CN108734130A - A kind of road detection system, method and storage medium - Google Patents
A kind of road detection system, method and storage medium Download PDFInfo
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- CN108734130A CN108734130A CN201810491965.3A CN201810491965A CN108734130A CN 108734130 A CN108734130 A CN 108734130A CN 201810491965 A CN201810491965 A CN 201810491965A CN 108734130 A CN108734130 A CN 108734130A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
- G06V20/182—Network patterns, e.g. roads or rivers
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- 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
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
Abstract
The present invention provides a kind of road detection system, method and storage mediums, are related to road information acquisition monitoring technology field.The road detection system includes unmanned plane, ground receiver platform and image processing center, the unmanned plane includes data acquisition module for acquiring road surface and road affiliated facility image and the wireless image transmission module being connect with the data acquisition module, the ground receiver platform includes data memory module and the network transmission module for receiving the described image that the wireless image transmission module transfer comes, described image processing center is used to carry out image procossing to the described image that network transmission module transmission comes, it identifies and detects the lane line in the section that described image includes, traffic lights at road type and track quantity and intersection, no left turn mark and camera etc..The road detection system carries out mobility height when the acquisition of surface road information rapid image, is not influenced by traffic above-ground situation and terrain environment limits.
Description
Technical field
The present invention relates to road information acquisition monitoring technology fields, in particular to a kind of road detection system, method
And storage medium.
Background technology
With China's road construction fast development, mileages of transport route increases sharply, increasingly to highway maintenance and regulatory requirement
Greatly, it is therefore desirable to the Road Detection equipment of fast intelligent.When the traffic conditions to road are detected, generally require and carry out figure
As acquisition, and Image Acquisition being carried out in traditional road condition survey and mostly uses highway detection vehicle, existing highway detection vehicle is substantially
Chassis and roof are transformed, installation meets the equipment such as camera and the laser sensor of detection index of correlation, and highway is made to examine
Measuring car continually scans for ambient enviroment during advancing, and obtains surrounding road data.
But above-mentioned existing highway detection vehicle forms and volume is big because being transformed by common vehicle, there are mobility compared with
Difference, and it is limited to the traffic above-grounds environment such as maintenance of surface technical standard, lane width and local highway loading capacity and landform limit
The problem of processed.
Invention content
In view of this, the embodiment of the present invention is designed to provide a kind of road detection system, method and storage medium, with
It solves the above problems.
In a first aspect, an embodiment of the present invention provides a kind of road detection system, the road detection system includes for nobody
Machine, ground receiver platform and image processing center.The unmanned plane includes the image for acquiring road surface and road affiliated facility
Data acquisition module and the wireless image transmission module that is connect with the data acquisition module, the ground receiver platform packet
Include data memory module and the network transmission module for receiving the described image that the wireless image transmission module transfer comes, institute
It states described image of the image processing center for coming to network transmission module transmission and carries out image procossing, identify and detect institute
State the road information in section and intersection that image includes.
Synthesis is in a first aspect, the unmanned plane further includes satellite positioning module.
It is comprehensive in a first aspect, the data acquisition module includes photographic device and the storage that is connect with the photographic device
Device, the memory are connect with the data acquisition module.
It is comprehensive in a first aspect, the wireless image transmission module include wireless image transmitter and with the wireless image
The transmitting antenna of transmitter connection, the transmitting antenna are arranged in the tail portion of the unmanned plane, the wireless image transmitter with
The memory connection.
Synthesis is in a first aspect, the ground receiver platform is that the data storage is connect and be provided with the unmanned plane
The removable vehicles of module and the network transmission module.
It is comprehensive in a first aspect, the ground receiver platform further includes image display device, described image display device and institute
State data memory module connection.
Synthesis is in a first aspect, described image processing center has the function of the autonomous learning based on machine learning algorithm.
Second aspect, an embodiment of the present invention provides a kind of Approach for road detection, the Approach for road detection includes：Control
Unmanned plane carries out shooting to the road surface of target area and road affiliated facility and obtains image；It is sent at image to image processing center
Reason request receives the image procossing reply message that described image processing center returns；Sentenced based on described image processing reply message
Whether disconnected described image processing center has the free processing capacity to described image；When to be, described image is transmitted to
Described image processing center, so that described image processing center identifies and detects the road in section and intersection that described image includes
Road information.
Comprehensive second aspect judges whether described image processing center has described based on described image processing reply message
After having the free processing capacity to described image, further include：When to be no, described image is stored in data memory module
In, described image is sent to the figure again when the free processing capacity to described image to have in described image processing center
As processing center.
The third aspect, the embodiment of the present invention additionally provide a kind of storage medium, and the storage medium is stored in computer,
The storage medium includes a plurality of instruction, and a plurality of instruction is configured such that the computer executes above-mentioned method.
Advantageous effect provided by the invention is：
The present invention provides a kind of road detection system, method and storage medium, the road detection system utilizes nobody
Machine carries out Image Acquisition work in the overhead of target area, is not influenced to limit with terrain environment by traffic above-ground situation, be had more
High mobility and environmental suitability.The road detection system carries out one or more unmanned planes by ground receiver platform
Control improves the accuracy of traffic environment Image Acquisition, while without carrying out camera or biography on the ground receiver platform
Sensor add-assembly is to reduce equipment cost.The road detection system further includes for being passed to the network transmission module
Defeated next described image carries out the image processing center of image procossing, can transmit the figure of coming to multiple ground receiver platforms
As being handled immediately, the image processing efficiency of the road detection system is greatly improved.Further, the ground connects
It is closed flat platform and described image processing center is respectively arranged with the storage device of oneself, it can be at described image processing center operation
To needing the image for carrying out image procossing to store when reason ability temporary shortages, to wait for subsequent processing.
Other features and advantages of the present invention will be illustrated in subsequent specification, also, partly be become from specification
It is clear that by implementing understanding of the embodiment of the present invention.The purpose of the present invention and other advantages can be by saying what is write
Specifically noted structure is realized and is obtained in bright book, claims and attached drawing.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is a kind of module diagram for road detection system that first embodiment of the invention provides；
Fig. 2 is a kind of module diagram for unmanned plane that first embodiment of the invention provides；
Fig. 3 is a kind of module map for ground receiver platform that first embodiment of the invention provides；
Fig. 4 is a kind of module map for image processing center that first embodiment of the invention provides；
Fig. 5 is a kind of flow chart for Approach for road detection that second embodiment of the invention provides.
Icon：10- road detection systems；11- unmanned planes；112- data acquisition modules；114- wireless image transmission modules；
116- satellite positioning modules；12- ground receiver platforms；122- data memory modules；124- network transmission modules；126- images are aobvious
Showing device；13- image processing centers.
Specific implementation mode
Below in conjunction with attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Usually exist
The component of the embodiment of the present invention described and illustrated in attached drawing can be arranged and be designed with a variety of different configurations herein.Cause
This, the detailed description of the embodiment of the present invention to providing in the accompanying drawings is not intended to limit claimed invention below
Range, but it is merely representative of the selected embodiment of the present invention.Based on the embodiment of the present invention, those skilled in the art are not doing
The every other embodiment obtained under the premise of going out creative work, shall fall within the protection scope of the present invention.
It should be noted that：Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing.Meanwhile the present invention's
In description, term " first ", " second " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.
First embodiment
Through the applicant the study found that traditional road highway condition investigation be mostly used highway detection vehicle be mostly to chassis and roof into
Row transformation, the sensing equipments such as the camera and laser of installation detection index of correlation, it can be continually scanned in vehicular motion
Ambient enviroment obtains surrounding road data, while being equipped with data acquisition, storage, monitoring collection and positioning function, but existing public affairs
Road detection vehicle involves great expense, volume is big, while being limited to maintenance of surface technical standard, lane width and local highway loading capacity.
In addition, urban highway traffic complex, the measure of the complexity road management such as traffic congestion, traffic lights restricted driving, pavement construction can be tight
Ghost image rings the working efficiency of highway detection vehicle, causes the mobility of highway detection vehicle and adaptability poor.In order to solve above-mentioned ask
Topic, first embodiment of the invention provide a kind of road detection system 10.
Referring to FIG. 1, Fig. 1 is a kind of module diagram for road detection system that first embodiment of the invention provides.
Road detection system 10 includes unmanned plane 11, ground receiver platform 12 and image processing center 13, wherein ground connects
Platform 12 is closed flat to connect with unmanned plane 11 and image processing center 13 respectively.Optionally, ground receiver platform 12 and unmanned plane 11
And the connection type of image processing center 13 can be to be wirelessly connected.
Referring to FIG. 2, Fig. 2 is a kind of module diagram for unmanned plane that first embodiment of the invention provides.
Unmanned plane 11 includes data acquisition module 112 and wireless image transmission module 114, data acquisition module 112 and nothing
Line image transmission module 114 connects.
There is higher requirement to the flight stability of unmanned plane 11 in view of carrying out road conditions Image Acquisition, as one
Multi-rotor unmanned aerial vehicle can be selected in the optional embodiment of kind, unmanned plane 11.Multi-rotor unmanned aerial vehicle be a kind of tool there are three or more
The special pilotless helicopter of rotor shaft drives rotor by the motor rotation on each axis, is pushed away to generate to rise
Power., by changing the relative rotation speed between different rotors, thus it is possible to vary and the size of uniaxial propulsive force, to control aircraft
Running orbit, it is handling strong, can VTOL and hovering, it is with good stability.
In an alternate embodiment of the invention, data acquisition module 112 includes photographic device and is connect with the photographic device
Memory, the memory are connect with wireless image transmission module 114.In image acquisition process, the photographic device it is steady
Qualitative and flexibility is higher, and the image of acquisition is more clear and is easy to analysis and identification, and therefore, the unmanned plane 11 can be provided with cloud
Platform, the photographic device are mounted on the holder.Meanwhile as an alternative embodiment, unmanned plane 11 and ground connect
Being closed flat the communication of platform 12 may be affected because of weather anomaly, network fluctuation or other reasons, and unmanned plane 11 can not will be adopted
Collect obtain image instantaneous transmission to ground receiver platform 12 when, avoid occur image data loss, 11 meeting of unmanned plane
The image on road surface and road affiliated facility that acquisition obtains is stored in the memory.
Wireless image transmission module 114 includes wireless image transmitter and the hair being connect with the wireless image transmitter
Antenna is penetrated, the transmitting antenna is arranged in the tail portion of unmanned plane 11, and the wireless image transmitter is connect with the memory.It can
Selection of land, the wireless image transmitter can be the wireless image transfer devices using WiMAX or MESH technology.The WiMAX
For the wireless access wide band technology of point-to-multipoint, WiMAX takes dynamic self-adapting modulation, flexible system resource parameters and more
The series of new techniques such as carrier modulation, and have both higher rate transmittability (up to 70Mbit/s~100Mbit/s) and preferably
QoS and security control.WiMAX 802.16e coverage areas can reach 1~3 mile, be primarily located within mobile wireless metropolitan area
Net environment.The MESH is wireless mesh technology, and the high-speed data communication in close range may be implemented, and utilizes 2.4GHz frequencies
Section, effective bandwidth can reach 6Mbit/s, and this technology link design is simple, networking flexibility, easy to maintain.
Further, it is contemplated that acquisition of the ground receiver platform 12 to the demand for control of unmanned plane 11 and to acquiring image
The location requirement in place is additionally provided with satellite positioning module 116 on unmanned plane 11.In an alternate embodiment of the invention, satellite positioning mould
Block 116 may be used big-dipper satellite alignment system (BDS), GPS (GPS) or other meet Image Acquisition and
The satellite positioning module of the setting accuracy of unmanned aerial vehicle (UAV) control.
Referring to FIG. 3, Fig. 3 is a kind of module map for ground receiver platform that first embodiment of the invention provides.
When executing Image Acquisition task, the possible more than one of quantity of unmanned plane 11, and dispersion range is big, ground receiver
Platform 12 needs to carry out control and data transmission to multiple unmanned planes 11, and needs preferable mobility.On meeting
Condition is stated, as an alternative embodiment, ground receiver platform 12 is to be provided with data memory module 122 and network transmission
The automobile of module 124 or other removable vehicles.Further, network transmission module 124 needs to receive the biography of unmanned plane 11
Described image is simultaneously sent to image processing center 13 by defeated next image, therefore network transmission module 124 can be according to specific feelings
The corresponding network transmission module of one or more network transmission protocols is arranged in condition.
Optionally, ground receiver platform 12 further includes image display device 126, is carried out with the image acquired to unmanned plane 11
Real-time display facilitates staff to be monitored to the quality of described image at Image Acquisition scene and carries out essence to unmanned plane 11
Really control.
Referring to FIG. 4, Fig. 4 is a kind of module map for image processing center that first embodiment of the invention provides.
Image processing center 13 is used to carry out image procossing to described image, identifies and detect the section that described image includes
With the road information of intersection.Image processing center 13 can be attached with one or more ground receiver platforms 12 simultaneously.
Further, when simpler to image processing requirements, image processing center 13 can also be arranged in ground receiver platform 12.
As an implementation, image processing center 13 includes characteristic extracting module, Feature Dimension Reduction module, Weak Classifier
Constructing module and machine training module.
Optionally, image processing center 13 have the autonomic function based on machine learning algorithm, can to described image into
The processing of row Weigh sensor.
The operation principle of road detection system 10 provided in an embodiment of the present invention is：
Operating personnel travel ground receiver platform 12 to the close-proximity target zone for needing progress Image Acquisition, control nobody
The flight of machine 11 is acquired by data acquisition module 112 to the target area overhead and obtains image, and when transmitting normal by institute
It states image and ground receiver platform 12 is transmitted to by the wireless image transmission module 114 and network transmission module 124 of interconnection,
Ground receiver platform 12 shows described image by image display device 126, and described image is transmitted at image
Reason center 13 carries out image procossing to described image by image processing center 13, identifies and detect the section that described image includes
With the road information of intersection.
Second embodiment
In order to coordinate the road detection system 10 that first embodiment of the invention provides to carry out image procossing, the present invention second is real
It applies example and provides a kind of Approach for road detection applied to ground receiver platform 12.Referring to FIG. 5, Fig. 5 is that the present invention second is real
A kind of flow chart of Approach for road detection of example offer is applied, the Approach for road detection is as follows：
Step S10：Control unmanned plane 11 carries out shooting to the road surface of target area and road affiliated facility and obtains image.
Step S20：Image processing requests are sent to image processing center 13, receive what described image processing center 13 returned
Image procossing reply message.
Step S30：Judge whether described image processing center 13 has to described based on described image processing reply message
The free processing capacity of image.
Step S40：When described image processing center 13 has the free processing capacity to described image, by described image
Be transmitted to described image processing center 13 so that described image processing center 13 identify and detect section that described image includes and
The road information of intersection.
Optionally, for step S30, do not have the free processing capacity to described image in described image processing center 13
When, next execute the specific steps are：When to be no, described image is stored in data memory module 122, with described
Image processing center 13, which has, is again sent to described image in described image processing when the free processing capacity to described image
The heart 13.
For step S40：It, will be described when described image processing center 13 has the free processing capacity to described image
Image transmitting is to described image processing center 13, so that described image processing center 13 identifies and detects the road that described image includes
The road information of section and intersection.It as an implementation, specifically can be with to the processing step of described image in step S40
For：(1) the Haar wavelet character methods based on hsv color space are used, described image is extracted based on no symbol Haar systems
Characteristics of objects improves the recognition performance of algorithm, obtains better generalization；(2) be directed to feature extraction algorithm obtain feature to
The excessively high problem of digit is measured, using feature dimension reduction method, the noise in feature is extracted in removal；(3) support vector machines is improved to intersect
Ginseng method is selected in verification, shortens the selection time of support vector machines；It constructs to come adaptively using improved AdaBoost Weak Classifiers
Threshold value is arranged, and reduces the training time of grader；(4) training sample is reconstructed using interval sampling mode, reduces loss
Classification information and sample added trained time.
Approach for road detection provided in this embodiment introduces machine learning method in image processing process, improves image
The efficiency and quality of processing.Meanwhile it will when described image can not be sent to image processing center 13 by ground receiver platform 12
Described image is temporarily stored in data memory module 122, avoids number caused by network congestion or the obstructed situation of other networks
According to loss situation, the integrality and reliability of image ensure that.
In conclusion an embodiment of the present invention provides a kind of road detection system, method and storage medium, the road inspection
Examining system carries out Image Acquisition work using unmanned plane in the overhead of target area, is not influenced and landform ring by traffic above-ground situation
Border limits, and has higher mobility and environmental suitability.The road detection system by one, ground receiver platform pair or
Multiple unmanned planes are controlled, and improve the accuracy of traffic environment Image Acquisition, while without in the ground receiver platform
Upper progress camera or sensor add-assembly are to reduce equipment cost.The road detection system further includes for described
The described image that network transmission module transmission comes carries out the image processing center of image procossing, can be to multiple ground receiver platforms
The described image that transmission comes is handled immediately, greatly improves the image processing efficiency of the road detection system.Into one
Step ground, the ground receiver platform and described image processing center are respectively arranged with the storage device of oneself, can be in the figure
It is follow-up to wait for needing the image for carrying out image procossing to store when as processing center calculation processing power temporary shortages
Processing.
In several embodiments provided herein, it should be understood that disclosed device and method can also pass through
Other modes are realized.The apparatus embodiments described above are merely exemplary, for example, the flow chart in attached drawing and block diagram
Show the device of multiple embodiments according to the present invention, the architectural framework in the cards of method and computer program product,
Function and operation.In this regard, each box in flowchart or block diagram can represent the one of a module, section or code
Part, a part for the module, section or code, which includes that one or more is for implementing the specified logical function, to be held
Row instruction.It should also be noted that at some as in the realization method replaced, the function of being marked in box can also be to be different from
The sequence marked in attached drawing occurs.For example, two continuous boxes can essentially be basically executed in parallel, they are sometimes
It can execute in the opposite order, this is depended on the functions involved.It is also noted that every in block diagram and or flow chart
The combination of box in a box and block diagram and or flow chart can use function or the dedicated base of action as defined in executing
It realizes, or can be realized using a combination of dedicated hardware and computer instructions in the system of hardware.
In addition, each function module in each embodiment of the present invention can integrate to form an independent portion
Point, can also be modules individualism, can also two or more modules be integrated to form an independent part.
It, can be with if the function is realized and when sold or used as an independent product in the form of software function module
It is stored in a computer read/write memory medium.Based on this understanding, technical scheme of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be expressed in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic disc or CD.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, any made by repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.It should be noted that：Similar label and letter exist
Similar terms are indicated in following attached drawing, therefore, once being defined in a certain Xiang Yi attached drawing, are then not required in subsequent attached drawing
It is further defined and is explained.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
It should be noted that herein, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also include other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
Claims (10)
1. a kind of road detection system, which is characterized in that including：
Unmanned plane, including data acquisition module and the wireless image transmission module that is connect with the data acquisition module, it is described
Data acquisition module is used to acquire the image of road surface and road affiliated facility；
Ground receiver platform, including data memory module and network transmission module, the data memory module are described for receiving
The described image that wireless image transmission module transfer comes；
Image processing center, the described image for coming to network transmission module transmission carry out image procossing, identify and examine
Survey the road information in section and intersection that described image includes.
2. road detection system according to claim 1, which is characterized in that the unmanned plane further includes satellite positioning mould
Block.
3. road detection system according to claim 1 or 2, which is characterized in that the data acquisition module includes camera shooting
Device and the memory being connect with the photographic device, the memory are connect with the data acquisition module.
4. road detection system according to claim 3, which is characterized in that the wireless image transmission module includes wireless
Picture transmitter and the transmitting antenna being connect with the wireless image transmitter, the transmitting antenna are arranged in the unmanned plane
Tail portion, the wireless image transmitter connect with the memory.
5. road detection system according to claim 1, which is characterized in that the ground receiver platform be with it is described nobody
Machine connects and is provided with the removable vehicles of the data memory module and the network transmission module.
6. road detection system according to claim 5, which is characterized in that the ground receiver platform further includes that image is aobvious
Showing device, described image display device are connect with the data memory module.
7. road detection system according to claim 1, which is characterized in that described image processing center, which has, is based on machine
The autonomous learning function of learning algorithm.
8. a kind of Approach for road detection, which is characterized in that be applied to ground receiver platform, the Approach for road detection includes：
Control unmanned plane carries out shooting to the road surface of target area and road affiliated facility and obtains image；
Image processing requests are sent to image processing center, the image procossing that described image processing center returns is received and replies letter
Breath；
Judge whether described image processing center has based on described image processing reply message to handle the free time of described image
Ability；
When to be, described image is transmitted to described image processing center, so that described image processing center is identified and detected
The road information in section and intersection that described image includes.
9. Approach for road detection according to claim 8, which is characterized in that reply letter based on described image processing described
After breath judges whether described image processing center has to the free processing capacity of described image, further include：
When to be no, described image is stored in data memory module, to have to the figure in described image processing center
Described image is sent to described image processing center again when the free processing capacity of picture.
10. a kind of storage medium, which is characterized in that be stored with computer program instructions, the computer in the storage medium
When program instruction is read and run by a processor, perform claim requires the step in any one of 8 and 9 the methods.
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| CN109610281A (en) * | 2018-12-19 | 2019-04-12 | 山东交通学院 | A kind of road safety pavement patching information system and method |
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