CN111314671B - Underground pipe gallery personnel positioning method - Google Patents
Underground pipe gallery personnel positioning method Download PDFInfo
- Publication number
- CN111314671B CN111314671B CN202010193845.2A CN202010193845A CN111314671B CN 111314671 B CN111314671 B CN 111314671B CN 202010193845 A CN202010193845 A CN 202010193845A CN 111314671 B CN111314671 B CN 111314671B
- Authority
- CN
- China
- Prior art keywords
- data
- personnel
- pipe gallery
- processor
- positioning
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/40—Extraction of image or video features
- G06V10/44—Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components
-
- 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
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/16—Human faces, e.g. facial parts, sketches or expressions
- G06V40/161—Detection; Localisation; Normalisation
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B19/00—Alarms responsive to two or more different undesired or abnormal conditions, e.g. burglary and fire, abnormal temperature and abnormal rate of flow
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Computer Vision & Pattern Recognition (AREA)
- General Health & Medical Sciences (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Human Computer Interaction (AREA)
- Signal Processing (AREA)
- Image Processing (AREA)
- Alarm Systems (AREA)
- Emergency Alarm Devices (AREA)
Abstract
The invention discloses a method for positioning personnel in an underground pipe gallery, which utilizes the characteristic that a fisheye lens has a wider visual angle, and is matched with a selecting and rotating mechanism to drive the fisheye lens and camera groups arranged at intervals, so that the method has few shooting dead angles, can clearly shoot all corners in the underground pipe gallery, and further improves the integral positioning accuracy. In addition, the invention uses face identification to replace each person for positioning, and also uses body contour to identify the person, so as to improve the accuracy of the whole identification. In addition, in order to avoid the situation that the illegal alarm continuously operates to interfere field personnel due to the fact that the processor identifies the mistake, the personnel can also verify through the identity verification unit, and the illegal alarm stops operating after the identity verification is passed.
Description
Technical Field
The invention relates to the technical field of comprehensive pipe galleries, in particular to a method for positioning personnel of an underground pipe gallery.
Background
The underground pipe gallery is a major project for improving the overall bearing capacity of a city and supplying civil demands, and is mainly characterized in that a space is built under a road, and pipelines such as drinking water pipes, cables, communication cables, gas pipes, sewage pipes and the like are managed and arranged in a centralized manner, so that the maintenance and arrangement of various pipelines become more organized and more convenient, and the underground pipe gallery is greatly helpful for improving the overall image of the city.
Because the underground pipe gallery needs to be arranged in cooperation with the ground building, the underground pipe gallery has the characteristics of being long and rugged, and therefore, when the personnel work in the underground pipe gallery, the problem that how to effectively master the positions of the personnel is annoying is caused by the manager. Moreover, as the underground pipe gallery manages the important civil resources, if someone invades to destroy the resources or maliciously detoxicate the resources, the life and property of the people are seriously lost. Therefore, the inventor of the invention thinks that a set of method can effectively manage personnel in the underground pipe gallery, and can avoid the problem that people maliciously invade to solve the underground pipe gallery possibly.
Disclosure of Invention
To solve the above problems, the inventor of the present invention provides a solution, which relates to a method for positioning personnel in an underground pipe gallery, comprising the following steps:
s1: the underground pipe gallery is internally provided with a plurality of automatic tracking cameras, a plurality of camera groups are arranged in the underground pipe gallery at intervals respectively, each camera group comprises a rotating mechanism and a fisheye lens arranged on the rotating mechanism respectively, each rotating mechanism drives each fisheye lens to rotate for 360 degrees to shoot to obtain rotation angle data and shooting data, and then the rotation angle data and the shooting data are transmitted to the processor;
s2: the processor performs personnel analysis on the camera data, and when human face data or human body contour data is analyzed, personnel data corresponding to the human body contour data or the human face data is taken out from a personnel database, and then the step S3 is performed; when the human face data or the human body contour data is analyzed and the human data corresponding to the human body contour data or the human face data cannot be taken out from the human database, the step S4 is performed;
s3: the rotating mechanism drives the fisheye lens to rotate so as to enable the center of the fisheye lens to be aligned with the personnel, the processor analyzes the distance between the fisheye lens and the personnel according to the camera shooting data, then analyzes personnel positioning data according to each rotating angle data, the underground pipe gallery configuration diagram and the personnel data, and the processor arranges the personnel positioning data according to a plurality of personnel positioning data of the same person to obtain personnel movement track data;
s4: the processor controls the violation alarm to actuate and controls each automatic tracking camera to perform tracking shooting according to the human body profile data or the human face data so as to obtain tracking shooting data; if the personnel pass through the identity verification unit arranged in the underground pipe gallery after the identity verification, the processor controls the violation alarm to stop actuating.
Further, in step S2, the processor converts the image data into first gray-scale image data, analyzes face gray-scale image data according to the first gray-scale image data, performs BLOB analysis on the face gray-scale image data, then performs horizontal projection analysis and vertical projection analysis in sequence, and finally obtains face feature analysis data, and compares the face feature analysis data with the person data.
Further, in step S2, the processor converts the image pickup data into an RGB color space according to the following formula,
wherein H is used as the main basis for detecting human faces;
s represents the saturation in the color, with a value between 0 and 100%;
v represents the lightness of the color, and the value is between 0 and 100 percent;
r, G, B representing the parameter values of red, green and blue of the camera data;
setting the point which is in accordance with the following formula in the HSV color space as 1, and setting the point which is not in accordance with the formula as 0, so as to separate the skin color part from the background color, and then comparing the facial feature analysis data with the data of each person:
S≥10，V≥25，S≤-H-0.1V+110，H≤-0.4V+75，
further, in step S2, the processor analyzes body contour analysis data according to the first gray-scale image data, performs fourier descriptor analysis according to the body contour analysis data to obtain body contour feature analysis data, and compares the face feature analysis data with the individual data.
Further, the person data includes movement prohibited area data, and when the processor determines that the person positioning data falls within the movement prohibited area data, step S4 is performed.
Further, in step S2, when the processor analyzes the face data or the body contour data, the processor analyzes the clothing color of the person to obtain color data; in step S4, the processor controls each auto-tracking camera to perform tracking shooting according to the human body profile data, the human face data, or the color data, so as to obtain the tracking shooting data.
Furthermore, a plurality of electronic indicating signals are arranged in the underground pipe gallery at intervals, and when the personnel send the lost message through the communication unit, the processor controls the electronic route indicating signals to actuate according to the lost message so as to indicate the personnel to move to the destination.
Furthermore, the underground pipe gallery is internally provided with a plurality of earthquake alarms, the processor is electrically connected with an earthquake bureau, when the earthquake bureau sends earthquake information, the processor controls the earthquake alarms to actuate, divides a first escape route data and a second escape route data according to the underground pipe gallery configuration diagram, and controls corresponding electronic route indication signals to actuate according to the first escape route data and the second escape route data so as to indicate personnel in the underground pipe gallery to move to a safety zone along the first escape route data or the second escape route data respectively.
Furthermore, a plurality of waterproof gates are arranged in the underground pipe gallery at intervals, a plurality of pipe gallery spaces are formed between every two adjacent waterproof gates, a liquid level detector and drainage equipment are respectively arranged in each pipe gallery space, when the liquid level detector detects that the height of the water level exceeds a water level default value, a flooding signal is sent to the processor, the processor judges a flooding position according to the flooding signal, and then the adjacent drainage equipment is started to operate according to the flooding position; when the height of the water level measured by the liquid level detector still exceeds the default value of the water level after a preset time, the processor starts an adjacent flooding alarm to actuate according to the flooding position, when personnel positioning data are not analyzed at the flooding position, the processor controls a waterproof gate adjacent to the flooding position to actuate to form a door closing state, third escape route data are planned according to the flooding position and the underground pipe gallery configuration diagram, and then electronic route indication signals are controlled to actuate according to the third escape route data so as to indicate personnel in the underground pipe gallery to move to a safety zone.
Furthermore, a pipe gallery inspection robot with a camera device, a positioning unit and a communication device is arranged in the underground pipe gallery, the positioning unit sends positioning data to the processor of the position of the pipe gallery inspection robot, the pipe gallery inspection robot inspects all pipe bodies in the underground pipe gallery in sequence according to the underground pipe gallery configuration diagram, the camera device is used for shooting the appearance of all the pipe bodies, and pipe body shooting data are obtained and transmitted to the processor; the processor converts the tube body shooting data into second gray scale image data, judges whether the tube body is damaged or not after BLOB analysis is carried out according to the second gray scale image data, immediately controls the tube body damage alarm to actuate when the processor judges that the tube body is damaged, and sends the positioning data to a worker.
Further, the person positioning data comprises the human body profile; when the personnel positioning data are located at the same position within the default time, the processor analyzes the human body contour data in each personnel positioning data within the preset time, and if the human body contour data are the same, the processor starts a safety alarm and transmits the personnel positioning data to rescuers.
Compared with the prior art, the invention has the beneficial effects that:
(1) the dead angle of shooting is few:
because the fisheye angle of making a video recording is wide, compare with general camera lens and can shoot scenery in the wider scope underground pipe gallery, the deuterogamy each corner in rotary mechanism can effectively shoot underground pipe gallery, and at least looks interval sets up two camera groups in the same space of deuterogamy, makes the data of making a video recording can go deep into each corner in the underground pipe gallery to prevent the background art the problem at shooting dead angle, and then promotes holistic positioning effect and the degree of accuracy.
(2) And (3) analysis errors are reduced:
the invention not only recognizes the face, but also recognizes the body contour, and the recognition error rate can be effectively reduced by the two recognition modes.
(3) Identifying a remedy for the error:
in order to avoid the phenomenon that the illegal alarm is continuously operated to disturb field personnel due to the identification error of the processor, the invention also utilizes the identity verification unit to carry out verification to be used as a remedial measure for the identification error.
Drawings
FIG. 1 is a schematic flow chart of the present invention;
FIG. 2 is a schematic view of the linkage of the components of the present invention;
the figures in the drawings represent:
1 Camera group
11 rotating mechanism
12 fisheye lens
1A automatic tracking camera
2 processor
3 identity verification unit
4A violation alarm
4B earthquake alarm
4C flooding alarm
4D pipe body damage alarm
4E safety alarm
5 electronic indicating sign
6 communication unit
7A drainage equipment
7B waterproof gate
7C liquid level detector
8 piping lane inspection robot
Detailed Description
The above and further features and advantages of the present invention are described in more detail below with reference to the accompanying drawings.
Referring to fig. 1, the present invention relates to a method for positioning personnel in an underground pipe gallery, which is characterized by the following steps:
s1: the underground pipe gallery is internally provided with a plurality of automatic tracking cameras 1A and a plurality of camera groups 1 which are arranged in the underground pipe gallery at intervals respectively, each camera group 1 comprises a rotating mechanism 11 and a fisheye lens 12 arranged on the rotating mechanism respectively, each rotating mechanism 11 drives each fisheye lens 12 to rotate for 360 degrees to shoot so as to obtain rotation angle data and shooting data, and then the rotation angle data and the shooting data are transmitted to the processor 2.
In the above, the underground pipe gallery is preferably divided into a plurality of spaces by means of length, partition walls, water gates, etc., and each space is preferably provided with at least two automatic tracking cameras 1A and two camera groups 1 for providing photographs in different directions. In addition, the rotating mechanism 11 preferably uses a direction as a base line of a rotation angle, and uses an included angle between the direction after the rotating mechanism 12 rotates and the base line of the rotation angle as the data of the rotation angle.
S2: the processor 2 analyzes personnel according to the camera data, when a person enters the underground pipe gallery, the processor 2 analyzes face data or human body contour data according to the camera data, then takes out personnel data corresponding to the human body contour data or the face data from a personnel database, and then performs step S3; in order to improve the analysis accuracy, the present invention may be implemented such that the step S3 is performed after the person data corresponds to the human body contour data and the human face data at the same time. When the human face data or the human body contour data is analyzed, and the human data corresponding to the human body contour data or the human body contour data cannot be obtained from the human database, it may indicate that an outsider enters, or the human face data or the human body contour data cannot be paired due to a camera angle problem, and then step S4 is performed.
S3: the rotating mechanism 11 drives the fisheye lens 12 to rotate, so that the center of the fisheye lens 12 is aligned with the personnel, the processor 2 can analyze the distance between the camera set 1 and the personnel, the processor 2 analyzes the distance between the fisheye lens 12 and the personnel according to the shooting data, the position of the personnel can be clearly known according to the rotation angle data and the underground pipe gallery configuration diagram, personnel positioning data are analyzed by matching with the personnel data, and information such as the name, the work unit, the facial features, the body contour features and the position of the personnel can be clearly known according to the personnel positioning data. Then, the processor 2 sorts the personnel positioning data according to a plurality of same personnel to obtain personnel movement track data, and the personnel movement track data can make the relevant management personnel know the personnel dynamics, the working condition and the like clearly.
S4: the processor 2 controls the violation alarm to actuate and controls each automatic tracking camera to track and shoot according to the human body profile data or the human face data so as to obtain tracking and shooting data. If the personnel are not suspicious persons, the personnel can be identified through the identity identification unit 3 arranged in the underground pipe gallery, and the processor 2 controls the violation alarm 4A to stop operating after the personnel are identified. The identity verification unit 3 may be a pupil detector or a communication device connected to a control center, so as to perform identity verification on the personnel, and the identity verification unit 3 is the identity verification unit 3 referred to in this specification, regardless of performing identity verification in a manual verification manner or an intelligent verification manner.
According to the above positioning steps, the present invention has the following effects:
1. the dead angle of shooting is few:
because the 12 angles of fisheye making a video recording are wide, compare with general camera lens and can shoot scenery in the wider scope underground pipe gallery, the deuterogamy rotary mechanism 11's drive can effectively shoot each corner in the underground pipe gallery, and at least looks interval sets up two camera groups 1 in the same space of deuterogamy, makes the data of making a video recording can go deep into each corner in the underground pipe gallery to prevent the background art the problem at shooting dead angle.
2. And (3) analysis errors are reduced:
the invention not only recognizes the face, but also recognizes the body contour, and the recognition error rate can be effectively reduced by the two recognition modes.
3. Identifying a remedy for the error:
in order to avoid the phenomenon that the processor 2 is mistakenly identified, the violation alarm 4A is continuously operated to disturb field personnel, the invention also utilizes the identity verification unit 4A to carry out verification to be used as a remedial measure for the identification error.
In order to improve the recognition rate of face recognition and body contour recognition, the invention further provides a method, firstly, the method of face recognition is introduced: in step S2, the processor 2 converts the image data from three primary colors of RGB into gray-scale colors to obtain first gray-scale image data, so that the processor 2 can accurately distinguish a human face or a body contour from the image data, analyzes face gray-scale image data according to the first gray-scale image data, performs BLOB analysis on the face gray-scale image data, performs horizontal projection analysis and vertical projection analysis in sequence, extracts 64 feature values from the analysis result, obtains face feature analysis data, and compares the face feature analysis data with the individual person data.
In step S2, the processor 2 converts the image data into HSV color space from RGB color space according to the following formula,
wherein H is used as the main basis for detecting human faces;
s represents the saturation in the color, with a value between 0 and 100%;
v represents the lightness of the color, and the value is between 0 and 100 percent;
r, G, B representing the parameter values of red, green and blue of the camera data;
setting a point in the HSV color space that satisfies the following formula to 1 and a point that does not satisfy the formula to 0 to distinguish a skin color part from a background color:
S≥10，V≥25，S≤-H-0.1V+110，H≤-0.4V+75，
therefore, the part of the camera shooting data belonging to the human face is left, the part of the camera shooting data belonging to the background is changed into blank, and then the human face recognition is carried out.
Next, a method for improving the body contour recognition is introduced: the processor 2 analyzes body contour analysis data according to the first gray-scale image data, performs fourier descriptor analysis according to the body contour analysis data, extracts about 10 feature values from an analysis result to obtain body contour feature analysis data, and compares the face feature analysis data with the person data.
In addition, in the process of executing step S3, the processor 2 may find that some areas in the underground pipe gallery where entry is prohibited are invaded by people, or people enter an area that is not their own work post, and in this case, in order to prevent any worker-safety accident or intentional destruction, the invention further provides an alarm function to prevent possible accidents in advance, and the implementation manner is as follows: the person data includes movement prohibited area data, and when the processor 2 determines that the person positioning data falls within the movement prohibited area data, step S4 is performed. Therefore, not only can various possible events be prevented from occurring in advance, but also the identity verification unit 3 can be used for identity verification, so as to reduce the occurrence of misjudgment.
Next, referring to step S4, in order to prevent the automatic tracking camera 1A from being too late to track the person due to the long time required for face recognition or body contour recognition, the inventor of the present invention believes that if the current clothing color of the person is used as the basis for tracking and determining the emergency, the above-mentioned problems can be greatly improved, and therefore, the invention can be further implemented as: in step S2, when the processor 2 analyzes the face data or the body contour data, it also analyzes the dress color of the person to obtain color data, and incorporates the color data into the person positioning data and the person moving trajectory data; in step S4, the processor 2 controls each automatic tracking camera 1A to perform tracking shooting based on one of the human body profile data, the human face data, or the color data to obtain the tracking shooting data, in this embodiment, taking the color data as a comparison basis reduces the time required for comparison, so that the automatic tracking camera 1A can quickly track suspicious people.
Furthermore, the present invention can be used with various mechanisms to achieve different purposes, and can more effectively face various conditions that may occur in underground pipe galleries, and various embodiments are described below:
(1) firstly, because the underground pipe gallery is large in area, people are likely to get lost when working in the underground pipe gallery, and in order to effectively avoid the problems of people getting lost, the invention utilizes the positioning function and cooperates with the indication sign to guide the internal people to leave. To this end, the invention may further be embodied as: the underground pipe gallery is provided with a plurality of electronic indicating signals 5 at intervals, when the personnel send out a lost message through the communication unit 6, the lost message preferably contains destination information, and the processor 2 controls the electronic route indicating signals 5 to act according to the lost message and the personnel positioning data, for example, controls the electronic route indicating signals 5 between the personnel positioning position and the destination to act so as to indicate the personnel to move to the destination. If the communication unit 6 is a communication device installed in the underground pipe gallery, the processor 2 controls the operation of the electronic route indication signal 5 according to the position and destination of the communication unit
(2) The part is located in the area of the earthquake zone, in order to avoid the situation that the underground pipe gallery is trapped and cannot escape due to the earthquake, the invention can also utilize the electronic indication signal 5 of the previous embodiment to only disperse the personnel in the underground pipe gallery, and the implementation mode is as follows: the underground pipe gallery is internally provided with a plurality of earthquake alarms 4B, the processor 2 is connected with an earthquake bureau through electrical information, when the earthquake bureau sends earthquake information, the processor 2 controls the earthquake alarms 4B to actuate, divides a first escape route data and a second escape route data according to the underground pipe gallery configuration diagram, and controls corresponding electronic route indication signs 5 to actuate according to the first escape route data and the second escape route data so as to indicate personnel in the underground pipe gallery to move to a safety zone along the first escape route data or the second escape route data respectively.
In this embodiment, the processor 2 preferably knows the positions and the numbers of the personnel in the underground pipe gallery according to the underground pipe gallery configuration diagram and the positioning data of the personnel, and then plans a reasonable escape route according to the positions and the numbers of the personnel so as to quickly guide the personnel to escape.
(3) The invention not only considers the escape mode in earthquake, but also further considers the escape mode in flooding, once the underground pipe gallery is flooded, the drainage device 7A is firstly started to drain water, when the drainage device 7A is found to be incapable of draining water effectively, the waterproof gate 7B is started, and people are notified to evacuate after the flooded area is isolated. The implementation mode is as follows: the underground pipe gallery is internally provided with a plurality of waterproof gates 7B at intervals, and the underground pipe gallery is partitioned into a plurality of pipe gallery spaces between every two adjacent waterproof gates 7B, so that a flooded area can be effectively isolated after the waterproof gates are started, and the underground pipe gallery can prevent the flooded disaster from spreading and delay time to facilitate escape of internal personnel. A liquid level detector 7C and a drainage device 7A are respectively arranged in each pipe gallery space, when the liquid level detector 7C detects that the height of the water level exceeds a default value of the water level, a flooding signal is sent to the processor 2, the processor 2 carries out positioning according to the flooding signal to judge a flooding position, and then the adjacent drainage device 7A is started to act as a preliminary flooding countermeasure according to the flooding position.
When the height of the water level measured by the liquid level detector 7C still exceeds the default value of the water level after a preset time, it indicates that the flooding condition is not quite variable, at this time, the processor 2 starts the adjacent flooding alarm 4C to actuate according to the flooding position, and after the personnel positioning data is not analyzed at the flooding position, the processor 2 controls the waterproof gate 7B adjacent to the flooding position to actuate to form a door closing state, so that personnel can be prevented from being trapped in the waterproof gate 7B. And then, the processor 2 plans a third escape route data according to the flooding position and the underground pipe gallery configuration diagram, and controls each electronic route indication signal 5 to operate according to the third escape route data so as to indicate personnel in the underground pipe gallery to move to a safety zone.
In this embodiment, the escape route planned by the processor 2 is not limited to the third escape route, and a fourth escape route may be provided, so that a plurality of escape routes are utilized to effectively assist people in escaping. And the third escape route and the fourth escape route are preferably planned according to the underground pipe gallery configuration diagram and the positioning information of each person to know the positions and the number of the people at each position in the underground pipe gallery, and then the reasonable escape route is planned according to the positions and the number of the people so as to quickly guide the people to escape.
(4) The invention further considers the conditions of whether each pipeline in the underground pipe gallery is damaged or not, and the like, and finds out the pipeline with the problem for the first time and remedies in advance, and the invention can be implemented as follows: dispose the pipe gallery inspection robot 8 that has camera equipment, positioning unit and communications facilities in the utility tunnel, pipe gallery inspection robot 8 basis the utility tunnel configuration picture carries out the inspection of pipeline, the in-process positioning unit will 8 positions of pipe gallery inspection robot send the location data extremely treater 2, so that treater 2 controls at present 8 positions of pipe gallery inspection robot. The pipe gallery inspection robot 8 inspects all pipe bodies in the underground pipe gallery according to the underground pipe gallery configuration diagram in sequence, and shoots all pipe body appearances by using the camera equipment to obtain pipe body shooting data and transmit the pipe body shooting data to the processor 2. The processor 2 converts the tube body shooting data into second gray scale image data, and can effectively judge whether the tube body is damaged or not after BLOB analysis is carried out according to the second gray scale image data, when the processor 2 judges that the tube body is damaged, the tube body damage alarm 4D is immediately controlled to actuate, and the positioning data are sent to a worker.
Therefore, the invention utilizes the pipe gallery inspection robot to effectively save labor, achieve the function of periodically inspecting each pipe body, and provide the function of prevention in advance so as to avoid various problems caused by pipe body damage. The pipe gallery patrol robot not only has the functions, but also can be provided with the communication equipment so as to facilitate the communication between personnel and a control center, or can be used as a guide to assist the personnel to reach the destination when the personnel get lost. The identity verification unit 3 can be further combined to enable the pipe gallery patrol robot 8 to have the identity verification function.
(5) Because the work in the underground pipe gallery has certain risks, in order to enable personnel to find related rescue measures to be taken in the first time when an accident occurs, the invention can be further implemented as follows: the personnel positioning data comprises the human body outline data; when the personnel positioning data are located at the same position within the default time, the processor 2 analyzes the human body contour data in each personnel positioning data within the preset time, and if the human body contour data are the same, the processor 2 starts the safety alarm 4E and transmits the personnel positioning data to the rescue personnel.
In the embodiment, when people fall to the ground by accident, the people always stay for several minutes, so that the human body contour remains unchanged, and therefore, when the processor finds that the human body contours presented by the human body contour data are the same, the situation that the people have accident and need emergency rescue can be judged, so that the working safety of the people in the underground pipe gallery is ensured.
The foregoing is merely a preferred embodiment of the invention, which is intended to be illustrative and not limiting. It will be understood by those skilled in the art that various changes, modifications and equivalents may be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. A method for locating personnel in underground pipe gallery is characterized by the following steps,
s1: the system comprises a pipe rack, a plurality of automatic tracking cameras, a plurality of camera groups and a processor, wherein the automatic tracking cameras are arranged in the pipe rack, the camera groups are arranged in the pipe rack at intervals, each camera group comprises a rotating mechanism and a fisheye lens arranged on the rotating mechanism, each rotating mechanism drives each fisheye lens to rotate 360 degrees to shoot so as to obtain rotation angle data and shooting data, and then the rotation angle data and the shooting data are transmitted to the processor;
s2: the processor performs personnel analysis on the camera data, and when human face data or human body contour data is analyzed, personnel data corresponding to the human body contour data or the human face data is taken out from a personnel database, and then the step S3 is performed; when the human face data or the human body contour data is analyzed and the human data corresponding to the human body contour data or the human face data cannot be taken out from the human database, the step S4 is performed;
s3: the rotating mechanism drives the fisheye lens to rotate so as to enable the center of the fisheye lens to be aligned with the personnel, the processor analyzes the distance between the fisheye lens and the personnel according to the camera shooting data, then analyzes personnel positioning data according to each rotating angle data, the pipe gallery configuration diagram and the personnel data, and the processor sorts the personnel positioning data according to a plurality of same personnel positioning data to obtain personnel movement track data;
s4: the processor controls the violation alarm to actuate and controls each automatic tracking camera to perform tracking shooting according to the human body contour data or the human face data so as to obtain tracking shooting data; if the personnel pass through the authentication back through the authentication unit that sets up in the piping lane, then the treater control violation alarm stops moving.
2. The method for positioning personnel in an underground pipe gallery according to claim 1, wherein in step S2, the processor converts the camera data into first gray-scale image data, analyzes face gray-scale image data according to the first gray-scale image data, performs BLOB analysis on the face gray-scale image data, performs horizontal projection analysis and vertical projection analysis in sequence, obtains face feature analysis data, and compares the face feature analysis data with the personnel data.
3. The method of locating utility staff as claimed in claim 2, wherein in step S2, said processor converts the image data from RGB color space to HSV color space according to the following formula,
wherein H is used as the main basis for detecting human faces;
s represents the saturation in the color, with a value between 0 and 100%;
v represents the lightness of the color, and the value is between 0 and 100 percent;
r, G, B represents the parameter values of red, green and blue of the image pickup data;
setting the point which is in accordance with the following formula in the HSV color space as 1, and setting the point which is not in accordance with the formula as 0, so as to separate the skin color part from the background color, and then comparing the facial feature analysis data with the data of each person:
S≥10,V≥25,S≤-H-0.1V+110,H≤-0.4V+75,
4. the method as claimed in claim 2 or 3, wherein in step S2, the processor analyzes body contour analysis data according to the first gray-scale image data, performs fourier descriptor analysis according to the body contour analysis data to obtain body contour feature analysis data, and compares the body contour feature analysis data with the individual person data.
5. The method for locating personnel in underground pipe gallery according to claim 4, wherein in step S2, the processor analyzes the dress color of personnel to obtain color data when analyzing the human face data or human body contour data; in step S4, the processor controls each automatic tracking camera to perform tracking shooting according to the human body contour data, the human face data, or the color data, so as to obtain the tracking shooting data.
6. The method as claimed in claim 5, wherein a plurality of electronic indication signals are provided at intervals in the pipe rack, and when the personnel send out a lost message through the communication unit, the processor controls the electronic route indication signals to be activated according to the lost message so as to indicate the personnel to move to the destination.
7. The method for locating personnel in an underground pipe gallery according to claim 6, wherein a plurality of earthquake alarms are arranged in the pipe gallery, the processor is electrically connected with an earthquake bureau, when the earthquake bureau sends earthquake information, the processor controls the earthquake alarms to be actuated, divides a first escape route data and a second escape route data according to the pipe gallery configuration diagram, and controls corresponding electronic route indication signals to be actuated according to the first escape route data and the second escape route data so as to indicate personnel in the pipe gallery to move to a safety zone along the first escape route data or the second escape route data respectively.
8. The method according to claim 7, wherein a plurality of watertight gates are provided at intervals in the pipe gallery, a plurality of pipe gallery spaces are partitioned from the pipe gallery between adjacent two watertight gates, a liquid level detector and a drainage device are provided in each pipe gallery space, the liquid level detector sends a flooding signal to the processor when the liquid level height detected by the liquid level detector exceeds a water level default value, the processor determines a flooding position according to the flooding signal, and then activates the adjacent drainage device according to the flooding position; when the height of the water level measured by the liquid level detector still exceeds the default value of the water level after a preset time, the processor starts an adjacent flooding alarm to actuate according to the flooding position, when personnel positioning data are not analyzed at the flooding position, the processor controls a waterproof gate adjacent to the flooding position to actuate to form a door closing state, third escape route data are planned according to the flooding position and the pipe gallery configuration diagram, and then electronic route indication signals are controlled to actuate according to the third escape route data so as to indicate personnel in the pipe gallery to move to a safety zone.
9. The method according to claim 8, wherein a pipe gallery inspection robot having a camera device, a positioning unit and a communication device is arranged in the pipe gallery, the positioning unit sends positioning data to the processor about the position of the pipe gallery inspection robot, the pipe gallery inspection robot inspects the pipe bodies in the pipe gallery in sequence according to a pipe gallery configuration diagram, the camera device is used for shooting the appearance of each pipe body, and pipe body shooting data is obtained and transmitted to the processor; the processor converts the tube body shooting data into second gray scale image data, judges whether the tube body is damaged or not after BLOB analysis is carried out according to the second gray scale image data, immediately controls the tube body damage alarm to actuate when the processor judges that the tube body is damaged, and sends the positioning data to a worker.
10. The method of underground pipe gallery personnel positioning of claim 9, wherein the personnel positioning data includes the body contour data; when the personnel positioning data are located at the same position within the default time, the processor analyzes the human body contour data in each personnel positioning data within the preset time, and if the human body contour data are the same, the processor starts a safety alarm and transmits the personnel positioning data to rescuers.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010193845.2A CN111314671B (en) | 2020-03-19 | 2020-03-19 | Underground pipe gallery personnel positioning method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010193845.2A CN111314671B (en) | 2020-03-19 | 2020-03-19 | Underground pipe gallery personnel positioning method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111314671A CN111314671A (en) | 2020-06-19 |
| CN111314671B true CN111314671B (en) | 2021-11-02 |
Family
ID=71147988
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010193845.2A Active CN111314671B (en) | 2020-03-19 | 2020-03-19 | Underground pipe gallery personnel positioning method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111314671B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112228697A (en) * | 2020-11-04 | 2021-01-15 | 杭州申昊科技股份有限公司 | Crawler-type pipeline robot |
| CN112228696A (en) * | 2020-11-04 | 2021-01-15 | 杭州申昊科技股份有限公司 | Air bag type pipeline robot |
| CN114723161A (en) * | 2022-04-22 | 2022-07-08 | 中煤科工集团重庆智慧城市科技研究院有限公司 | Map route planning management system for tunnel pipe gallery |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002228414A (en) * | 2001-01-31 | 2002-08-14 | Hitachi Plant Eng & Constr Co Ltd | Method and apparatus for measuring three-dimensional position |
| CN103295354A (en) * | 2013-06-13 | 2013-09-11 | 天津云视科技发展有限公司 | Remote monitoring device for automobile |
| CN106200526A (en) * | 2016-07-27 | 2016-12-07 | 浙江警安科技有限公司 | Pipe gallery online monitoring system and monitoring method thereof |
| CN107341940A (en) * | 2017-06-30 | 2017-11-10 | 深圳前海弘稼科技有限公司 | A kind of safety monitoring system and monitoring method |
| CN107633632A (en) * | 2017-11-08 | 2018-01-26 | 长沙变化率信息技术有限公司 | The anti-intrusion monitoring system and method for pipe gallery |
| CN107942959A (en) * | 2017-10-17 | 2018-04-20 | 国网山东省电力公司青岛供电公司 | Pipe gallery management system |
| CN108924742A (en) * | 2018-06-29 | 2018-11-30 | 杭州叙简科技股份有限公司 | A kind of collective positioning method in piping lane channel based on AP equipment and camera |
| CN109711265A (en) * | 2018-11-30 | 2019-05-03 | 武汉钢铁工程技术集团通信有限责任公司 | Piping lane personnel positioning method and system based on video monitoring |
| CN109754562A (en) * | 2018-12-11 | 2019-05-14 | 中冶(北京)交通科技发展有限公司 | A kind of municipal administration synthesis pipe gallery alarm system |
-
2020
- 2020-03-19 CN CN202010193845.2A patent/CN111314671B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002228414A (en) * | 2001-01-31 | 2002-08-14 | Hitachi Plant Eng & Constr Co Ltd | Method and apparatus for measuring three-dimensional position |
| CN103295354A (en) * | 2013-06-13 | 2013-09-11 | 天津云视科技发展有限公司 | Remote monitoring device for automobile |
| CN106200526A (en) * | 2016-07-27 | 2016-12-07 | 浙江警安科技有限公司 | Pipe gallery online monitoring system and monitoring method thereof |
| CN107341940A (en) * | 2017-06-30 | 2017-11-10 | 深圳前海弘稼科技有限公司 | A kind of safety monitoring system and monitoring method |
| CN107942959A (en) * | 2017-10-17 | 2018-04-20 | 国网山东省电力公司青岛供电公司 | Pipe gallery management system |
| CN107633632A (en) * | 2017-11-08 | 2018-01-26 | 长沙变化率信息技术有限公司 | The anti-intrusion monitoring system and method for pipe gallery |
| CN108924742A (en) * | 2018-06-29 | 2018-11-30 | 杭州叙简科技股份有限公司 | A kind of collective positioning method in piping lane channel based on AP equipment and camera |
| CN109711265A (en) * | 2018-11-30 | 2019-05-03 | 武汉钢铁工程技术集团通信有限责任公司 | Piping lane personnel positioning method and system based on video monitoring |
| CN109754562A (en) * | 2018-12-11 | 2019-05-14 | 中冶(北京)交通科技发展有限公司 | A kind of municipal administration synthesis pipe gallery alarm system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111314671A (en) | 2020-06-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111314671B (en) | Underground pipe gallery personnel positioning method | |
| CN109257569B (en) | Security video monitoring and analyzing method | |
| CN106412501B (en) | A kind of the construction safety behavior intelligent monitor system and its monitoring method of video | |
| CN110188724A (en) | The method and system of safety cap positioning and color identification based on deep learning | |
| CN112132090A (en) | Smoke and fire automatic detection and early warning method based on YOLOV3 | |
| CN108376406A (en) | A kind of Dynamic Recurrent modeling and fusion tracking method for channel blockage differentiation | |
| CN103440475A (en) | Automatic teller machine user face visibility judging system and method | |
| CN113903081A (en) | Visual identification artificial intelligence alarm method and device for images of hydraulic power plant | |
| CN111461080B (en) | Intelligent fence building and identifying method based on image | |
| CN112308032B (en) | Intelligent cooperative linkage control method for underground air door through video detection | |
| CN111163294A (en) | Building safety channel monitoring system and method for artificial intelligence target recognition | |
| CN109492548A (en) | The preparation method of region mask picture based on video analysis | |
| CN114648855B (en) | Intelligent community security comprehensive management system and control method thereof | |
| CN107368825A (en) | Person number detection device, method and system in a kind of danger zone | |
| KR101542134B1 (en) | The apparatus and method of surveillance a rock fall based on smart video analytic | |
| CN112965433B (en) | Safety monitoring intelligent management system based on big data Internet of things | |
| CN115860979A (en) | Artificial intelligence management system for field operation of power grid | |
| CN113982692A (en) | Coal mine underground anti-scour limiter early warning system and method | |
| CN112885013A (en) | Monitoring and early warning method and device and readable storage medium | |
| CN113065491A (en) | Multi-shooting-based passenger flow statistical method and system | |
| CN113269916B (en) | Guest prejudging analysis method and system based on face recognition | |
| CN115662033B (en) | Dynamic identification monitoring system for construction fence of foundation engineering | |
| CN115294515B (en) | Comprehensive anti-theft management method and system based on artificial intelligence | |
| CN117278696B (en) | Method for editing illegal video of real-time personal protective equipment on construction site | |
| CN110589648B (en) | Vertical ladder door label detection method based on deep learning |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230802 Address after: 101318 152-7, Yutianxia Phase IV, Gangjie Street, Shunyi District, Beijing Patentee after: Yu Ming Address before: 075421 west side of Putao Avenue, Xindong Huayuan Town, Huailai County, Zhangjiakou City, Hebei Province Patentee before: HARBIN INSTITUTE OF TECHNOLOGY AT ZHANGJIAKOU |