CN109050916A - A kind of cruise unmanned plane and storage medium - Google Patents
A kind of cruise unmanned plane and storage medium Download PDFInfo
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- CN109050916A CN109050916A CN201811005372.8A CN201811005372A CN109050916A CN 109050916 A CN109050916 A CN 109050916A CN 201811005372 A CN201811005372 A CN 201811005372A CN 109050916 A CN109050916 A CN 109050916A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
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Abstract
The invention discloses a kind of cruise unmanned plane and storage mediums, wherein the unmanned plane cruises in specified express highway section and acquires the first image；Unmanned plane identifies the first image by the first image recognition, obtains density element, and the density element is more than pre-set density threshold value, obtains the second image；Unmanned plane obtains continuous second image；Unmanned plane identifies continuous second image by the second image recognition, obtains stoppage of vehicle element, when the stops element is more than stop threshold value, obtains third image.The present invention is by being acquired image information of vehicles, collected information is compared with preset threshold, when collected information is more than preset threshold, label picture is sent to Highway Control Center, greatly improves the convenience of acquisition Freeway Conditions in this way and obtains the timeliness of highway traffic congestion accuracy and prompt traffic congestion.
Description
Technical field
The present invention relates to air vehicle technique field more particularly to a kind of cruise unmanned planes and storage medium.
Background technique
With the rapid development of unmanned air vehicle technique, unmanned plane starts to be put to more and more fields.Unmanned plane is most opened
Beginning is to be applied to army, very convenient as one kind, and the unmanned machine of low-risk, is usually used to and does unmanned plane investigation, is supervised
Depending on the work that combats terrorism, for example " predator " in the U.S., Chinese " pterosaur " etc. are all military unmanned air vehicles.When nobody
After machine enters civil field, welcome the climax of Development of UAV, as China Shenzhen great Jiang Science and Technology Ltd. develop it is big
Boundary unmanned plane is even more the fame whole world, has also driven the development of unmanned plane type, there is agricultural watering unmanned plane, and forest fire monitors nothing
It is man-machine, unmanned plane of taking photo by plane etc., express delivery with take out industry all in the corresponding unmanned plane of exploitation.
In today of high-speed transit prosperity, vehicle driving can all select highway, and highway has that distance is short, and speed is high
The features such as, it is also easy to happen the traffic accident caused due to hypervelocity on a highway because of the characteristics of high speed.
Highway also will appear the phenomenon that traffic congestion, sometimes because traffic congestion, the vehicle at rear are not prompted in time,
The traffic accident for causing high speed to knock into the back happens occasionally, and is substantially major accident in the traffic accident that high speed occurs, and causes
Vehicle damage or even casualties.
Summary of the invention
The purpose of the present invention is in view of the above-mentioned drawbacks of the prior art, providing a kind of cruise of unmanned plane expressway road conditions
Method, system, unmanned plane and storage medium.
The technical solution adopted by the present invention is that providing a kind of unmanned plane expressway road conditions cruise method, which comprises
Unmanned plane cruises in specified express highway section and acquires highway picture, obtains the first image；
Unmanned plane carries out traffic density analysis to the first image, the density element in the first image is obtained, when described
Density element is more than pre-set density threshold value, is the first image configuration identifier, obtains the second image；
Unmanned plane persistently obtains second image, obtains continuous second image；
Unmanned plane carries out stop analysis to continuous second image, obtains stoppage of vehicle element, when the stop element is super
Stop threshold value is crossed, for the continuous second image configurations mark, obtains third image；
Unmanned plane carries out finish message to the third image, analyzes the road section length of standing vehicle；
The third image after arrangement is sent Highway Control Center by unmanned plane.
Preferably, the traffic density analysis of the first image is that vehicle fleet size identifies, the density element is that vehicle is close
Degree；
The unmanned plane carries out traffic density analysis to the first image, obtains the density element packet in the first image
It includes:
Vehicle fleet size in traffic density analysis identification the first image is carried out to the first image, obtains vehicle number
Measure information；
According to the vehicle fleet size information recognized, the traffic density in the first image is calculated.
The traffic density that the first image is identified by the first image passes through the traffic density energy
Fuzzy Judgment goes out the traffic density requirement whether the first image meets highway traffic congestion, requires just if meeting traffic density
The first image is marked and enters next link, otherwise unmanned plane cruises forward, continue to acquire next the first image, nobody
Machine cruise, which is taken pictures, to be judged whether to block up, and reduces the traffic accident occurred because high speed blocks up；The traffic density requirement is thing
It first presets, the traffic density requirement is that traffic congestion traffic density etc. is counted according to previous traffic congestion traffic density
Grade.
Preferably, the stop analysis of continuous second image is that coordinate identifies, the element that stops is stopping for vehicle
Stay the time；
The unmanned plane carries out stop analysis to continuous second image, obtains stoppage of vehicle element and includes:
The default continuous time for continuously acquiring second image；
The vehicle location stopped in analysis identification continuous second image is carried out to continuous second image, obtains vehicle
Location information in continuous second image；
According to location information of the vehicle in continuous second image, residence time and the vehicle of vehicle are obtained
Stop quantity.
By the default continuous time for continuously acquiring the second image, obtained on the basis of the first image of the label
Continuous second image is got, because there is interval in the continuous time, it is easy to the residence time that the vehicle can be obtained, think
The stop quantity of vehicle in certain period of time is obtained, continuous second image in the period need to only be done to comparison to be obtained
To desired result.
Preferably, the vehicle that continuous second image is carried out to stop in analysis identification continuous second image
Position, obtaining location information of the vehicle in continuous second image includes:
Obtain fuzzy coordinate of the vehicle in continuous second image；
By comparing the variation of the fuzzy coordinate, a stop threshold value is set, if the variation of the fuzzy coordinate is stopping
It stays in threshold value, is denoted as stop.
By comparing the variation of the fuzzy coordinate, a stop threshold value is set, the variation of the fuzzy coordinate is stopping
In threshold value, it is denoted as stop；The stop threshold value is a changes in coordinates range.
Using coordinate setting can clearly in tag image each car relative position, by being obtained in continuous second picture
The fuzzy coordinate of every second image is got, the variation of the fuzzy coordinate on each the second image is compared, judges each car
Whether fuzzy changes in coordinates range meets preset stop threshold value, if the fuzzy changes in coordinates of most vehicles, which meets, stops threshold
Value, just enters next link for continuous second image tagged, and this judgment mode can largely solve high speed
The accuracy and timeliness of highway traffic congestion.
A kind of unmanned plane expressway road conditions cruise system is provided, the system is used for unmanned plane, the system comprises:
First image capture module obtains the first image for acquiring image in specified area's express highway section；
First picture recognition module, the first image, obtains the density element in the first image, when described for identification
Density element is more than threshold value, is the first image configuration identifier, obtains the second image；
Second image capture module obtains continuous second image for persistently obtaining second image；
Second picture recognition module, continuous second image, obtains in continuous second image for identification
Stop element for the continuous second image configurations mark, obtain third image when the stop element is more than threshold value；
Finish message module analyzes the length in stoppage of vehicle section for carrying out finish message to the third image；
Sending module, for sending Highway Control Center for the third image after arranging.
Preferably, the first image identification module includes: vehicle fleet size identification submodule, density computational submodule；
The vehicle fleet size identification submodule is used to obtain vehicle number by the vehicle fleet size in identification the first image
Measure information；
The density computational submodule is used to be calculated in the first image according to the vehicle fleet size information recognized
Traffic density.
Preferably, second picture recognition module includes: acquisition time submodule, position identification submodule, time meter
Operator module and quantity calculating submodule；
The acquisition time submodule is for the default continuous time for continuously acquiring second image；
The position identification submodule is used to obtain vehicle by identifying the vehicle location in continuous second image
Location information in continuous second image；
The time computational submodule be used for according to vehicle in continuous second image residence time, obtain vehicle
Residence time；
The quantity calculating submodule obtains vehicle for the location information according to vehicle in continuous second image
Stop quantity.
Preferably, the position identification submodule includes coordinate acquiring unit, and the coordinate acquiring unit is for obtaining vehicle
Fuzzy coordinate in second image；
The quantity calculating submodule includes coordinate comparison unit, and the coordinate comparison unit is used for by comparing the mould
The variation for pasting coordinate, sets a stop threshold value, if the variation of the fuzzy coordinate is stopping in threshold value, is denoted as stop.
A kind of cruise unmanned plane is provided, the unmanned plane includes: memory, processor, communication device and Image Acquisition
Device, wherein the memory for storing executable program code and data, the communication device for the unmanned plane with
Other equipment carry out communication interaction, and the processor is used to call the executable program code of memory storage, execute with
Lower step:
When the unmanned plane is when specified express highway section cruises, control described image acquisition device acquires highway
Picture obtains the first image；
Traffic density analysis is carried out to the first image, the density element in the first image is obtained, when the density is wanted
Element is more than pre-set density threshold value, is the first image configuration identifier, obtains the second image；
Second image is persistently obtained, continuous second image is obtained；
Stop analysis is carried out to continuous second image, obtains stoppage of vehicle element, when the stop element is more than to stop
Threshold value obtains third image for the continuous second image configurations mark；
Finish message is carried out to the third image, analyzes the road section length of standing vehicle；
It controls the communication device and sends Highway Control Center for the third image after arrangement.
Preferably, the traffic density analysis of the first image is that vehicle fleet size identifies, the density element is that vehicle is close
Degree；
The processor carries out traffic density analysis to the first image, obtains the side of the density element in the first image
Formula includes:
Vehicle fleet size in traffic density analysis identification the first image is carried out to the first image, obtains vehicle number
Measure information；
According to the vehicle fleet size information recognized, the traffic density in the first image is calculated.
Preferably, the stop analysis of continuous second image is that coordinate identifies, the element that stops is stopping for vehicle
Stay the time；
The processor carries out stop analysis to continuous second image, and the mode for obtaining stoppage of vehicle element includes:
The default continuous time for continuously acquiring second image；
The vehicle location stopped in analysis identification continuous second image is carried out to continuous second image, obtains vehicle
Location information in continuous second image；
According to location information of the vehicle in continuous second image, residence time and the vehicle of vehicle are obtained
Stop quantity.
Preferably, the processor stop in analysis identification continuous second image to continuous second image
Vehicle location, the mode for obtaining location information of the vehicle in continuous second image includes:
Obtain fuzzy coordinate of the vehicle in continuous second image；
By comparing the variation of the fuzzy coordinate, a stop threshold value is set, if the variation of the fuzzy coordinate is stopping
It stays in threshold value, is denoted as stop.
A kind of computer readable storage medium is provided, the storage medium is stored with computer program, the computer journey
It is performed the steps of when sequence is executed by processor
When unmanned plane is when specified express highway section cruises, acquisition highway picture obtains the first image；
Traffic density analysis is carried out to the first image, the density element in the first image is obtained, when the density is wanted
Element is more than pre-set density threshold value, is the first image configuration identifier, obtains the second image；
Second image is persistently obtained, continuous second image is obtained；
Stop analysis is carried out to continuous second image, obtains stoppage of vehicle element, when the stop element is more than to stop
Threshold value obtains third image for the continuous second image configurations mark；
Finish message is carried out to the third image, analyzes the road section length of standing vehicle；
Highway Control Center is sent by the third image after arrangement.
Preferably, the traffic density analysis of the first image is that vehicle fleet size identifies, the density element is that vehicle is close
Degree；
The processor carries out traffic density analysis to the first image, obtains the side of the density element in the first image
Formula includes:
Vehicle fleet size in traffic density analysis identification the first image is carried out to the first image, obtains vehicle number
Measure information；
According to the vehicle fleet size information recognized, the traffic density in the first image is calculated.
Preferably, the stop analysis of continuous second image is that coordinate identifies, the element that stops is stopping for vehicle
Stay the time；
The processor carries out stop analysis to continuous second image, and the mode for obtaining stoppage of vehicle element includes:
The default continuous time for continuously acquiring second image；
The vehicle location stopped in analysis identification continuous second image is carried out to continuous second image, obtains vehicle
Location information in continuous second image；
According to location information of the vehicle in continuous second image, residence time and the vehicle of vehicle are obtained
Stop quantity.
Preferably, the processor stop in analysis identification continuous second image to continuous second image
Vehicle location, the mode for obtaining location information of the vehicle in continuous second image includes:
Obtain fuzzy coordinate of the vehicle in continuous second image；
By comparing the variation of the fuzzy coordinate, a stop threshold value is set, if the variation of the fuzzy coordinate is stopping
It stays in threshold value, is denoted as stop.
Compared with prior art, the present invention at least has the advantages that the present invention by the way that two are arranged in unmanned plane
A image capture module is acquired image information of vehicles, and collected information is compared with preset threshold, works as acquisition
The information arrived is more than preset threshold, marks picture, passes captured image back Highway Control Center, greatly improve
It acquires the convenience of Freeway Conditions and obtains the timeliness of highway traffic congestion accuracy and prompt traffic congestion.
Detailed description of the invention
Fig. 1 is a kind of unmanned plane expressway road conditions cruise method flow chart of the embodiment of the present invention；
Fig. 2 is a kind of unmanned plane expressway road conditions cruise system module frame chart of the embodiment of the present invention；
Fig. 3 is the submodule block diagram of 22 parts in Fig. 2；
Fig. 4 is the submodule block diagram of 24 parts in Fig. 2；
Fig. 5 is a kind of structural schematic diagram for the unmanned plane that cruises of the embodiment of the present invention.
Specific embodiment
The preferred embodiment of the present invention is described below, those of ordinary skill in the art will be according to described below with this
The relevant technologies in field are realized, and can be more clearly understood that innovation and bring benefit of the invention.
As shown in Figure 1, the invention proposes a kind of method of unmanned plane expressway road conditions cruise, the unmanned plane be can be
Multi-rotor unmanned aerial vehicle, fixed-wing unmanned plane and unmanned helicopter etc., the present invention does not do specifically the product type of the unmanned plane
Restriction.The unmanned plane is equipped with high-resolution video camera, and HD image can also be able to maintain higher pixel after amplification, this
Sample can be easier the information in identification described image.
In embodiments of the present invention, the unmanned plane selects quadrotor drone, and the quadrotor drone is provided with can
To shoot high-resolution video camera high-definition, in quadrotor drone, it is additionally provided with video memory and image recognition fills
It sets.
The described method includes:
S11, the first image is obtained；Specifically, unmanned plane cruises to specified express highway section, by being arranged described
Acquisition vision facilities on unmanned plane obtains the first image, and the acquisition vision facilities can be video camera etc. with Image Acquisition
The equipment of function.
Further, in order to obtain clearer first image, the acquisition vision facilities is high-resolution video camera, from the
One image solves interference of the fuzzy objective to image recognition result.
S12, the first image recognition identify the first image；First image recognition is function, and effect is identification first
Density element on image, the density element is by section vehicle fleet size and according to the traffic density of section areal calculation.
Specifically, the first image is identified as thermal imaging scan identification, the first image is being obtained simultaneously, thermal imaging scan
Instrument scans the heat radiation of outdoor scene vehicle motor, counts the vehicle fleet size in outdoor scene, obtains vehicle fleet size in the first image
Information；According to the vehicle fleet size information recognized, calculated in the first image by traffic density calculation formula
Traffic density.
Certainly, the first image identification is also possible to vehicle's contour scanning recognition, does not limit to and a kind of mode.
S13, according to the traffic density in the first image to determine whether meeting preset vehicle density threshold, if institute
Traffic density is stated more than the traffic density threshold value, is just the first image configuration identifier, obtains the second image；If described
Traffic density in first image does not reach the density threshold, just by the first image storage that this is acquired, as with reference to figure
Picture, video camera reacquire the first new image.
S14, the second image is continuously acquired；First the second image is obtained according to the first image of the label, at this
On the basis of setting fixed time interval continuously acquire the second image, the method for obtaining the second image is above-mentioned steps
S11-S13。
Further, continuous second image that will acquire is sequentially arranged, and reduces due to sequence disorder band
The data interference come.
S15, the second image recognition identify the second image；Further information knowledge is carried out according to continuous second image of acquisition
Not, second image recognition is the vehicle location identified in the second image, obtains position of the vehicle in second image
Information, each continuous second image can get the location information of corresponding vehicle, pass through the continuous position information
Variation can count vehicle residence time and within a certain period of time vehicle stop quantity as stop element.
Specifically, the second image recognition mode is coordinate identification, each of image vehicle location can be by
One group of fuzzy coordinate representation, vehicle position information is to obtain the vehicle coordinate information in obtaining second image.
S16, when whether determine vehicle is to stop, first preset a residence time and a stops threshold value, that is, coordinate and believe
Variation range is ceased, the coordinate information of same vehicle in continuous second image within the residence time is compared, it is described
Coordinate information variation range is less than stop threshold value, and then the vehicle is denoted as stop；The residence time is that vehicle is changed by coordinate information
Less than stop threshold value to the time for being greater than stop threshold value；The standing vehicle quantity is the vehicle number that stop is denoted as in a period of time
Amount.
Further, after most vehicles are denoted as stop, preset stoppage of vehicle threshold value is met, the group is continuous
The second image configurations label, obtain third image.
S17, by continuous second image of label as third image, the third image has as one group of atlas
The features such as amount of images is big, and image recognition data are complicated, the third compression of images for needing will acquire thus and encryption, encryption are
Guarantee that data are not intercepted when in order to send data；Compressed image is converted into digital signal by digital analog converter, just
It is transmitted in the data of console.
S18, the vehicle fleet size recognized and residence time information are arranged, analysis vehicle is carried out to third image and is stopped
Stay the length in section；
S19, the third image digital signal after the arrangement is sent back into Highway Control Center by sending device.
As shown in Figures 2 to 4, a kind of unmanned plane expressway road conditions cruise system is additionally provided, the system is used for nobody
Machine, the unmanned plane can be multi-rotor unmanned aerial vehicle, fixed-wing unmanned plane and unmanned helicopter etc., the present invention not to it is described nobody
The product type of machine does specific restriction.The unmanned plane is equipped with high-resolution video camera, and HD image can be gone back after amplification
It is able to maintain higher pixel, the information that can be easier in identification described image in this way.
The system comprises:
First image capture module 21, for obtaining the first image；The first image acquisition module 21 is provided with high definition
Clear video camera.
First picture recognition module 22, for identification the vehicle fleet size information of the first image；The first image identifies mould
Vehicle fleet size identification submodule 31 and density computational submodule 32 are provided in block 22.
In embodiments of the present invention, the vehicle fleet size identification submodule 31 is thermal imaging scan instrument, and the thermal imaging is swept
Retouching instrument is to obtain traffic density, and the infrared radiant energy magnitude fluctuation of the engine of each car is little, by vehicle motor infrared radiant energy
Magnitude is considered as fixed value, can calculate vehicle fleet size according to total temperature is radiated；The density submodule 32 is by the vehicle number
Amount and fastlink area do traffic density calculating, obtain traffic density；The traffic density calculation formula are as follows: (traffic density)
=(vehicle fleet size) ÷ (section area).
Second image capture module 23, for obtaining the second image；Fixed Time Interval is specially first preset, is giving first
After opening the first image configurations mark, it is spaced the preset time interval and continuously acquires the second image.
Second picture recognition module 24, for identification vehicle fleet size and vehicle location on continuous second image；It is described
Second picture recognition module 24 includes the acquisition time submodule 41 for acquiring the continuous second image spacing time, identification institute
State the vehicle location in the second image, obtain location information of the vehicle in second image position identification submodule 42,
It acquires vehicle fleet size in the second image of time computational submodule 43 and acquisition of vehicle dwell time in the second image and stops quantity
Quantity calculating submodule 44.
The acquisition time submodule 41 is to acquire continuous second image according to the time label on the second image
Time interval；The position identification submodule 42 is the vehicle position information identified according to the coordinate being arranged on the image, because
It is two-dimensional image for the second image, so coordinate setting is also two-dimensional coordinate,；The time computational submodule 43 is the company of calculating
Counting period time of the residence time of vehicle in the second continuous image, the time computational submodule 43 are less than continuous second
The time interval of image, more accurately calculates vehicle dwell time；There are two the functions that the quantity calculating submodule 44 is,
One be statistics every second image in vehicle fleet size, for vehicle fleet size variation comparison, further increase high-speed road conditions
Accuracy, the other is identification stoppage of vehicle, by the coordinate comparison unit that is arranged in the quantity calculating submodule 44 come
It realizes, compares the variation of the vehicle coordinate, set a stop threshold value, the variation of the coordinate is being stopped in threshold value, is being denoted as
It stops.
Finish message module 25 analyzes vehicle for arranging the vehicle fleet size recognized and residence time information
Stop the length in section；
Through the first image of finishing analysis, the quantity of the second image and third image vehicle and residence time, acquired in
Image spliced, obtain stoppage of vehicle section length, that is, high speed traffic congestion length.
Sending module 26 is for sending third image；The sending module 26 will acquire third elementary area and transmission
Elementary area is combined into one, and the acquisition third elementary area is the second compression of images that will be marked, encrypts and be converted into number
Signal, the transmission elementary area is then that third image digital signal is sent to Highway Control Center.
The embodiment of the present invention also provides a kind of cruise unmanned plane, and the unmanned plane that can be used for executing previous embodiment offer is high
All or part of the steps in the method for fast road road conditions cruise.As shown in figure 5, the unmanned plane at least may include: memory
100, at least one processor 200, such as CPU (Central Processing Unit, central processing unit), at least one is logical
T unit 300 carries out communication interaction and at least one image collecting device 400 for the unmanned plane and other equipment, is used for
Acquire video image, such as camera.Wherein, memory 100, processor 200, communication device 300 and image collecting device 400
It can be communicatively coupled by one or more bus.It will be understood by those skilled in the art that unmanned plane shown in Fig. 5
Structure does not constitute the restriction to the embodiment of the present invention, it is also possible to hub-and-spoke configuration either busbar network, can be with
Including perhaps combining certain components or different component layouts than illustrating more or fewer components.
Wherein, memory 100 can be high speed RAM memory, be also possible to non-labile memory (non-
Volatile memory), a for example, at least magnetic disk storage.It is remote that memory 100 optionally can also be that at least one is located at
Storage device from aforementioned processor 200.Memory 100 can be used for storing executable program code and data, and the present invention is real
Example is applied to be not construed as limiting.
In cruise unmanned plane shown in Fig. 5, processor 200 can be used for calling the executable journey of the storage of memory 100
Sequence code executes following steps:
When unmanned plane is when specified express highway section cruises, control image collecting device 400 acquires highway picture,
Obtain the first image；
Traffic density analysis is carried out to the first image, obtains the density element in the first image, when density element is more than pre-
If density threshold, is identified for the first image configurations, obtain the second image；
The second image is persistently obtained, continuous second image is obtained；
Stop analysis is carried out to continuous second image, obtains stoppage of vehicle element, is more than to stop threshold value when stopping element,
For continuous second image configurations mark, third image is obtained；
Finish message is carried out to third image, analyzes the road section length of standing vehicle；
It controls communication device 300 and sends Highway Control Center for the third image after arrangement.
Optionally, the traffic density analysis of the first image is that vehicle fleet size identifies, density element is traffic density；
Processor 200 carries out traffic density analysis to the first image, and the mode for obtaining the density element in the first image can
To include:
Vehicle fleet size in traffic density analysis the first image of identification is carried out to the first image, obtains vehicle fleet size information；
According to the vehicle fleet size information recognized, the traffic density in the first image is calculated.
Optionally, the stop analysis of continuous second image is that coordinate identifies, stops the residence time that element is vehicle；
Processor 200 carries out stop analysis to continuous second image, and the mode for obtaining stoppage of vehicle element may include:
The default continuous time for continuously acquiring second image；
The vehicle location stopped in continuous second image of analysis identification is carried out to continuous second image, is obtained vehicle and is existed
Location information in continuous second image；
According to location information of the vehicle in continuous second image, the residence time of vehicle and the stop of vehicle are obtained
Quantity.
Optionally, processor 200 carries out the vehicle stopped in continuous second image of analysis identification to continuous second image
Position, the mode for obtaining location information of the vehicle in continuous second image may include:
Obtain fuzzy coordinate of the vehicle in continuous second image；
The variation that coordinate is obscured by comparing, sets a stop threshold value, if the variation of fuzzy coordinate is stopping in threshold value,
It is denoted as stop.
Implement cruise unmanned plane shown in fig. 5, by being acquired to image information of vehicles, by collected information and in advance
If threshold value compares, when collected information is more than preset threshold, label picture passes captured image back highway
Administrative center greatly improves the convenience of acquisition Freeway Conditions and obtains highway traffic congestion accuracy and prompt
The timeliness of traffic congestion.
The embodiment of the present invention also provides a kind of computer readable storage medium, and storage medium is stored with computer program, should
It may be implemented when computer program is executed by processor in the method for unmanned plane expressway road conditions cruise of previous embodiment offer
All or part of the steps.
Specifically, following steps may be implemented when being executed by processor in the computer program:
When unmanned plane is when specified express highway section cruises, acquisition highway picture obtains the first image；
Traffic density analysis is carried out to the first image, obtains the density element in the first image, when density element is more than pre-
If density threshold, is identified for the first image configurations, obtain the second image；
The second image is persistently obtained, continuous second image is obtained；
Stop analysis is carried out to continuous second image, obtains stoppage of vehicle element, is more than to stop threshold value when stopping element,
For continuous second image configurations mark, third image is obtained；
Finish message is carried out to third image, analyzes the road section length of standing vehicle；
Highway Control Center is sent by the third image after arrangement.
Optionally, the traffic density analysis of the first image is that vehicle fleet size identifies, density element is traffic density；
Processor carries out traffic density analysis to the first image, and the mode for obtaining the density element in the first image can wrap
It includes:
Vehicle fleet size in traffic density analysis the first image of identification is carried out to the first image, obtains vehicle fleet size information；
According to the vehicle fleet size information recognized, the traffic density in the first image is calculated.
Optionally, the stop analysis of continuous second image is that coordinate identifies, stops the residence time that element is vehicle；
Processor carries out stop analysis to continuous second image, and the mode for obtaining stoppage of vehicle element may include:
The default continuous time for continuously acquiring the second image；
The vehicle location stopped in continuous second image of analysis identification is carried out to continuous second image, is obtained vehicle and is existed
Location information in continuous second image；
According to location information of the vehicle in continuous second image, the residence time of vehicle and the stop of vehicle are obtained
Quantity.
Optionally, processor carries out the vehicle position stopped in continuous second image of analysis identification to continuous second image
It sets, the mode for obtaining location information of the vehicle in continuous second image may include:
Obtain fuzzy coordinate of the vehicle in continuous second image；
The variation that coordinate is obscured by comparing, sets a stop threshold value, if the variation of fuzzy coordinate is stopping in threshold value,
It is denoted as stop.
It should be noted that for the various method embodiments described above, for simple description, therefore, it is stated as a series of
Combination of actions, but those skilled in the art should understand that, the application is not limited by the described action sequence because
According to the application, some steps may be performed in other sequences or simultaneously.Secondly, those skilled in the art should also know
It knows, embodiment described in this description belongs to alternative embodiment, related actions and modules not necessarily the application
It is necessary.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, there is no the portion being described in detail in some embodiment
Point, reference can be made to the related descriptions of other embodiments.
In several embodiments provided herein, it should be understood that disclosed device, it can be by another way
It realizes.For example, the apparatus embodiments described above are merely exemplary
It, can also be in addition, the processor, chip in each embodiment of the application can integrate in one processing unit
It is to physically exist alone, it can also be with two or more hardware integrations in a unit.Computer readable storage medium or
Computer-readable program can store in a computer-readable access to memory.Based on this understanding, the technology of the application
Substantially all or part of the part that contributes to existing technology or the technical solution can be with software in other words for scheme
The form of product embodies, which is stored in a memory, including some instructions are used so that one
Platform computer equipment (can be personal computer, server or network equipment etc.) executes each embodiment the method for the application
All or part of the steps.And memory above-mentioned include: USB flash disk, it is read-only memory (ROM, Read-Only Memory), random
Access memory (RAM, Random Access Memory), mobile hard disk, magnetic or disk etc. are various to can store program
The medium of code.
Those of ordinary skill in the art will appreciate that all or part of the steps in the various methods of above-described embodiment is can
It is completed with instructing relevant hardware by program, which can store in a computer-readable memory, memory
May include: flash disk, read-only memory (English: Read-Only Memory, referred to as: ROM), random access device (English:
Random Access Memory, referred to as: RAM), disk or CD etc..
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be said that
A specific embodiment of the invention is only limited to these instructions.General technical staff of the technical field of the invention is come
It says, without departing from the inventive concept of the premise, a number of simple deductions or replacements can also be made, all shall be regarded as belonging to this hair
Bright protection scope.
Claims (8)
1. a kind of cruise unmanned plane, which is characterized in that the unmanned plane includes: memory, processor, communication device and image
Acquisition device, wherein the memory for storing executable program code and data, the communication device for it is described nobody
Machine and other equipment carry out communication interaction, and the processor is used to call the executable program code of the memory storage, holds
Row following steps:
When the unmanned plane is when specified express highway section cruises, control described image acquisition device acquires highway figure
Piece obtains the first image；
Traffic density analysis is carried out to the first image, obtains the density element in the first image, when the density element is super
Pre-set density threshold value is crossed, is the first image configuration identifier, obtains the second image；
Second image is persistently obtained, continuous second image is obtained；
Stop analysis carried out to continuous second image, obtains stoppage of vehicle element, when the stops element is more than stop threshold value,
It is identified for continuous second image configurations, obtains third image；
Finish message is carried out to the third image, analyzes the road section length of standing vehicle；
It controls the communication device and sends Highway Control Center for the third image after arrangement.
2. cruise unmanned plane as described in claim 1, which is characterized in that the traffic density analysis of the first image is vehicle
Quantity identification, the density element are traffic density；
The processor carries out traffic density analysis to the first image, obtains the mode packet of the density element in the first image
It includes:
Vehicle fleet size in traffic density analysis identification the first image is carried out to the first image, obtains vehicle fleet size letter
Breath；
According to the vehicle fleet size information recognized, the traffic density in the first image is calculated.
3. cruise unmanned plane as claimed in claim 1 or 2, which is characterized in that the stop of continuous second image is analyzed
It is described to stop the residence time that element is vehicle for coordinate identification；
The processor carries out stop analysis to continuous second image, and the mode for obtaining stoppage of vehicle element includes:
The default continuous time for continuously acquiring second image；
The vehicle location stopped in analysis identification continuous second image is carried out to continuous second image, is obtained vehicle and is existed
Location information in continuous second image；
According to location information of the vehicle in continuous second image, the residence time of vehicle and the stop of vehicle are obtained
Quantity.
4. cruise unmanned plane as claimed in claim 3, which is characterized in that the processor stops continuous second image
It stays analysis to identify the vehicle location in continuous second image, obtains position of the vehicle in continuous second image
The mode of information includes:
Obtain fuzzy coordinate of the vehicle in continuous second image；
By comparing the variation of the fuzzy coordinate, a stop threshold value is set, if the variation of the fuzzy coordinate is stopping threshold
In value, it is denoted as stop.
5. a kind of computer readable storage medium, which is characterized in that the storage medium is stored with computer program, the calculating
Machine program performs the steps of when being executed by processor
When unmanned plane is when specified express highway section cruises, acquisition highway picture obtains the first image；
Traffic density analysis is carried out to the first image, obtains the density element in the first image, when the density element is super
Pre-set density threshold value is crossed, is the first image configuration identifier, obtains the second image；
Second image is persistently obtained, continuous second image is obtained；
Stop analysis carried out to continuous second image, obtains stoppage of vehicle element, when the stops element is more than stop threshold value,
It is identified for continuous second image configurations, obtains third image；
Finish message is carried out to the third image, analyzes the road section length of standing vehicle；
Highway Control Center is sent by the third image after arrangement.
6. computer readable storage medium as claimed in claim 5, which is characterized in that the traffic density of the first image point
Analysis is that vehicle fleet size identifies, the density element is traffic density；
The processor carries out traffic density analysis to the first image, obtains the mode packet of the density element in the first image
It includes:
Vehicle fleet size in traffic density analysis identification the first image is carried out to the first image, obtains vehicle fleet size letter
Breath；
According to the vehicle fleet size information recognized, the traffic density in the first image is calculated.
7. such as computer readable storage medium described in claim 5 or 6, which is characterized in that continuous second image
Stopping analysis is that coordinate identifies, described to stop the residence time that element is vehicle；
The processor carries out stop analysis to continuous second image, and the mode for obtaining stoppage of vehicle element includes:
The default continuous time for continuously acquiring second image；
The vehicle location stopped in analysis identification continuous second image is carried out to continuous second image, is obtained vehicle and is existed
Location information in continuous second image；
According to location information of the vehicle in continuous second image, the residence time of vehicle and the stop of vehicle are obtained
Quantity.
8. computer readable storage medium as claimed in claim 7, which is characterized in that the processor is to continuous second figure
As the vehicle location stop in analysis identification continuous second image, vehicle is obtained in continuous second image
In the mode of location information include:
Obtain fuzzy coordinate of the vehicle in continuous second image；
By comparing the variation of the fuzzy coordinate, a stop threshold value is set, if the variation of the fuzzy coordinate is stopping threshold
In value, it is denoted as stop.
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| CN201811005372.8A CN109050916A (en) | 2018-08-30 | 2018-08-30 | A kind of cruise unmanned plane and storage medium |
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Cited By (1)
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| CN117423017A (en) * | 2023-11-07 | 2024-01-19 | 广州天海翔航空科技有限公司 | Inspection processing method, system, equipment and medium based on unmanned aerial vehicle |
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