CN108032737B - A kind of electric patrol car that patrol effect is good - Google Patents
A kind of electric patrol car that patrol effect is good Download PDFInfo
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- CN108032737B CN108032737B CN201711305691.6A CN201711305691A CN108032737B CN 108032737 B CN108032737 B CN 108032737B CN 201711305691 A CN201711305691 A CN 201711305691A CN 108032737 B CN108032737 B CN 108032737B
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- 230000000694 effects Effects 0.000 title claims abstract description 32
- 238000012545 processing Methods 0.000 claims abstract description 50
- 238000004891 communication Methods 0.000 claims abstract description 12
- 238000012544 monitoring process Methods 0.000 claims abstract description 12
- 230000004888 barrier function Effects 0.000 claims abstract description 5
- 238000006243 chemical reaction Methods 0.000 claims abstract description 4
- 239000013598 vector Substances 0.000 claims description 49
- 238000011156 evaluation Methods 0.000 claims description 33
- 238000001914 filtration Methods 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 claims description 2
- 230000015572 biosynthetic process Effects 0.000 claims 1
- 238000012937 correction Methods 0.000 claims 1
- 235000013399 edible fruits Nutrition 0.000 claims 1
- 238000003786 synthesis reaction Methods 0.000 claims 1
- 241001544487 Macromiidae Species 0.000 abstract description 8
- 241001425726 Vindula arsinoe Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L8/00—Electric propulsion with power supply from forces of nature, e.g. sun or wind
- B60L8/003—Converting light into electric energy, e.g. by using photo-voltaic systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L1/00—Supplying electric power to auxiliary equipment of vehicles
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
- H04N23/682—Vibration or motion blur correction
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
Abstract
The present invention provides a kind of electric patrol cars that patrol effect is good, including power-supply system, planning system, obstacle avoidance system, monitoring system and communication system, the planning system is for determining beat and patrol route, the obstacle avoidance system is used for cruiser avoiding barrier, the monitoring system includes image acquisition subsystem and image surely as subsystem, described image obtains subsystem for obtaining patrol video image, described image is surely as subsystem is used to carry out surely as processing patrol video image, the communication system be used for by steady picture treated patrol video image be uploaded to internet, the power-supply system includes solar panel and battery, the solar panel is by the power storage of conversion in battery, the battery is used for the planning system, obstacle avoidance system, monitoring system and communication system power supply.The invention has the benefit that realizing patrol video image surely as processing, the patrol for improving cruiser is horizontal.
Description
Technical field
The present invention relates to patrol technical fields, and in particular to a kind of electric patrol car that patrol effect is good.
Background technique
With the development of science and technology and social progress, personnel's trip and flowing are more and more frequent, are patrolled in public places
It patrols and seems very necessary.
Important means of the cruiser as patrol mainly realizes patrol by obtaining patrol video, obtains in patrol video
During taking, due to cruiser movement bring random vibration and jolts and will lead to collected video image there are visual
Randomized jitter, this random vibration utilize to subsequent image and cause difficulty.How to solve as produced by video camera randomized jitter
Video non-continuous event, become improve patrol level key.
Summary of the invention
In view of the above-mentioned problems, the present invention is intended to provide a kind of electric patrol car that patrol effect is good.
The purpose of the present invention is realized using following technical scheme:
Provide a kind of electric patrol car that patrol effect is good, including power-supply system, planning system, obstacle avoidance system, monitoring
System and communication system, the planning system is for determining that beat and patrol route, the obstacle avoidance system are used for cruiser
Avoiding barrier, the monitoring system include image acquisition subsystem and image surely as subsystem, and described image obtains subsystem
Video image is gone on patrol for obtaining, and described image surely is used to patrol video image is carried out surely as processing as subsystem, described logical
Letter system be used for by steady picture treated patrol video image be uploaded to internet, the power-supply system includes solar panel
And battery, by the power storage of conversion in battery, the battery is used for the planning solar panel
System, obstacle avoidance system, monitoring system and communication system power supply.
The invention has the benefit that realizing patrol video image surely as processing, the patrol for improving cruiser is horizontal.
Detailed description of the invention
The present invention will be further described with reference to the accompanying drawings, but the embodiment in attached drawing is not constituted to any limit of the invention
System, for those of ordinary skill in the art, without creative efforts, can also obtain according to the following drawings
Other attached drawings.
Fig. 1 is structural schematic diagram of the invention；
Appended drawing reference:
Power-supply system 1, planning system 2, obstacle avoidance system 3, monitoring system 4, communication system 5.
Specific embodiment
The invention will be further described with the following Examples.
Referring to Fig. 1, a kind of good electric patrol car of patrol effect of the present embodiment, including power-supply system 1, planning system 2,
Obstacle avoidance system 3, monitoring system 4 and communication system 5, the planning system 2 are described to keep away for determining beat and patrol route
Barrier system 3 is used for cruiser avoiding barrier, and the monitoring system 4 includes image acquisition subsystem and image surely picture subsystem,
Described image obtain subsystem for obtain patrol video image, described image surely as subsystem be used for patrol video image into
Row surely as processing, the communication system 5 be used for by steady picture treated patrol video image be uploaded to internet, the power supply system
System 1 include solar panel and battery, the solar panel by the power storage of conversion in battery, the storage
Battery is used to power to the planning system 2, obstacle avoidance system 3, monitoring system 4 and communication system 5.
The present embodiment realizes patrol video image surely as processing, and the patrol for improving cruiser is horizontal.
Preferably, described image surely as subsystem include single treatment module, secondary treatment module, three times processing module,
Four processing modules, five processing modules and six processing modules, the single treatment module go on patrol video image for inputting,
The secondary treatment module is for being filtered the video image of input, and the processing module three times is for determining filtering
The global motion vector of rear video image, four processing modules are used to determine the fortune of video image according to global motion vector
Dynamic compensation vector, five processing modules are used to carry out surely as processing, by motion compensation image according to motion compensation vector
Vector corrects the position of present image, and exports treated video image, and six processing modules are used for output video
Image it is steady as effect is evaluated.
This preferred embodiment realizes the steady as handling and to surely as the evaluation of effect of patrol video image, to ensure that
High performance auxiliary drives.
Preferably, the processing module three times includes single treatment unit, secondary treatment unit, three times processing unit and four
Secondary processing unit, the single treatment unit are used to choose several images of area equation in the every frame image of monitor video
Sub-block, the secondary treatment unit be used for chosen each image subblock matching section in displacement images sub-block, determine with
The matched reference picture region of image subblock, the processing unit three times is for determining that each image subblock is corresponding with respect to reference picture
The local motion vector in region, four processing units are used to determine video figure according to the local motion vector of each image subblock
The global motion vector of picture.
The processing unit three times for determining local motion vector of each image subblock with respect to reference picture corresponding region,
Specifically: the local motion vector of image subblock is obtained using following formula:
In above-mentioned formula, (k, l) indicates the local motion vector of image subblock, when argminRU (k, l) indicates that RU (k, l) is minimized
The value of (k, l), KmaxAnd LminThe respectively search range of image subblock both horizontally and vertically, wherein In above-mentioned formula, RU (k, l) indicates between image subblock
With value, k and l respectively indicate the amount of movement of image subblock horizontal direction and the amount of movement of vertical direction, and minimum unit is 1 picture
Element, the image subblock of s ' expression reference frame, s indicate the image subblock of present frame, N1And N2The respectively width and height of image subblock
Degree；
Four processing units are used to determine that the global of video image is transported according to the local motion vector of each image subblock
Moving vector, specifically: by the local motion vector of each image subblock of processing unit three times, if local motion vector is Li,
Wherein, 1 < i < m, m is the number of the image subblock of each image；Determine video image global motion vector QK:
This preferred embodiment has determined the global motion vector of filtering rear video image by processing module three times, specifically
, it is matched by image subblock and determines local motion vector, then by processing unit global motion vector three times, the obtained overall situation
Motion vector is more accurate, and the range of such moltion estimation is significantly reduced, so as to improve the operation of algorithm
Efficiency meets requirement of real-time.
Preferably, four processing modules be used to be determined according to global motion vector the motion compensation of video image to
Amount, specifically: the position for choosing three groups of different image subblocks respectively obtains three groups of global motion vectors, then video image
Motion compensation vector are as follows:In above-mentioned formula, MH indicates the motion compensation vector of video image, QKjIt indicates
The global motion vector obtained according to jth group image subblock.
This preferred embodiment obtains the motion compensation vector of video image by four processing modules, to be subsequent five
Secondary processing module carries out surely as laying a good foundation.
Preferably, six processing modules include the first evaluation unit, the second evaluation unit and overall merit unit, institute
The first evaluation unit is stated to be used to calculate surely the first evaluation of estimate as effect, specifically:In above-mentioned formula, DT1Indicate the first evaluation of estimate, FN (j) indicates four
The motion compensation vector for the jth frame video image that secondary processing module obtains, FN ' (j) indicate the true fortune of jth frame video image
Dynamic compensation vector, M indicate the frame number of video；Second evaluation unit is for calculating surely the second evaluation of estimate as effect, specifically
Are as follows:In above-mentioned formula, DT2Indicate the second evaluation of estimate, AY indicates to carry out steady
The number of the video of picture, AY1Indicate that the first evaluation of estimate is greater than the number of the video of given threshold in AY；
The overall merit unit is used for according to the first evaluation of estimate and the second evaluation of estimate to surely as effect is evaluated, specifically
Are as follows: it determines surely as the comprehensive evaluation value of effect:In above-mentioned formula,
DT indicates comprehensive evaluation value；Comprehensive evaluation value is smaller, indicates surely as effect is better.
This preferred embodiment passes through six processing modules implements surely as the evaluation of effect, specifically, the first evaluation of estimate is examined
The overall accuracy surely as effect is considered, the second evaluation of estimate considers the surely overall effect as effect, and overall merit unit utilizes the
One evaluation of estimate and the second evaluation of estimate to surely as effect is evaluated, evaluation is accurate, ensure that it is steady as effect, to ensure that patrol
The patrol of vehicle is horizontal.
It is gone on patrol using the good electric patrol car of present invention patrol effect, chooses 5 beats and tested, respectively
For beat 1, beat 2, beat 3, beat 4, beat 5, patrol efficiency and patrol cost are carried out
Statistics, is compared, generation has the beneficial effect that shown in table compared with cruiser:
| Efficiency is gone on patrol to improve | Going on patrol cost reduces | |
| Beat 1 | 29% | 27% |
| Beat 2 | 27% | 26% |
| Beat 3 | 26% | 26% |
| Beat 4 | 25% | 24% |
| Beat 5 | 24% | 22% |
Finally it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than the present invention is protected
The limitation of range is protected, although explaining in detail referring to preferred embodiment to the present invention, those skilled in the art are answered
Work as understanding, it can be with modification or equivalent replacement of the technical solution of the present invention are made, without departing from the reality of technical solution of the present invention
Matter and range.
Claims (5)
1. a kind of electric patrol car that patrol effect is good, which is characterized in that including power-supply system, planning system, obstacle avoidance system, prison
Control system and communication system, the planning system is for determining beat and patrol route, and the obstacle avoidance system is for going on patrol
Vehicle avoiding barrier, the monitoring system include image acquisition subsystem and image surely as subsystem, and described image obtains subsystem
For obtaining patrol video image, described image surely is used to carry out surely as processing patrol video image system as subsystem, described
Communication system be used for by steady picture treated patrol video image be uploaded to internet, the power-supply system includes solar battery
Plate and battery, by the power storage of conversion in battery, the battery is used for the rule solar panel
The system of drawing, obstacle avoidance system, monitoring system and communication system power supply, described image is surely as subsystem includes single treatment module, two
Secondary processing module, three times processing module, four processing modules, five processing modules and six processing modules, the single treatment
Module is for inputting patrol video image, and the secondary treatment module is for being filtered the video image of input, institute
Stating processing module three times, for determining the global motion vector of filtering rear video image, it is complete that four processing modules are used for basis
Office's motion vector determines the motion compensation vector of video image, and five processing modules are used for according to motion compensation vector to figure
As carrying out surely by the position of motion compensation vector correction present image, and exporting treated video image as processing, described six
Secondary processing module is used for the steady as effect is evaluated of output video image, and the processing module three times includes single treatment list
Member, secondary treatment unit, three times processing unit and four processing units, the single treatment unit are used in the every frame of monitor video
On image, several image subblocks of area equation are chosen, the secondary treatment unit is used in each image chosen
Displacement images sub-block in Block- matching section, the determining and matched reference picture region of image subblock, the processing unit three times are used
In determine each image subblock with respect to reference picture corresponding region local motion vector, specifically: using following formula obtain image
The local motion vector of block:In above-mentioned formula, (k, l) indicates image subblock
Local motion vector, arg min RU (k, l) indicate RU (k, l) when being minimized (k, l) value, KmaxAnd LminRespectively scheme
As the search range of sub-block both horizontally and vertically, whereinIn above-mentioned formula, RU (k, l) indicate image subblock it
Between matching value, k and l respectively indicate the amount of movement of image subblock horizontal direction and the amount of movement of vertical direction, and minimum unit is 1
A pixel, the image subblock of s ' expression reference frame, s indicate the image subblock of present frame, N1And N2The respectively width of image subblock
And height.
2. the good electric patrol car of patrol effect according to claim 1, which is characterized in that four processing units are used
In the global motion vector for determining video image according to the local motion vector of each image subblock, specifically: by handling three times
The local motion vector of each image subblock of unit, if local motion vector is Li, wherein 1 < i < m, m is each image
The number of image subblock；Determine video image global motion vector QK:
3. the good electric patrol car of patrol effect according to claim 2, which is characterized in that four processing modules are used
In the motion compensation vector for determining video image according to global motion vector, specifically: choose three groups of different image subblocks
Position respectively obtains three groups of global motion vectors, then the motion compensation vector of video image are as follows:Above-mentioned formula
In son, MH indicates the motion compensation vector of video image, QKjIndicate the global motion vector obtained according to jth group image subblock.
4. the good electric patrol car of patrol effect according to claim 3, which is characterized in that six processing module packets
The first evaluation unit, the second evaluation unit and overall merit unit are included, first evaluation unit is for calculating surely as effect
First evaluation of estimate, specifically: In above-mentioned formula, DT1Indicate the
One evaluation of estimate, FN (j) indicate that the motion compensation vector for the jth frame video image that four processing modules obtain, FN ' (j) indicate jth
The true motion compensation vector of frame video image, M indicate the frame number of video；Second evaluation unit is steady as effect for calculating
The second evaluation of estimate of fruit, specifically:In above-mentioned formula, DT2Indicate second
Evaluation of estimate, AY indicate to carry out the number of the video of steady picture, AY1Indicate that the first evaluation of estimate is greater than the number of the video of given threshold in AY
Mesh.
5. the good electric patrol car of patrol effect according to claim 4, which is characterized in that the overall merit unit is used
According to the first evaluation of estimate and the second evaluation of estimate to surely as effect is evaluated, specifically: determine surely as the overall merit of effect
Value:In above-mentioned formula, DT indicates comprehensive evaluation value；Synthesis is commented
Be worth it is smaller, indicate surely as effect it is better.
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| CN201711305691.6A CN108032737B (en) | 2017-12-11 | 2017-12-11 | A kind of electric patrol car that patrol effect is good |
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| CN201711305691.6A CN108032737B (en) | 2017-12-11 | 2017-12-11 | A kind of electric patrol car that patrol effect is good |
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| CN108032737B true CN108032737B (en) | 2019-08-30 |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100902343B1 (en) * | 2007-11-08 | 2009-06-12 | 한국전자통신연구원 | Robot vision system and detection method |
| CN106042944A (en) * | 2016-07-16 | 2016-10-26 | 分宜绿源车辆销售有限公司 | Solar pure electric cruiser |
| CN106094827A (en) * | 2016-07-01 | 2016-11-09 | 蔡雄 | One can independent navigation power equipment cruiser |
| CN106080218A (en) * | 2016-07-01 | 2016-11-09 | 蔡雄 | One can independent navigation cruiser |
-
2017
- 2017-12-11 CN CN201711305691.6A patent/CN108032737B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100902343B1 (en) * | 2007-11-08 | 2009-06-12 | 한국전자통신연구원 | Robot vision system and detection method |
| CN106094827A (en) * | 2016-07-01 | 2016-11-09 | 蔡雄 | One can independent navigation power equipment cruiser |
| CN106080218A (en) * | 2016-07-01 | 2016-11-09 | 蔡雄 | One can independent navigation cruiser |
| CN106042944A (en) * | 2016-07-16 | 2016-10-26 | 分宜绿源车辆销售有限公司 | Solar pure electric cruiser |
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