CN110390225A - Automobile video frequency inspection system - Google Patents
Automobile video frequency inspection system Download PDFInfo
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- CN110390225A CN110390225A CN201810339410.7A CN201810339410A CN110390225A CN 110390225 A CN110390225 A CN 110390225A CN 201810339410 A CN201810339410 A CN 201810339410A CN 110390225 A CN110390225 A CN 110390225A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F13/00—Interconnection of, or transfer of information or other signals between, memories, input/output devices or central processing units
- G06F13/38—Information transfer, e.g. on bus
- G06F13/42—Bus transfer protocol, e.g. handshake; Synchronisation
- G06F13/4282—Bus transfer protocol, e.g. handshake; Synchronisation on a serial bus, e.g. I2C bus, SPI bus
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/10—Image enhancement or restoration by non-spatial domain filtering
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/13—Edge detection
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/155—Segmentation; Edge detection involving morphological operators
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
Abstract
The present invention is suitable for video image technical field, provides a kind of automobile video frequency inspection system, comprising: video acquisition module, analog-to-digital conversion module, field programmable gate array module and processor module.The video acquisition module for acquiring the simulated image data of road surface baseline in real time；The field programmable gate array module is used to be programmed the digital image data pretreatment and obtains programming image data, and stores the programming image data；The processor module is used to read the programming image data of storage, and the programming image data is carried out jumping catch edge every preset time, edge calculations vehicle shift amount is jumped according to described, vehicle is controlled according to vehicle shift amount by pid algorithm and is advanced according to road surface baseline.The invention enables vehicles to realize automatic running on transmisson line, avoids driver and leans on driving skills and feel completely to control the unsafe problem of Construction traffic, reduces labor intensity and risk.
Description
Technical field
The invention belongs to video image technical field more particularly to a kind of automobile video frequency inspection systems.
Background technique
With the rapid development of Modern Traffic industry, the construction of highway bridge is increasing.During construction of the highway, have perhaps
It needs to advance along road surface guide line in more Construction traffic work progress, and these Construction traffic work progress cannot be crossed
Range as defined in the guide line of road surface.But some Construction traffic own vols are huge, driver leans on driving skills and feel completely
It is not reliable for controlling vehicle, it is possible to the operation error of a very little, it is possible to lead to the generation of accident.
Summary of the invention
In view of this, the embodiment of the invention provides a kind of automobile video frequency inspection system, to solve driver in the prior art
The unsafe problem of Construction traffic is controlled by driving skills and feel completely.
The first aspect of the embodiment of the present invention provides a kind of automobile video frequency inspection system, comprising:
Further, video acquisition module, analog-to-digital conversion module, field programmable gate array module and processor module；
The video acquisition module for acquiring the simulated image data of road surface baseline in real time；
The analog-to-digital conversion module is used to carry out analog-to-digital conversion to the simulated image data to obtain digital image data；
The field programmable gate array module is programmed for being programmed pretreatment to the digital image data
Image data, and store the programming image data；
The processor module is used to read the programming image data of storage, and every preset time to the programming
Image data carries out jumping catch edge, jumps edge calculations vehicle shift amount according to described, inclined according to vehicle by pid algorithm
Shifting amount controls vehicle and advances according to road surface baseline.
Further, the analog-to-digital conversion module is specifically used for: the simulated image data of video acquisition module acquisition is received,
And simulated image data is subjected to analog-to-digital conversion, be converted to digital image data.
Further, image data of the field programmable gate array module for after receiving analog-to-digital conversion is gone forward side by side
Row programming pretreatment, comprising:
The field programmable gate array module is used to carry out gray proces, binaryzation to the digital image data received
Processing and windowing process.
Further, the field programmable gate array module includes: frame buffer memory；
The frame buffer memory is for storing the pretreated image data of programming.
Further, the processor module includes: program controling module；
Described program control module controls vehicular electric machine for storing the pid algorithm, by pid algorithm, thus controls
Vehicle advances according to road surface baseline.
Further, the processor module includes: timer；
The timer is used to carry out jumping catch edge to programming image data.
Further, described that edge calculations vehicle shift amount is jumped according to, comprising: to go out to believe by jumping edge calculations
Number width, then vehicle shift amount is calculated by signal width.
Further, it is connected between the analog-to-digital conversion module and field programmable gate array module by I2C bus.
Further, serial by JTAG and RS-232 between the field programmable gate array module and processor module
Interface connection.
Further, the video acquisition module uses CCD video sensor.
Existing beneficial effect is the embodiment of the present invention compared with prior art:
The embodiment of the present invention acquires the simulated image data of road surface baseline by video acquisition module in real time, then passes through modulus
Conversion module carries out analog-to-digital conversion to the simulated image data and obtains digital image data, field programmable gate array module pair
The digital image data obtains programming image data after being programmed pretreatment, and stores the programming image data, handles
Device module reads the programming image data of storage, and carries out jumping edge to the programming image data every preset time
Capture, jump edge calculations vehicle shift amount according to described, finally by pid algorithm according to vehicle shift amount control vehicle according to
Road surface baseline advances.The embodiment of the present invention can make vehicle realize automatic running on transmisson line, avoid driver lean on completely driving skills and
Feel controls the unsafe problem of Construction traffic, it is therefore prevented that the generation of major industrial accident reduces patrol officer's
Working strength improves work efficiency, and has saved manpower, reduces labor intensity and risk.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is a kind of schematic diagram of automobile video frequency inspection system provided in an embodiment of the present invention；
Fig. 2 is the schematic diagram of another automobile video frequency inspection system provided in an embodiment of the present invention；
Fig. 3 is the schematic diagram of another automobile video frequency inspection system provided in an embodiment of the present invention；
Fig. 4 is the schematic diagram of another automobile video frequency inspection system provided in an embodiment of the present invention；
Fig. 5 is the schematic diagram of another automobile video frequency inspection system provided in an embodiment of the present invention；
Fig. 6 is the schematic diagram of another automobile video frequency inspection system provided in an embodiment of the present invention.
Specific embodiment
In being described below, for illustration and not for limitation, the tool of such as particular system structure, technology etc is proposed
Body details, to understand thoroughly the embodiment of the present invention.However, it will be clear to one skilled in the art that there is no these specific
The present invention also may be implemented in the other embodiments of details.In other situations, it omits to well-known system, device, electricity
The detailed description of road and method, in case unnecessary details interferes description of the invention.
It should be appreciated that ought use in this specification and in the appended claims, term " includes " and "comprising" instruction
Described feature, entirety, step, operation, the presence of element and/or component, but one or more of the other feature, whole is not precluded
Body, step, operation, the presence or addition of element, component and/or its set.
It is also understood that mesh of the term used in this description of the invention merely for the sake of description specific embodiment
And be not intended to limit the present invention.As description of the invention and it is used in the attached claims, unless on
Other situations are hereafter clearly indicated, otherwise " one " of singular, "one" and "the" are intended to include plural form.
It will be further appreciated that the term "and/or" used in description of the invention and the appended claims is
Refer to any combination and all possible combinations of one or more of associated item listed, and including these combinations.
In order to illustrate technical solutions according to the invention, the following is a description of specific embodiments.
It is a kind of schematic diagram of automobile video frequency inspection system provided in an embodiment of the present invention, the system packet with reference to Fig. 1, Fig. 1
It includes: video acquisition module 11, analog-to-digital conversion module 12, field programmable gate array (Field-Programmable Gate
Array, FPGA) module 13 and processor module 14.
The video acquisition module 11 for acquiring the simulated image data of road surface baseline in real time.
The analog-to-digital conversion module 12 is used to carry out analog-to-digital conversion to the simulated image data to obtain digital image data.
The FPGA module 13 is used to be programmed the digital image data pretreatment and obtains programming image data, and
Store the programming image data.
The processor module 14 is used to read the programming image data of storage, and every preset time to the volume
Journey image data carries out jumping catch edge, edge calculations vehicle shift amount is jumped according to described, by pid algorithm according to vehicle
Offset controls vehicle and advances according to road surface baseline.
The embodiment of the present invention by acquiring pavement image data in real time, when vehicle deviates the baseline on road surface, then collecting
Two sequential frame image data just have difference, control vehicle electrical by the way that vehicle shift amount is calculated, then by pid algorithm
Machine can make vehicle realize automatic running on transmisson line, avoid driver and lean on driving skills and feel dangerous to control Construction traffic completely
The problem of, it is therefore prevented that the generation of major industrial accident reduces the working strength of patrol officer, improves work efficiency,
Manpower has been saved, labor intensity and risk are reduced.
Further, the video acquisition module 11 using charge coupled cell (Charge-coupled Device,
CCD) video sensor, for example, in an embodiment of the present invention, video acquisition module 11 uses the dynamic of Panasonic Corporation
Therefore wv-cp460 color spectrum optical camera is sent to the simulation view of analog-to-digital conversion module 12 from video acquisition module 11
Frequency signal format is NTSC (National Television Standards Committee) format or PAL (Phase
Alternating Lineformat) format.It should be understood that being merely illustrative statement herein, can not be interpreted as to of the invention
Concrete restriction.
Further, the analog-to-digital conversion module 12 is specifically used for: receiving the analog image number of video acquisition module acquisition
According to, and simulated image data is subjected to analog-to-digital conversion, be converted to digital image data.Analog signal is only by analog-to-digital conversion
It could be handled with software after digital signal, in an embodiment of the present invention, the analog-to-digital conversion module 12 uses
SAA7113 video decoding chip.Video acquisition module 11 inputs the real-time simulated image data of PAL format, which passes through mould
Number 12 conversion process of conversion module after, generation be 720 pixel YUV4:2:2 digital image data, the resolution of the digital picture
Rate is 864 × 625.In digital picture, each pixel light intensity indicates different grey-scale, in general, the gray level of white is
255, black gray grade is 0, and the luminous intensity between white and black is then divided into 256 grades.It should be understood that being herein only to show
Example property statement, can not be interpreted as to concrete restriction of the invention.
Further, the FPGA module 13 is specifically used for carrying out gray proces, two to the digital image data received
Value processing and windowing process.
As shown in Fig. 2, Fig. 2 is that a kind of color image provided in an embodiment of the present invention carries out gray processing treated image,
The process that color image transforms into gray level image is known as to the gray processing processing of image.It can be used and divide in embodiments of the present invention
These four methods of amount method, maximum value process, mean value method and weighted mean method carry out gray processing processing to color image, for example, In
Gray processing processing is carried out to color image using mean value method in a kind of embodiment of the invention, by the three-component in color image
A gray value can be obtained in brightness averaging.It should be understood that being merely illustrative statement herein, can not be interpreted as to of the invention
Concrete restriction.
As shown in figure 3, Fig. 3 is that a kind of gray level image provided in an embodiment of the present invention carries out the image after binary conversion treatment.
Image binaryzation processing is exactly to set 0 or 255 for the gray value of the pixel on image, that is, whole image is showed
Global binaryzation method or local auto-adaptive binaryzation method pair can be used in the process of apparent black and white effect in embodiments of the present invention
Gray level image carries out binary conversion treatment.For example, in an embodiment of the present invention using global binaryzation method to gray level image
Binary conversion treatment is carried out, entire image is divided into N number of window according to certain rules, to each of this N number of window window
Pixel in the window is divided into two parts according still further to a unified threshold value T by mouth, carries out binary conversion treatment.It should be understood that this
Place is merely illustrative statement, can not be interpreted as to concrete restriction of the invention.In embodiments of the present invention, two are carried out to image
Value processing may make that data volume is greatly reduced in image, so as to highlight the profile of target.
As shown in figure 4, Fig. 4 is that a kind of binary image provided in an embodiment of the present invention carries out the image after windowing process,
Image windowing process is a kind of processing common in image procossing, its thought is that image array is fixed big by one
The minor matrix of small (such as 3 × 3) carries out arithmetic operation to image.Sobel edge detection, shape can be used in embodiments of the present invention
State operation, fuzzy filter and gaussian filtering carry out windowing process to binary image, for example, in a kind of embodiment of the invention
In, windowing process is carried out to binary image using gaussian filtering.It should be understood that being merely illustrative statement herein, can not understand
For to concrete restriction of the invention.In embodiments of the present invention, gray proces, two-value are carried out to the digital image data received
After changing processing and windowing process, obtaining useful image data size is 64 × 48.
Optionally, in an embodiment of the present invention, the FPGA module 13 uses EPIC20 chip, it should be appreciated that this
Place is merely illustrative statement, can not be interpreted as to concrete restriction of the invention.
Further, the processor module 14 is specifically used for reading the programming image data of storage, every default
Time carries out jumping catch edge to the programming image data, for example, in an embodiment of the present invention, when described default
Between can be 10ms.It should be understood that being merely illustrative statement herein, can not be interpreted as to concrete restriction of the invention.In this hair
In bright embodiment, go out signal width by jumping edge calculations, then vehicle shift amount is calculated by signal width, finally by
Pid algorithm controls vehicle according to vehicle shift amount and advances according to road surface baseline.For example, as shown in figure 5, being that the embodiment of the present invention mentions
Supply a kind of signal width image, processor module 14 capture 4 jump edge, be successively named as sample1, sample2,
sample3,sample 4.By calculating, obtains signal width and be successively named as width2, width3, width4, it is this 3 wide
Degree is able to reflect the position of vehicle, and signal width width3 is the width of white path, signal width width2 and signal width
Width4 respectively indicates width shown by the black region on the white path left side and the right, uses offset equation: offset
Vehicle shift amount is calculated in perror2=(width 2-width 4)/2, then passes through PID (Proportion Integral
Differential) the i.e. controllable vehicle of algorithm advances according to road surface baseline.
Further, in embodiments of the present invention, the pid algorithm includes: using formula out_p=KP × offset
20 comparative example of perror2 ÷ is calculated, wherein KP is proportionality coefficient；Use formula out_d2=KD × (offset
Perror2- offset perror1) ÷ 20 calculates integral term, wherein and KD is differential coefficient, and offset perror 1 is
A preceding offset；Regulated variable is calculated using formula out 2=out_p+out_d2+CENTER, wherein CENTER
It is the center of motor, out2 is the regulated variable of motor, for controlling the high level duration of PWM waveform, if
Out 2 is equal to always CENTER in successive image frame, then representing beam car is run along white baseline, because of vehicle operation
It is by its motor control, motor is controlled work by pulse width modulation (Pulse Width Modulation, PWM) output wave again
Make, PWM is a kind of technology using the numeral output of microprocessor to be controlled analog circuit.In the embodiment of the present invention
In, vehicular electric machine is controlled by output PWM, advances to control vehicle according to road surface baseline, realizes the automatic running on transmisson line of vehicle,
It avoids driver and leans on driving skills and feel completely to control the unsafe problem of Construction traffic.Use formula offset amount
Perror2=offset perror1 saves a preceding offset, using formula out_d1=out_d2 to preceding primary micro-
The value of piecemeal is saved, and is replaced and is covered to historical data, and the memory space of processor module, promotion processing can be saved
Device resume module speed.In view of vehicle need not be travelled in strict accordance with white baseline, therefore, removal be easy to cause integral saturation from
And the relevant information for causing system unstable.
Optionally, the processor module 14 uses arm processor, and what ARM architecture was selected is 32 embedded essences
Simple instruction system (Reduced Instruction Set Computer, RISC) micro-processor architecture.For example, in this hair
In a kind of bright embodiment, the processor module 14 is LPC2294 chip.It should be understood that being merely illustrative statement herein, not
It can be interpreted as to concrete restriction of the invention.
Further, it is connected between the analog-to-digital conversion module and field programmable gate array module by I2C bus.
Further, serial by JTAG and RS-232 between the field programmable gate array module and processor module
Interface connection.Configuration Online detail programming etc. is carried out to arm processor by the jtag interface of FPGA module.It is connect by RS-232
The existing data acquisition and transmission between the two of cause for gossip.
It is the schematic diagram of another automobile video frequency inspection system provided in an embodiment of the present invention with reference to Fig. 6, Fig. 6, such as Fig. 6 institute
Show, the FPGA module 13 includes: frame buffer memory 121；The processor module 14 includes: 141 He of program controling module
Timer 142.
The frame buffer memory 121 is for storing the pretreated image data of programming.
Described program control module 141 controls vehicular electric machine for storing the pid algorithm, by pid algorithm, thus controls
Vehicle processed advances according to road surface baseline.
The timer 142 is used to carry out jumping catch edge to programming image data.
Input capture function is one of basic function of timer, and input capture function is used to monitor external event and defeated
Enter signal.When external event occurs or signal changes, a specified edge occurs on specified input capture pin
It jumps (can specify the jump is rising edge or failing edge), after timer capture to specific edge jump, count register
The current value of device is latched into channel register.In embodiments of the present invention, timer is used to capture picture number every preset time
According to 4 jump edge.
Further, the pid algorithm is the program controling module being written in processor module by C voice.
It should be understood that the size of the serial number of each step is not meant that the order of the execution order in above-described embodiment, each process
Execution sequence should be determined by its function and internal logic, the implementation process without coping with the embodiment of the present invention constitutes any limit
It is fixed.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail or remembers in some embodiment
The part of load may refer to the associated description of other embodiments.
Embodiment described above is merely illustrative of the technical solution of the present invention, rather than its limitations；Although referring to aforementioned reality
Applying example, invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each
Technical solution documented by embodiment is modified or equivalent replacement of some of the technical features；And these are modified
Or replacement, the spirit and scope for various embodiments of the utility model technical solution that it does not separate the essence of the corresponding technical solution,
It should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of automobile video frequency inspection system characterized by comprising video acquisition module, analog-to-digital conversion module, scene can compile
Journey Gate Array module and processor module；
The video acquisition module for acquiring the simulated image data of road surface baseline in real time；
The analog-to-digital conversion module is used to carry out analog-to-digital conversion to the simulated image data to obtain digital image data；
The field programmable gate array module is used to be programmed the digital image data pretreatment and obtains programming image
Data, and store the programming image data；
The processor module is used to read the programming image data of storage, and every preset time to the programming image
Data carry out jumping catch edge, edge calculations vehicle shift amount are jumped according to described, by pid algorithm according to vehicle shift amount
Vehicle is controlled to advance according to road surface baseline.
2. automobile video frequency inspection system as described in claim 1, which is characterized in that the analog-to-digital conversion module is specifically used for:
The simulated image data of video acquisition module acquisition is received, and simulated image data is subjected to analog-to-digital conversion, is converted to digitized map
As data.
3. automobile video frequency inspection system as described in claim 1, which is characterized in that the field programmable gate array mould
Block is for the image data after receiving analog-to-digital conversion and is programmed pretreatment, comprising:
The field programmable gate array module is used to carry out gray proces, binary conversion treatment to the digital image data received
And windowing process.
4. automobile video frequency inspection system as described in claim 1, which is characterized in that the field programmable gate array module packet
It includes: frame buffer memory；
The frame buffer memory is for storing the pretreated image data of programming.
5. automobile video frequency inspection system as described in claim 1, which is characterized in that the processor module includes: program control
Molding block；
Described program control module controls vehicular electric machine for storing the pid algorithm, by pid algorithm, thus controls vehicle
Advance according to road surface baseline.
6. automobile video frequency inspection system as described in claim 1, which is characterized in that the processor module includes: timer；
The timer is used to carry out jumping catch edge to programming image data.
7. automobile video frequency inspection system as described in claim 1, which is characterized in that described to jump edge calculations vehicle according to
Offset, comprising: go out signal width by jumping edge calculations, then vehicle shift amount is calculated by signal width.
8. automobile video frequency inspection system as described in claim 1, which is characterized in that the analog-to-digital conversion module can be compiled with scene
It is connected between journey Gate Array module by I2C bus.
9. automobile video frequency inspection system as described in claim 1, which is characterized in that the field programmable gate array module with
It is connected between processor module by JTAG and RS-232 serial line interface.
10. automobile video frequency inspection system as described in claim 1, which is characterized in that the video acquisition module is regarded using CCD
Video sensor.
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| CN201810339410.7A CN110390225A (en) | 2018-04-16 | 2018-04-16 | Automobile video frequency inspection system |
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