CN113299024A - Road operation safety protection system and method based on automatic perception - Google Patents
Road operation safety protection system and method based on automatic perception Download PDFInfo
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- CN113299024A CN113299024A CN202110356396.3A CN202110356396A CN113299024A CN 113299024 A CN113299024 A CN 113299024A CN 202110356396 A CN202110356396 A CN 202110356396A CN 113299024 A CN113299024 A CN 113299024A
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B13/00—Burglar, theft or intruder alarms
- G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
- G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
- G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
- G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B13/00—Burglar, theft or intruder alarms
- G08B13/22—Electrical actuation
- G08B13/24—Electrical actuation by interference with electromagnetic field distribution
- G08B13/2491—Intrusion detection systems, i.e. where the body of an intruder causes the interference with the electromagnetic field
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
- G08G1/0175—Detecting movement of traffic to be counted or controlled identifying vehicles by photographing vehicles, e.g. when violating traffic rules
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/042—Detecting movement of traffic to be counted or controlled using inductive or magnetic detectors
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/056—Detecting movement of traffic to be counted or controlled with provision for distinguishing direction of travel
Abstract
The invention discloses a road operation safety protection system based on automatic perception, which comprises a radar module arranged at a detection point and used for acquiring a radar feedback signal in the emission direction of an electromagnetic wave detection signal and calculating and generating distance, speed and direction information of a moving object; the camera module is arranged at the detection point and is used for acquiring video signals; and the main control module is in communication connection with the radar module and the camera module and is used for adjusting the postures of the radar module and the camera module to perform lane recognition and traffic incident prediction. The invention can improve the defects of the prior art and improve the early warning accuracy.
Description
Technical Field
The invention relates to the technical field of road operation safety protection, in particular to a road operation safety protection system and method based on automatic sensing.
Background
In order to practically ensure the personal safety of road workers in an operation area, stop accidental casualty accidents and improve the safety of construction operation, high and new technical equipment is utilized to carry out safety monitoring and danger early warning on an operation closed area, and the popularization is started. However, in order to ensure the timeliness of the early warning, the existing protection early warning system does not have sufficient time to accurately analyze the early warning target, which leads to poor early warning accuracy and higher occurrence probability of false alarm.
Disclosure of Invention
The invention aims to provide a road operation safety protection system and method based on automatic sensing, which can overcome the defects of the prior art and improve the early warning accuracy.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows.
An automatic perception-based road operation safety protection system comprises:
the radar module is arranged at the detection point and used for acquiring radar feedback signals in the emission direction of the electromagnetic wave detection signals and calculating and generating distance, speed and direction information of the moving object;
the camera module is arranged at the detection point and is used for acquiring video signals;
and the main control module is in communication connection with the radar module and the camera module and is used for adjusting the postures of the radar module and the camera module to perform lane recognition and traffic incident prediction.
A protection method of the road operation safety protection system based on automatic perception comprises the following steps:
A. the radar module acquires distance, speed and direction information of a moving object; the camera module shoots an image of a moving object;
B. the main control module identifies the vehicle according to the moving object image acquired by the camera module;
C. b, the main control module carries out lane recognition on the vehicle recognized in the step B;
D. the main control module pre-judges the vehicles in the set early warning lane according to the output information of the radar module and the camera module, and sends out early warning if the speed and the distance meet the early warning conditions.
Preferably, the identifying the vehicle in step B includes the steps of,
b1, cutting the outline area of the moving object in the image;
and B2, comparing the vehicle characteristic templates stored in the database in the outline area to realize vehicle identification.
Preferably, in step B2, the comparison process includes the steps of,
b21, assigning a weight value to each vehicle characteristic template;
b22, when the vehicle feature template is used for comparison, the similarity of the vehicle feature template and the corresponding position of the outline area is multiplied by the weight value of the vehicle feature template to obtain the comparison result of the vehicle feature template, and if the similarity is lower than 50%, the comparison result is deleted;
b23, adding all the comparison results to obtain a judgment weight value; and if the weight value is larger than the preset weight value, determining that the moving object is a vehicle, otherwise, determining that the moving object is not the vehicle.
Preferably, in step B22, a plurality of feature line segments are set in the vehicle feature template, and at least one intersection point exists between the feature line segments; and traversing the contour region by using the characteristic line segment, if the position with linear correlation degrees with the gray scale and the brightness of the characteristic line segment larger than a set threshold value appears in the contour region, setting a straight line which is perpendicular to the characteristic line segment and passes through the midpoint of the characteristic line segment as an axis characteristic region at the position, wherein the characteristic regions correspond to the characteristic line segments one by one, different characteristic regions are not mutually overlapped, and the average value of the similarity degrees of the corresponding regions of the characteristic regions and the vehicle characteristic template is used as the similarity degree of the corresponding position of the contour region and the vehicle characteristic template.
Preferably, in step D, the early warning condition is,
L/v＜10s
wherein L is the distance and v is the vehicle speed.
Adopt the beneficial effect that above-mentioned technical scheme brought to lie in: according to the invention, the vehicle information is rapidly and accurately acquired and analyzed by adopting a radar and camera shooting double-layer target acquisition system, so that accurate early warning information is obtained. In the process of identifying the vehicle, the vehicle characteristic template is used for identifying the vehicle, so that the calculation amount can be effectively reduced. Meanwhile, in the process of using the vehicle feature template, the feature line segments are designed, and the feature line segments are utilized to summarize the features of the vehicle feature template, so that the feature areas can be conveniently and quickly searched and compared. The innovative idea can effectively improve the efficiency of vehicle identification, thereby effectively eliminating false alarms caused by non-vehicle moving objects.
Drawings
FIG. 1 is a schematic diagram of one embodiment of the present invention.
Detailed Description
Referring to fig. 1, one embodiment of the present invention includes,
the radar module 1 is arranged at the detection point and used for acquiring radar feedback signals in the emission direction of the electromagnetic wave detection signals and calculating and generating distance, speed and direction information of the moving object;
the camera module 2 is arranged at the detection point and is used for acquiring video signals;
and the main control module 3 is in communication connection with the radar module 1 and the camera module 2 and is used for adjusting the postures of the radar module 1 and the camera module 2 to recognize lanes and predict traffic events.
A protection method of the road operation safety protection system based on automatic perception comprises the following steps:
A. the radar module 1 acquires distance, speed and azimuth information of a moving object; the camera module 2 captures an image of a moving object;
B. the main control module 3 identifies the vehicle according to the moving object image acquired by the camera module 2;
C. the main control module 3 carries out lane recognition on the vehicle recognized in the step B;
D. the main control module 3 pre-judges the vehicles in the set early warning lane according to the output information of the radar module 1 and the camera module 2, and sends out early warning if the speed and the distance meet the early warning conditions.
In step B, identifying the vehicle comprises the steps of,
b1, cutting the outline area of the moving object in the image;
and B2, comparing the vehicle characteristic templates stored in the database in the outline area to realize vehicle identification.
In step B2, the comparison process includes the following steps,
b21, assigning a weight value to each vehicle characteristic template;
b22, when the vehicle feature template is used for comparison, the similarity of the vehicle feature template and the corresponding position of the outline area is multiplied by the weight value of the vehicle feature template to obtain the comparison result of the vehicle feature template, and if the similarity is lower than 50%, the comparison result is deleted;
b23, adding all the comparison results to obtain a judgment weight value; and if the weight value is larger than the preset weight value, determining that the moving object is a vehicle, otherwise, determining that the moving object is not the vehicle.
In the step B22, a plurality of feature line segments are arranged in a vehicle feature template, and at least one intersection point exists between the feature line segments; and traversing the contour region by using the characteristic line segment, if the position with linear correlation degrees with the gray scale and the brightness of the characteristic line segment larger than a set threshold value appears in the contour region, setting a straight line which is perpendicular to the characteristic line segment and passes through the midpoint of the characteristic line segment as an axis characteristic region at the position, wherein the characteristic regions correspond to the characteristic line segments one by one, different characteristic regions are not mutually overlapped, and the average value of the similarity degrees of the corresponding regions of the characteristic regions and the vehicle characteristic template is used as the similarity degree of the corresponding position of the contour region and the vehicle characteristic template.
In the step D, the early warning condition is that,
L/v＜10s
wherein L is the distance and v is the vehicle speed.
The invention is composed of array wide-area long-distance multi-target tracking radar cameras as a core and accessory equipment, adopts a three-dimensional space microwave detection technology as a detection means, improves the accuracy of vehicle detection, realizes the function of actively monitoring the motion state of vehicles in a road closed operation area and a warning area, can detect the information of three-dimensional coordinates, speed, distance and the like of vehicles intruding into the operation and warning area in real time, is not influenced by weather, light and climate change, and can immediately and automatically alarm once vehicles intrude.
The traffic incident is predicted through the traffic incident prediction method, so that accidents can be prevented, and when the accidents happen, the accidents can be detected and confirmed at the first time through the information and rescue workers, and early warning information is issued in time to prevent secondary accidents from happening.
The invention can also be used for indicating the boundary warning of the boundary of the operation area, wherein the operation area is an area where vehicles are forbidden to pass through, and the non-operation area is an area where vehicles can pass through; judging whether the coordinates of the vehicle are close to the operation area or not, and if so, sending a warning signal; sending a first starting signal to the boundary warning device after responding to the warning signal; the boundary warning device responds to the first starting signal and indicates the boundary of the working area so as to warn a vehicle driver to pay attention to speed reduction and avoid the working area.
The wireless communication equipment is carried by the operator, the alarm signal is automatically received, and the self-adaption and self-networking functions are realized, so that the mutual connection and intercommunication between the portable equipment and the field monitoring equipment can be automatically realized when the operator works in different working areas, and the early warning information can be timely transmitted to each operator on site.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (6)
1. A road operation safety protection system based on automatic perception is characterized by comprising:
the radar module (1) is arranged at the detection point and used for acquiring radar feedback signals in the emission direction of the electromagnetic wave detection signals and calculating and generating distance, speed and direction information of the moving object;
the camera module (2) is arranged at the detection point and is used for acquiring video signals;
and the main control module (3) is in communication connection with the radar module (1) and the camera module (2) and is used for adjusting the postures of the radar module (1) and the camera module (2) to perform lane recognition and traffic event prediction.
2. The protection method of the road operation safety protection system based on automatic perception according to claim 1, characterized by comprising the following steps:
A. the radar module (1) acquires distance, speed and azimuth information of a moving object; the camera module (2) shoots images of moving objects;
B. the main control module (3) identifies the vehicle according to the moving object image acquired by the camera module (2);
C. the main control module (3) carries out lane recognition on the vehicle recognized in the step B;
D. the main control module (3) pre-judges the vehicles in the set early warning lane according to the output information of the radar module (1) and the camera module (2), and sends out early warning if the speed and the distance meet the early warning conditions.
3. The protection method of the road operation safety protection system based on automatic perception according to claim 2, characterized by comprising the following steps: in step B, identifying the vehicle comprises the steps of,
b1, cutting the outline area of the moving object in the image;
and B2, comparing the vehicle characteristic templates stored in the database in the outline area to realize vehicle identification.
4. The protection method of the road operation safety protection system based on automatic perception according to claim 3, characterized by comprising the following steps: in step B2, the comparison process includes the following steps,
b21, assigning a weight value to each vehicle characteristic template;
b22, when the vehicle feature template is used for comparison, the similarity of the vehicle feature template and the corresponding position of the outline area is multiplied by the weight value of the vehicle feature template to obtain the comparison result of the vehicle feature template, and if the similarity is lower than 50%, the comparison result is deleted;
b23, adding all the comparison results to obtain a judgment weight value; and if the weight value is larger than the preset weight value, determining that the moving object is a vehicle, otherwise, determining that the moving object is not the vehicle.
5. The protection method of the road operation safety protection system based on automatic perception according to claim 4, wherein the protection method comprises the following steps: in the step B22, a plurality of feature line segments are arranged in a vehicle feature template, and at least one intersection point exists between the feature line segments; and traversing the contour region by using the characteristic line segment, if the position with linear correlation degrees with the gray scale and the brightness of the characteristic line segment larger than a set threshold value appears in the contour region, setting a straight line which is perpendicular to the characteristic line segment and passes through the midpoint of the characteristic line segment as an axis characteristic region at the position, wherein the characteristic regions correspond to the characteristic line segments one by one, different characteristic regions are not mutually overlapped, and the average value of the similarity degrees of the corresponding regions of the characteristic regions and the vehicle characteristic template is used as the similarity degree of the corresponding position of the contour region and the vehicle characteristic template.
6. The protection method of the road operation safety protection system based on automatic perception according to claim 5, wherein the protection method comprises the following steps: in the step D, the early warning condition is that,
L/v＜10s
wherein L is the distance and v is the vehicle speed.
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| CN202110356396.3A CN113299024A (en) | 2021-04-01 | 2021-04-01 | Road operation safety protection system and method based on automatic perception |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115273547A (en) * | 2022-07-26 | 2022-11-01 | 上海工物高技术产业发展有限公司 | Road anti-collision early warning system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115273547A (en) * | 2022-07-26 | 2022-11-01 | 上海工物高技术产业发展有限公司 | Road anti-collision early warning system |
| CN115273547B (en) * | 2022-07-26 | 2023-07-21 | 上海工物高技术产业发展有限公司 | Road anticollision early warning system |
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