CN109765397A - Speed-measuring method, apparatus and system - Google Patents
Speed-measuring method, apparatus and system Download PDFInfo
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- CN109765397A CN109765397A CN201910087770.7A CN201910087770A CN109765397A CN 109765397 A CN109765397 A CN 109765397A CN 201910087770 A CN201910087770 A CN 201910087770A CN 109765397 A CN109765397 A CN 109765397A
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Abstract
The present invention relates to speed measurement techniques fields, a kind of speed-measuring method, apparatus and system are provided, wherein, the described method includes: by obtaining the first image and the second image comprising examined object and tag line according to prefixed time interval, and detect existing Corner in the first image and the second image, coordinate according to Corner obtains angle point displacement of the examined object between default in interval, and then calculates the speed of examined object.Compared with prior art, speed-measuring method provided by the invention, apparatus and system are capable of detecting when train during entrucking, speed when travel speed is slower avoids radar velocity measurement that from cannot detecting the travel speed of train, or the problem of need the long period just and can reflect the travel speed of train.
Description
Technical field
The present invention relates to speed measurement techniques fields, in particular to a kind of speed-measuring method, apparatus and system.
Background technique
Existing train tests the speed mainly using velocity radar, and the basic principle of radar velocity measurement is to launch electricity using constant
The device of wave goes out electric wave against object emission, is reflected when radio wave is during traveling, encounters object, Er Qieqi
The electric wave wavelength of rebound back can change with the moving condition for the object encountered.After calculating, this can be learnt
Relative moving speed between object and radar.
But train, during entrucking, travel speed is slower, and average 0.2~0.3m/s leads to the subtended angle mistake of radar velocity measurement
It is small, it can't detect train vibration influence speed, or need the long period just and can reflect the travel speed of train.And train is automatic
If it exceeds 0.1 second obtains less than present speed when entrucking, it is possible to cause the major accidents such as spreading, unbalance loading.
Summary of the invention
The purpose of the present invention is to provide a kind of speed-measuring methods, apparatus and system, to improve above-mentioned train in the prior art
During entrucking, travel speed is slower, when causing radar velocity measurement that cannot detect the travel speed of train, or needing longer
Between the problem of just can reflect the travel speed of train.
To achieve the goals above, technical solution used in the embodiment of the present invention is as follows:
In a first aspect, applied to the photographic device of velocity-measuring system, being used for the embodiment of the invention provides a kind of speed-measuring method
Detect the speed of examined object, the velocity-measuring system further includes laser beam emitting device, and the laser beam emitting device is for sending out
It penetrates on laser projection to the examined object and forms tag line, the reinforcement structure shape of the tag line and the examined object
At angle point；The described method includes: obtaining the first image and the second figure comprising the examined object according to prefixed time interval
Picture, wherein the first image and second image include tag line；Detect the first image and second figure
All Corner as in, wherein the first image and second image include the Corner；According to each
The coordinate of the Corner obtains angle point displacement of the examined object in the prefixed time interval, and then calculates
The speed of the examined object.
Second aspect, the embodiment of the invention provides a kind of speed measuring devices to be used for applied to the photographic device of velocity-measuring system
Detect the speed of examined object, the velocity-measuring system further includes laser beam emitting device, and the laser beam emitting device is for sending out
It penetrates on laser projection to the examined object and forms tag line, the reinforcement structure shape of the tag line and the examined object
At angle point；Described device includes: acquisition module, includes the first of the examined object for obtaining according to prefixed time interval
Image and the second image, wherein the first image and second image include tag line；Processing module, for detecting
Corner all in the first image and second image out, wherein the first image and second image
It include the Corner；Coordinate according to each Corner obtains the examined object in the preset time
Angle point displacement in interval, and then calculate the speed of the examined object.
The third aspect, the embodiment of the invention provides a kind of velocity-measuring system, the velocity-measuring system includes photographic device and swashs
Light emitting devices, the photographic device are used to detect the speed of examined object, and the laser beam emitting device is sharp for emitting
Tag line, the reinforcement structure formation angle of the tag line and the examined object are formed in light projection to the examined object
Point；The photographic device includes: one or more processors；Memory, for storing one or more programs, when one
Or multiple programs are by one or more of processors when being executed, so that one or more of processors realize above-mentioned test the speed
Method.
Compared with the prior art, the embodiment of the present invention has the advantages that
A kind of speed-measuring method provided in an embodiment of the present invention, apparatus and system are wrapped by obtaining according to prefixed time interval
The first image and the second image containing examined object and tag line, and detect existing in the first image and the second image
Corner, the coordinate according to Corner obtains angle point displacement of the examined object between default in interval, and then calculates
The speed of examined object out.Train is capable of detecting when during entrucking, speed when travel speed is slower avoids radar from surveying
Speed cannot detect the travel speed of train, or the problem of need the long period just and can reflect the travel speed of train.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range without creative efforts, can also basis for ordinary skill user person
These attached drawings obtain other relevant attached drawings.
Fig. 1 shows the application scenarios schematic diagram of velocity-measuring system provided in an embodiment of the present invention.
Fig. 2 shows the examples of the first image provided in an embodiment of the present invention.
Fig. 3 shows the partial structure diagram of photographic device provided in an embodiment of the present invention.
Fig. 4 shows a kind of flow chart of speed-measuring method provided in an embodiment of the present invention.
Fig. 5 shows the flow chart of another speed-measuring method provided in an embodiment of the present invention.
Fig. 6 shows the block diagram of speed measuring device provided in an embodiment of the present invention.
Icon: 10- velocity-measuring system；100- photographic device；101- processor；102- memory；103- bus；104- communication
Interface；105- camera；200- laser beam emitting device；300- speed measuring device；301- obtains module；302- processing module.
Specific embodiment
Below in conjunction with attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Usually exist
The component of the embodiment of the present invention described and illustrated in attached drawing can be arranged and be designed with a variety of different configurations herein.Cause
This, is not intended to limit claimed invention to the detailed description of the embodiment of the present invention provided in the accompanying drawings below
Range, but it is merely representative of selected embodiment of the invention.Based on the embodiment of the present invention, art technology user person is not having
Every other embodiment obtained under the premise of creative work is made, shall fall within the protection scope of the present invention.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.Meanwhile of the invention
In description, term " first ", " second " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.
Existing train tests the speed mainly using velocity radar, and the basic principle of radar velocity measurement is to launch electricity using constant
The device of wave goes out electric wave against object emission, is reflected when radio wave is during traveling, encounters object, Er Qieqi
The electric wave wavelength of rebound back can change with the moving condition for the object encountered.After calculating, this can be learnt
Relative moving speed between object and radar.
But train, during entrucking, travel speed is slower, and average 0.2~0.3m/s leads to the subtended angle mistake of radar velocity measurement
It is small, it when compartment junction enters detections of radar region, has and does not detect within 2~5 seconds train vibration influence speed, or need longer
Time just can reflect the travel speed of train.And train in automatic loading if it exceeds obtain within 0.1 second less than present speed,
It is possible to cause the major accidents such as spreading, unbalance loading.
It is established between pixel and three dimensional space coordinate according to the space reflection relationship of structure light and video camera shooting image
Relationship just has the feature of an outwardly projecting reinforcement structure using cargo train compartment every 1~2 meter, by identification, with
Feature corner pixels of the track structure light on cargo train compartment surface achieve the purpose that measure train speed, rate accuracy ±
0.01m/s has filled up 0~4km/h of cargo train Ultra-Low Speed and has accurately tested the speed the blank of scheme.
The technical problem to be solved by the present invention is to, in view of the above-mentioned problems, a kind of speed-measuring method is provided, core improvement
It is, by obtaining the first image and the second image comprising examined object and tag line according to prefixed time interval, and examines
It measures existing Corner, the coordinate according to Corner in the first image and the second image and obtains examined object pre-
If angle point displacement between in interval, and then calculates the speed of examined object, be capable of detecting when train during entrucking,
Speed when travel speed is slower avoids radar velocity measurement that from cannot detecting the travel speed of train, or needs the long period
The problem of can reflect the travel speed of train.
Speed-measuring method provided in an embodiment of the present invention be applied to velocity-measuring system 10 photographic device 100, for detect to
The speed of detection object, the i.e. speed of train.Fig. 1 and Fig. 2 are please referred to, velocity-measuring system 10 further includes laser beam emitting device
200, laser beam emitting device 200 forms tag line for emitting on laser projection to examined object, tag line and object to be detected
The reinforcement structure of body forms angle point.The relative position of photographic device 100 and laser beam emitting device 200 is fixed.
Photographic device 100 may be, but not limited to, intelligent camera, referring to Fig. 3, Fig. 3 shows the embodiment of the present invention
The partial structure diagram of the photographic device of offer, photographic device 100 include processor 101, memory 102, bus 103, lead to
Believe interface 104 and camera 105.Processor 101, memory 102, communication interface 104 and camera 105 are connected by bus 103
It connects, processor 101 is for executing the executable module stored in memory 102, such as computer program.
Processor 101 may be a kind of IC chip, the processing capacity with signal.During realization, test the speed
Each step of method can be completed by the integrated logic circuit of the hardware in processor 101 or the instruction of software form.On
The processor 101 stated can be general processor 101, including central processing unit (Central Processing Unit, abbreviation
CPU), network processing unit (Network Processor, abbreviation NP) etc.；It can also be digital signal processor (Digital
Signal Processor, abbreviation DSP), specific integrated circuit (Application Specific Integrated
Circuit, abbreviation ASIC), ready-made programmable gate array (Field-Programmable Gate Array, abbreviation FPGA) or
Person other programmable logic device, discrete gate or transistor logic, discrete hardware components.
Memory 102 may include high-speed random access memory (RAM:Random Access Memory), it is also possible to
It further include non-labile memory (non-volatile memory), for example, at least a magnetic disk storage.Memory 102
It may be, but not limited to, random access memory (Random Access Memory, RAM), read-only memory (Read Only
Memory, ROM), programmable read only memory (Programmable Read-Only Memory, PROM) is erasable read-only to deposit
Reservoir (Erasable Programmable Read-Only Memory, EPROM), electricallyerasable ROM (EEROM)
(Electric Erasable Programmable Read-Only Memory, EEPROM) etc..
Bus 103 can be ISA (Industry Standard Architecture) bus, PCI (Peripheral
Component Interconnect) bus or EISA (Extended Industry Standard Architecture) be total
Line etc..It is only indicated with a four-headed arrow in Fig. 3, it is not intended that an only bus 103 or a type of bus 103.
Photographic device 100 realizes the photographic device by least one communication interface 104 (can be wired or wireless)
Communication connection between 100 and external equipment.Memory 102 is for storing program, such as speed measuring device 300.Speed measuring device 300
Camera shooting dress can be stored in the memory 102 or is solidificated in including at least one in the form of software or firmware (firmware)
Set the software function module in 100 operating system (operating system, OS).The processor 101 is held receiving
After row instruction, described program is executed to realize speed-measuring method.
Camera 105 is sent to processing for shooting the image comprising tag line and examined object, and by bus 103
Device 101 is handled, or is sent to memory 102 and is stored.
It should be understood that structure shown in Fig. 3 is only the partial structure diagram of photographic device 100, photographic device 100
It may also include than shown in Fig. 3 more perhaps less component or with the configuration different from shown in Fig. 3.Shown in Fig. 3
Each component can be realized using hardware, software, or its combination.
Based on above-mentioned photographic device 100, a kind of possible implementation of speed-measuring method, the execution of this method is given below
Main body can be above-mentioned photographic device 100, referring to Fig. 4, Fig. 4 shows a kind of speed-measuring method provided in an embodiment of the present invention
Flow chart.Speed-measuring method the following steps are included:
S1 obtains the first image and the second image comprising examined object according to prefixed time interval.
Wherein, the first image and the second image include tag line.
In embodiments of the present invention, the first image can be the image comprising examined object and tag line, the second image
It can be the image comprising examined object and tag line, and there are common angle points in the first image and the second image.It is default
Time interval can be the time interval of the customized setting of user, for example, 0.1s.It obtains according to prefixed time interval comprising to be checked
The step of surveying the first image and the second image of object, it can be understood as, camera 105 carries out examined object and tag line
Shooting, obtains the first image, and prefixed time interval and then it is secondary examined object and tag line are shot, obtain
Second image.
S2 detects Corner all in the first image and the second image.
Wherein, the first image and the second image include Corner.
In embodiments of the present invention, Corner can be existing angle point in the first image and the second image.Detection
The step of Corner all in first image and the second image out, it can be understood as, firstly, carrying out angle point to the first image
Detection, obtains the first angle point collection, then, carries out Corner Detection to the second image, the second angle point collection is obtained, finally, from first jiao
Point set and second angle point are concentrated goes out all Corners really.
Referring to Fig. 4, step S2 may include following sub-step:
S21 carries out Corner Detection to the first image, obtains the first angle point collection.
In embodiments of the present invention, the first angle point collection can be the collection including the first angle point at least one the first image
It closes, the first angle point is the angle point in the first image.The step of carrying out Corner Detection to the first image, obtain the first angle point collection, can
To be interpreted as, firstly, carrying out threshold binarization to the first image, the first bianry image comprising tag line is obtained, then, is used
Hough transformation extracts the tag line in the first bianry image, obtains first identifier image, finally, carrying out angle to first identifier image
Point detection, obtains the first angle point collection.
S22 carries out Corner Detection to the second image, obtains the second angle point collection.
In embodiments of the present invention, the second angle point collection can be the collection including the second angle point at least one the second image
It closes, the second angle point is the angle point in the second image.The step of carrying out Corner Detection to the second image, obtain the second angle point collection, can
To be interpreted as, firstly, carrying out threshold binarization to the second image, the second bianry image comprising tag line is obtained, then, is used
Hough transformation extracts the tag line in the second bianry image, obtains second identifier image, finally, carrying out angle to second identifier image
Point detection, obtains the second angle point collection.
In other embodiments of the invention, the execution sequence of sub-step S21 and sub-step S22 can be swapped,
It may be performed simultaneously sub-step S21 and sub-step S22, be not limited thereto.
S23 determines all Corners from the first angle point collection and the second angle point concentration.
In embodiments of the present invention, Corner can be the angle point for including in the first image and the second image.From
The step of one angle point collection and the second angle point concentration determine all Corners, it can be understood as, the first angle point collection includes extremely
Few first angle point, the second angle point collection includes at least one second angle point, firstly, obtaining each first angle point in the first image
In the first angular coordinate and obtain the second angular coordinate of each second angle point in the second image；Secondly, according to first
Angular coordinate, prefixed time interval and preset angle point motion model obtain the corresponding prediction angle point of the first angular coordinate and sit
Mark and the second angular coordinate of foundation and prediction angular coordinate, calculate the corresponding deviation information of the second angle point；Finally, by deviation
Information is compared with deviation threshold, and when deviation information is less than deviation threshold, corresponding second angle point of deviation information is made
For Corner.
Specifically, sub-step S23 may include following sub-step:
S231 obtains first angular coordinate of each first angle point in the first image.
S232 obtains second angular coordinate of each second angle point in the second image.
In other embodiments of the invention, the execution sequence of sub-step S231 and sub-step S231 can be exchanged, can also
To be performed simultaneously sub-step S231 and sub-step S231, it is not limited thereto.
S233 obtains the according to the first angular coordinate, prefixed time interval and preset angle point motion prediction model
The corresponding prediction angular coordinate of one angular coordinate.
In embodiments of the present invention, angle point motion model may be, but not limited to, Kalman's angle point motion model, for pair
The movement velocity of angle point and direction are predicted.Prediction angular coordinate can be according to the first angular coordinate, prefixed time interval,
And preset angle point motion prediction model is predicted, coordinate of the angle point of prediction in the second image.
Specifically, at least an image and the first figure moved by obtaining examined object before the first image
Picture obtains angle point in movement velocity of the image to the angle point between the first image and direction, and according to movement speed
The corresponding prediction angular coordinate of the angle point after the preset interval time of the first image is predicted in degree and direction, it is understood that
For, according to before angle point movement velocity and direction and prefixed time interval, predict the seat of the angle point in the second image
Mark, i.e. prediction angular coordinate.As an implementation, angular coordinate=first angular coordinate+angle prefixed time interval * is predicted
Point motion model.
S234 calculates the corresponding deviation information of the second angle point according to the second angular coordinate and prediction angular coordinate.
In embodiments of the present invention, the difference that deviation information can be prediction angular coordinate and the second angular coordinate is taken
Mould, deviation information=| prediction the-the second angular coordinate of angular coordinate |.For example, the second angular coordinate is (50,26), angle point is predicted
Coordinate is (49,26), then deviation information=| (49,26)-(50,26) |=1.
Deviation information is compared by S235 with deviation threshold, and when deviation information is less than deviation threshold, deviation is believed
Corresponding second angle point is ceased as Corner.
In embodiments of the present invention, it is customized to determine the second angle point for Corner to can be user for deviation threshold
Minimum threshold.The obtained deviation information of step S245 is compared with deviation threshold, when deviation information is less than deviation threshold,
Using corresponding second angle point of the deviation information as Corner.
S3, the coordinate according to each Corner obtain the angle point displacement of examined object within a preset time interval, into
And calculate the speed of examined object.
In embodiments of the present invention, angle point displacement can be between the first image of shooting and the second image, and Corner exists
The displacement moved under world coordinate system, coordinate according to each Corner obtain examined object within a preset time interval
Angle point displacement, and then the step of calculating the speed of examined object, it can be understood as, exist firstly, obtaining each Corner
The first image coordinate in first image, and second image coordinate of each Corner in the second image is obtained, then,
According to the first image coordinate, default transformation model, first position coordinate of the Corner in world coordinate system is obtained, according to the
Two image coordinates, default transformation model, obtain second position coordinate of the Corner in world coordinate system, finally, according to each
First position coordinate, the second position coordinate of Corner obtain angle point displacement, and according between angle point displacement and preset time
Every calculating the speed of examined object.
Specifically, step S3 may include following sub-step:
S31 obtains first image coordinate of each Corner in the first image respectively, and in the second image
Second image coordinate.
In embodiments of the present invention, the first image coordinate can be coordinate of the Corner in the first image, the second figure
As coordinate can be coordinate of the Corner in the second image, first of each Corner in the first image is obtained respectively
Image coordinate, and the step of the second image coordinate in the second image, it can be understood as, each Corner is obtained
The first image coordinate in one image obtains second image coordinate of each Corner in the second image.
S32 obtains first of Corner in world coordinate system according to the first image coordinate, default transformation model
Set coordinate.
In embodiments of the present invention, default transformation model can be the transformational relation of image coordinate system and world coordinate system,
First position coordinate can be actual position coordinates of the Corner when shooting the first image in world coordinate system.Foundation
First image coordinate, default transformation model, the step of obtaining first position coordinate of the Corner in world coordinate system, can be with
It is interpreted as, the conversion of the first image coordinate and preset image coordinate system under foundation image coordinate system to world coordinate system
Relationship obtains first position coordinate of the Corner under world coordinate system.
S33 obtains second of the Corner in world coordinate system according to the second image coordinate, default transformation model
Set coordinate.
In embodiments of the present invention, default transformation model can be the transformational relation of image coordinate system and world coordinate system,
Second position coordinate can be actual position coordinates of the Corner when shooting the second image in world coordinate system.Foundation
Second image coordinate, default transformation model, the step of obtaining second position coordinate of the Corner in world coordinate system, can be with
It is interpreted as, the conversion of the second image coordinate and preset image coordinate system under foundation image coordinate system to world coordinate system
Relationship obtains second position coordinate of the Corner under world coordinate system.
In other embodiments of the invention, the execution sequence of sub-step S32 and sub-step S33 can be swapped,
It may be performed simultaneously sub-step S32 and sub-step S33, be not limited thereto.
S34, first position coordinate, second position coordinate according to each Corner obtain angle point displacement, and according to angle
Point displacement and prefixed time interval, calculate the speed of examined object.
In embodiments of the present invention, angle point displacement can be between the first image of shooting and the second image, and Corner exists
The displacement moved under world coordinate system, angle point displacement=second position coordinate-first position coordinate of Corner, according to each
First position coordinate, the second position coordinate of Corner obtain angle point displacement, and according between angle point displacement and preset time
Every the step of calculating the speed of examined object, it can be understood as, by the first position coordinate and second of each Corner
It sets coordinate and seeks difference, obtain the angle point displacement of each Corner, in a manner mentioned above, obtain the angle point of all Corners
Displacement calculates the displacement of average angle point, then, is displaced according to average angle point according to all corresponding angle point displacements of Corner
And prefixed time interval, calculate the speed of examined object.Specifically, the displacement of average angle point is carried out with prefixed time interval
Division arithmetic obtains the speed of examined object.
In other embodiments of the invention, first position coordinate, second position coordinate according to each Corner are obtained
It is displaced, and the step of calculating the speed of examined object according to angle point displacement and prefixed time interval, can also manage to angle point
The first position coordinate of each Corner and second position coordinate are sought difference, obtain the angle point of each Corner by Xie Wei
Displacement calculates the corresponding corner speed of Corner according to the corresponding angle point displacement of Corner and prefixed time interval,
Specifically, corner speed=angle point displacement/prefixed time interval.Then, in a manner mentioned above, all Corners are obtained
Corresponding corner speed, then all corresponding corner speeds of Corner are averaged, obtain the speed of examined object.
By obtaining the first image and the second image comprising examined object and tag line according to prefixed time interval, and
Detect that existing Corner, the coordinate according to Corner obtain examined object and exist in the first image and the second image
Angle point displacement between default in interval, and then calculate the speed of examined object.It is capable of detecting when train in entrucking process
In, speed when travel speed is slower avoids radar velocity measurement that from cannot detecting the travel speed of train, or needs the long period
The problem of just can reflect the travel speed of train.
For the method flow of above-mentioned Fig. 4-Fig. 5, a kind of possible implementation of speed measuring device 300 is given below, it should
Speed measuring device 300 can be realized using the device architecture of the photographic device 100 in above-described embodiment, or the photographic device
Processor 101 in 100 is realized, referring to Fig. 6, Fig. 6 shows the box signal of speed measuring device provided in an embodiment of the present invention
Figure.Speed measuring device 300 includes obtaining module 301 and processing module 302.
Module 301 is obtained, for obtaining the first image and the second figure comprising examined object according to prefixed time interval
Picture, wherein the first image and the second image include tag line；
Processing module 302, for detecting Corner all in the first image and the second image, wherein the first figure
Picture and the second image include Corner；Coordinate according to each Corner obtains examined object in prefixed time interval
Interior angle point displacement, and then calculate the speed of examined object.
In embodiments of the present invention, the execution of processing module 302 detects target all in the first image and the second image
The step of angle point, is specifically used for: carrying out Corner Detection to the first image, obtains the first angle point collection；Angle point is carried out to the second image
Detection, obtains the second angle point collection；All Corners are determined from the first angle point collection and the second angle point concentration.
Processing module 302 executes the step of determining all Corners from the first angle point collection and the second angle point concentration,
It is specifically used for: obtains first angular coordinate of each first angle point in the first image；Each second angle point is obtained in the second figure
The second angular coordinate as in；According to the first angular coordinate, prefixed time interval and preset angle point motion model, obtain
The corresponding prediction angular coordinate of first angular coordinate；According to the second angular coordinate and prediction angular coordinate, the second angle point pair is calculated
The deviation information answered；Deviation information is compared with deviation threshold, and when deviation information is less than deviation threshold, deviation is believed
Corresponding second angle point is ceased as Corner.
Processing module 302, which is executed, obtains examined object within a preset time interval according to the coordinate of each Corner
Angle point displacement, and then the step of calculating the speed of examined object, are specifically used for: obtaining each Corner respectively first
The first image coordinate in image, and the second image coordinate in the second image；According to the first image coordinate, default conversion
Model obtains first position coordinate of the Corner in world coordinate system；According to the second image coordinate, transformation model is preset,
Obtain second position coordinate of the Corner in world coordinate system；According to each Corner first position coordinate, second
Position coordinates obtain angle point displacement, and according to angle point displacement and prefixed time interval, calculate the speed of examined object.
Processing module 302 is executed according to angle point displacement and prefixed time interval, calculates the step of the speed of examined object
Suddenly, it is specifically used for: according to all corresponding angle point displacements of Corner, calculates the displacement of average angle point；According to average angle point
Shifting and prefixed time interval, calculate the speed of examined object.
In other embodiments of the invention, processing module 302 is executed according to angle point displacement and prefixed time interval, meter
The step of calculating the speed of examined object, can also be specifically used for: when being displaced according to the corresponding angle point of Corner and is default
Between be spaced, calculate the corresponding corner speed of Corner；All corresponding corner speeds of Corner are averaged, obtain to
The speed of detection object.
In conclusion the embodiment of the present invention provides a kind of speed-measuring method, apparatus and system, which comprises by pressing
The first image and the second image comprising examined object and tag line are obtained according to prefixed time interval, and detects the first image
With Corner existing in the second image, the coordinate according to Corner obtains examined object between default in interval
Angle point displacement, and then calculate the speed of examined object.Train is capable of detecting when during entrucking, travel speed is slower
When speed, avoid radar velocity measurement that from cannot detecting the travel speed of train, or the long period is needed just to can reflect train
Travel speed the problem of.
In several embodiments provided herein, it should be understood that disclosed device and method can also pass through
Other modes are realized.The apparatus embodiments described above are merely exemplary, for example, flow chart and block diagram in attached drawing
Show the device of multiple embodiments according to the present invention, the architectural framework in the cards of method and computer program product,
Function and operation.In this regard, each box in flowchart or block diagram can represent the one of a module, section or code
Part, a part of the module, section or code, which includes that one or more is for implementing the specified logical function, to be held
Row instruction.It should also be noted that function marked in the box can also be to be different from some implementations as replacement
The sequence marked in attached drawing occurs.For example, two continuous boxes can actually be basically executed in parallel, they are sometimes
It can execute in the opposite order, this depends on the function involved.It is also noted that every in block diagram and or flow chart
The combination of box in a box and block diagram and or flow chart can use the dedicated base for executing defined function or movement
It realizes, or can realize using a combination of dedicated hardware and computer instructions in the system of hardware.
In addition, each functional module in each embodiment of the present invention can integrate one independent portion of formation together
Point, it is also possible to modules individualism, an independent part can also be integrated to form with two or more modules.
It, can be with if the function is realized and when sold or used as an independent product in the form of software function module
It is stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic or disk.It needs
Illustrate, herein, relational terms such as first and second and the like be used merely to by an entity or operation with
Another entity or operation distinguish, and without necessarily requiring or implying between these entities or operation, there are any this realities
The relationship or sequence on border.Moreover, the terms "include", "comprise" or its any other variant are intended to the packet of nonexcludability
Contain, so that the process, method, article or equipment for including a series of elements not only includes those elements, but also including
Other elements that are not explicitly listed, or further include for elements inherent to such a process, method, article, or device.
In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including the element
Process, method, article or equipment in there is also other identical elements.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.It should also be noted that similar label and letter exist
Similar terms are indicated in following attached drawing, therefore, once being defined in a certain Xiang Yi attached drawing, are then not required in subsequent attached drawing
It is further defined and explained.
Claims (10)
1. a kind of speed-measuring method, which is characterized in that applied to the photographic device of velocity-measuring system, for detecting examined object
Speed, the velocity-measuring system further include laser beam emitting device, the laser beam emitting device for emit laser projection arrive described in
Tag line, the reinforcement structure formation angle point of the tag line and the examined object are formed in detection object；The method packet
It includes:
The first image and the second image comprising the examined object are obtained according to prefixed time interval, wherein described first
Image and second image include tag line；
Detect Corner all in the first image and second image, wherein the first image and described
Second image includes the Corner；
Coordinate according to each Corner obtains angle point position of the examined object in the prefixed time interval
It moves, and then calculates the speed of the examined object.
2. the method as described in claim 1, which is characterized in that described to detect in the first image and second image
The step of all Corners, comprising:
Corner Detection is carried out to the first image, obtains the first angle point collection；
Corner Detection is carried out to second image, obtains the second angle point collection；
All Corners are determined from the first angle point collection and second angle point concentration.
3. method according to claim 2, which is characterized in that the first angle point collection includes at least one first angle point, institute
Stating the second angle point collection includes at least one second angle point, described to determine from the first angle point collection and second angle point concentration
The step of all Corners, comprising:
Obtain first angular coordinate of each first angle point in the first image；
Obtain second angular coordinate of each second angle point in the second image；
According to first angular coordinate, prefixed time interval and preset angle point motion model, first angle point is obtained
The corresponding prediction angular coordinate of coordinate；
According to second angular coordinate and the prediction angular coordinate, the corresponding deviation information of second angle point is calculated；
The deviation information is compared with deviation threshold, and when the deviation information is less than the deviation threshold, by institute
Corresponding second angle point of deviation information is stated as Corner.
4. the method as described in claim 1, which is characterized in that the coordinate according to each Corner obtains described
Angle point displacement of the examined object in the prefixed time interval, and then calculate the step of the speed of the examined object
Suddenly, comprising:
First image coordinate of each Corner in the first image is obtained respectively, and in second image
In the second image coordinate；
According to the first image coordinate, default transformation model, first of the Corner in world coordinate system is obtained
Set coordinate；
According to second image coordinate, default transformation model, second of the Corner in world coordinate system is obtained
Set coordinate；
First position coordinate, second position coordinate according to each Corner obtain angle point displacement, and according to the angle
Point displacement and the prefixed time interval, calculate the speed of the examined object.
5. method as claimed in claim 4, which is characterized in that described according between angle point displacement and the preset time
Every the step of calculating the speed of the examined object, comprising:
According to all corresponding angle point displacements of the Corner, the displacement of average angle point is calculated；
According to average angle point displacement and the prefixed time interval, the speed of the examined object is calculated.
6. method as claimed in claim 4, which is characterized in that described according between angle point displacement and the preset time
Every the step of calculating the speed of the examined object, comprising:
According to the corresponding angle point displacement of the Corner and the prefixed time interval, it is corresponding to calculate the Corner
Corner speed；
All corresponding corner speeds of the Corner are averaged, the speed of the examined object is obtained.
7. a kind of speed measuring device, which is characterized in that applied to the photographic device of velocity-measuring system, for detecting examined object
Speed, the velocity-measuring system further include laser beam emitting device, the laser beam emitting device for emit laser projection arrive described in
Tag line, the reinforcement structure formation angle point of the tag line and the examined object are formed in detection object；Described device packet
It includes:
Module is obtained, for obtaining the first image and the second image comprising the examined object according to prefixed time interval,
Wherein, the first image and second image include tag line；
Processing module, for detecting Corner all in the first image and second image, wherein described
One image and second image include the Corner；Coordinate according to each Corner obtains described to be checked
Angle point displacement of the object in the prefixed time interval is surveyed, and then calculates the speed of the examined object.
8. device as claimed in claim 7, which is characterized in that the processing module is specifically used for:
Corner Detection is carried out to the first image, obtains the first angle point collection；
Corner Detection is carried out to second image, obtains the second angle point collection；
All Corners are determined from the first angle point collection and second angle point concentration.
9. device as claimed in claim 7, which is characterized in that the processing module is specifically used for:
First image coordinate of each Corner in the first image is obtained respectively, and in second image
In the second image coordinate；
According to the first image coordinate, default transformation model, first of the Corner in world coordinate system is obtained
Set coordinate；
According to second image coordinate, default transformation model, second of the Corner in world coordinate system is obtained
Set coordinate；
According to the first position coordinate, second position coordinate and the prefixed time interval of each Corner, calculate
The speed of the examined object.
10. a kind of velocity-measuring system, which is characterized in that the velocity-measuring system includes photographic device and laser beam emitting device, described to take the photograph
As device is used to detect the speed of examined object, the laser beam emitting device is for emitting laser projection to described to be detected
Tag line, the reinforcement structure formation angle point of the tag line and the examined object are formed on object；The photographic device packet
It includes:
One or more processors；
Memory, for storing one or more programs, when one or more of programs are by one or more of processors
When execution, so that one or more of processors realize method of any of claims 1-6.
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Cited By (1)
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