CN108764166B - System and method for detecting position state of civil air defense door based on supporting rod - Google Patents
System and method for detecting position state of civil air defense door based on supporting rod Download PDFInfo
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Abstract
A civil air defense door position state detection system and method based on a support rod are disclosed, the system comprises: an optical path layout module provided with a plurality of cameras; the data acquisition module is used for receiving the video image acquired by the light path layout module; the image data server is used for storing original and real-time video image information of the supporting rod; the intelligent analysis module is used for converting the information of the original supporting rod and the real-time video image stored in the image data server into pixel coordinate calibration information, analyzing and comparing the pixel coordinate calibration information and the pixel coordinate calibration information to determine the abnormal situation of the position state of the civil air defense door in the pixel coordinate and converting the abnormal situation into the abnormal situation of the real position state in the physical coordinate; the display terminal is used for displaying the abnormal situation of the position state of the determined civil air defense door; the control of the electric main control box on the working state of the equipment can display the state of the civil air defense door in real time, so that operation and maintenance personnel can know the state of the civil air defense door and overhaul the civil air defense door conveniently.
Description
Technical Field
The invention belongs to the technical field of civil air defense doors, and particularly relates to an automatic state detection system for a civil air defense door.
Background
The civil air defense door is a door at the entrance and exit of the civil protection project and is used for protecting refuge people, blocking toxic gas and blasting and killing. And is in a long-time opening state in peace period. The people's air defense door is out of position means that the people's air defense door is not opened in place, and exceeds the limit of the position where the people's air defense door should be located. When the people's air defense door exceeds the limit of walking, in some cases, serious safety accidents can be caused. For example, when the position of a subway section protective closed partition door arranged beside a track exceeds the limit, the subway section protective closed partition door is positioned above the track, and the safe operation of a train is influenced.
In order to avoid the phenomenon that the walking position of the civil air defense door exceeds the limit, the opening state of the door is strengthened, and a plurality of support rods are additionally arranged on the door of a part of large-size civil air defense door, so that the door is firmly fixed on the wall surface, and the long-term opening in place is realized. Particularly, when the protective airtight partition door is installed in a subway section, under the condition of high-speed running of a train, the piston wind firstly and secondly generates pressure and suction on a door body, and under the long-term and frequent alternating action of positive pressure and negative pressure, a fixing mechanism (a supporting rod) of the door body needs to be paid special attention. According to the research of the applicant, when the maximum running speed of the subway train is 140km/h, the maximum wind speed reaches 17m/s, the positive pressure value applied to the door leaf of the zone equipment by the piston wind pressure generated when the train runs is about 13.5KN (about 13.6 tons), and the negative pressure value is about 70.2KN (7 tons). In such a similar application scenario of the civil air defense door, the door must be kept in a good opening state (especially in an opening state) by using a fixing mechanism (a support rod), otherwise a serious safety accident with danger thereof is generated. Fig. 1 is a view showing a state where the air defense door is fixed by the fixing mechanism in an opened state.
According to the current patent and literature research, it is shown that no relevant automatic detection technology exists for the state of a fixing mechanism (supporting rod) of a large-size civil air defense door to realize real-time intelligent detection of events such as looseness, falling and the like of the supporting rod; and no relevant documents and patents are provided for automatically detecting the overrun condition of the large-size civil air defense door with the fastening piece such as the supporting rod in real time. The falling of the supporting rod and the transfinite out-of-range detection of the civil air defense door are mainly discovered when patrolling personnel routinely patrol, problems cannot be found in real time by the mode, and early warning and alarming are timely carried out.
Therefore, how to design a civil air defense door detection system which can monitor the offset condition of the supporting rod of the civil air defense door, prevent the civil air defense door from exceeding the limit and improve the safety. Become the subject of research by those skilled in the art.
Disclosure of Invention
In view of this, the present invention provides a system for detecting a people air defense door position exceeding state, so as to detect the state of the people air defense door in real time, prevent the people air defense door position exceeding in advance, and improve the safety and the convenience of maintenance.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a system for detecting a position state of a civil air defense door having a support rod fixing, comprising:
the optical path layout module is provided with a plurality of cameras, each camera is aligned to one support rod, and a video image corresponding to the support rod is obtained;
the data acquisition module is used for receiving the video image acquired by the light path layout module;
the image data server is used for storing original and real-time video image information of the supporting rod;
the intelligent analysis module is used for analyzing and comparing the pixel information of the original supporting rod and the real-time video image stored in the image data server, determining the abnormal situation of the position state of the civil air defense door in the pixel coordinate and converting the abnormal situation into the real position state abnormal situation in the physical coordinate;
the display terminal is used for displaying the abnormal situation of the position state of the determined civil air defense door;
and the electric main control box is electrically connected with the light path layout module, the data acquisition module, the image data server, the intelligent analysis module and the display terminal respectively.
Also comprises a control host which is electrically connected with the electric main control box,
the control host machine is connected with the main control box through an electric main control box:
turning on or off the light path arrangement module
Starting the intelligent analysis module to analyze and compare images, or
And acquiring positioning information of the original video image of the supporting rod stored in the image data server or acquiring the abnormal situation of the position state of the civil air defense door confirmed by the intelligent analysis module.
Still include remote control center, remote control center sets up automatic fortune dimension module, control host computer and remote control center are connected, remote control center acquires, saves people's air defense door position state abnormal conditions through the control host computer to send automatic fortune dimension module for the control host computer.
The detection method of the position state of the civil air defense door with the fixed supporting rod comprises the following steps:
s1: a camera of the light path layout module acquires a video image of the support rod;
s2: the data acquisition module receives the video image acquired by the light path layout module and transmits the video image to the intelligent analysis module;
s3: the intelligent analysis module is used for converting the support rod video images acquired by the data acquisition module to obtain pixel coordinate position positioning information of the real-time video images and the original video images of the support rods;
s4, the intelligent analysis module calls the positioning information of the original video image of the supporting rod, the real-time positioning pixel coordinate position data of the supporting rod and the positioning information of the original video image are subjected to image analysis and comparison to obtain the offset of the supporting rod, and the situation that whether the position state of the civil air defense door is abnormal or not is determined according to the offset of the supporting rod;
s5: the electric main control box displays the abnormal state of the position state of the civil air defense door on the display terminal.
The pixel coordinate position locating information of the real-time video image and the original video image in the step S3 is obtained through the following steps:
s31: the pixel coordinate position of the support rod in the image is obtained,
s32, establishing a direction selection convolution template of the supporting rod in the image by utilizing convolution operation;
s33: calling a segment detection algorithm in opencv to realize linear segment detection;
s34: for the straight line segment in the step S33, filtering out the straight line segment data on the non-support bar by using the brightness distribution characteristics of the support bar straight line at the upper and lower positions;
s35: performing fitting operation by using the straight line segment data of the supporting rod in the step S34 to realize accurate extraction of the supporting rod data and remove outlier data; and obtaining the pixel coordinate position positioning information of the real-time video image and the original video image.
The image analysis and alignment steps in step S4 are as follows:
s41: after the upper edge and the lower edge are positioned, calculating the central positions of the upper edge and the lower edge, and performing linear fitting to obtain the central line of the supporting rod, so as to obtain the central line data of the supporting rod, wherein the central line data comprises a real-time detection data central line and an original position data central line;
s42: calculating the pixel distance between the detection data center line of the real-time video image and the data center line of the original video image: further obtaining the pixel distance of the support rod at the corresponding position, and obtaining the offset between the pixel coordinate of the real-time support rod image and the pixel coordinate of the original support rod image;
s43: outputting the physical offset of the support rod: calculating the offset between the pixel coordinates in the S42 by combining the physical size of the supporting rod and adopting a 2 nd order polynomial function to describe the relation between the pixel space position and the physical space position; obtaining the offset of the support rod in the physical space;
the following is a correspondence between pixel space and physical space described by a polynomial function of order 2, the remaining orders being equally obtainable.
Assuming that the pixel coordinates (x, y) in the image correspond to physical space coordinates (u, v), the polynomial function of order 2 is:
u＝A00+A01*y+A02*y2+A10*x+A20*x2+A11*x*y
v＝B00+B01*y+B02*y2+B10*x+B20*x2+B11*x*y
wherein A is00，A01，A02，A10，A20，A11，B00，B01，B02，B10，B20，B11Is a polynomial function coefficient.
Still include the bracing piece state of dropping and early warning step in grades:
s44: the offset x of the supporting rod is used as an input quantity, the maximum offset of the supporting rod is set to be th _ x, the supporting rod offset early warning function is f1, f1(x) is (x/th _ x) 10, the graded early warning based on the offset can be divided into 0-10 grades of early warning, and when the highest 10 grades are reached, the warning is triggered.
Still include the bracing piece and drop warning step:
s45: when no support rod is detected or the offset of the support rod is detected to exceed a given threshold value th _ x, the output support rod falls and an alarm is given.
The method also comprises the following intelligent operation and maintenance steps:
s6: inputting an operation and maintenance scheme summarized based on the knowledge and experience of the operation and maintenance expert into a database of a remote data center;
s7: based on the result of the position state abnormal state detection of the civil air defense door of step S5, the corresponding operation and maintenance scheme stored in S6 is invoked.
The operation and maintenance scheme comprises the following steps: the system comprises information of civil air defense door places in abnormal states, query of standby products, notification of maintenance teams, optimal route planning and maintenance measures for abnormal places.
Compared with the prior art, the people's air defense door walking position overrun state detection system has the following advantages:
due to the adoption of the technical scheme: the application has the following beneficial effects
(1) The system integrates and collects the electric main control box, the light path layout module, the data acquisition module, the image data server, the intelligent analysis module, the display terminal and the like, controls the camera, the image acquisition analysis module, the intelligent analysis module and the like through the electric main control box, monitors, acquires, analyzes and processes the state of the support rod in real time, displays the state, automatically realizes the falling state of the support rod and the position offset detection of the support rod, determines the transfinite state of the civil air defense door, displays the state of the civil air defense door in real time, facilitates the operation and maintenance personnel to know the state of the civil air defense door and overhaul the civil air defense door, ensures the safety of the subway track and improves the working efficiency.
(2) Meanwhile, a remote data center is arranged, massive support rod state information is stored in real time, a data backup effect is achieved, the support rod falling state and the support rod position offset condition can be obtained in real time in an electronic monitoring and big data analysis mode, and finally the people's air defense door walking position overrun state is determined.
(3) The image data server has the function of storing multiple video images, provides support for multiple times of calling of the intelligent analysis module, provides original images for the people's prevention door-walking position-overrun state and provides service for later-stage fault analysis.
(4) The intelligent analysis module has a self-processing function, firstly, the support rod video image acquired by the data acquisition module is analyzed to obtain the pixel coordinate position positioning information of the video image, and then the pixel coordinate position positioning information of the video image is compared with the pixel coordinate position positioning information of the original video image; finally, the data are converted into physical grading data indexes, and the automatic analysis function can realize the warning function of the grading state of the support rod of the civil air defense door; the mass data are transmitted in real time in the process, and the processing process is fast and efficient.
(5) The early warning of the dropping state of the supporting rod in ten grades is also arranged, so that the corresponding problem can be solved in a grading way, and the adaptability is improved; meanwhile, the situation that the supporting rod is not detected or the offset of the supporting rod exceeds a given threshold value is preset, the output supporting rod falls off and gives an alarm, and major safety accidents are avoided.
(6) The operation and maintenance system based on the expert knowledge and experience of the operation and maintenance of the civil air defense door is arranged in the remote control center, so that the function of automatically providing the operation and maintenance scheme of the civil air defense door is realized, a certain automatic maintenance function is realized, and the efficiency is improved; meanwhile, the remote data center has the functions of remotely controlling and issuing the instructions and one-to-many integrated processing, so that the monitoring efficiency and the remote instruction capability are improved, and the problems can be systematically found and the related safety problems can be solved.
(7) The light path layout module adopts an industrial camera to shoot large-range images in a short distance through wide-angle imaging and short-distance shooting technologies, and operation and maintenance personnel can conveniently remotely check the state of the support rod of the civil air defense door.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a state view of the civil air defense door of the invention fixed by a fixing mechanism in an opened state.
Fig. 2 is a schematic diagram of the imaging optical path of the civil air defense door of the invention.
FIG. 3 is a schematic diagram of the structure of the detection system of the present invention.
Fig. 4 is a flow chart of the civil air defense door state detection.
Fig. 5 is a detailed process diagram for implementing support bar positioning based on an input image.
FIG. 6 is a flow chart of the offset calculation of the support rods in image space.
Description of reference numerals:
1, door, 2: a camera, 3: light supplement unit, 4: support rod, 5: a fastener.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in the figures 1-6 of the drawings,
1 System composition
The system comprises the following components: the system comprises a light path layout module, a data acquisition module, an image data server, an intelligent analysis module, a display terminal, an electric main control box, a control host and a remote control center.
1.1 light path layout Module
A plurality of cameras 2 are arranged on a civil air defense door 1 or a wall body, and one camera is aligned to one supporting rod 4 to ensure that the supporting rod is visible in a video image; aiming at the imaging spectral characteristics of the camera, a light supplement lamp (a light supplement unit 3) is selected to supplement light to the imaging unit (the supporting rod) by adopting the corresponding spectrum of the camera.
And aiming the camera at the supporting rod on the light path design.
A camera and a lens are selected for matching to realize wide-angle imaging and ultra-short distance shooting technology, and large-range images are shot in a short distance;
in the embodiment, the center of the camera and the monitored support rod are positioned at the same horizontal height; the camera can be guaranteed to shoot the supporting rod.
1.2, a data acquisition module for receiving the video image obtained by the light path layout module;
1.3 image data server for storing original and real-time video image information of support bar;
1.4, an intelligent analysis module analyzes the information of the original supporting rod and the real-time video image stored in the image data server to obtain pixel coordinate positioning information, analyzes and compares the pixel coordinate positioning information and determines the abnormal situation of the position state of the civil air defense door in the pixel coordinate and converts the abnormal situation into the abnormal situation of the real position state in the physical coordinate;
1.5 the display terminal is used for displaying the abnormal situation of the position state of the determined civil air defense door;
and 1.6 the electric main control box is respectively and electrically connected with the light path layout module, the data acquisition module, the image data server, the intelligent analysis module and the display terminal.
1.7 a control host which is electrically connected with the electric main control box,
the control host machine is connected with the main control box through an electric main control box:
turning on or off the light path arrangement module
Starting the intelligent analysis module to perform image analysis comparison, or
And acquiring positioning information of the original video image of the supporting rod stored in the image data server or acquiring the abnormal situation of the position state of the civil air defense door confirmed by the intelligent analysis module.
1.8 remote control center, remote control center sets up automatic fortune dimension module, the control host computer is connected with remote control center, remote control center acquires, saves people's air defense door position state abnormal conditions through the control host computer to send automatic fortune dimension module for the control host computer.
2. Intelligent analytical computation
The intelligent analysis and calculation realizes image analysis and comparison calculation by utilizing the video image of the civil air defense door supporting rod and the positioning information of the camera, and finally obtains the numerical calculation result of the civil air defense door, thereby providing data support for the grading early warning and alarming in the subsequent stage.
2.1 calculation of the numerical value of the State of the supporting rod
2.1.1 support rod positioning
The support rod positioning mainly realizes accurate positioning to the pixel coordinate position of the support rod in the image. Fig. 6 is a detailed process of implementing support bar positioning based on an input image.
Convolution operation: convolution operation is the most common operator in the field of image processing, and mainly realizes feature enhancement calculation in images. The module realizes the edge characteristic enhancement of the support bar, and selects a convolution template based on the direction of the support bar in the image in the convolution operation;
detecting a straight line segment: calling a line segment detection algorithm in opensource Computer Vision library to realize the line segment detection algorithm, and providing data support for the next support rod positioning;
selecting a straight line segment: the module selects the straight line data based on the straight line data of the previous module by using the brightness distribution characteristics of the straight line of the support rod at the upper and lower positions, and filters out the straight line segment data on the non-support rod;
support bar data extraction: the module utilizes the support bar straight line segment data to carry out fitting operation to realize accurate extraction of support bar positioning data and remove outlier data;
2.1.2 support rod offset detection
And calculating the offset of the supporting rod, wherein the offset of the supporting rod in the image pixel space relative to the initial installation position is mainly calculated.
The support rod detects data: real-time positioning data derived from the support rods;
initial position data of the support bar: the method comprises the steps of firstly detecting the positioning data of the supporting rod after initial installation;
support rod center line: after the data are positioned by the upper edge and the lower edge, calculating the central positions of the upper edge and the lower edge and performing linear fitting to obtain the central line of the supporting rod;
calculating the pixel distance between the two center lines (the detection data center line of the support bar and the initial position data center line of the support bar): the pixel distance calculation of the support rod at the corresponding position is realized;
outputting the offset of the supporting rod: based on the known information of the physical dimensions (including the dimensions of the physical space and the pixel space) of the support rod, a 2-5 order polynomial function is adopted to describe the relationship between the pixel space position and the physical space position, so that self-calibration calculation is realized. Data calculated based on the pixel distance of the last module is calculated to the physical space. In the physical space, the distance (actual offset) is found and output as the offset of the support bar.
The following is a correspondence between pixel space and physical space described by a polynomial function of order 2, the remaining orders being equally obtainable.
Assuming that the pixel coordinates (x, y) in the image correspond to physical space coordinates (u, v), the polynomial function of order 2 is:
u＝A00+A01*y+A02*y2+A10*x+A20*x2+A11*x*y
v＝B00+B01*y+B02*y2+B10*x+B20*x2+B11*x*y
wherein A is00，A01，A02，A10，A20，A11，B00，B01，B02，B10，B20，B11Is a polynomial function coefficient. Theoretically, the 12 coefficients can be completely calculated by the 2 nd-order polynomial function coefficient only by 6 different pixel points and the coordinate data corresponding to the physical space. By utilizing the relation between the pixel coordinates and the physical coordinates of the support rod data in the image and utilizing a manual interactive acquisition mode, more than 6 points can be obtained, and all coefficients can be solved by utilizing a least square method.
2.1.3 Graded early warning of falling state of supporting rod
The falling of the supporting rod shows that the supporting rod is separated from the normal position, and the fixing effect on the people defense door cannot be realized. The drop of the support rod is induced by that the screw of the support rod is loosened and drops due to the back-and-forth vibration of the civil air defense door under the action of external force.
Therefore, the grading early warning of the civil air defense door is carried out from two aspects, (1) the grading early warning is carried out from the falling performance of the supporting rod; (2) and carrying out grading early warning from the offset of the civil air defense door.
(1) The offset x of the supporting rod is used as an input quantity, the maximum offset of the supporting rod is set to be th _ x, the supporting rod offset warning function is f1, and f1(x) is (x/th _ x) × 10. Thus, we can classify the offset-based hierarchical warning into 0-10 grades of warning, that is, 0-1 is grade 1, 1-2 is grade 2, 2-3 is grade 3, and … … 9-10 is grade 10. The highest level 10 has triggered an alarm.
(2) Alarm for support rod falling event
The module mainly realizes the function, and realizes the falling event alarm of the supporting rod based on the offset data of the supporting rod and the back-and-forth vibration amplitude calculation data of the civil air defense door.
(1) If the supporting rod is not detected, directly outputting a falling alarm of the supporting rod;
(2) if the offset of the support rod exceeds a given threshold value th _ x, outputting a support rod falling alarm;
3 Intelligent operation and maintenance
The intelligent operation and maintenance is based on the results of intelligent analysis and event analysis, and an operation and maintenance scheme is automatically given by combining the knowledge and experience of operation and maintenance experts of the civil air defense door. Firstly, inputting an operation and maintenance plan library in the system, wherein each stage of early warning comprises an operation and maintenance scheme in the plan library; each alarm contains an operation and maintenance scheme. The operation and maintenance scheme comprises the following steps: the system comprises information of civil air defense door places in abnormal states, query of standby products, notification of maintenance teams, optimal route planning and maintenance measures for abnormal places.
4. Solves the problems of the prior art
The civil air defense door is basically in a normally open state in peace period. The safety operation of the train can be seriously influenced if the opening state of the civil air defense door at the interval isolation position is in place, particularly if the position of the civil air defense door at the interval near the subway track exceeds the limit. To whether people's air defense interval door switch state surpasses the boundary limit, this patent proposes an effectual solution system. The falling state analysis of the civil air defense door with the supporting rod is realized by computer vision measurement; through the identification position detection to the bracing piece, can accurate calculation people's air defense door walk a distance, through setting up the threshold, can effectual calculation go out the door whether cross the border transfinite and cross the border. And finally, the operation and maintenance scheme of the civil air defense door is automatically acquired by using the knowledge and experience of the operation and maintenance expert of the civil air defense door, and the operation and maintenance problem of the civil air defense door with the supporting rods is solved.
5. Advantageous effects
(1) The industrial camera is used for shooting large-range images in a short distance through wide-angle imaging and short-distance shooting technologies, so that operation and maintenance personnel can conveniently and remotely check the state of the civil air defense door supporting rod;
(2) the image of the support rod of the civil air defense door is collected and stored through the computer, the storage time is long, and the tracking is easy;
(3) by using a computer vision technology, the falling state of the supporting rod and the over-limit state analysis of the people's air defense door walking are automatically realized;
(4) the functions of the civil air defense door support rod state, the civil air defense door walking position overrun grading early warning and alarming are realized;
(5) the function of automatically providing the operation and maintenance scheme of the civil air defense door is realized based on the knowledge and experience of the expert of the operation and maintenance of the civil air defense door.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. The utility model provides a people's air defense door position state detecting system based on bracing piece which characterized in that includes:
the optical path layout module is provided with a plurality of cameras, each camera is aligned to one support rod, and a video image corresponding to the support rod is obtained;
the data acquisition module is used for receiving the video image acquired by the light path layout module;
the image data server is used for storing original and real-time video image information of the supporting rod;
the intelligent analysis module is used for analyzing and comparing the positioning information of the original supporting rod and the real-time video image stored in the image data server, determining the abnormal situation of the position state of the civil air defense door in the pixel coordinate and converting the abnormal situation into the real position state abnormal situation in the physical coordinate;
the display terminal is used for displaying the abnormal situation of the position state of the determined civil air defense door;
and the electric main control box is electrically connected with the light path layout module, the data acquisition module, the image data server, the intelligent analysis module and the display terminal respectively.
2. The support bar-based civil air defense door position state detecting system of claim 1, wherein:
also comprises a control host which is electrically connected with the electric main control box,
the control host machine is connected with the main control box through an electric main control box:
turn on/off the optical path layout module, or
Starting the intelligent analysis module to analyze and compare images, or
And acquiring positioning information of the original video image of the supporting rod stored in the image data server or acquiring the abnormal situation of the position state of the civil air defense door confirmed by the intelligent analysis module.
3. The support bar-based civil air defense door position state detecting system of claim 2, wherein: still include remote control center, remote control center sets up automatic fortune dimension module, control host computer and remote control center are connected, remote control center acquires, saves people's air defense door position state abnormal conditions through the control host computer to send automatic fortune dimension module for the control host computer.
4. A detection method for the position state of a civil air defense door based on a support rod is characterized in that: the method comprises the following steps:
s1: a camera of the light path layout module acquires a video image of the support rod;
s2: the data acquisition module receives the video image acquired by the light path layout module and transmits the video image to the intelligent analysis module;
s3: the intelligent analysis module is used for converting the support rod video images acquired by the data acquisition module to obtain pixel coordinate position positioning information of the real-time video images and the original video images of the support rods;
s4, the intelligent analysis module calls the positioning information of the original video image of the supporting rod, the real-time positioning pixel coordinate position data of the supporting rod is compared with the original video image through image analysis to obtain the offset of the supporting rod, and the situation whether the position state of the civil air defense door is abnormal or not is determined according to the offset of the supporting rod;
s5: the electric main control box displays the abnormal state of the position state of the civil air defense door on the display terminal.
5. The supporting rod-based civil air defense door position state detection method according to claim 4, characterized in that:
the pixel coordinate position locating information of the real-time video image and the original video image in the step S3 is obtained through the following steps:
s31: the pixel coordinate position of the support rod in the image is obtained,
s32, establishing a direction selection convolution template of the supporting rod in the image by utilizing convolution operation;
s33: calling a segment detection algorithm in opencv to realize linear segment detection;
s34: for the straight line segment in the step S33, filtering out the straight line segment data on the non-support bar by using the brightness distribution characteristics of the support bar straight line at the upper and lower positions;
s35: performing fitting operation by using the straight line segment data of the supporting rod in the step S34 to realize accurate extraction of the supporting rod data and remove outlier data; and obtaining the pixel coordinate position positioning information of the real-time video image and the original video image.
6. The supporting rod-based civil air defense door position state detection method according to claim 4, characterized in that: the image analysis and alignment steps in step S4 are as follows:
s41: after the upper edge and the lower edge are positioned, calculating the central positions of the upper edge and the lower edge, and performing linear fitting to obtain the central line of the supporting rod, so as to obtain the central line data of the supporting rod, wherein the central line data comprises a real-time detection data central line and an original position data central line;
s42: calculating the pixel distance between the detection data center line of the real-time video image and the data center line of the original video image: further obtaining the pixel distance of the support rod at the corresponding position, and obtaining the offset between the pixel coordinate of the real-time support rod image and the pixel coordinate of the original support rod image;
s43: outputting the physical offset of the support rod: calculating the offset between the pixel coordinates in S42 by combining the physical size of the supporting rod and describing the relation between the pixel space position and the physical space position by adopting a polynomial function of 2 orders; obtaining the offset of the support rod in the physical space;
the following is the correspondence between pixel space and physical space described by a polynomial function of order 2:
assuming that the pixel coordinates (x, y) in the image correspond to physical space coordinates (u, v), the polynomial function of order 2 is:
u＝A00+A01*y+A02*y2+A10*x+A20*x2+A11*x*y
v＝B00+B01*y+B02*y2+B10*x+B20*x2+B11*x*y
wherein A is00，A01，A02，A10，A20，A11，B00，B01，B02，B10，B20，B11Is a polynomial function coefficient.
7. The supporting rod-based civil air defense door position state detection method according to claim 4, characterized in that: still include the bracing piece state of dropping and early warning step in grades:
s44: the offset x of the supporting rod is used as an input quantity, the maximum offset of the supporting rod is set to be th _ x, the supporting rod offset early warning function is f1, f1(x) is (x/th _ x) 10, the graded early warning based on the offset can be divided into 0-10 grades of early warning, and when the highest 10 grades are reached, the warning is triggered.
8. The supporting bar-based civil air defense door position state detection method according to claim 7, characterized in that: still include the bracing piece and drop warning step:
s45: when no support rod is detected or the offset of the support rod is detected to exceed a given threshold value th _ x, the output support rod falls and an alarm is given.
9. The supporting bar-based civil air defense door position state detection method according to claim 7 or 8, characterized in that: the method also comprises the following intelligent operation and maintenance steps:
s6: inputting an operation and maintenance scheme summarized based on the knowledge and experience of the operation and maintenance expert into a database of a remote data center;
s7: based on the result of the position state abnormal state detection of the civil air defense door of step S5, the corresponding operation and maintenance scheme stored in S6 is invoked.
10. The supporting bar-based civil air defense door position state detection method according to claim 9, characterized in that: the operation and maintenance scheme comprises the following steps: the system comprises information of civil air defense door places in abnormal states, query of standby products, notification of maintenance teams and optimal route planning measures for going to abnormal places.
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