CN112307913B - Protective equipment wearing detection method and device based on unmanned aerial vehicle vision - Google Patents
Protective equipment wearing detection method and device based on unmanned aerial vehicle vision Download PDFInfo
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Abstract
The invention provides a protective equipment wearing detection method and device based on unmanned aerial vehicle vision, which is characterized in that an automatic cruising route is preset, and a fixed shooting point is set on the automatic cruising route; cruising an unmanned aerial vehicle through the automatic cruising route, and shooting a target photo set at the fixed shooting point; determining a constructor image according to the target photo set; judging whether the constructor image has equipment characteristics or not according to the constructor image; judging whether the personnel at the fixed shooting point wear safety equipment or not according to the equipment characteristics; when the constructor at the fixed shooting point wears the safety equipment, cruising is continued; and when the constructor of the fixed shooting point does not wear safety equipment, an alarm is sent to the fixed shooting point and the target picture is stored.
Description
Technical Field
The invention relates to the field of monitoring of personal safety of constructors, in particular to a method and a device for detecting wearing of protective equipment based on unmanned aerial vehicle vision.
Background
At present, in prior art, there is through whether the safety technology of wearing based on visual analysis motorist safety belt, but on constructor personal safety supervision, still the ancient manual monitoring means of adoption supervises constructor to wear safety device. However, the manpower is poor sometimes, a supervisor cannot concentrate on supervising the constructors all the time and cannot supervise the high-altitude operators, so that casualty events caused by the fact that the constructors do not wear the safety devices can still happen occasionally under the condition that safety supervisors exist in many construction sites. Safety supervision, concerning the life of workers, the tiger cannot be raised at all.
Therefore, how to replace the manual safety supervision with the leakage by an efficient machine is a problem to be solved.
Disclosure of Invention
The invention provides a protective equipment wearing detection method and device based on unmanned aerial vehicle vision, and aims to solve the problems that safety supervision of constructors is not in place and safety supervision of high-altitude operation is loophole.
The utility model provides a protective equipment wears detection method based on unmanned aerial vehicle vision for whether detect constructor dresses safety protection equipment, its characterized in that includes:
presetting an automatic cruising route, and setting a fixed shooting point on the automatic cruising route;
cruising an unmanned aerial vehicle through the automatic cruising route, and shooting a target photo set at the fixed shooting point;
determining a constructor image according to the target photo set;
judging whether the constructor image has equipment characteristics or not according to the constructor image;
judging whether the personnel at the fixed shooting point wear safety equipment or not according to the equipment characteristics;
when the constructor at the fixed shooting point wears the safety equipment, cruising is continued;
and when the constructor of the fixed shooting point does not wear safety equipment, an alarm is sent to the fixed shooting point and the target picture is stored.
As an embodiment of the present invention, the determining an image of a constructor according to the target photo set includes:
respectively acquiring the pixel characteristics of each target photo according to the target photo set; wherein,
the target photo set comprises a thermal imaging photo set and a digital photo set;
comparing pixel characteristics in different target photos to determine pixel change information of the target photo set;
judging whether the pixel change information contains human body pixel change information or not; wherein,
when the pixel change information does not contain the human body pixel change information, continuing cruising to the next fixed shooting point;
and when the pixel change information contains human body pixel change information, acquiring the constructor image in the target photo set.
As an embodiment of the present invention, the determining whether the pixel variation information includes the human body pixel variation information includes:
step 1: calculating the pixel characteristic Z of each pixel point in the pixel change information:
wherein, the wi,jRepresenting the position of the ith pixel point in the jth target picture; said wi，0The position of the ith pixel point in the initial target picture is represented; s isi,jThe color of the ith pixel point on the jth target picture is represented, and L isi,jExpressing the brightness of the ith pixel point on the jth target picture; b isi,jRepresenting the saturation of the ith pixel point on the jth target picture; 1,2,3, … … n; j ═ 1,2,3, … … m;
step 2: dividing the pixel change information into human body pixel change information or object pixel change information, and determining a change deviation function:
wherein, the xiRepresenting the probability that the ith pixel point is a human body pixel,
the T isiThe temperature of (a); said yiRepresenting the probability that the ith pixel point is the object pixel,
the T isiThe temperature of (a); the T isδIndicating a standard temperature of a human body; the T isεA standard temperature of the object;
when 0 < gamma (x, y) < 1; when the pixel change information is human body pixel change information, the pixel change information is represented;
when the gamma (x, y) > 1, the pixel variation information is object pixel variation information;
and step 3: according to the variation deviation function, a judgment model is built, and whether the pixel variation information contains the human body pixel variation information is determined;
when the H is larger than 0, the pixel variation information comprises human body pixel variation information;
and when the H is larger than 0, the pixel variation information does not contain the human body pixel variation information.
As an embodiment of the present invention, the determining whether the constructor image has an equipment feature according to the constructor image includes:
dividing the constructor image through limbs to obtain a limb image; wherein,
the limb images comprise a head image, a shoulder image, an arm image and a leg image;
acquiring limb characteristics according to the acquired limb image; wherein,
the limb features include head features, shoulder features, arm features, and leg features;
when the limb image does not contain the limb equipment features, acquiring global features;
when the local limb image in the limb image does not contain the limb feature, acquiring a local classification feature;
comparing the global feature and the local classification feature with the equipment feature to determine whether the constructor image has the equipment feature; wherein,
the device features include color features and shape features.
As an embodiment of the present invention, the determining whether a person at the fixed shooting point wears a security device according to the device characteristics includes:
acquiring a preset safety protection equipment wearing standard of a constructor, and determining equipment wearing standard information;
determining equipment wearing characteristics according to the equipment wearing standard information;
judging the overall equipment wearing characteristics according to the equipment wearing characteristics, and determining first wearing information of all safety equipment worn by the constructors; wherein,
the first wearing information includes that the constructor wears/does not wear all safety devices;
judging the classification wearing characteristics of the local equipment according to the equipment wearing characteristics, and determining second wearing information of the safety equipment worn by the local part of the constructor;
the second wearing information includes that the constructor does not wear safety equipment locally.
The utility model provides a protective apparatus wears detection device based on unmanned aerial vehicle vision for whether detect constructor and dress safety protection equipment, a serial communication port, include:
a route setting module: the system comprises a camera, a camera module and a control module, wherein the camera module is used for presetting an automatic cruising route and setting a fixed shooting point on the automatic cruising route;
a shooting module: the automatic cruise system is used for cruising the unmanned aerial vehicle through the automatic cruise route and acquiring a target photo set at the fixed shooting point;
a first judgment module: the image processing device is used for determining a constructor image according to the target photo set;
a second judging module: the method comprises the steps of judging whether equipment characteristics exist in constructor images or not when the constructor images exist;
a third judging module: the device is used for judging whether the personnel at the fixed shooting point wears safety equipment or not according to the device characteristics;
a first execution module: the cruise control system is used for continuing cruising when constructors at the fixed shooting points wear safety equipment;
a second execution module: and the system is used for sending an alarm to the fixed shooting point and storing the target picture when the constructor of the fixed shooting point does not wear the safety equipment.
As an embodiment of the present invention, the first determining module includes:
a first acquisition unit: the system is used for respectively acquiring the pixel characteristics of each target photo according to the target photo set; wherein,
the target photo set comprises a thermal imaging photo set and a digital photo set;
a comparison unit: the system comprises a target photo set, a comparison unit and a processing unit, wherein the target photo set is used for comparing pixel characteristics in different target photos and determining pixel change information of the target photo set;
a judging unit: the pixel change information is used for judging whether the pixel change information contains human body pixel change information or not; wherein,
when the pixel change information does not contain the human body pixel change information, continuing cruising to the next fixed shooting point;
and when the pixel change information contains human body pixel change information, acquiring the constructor image in the target photo set.
As an embodiment of the present invention, the determining unit determines whether the pixel variation information includes human body pixel variation information, including:
step 1: calculating the pixel characteristic Z of each pixel point in the pixel change information:
wherein, the wi,jRepresenting the position of the ith pixel point in the jth target picture; said wi，0The position of the ith pixel point in the initial target picture is represented; s isi,jThe color of the ith pixel point on the jth target picture is shownColor, said Li,jExpressing the brightness of the ith pixel point on the jth target picture; b isi,jRepresenting the saturation of the ith pixel point on the jth target picture; 1,2,3, … … n; j ═ 1,2,3, … … m;
step 2: dividing the pixel change information into human body pixel change information or object pixel change information, and determining a change deviation function:
wherein, the xiRepresenting the probability that the ith pixel point is a human body pixel,
the T isiThe temperature of (a); said yiRepresenting the probability that the ith pixel point is the object pixel,
the T isiThe temperature of (a); the T isδIndicating a standard temperature of a human body; the T isεA standard temperature of the object;
when 0 < gamma (x, y) < 1; when the pixel change information is human body pixel change information, the pixel change information is represented;
when the gamma (x, y) > 1, the pixel variation information is object pixel variation information;
step S3: according to the variation deviation function, a judgment model is built, and whether the pixel variation information contains the human body pixel variation information is determined;
when the H is larger than 0, the pixel variation information comprises human body pixel variation information;
and when the H is larger than 0, the pixel variation information does not contain the human body pixel variation information.
As an embodiment of the present invention, the second determination module includes:
a second acquisition unit: the image acquisition unit is used for dividing the constructor image into limb images through limbs to obtain the limb images; wherein,
the limb images comprise a head image, a shoulder image, an arm image and a leg image;
a third acquisition unit: the system is used for acquiring limb characteristics according to the acquired limb image; wherein,
the limb features include head features, shoulder features, arm features, and leg features;
a fourth acquisition unit: when the limb image does not contain the limb equipment feature, acquiring a global feature;
a fifth acquisition unit: the local classification feature is obtained when the local limb image in the limb image does not contain the limb feature;
a second comparison unit: the image classification device is used for comparing the global feature and the local classification feature with the device feature and determining whether the device feature exists in the constructor image; wherein,
the device features include color features and shape features.
As an embodiment of the present invention, the third determining module includes:
a first determination unit: the safety protection equipment wearing standard acquiring device is used for acquiring a preset safety protection equipment wearing standard of a constructor and determining equipment wearing standard information;
a second determination unit: the device wearing characteristics are determined according to the device wearing standard information;
a third determination unit: the device wearing characteristics are used for judging the overall device wearing characteristics according to the device wearing characteristics, and first wearing information of all safety devices worn by the constructors is determined; wherein,
the first wearing information includes that the constructor wears/does not wear all safety devices;
a fourth determination unit: the local equipment classification wearing characteristics are judged according to the equipment wearing characteristics, and second wearing information of the safety equipment worn by the local constructor is determined;
the second wearing information includes that the constructor does not wear safety equipment locally.
Has the advantages that: according to the protective equipment wearing detection method and device based on the vision of the unmanned aerial vehicle, when the unmanned aerial vehicle cruises to a fixed shooting point, a moving object is positioned through the unmanned aerial vehicle; judging whether the object has human body characteristics; then judging the positions of the head and the shoulders of the object; judging whether the head shoulder position has the appearance characteristics of a safety helmet and a safety belt; the invention can identify whether equipment on a constructor is worn or not or is worn completely by means of unmanned aerial vehicle vision under the conditions that constructors are in large construction intervals, high-altitude operation or other high-mountain operation and the like, dynamically checks construction personnel by cruise alarm when safety protection consciousness of the constructors is not strong, reminds the constructors of wearing safety protection equipment, prevents unsafe accidents, reduces the probability of safety accidents, and can ensure the body safety of the constructors to the maximum extent when the safety accidents occur.
Of course, it is not necessary for any product or method of practicing the invention to achieve all of the above-described advantages at the same time.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a wearing detection method of protective equipment based on unmanned aerial vehicle vision in an embodiment of the invention;
fig. 2 is a protective equipment wearing detection device based on unmanned aerial vehicle vision in the embodiment of the present invention.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
In order to solve the problems in the prior art, the invention provides a protective equipment wearing detection method and device based on unmanned aerial vehicle vision. First, a protective device wearing detection method based on unmanned aerial vehicle vision provided by an embodiment of the present invention is described in detail below.
As shown in the attached drawing 1, the invention discloses a protective equipment wearing detection method based on unmanned aerial vehicle vision, which is used for detecting whether constructors wear safety protective equipment or not, and is characterized by comprising the following steps:
step 100: presetting an automatic cruising route, and setting a fixed shooting point on the automatic cruising route; the invention detects the wearing condition of safety protection equipment of constructors and needs to pursue an unmanned detection mode, so that the flight route of the unmanned aerial vehicle needs to be firstly customized, an unmanned automatic cruise function is executed, the positions of the constructors are marked on fixed monitoring points, the point-arriving detection of the unmanned aerial vehicle is realized, and the reasonability, the fixity and the standard property of the detection are improved.
Step 101: cruising an unmanned aerial vehicle through the automatic cruising route, and shooting a target photo set at the fixed shooting point;
and a target photo set is shot, and the photo set is used for judging whether constructors exist or not through the transformation of element positions in a plurality of photos, so that the accuracy of identification of the constructors is improved.
Step 102: determining a constructor image according to the target photo set;
step 103: judging whether the constructor image has equipment characteristics or not according to the constructor image; the present invention is mainly for judging whether there is an equipment feature, and therefore, the present invention starts to detect equipment on a constructor after an image of the constructor is determined, and the equipment feature includes: device location, shape and color, the shape being primarily the shape of the device after wearing.
Step 104: judging whether the personnel at the fixed shooting point wear safety protection equipment or not according to the equipment characteristics; when the safety protection equipment is worn at the position where the constructor needs to wear the equipment, and the position, the color and the shape are correct, the constructor is indicated to wear the safety protection equipment.
Step 105: when the constructor at the fixed shooting point wears the safety equipment, cruising is continued; the constructor of the fixed shooting point wears the safety equipment, shows that the safeguard measure accords with the standard, just directly goes to next fixed shooting point.
Step 106: and when the constructor of the fixed shooting point does not wear safety equipment, an alarm is sent to the fixed shooting point and the target picture is stored. In one embodiment: warning is carried out through installing speech device or bee calling organ on unmanned aerial vehicle, and the alarm mode includes sound, light.
In one embodiment: for example, in daily work cruising, the unmanned aerial vehicle cruises according to a set cruising route, and when the unmanned aerial vehicle reaches a preset fixed shooting point, the unmanned aerial vehicle stops and continuously shoots a group of ten pictures at a related position, and immediately analyzes a group of shot pictures; firstly, comparing ten photos by an unmanned aerial vehicle, and judging the position of a moving object in the photos; comparing the motion characteristics of the human body of the object at the relevant position, and judging the positions of the head and the shoulders of the human body in the picture, namely the positions of limbs after the human body characteristics are determined; after determining that the picture has the characteristics of the head and the shoulders at the same time and has a normal position relation of the head and the shoulders, determining the specific positions of the head and the shoulders; then, detecting objects on the head, the shoulders and the waist of the human body, and judging the wearing conditions of the safety helmet and the safety belt; in the event that it is determined that two pieces of security equipment are not being worn at the same time, a sound message is generated for the geographic location of interest that the security equipment is not being worn and the set of photographs that were just taken is saved.
The beneficial effects of the above technical scheme are that: the unmanned aerial vehicle safety protection device can identify whether equipment on a constructor is worn or not completely worn or not in an unmanned aerial vehicle vision mode under the conditions that the constructor is in large construction space, works at high altitude or other high-mountain operations and the like, dynamically checks construction personnel through cruise alarm to remind the constructor to wear safety protection equipment when the safety protection consciousness of the constructor is not strong, prevents unsafe accidents, reduces the probability of safety accidents, and can guarantee the body safety of the constructor to the maximum extent when the safety accidents occur.
As an embodiment of the present invention, the determining an image of a constructor according to the target photo set includes:
respectively acquiring the pixel characteristics of each target photo according to the target photo set; wherein,
the target photo set comprises a thermal imaging photo set and a digital photo set; thermal imaging is to distinguish elements in a target photograph into a human body and an object according to temperature.
Comparing pixel characteristics in different target photos to determine pixel change information of the target photo set; with the construction action of constructors, all pixel points in the target photo are changed, and the change condition of the target photo is determined and judged according to the difference of different pixel characteristics.
Judging whether the pixel change information contains human body pixel change information or not; wherein,
when the pixel change information does not contain the human body pixel change information, continuing cruising to the next fixed shooting point; the unmanned aerial vehicle continues to the next fixed shooting point, the cruising efficiency of the unmanned aerial vehicle is increased,
and when the pixel change information contains human body pixel change information, acquiring the constructor image in the target photo set.
In one embodiment: and taking the shot first photo as a template photo, carrying out coordinate labeling on each pixel point on the first photo to obtain a coordinate point A (X1, Y1), and carrying out XOR operation on all pixel points on the template and the pixel point coordinates B (X1, Y1) on the second photo to obtain that the result of different pixel points on the photo is 1, and the same result is 0. And storing the result in a two-dimensional array, traversing the array, and selecting all parts of the array which are 1 by coordinates of array units through a rectangular frame, wherein the rectangular frame is different areas in the two images.
The beneficial effects of the above technical scheme are that: according to the method, the image of the constructor with the concentrated target photo is distinguished based on infrared thermal imaging, pixel characteristic comparison is introduced for more accurately judging the human body and the object at the fixed shooting point, the infrared recognition of the human body is optimized, and simultaneously, pixel change is more accurately judged and distinguished through the pixel characteristics, so that the constructor can be more clearly shown in the photo, and meanwhile, the wearing condition of safety protection equipment of the constructor can be more accurately detected.
As an embodiment of the present invention, the determining whether the pixel variation information includes the human body pixel variation information includes:
step 1: calculating the pixel characteristic Z of each pixel point in the pixel change information:
wherein, the wi,jRepresenting the position of the ith pixel point in the jth target picture; said wi，0The position of the ith pixel point in the initial target picture is represented; s isi,jThe color of the ith pixel point on the jth target picture is represented, and L isi,jExpressing the brightness of the ith pixel point on the jth target picture; b isi,jRepresenting the saturation of the ith pixel point on the jth target picture; 1,2,3, … … n; j ═ 1,2,3, … … m;
step 2: dividing the pixel change information into human body pixel change information or object pixel change information, and determining a change deviation function:
wherein, the xiRepresenting the probability that the ith pixel point is a human body pixel,
the T isiThe temperature of (a); said yiRepresenting the probability that the ith pixel point is the object pixel,
the T isiThe temperature of (a); the T isδIndicating a standard temperature of a human body; the T isεA standard temperature of the object;
when 0 < gamma (x, y) < 1; when the pixel change information is human body pixel change information, the pixel change information is represented;
when the gamma (x, y) > 1, the pixel variation information is object pixel variation information;
and step 3: according to the variation deviation function, a judgment model is built, and whether the pixel variation information contains the human body pixel variation information is determined;
when the H is larger than 0, the pixel variation information comprises human body pixel variation information;
and when the H is larger than 0, the pixel variation information does not contain the human body pixel variation information.
The principle and the beneficial effects of the technical scheme are as follows: when judging whether the pixel change information contains the human body pixel change information, the method firstly processes all pixel characteristics of the target photo, firstly respectively calculates the total pixel characteristics of all pixel points in all the target photos, further determines the change conditions of all the photos in the target photo set, brings the total pixel characteristics into the target photo set, and prevents judgment errors when judging whether constructors wear safety protection equipment or not. And then, dividing the pixel change information into human body pixel change information or object pixel change information, judging the change information of all pictures in the target picture by using a change deviation function, introducing the human body pixel change and the object pixel change in the target picture into the judgment of pixel characteristics, and generally judging whether constructors exist at the fixed shooting point. And finally, calculating whether the human body pixel change information exists in the pixel change information or not by constructing a judgment model, introducing a change deviation function of the human body pixel change information and the object pixel change information into a calculation result, and enhancing the accuracy of information judgment.
As an embodiment of the present invention, the determining whether the constructor image has an equipment feature according to the constructor image includes:
dividing the constructor image through limbs to obtain a limb image; wherein,
the limb images comprise a head image, a shoulder image, an arm image and a leg image;
acquiring limb characteristics according to the acquired limb image; wherein,
the limb features include head features, shoulder features, arm features, and leg features;
when the limb image does not contain the limb features, acquiring global features and local part class features;
the global features represent all body wearing features on the human body image of the constructor, and the local classification features represent that only local parts of the constructor body are worn with safety protection equipment.
Comparing the global feature and the local classification feature with the equipment feature to determine whether the constructor image has the equipment feature; wherein,
the device features include color features and shape features.
The beneficial effects of the above technical scheme are that: through the limbs division, can acquire constructor limbs characteristic respectively, and then can remind constructor through the alarm mode of difference, let constructor dress safety protection equipment. In some special cases, protective personnel cannot wear all wearing equipment, and at the moment, safety protection equipment on the body of a constructor is identified through equipment characteristics on the limb and based on local classification characteristics, and the characteristics of the equipment are determined by color characteristics and shape characteristics.
As an embodiment of the present invention, the determining whether a person at the fixed shooting point wears a security device according to the device characteristics includes:
acquiring a preset safety protection equipment wearing standard of a constructor, and determining equipment wearing standard information; the present invention is based on the wearing standards of the construction personnel when wearing the safety protection device correctly, i.e., wearing those equipment, the color, shape of each equipment and the wearing part on the construction personnel body.
Determining equipment wearing characteristics according to the equipment wearing standard information;
the standard equipment wearing information can determine the specific appearance characteristics of the equipment after being worn on a human body, namely, the shape of a constructor after wearing safety protection equipment.
Judging the overall equipment wearing characteristics according to the equipment wearing characteristics, and determining first wearing information of all safety equipment worn by the constructors; wherein,
the first wearing information includes that the constructor wears/does not wear all safety devices;
the first wearing information represents information in both situations that a constructor wears all safety protection equipment or does not wear all safety protection equipment.
Judging the classification wearing characteristics of the local equipment according to the equipment wearing characteristics, and determining second wearing information of the safety equipment worn by the local part of the constructor;
the second wearing information includes that the constructor does not wear safety equipment locally. The second wear information indicates that the safety protection device is partially worn by the construction worker, but is not completely worn. For example, the shoulders are wearing safety shield equipment, but the head is not.
The beneficial effects of the above technical scheme are that: through the standard safety protection equipment wearing standard, and then can confirm that constructor dresses the situation of safety protection equipment and dress the difference between the standard, thereby the judgement user that can be accurate is that all safety protection equipment do not wear, or has all worn, specific wearing information such as safety protection equipment has been worn to the part, and then when reporting to the police again, can report to the police according to the alarm mode of difference, make constructor faster realize the wearing condition of oneself, thereby more quick dress safety protection equipment.
As shown in fig. 2, the present invention further includes a protection device wearing detection device based on the vision of the unmanned aerial vehicle, for detecting whether a constructor wears a safety protection device, including:
a route setting module: the system comprises a camera, a camera module and a control module, wherein the camera module is used for presetting an automatic cruising route and setting a fixed shooting point on the automatic cruising route;
a shooting module: the automatic cruise system is used for cruising the unmanned aerial vehicle through the automatic cruise route and acquiring a target photo set at the fixed shooting point;
a first judgment module: the image processing device is used for determining a constructor image according to the target photo set;
a second judging module: the method comprises the steps of judging whether equipment characteristics exist in constructor images or not when the constructor images exist;
a third judging module: the device is used for judging whether the personnel at the fixed shooting point wears safety equipment or not according to the device characteristics;
a first execution module: the cruise control system is used for continuing cruising when constructors at the fixed shooting points wear safety equipment;
a second execution module: and the system is used for sending an alarm to the fixed shooting point and storing the target picture when the constructor of the fixed shooting point does not wear the safety equipment.
The beneficial effects of the above technical scheme are that: the unmanned aerial vehicle safety protection device can identify whether equipment on a constructor is worn or not completely worn or not in an unmanned aerial vehicle vision mode under the conditions that the constructor is in large construction space, works at high altitude or other high-mountain operations and the like, dynamically checks construction personnel through cruise alarm to remind the constructor to wear safety protection equipment when the safety protection consciousness of the constructor is not strong, prevents unsafe accidents, reduces the probability of safety accidents, and can guarantee the body safety of the constructor to the maximum extent when the safety accidents occur.
As an embodiment of the present invention, the first determining module includes:
a first acquisition unit: the system is used for respectively acquiring the pixel characteristics of each target photo according to the target photo set; wherein,
the target photo set comprises a thermal imaging photo set and a digital photo set;
a comparison unit: the system comprises a target photo set, a comparison unit and a processing unit, wherein the target photo set is used for comparing pixel characteristics in different target photos and determining pixel change information of the target photo set;
a judging unit: the pixel change information is used for judging whether the pixel change information contains human body pixel change information or not; wherein,
when the pixel change information does not contain the human body pixel change information, continuing cruising to the next fixed shooting point;
and when the pixel change information contains human body pixel change information, acquiring the constructor image in the target photo set.
The beneficial effects of the above technical scheme are that: according to the method, the image of the constructor with the concentrated target photo is distinguished based on infrared thermal imaging, pixel characteristic comparison is introduced for more accurately judging the human body and the object at the fixed shooting point, the infrared recognition of the human body is optimized, and simultaneously, pixel change is more accurately judged and distinguished through the pixel characteristics, so that the constructor can be more clearly shown in the photo, and meanwhile, the wearing condition of safety protection equipment of the constructor can be more accurately detected.
As an embodiment of the present invention, the determining unit determines whether the pixel variation information includes human body pixel variation information, including:
step 1: calculating pixel characteristics Z of all pixel points of the target photo in the pixel change information:
wherein, the wi,jRepresenting the position of the ith pixel point in the jth target picture; said wi，0The position of the ith pixel point in the initial target picture is represented; s isi,jThe color of the ith pixel point on the jth target picture is represented, and L isi,jExpressing the brightness of the ith pixel point on the jth target picture; b isi,jRepresenting the saturation of the ith pixel point on the jth target picture; 1,2,3, … … n; j ═ 1,2,3, … … m;
step 2: dividing the pixel change information into human body pixel change information or object pixel change information, and determining a change deviation function:
wherein, the xiRepresenting the probability that the ith pixel point is a human body pixel,
the T isiThe temperature of (a); said yiRepresenting the probability that the ith pixel point is the object pixel,
the T isiThe temperature of (a); the T isδIndicating a standard temperature of a human body; the T isεA standard temperature of the object;
when 0 < gamma (x, y) < 1; when the pixel change information is human body pixel change information, the pixel change information is represented;
when the gamma (x, y) > 1, the pixel variation information is object pixel variation information;
step S3: according to the variation deviation function, a judgment model is built, and whether the pixel variation information contains the human body pixel variation information is determined;
when the H is larger than 0, the pixel variation information comprises human body pixel variation information;
and when the H is larger than 0, the pixel variation information does not contain the human body pixel variation information.
The principle and the beneficial effects of the technical scheme are as follows: when judging whether the pixel change information contains the human body pixel change information, the method firstly processes all pixel characteristics of the target photo, firstly respectively calculates the total pixel characteristics of all pixel points in all the target photo, further determines the change condition of all the photos in the target photo set, brings the total pixel characteristics into the target photo set, and prevents judgment errors when judging whether constructors wear safety protection equipment or not. And then, dividing the pixel change information into human body pixel change information or object pixel change information, judging the change information of all pictures in the target picture by using a change deviation function, introducing the human body pixel change and the object pixel change in the target picture into the judgment of pixel characteristics, and generally judging whether constructors exist at the fixed shooting point. And finally, calculating whether the human body pixel change information exists in the pixel change information or not by constructing a judgment model, introducing a change deviation function of the human body pixel change information and the object pixel change information into a calculation result, and enhancing the accuracy of information judgment.
As an embodiment of the present invention, the second determination module includes:
a second acquisition unit: the image acquisition unit is used for dividing the constructor image into limb images through limbs to obtain the limb images; wherein,
the limb images comprise a head image, a shoulder image, an arm image and a leg image;
a third acquisition unit: the system is used for acquiring limb characteristics according to the acquired limb image; wherein,
the limb features include head features, shoulder features, arm features, and leg features;
a fourth acquisition unit: when the limb image does not contain the limb equipment feature, acquiring a global feature;
a fifth acquisition unit: the local classification feature is obtained when the local limb image in the limb image does not contain the limb feature;
a second comparison unit: the image classification device is used for comparing the global feature and the local classification feature with the device feature and determining whether the device feature exists in the constructor image; wherein,
the device features include color features and shape features.
The beneficial effects of the above technical scheme are that: through the limbs division, can acquire constructor limbs characteristic respectively, and then can remind constructor through the alarm mode of difference, let constructor dress safety protection equipment. In some special cases, protective personnel cannot wear all wearing equipment, and at the moment, safety protection equipment on the body of a constructor is identified through equipment characteristics on the limb and based on local classification characteristics, and the characteristics of the equipment are determined by color characteristics and shape characteristics.
As an embodiment of the present invention, the third determining module includes:
a first determination unit: the safety protection equipment wearing standard acquiring device is used for acquiring a preset safety protection equipment wearing standard of a constructor and determining equipment wearing standard information;
a second determination unit: the device wearing characteristics are determined according to the device wearing standard information;
a third determination unit: the device wearing characteristics are used for judging the overall device wearing characteristics according to the device wearing characteristics, and first wearing information of all safety devices worn by the constructors is determined; wherein,
the first wearing information includes that the constructor wears/does not wear all safety devices;
a fourth determination unit: the local equipment classification wearing characteristics are judged according to the equipment wearing characteristics, and second wearing information of the safety equipment worn by the local constructor is determined;
the second wearing information includes that the constructor does not wear safety equipment locally.
The beneficial effects of the above technical scheme are that: through the standard safety protection equipment wearing standard, and then can confirm that constructor dresses the situation of safety protection equipment and dress the difference between the standard, thereby the judgement user that can be accurate is that all safety protection equipment do not wear, or has all worn, specific wearing information such as safety protection equipment has been worn to the part, and then when reporting to the police again, can report to the police according to the alarm mode of difference, make constructor faster realize the wearing condition of oneself, thereby more quick dress safety protection equipment.
In one embodiment, the invention also judges whether the personnel wearing the safety equipment at the fixed shooting point obtains the color information of the position by detecting the position of the head hair according to the wearing position characteristics of the safety helmet and according to the positions of the shoulders and the head; determining whether the human body wears the safety helmet or not by judging whether the position is black hair or yellow, red and white safety helmet color according to the color information; determining three position characteristic points of the safety belt according to the wearing position characteristics of the safety belt, namely a left shoulder, a right shoulder and a waist; according to the three position feature points of the safety belt, determining the color difference of the three position feature points through the comparison of the colors of the three position feature points with other surrounding colors; and determining whether the human body wears the safety belt or not according to the color difference and the two vertical and horizontal long-strip-shaped characteristics of the safety belt.
All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, as for the apparatus embodiment, since it is substantially similar to the method embodiment, the description is relatively simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
Those skilled in the art will understand that all or part of the steps in the above method embodiments may be implemented by a program instructing related hardware to complete, and the automatic cruising route and the fixed shooting point of the drone may be stored in a storage medium readable by the drone, or may be stored in a storage medium of an upper computer controlling the drone, where the storage medium is referred to as, for example: ROM/RAM, magnetic disk, optical disk, etc.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (2)
1. The utility model provides a protective equipment wears detection method based on unmanned aerial vehicle vision for whether detect constructor dresses safety protection equipment, its characterized in that includes:
presetting an automatic cruising route, and setting a fixed shooting point on the automatic cruising route;
cruising an unmanned aerial vehicle through the automatic cruising route, and shooting a target photo set at the fixed shooting point;
determining a worker image according to the target photo set;
judging whether the constructor image has equipment characteristics or not according to the constructor image;
judging whether the personnel at the fixed shooting point wear safety equipment or not according to the equipment characteristics;
when the constructor at the fixed shooting point wears the safety equipment, cruising is continued;
when the constructor of the fixed shooting point does not wear safety equipment, an alarm is sent to the fixed shooting point and the target picture is stored;
when according to the constructor image, whether the constructor image has equipment characteristics or not is judged, and the method comprises the following steps:
dividing the constructor image through limbs to obtain a limb image; wherein,
the limb images comprise a head image, a shoulder image, an arm image and a leg image;
acquiring limb characteristics according to the acquired limb image; wherein,
the limb features include head features, shoulder features, arm features, and leg features;
when the limb image does not contain the limb features, acquiring global features;
when the local limb image in the limb image does not contain the limb feature, acquiring a local classification feature;
comparing the global feature and the local classification feature with the equipment feature to determine whether the constructor image has the equipment feature; wherein,
the device features include color features and shape features; determining the image of the constructor according to the target photo set comprises the following steps:
respectively acquiring the pixel characteristics of each target photo according to the target photo set; wherein,
the target photo set comprises a thermal imaging photo set and a digital photo set;
comparing pixel characteristics in different target photos to determine pixel change information of the target photo set;
judging whether the pixel change information contains human body pixel change information or not; wherein,
when the pixel change information does not contain the human body pixel change information, continuing cruising to the next fixed shooting point;
when the pixel change information contains human body pixel change information, acquiring a constructor image with a target photo set; according to the equipment characteristic, judge whether the personnel of fixed shooting point dresses safety equipment, include:
acquiring a preset safety protection equipment wearing standard of a constructor, and determining equipment wearing standard information;
determining equipment wearing characteristics according to the equipment wearing standard information;
judging the overall equipment wearing characteristics according to the equipment wearing characteristics, and determining first wearing information of all safety equipment worn by the constructors; wherein,
the first wearing information includes that the constructor wears/does not wear all safety devices;
judging the classification wearing characteristics of the local equipment according to the equipment wearing characteristics, and determining second wearing information of the safety equipment worn by the local constructor;
the second wearing information includes that the constructor does not wear safety equipment locally.
2. The utility model provides a protective apparatus wears detection device based on unmanned aerial vehicle vision for whether detect constructor and dress safety protection equipment, a serial communication port, include:
a route setting module: the system comprises a camera, a camera module and a control module, wherein the camera module is used for presetting an automatic cruising route and setting a fixed shooting point on the automatic cruising route;
a shooting module: the automatic cruise system is used for cruising the unmanned aerial vehicle through the automatic cruise route and acquiring a target photo set at the fixed shooting point;
a first judgment module: the image processing device is used for determining a constructor image according to the target photo set;
a second judging module: the system comprises a data processing unit, a data processing unit and a data processing unit, wherein the data processing unit is used for determining whether equipment characteristics exist in a constructor image according to the constructor image;
a third judging module: the device is used for judging whether the personnel at the fixed shooting point wears safety equipment or not according to the device characteristics;
a first execution module: the cruise control system is used for continuing cruising when constructors at the fixed shooting points wear safety equipment;
a second execution module: the system is used for sending an alarm to the fixed shooting point and storing the target picture when a constructor at the fixed shooting point does not wear safety equipment;
the second judging module includes:
a second acquisition unit: the image acquisition unit is used for dividing the constructor image into limb images through limbs to obtain the limb images; wherein,
the limb images comprise a head image, a shoulder image, an arm image and a leg image;
a third acquisition unit: the system is used for acquiring limb characteristics according to the acquired limb image; wherein,
the limb features include head features, shoulder features, arm features, and leg features;
a fourth acquisition unit: when the limb image does not contain the limb feature, acquiring a global feature;
a fifth acquisition unit: the local classification feature is obtained when the local limb image in the limb image does not contain the limb feature;
a second comparison unit: the image classification device is used for comparing the global feature and the local classification feature with the device feature and determining whether the device feature exists in the constructor image; wherein,
the device features include color features and shape features; the first judging module comprises:
a first acquisition unit: the system is used for respectively acquiring the pixel characteristics of each target photo according to the target photo set; wherein,
the target photo set comprises a thermal imaging photo set and a digital photo set;
a comparison unit: the system comprises a target photo set, a comparison unit and a processing unit, wherein the target photo set is used for comparing pixel characteristics in different target photos and determining pixel change information of the target photo set;
a judging unit: the pixel change information is used for judging whether the pixel change information contains human body pixel change information or not; wherein,
when the pixel change information does not contain the human body pixel change information, continuing cruising to the next fixed shooting point;
when the pixel change information contains human body pixel change information, acquiring a constructor image with a target photo set; the third judging module comprises:
a first determination unit: the safety protection equipment wearing standard acquiring device is used for acquiring a preset safety protection equipment wearing standard of a constructor and determining equipment wearing standard information;
a second determination unit: the device wearing characteristics are determined according to the device wearing standard information;
a third determination unit: the equipment wearing characteristics are used for judging the overall equipment wearing characteristics according to the equipment wearing characteristics, and first wearing information of all safety equipment worn by the constructors is determined; wherein,
the first wearing information includes that the constructor wears/does not wear all safety devices;
a fourth determination unit: the equipment wearing characteristics are used for judging the classification wearing characteristics of the local equipment according to the equipment wearing characteristics, and second wearing information of the safety equipment worn by the local constructor is determined;
the second wearing information includes that the constructor does not wear safety equipment locally.
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