CN109544940A - Bus special lane road occupying capturing system and its grasp shoot method based on trinocular vision - Google Patents
Bus special lane road occupying capturing system and its grasp shoot method based on trinocular vision Download PDFInfo
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- CN109544940A CN109544940A CN201811329438.9A CN201811329438A CN109544940A CN 109544940 A CN109544940 A CN 109544940A CN 201811329438 A CN201811329438 A CN 201811329438A CN 109544940 A CN109544940 A CN 109544940A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
- G08G1/0175—Detecting movement of traffic to be counted or controlled identifying vehicles by photographing vehicles, e.g. when violating traffic rules
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Abstract
The invention discloses bus special lane road occupying capturing system and its grasp shoot method based on trinocular vision, system includes intelligent candid equipment, GPS communication module and remote monitoring terminal；Intelligent candid equipment is communicated to connect by GPS communication module and remote monitoring terminal；Intelligent candid equipment includes apparatus casing, binocular camera, high-definition camera and information process unit group；Binocular camera and high-definition camera are embedded in shell, and information process unit group is sealed at enclosure interior.Present invention is mainly applied on bus, provide reliable road occupying signal occurs, and candid photograph evidence obtaining is carried out in time, be supplied to law enforcement agency；Trinocular vision is used in the present invention, short distance when, is captured using the binocular camera of short focus, is captured when remote using the high-definition camera of long-focus, be capable of effectively, the flexible automatic occupying-road vehicles for capturing different distance.
Description
Technical field
The invention belongs to field of intelligent transportation technology, and in particular to the bus special lane road occupying based on trinocular vision is captured
System and its grasp shoot method.
Background technique
Special public traffic car diatom is made of dotted yellow line and white text, the length along path of dotted yellow line and is divided into 400cm,
Line width is 20 or 50cm, there is shown outside bus, other vehicles and pedestrian must not enter the lane, as shown in Figure 1, if public transport
There is period land mark on vehicle special lane, indicates that the lane is dedicated bus lanes in specified time period, other periods are as general
Be open to traffic use.With the raising of national life level, automobile becomes the trip tool of every household indispensability, in-trips vehicles
Increasing makes the congested in traffic disadvantage at each city, and for convenience of everybody Green Travel, it is special that many cities all establish bus
With road, for many drivers sometimes consciously or unconsciously occupy bus zone, prevent bus is from its special-purpose vehicle
It is smoothly travelled on road.Bus zone is occupied in order to solve the problems, such as to occupy private vehicle, traffic control department has formulated corresponding regulation,
It is imposed punishment to the vehicle of the bus zone illegally occupied；The camera set up simultaneously in bus and roadside, it is non-for capturing
Method occupying-road vehicles.
Wherein, it carries out judging that the whether occupied method of dedicated bus lanes has much using camera, one is be based on
The fixing camera of roadside specific region installation captures specific road section, and then by artificial screening, this scheme cannot be right
Whole bus zones are monitored in real time, and at high cost, not smart enough, need to waste a large amount of manpower and material resources；It is another
It is to judge whether bus runs on bus zone by GPS signal or lane color, then by before bus
Monocular cam captures front occupying-road vehicles, and monocular identifies the position of front vehicles, needs the model by the training of a large amount of materials,
The training degree of model is most important for accuracy, and the focal length of a camera is fixed, if long-focus is taken to see at a distance,
License plate nearby can not just be seen, if taking short focus, can nearby be seen, can not just be identified at a distance, so the general prior art
The range that can be identified is 5-30 meters.
Summary of the invention
For above-mentioned deficiency in the prior art, the bus special lane road occupying provided by the invention based on trinocular vision is grabbed
Shooting system and its grasp shoot method solve during existing public transport road occupying judgement captures, and use cost is high, not smart enough, candid photograph
Not clear and small identification range enough the problem of information.
In order to achieve the above object of the invention, the technical solution adopted by the present invention are as follows: the bus based on trinocular vision is dedicated
Road road occupying capturing system, including intelligent candid equipment, GPS communication module and remote monitoring terminal；
The intelligent candid equipment is communicated to connect by GPS communication module and remote monitoring terminal；
The intelligent candid equipment includes apparatus casing, binocular camera, high-definition camera and information process unit group；Institute
It states binocular camera and high-definition camera is embedded in shell, the information process unit group is sealed at enclosure interior；
The information process unit group includes first information processing unit and the second information process unit, first information processing
Unit is connect with binocular camera, and the second information process unit is connect with high-definition camera；
The surface of shell is additionally provided with power interface and cable interface, and the information process unit group passes through power interface
It is electrically connected with bus vehicle power supply, the information process unit group is communicated to connect by network interface and GPS communication module.
Further, binocular camera includes the first camera and second camera；
First camera, second camera and high-definition camera are from left to right arranged successively, and the first camera,
The center of two cameras and high-definition camera is in same straight line；
The focal length of first camera and second camera is 9mm；
The focal length of the high-definition camera is 25mm.
Further, the main control chip of the first information processing unit and the second information process unit is FPGA core
Piece.
Further, the GPS communication module is for determining the when and where of bus when driving, information process unit
The information that group is determined according to it judges whether to occupying-road vehicles candid photograph；
The remote monitoring terminal is used to receive the candid photograph data of intelligent candid equipment upload, and according to it to accounting for accordingly
Road vehicle is punished；
The binocular camera and first information processing unit work together, and are used for real-time perfoming scene analysis, and capture
Occupying-road vehicles in 30 meters；
The high-definition camera and the second information process unit work together, for capturing the occupying-road vehicles outside 30 meters.
The grasp shoot method of bus special lane road occupying capturing system based on trinocular vision, comprising the following steps:
S1, the middle position that intelligent candid equipment is fixedly installed on to front in bus, by itself and GPS communication module
Connection, and power on for it；
S2, when bus normally travel, by binocular camera combine first information processing unit to bus travel
Front carries out real-time scene analysis, and judges whether to occupying-road vehicles candid photograph；
If so, entering step S3；
Otherwise, S4 is entered step；
S3, combine distance of the first information processing unit judgement front occupying-road vehicles apart from bus by binocular camera
Whether 30 meters are greater than；
If so, entering step S5；
Otherwise, S6 is entered step；
S4, normally travel, and return step S2 are carried out；
S5, the license board information that front occupying-road vehicles are captured by high-definition camera, and be uploaded to far by GPS communication module
Range monitoring terminal is completed to capture；
S6, the license board information that front occupying-road vehicles are captured by binocular camera, and be uploaded to far by GPS communication module
Range monitoring terminal is completed to capture.
Further, the step S2 specifically:
S21, the type that bus current driving lane is judged by bimodulus camera joint first information processing unit are
No is bus special lane；
If so, entering step S22；
Otherwise, S4 is entered step；
S22, judge whether front has vehicle driving and the vehicle driving is in bus dedicated Lanes；
If so, entering step S23；
Otherwise, S4 is entered step；
S23, judge whether current time is the candid photograph time set；
If so, entering step S3；
Otherwise, S4 is entered step.
Further, in the step S21, when the lane line for identifying current driving lane is yellow, the carriageway type
For bus special lane.
Further, the method whether bus special lane there are occupying-road vehicles to travel is determined in the step S22 specifically:
Combine first information processing unit by binocular camera and identify and determine the lateral distance of lane line, and before identifying
Square driving vehicle to lane line two sides distance, when the distance of front driving vehicle to lane line two sides is respectively less than the cross of lane line
To apart from when, then determine that bus special lane has occupying-road vehicles traveling.
Further, distance method of the determining occupying-road vehicles to bus in the step S3 are as follows: pass through binocular camera
Joint first information processing unit determines that front occupying-road vehicles tail portion to the vertical range of binocular camera, obtains occupying-road vehicles and arrives
The distance of bus.
Further, in the step S5 and S6, the vehicle of occupying-road vehicles is carried out by binocular camera or high-definition camera
When board information is captured, when at least the license board information of same occupying-road vehicles three times is arrived in candid photograph, just it is uploaded by GPS communication module
To remote monitoring terminal.
The invention has the benefit that bus special lane road occupying system provided by the invention based on trinocular vision and its
Grasp shoot method is mainly used on bus, provides reliable road occupying and signal occurs, and carry out candid photograph evidence obtaining in time, be supplied to
Law enforcement agency；Trinocular vision is used in the present invention, short distance when is captured using the binocular camera of short focus, long distance
From when captured using the high-definition camera of long-focus, avoid it is existing when being captured using monocular cam,
The problem of remote vehicle snapshot result clarity is inadequate, cannot accurately identify occupying-road vehicles license board information.
Detailed description of the invention
Fig. 1 is bus special lane schematic diagram in background of invention.
Fig. 2 is the bus special lane road occupying capturing system structure based on trinocular vision in embodiment provided by the invention
Figure.
Fig. 3 is intelligent candid equipment structure chart in embodiment provided by the invention.
Fig. 4 is the candid photograph of the bus special lane road occupying capturing system based on trinocular vision in embodiment provided by the invention
Method implementation flow chart.
Fig. 5 is to judge whether to occupying-road vehicles grasp shoot method implementation flow chart in embodiment provided by the invention.
Fig. 6 is the coordinate system signal established in embodiment provided by the invention using binocular camera central point as dot
Figure.
Specific embodiment
A specific embodiment of the invention is described below, in order to facilitate understanding by those skilled in the art this hair
It is bright, it should be apparent that the present invention is not limited to the ranges of specific embodiment, for those skilled in the art,
As long as various change is in the spirit and scope of the present invention that the attached claims limit and determine, these variations are aobvious and easy
See, all are using the innovation and creation of present inventive concept in the column of protection.
As shown in Fig. 2, the bus special lane road occupying capturing system based on trinocular vision, including intelligent candid equipment, GPS
Communication module and remote monitoring terminal；
Intelligent candid equipment is communicated to connect by GPS communication module and remote monitoring terminal；
As shown in figure 3, intelligent candid equipment includes apparatus casing, binocular camera, high-definition camera and information processing list
Tuple；Binocular camera and high-definition camera are embedded in shell, and information process unit group is sealed at enclosure interior；
Information process unit group includes first information processing unit and the second information process unit, first information processing unit
It is connect with binocular camera, the second information process unit is connect with high-definition camera；
Surface of shell is additionally provided with power interface and cable interface, and information process unit group passes through power interface and bus
Vehicle power supply is electrically connected, and information process unit group is communicated to connect by network interface and GPS communication module.
Above-mentioned binocular camera includes the first camera and second camera；
First camera, second camera and high-definition camera are from left to right arranged successively, and the first camera, second are taken the photograph
As the center of head and high-definition camera is in same straight line；
The focal length of first camera and second camera is 9mm；
The focal length of high-definition camera is 25mm, is the telephoto lens of high definition 1080P.
Wherein, GPS communication module is for determining the when and where of bus when driving, and information process unit group is according to it
Determining information judges whether to occupying-road vehicles candid photograph；
Remote monitoring terminal is used to receive the candid photograph data of intelligent candid equipment upload, and according to it to corresponding road occupying vehicle
It is punished；
Binocular camera and first information processing unit work together, and are used for real-time perfoming scene analysis, and capture 30 meters
Interior occupying-road vehicles；
High-definition camera and the second information process unit work together, for capturing the occupying-road vehicles outside 30 meters.
The main control chip of above-mentioned first information processing unit and the second information process unit is fpga chip.
In one embodiment of the invention, it is accounted for as shown in figure 4, additionally providing the bus special lane based on trinocular vision
The grasp shoot method of road capturing system, comprising the following steps:
S1, the middle position that intelligent candid equipment is fixedly installed on to front in bus, by itself and GPS communication module
Connection, and power on for it；
S2, when bus normally travel, by binocular camera combine first information processing unit to bus travel
Front carries out real-time scene analysis, and judges whether to occupying-road vehicles candid photograph；
If so, entering step S3；
Otherwise, S4 is entered step；
S3, distance of the road occupying front vehicles apart from bus is judged by binocular camera joint first information processing unit
Whether 30 meters are greater than；
If so, entering step S5；
Otherwise, S6 is entered step；
S4, normally travel, and return step S2 are carried out；
S5, the license board information that front occupying-road vehicles are captured by high-definition camera, and be uploaded to far by GPS communication module
Range monitoring terminal is completed to capture；
S6, the license board information that front occupying-road vehicles are captured by binocular camera, and be uploaded to far by GPS communication module
Range monitoring terminal is completed to capture.
In step S5 and S6, when being captured by the license board information that binocular camera or high-definition camera carry out occupying-road vehicles,
When at least the license board information of same occupying-road vehicles three times is arrived in candid photograph, it is just uploaded to long-range monitoring eventually by GPS communication module
End.
As shown in figure 5, above-mentioned steps S2 specifically:
S21, the type that bus current driving lane is judged by bimodulus camera joint first information processing unit are
No is bus special lane；
If so, entering step S22；
Otherwise, S4 is entered step；
In above-mentioned steps S21, when the lane line for identifying current driving lane is yellow, which is that bus is special
It uses；
S22, judge whether front has vehicle driving and the vehicle driving is in bus dedicated Lanes；
If so, entering step S23；
Otherwise, S4 is entered step；
The method whether bus special lane there are occupying-road vehicles to travel is determined in above-mentioned steps S22 specifically:
The central point of binocular camera is established coordinate system (as shown in Figure 6), root by first information processing unit
The object in visual range is recognized according to binocular camera, and determines its coordinate position, is compared by accurate location information
And then judged；Concrete mode are as follows:
Combine the lateral distance x that first information processing unit identifies determining lane line by binocular camera2, and identify
Distance x of the traveling ahead vehicle to lane line two sides3And x4, as the distance x of front driving vehicle to lane line two sides3And x4?
Less than the lateral distance x of lane line2When, then determine that bus special lane has occupying-road vehicles traveling.
S23, judge whether current time is the candid photograph time set；
If so, entering step S3；
Otherwise, S4 is entered step.
Distance method of the determining occupying-road vehicles to bus in above-mentioned S3 are as follows: combined at the first information by binocular camera
Reason unit determines front occupying-road vehicles tail portion to the vertical range x of binocular camera1, obtain occupying-road vehicles to bus distance
x1。
The invention has the benefit that bus special lane road occupying system provided by the invention based on trinocular vision and its
Grasp shoot method is mainly used on bus, provides reliable road occupying and signal occurs, and carry out candid photograph evidence obtaining in time, be supplied to
Law enforcement agency；Trinocular vision is used in the present invention, short distance when is captured using the binocular camera of short focus, long distance
From when captured using the high-definition camera of long-focus, avoid it is existing when being captured using monocular cam,
The problem of remote vehicle snapshot result clarity is inadequate, cannot accurately identify occupying-road vehicles license board information.
Claims (10)
1. the bus special lane road occupying capturing system based on trinocular vision, which is characterized in that including intelligent candid equipment, GPS
Communication module and remote monitoring terminal；
The intelligent candid equipment is communicated to connect by GPS communication module and remote monitoring terminal；
The intelligent candid equipment includes apparatus casing, binocular camera, high-definition camera and information process unit group；It is described double
Mesh camera and high-definition camera are embedded in shell, and the information process unit group is sealed at enclosure interior；
The information process unit group includes first information processing unit and the second information process unit, first information processing unit
It is connect with binocular camera, the second information process unit is connect with high-definition camera；
The surface of shell is additionally provided with power interface and cable interface, and the information process unit group passes through power interface and public affairs
Vehicle vehicle power supply is handed over to be electrically connected, the information process unit group is communicated to connect by network interface and GPS communication module.
2. the bus special lane road occupying capturing system according to claim 1 based on trinocular vision, which is characterized in that institute
Stating binocular camera includes the first camera and second camera；
First camera, second camera and high-definition camera are from left to right arranged successively, and the first camera, second are taken the photograph
As the center of head and high-definition camera is in same straight line；
The focal length of first camera and second camera is 9mm；
The focal length of the high-definition camera is 25mm.
3. the bus special lane road occupying capturing system according to claim 1 based on trinocular vision, which is characterized in that institute
The main control chip for stating first information processing unit and the second information process unit is fpga chip.
4. the bus special lane road occupying capturing system according to claim 2 based on trinocular vision, which is characterized in that institute
GPS communication module is stated for determining the when and where of bus when driving, the information that information process unit group is determined according to it,
Judge whether to occupying-road vehicles candid photograph；
The remote monitoring terminal is used to receive the candid photograph data of intelligent candid equipment upload, and according to it to corresponding road occupying vehicle
It is punished；
The binocular camera and first information processing unit work together, and are used for real-time perfoming scene analysis, and capture 30 meters
Interior occupying-road vehicles；
The high-definition camera and the second information process unit work together, for capturing the occupying-road vehicles outside 30 meters.
5. the grasp shoot method of the bus special lane road occupying capturing system based on trinocular vision, which is characterized in that including following step
It is rapid:
S1, the middle position that intelligent candid equipment is fixedly installed on to front in bus connect it with GPS communication module
It connects, and powers on for it；
S2, when bus normally travel, by binocular camera combine first information processing unit to bus travel front
Real-time scene analysis is carried out, and judges whether to occupying-road vehicles candid photograph；
If so, entering step S3；
Otherwise, S4 is entered step；
S3, combine whether first information processing unit judges distance of the front occupying-road vehicles apart from bus by binocular camera
Greater than 30 meters；
If so, entering step S5；
Otherwise, S6 is entered step；
S4, normally travel, and return step S2 are carried out；
S5, the license board information that front occupying-road vehicles are captured by high-definition camera, and long-range prison is uploaded to by GPS communication module
Control terminal is completed to capture；
S6, the license board information that front occupying-road vehicles are captured by binocular camera, and long-range prison is uploaded to by GPS communication module
Control terminal is completed to capture.
6. the grasp shoot method of the public transport road occupying capturing system according to claim 5 based on trinocular vision, which is characterized in that
The step S2 specifically:
S21, by bimodulus camera combine first information processing unit judge bus current driving lane type whether be
Bus special lane；
If so, entering step S22；
Otherwise, S4 is entered step；
S22, judge whether front has vehicle driving and the vehicle driving is in bus dedicated Lanes；
If so, entering step S23；
Otherwise, S4 is entered step；
S23, judge whether current time is the candid photograph time set；
If so, entering step S3；
Otherwise, S4 is entered step.
7. the grasp shoot method of the public transport road occupying capturing system according to claim 6 based on trinocular vision, which is characterized in that
In the step S21, when the lane line for identifying current driving lane is yellow, which is that bus is dedicated
Road.
8. the grasp shoot method of the public transport road occupying capturing system according to claim 6 based on trinocular vision, it is characterised in that:
The method whether bus special lane there are occupying-road vehicles to travel is determined in the step S22 specifically:
Combine first information processing unit by binocular camera and identify the lateral distance of determining lane line, and identifies front row
Sail vehicle to lane line two sides distance, when the distance of front driving vehicle to lane line two sides be respectively less than lane line laterally away from
From when, then determine that bus special lane has occupying-road vehicles traveling.
9. the grasp shoot method of the public transport road occupying system according to claim 6 based on trinocular vision, which is characterized in that described
Distance method of the determining occupying-road vehicles to bus in step S3 are as follows:
Combining first information processing unit by binocular camera determines front occupying-road vehicles tail portion to the vertical of binocular camera
Distance, obtain occupying-road vehicles to bus distance.
10. the grasp shoot method of the public transport road occupying capturing system according to claim 5 based on trinocular vision, feature exist
In, in the step S5 and S6, when being captured by the license board information that binocular camera or high-definition camera carry out occupying-road vehicles, until
When the license board information of same occupying-road vehicles three times is arrived in few candid photograph, it is just uploaded to remote monitoring terminal by GPS communication module.
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| CN201811329438.9A CN109544940A (en) | 2018-11-09 | 2018-11-09 | Bus special lane road occupying capturing system and its grasp shoot method based on trinocular vision |
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| CN201811329438.9A CN109544940A (en) | 2018-11-09 | 2018-11-09 | Bus special lane road occupying capturing system and its grasp shoot method based on trinocular vision |
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| CN110070684A (en) * | 2019-04-16 | 2019-07-30 | 北京意锐新创科技有限公司 | A kind of barcode scanning payment devices for open air |
| CN110446014A (en) * | 2019-08-26 | 2019-11-12 | 深圳前海达闼云端智能科技有限公司 | Monitoring method, monitoring equipment and computer readable storage medium |
| CN111010532A (en) * | 2019-11-04 | 2020-04-14 | 武汉理工大学 | Vehicle-mounted machine vision system based on multi-focal-length camera group and implementation method |
| CN114038209A (en) * | 2021-12-21 | 2022-02-11 | 杭州海康威视数字技术股份有限公司 | Bus lane occupation processing method, device and equipment |
| CN114446055A (en) * | 2021-09-22 | 2022-05-06 | 湖南喜宝达信息科技有限公司 | Electric bicycle and method for monitoring road occupation driving thereof and storage medium |
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Application publication date: 20190329 |