α '.In the present embodiment, the horizontal field of view angle α ' of backward binocular camera is big
It is α in the horizontal field of view angle of forward direction binocular camera, the more extensive visual field can be obtained and be transferred to control there is provided backward spliced map
Center processed as emergency command reference.Angle, θ is preceding to binocular camera and backward binocular camera optical axis and water in Fig. 2 b
The angle of plane.
For forward direction binocular camera, the present embodiment unmanned plane be additionally provided with before to binocular image concatenation module, for spelling
Connect Ca and Cb video image；And binocular solid range finder module, for setting up 3 d stereoscopic to binocular camera before
Feel image, obtain the depth information of image；To monocular vehicle identification module before also including, for the video image identification according to Cb
Vehicle attribute.For backward binocular camera, the present embodiment unmanned plane is additionally provided with backward binocular image concatenation module, for spelling
Connect Ca' and Cb' video image.
It should be noted that forward direction binocular image concatenation module and backward binocular image concatenation module can be in unmanned planes
On, can also be in rear end control centre.If on unmanned plane, forward direction binocular image concatenation module and backward binocular image are spelled
Connection module is encoded to front and rear stitching image respectively, produces H.264 code stream or H.265 code stream, the splicing of forward direction binocular image
Module transfer Ca and Cb splicing code stream Cab, and individually Cb code streams, backward binocular image concatenation module transmission Ca'b''s
Code stream.If forward direction binocular image concatenation module and backward binocular image concatenation module are in control centre, forward direction binocular camera shooting
Machine and backward binocular camera directly transmit Ca and Cb, Ca' and Cb' independent code stream to control centre.
The monocular vehicle identification module that the present embodiment unmanned plane is set, for being belonged to according to Cb video image identification vehicle
Property, including Car license recognition, vehicle cab recognition.Certain module can also be arranged on rear end control centre.Cb, which is used for capturing taking, to be answered
The illegal vehicle in anxious track, the present embodiment is to the preceding separately encoded transmission of the Cb of lens camera to the right, in order to illegal road occupation vehicle
Clearly collected evidence.
The binocular solid range finder module that the present embodiment unmanned plane is set, for according to preceding three-dimensional vertical to binocular camera foundation
Body vision image, so as to obtain the depth information of image, that is, obtains the distance between unmanned plane and vehicle.So as to according to car
3-D view, the vehicle of vehicle can be recognized to monocular vehicle identification module with reference to preceding.
When vehicle is identified, the present embodiment can obtain the 3D rendering of vehicle according to binocular solid range finder module,
So as in forward direction monocular vehicle identification module, by the vehicle 3D models with pre-establishing, intelligent Matching is carried out, can be obtained
The vehicle of institute's observation vehicle.
When capturing illegal vehicle, if vehicle distances unmanned plane far will be unable to very much obtain effective evidence picture, easily
Cause vehicle license plate fuzzy diagnosis unclear, therefore the 3-D view set up according to binocular solid range finder module, vehicle can be obtained
Depth information, the distance with the vehicle is known, so that depth information is fed back into main control module, master control module controls unmanned plane
Captured, captured to clear effective evidence picture again after flying the nearly vehicle.
The present embodiment unmanned plane also carries megaphone, illegal is accounted for for report that monocular vehicle identification module identifies
Voice broadcast service is carried out with the commander of the vehicle of Emergency Vehicle Lane, or reception control centre.In actual application, according to preceding mesh to the right
The video image of video camera can monitor the occupancy of Emergency Vehicle Lane, when finding to have vehicle occupancy, captured and recognized,
And reported by megaphone.Control centre can also be commanded scene, be passed through by the live panorama sketch of reception
Megaphone carries out voice broadcast service.
The present embodiment unmanned plane is used for emergency command and the process of road occupying evidence obtaining is as follows：
During unmanned plane during flying, the preceding video figure spliced to binocular image concatenation module, backward binocular image concatenation module
As being real-time transmitted to control centre by the base station on communication transmission module and road, before control centre is watched in real time by large-size screen monitors
Stitching image and right mesh image facing forward, can be carried out according to front and rear stitching image to congestion in road situation or the scene of the accident afterwards
Check and emergency command.
Forward direction binocular image concatenation module is used for the video image for splicing Ca and Cb, to spliced map and preceding mesh to the right before being formed
Figure, is sent to the control centre of rear end；Backward binocular image concatenation module is used for the video image for splicing Ca' and Cb', hair simultaneously
It is sent to the control centre of rear end.The panoramic picture of rear end control centre large-size screen monitors is as shown in Figure 3.
Control centre can to it is preceding to stitching image use straight-line detection technology, detection track cut-off rule (white dotted line), should
Anxious track cut-off rule (white solid line) and highway edge line (white solid line) are detected, and judge Emergency Vehicle Lane position
(Emergency Vehicle Lane is all the time in rightmost)., can be by the way that mesh is taken the photograph to the right before master control module controls when finding that Emergency Vehicle Lane is occupied
Camera is captured to the vehicle of road occupying, and controls monocular vehicle identification module by capturing car of the picture to occupancy Emergency Vehicle Lane
Carry out after Car license recognition, vehicle cab recognition, and the information such as the car plate to illegal occupancy track, time, GPS address informations, vehicle,
Storage is preserved, while giving unmanned plane main control module these information Real-time Feedbacks, unmanned plane master control module controls megaphone is real
When to illegal vehicle information (car plate, vehicle, the illegal occupancy Emergency Vehicle Lane situation) on-the-spot report, remind and take Emergency Vehicle Lane
Vehicle gets out of the way track.
Control centre commanding can also be conversed field speech by the megaphone on unmanned plane simultaneously, to traffic
Congestion is dredged.
Fig. 4 shows the relation of the present embodiment unmanned plane during flying height and camera coverage length, it is assumed that θ is camera light
The angle of axle and horizontal direction,For the preceding vertical angle of visual field to video camera.Obtained by plane geometry knowledge：
L=L2-L1
Wherein H is unmanned plane during flying height, and L is camera coverage length.If the average length of vehicle is ld, then video camera
In the visual field it can be seen that motor vehicle number be：
Wherein oeprator [] represents round numbers, so it is easy to understand that according to parameters such as unmanned plane during flying height and speed,
In congestion, the number of vehicles of illegal occupancy Emergency Vehicle Lane can be estimated.In addition, higher, the then Num quantity flown when unmanned plane
It is bigger.But fly it is too high, the vehicle easily caused in the visual field is too small, it is impossible to carry out candid photograph evidence obtaining.
Therefore the present embodiment can be according to the quantity Num of vehicle in the visual field, to adjust the height of flight, to cause video camera
Vehicle size in the visual field is suitable.Specifically, monocular vehicle identification module is additionally operable to identify before every frame the car in mesh figure to the right
Quantity, is compared with default threshold value, if greater than default threshold value, then notifies main control module to reduce the flight of unmanned plane
Highly, the flying height of unmanned plane is otherwise raised.
The above embodiments are merely illustrative of the technical solutions of the present invention rather than is limited, without departing substantially from essence of the invention
In the case of refreshing and its essence, those skilled in the art work as can make various corresponding changes and change according to the present invention
Shape, but these corresponding changes and deformation should all belong to the protection domain of appended claims of the invention.
Claims (7)
1. a kind of unmanned plane collected evidence for emergency command and road occupying, it is characterised in that the unmanned plane is provided with preceding to binocular
Video camera and backward binocular camera, and it is forward direction binocular image concatenation module corresponding to the forward direction binocular camera, preceding
To monocular vehicle identification module, and corresponding to the backward binocular image concatenation module of the backward binocular camera, wherein：
The forward direction binocular camera includes preceding lens camera and preceding lens camera to the right to the left, and the preceding lens camera to the right is used
In candid photograph Emergency Vehicle Lane vehicle；
The forward direction binocular image concatenation module is used for the video image to binocular camera before splicing, before output to spliced map and
Preceding mesh figure to the right；
The backward binocular image concatenation module is used for the video image for splicing backward binocular camera, exports backward spliced map；
The monocular vehicle identification module is used for before the video image identification vehicle attribute of lens camera to the right；
The unmanned plane is additionally provided with the binocular solid range finder module being connected with forward direction binocular camera, preceding to binocular for basis
Video camera sets up three-dimensional stereoscopic visual image, obtains the depth information of image；
The monocular vehicle identification module is additionally operable to the three-dimensional stereoscopic visual image set up according to the binocular solid range finder module,
Three-dimensional vehicle model progress intelligent Matching with pre-establishing, identifies the vehicle of vehicle；
The unmanned plane is provided with main control module, and the main control module is according to being grabbed that the binocular solid range finder module is obtained
The depth information of vehicle is clapped, control unmanned plane is closer or far from the vehicle to be captured.
2. unmanned plane according to claim 1, it is characterised in that preceding lens camera and the preceding lens camera to the right to the left
Angle be less than 45 degree.
3. unmanned plane according to claim 1, it is characterised in that the unmanned plane is additionally provided with megaphone, for broadcasting
Report the vehicle for the illegal occupancy Emergency Vehicle Lane that the monocular vehicle identification module identifies, or receive the commander of control centre and carry out
Voice broadcast service.
4. unmanned plane according to claim 1, it is characterised in that the unmanned plane is provided with main control module, the monocular
Vehicle identification module is additionally operable to identify before every frame the vehicle fleet size in mesh figure to the right, is compared with default threshold value, if
More than default threshold value, then notify main control module to reduce the flying height of unmanned plane, otherwise raise the flying height of unmanned plane.
5. unmanned plane according to claim 1, it is characterised in that the unmanned plane is additionally provided with communication transmission module, institute
Stating communication transmission module is used to transmit unmanned plane and the communication control of control centre, and transmits preceding to binocular camera and backward
The video code flow of binocular camera.
6. unmanned plane according to claim 1, it is characterised in that the unmanned plane is additionally provided with navigation module, described to lead
Model plane block is used to provide the navigation based on map for unmanned plane.
7. unmanned plane according to claim 1, it is characterised in that the unmanned plane is additionally provided with preceding to radar and lower to thunder
Reach, the forward direction radar is used to detect front obstacle, ensure the safety of flight, it is described it is lower to radar be used for sensorcraft away from
Height from the ground.
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| CN105679023A (en) * | 2016-02-19 | 2016-06-15 | 李彦玮 | Motorway violation monitoring system based on unmanned plane |
| CN106096504A (en) * | 2016-05-30 | 2016-11-09 | 重庆大学 | A kind of model recognizing method based on unmanned aerial vehicle onboard platform |
| CN106965945B (en) * | 2016-07-14 | 2019-09-03 | 科盾科技股份有限公司 | A kind of method and aircraft for avoiding collision obstacle synchronous based on data |
| CN106931961B (en) * | 2017-03-20 | 2020-06-23 | 成都通甲优博科技有限责任公司 | Automatic navigation method and device |
| CN107024941A (en) * | 2017-04-27 | 2017-08-08 | 广东容祺智能科技有限公司 | One kind is based on unmanned plane traffic accidents survey system |
| CN106971541A (en) * | 2017-05-03 | 2017-07-21 | 江西省高速公路联网管理中心 | A kind of highway based on unmanned plane is met an urgent need monitoring system |
| CN107153247A (en) * | 2017-07-04 | 2017-09-12 | 深圳普思英察科技有限公司 | The vision sensing equipment of unmanned machine and the unmanned machine with it |
| CN107886761A (en) * | 2017-11-14 | 2018-04-06 | 金陵科技学院 | A kind of parking lot monitoring method based on unmanned plane |
| US11535376B2 (en) * | 2019-04-18 | 2022-12-27 | Beijing Boe Technology Development Co., Ltd. | Traffic information processing equipment, system and method |
| CN112061179A (en) * | 2020-09-17 | 2020-12-11 | 中车株洲电力机车有限公司 | Active anti-collision device and method for rail vehicle based on unmanned aerial vehicle |
| CN112396040B (en) * | 2021-01-19 | 2022-03-01 | 成都四方伟业软件股份有限公司 | Method and device for identifying lane occupation of vehicle |
| CN215972078U (en) * | 2021-02-22 | 2022-03-08 | 深圳市道通智能航空技术股份有限公司 | Four rotor unmanned aerial vehicle |
| CN113593256B (en) * | 2021-09-29 | 2021-12-28 | 深圳联和智慧科技有限公司 | Unmanned aerial vehicle intelligent driving-away control method and system based on city management and cloud platform |
| CN113763719B (en) * | 2021-10-13 | 2022-06-14 | 深圳联和智慧科技有限公司 | Unmanned aerial vehicle-based illegal emergency lane occupation detection method and system |
| CN117392621B (en) * | 2023-11-07 | 2024-06-07 | 西南交通大学 | Method and system for identifying behavior of motor vehicle in case of turning right without giving away pedestrians |
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| CN102243075A (en) * | 2011-04-12 | 2011-11-16 | 清华大学 | Car-mounted non-scale traffic accident spot rapid reconnaissance system based on binocular visual sense |
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