CN110428419A - Mine positioning system based on mobile image identification - Google Patents
Mine positioning system based on mobile image identification Download PDFInfo
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- CN110428419A CN110428419A CN201910821906.2A CN201910821906A CN110428419A CN 110428419 A CN110428419 A CN 110428419A CN 201910821906 A CN201910821906 A CN 201910821906A CN 110428419 A CN110428419 A CN 110428419A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/10544—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation by scanning of the records by radiation in the optical part of the electromagnetic spectrum
- G06K7/10712—Fixed beam scanning
- G06K7/10722—Photodetector array or CCD scanning
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
-
- 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
- G06T7/194—Segmentation; Edge detection involving foreground-background segmentation
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
- G06T7/215—Motion-based segmentation
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/26—Segmentation of patterns in the image field; Cutting or merging of image elements to establish the pattern region, e.g. clustering-based techniques; Detection of occlusion
- G06V10/267—Segmentation of patterns in the image field; Cutting or merging of image elements to establish the pattern region, e.g. clustering-based techniques; Detection of occlusion by performing operations on regions, e.g. growing, shrinking or watersheds
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- 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
- G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/20—Movements or behaviour, e.g. gesture recognition
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10016—Video; Image sequence
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30232—Surveillance
Abstract
The invention discloses a kind of mine positioning systems based on mobile image identification, the positioning system determines underground moving target position information and then the identification and ranging to underground special sign, the feature of the complexity multiplicity and underground work personnel of underground coal mine environment is fully considered, it is easy to implement, detection process, which is realized, to be fully automated, the location information that can accurately show underground moving target effectively prevents classical wireless telecommunication number positioning because underground complex environment influences the problem that electromagnetic transmission causes positioning accuracy not high.The features such as localization method process is simple and effective, strong antijamming capability, has stronger robustness, this positioning system has positioning accuracy high, and cost is relatively low, and structure of system equipment is simple, easy to implement；Monitoring convenient for production safety management personnel to underground moving target position.
Description
Technical field
The present invention relates to it is a kind of based on mobile image identification mine positioning system, this method be related to image processing techniques,
The fields such as GIS-Geographic Information System and communication.
Background technique
Basic energy resource and the important raw material of industry of the coal as China are made that outstanding contribution for the development of the national economy.
The complicated multiplicity of Working Environment of Underground Mine, there is various security risks, constitute to the personnel and equipment safety of underground work
Greatly threaten.Mine positioning system plays guarantee Safety of Coal Mine Production great as one of safety of coal mines avoiding system
Effect.
Mine positioning system often uses RFID card identification and radio signal location technology at present.RFID card identification utilizes
Radio frequency method carries out non-contact two-way communication, does not have to contact the identification achieved that mobile target between radio-frequency card and card reader
And position monitoring.Belong to area positioning technology based on RFID card identification positioning, can only identify whether underground moving target passes through certain
A region can not be accurately positioned the mobile target in region.RFID card identification is limited by recognition speed, cannot be handled more
Target simultaneously quickly through card-reading system the case where, be easy to appear skip phenomenon.Radio signal location technology is based on radio
Transmission signal decaying RSSI or transmission time of the signal in mine are positioned, since radio signal is easy in transmission process
It is influenced by factors such as underworkings size, shape, tunnel roughness, barriers, radio signal attenuation model is extremely complex, fixed
Position precision is low.The positioning accuracy of positioning system based on the radio signal transmission time is higher than RSSI positioning system, but radio
Signal transmission time is influenced by multipath effect, non-line-of-sight propagation time delay, clock synchronization, clock timing error etc., equally can not be real
Now to the accurate positioning of underground moving target.
Therefore, it is necessary to the positioning systems that a kind of suitable coal mine environment, simple and effective, construction cost is low and positioning accuracy is high
System, real-time monitoring underground moving target position information, and then ensure the safety of downhole production operation.
Summary of the invention
With the raising of memory technology and data processing technique, the identification technology based on image is made to obtain very big development,
Under the support of GIS-Geographic Information System, it is suitble to underground moving target be widely popularized, simple and effective the invention proposes a kind of
Positioning system, the present invention realized the accurate positioning of underground moving target by the technologies such as image recognition, solves nothing under conventional well
Line electric signal positioning effects electromagnetic transmission leads to the problem that precision is low, application range is limited.
To achieve the above object, the present invention provides the mine positioning system identified based on mobile image, and system includes positioning
Module, wireless network, cable network, monitoring server and monitor terminal；The monitoring server and monitor terminal are located on well,
The monitoring service of underground moving target is provided for coal mine safety management personnel；The monitoring server storing data is comprising underground
Information, underground moving target identity information and moving target position information are managed, monitor terminal is responsible for and underground geography information is provided
It shows and services with moving target position；The mobile target includes personnel in the pit and vehicle；The locating module is by moving target
It carries or installs, system is using locating module position as moving target position；The locating module include at least one video camera,
Information process unit, information memory cell, wireless communication unit；The information memory cell includes mine for storing information
Manage spatial information, moving target information and special sign information；The special sign include underground equipment with fixed position,
Label and self-built object of reference；The special sign information includes the image information, number, shape feature, geographical position of special sign
Confidence breath；The image information of the special sign includes video camera in different directions, the image of the special sign of angle shot, and
The shooting direction of described image, angle information；The underground equipment that there is fixed position include fire-fighting equipment, power supply unit,
Base station, fixation electromechanical equipment；The self-built object of reference includes bar code, two dimensional code or the direction board of self-setting；
The system position fixing process includes:
Locating module acquires borehole image, and carries out data processing to image and obtain moving target position；
A. moving target position is sent to monitoring server by wireless network and cable network by locating module；
B. monitoring server stores moving target position；
C. monitoring server provides the data service of geography information and moving target position for monitor terminal；
The information process unit of the locating module includes: to the specific steps of Moving objects location
A. the special sign in image is identified；
B. by the shooting direction of special sign image, angle information, direction, the angle of video camera are obtained；
C. the ranging model of video camera and special sign is established by special sign information；
D. the distance between special sign and mobile target are calculated by ranging model；
E. the location information of mobile target is obtained according to special sign geographical location information.
2. mine positioning system described in further comprises: locating module also includes video storage unit, is used for storage well
Move down the collected video data of moving-target.
3. mine positioning system described in further comprises: locating module also includes location information display unit, in information
Under storage unit, information process unit and wireless communication unit are supported, underground geography information and moving target position information are realized
Display.
4. mine positioning system described in further comprises: the positional information display unit of the locating module shows content
Text, image including moving target position, voice, video information.
5. mine positioning system described in further comprises: the characteristic information of the special sign includes the shape of characteristic indication
Shape, size, color, texture.
6. mine positioning system described in further comprises: special sign camera lens under wireless camera horizontality
Pickup area in, highly be not higher than given threshold Hmax, and it is not less than given threshold Hmin, HmaxAnd HminBy measurement setting or
Artificial settings obtains.
7. mine positioning system described in further comprises: the step of identifying the special sign in image includes that display is other
Special sign type in image continues the uniqueness characteristic for identifying special sign；The uniqueness characteristic includes special sign
On number.
8. mine positioning system described in further comprises: the method for the special sign in identification image includes aspect ratio pair
Identification, fuzzy diagnosis, machine learning identification and circular elements identification.
9. mine positioning system described in further comprises: the ranging parameters packet of the ranging model of video camera and special sign
It includes, the size, shape of special sign in image, actual size, the shape of the special sign stored in storage unit, video camera
Focal length data.
10. mine positioning system as described in claim 1, it is characterised in that: the special sign information further includes spy
The circular mark of will is calibrated, the circular mark includes circular object and pattern on special sign；Mobile target and specific mark
The ranging parameters of the ranging model of will include the long axis of the circular mark of special sign, information in video camera acquired image
The actual diameter of the special sign stored in storage server, the focal length data of video camera.
11. mine positioning system described in further comprises: the long axis determination method of special sign circular mark in image
Including identifying the circular mark on special sign in video camera acquired image, carrying out retouching side to it, appoint and take on boundary
Two o'clock line, the maximum line segment of length is the long axis of circular mark in line formed section.
12. mine positioning system described in further comprises: ranging model includes monocular ranging model, binocular ranging model
With more range estimations away from model.
It is that the present invention reaches the utility model has the advantages that positioning system of the invention is moved independent of radio-location technology with underground
The visual angle of moving-target acquires image, and is positioned using visual sign object as positioning references, is not pacified by fixed-position camera
The limitation for filling density and image-capture field, is totally different from the image position method of existing fixed-position camera.
There is no clock synchronizations, signal blocks, refraction existing for downhole wireless electricity localization method for positioning system of the invention
The problem of etc. position error is caused, can be used as the supplement localization method for improving downhole wireless electricity positioning accuracy.Theoretically, foot is only needed
Enough data support that positioning system of the invention can independently realize that the full mine region without monitoring dead angle is accurately positioned, and is had wide
Wealthy application space.
Detailed description of the invention
Fig. 1 mine positioning system structure figure.
Fig. 2 locating module functional structure chart.
Fig. 3 mine localization method flow chart.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, carries out to the technical solution in application embodiment 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.Based on this
Embodiment in application, every other reality obtained by those of ordinary skill in the art without making creative efforts
Example is applied, shall fall in the protection scope of this application.
The embodiment of the present application provides a kind of mine positioning system, and Fig. 1 is a kind of mine positioning provided in an embodiment of the present invention
The structure chart of system.As shown in Figure 1, the mine positioning system in the present embodiment, comprising:
1. monitoring server 101 is responsible for monitor terminal 105 with providing moving target information and location information and mine
The data and display service for managing information, can be used standard GIS service plateform system and equipment.
2. monitor terminal 102 is used for monitoring movable target, there is map and moving target position display function, it is described aobvious
Data needed for showing function are provided by monitoring server 101；, monitor terminal have directly communicate with locating module transfer it is real-time and
The function of history video image；Computer, mobile phone, tablet computer etc. with display and communication function can be used in monitor terminal.
3. core switch 103, the core switching device of cable network are responsible for the number of the equipment of all access cable networks
According to exchange.
4. underground interchanger 104, the underground switching equipment of cable network, multiple underground interchangers can be connected by looped network mode
It connects.
5. wireless base station 105, the access device of wireless network, the wireless communication being responsible for including wireless camera 110
The wireless network of equipment accesses.
6. locating module 106 is responsible for collection site image and is positioned by image, have wireless communication function, leads to
It crosses wireless network and cable network is realized and the communication of monitoring server 101, carried and installed by mobile target.
It is that image recognition is fixed 7. special sign 107 refers to underground equipment, label and self-built object of reference with fixed position
Position marker, image, number, shape feature, geographical location relevant information stored by information memory cell.
Locating module functional structure is as shown in Fig. 2, specifically include that
1. video camera 201, live video image under production wells sends acquisition video image data to video storage unit
202 and information process unit 203.
2. video storage unit 202 is responsible for the video image data of backup storage wireless camera acquisition.
3. information process unit 203, in the case where the data of information memory cell 103 are supported, to the picture number of video camera acquisition
According to processing identification is carried out, moving target position is obtained.
4. information memory cell 204, being responsible for storage information includes geospatial information, moving target information and special sign
Information provides the data service of special sign information for information process unit 203, to realize that special sign identifies；For positioning letter
It ceases display unit 206 and the data service of geospatial information, moving target information and location information is provided, to realize geography information
Display.
5. wireless communication unit 205, mode by wireless communication of being responsible for connects wireless base station, realizes locating module and monitoring
The communication of server and monitor terminal.
6. location information display unit 206 is supported in information memory cell, information process unit and wireless communication unit
Under, realize that underground geography information and moving target position information show that the mobile target includes multiple mobile targets.
The present embodiment provides a kind of mine localization method based on image, as shown in figure 3, specific embodiment is as follows:
1. 301 acquisition images, video camera acquire video image.
2. 302 image preprocessings, information process unit pre-processes collected picture.
3. 303 special signs identify that information process unit is under the support of information memory cell to pretreated picture
Carry out image recognition, using power supply box as special sign for, information process unit deposits the image comprising power supply box with information
Identification is compared in the power supply box different directions of storage unit storage, the image of angle, if successfully identifying the specific mark in image
Will continues next step image processing operations,；If not identifying special sign in the picture, returns to 301 and continue to acquire
Image；
(1) the present embodiment provides a kind of image-recognizing methods, the specific steps are as follows:
A. choosing any pixel point in acquisition image, as the center of circle, radius is 3 pixel wides, and taking border circular areas to be used as should
Pixel neighborhood of a point, with the center of circle go out gray value be compared with 16 pixel gray values in neighborhood, if at least n point with
The center point gray value difference has been more than preset threshold value t, then the center of circle is retained as characteristic point.
B. image is matched with the primitive character of characteristic point point description, obtains initial matching point to collection G.
C. maximum Hamming distance value max dist is found out and recorded from initial matching collection G, and two threshold value T are set1And T2
D. the characteristic point pair in initial matching collection G is traversed, takes one pair of them characteristic point to (a, b), calculates between a, b two o'clock
Hamming distance dist, if dist < T1Characteristic point is then remained into final matching to as correct matching double points by max dist
As a result point is in collection S；If dist > T2Max dist is then directly by this characteristic point to exclusion；If T1Max dist < dist <
T2Max dist, thens follow the steps d-h.I is entered step after completing above-mentioned judgement.
E. respectively by point to be determined to by characteristic point to be determined being respectively 10 pixels, 15 pictures to the spatial neighborhood radius of a, b
Element and 20 pixels are divided into 3 parts.
F. the adjacent characteristic point being distributed in 10*10,15*15,20*20 spatial neighborhood around characteristic point a, b is calculated separately
Number forms the feature vector N=(n of corresponding space characteristics point distribution situation1,n2,n3) and N'=(n'1,n'2,n'3)。
G. formula is used(n1、n2、n3And n'1、n'2、n'3Respectively a and b are in 10*10,15*15,20*
The feature point number being distributed in 20 circular neighborhoods) it calculates between the feature vector of space characteristics point distribution situation of two characteristic points
Euclidean distance d.
H. it usesJudge the similitude R between two feature vectors, a threshold epsilon is set, when R > ε then will be special
Sign point remains into the points of final matching results to collecting in S as correct matching double points to (a, b), and otherwise elimination point is to (a, b).
I. it repeats step d and has traversed initial matching collection G, export the point of final matching results to collection S.
J. the special sign type in picture is determined to collection S by matching result point.
(2) in addition to above-mentioned special sign recognition methods, the present embodiment also provides a kind of special sign based on machine learning
Recognition methods specifically includes that
A. acquisition forms sample set comprising the image of special sign, carries out image block vectorization to sample set and from every
Several image blocks are randomly selected in image and obtain training matrix, are learnt to generate feature database with training matrix；Described herein one
Kind algorithm is used for construction feature library, the specific steps are as follows:
A) assume tranining databaseIt is known that passing through following formula approximate solution:
s.t.||xi-Dai||2≤ε0,1≤i≤N(1),xiIndicate signal；D indicates unknown characteristics library；aiTable
Show rarefaction representation；The optimal value and matrix decomposition above formula for considering signal fitting can be deformed into:s.t.||ai||≤
k0, 1≤i≤N (2), the basis of this algorithm is in situation known to training data, and completion solves each column of feature database,
On the basis of formula (2), available following formula:
(3),For the jth row of A, dtWithFor more fresh target,For error matrix, it is denoted as Et.Utilize surprise
Different value decomposition acquires optimal dtWithThe quantity that usually will increase nonzero term is done so, that is, sparsity is caused to reduce to keep
Sparsity, by EtWithThe non-zero column of two matrixes forms new matrixSparsity is effectively guaranteed in above-mentioned transformation, makes
EtIt can be used to update dtWithCorresponding sparse coefficient.
B) assume input: legacy data libraryThreshold value k0。
C) output is calculated: feature database D after k iteration of output(k)With sparse matrix A(k)。
D) k=0, construction feature library D initial phase: algorithm implementation process: are enabled(0)∈Rm×nAnd normalize each column；
Main iteration phase: when k value is every increases by 1, algorithm executes following steps:
I. sparse coding: to formulas.t.||a||0≤k0Ask approximate solution, and sparse table
Show column vector ai(i=1,2 ..., n), form matrix A(k)；
Ii. feature database updates, and t=1,2 ..., n is enabled to repeat the steps of, and updates feature database and obtains D(k)；To tally set
It is defined: Ωt=j | 1≤j≤N, A(k)(t,j)≠0}；Calculate residual errorSelection and tally set Ωt
Corresponding column and then limitation Et, obtainBy singular value decomposition, obtain,It realizes simultaneously to feature database atom
D must be updatedt=u1With expression, it is denoted as:
Iii. termination condition；If after above-mentioned stepsThere is sufficiently small variation, then iteration stopping,
Otherwise, iteration continues.
B. acquisition special sign image forms sample set, and special sign image forms Prototype drawing image set；
C. image block vectorization is carried out to sample set first and to randomly select from every image several images fast
To training matrix, learnt to generate feature database with training matrix；
D. feature database carries out rarefaction representation to Prototype drawing image set and containing the mobile collected testing image of target is acquired；
E. to testing image piecemeal, the comentropy of each sub-block is found out as weight；
F. it uses related coefficient as similarity measurements flow function, and is carried out according to similarity of the weight of each sub-block to sparse domain
Weighted sum obtains recognition result.
4. 304 uniqueness characteristics identify, after determining special sign type, obtained into information memory cell this specific
The information of mark includes image, number, shape feature, geographical location information, identifies the uniqueness characteristic of special sign；Uniqueness
Feature can be numbered by special sign and be identified, go out special sign number information with Character segmentation identification, so that it is determined that collected
The special sign arrived.For bar code or two dimensional code, can be identified by coding rule it includes unique information.
5. 305 directions, angle determine, can be obtained by corresponding shooting direction, the angle of the special sign image of storage
The direction of video camera, angle.
6. 306 rangings can determine that the position of collected special sign is believed according to the information stored in information memory cell
Breath, then measure mobile target between special sign at a distance from, the present embodiment provides a kind of monocular ranging model, a kind of binoculars to survey
It include the ranging model of circular mark away from model and a kind of special sign；
A. when monocular ranging, it is known that Pixel Dimensions P, the focal length F of video camera of special sign in acquisition image, while by believing
The actual size W for ceasing special sign known to the deposited information of storage unit, calculates special sign at a distance from video camera:
B. when binocular ranging, it is assumed that special sign is positioned in the space at P point, and left side camera is enabled to be mounted on world coordinate system
At the origin of O-xyz and without any rotation, the image coordinate system of video camera is set as Ol-XlYl, flFor the effective coke for making video camera
Away from；Right camera coordinate system is or-xryrzr, image coordinate system Or-XrYr, frFor the effective focal length of right video camera, become by perspective
Mold changing type is it can be concluded that once formula:
O-xyz coordinate system and or-xryrzrMutual alignment between coordinate system can use space conversion matrix MlrIt is expressed as form:Wherein Mlr=[R | T], and
Respectively indicate O-xyz and or-xryrzrSpin matrix and its being translated towards between world coordinate system origin between two coordinate systems
Amount；The spatial point P being located in O-xyz coordinate system known to formula (1), (2), (3), there are pairs between two camera plane points
Should be related to can be expressed asSolution can obtain: P point coordinate (x, y, z)
Respectively x=zXl/fl, y=zYl/fl、It can be in the hope of by P coordinate
Out special sign and mobile target spacing from.
C. when special sign includes circular mark, the present embodiment provides a kind of based on the special sign knowledge comprising circular mark
Other method, using a kind of parameter Estimation mode of voting formula, using the line-of image space and parameter space duality, circle
Shape label detection is transformed into parameter space from image space to be carried out.Circular generality equation is expressed as (x-a)2+(y-b)2=
r2, in parameter space there are three parameter be respectively central coordinate of circle a, b and radius r.The information of known special sign circular mark,
That is radius r is known quantity, it is only necessary to which circle in parameter space can be obtained in the coordinate for calculating the center of circle.Specific algorithm process is such as
Under:
A) edge detection is carried out to the image of mobile target acquisition, obtains boundary point, i.e. foreground point；
If b) there is circle in image, then its profile must belong to foreground point；
C) pixel in image is transformed into parameter space coordinate system by image space coordinate system.In image space coordinate
The general formula of circle in system are as follows: (x-a)2+(y-b)2=r2, a little corresponding on circular boundary in image space coordinate system
It is a circle into parameter space coordinate system；
D) there are many points in image space coordinate system on a circular boundary, corresponding to will in parameter space coordinate system
There are many circles.Since these points are all in the same circle in original image, then central coordinate of circle must also meet ginseng after conversion
All circular equations under the coordinate system of number space.A point can all be intersected at by intuitively showing as the corresponding circle of this many point,
So this intersection point may be the center of circle (a, b)；
E) number for counting local point of intersection circle, takes each local maximum, so that it may obtain corresponding in original image
Circular central coordinate of circle (a, b)；
After determining the center of circle, due to radius it is known that if detecting circle at known radius r, that is, it may recognize that comprising circle
The special sign type of label.In different situations, the circular mark in mobile target acquisition image may shift
Become ellipse, because round have the characteristics that long axis is constant, even if circular mark offset becomes ellipse, circular long axial length
Degree still remain unchanged, ensure that the Pixel Dimensions of Circle in Digital Images shape long axis will not shift, thus using circular long axis as
Object of reference helps to simplify calculating process in ranging, improves range accuracy.Special sign and mobile target spacing are from can at this time
To be expressed asX is the physical length of round long axis in special sign, and y is video camera
Focal length, z are the Pixel Dimensions of the Circle in Digital Images shape long axis of acquisition.
7. 307 determine moving target positions, according to special sign geographical location information, the direction of video camera and angle and
Distance between video camera and special sign obtains the position data of mobile target.
Claims (12)
1. the mine positioning system based on mobile image identification, it is characterised in that: system includes locating module, wireless network, has
Gauze network, monitoring server and monitor terminal；The monitoring server and monitor terminal are located on well, are coal mine safety management people
Member provides the monitoring service of underground moving target；The monitoring server storing data includes underground geography information, underground moving
Target identity information and moving target position information, are responsible for monitor terminal offer underground geography information and moving target position is aobvious
Show service；The mobile target includes personnel in the pit and vehicle；The locating module is carried or is installed by moving target, and system will
Locating module position is as moving target position；The locating module includes at least one video camera, information process unit, information
Storage unit, wireless communication unit；The information memory cell includes mine geospatial information for storing information, mobile mesh
Mark information and special sign information；The special sign includes underground equipment, label and self-built object of reference with fixed position；
The special sign information includes the image information, number, shape feature, geographical location information of special sign；The specific mark
The image information of will includes video camera in the shooting side of different directions, the image of the special sign of angle shot and described image
To, angle information；The underground equipment that there is fixed position include fire-fighting equipment, power supply unit, base station, fixation electromechanics set
It is standby；The self-built object of reference includes bar code, two dimensional code or the direction board of self-setting；
The system position fixing process includes:
Locating module acquires borehole image, and carries out data processing to image and obtain moving target position；
A. moving target position is sent to monitoring server by wireless network and cable network by locating module；
B. monitoring server stores moving target position；
C. monitoring server provides the data service of geography information and moving target position for monitor terminal；
The information process unit of the locating module includes: to the specific steps of Moving objects location
A. the special sign in image is identified；
B. by the shooting direction of special sign image, angle information, direction, the angle of video camera are obtained；
C. the ranging model of video camera and special sign is established by special sign information；
D. the distance between special sign and mobile target are calculated by ranging model；
E. the location information of mobile target is obtained according to special sign geographical location information.
2. mine positioning system as described in claim 1, it is characterised in that: locating module also includes video storage unit, is used
The collected video data of moving-target is moved down in storage well.
3. mine positioning system as described in claim 1, it is characterised in that: locating module also includes that location information display is single
Member realizes underground geography information and mobile target under the support of information memory cell, information process unit and wireless communication unit
Location information is shown.
4. mine positioning system as claimed in claim 3, it is characterised in that: the positional information display unit of the locating module
Display content includes the text, image, voice, video information of moving target position.
5. mine positioning system as described in claim 1, it is characterised in that: the characteristic information of the special sign includes feature
The shape of mark, size, color, texture.
6. mine positioning system as described in claim 1, it is characterised in that: the special sign is horizontal in wireless camera
Under state in the pickup area of camera lens, it is highly not higher than given threshold Hmax, and it is not less than given threshold Hmin, HmaxAnd HminPass through survey
Amount setting or artificial settings obtain.
7. mine positioning system as described in claim 1, it is characterised in that: the step of identifying the special sign in image is wrapped
It includes, shows the special sign type in other image, continue the uniqueness characteristic for identifying special sign；The uniqueness characteristic includes
Number on special sign.
8. mine positioning system as described in claim 1, it is characterised in that: the method for special sign in identification image includes
Feature matching identification, fuzzy diagnosis, machine learning identification and circular elements identification.
9. mine positioning system as described in claim 1, it is characterised in that: the survey of the ranging model of video camera and special sign
It include the size, shape of special sign in image away from parameter, actual size, the shape of the special sign stored in storage unit,
The focal length data of video camera.
10. mine positioning system as described in claim 1, it is characterised in that: the special sign information further includes specific mark
The circular mark of will, the circular mark include circular object and pattern on special sign；Mobile target and special sign
The ranging parameters of ranging model include the long axis of the circular mark of special sign in video camera acquired image, information storage
The actual diameter of the special sign stored in server, the focal length data of video camera.
11. mine positioning system as claimed in claim 10, it is characterised in that: the long axis of special sign circular mark in image
Determination method includes that the circular mark on special sign is identified in video camera acquired image, carries out retouching side to it, is appointed
Borderline two o'clock line is taken, the maximum line segment of length is the long axis of circular mark in line formed section.
12. mine positioning system as described in claim 1, it is characterised in that: ranging model includes monocular ranging model, binocular
Ranging model and more range estimations are away from model.
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