CN112669497A - Pedestrian passageway perception system and method based on stereoscopic vision technology - Google Patents
Pedestrian passageway perception system and method based on stereoscopic vision technology Download PDFInfo
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Abstract
The invention discloses a pedestrian passageway perception system based on a stereoscopic vision technology, which comprises gate equipment, intelligent visual security inspection equipment, a stereoscopic vision camera and a background system, wherein the gate equipment is connected with the intelligent visual security inspection equipment; the stereoscopic vision camera is arranged above the gate equipment; the gate equipment comprises a body, an identity verification unit, a main control board, a channel controller, a servo motor and a swing door plate. The wide-angle stereoscopic vision camera arranged on the top of the gate channel monitors passers and objects in the channel, and the attribute and position information of the passers or the objects in the channel is judged by adopting the stereoscopic vision-based image processing technology, so that the passing logic judgment is realized. Through image recognition technology, detect and not wear the gauze mask, carry the passer that luggage did not carry out the security check to with the linkage of intelligent vision security check machine, and then solved that equipment is bulky, detect accurate, detection efficiency is high inadequately problem inadequately, carry children or luggage to adult, provide more humanized service to different current scenes such as adult, adult.
Description
Technical Field
The invention relates to a channel perception system, in particular to a pedestrian channel perception system and method based on a stereoscopic vision technology.
Background
The gate device is used as an intelligent terminal and widely applied to many places such as office buildings, schools, factories, subways, high-speed rails, airports, tourist attractions and the like, so that some key accesses are controlled. At present, the floodgate machine that uses usually adopts direct current motor to drive the door plant and rotates, and is current through many pairs of photoelectricity correlation sensor monitoring personnel, and wherein, the direct circular telegram of transmitting end sensor sends the light beam, and receiving end sensor accepts the light beam, and when passerby got into the passageway, the light beam was because of being sheltered from and makes receiving end sensor signal of telecommunication change, and equipment is according to the signal of telecommunication change, judges passerby's position in the passageway.
However, the photoelectric correlation sensor pass logic gate has the following major disadvantages. Firstly, the volume of the gate is limited by the number and distribution intervals of the sensors and cannot be reduced, particularly, the length of the gate body is difficult to shorten, and the hardware cost is high; secondly, targets such as adults, children and luggage cannot be accurately identified, so that the conditions that opening and closing are repeated, or the children cannot pass through the targets when the adults pass through the targets, the luggage is blocked and the like can occur; thirdly, the false alarm rate of the anti-trailing mechanism of the traffic counting mode is high, and for example, the actions of dragging luggage or leading children to pass through a gate and the like can cause alarm; finally, passers who do not wear the mask and carry luggage and do not perform security check need manual screening by workers, and in a scene with large passenger flow, the security check accuracy is not high and the working efficiency is low.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide a pedestrian passageway perception system based on a stereoscopic vision technology, which can accurately detect; a second object of the invention is to provide a method of operation of such a pedestrian passageway awareness system.
The technical scheme is as follows: the pedestrian passageway perception system based on the stereoscopic vision technology comprises gate equipment, intelligent visual security inspection equipment, a stereoscopic vision camera and a background system; the stereoscopic vision camera is arranged above the gate equipment; the gate device comprises a body, an identity verification unit, a main control board, a channel controller, a servo motor and a swing door plate, wherein the main control board is respectively connected with the intelligent visual security inspection device, the stereoscopic vision camera, the background system, the channel controller, the servo controller and the swing door plate; the identity authentication unit is in communication connection with the background system.
Furthermore, the stereoscopic vision camera is composed of at least two miniature cameras which are horizontally arranged from left to right.
Furthermore, the main control board is provided with a GPIO port, a CAN bus interface, an Ethernet interface and a serial communication interface.
Further, the identity authentication unit adopts one or more combinations of a face recognizer, an RFID card reader and a two-dimensional code recognizer.
Further, the identity authentication unit is in communication connection with the background system through 5G transmission.
Furthermore, the channel controller is connected with the main control board through an RS-232 interface; and the channel controller is connected with the servo controller through an RS-485 interface.
Furthermore, the servo controller is an EPS2408-AD-R-N-T servo controller; the servo motor is the servo motor with the model number of EBS57R-130A-26CP4Q-A3 JL-S0-00.
Furthermore, an internet of things middleware is arranged on the main control board and is connected with the channel controller through an RS-232 interface.
Furthermore, the intelligent visual security inspection equipment is connected with the main control board through an RS-232 interface.
The invention relates to an operation method of a pedestrian passageway perception system based on a stereoscopic vision technology, which comprises the following steps:
(1) logging in a stereoscopic vision camera through software, acquiring a video stream in a channel, and performing frame extraction, decoding and format conversion to finally obtain continuous frame images in an RGB format;
(2) shooting an image in an unmanned traffic state by an overhead stereoscopic vision camera, and updating a background image by adopting a Gaussian background modeling method;
(3) detecting whether the passer carries the carry-on baggage or not and whether the passer wears a mask or not through an image recognition algorithm;
(4) the top parts of the left and right machine bodies of the gate are respectively provided with a face recognition terminal which is respectively used for identity verification in the entering and exiting directions; for passers without carry-on luggage, carrying out face recognition through a face recognition terminal, receiving and processing a face recognition verification message by algorithm software, authorizing the opening of a gate door plate for a white list user, and sending user passing information to a supporting platform of a background system; for the situation that the security inspection does not pass, the gate machine sends out an alarm command, and the signal lamp flickers;
(5) extracting images in a channel shot by a stereoscopic vision camera in real time, and sequentially carrying out graying, denoising, background difference, binarization, morphological processing, connected domain segmentation, connected domain screening and connected domain number judgment on the images;
(6) and 5, judging that the pedestrian passes through the scene if the number of the connected domains is single according to the result of the step 5, calculating the three-dimensional coordinates of the target, and controlling the gate swing door to be closed timely when the horizontal position of the passerby reaches the safe region. If a plurality of targets appear in the detection process, the monocular detection mode is autonomously switched to the binocular detection mode;
(7) according to the result of the step 5, if the number of the connected domains is multiple, a binocular detection mode is always adopted, the height information and the three-dimensional coordinates of the target corresponding to each connected domain are calculated according to a parallax principle and by combining a triangulation method, the characteristics of the connected domains such as size and shape are extracted, classification and identification are carried out, and whether the traffic scene is an adult carrying child or an article is judged;
(8) according to the result of the step 7, if the scene is that an adult carries children or articles, the position change of each target is tracked in real time, and when the targets corresponding to all connected domains reach a safe region, the gate board is controlled to be closed;
(9) according to the result of the step 7, if more than two adults exist in the passing scene, trailing and other fraudulent behaviors exist, and at the moment, a trailing alarm command is sent;
(10) the channel controller acquires state information of each part of the gate equipment, normal or failure data of each part are sent to the background system through the main control board, and the background system pushes the state information of the equipment to a mobile phone terminal of maintenance personnel through an external network.
Has the advantages that: compared with the prior art, the invention has the following remarkable advantages:
(1) according to the invention, through the single-binocular mode autonomous switching detection technology, the detection rate in a single-person passing scene which accounts for a great proportion of actual application scenes is improved, the gate fan door is closed at a proper moment, the passing efficiency is improved, the redundant time is reduced, and trailing is effectively prevented.
(2) Under the situation of epidemic prevention normality, can accurately detect whether passerby wears the gauze mask, whether will carry on safety inspection with luggage to link with intelligent vision security check machine, the restriction does not accord with the personnel of safety inspection requirement current, has saved the manpower, has improved the accuracy and the efficiency of safety inspection.
(3) Through an image processing technology and a pattern recognition algorithm, more humanized services are provided for different passing scenes such as adults, children carried by adults, personal belongings carried by adults and the like, and the problems that the traditional gate equipment is inaccurate in detection and not high in safety are solved.
(4) The perception of the channel state is realized through the stereoscopic vision camera, and an infrared sensor array which is used for perceiving the traffic state traditionally is replaced, so that the size of the gate is reduced, the hardware cost is greatly reduced, and the appearance is more modern.
(5) And through identity authentication, authorizing a white list user to pass through a gate, and establishing a user information management system by combining a big data analysis technology according to various data such as user information, traffic records, people flow and the like.
(6) The real-time state information of the equipment is sent to an operation and maintenance system through the Internet of things technology and the 5G transmission technology, an equipment state detection model is established, and the fault information of the equipment is pushed to maintenance personnel, so that the equipment is convenient to maintain in time.
Drawings
FIG. 1 is a schematic block diagram of the system of the present invention;
FIG. 2 is a front view of the apparatus of the present invention;
FIG. 3 is a side view of the apparatus of the present invention;
FIG. 4 is a block diagram of the inside of the apparatus of the present invention;
FIG. 5 is a flow chart of traffic status detection within a lane;
FIG. 6 is a flow chart of the autonomous handover detection in monocular and binocular modes;
FIG. 7 is a three-dimensional visual positioning model;
FIG. 8 is a flow chart of a passer or object three-dimensional coordinate calculation;
FIG. 9 is a schematic diagram of a channel controller circuit;
FIG. 10 is a schematic diagram of a control board circuit of the Internet of things;
fig. 11 is a flowchart of the determination of the attribute of the passer or object.
Detailed Description
The technical scheme of the invention is further explained by combining the attached drawings.
As shown in fig. 2, the pedestrian passageway perception system based on the stereoscopic vision technology of the present invention includes a gate device, an intelligent visual security inspection device, a stereoscopic vision camera and a background system; the stereoscopic vision camera is arranged above the gate equipment; the gate device comprises a body, an identity verification unit, a main control board, a channel controller, a servo motor and a swing door plate, wherein the main control board is respectively connected with the intelligent visual security inspection device, the stereoscopic vision camera, the background system, the channel controller, the servo controller and the swing door plate; the identity authentication unit is in communication connection with the background system.
The gate main control board is used as a core control unit of the gate device, is realized by adopting an industrial control main board and is provided with a GPIO port, a CAN bus interface, an Ethernet interface and a plurality of serial communication interfaces, and the identity verification unit is connected with the gate main control board through the GPIO port and is used for sending a verification authorization signal to the gate main control board; the stereoscopic vision module is connected with the gate main control board through the Ethernet and the switch and used for sending the acquired video stream to the gate main control board through the network for analysis and processing; the CAN bus interface of the gate main control board is connected with the two gate mechanisms, and parameter configuration and command control are carried out on the gate mechanisms through the bus. In this example, a master control board of model number Hongshided HSD-3760U was used.
The gate mechanism controls the opening and closing actions of the gate according to a bus command issued by the upper computer, so that blocking or passing of passers is realized, and intelligent management and control and safety precaution of the entrance and exit are realized.
The identity verification unit can adopt one or more combinations of a face recognizer, an RFID card reader and a two-dimensional code recognizer for recognizing the identity of a person; the identity verification unit is connected with the background user information management system through 5G transmission, compares and verifies the identity of the person passing through according to a white list library issued by the background user information management system, and sends an authorization signal to the gate main control board through an output interface of the identity verification unit after the verification is passed. For example, the identity verification unit may employ a face recognizer of model PME-820D.
As shown in fig. 6 and 7, the stereoscopic vision module is composed of at least two micro-cameras, is installed on the top of the gate, monitors the state inside the gate channel from top to bottom (as shown in fig. 2), and sends the video stream to the gate main control board through the switch. The gate main control board is internally provided with a stereoscopic vision algorithm, can detect data such as target attributes and real-time coordinates passing through the channel and control the gate to carry out correct processing actions according to the behavior of the target in the channel. In this embodiment, a miniature video camera of Haekwover model number DS-2CD6425FWD-10(B) is used.
The channel controller is connected with the main control board through RS-232, receives and processes target position information in the channel sent by the main control board, is connected with the servo controller, the buzzer, the indicator light and the like through RS-485, and sends commands of opening and closing a door, alarming and the like. In this example, a channel controller of Nanjing panda model Radar-IOCB-V1.0 is used.
The servo controller and the servo motor module are connected with the channel logic controller through RS-485, and the servo motor is controlled to rotate in a communication mode, so that the coupler is driven to drive the gate plate to act, real-time states such as in-place door opening and in-place door closing are returned, and an emergency stop instruction is sent to control the clutch under abnormal conditions. In the embodiment, a Shenzhen Jia Yi servo controller with model number EPS2408-AD-R-N-T and a Shenzhen Jia Yi servo motor with model number EBS57R-130A-26CP4Q-A3JL-S0-00 are adopted.
The Internet of things middleware is connected with the channel controller through RS-232, component state information sent by the channel controller is obtained, and data are sent to the operation and maintenance supporting platform in a 5G transmission mode of the Internet of things. In the embodiment, an Internet of things middleware with the Nanjing panda model of PME-950A-G is adopted.
The intelligent visual security inspection equipment is connected with the main control board through RS-232, the detection result of the luggage is transmitted, the gate swing door is authorized to be opened for passers who pass the security inspection, and an alarm command is sent for passers who do not pass the security inspection. In this embodiment, an 8065 type intelligent vision x-ray security check machine is adopted in Shenzhen.
As shown in fig. 4, the pedestrian passageway perception system and method based on the stereoscopic vision technology of the present invention includes the following steps:
And 2, acquiring a background image. The overhead wide-angle stereoscopic vision camera shoots images in an unmanned traffic state, and a Gaussian background modeling method is adopted to update background images.
And 3, detecting whether the passer carries the portable luggage and whether the passer wears a mask or not through an image recognition algorithm.
And step 4, authorizing the swing door of the gate to be opened. And the top parts of the left and right machine bodies of the gate are respectively provided with a face recognition terminal which is respectively used for identity verification in the entering and exiting directions. And for passers without carry-on luggage (not carrying or placing a security inspection channel), carrying out face identification through a face identification terminal, receiving and processing a face identification verification message by algorithm software, opening a gate of a white list user authorization gate, and sending user passing information to a support platform. And for the situation that the security inspection does not pass, the gate machine sends out an alarm command, and the signal lamp flickers.
And 5, judging the number of targets in the channel. Extracting images in the channel shot by the left camera and the right camera in real time, and carrying out image processing according to the following steps: (1) graying, namely converting a background image and a current frame image of a left camera and a right camera in an RGB format into a single-channel grayscale image by adopting a weighted average method; (2) denoising, namely removing small noise points of the background gray level images and the current frame gray level images of the left camera and the right camera by adopting median filtering; (3) background difference, namely, carrying out difference on the gray level images of the current frames of the left camera and the right camera and the background gray level image to obtain a difference image; (4) binaryzation, namely extracting potential target areas in the difference images of the left camera and the right camera by adopting an OSTU method; (5) performing morphological processing, namely performing expansion and corrosion processing on the images subjected to binarization by the left camera and the right camera, filling fine holes in the areas, and smoothing the boundaries; (6) dividing connected domains, and marking the connected domains of the targets in the left camera image and the right camera image by adopting a Canny edge detection algorithm; (7) screening connected domains, namely removing some non-target connected domains according to the characteristics of the size, the central pixel coordinate and the like of the connected domains; (8) and judging the number of connected domains, dividing the passers or the objects in the channel into independent connected domains through the series of image processing operations, and counting the number of the connected domains.
When the horizontal position of the passer is detected to reach a safe area (the area where the personnel cannot be impacted due to the movement of the swing door), the gate swing door is controlled to be closed timely. And if a plurality of targets appear in the detection process, the monocular detection mode is autonomously switched to the binocular detection mode.
And 7, according to the result of the step 5, if a plurality of connected domains are detected, always adopting a binocular detection mode (as shown in fig. 6). And respectively calculating the central image coordinates of each connected domain in the analysis image of the connected domain of the left camera, matching the central image coordinates of the connected domain of the target corresponding to the right camera, calculating the height information and the three-dimensional coordinates of the target corresponding to each connected domain according to a parallax principle and by combining a triangulation method, extracting the characteristics of the size, the shape and the like of the connected domains, carrying out classification and identification, and judging whether the traffic scene is an adult carrying children or articles.
And 8, according to the result of the step 7, if the scene is a scene in which the adult carries children or articles, the position change of each target is tracked in real time, and when the targets corresponding to all connected domains reach a safe region, the closing of the gate machine swing door is controlled.
And 9, according to the result of the step 7, if more than two adults exist in the passing scene, trailing and other fraudulent behaviors exist, and at the moment, a trailing alarm command is sent.
And step 10, the channel logic controller acquires state information of all parts of the gate equipment, normal or failure data of all the parts are sent to an operation and maintenance system background through the Internet of things circuit board, and the operation and maintenance system background pushes the state information of the equipment to a mobile phone terminal of a maintenance worker through an external network.
Claims (10)
1. A pedestrian passageway perception system based on a stereoscopic vision technology is characterized by comprising gate equipment, intelligent visual security inspection equipment (9), a stereoscopic vision camera (2) and a background system; the stereoscopic vision camera (2) is arranged above the gate equipment; the gate equipment comprises a body (1), an identity verification unit, a main control board (10), a channel controller (4), a servo controller (3), a servo motor (6) and a swing door panel (7), wherein the main control board is respectively connected with intelligent visual security inspection equipment (9), a stereoscopic vision camera (2), a background system, the channel controller (4), the servo controller (3) and the swing door panel (7); the identity authentication unit is in communication connection with the background system.
2. The pedestrian passageway perception system based on stereoscopic vision technology according to claim 1, wherein the stereoscopic vision camera (2) is composed of at least two miniature cameras.
3. The pedestrian channel perception system based on the stereoscopic vision technology as claimed in claim 1, wherein the main control board (10) is provided with a GPIO port, a CAN bus interface, an ethernet interface and a serial communication interface.
4. The pedestrian passageway perception system based on stereoscopic vision technology of claim 1, wherein the authentication unit employs one or more combinations of a face recognizer, an RFID card reader, and a two-dimensional code recognizer.
5. The pedestrian passageway perception system based on the stereoscopic vision technology as claimed in claim 1 or 4, wherein the authentication unit is in communication connection with the background system through 5G transmission.
6. The pedestrian passageway perception system based on the stereoscopic vision technology as claimed in claim 1, wherein the passageway controller (4) is connected with the main control board through an RS-232 interface; the channel controller (4) is connected with the servo controller (3) through an RS-485 interface.
7. The pedestrian channel perception system based on stereoscopic vision technology as claimed in claim 1, wherein the servo controller (3) is a servo controller of type EPS 2408-AD-R-N-T; the servo motor (6) is a servo motor with the model number of EBS57R-130A-26CP4Q-A3 JL-S0-00.
8. The pedestrian passageway sensing system based on the stereoscopic vision technology as claimed in claim 1, wherein an internet of things middleware is provided on the main control board, and the internet of things middleware is connected with the passageway controller (4) through an RS-232 interface.
9. The pedestrian passageway perception system based on the stereoscopic vision technology as claimed in claim 1, wherein the intelligent visual security inspection device (9) is connected with the main control board through an RS-232 interface, and the intelligent visual security inspection device (9).
10. The method of claim 1 for operating the pedestrian passageway perception system based on stereoscopic vision technology, comprising the steps of:
(1) logging in a stereoscopic vision camera through software, acquiring a video stream in a channel, and performing frame extraction, decoding and format conversion to finally obtain continuous frame images in an RGB format;
(2) shooting an image in an unmanned traffic state by an overhead stereoscopic vision camera, and updating a background image by adopting a Gaussian background modeling method;
(3) detecting whether the passer carries the carry-on baggage or not and whether the passer wears a mask or not through an image recognition algorithm;
(4) the top parts of the left and right machine bodies of the gate are respectively provided with a face recognition terminal which is respectively used for identity verification in the entering and exiting directions; for passers without carry-on luggage, carrying out face recognition through a face recognition terminal, receiving and processing a face recognition verification message by algorithm software, authorizing the opening of a gate door plate for a white list user, and sending user passing information to a supporting platform of a background system; for the situation that the security inspection does not pass, the gate machine sends out an alarm command, and the signal lamp flickers;
(5) extracting images in a channel shot by a stereoscopic vision camera in real time, and sequentially carrying out graying, denoising, background difference, binarization, morphological processing, connected domain segmentation, connected domain screening and connected domain number judgment on the images;
(6) and 5, judging that the pedestrian passes through the scene if the number of the connected domains is single according to the result of the step 5, calculating the three-dimensional coordinates of the target, and controlling the gate swing door to be closed timely when the horizontal position of the passerby reaches the safe region. If a plurality of targets appear in the detection process, the monocular detection mode is autonomously switched to the binocular detection mode;
(7) according to the result of the step 5, if the number of the connected domains is multiple, a binocular detection mode is always adopted, the height information and the three-dimensional coordinates of the target corresponding to each connected domain are calculated according to a parallax principle and by combining a triangulation method, the characteristics of the connected domains such as size and shape are extracted, classification and identification are carried out, and whether the traffic scene is an adult carrying child or an article is judged;
(8) according to the result of the step 7, if the scene is that an adult carries children or articles, the position change of each target is tracked in real time, and when the targets corresponding to all connected domains reach a safe region, the gate board is controlled to be closed;
(9) according to the result of the step 7, if more than two adults exist in the passing scene, trailing and other fraudulent behaviors exist, and at the moment, a trailing alarm command is sent;
(10) the channel controller acquires state information of each part of the gate equipment, normal or failure data of each part are sent to the background system through the main control board, and the background system pushes the state information of the equipment to a mobile phone terminal of maintenance personnel through an external network.
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