CN112580432B - Gate dislocation detection method and detection system - Google Patents
Gate dislocation detection method and detection system Download PDFInfo
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- CN112580432B CN112580432B CN202011318907.4A CN202011318907A CN112580432B CN 112580432 B CN112580432 B CN 112580432B CN 202011318907 A CN202011318907 A CN 202011318907A CN 112580432 B CN112580432 B CN 112580432B
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
- G01B11/27—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing the alignment of axes
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
- G06K7/1404—Methods for optical code recognition
- G06K7/1408—Methods for optical code recognition the method being specifically adapted for the type of code
- G06K7/1417—2D bar codes
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/25—Determination of region of interest [ROI] or a volume of interest [VOI]
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- 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
- G06V10/56—Extraction of image or video features relating to colour
Abstract
The invention discloses a gate dislocation detection method, which comprises the following steps: respectively installing gate dislocation recognition signboards and video processing terminals on gates on the left side and the right side, and calculating initial first pixel differences and initial second pixel differences in video images of the completely closed initial positions of the gates; carrying out two-dimensional code identification on a real-time video image acquired in a video processing terminal; if the identified two-dimensional code information is preset two-dimensional code information, the gate is closed; if the gate is closed, calculating a real-time first pixel difference average value and a real-time second pixel difference average value. If the real-time first pixel difference average value is not equal to the initial first pixel difference or the second pixel difference average value is not equal to the initial second pixel difference, the gate is dislocated. The invention can rapidly and accurately judge whether the gate is dislocated or not.
Description
Technical Field
The invention relates to a gate dislocation detection method and a gate dislocation detection system, and belongs to the field of gate detection.
Background
The ship lock consists of a lock head provided with a gate and a valve, a lock chamber for placing the ship, an upstream guide channel and a downstream guide channel for guiding the ship into the lock chamber, a water delivery system for water filling and water draining of the lock chamber, and a gate and valve opening and closing machine and a control system. The procedure of the ship passing through the gate from the downstream guide channel is to make the water level of the chamber flush with the water level in the downstream guide channel by using the water delivery system, open the lower gate head gate, drive the ship into the chamber, close the lower gate head gate, fill water into the chamber until the water level is flush with the water level of the upstream guide channel, open the upper gate head gate, and drive the ship into the upstream guide channel. The ship lock utilizes the buoyancy of the ship leaning water stopped in the lock chamber when the ballast ship of the communicating vessel drives from the upstream pilot channel to the downstream pilot channel, and the water level of the lock chamber is lifted and leveled with the upstream or downstream water surface, so as to achieve the purpose of overcoming the water level difference. And for the key content that the gate management is the safe operation management of lock, the condition that the gate misplaces can appear in the gate under the super high water pressure influence of upstream and downstream water level difference in long-time operation, leads to the gate unable complete closure, appears leaking the phenomenon, can make the boats and ships that get into the lock chamber unable through promoting the water level, get into high water level upper reaches, simultaneously because leak water can lead to the interior rivers of lock to flow urgently, there is the risk that boats and ships striking lock wall leads to the boats and ships to damage.
In the prior art, the technology for detecting the gate centering dislocation condition has fewer application methods, and is mainly a laser centering detection technology and a manual detection technology. However, the laser centering detection technology has low detection precision and is easy to damage; however, manual detection is time-consuming and labor-consuming, is easily affected by the environment, and cannot be detected when the rain, fog and severe weather are encountered.
Disclosure of Invention
The invention provides a gate dislocation detection method which can rapidly and accurately judge whether a gate is dislocated or not.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: a gate dislocation detection method comprises the following steps: performing image preprocessing on real-time video images acquired by a video processing terminal, wherein the video processing terminal is arranged on a gate on one side; calculating a real-time first pixel difference mean or a real-time second pixel difference mean in response to the shutter having closed; the real-time first pixel difference average value is the average value of the pixel differences between the first characteristic color rectangle and the reference position in the real-time video image, and the real-time second pixel difference average value is the average value of the pixel differences between the second characteristic color rectangle and the reference position; the first characteristic color rectangle and the second characteristic color rectangle are both positioned on the gate dislocation identification signpost arranged on the gate on the other side; if the real-time first pixel difference average value is not equal to the initial first pixel difference or the second pixel difference average value is not equal to the initial second pixel difference, judging that the gate is dislocated; the initial first pixel difference is the pixel difference between a first characteristic color rectangle on the gate dislocation identification sign board and a reference position pixel of the video image in the video image of the gate fully closed initial position, and the initial second pixel difference is the pixel difference between a second characteristic color rectangle and the reference position pixel.
Further, the image preprocessing comprises image graying, denoising and distortion correction are carried out on the image by adopting median filtering, and binarization is carried out by adopting a maximum inter-class variance theory.
Further, the determination that the shutter has been closed includes the steps of: carrying out gate dislocation recognition on the image subjected to image pretreatment; if the gate dislocation recognition signpost is recognized, recognizing the two-dimensional code on the gate dislocation recognition signpost; and if the identified two-dimensional code information is the preset two-dimensional code information, judging that the gate is closed.
Further, the gate dislocation identification signpost is identified by adopting an image feature matching method.
Further, the calculating the real-time first pixel difference average value and the real-time second pixel difference average value includes the following steps: converting the RGB video frame into a video frame in an HSV format, and detecting the positions of the first characteristic color rectangle and the second characteristic color rectangle in the real-time video image by setting three parameter values of hue, saturation and brightness of corresponding colors of the first characteristic color rectangle and the second characteristic color rectangle; the method comprises the steps that when a first characteristic color rectangle and a second characteristic color rectangle are detected through an image algorithm function, pixel values of positions of the first characteristic color rectangle and the second characteristic color rectangle in a video image are calculated; thereby obtaining a real-time first pixel difference between the first characteristic color rectangle and the reference position pixel of the video image, and a real-time second pixel difference between the second characteristic color rectangle and the center position pixel of the video image; and carrying out average value calculation on the real-time first pixel difference and the real-time second pixel difference to obtain an average value of the real-time first pixel difference and an average value of the real-time second pixel difference.
Further, the reference position pixel of the video image is a center position pixel of the video image, the first characteristic color rectangle is red, and the second characteristic color rectangle is green.
Further, the method further comprises calculating and displaying the dislocation distance after the gate is dislocated, and specifically comprises the following steps: if the average value of the real-time first pixel difference is smaller than the initial first pixel difference and the average value of the real-time second pixel difference is larger than the initial second pixel difference, closing the gate to be misplaced, and converting the average value of the real-time first pixel difference into an actual distance value through calculation and displaying the actual distance value; if the average value of the real-time first pixel difference is larger than the initial first pixel difference and the average value of the real-time second pixel difference is smaller than the initial second pixel difference, closing the gate to be misplaced, and converting the average value of the real-time second pixel difference into an actual distance value through calculation and displaying.
The gate dislocation detection system comprises a video processing terminal, a gate dislocation identification sign board, a video image preprocessing module, a two-dimensional code identification module and a gate dislocation judging module; the video processing terminal and the gate dislocation recognition signpost are respectively arranged on the left gate and the right gate, and the gate dislocation recognition signpost comprises a mark two-dimensional code, a first characteristic color rectangle and a second characteristic color rectangle; the video processing terminal is used for collecting and storing video images and sending the video images to the video image preprocessing module; the video image preprocessing module is used for receiving video images of the video processing terminal and preprocessing the video images; the two-dimensional code identification module is used for identifying the two-dimensional code in the preprocessed video image; the gate dislocation judging module is used for judging gate dislocation in the video image.
Preferably, the system further comprises a gate dislocation calculating module and a display module, wherein the gate dislocation calculating module is used for calculating the gate dislocation distance, and the display module is used for displaying gate dislocation and gate dislocation distance.
According to the gate dislocation detection method and system, whether the two-dimensional code appears in the video image is detected and identified in real time, if the two-dimensional code is identified to meet the requirements, the gate is judged to be closed, and then whether the gate is dislocated or not is judged through the distance between the characteristic color rectangle in the video image and the pixel at the central position of the video image, and the dislocation distance is calculated. The method can rapidly and accurately judge whether the gate is dislocated or not, and can calculate the dislocating distance. Compared with the prior art, the video image preprocessing module, the two-dimensional code identification module, the gate dislocation judging module and other hardware resources are extremely low in occupation, and the gate dislocation detecting system can be transplanted into low-power-consumption embedded equipment, and is low in cost and high in stability.
Drawings
FIG. 1 is a schematic flow chart of a gate misalignment detection method according to an embodiment of the present invention;
FIG. 2 is a schematic view of a gate misalignment identification sign in an embodiment of the invention;
fig. 3 is a schematic diagram illustrating installation of a misalignment identification sign and a video processing terminal in an embodiment of the present invention.
The system comprises a 1-left gate, a 2-right gate, a 3-video processing terminal, a 4-gate dislocation identification signpost, a 5-first characteristic color rectangle, a 6-second characteristic color rectangle and a 7-origin coordinate.
Detailed Description
For a better understanding of the nature of the present invention, reference should be made to the following description of the invention taken in conjunction with the accompanying drawings.
The gate dislocation detection system comprises a video processing terminal 3, a gate dislocation identification sign board 4, a video image preprocessing module, a two-dimensional code identification module and a gate dislocation calculation module; the video processing terminal 3 and the gate dislocation recognition signpost 4 are respectively arranged on the left gate and the right gate, and the gate dislocation recognition signpost 4 comprises a mark two-dimensional code, a first characteristic color rectangle 5, a second characteristic color rectangle 6 and an origin coordinate 7; the video processing terminal 3 is used for collecting and storing video images and sending the video images to the video image preprocessing module; the video image preprocessing module is used for receiving video images of the video processing terminal 3 and preprocessing the video images; the two-dimensional code identification module is used for identifying the two-dimensional code in the preprocessed video image; the gate dislocation judging module is used for judging gate dislocation in the video image. The system also comprises a gate dislocation calculating module and a display module, wherein the gate dislocation calculating module is used for calculating the gate dislocation distance, and the display module is used for displaying gate dislocation and gate dislocation distance.
The gate dislocation identification signpost 4 is shown in fig. 2, and comprises a title, an identification two-dimensional code, centimeter scale marks, a first characteristic color rectangle 5, a second characteristic color rectangle 6, an origin coordinate 7, an identification shape and the like. The characteristic color rectangle of the first characteristic color rectangle 5 may be selected to be red, and the characteristic color rectangle of the second characteristic color rectangle 6 may be selected to be green.
As shown in fig. 3, the gate misalignment identification sign 4 is mounted on the video processing terminal 3 at a position specifically: when the gate is closed without dislocation, the installation position of the gate dislocation recognition signpost 4 is adjusted by taking the central position pixel of the video image as a reference, so that the origin coordinate 7 of the gate dislocation recognition signpost 4 is overlapped with the central position pixel of the video image.
The invention discloses a gate dislocation detection method, which specifically comprises the following steps as shown in fig. 1:
step one, respectively installing a gate dislocation recognition signpost 4 and a video processing terminal 3, and calculating initial first pixel differences between a first characteristic color rectangle 5 and a video image center position pixel and initial second pixel differences between a second characteristic color rectangle 6 and a video image center position pixel in a video image of a gate initial position.
And step two, performing image preprocessing on the real-time video image acquired in the video processing terminal 3. Since the identification process of the signboards and the two-dimensional codes is easily affected by environmental factors and is difficult to identify, preprocessing is often required to improve image quality and identify the environment.
1. Graying the image: the video image acquired in the video processing terminal 3 is subjected to graying processing and converted into a gray image.
2. Denoising: the influence of noise can lead to inaccurate feature positioning of the two-dimensional code and error decoding in a data stage, so that the image is denoised by adopting median filtering, and the method comprises the following specific steps: (1) traversing gray values of all pixel points in an image; (2) sorting the gray values from small to large; (3) And selecting an intermediate value of the sorting result, and taking the intermediate value as a gray value of the central pixel point of the template.
3. Distortion correction: the wide-angle camera has larger distortion, the deformation of the image is larger when the image is closer to the view angle edge, and for the image with larger distortion, the proportion relation of the features of the two-dimensional code is not regulated, and the data of the data area has no standard module size, so that the data cannot be accurately decoded. Therefore, the distortion model needs to be corrected to be an undistorted image.
4. Binarization: the maximum inter-class variance theory is adopted for binarization, and the method specifically comprises the following steps: a threshold t is set which divides one gray-scale image into two groups, one group corresponding to the target image and the other group corresponding to the background image. Assuming that the gray level of the gray level image is 0~k, T starts to take a value from 0 until k, when t=t makes the inter-class variance of the two sets of gray level values maximum and the intra-class variance minimum, the difference between the two parts of the target image and the background image is maximized, and if the threshold T at this time is taken as the binarization threshold, the best binarization effect is obtained.
Step three: if the gate misalignment identification signpost 4 is detected in the preprocessed video image, two-dimensional code identification is performed to judge whether the gate is completely closed. The method specifically comprises the following steps:
1. adopt the mode of image feature matching to detect gate dislocation discernment bill-board 4: and (4) carrying out matching degree retrieval on the pre-shot feature images of the signboards and the video images, and if the matching degree exceeds 90%, identifying the signboards 4 by gate dislocation in the video images.
2. After the gate dislocation recognition signpost 4 is detected in the video image, the two-dimensional code on the gate dislocation recognition signpost 4 is recognized and detected: and identifying the two-dimensional code information on the signpost by calling an open source dll, namely a Zxing control, and closing the gate if the two-dimensional code can be identified and the identified information is a gate centering monitoring system.
Step four: under the condition that the gate is closed, calculating the dislocation distance between the left gate 1 and the right gate 2, specifically comprising the following steps:
1. converting the RGB video frame into a video frame in an HSV format, and screening out the position of a color area to be calibrated by setting three parameter values of H (hue), S (saturation) and V (brightness). Red region values of Hmin 0, hmax 33, smin 100, smax 255, vmin 73, vmax 255; the green area value is Hmin 31, hmax 91, smin 123, smax 255, vmin 97, vmax 255, whereby the positions of the first and second characteristic color rectangles 5, 6 in the real-time video image can be detected.
2. The pixel values of the detected first characteristic color rectangle 5 and second characteristic color rectangle 6 are calculated.
The pixel values of the positions of the first feature color rectangle 5 and the second feature color rectangle 6 in the video image can be calculated at the same time when the first feature color rectangle and the second feature color rectangle are detected through the image algorithm function. And obtaining a real-time first pixel difference between the first characteristic color rectangle 5 and the pixel at the center of the video image, and a real-time second pixel difference between the second characteristic color rectangle 6 and the pixel at the center of the video image, and carrying out average value calculation on the real-time first pixel difference and the real-time second pixel difference to obtain an average value of the real-time first pixel difference and an average value of the real-time second pixel difference. Comparing the average value of the real-time first pixel difference with the average value of the real-time second pixel difference with the initial first pixel difference and the initial second pixel difference respectively, so as to judge whether the gate is dislocated or not:
if the average value of the real-time first pixel difference is equal to the initial first pixel difference and the average value of the real-time second pixel difference is equal to the initial second pixel difference, the gate is closed without dislocation;
if the real-time first pixel difference average value is not equal to the initial first pixel difference or the second pixel difference average value is not equal to the initial second pixel difference, the gate is dislocated, and the gate dislocation condition is displayed at the same time:
if the average value of the real-time first pixel difference is smaller than the initial first pixel difference and the average value of the real-time second pixel difference is larger than the initial second pixel difference, closing the gate to be misplaced, and converting the average value of the real-time first pixel difference into an actual distance value for display;
if the average value of the real-time first pixel difference is larger than the initial first pixel difference and the average value of the real-time second pixel difference is smaller than the initial second pixel difference, closing the gate to be misplaced, and converting the average value of the real-time second pixel difference into an actual distance value for displaying.
It should be noted that while the invention has been described in terms of the above embodiments, there are many other embodiments of the invention. Various modifications and variations of this invention may be apparent to those skilled in the art without departing from the spirit and scope of this invention, and it is intended to cover in the appended claims all such modifications and variations as fall within the true scope of this invention.
Claims (8)
1. The gate dislocation detection method is characterized by comprising the following steps of:
performing image preprocessing on real-time video images acquired by a video processing terminal, wherein the video processing terminal is arranged on a gate on one side;
calculating a real-time first pixel difference mean or a real-time second pixel difference mean in response to the shutter having closed; the real-time first pixel difference average value is the average value of the pixel differences between the first characteristic color rectangle and the reference position in the real-time video image, and the real-time second pixel difference average value is the average value of the pixel differences between the second characteristic color rectangle and the reference position; the first characteristic color rectangle and the second characteristic color rectangle are both positioned on the gate dislocation identification signpost arranged on the gate on the other side;
the determination that the shutter has been closed includes the steps of:
carrying out gate dislocation recognition on the image subjected to image pretreatment;
if the gate dislocation recognition signpost is recognized, recognizing the two-dimensional code on the gate dislocation recognition signpost;
if the identified two-dimensional code information is preset two-dimensional code information, judging that the gate is closed;
if the real-time first pixel difference average value is not equal to the initial first pixel difference or the second pixel difference average value is not equal to the initial second pixel difference, judging that the gate is dislocated; the initial first pixel difference is the pixel difference between a first characteristic color rectangle on the gate dislocation identification sign board and a reference position pixel of the video image in the video image of the gate fully closed initial position, and the initial second pixel difference is the pixel difference between a second characteristic color rectangle and the reference position pixel.
2. The gate misalignment detection method according to claim 1, characterized in that: the image preprocessing comprises image graying, denoising and distortion correction are carried out on the image by adopting median filtering, and binarization is carried out by adopting a maximum inter-class variance theory.
3. The gate misalignment detection method according to claim 1, characterized in that: and identifying the gate dislocation identification signpost by adopting an image feature matching method.
4. The gate misalignment detection method according to claim 1, characterized in that: the calculating the real-time first pixel difference average value and the real-time second pixel difference average value comprises the following steps:
converting the RGB video frame into a video frame in an HSV format, and detecting the positions of the first characteristic color rectangle and the second characteristic color rectangle in the real-time video image by setting three parameter values of hue, saturation and brightness of corresponding colors of the first characteristic color rectangle and the second characteristic color rectangle;
the method comprises the steps that when a first characteristic color rectangle and a second characteristic color rectangle are detected through an image algorithm function, pixel values of positions of the first characteristic color rectangle and the second characteristic color rectangle in a video image are calculated;
thereby obtaining a real-time first pixel difference between the first characteristic color rectangle and the reference position pixel of the video image, and a real-time second pixel difference between the second characteristic color rectangle and the center position pixel of the video image; and carrying out average value calculation on the real-time first pixel difference and the real-time second pixel difference to obtain an average value of the real-time first pixel difference and an average value of the real-time second pixel difference.
5. The gate misalignment detection method according to claim 4, wherein: the reference position pixel of the video image is a center position pixel of the video image, the first characteristic color rectangle is red, and the second characteristic color rectangle is green.
6. The gate misalignment detection method according to claim 1, characterized in that: the method further comprises the step of calculating and displaying the dislocation distance after the gate is dislocated, and specifically comprises the following steps:
if the average value of the real-time first pixel difference is smaller than the initial first pixel difference and the average value of the real-time second pixel difference is larger than the initial second pixel difference, closing the gate to be misplaced, and converting the average value of the real-time first pixel difference into an actual distance value through calculation and displaying the actual distance value;
if the average value of the real-time first pixel difference is larger than the initial first pixel difference and the average value of the real-time second pixel difference is smaller than the initial second pixel difference, closing the gate to be misplaced, and converting the average value of the real-time second pixel difference into an actual distance value through calculation and displaying.
7. Gate dislocation detecting system, its characterized in that: the gate dislocation detection method for realizing any one of claims 1 to 6 comprises a video processing terminal, a gate dislocation identification sign board, a video image preprocessing module, a two-dimensional code identification module and a gate dislocation judging module; the video processing terminal and the gate dislocation recognition signpost are respectively arranged on the left gate and the right gate, and the gate dislocation recognition signpost comprises a mark two-dimensional code, a first characteristic color rectangle and a second characteristic color rectangle; the video processing terminal is used for collecting and storing video images and sending the video images to the video image preprocessing module; the video image preprocessing module is used for receiving video images of the video processing terminal and preprocessing the video images; the two-dimensional code identification module is used for identifying the two-dimensional code in the preprocessed video image; the gate dislocation judging module is used for judging gate dislocation in the video image.
8. The gate misalignment detection system of claim 7 wherein: the system also comprises a gate dislocation calculating module and a display module, wherein the gate dislocation calculating module is used for calculating the gate dislocation distance, and the display module is used for displaying gate dislocation and gate dislocation distance.
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| PCT/CN2021/120127 WO2022105420A1 (en) | 2020-11-23 | 2021-09-24 | Lock gate misalignment detection method and detection system |
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| CN112580432B (en) * | 2020-11-23 | 2023-09-22 | 江苏省新通智能交通科技发展有限公司 | Gate dislocation detection method and detection system |
| CN113902072A (en) * | 2021-09-30 | 2022-01-07 | 广州中爆数字信息科技股份有限公司 | Method and device for detecting warehouse door state by two-dimensional code, computer equipment and medium |
| WO2023070456A1 (en) * | 2021-10-28 | 2023-05-04 | 深圳真伊科技有限公司 | Garage door state monitoring method and system, monitoring device, and storage medium |
| US11776381B1 (en) | 2022-06-08 | 2023-10-03 | Ironyun Inc. | Door status detecting method and door status detecting device |
| CN115840415A (en) * | 2022-11-18 | 2023-03-24 | 河海大学 | Miter gate dislocation intelligent supervision system |
| CN116147536B (en) * | 2023-04-19 | 2023-08-01 | 江苏省新通智能交通科技发展有限公司 | Gate dislocation monitoring system based on laser |
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| CN111382680A (en) * | 2020-02-26 | 2020-07-07 | 浙江大华技术股份有限公司 | Gate monitoring method, terminal and computer readable storage medium |
| CN111401284A (en) * | 2020-03-23 | 2020-07-10 | 武汉大学 | Door opening and closing state identification method based on image processing |
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| WO2022105420A1 (en) | 2022-05-27 |
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