CN114114990B - Display panel control method, system and device of high-speed police early-warning vehicle - Google Patents
Display panel control method, system and device of high-speed police early-warning vehicle Download PDFInfo
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- CN114114990B CN114114990B CN202111257049.1A CN202111257049A CN114114990B CN 114114990 B CN114114990 B CN 114114990B CN 202111257049 A CN202111257049 A CN 202111257049A CN 114114990 B CN114114990 B CN 114114990B
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
The invention relates to the technical field of auxiliary equipment of an early warning vehicle, and particularly discloses a display panel control method of a high-speed early warning vehicle for police, which comprises the steps of acquiring the relative distance between the early warning vehicle and a reference object in real time, and reading a reference image in a preset reference image library according to the relative distance; acquiring an actual image containing a reference object in real time, comparing the actual image with the reference image, and calculating the offset degree between the reference object in the actual image and the reference object in the reference image; and generating an angle adjusting instruction according to the deviation degree, and generating a height adjusting instruction according to the relative distance. The invention provides the display panel which changes according to the change of road conditions by acquiring the external image in real time, analyzing the image, generating the control instruction and further adjusting the height and the angle of the display panel; the image is used as the adjusting basis of the control instruction, the stability is higher, the practicability is strong, and the method is more suitable for the adjusting process of the display panel of the early warning vehicle.
Description
Technical Field
The invention relates to the technical field of auxiliary equipment of early warning vehicles, in particular to a display panel control method, a system and a device of an early warning vehicle for high-speed police.
Background
In the driving process on the highway, in case meet the problem, because the speed of a motor vehicle is higher, the reaction time who leaves for the driver is very short, consequently, if there is the early warning car of constantly moving, with information transfer to rear vehicle in advance, the reaction time of extension rear vehicle can effectively reduce the probability of secondary damage. The operation route of the existing early warning vehicle is generally preset, a display panel installed on the early warning vehicle is generally fixed, and the angle between the early warning vehicle and the horizontal plane is obtained by a small part of the early warning vehicle through a gyroscope so as to adjust the angle of the display panel. This can be effectual improvement display panel's reading nature, the driver of being convenient for reads early warning information.
The gyroscope is mainly composed of a rotor which is positioned at an axis and can rotate. Once the gyroscope starts to rotate, the gyroscope has a tendency of resisting direction change due to the angular momentum of the rotor, and the gyroscope also has a certain angle measurement function according to the tendency; the gyroscope is generally arranged on the early warning vehicle, the gyroscope can measure the angle between the early warning vehicle and the horizontal plane in real time, the cost and the precision of the gyroscope are high, some small jolts can be reflected on the early warning vehicle in the moving process of the early warning vehicle, and if the display panel is adjusted according to the measured value of the gyroscope, the adjusting process of the display panel is very unstable; if the stability of the display panel is required to be ensured, the early warning vehicle can only be stopped at certain point positions, and after the gyroscope is stabilized, the display panel is intermittently adjusted according to the obtained angle; conceivably, in the process, the early warning vehicle needs to be stopped at a fixed point, the display board is adjusted at the fixed point, and the motion continuity is poor.
Disclosure of Invention
The invention aims to provide a display panel control method, a system and a device of a high-speed police early-warning vehicle, which aim to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
a method for controlling a display panel of a high-speed police car, the method comprising:
acquiring a relative distance between the early warning vehicle and a reference object in real time, and reading a reference image in a preset reference image library according to the relative distance; wherein the reference image comprises a reference object;
acquiring an actual image containing a reference object in real time, comparing the actual image with the reference image, and calculating the offset between the reference object in the actual image and the reference object in the reference image;
generating an angle adjusting instruction according to the offset degree, and generating a height adjusting instruction according to the relative distance, wherein the angle adjusting instruction comprises a horizontal adjusting instruction and a vertical adjusting instruction.
As a further limitation of the technical scheme of the invention: the step of calculating the degree of displacement between the reference object in the actual image and the reference object in the reference image specifically includes:
Determining the reference object contour in the actual image and the reference image respectively;
determining a central point according to the profile of the reference object, and calculating the offset distance of the two central points in the vertical direction and the horizontal direction;
converting the offset distance into an offset degree according to the image size; wherein the degree of offset includes a vertical degree of offset and a horizontal degree of offset.
As the technical scheme of the invention is further limited: the step of determining the reference object contour in the actual image and the reference image respectively comprises the following steps:
acquiring heat source information in real time, and positioning information points according to the heat source information;
acquiring three-path waveband image data with a reference object as a center, carrying out scene registration on the three-path waveband image data, and carrying out geometric distortion correction processing on the three-path waveband image data according to the distance to obtain three-path waveband image data with the same scene; the three wave bands comprise visible light, infrared light and ultraviolet light;
and sequentially comparing the data difference value of each pixel point in the three paths of wave band image data with the same scene with a preset tolerance by taking the information point as a center, and extracting the outline of the reference object according to the comparison result.
As a further limitation of the technical scheme of the invention: the step of determining a center point according to the reference object profile specifically includes:
Reading the reference object contour, determining two pixel points with the farthest distance in the preset direction of the reference object contour, and calculating the distance of the two pixel points;
acquiring the total number of pixel points in the characteristic region, and determining the theoretical gravity center of the contour according to the total number and the distance;
continuously increasing the detection radius by taking the theoretical center of gravity as the circle center, and marking corresponding pixel points and stopping detection when pixel points exist in the detection area;
and the marked pixel point is the central point.
The technical scheme of the invention also provides a high-speed police early-warning vehicle, which comprises:
the base body is used for mounting the travelling wheel device, the horizontal angle adjusting device, the vertical angle adjusting device and the height adjusting device;
a traveling wheel device;
display panel controlling means of high-speed alert early warning car, the display panel controlling means of high-speed alert early warning car includes:
the horizontal angle adjusting device comprises a first motor and a second motor, wherein the first motor is used for receiving a horizontal adjusting instruction and generating a motor action instruction;
the vertical angle adjusting device comprises a second motor and is used for receiving a vertical adjusting instruction and generating a motor action instruction;
And the height adjusting device comprises a third motor and is used for receiving the height adjusting instruction and generating a motor action instruction.
As the technical scheme of the invention is further limited: the substrate includes:
the box body is detachably connected with the box cover; a third base is arranged on the box cover, a fourth base is arranged above the third base, and a display panel is arranged above the fourth base;
the walking wheel device is mounted on the first base; the horizontal angle adjusting device is arranged in the box body; the vertical angle adjusting device is installed between the fourth base and the third base; the height adjusting device is installed on the display panel and the fourth base.
As a further limitation of the technical scheme of the invention: the walking wheel device includes:
the bearing frame is provided with a rotating shaft, the rotating shaft is rotatably connected with the first base, and a steering device is arranged between the second base and the first base at a position corresponding to the rotating shaft;
the wheel carrier is rotationally connected to the object bearing frame, and wheels are arranged at two ends of the wheel carrier;
The horizontal angle adjusting device includes:
a first gear mounted on the first motor;
and a second gear is rotatably connected to the second base, and the second gear is meshed with the first gear.
As a further limitation of the technical scheme of the invention: the vertical angle adjusting device includes:
the second motor is arranged on the third base, and a third gear is arranged on an output shaft of the second motor;
the first limiting seat is installed on the third base, a transmission shaft is rotatably connected between the limiting seats, a fourth gear is arranged on the transmission shaft, and the fourth gear is meshed with the third gear;
the transmission gears are arranged at two ends of the transmission shaft, the fourth base is provided with a second limiting seat, and the transmission gears are matched with the second limiting seat.
As a further limitation of the technical scheme of the invention: the height adjusting device includes:
the two positioning bolts are arranged on the output shaft of the third motor, and the rotation directions of the two positioning bolts are opposite;
the two sliding blocks are connected to the fourth base in a sliding mode and matched with the positioning bolts;
The connecting rod is hinged on the sliding block, and the top end of the connecting rod is connected with the display panel in a sliding manner;
and the telescopic rod is arranged between the display panel and the third base.
The technical scheme of the invention also provides a display panel control system of the high-speed police early-warning vehicle, which is applied to a display panel control device of the high-speed police early-warning vehicle, and comprises the following components:
the control end is used for acquiring the relative distance between the early warning vehicle and a reference object in real time and reading a reference image according to the relative distance; wherein the reference image comprises a reference object; acquiring an actual image containing a reference object in real time, comparing the actual image with the reference image, and calculating the offset between the reference object in the actual image and the reference object in the reference image; generating an angle adjusting instruction according to the deviation degree, and generating a height adjusting instruction according to the relative distance, wherein the angle adjusting instruction comprises a horizontal adjusting instruction and a vertical adjusting instruction;
the execution end comprises a horizontal angle adjusting module, a vertical angle adjusting module and a height adjusting module;
The horizontal angle adjusting module is used for receiving a horizontal adjusting instruction and generating a motor action instruction;
the vertical angle adjusting module is used for receiving a vertical adjusting instruction and generating a motor action instruction;
and the height adjusting module is used for receiving the height adjusting instruction and generating a motor action instruction.
Compared with the prior art, the invention has the beneficial effects that: compared with a gyroscope, the invention generates a control instruction by acquiring an external image in real time and analyzing the image, thereby adjusting the height and the angle of the display panel; the adjusting process is extremely low in cost relative to the adjusting process based on the gyroscope; and the angle of the early warning vehicle can be adjusted in the process of continuous running, and compared with the traditional technical scheme, the method does not need to stop and adjust, and has higher continuity.
The early warning vehicle runs on the road surface, bumps with small amplitude can exist, the bumps have great influence on the gyroscope, but the effect on the image is small, the image can be blurred at most, and the blurring can be solved by some common image processing means on the premise of not requiring accuracy in the technical scheme of the invention.
In summary, the present invention provides a display panel that varies according to a change in road conditions; the image is used as the adjusting basis of the control instruction, the stability is higher, the practicability is strong, and the method is more suitable for the adjusting process of the display panel of the early warning vehicle.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention.
Fig. 1 is a flow chart showing a display panel control method of a high-speed police car.
Fig. 2 shows a first sub-flow block diagram of a display panel control method of a high-speed police car.
Fig. 3 shows a second sub-flow diagram of the display panel control method of the high-speed police car.
Fig. 4 shows a third sub-flow diagram of the display panel control method of the high-speed police car.
Fig. 5 is a schematic structural diagram showing a display panel control device of a high-speed police car.
Fig. 6 is a schematic view showing the construction of a traveling wheel device in a display panel control device of a high-speed police car.
Fig. 7 is a schematic view showing the construction of a height adjusting device in a display panel control device of a high-speed police car.
Fig. 8 shows a schematic top view of a third mount in the vertical angle adjustment device.
Fig. 9 shows a comparison diagram of an actual image and a reference image.
In the figure: 1-a first motor, 2-a second motor, 3-a third motor, 4-a first base, 5-a carrier, 6-a wheel carrier, 7-a wheel, 8-a second base, 9-a first gear, 10-a second gear, 11-a box body, 12-a box cover, 13-a height adjusting device, 14-a third gear, 15-a fourth gear, 16-a transmission gear, 17-a positioning bolt, 18-a slider, 19-a connecting rod, 20-a display plate, 21-a telescopic rod, 22-a third base, 23-a fourth base, 24-an offset distance in the vertical direction, 25-an offset distance in the horizontal direction, and 26-an offset distance in the vertical direction.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example 1
Fig. 1 is a flow chart illustrating a display panel control method of a high-speed police car, and in an embodiment of the present invention, a display panel control method of a high-speed police car is provided, where the method includes steps S100 to S300:
step S100: acquiring the relative distance between the early warning vehicle and a reference object in real time, and reading a reference image in a preset reference image library according to the relative distance; wherein the reference image comprises a reference object;
the purpose of step S100 is to obtain a reference image, for example, the warning car obtains two images, which are an image obtained at a distance of 10m from the reference object and an image obtained at a distance of 20m from the reference object, in the two images, the reference object has different proportions relative to the whole image, so if comparing with a uniform reference image, an enlargement or reduction operation is required, which may cause distortion, and the solution of the present invention to solve the problem is: the method comprises the steps of setting a plurality of reference images, namely a reference image library, sequencing the reference images based on the relative distance between the early warning vehicle and a reference object, and conceivably, the distance between the distances corresponding to the reference images is fixed, and the comparison effect is better when the number of the reference images is larger.
It should be noted that, in the embodiment of the present invention, a method for constructing a reference image library is provided: firstly, determining a patrol range, such as 100m, then determining an interval distance, and determining a sampling point according to the interval distance; the separation distance is typically relatively small and may be 20cm, and if the origin is the closest physical location to the reference, i.e. the location of the warning car as close as possible to the reference, the location of the sampling point may be 0m, 20cm, 40cm … …, and so on. And at the sampling points, ensuring that the center of the reference object is shot at the center of the image to obtain reference images, and then generating a reference image library according to the reference images.
Step S200: acquiring an actual image containing a reference object in real time, comparing the actual image with the reference image, and calculating the offset degree between the reference object in the actual image and the reference object in the reference image;
the method comprises the steps of obtaining an actual image containing a reference object, then calculating the offset degree between the reference object in the actual image and the reference object in the reference image, wherein the offset degree is the offset of a pixel point in the image, the value and an actual angle have a mapping relation, and the specific mapping relation can be determined by obtaining a plurality of samples.
Step S300: generating an angle adjusting instruction according to the offset degree, and generating a height adjusting instruction according to the relative distance, wherein the angle adjusting instruction comprises a horizontal adjusting instruction and a vertical adjusting instruction;
step S300 is an execution step of inputting the offset into the determined mapping relationship, and then outputting an angle adjustment instruction; it is worth mentioning that the relative distance is also a dependent variable, and the closer the distance to the reference object, the farther the distance from the running vehicle, the higher the height of the vehicle itself should be, so that the vehicle at a distance can be seen more easily. Of course, the rule that the closer to the reference object, the farther from the running vehicle, is established under the condition of no reverse running, and the reverse running on the highway is not allowed under the normal condition.
Fig. 2 shows a first sub-flow block diagram of a display panel control method of a high-speed police car, and the step of calculating the degree of offset between the reference object in the actual image and the reference object in the reference image specifically includes steps S201 to S203:
step S201: respectively determining the reference object contour in the actual image and the reference image;
step S202: determining a central point according to the profile of the reference object, and calculating the offset distance of the two central points in the vertical direction and the horizontal direction;
Step S203: converting the offset distance into an offset degree according to the image size; wherein the degree of offset includes a vertical degree of offset and a horizontal degree of offset.
The offset calculation process from step S201 to step S203 is a simple mathematical problem, and includes first determining the profile of the reference object, then determining the center point of the profile, and finally calculating the offset distance between the center points, where the offset distance is divided into an offset distance 24 in the vertical direction and an offset distance 25 in the horizontal direction, and on the premise of determining the center point, obtaining the offset distances in the vertical direction and the horizontal direction. The present invention will not be described in detail.
As shown in FIG. 9, an example of comparison is provided, wherein the cross-section of the reference is circular; as can be seen in the figure, the offset distance 24 in the vertical direction and the offset distance 25 in the horizontal direction and the actual offset distance 26 form a right triangle.
Fig. 3 shows a second sub-flowchart of the display panel control method of the high-speed police car, and the step of determining the reference object contour in the actual image and the reference image respectively comprises steps S2011 to S2013:
step S2011: acquiring heat source information in real time, and positioning information points according to the heat source information;
Step S2011 aims to determine a detection center, and the detection mode of the technical solution of the present invention is to diffuse outward from the center, and when the mutation point is obtained, it indicates that the reference object contour boundary is reached, and the reference object contour can be determined by extracting the points. It is worth mentioning that in the subsequent step, there is also a step of obtaining the center point from the reference object profile, and the reason why the center point is not obtained from the heat source information is that the heat source signal is often a gradual and continuous quantity, and it is difficult to determine the center thereof.
Step S2012: acquiring three-path waveband image data with a reference object as a center, carrying out scene registration on the three-path waveband image data, and carrying out geometric distortion correction processing on the three-path waveband image data according to the distance to obtain three-path waveband image data with the same scene; the three wave bands comprise visible light, infrared light and ultraviolet light;
the hardware devices used in step S2012 include a visible light imaging component, an infrared light imaging component, and an ultraviolet light imaging component; the infrared light image or the ultraviolet light image is the same as the imaging principle of visible light, but the identification wavelength is different, and for human eyes, the infrared light or the ultraviolet light can identify the visible light, so that from the perspective of people, the infrared light or the ultraviolet light is considered to be more special, but for hardware equipment, the infrared light or the ultraviolet light is similar in content; the difference between the step and the traditional shooting principle is that the traditional shooting mode is greatly influenced by the external light intensity, and the infrared light and the ultraviolet light are added for imaging on the basis of visible light, so that the influence of the external light intensity can be effectively reduced; of course, imaging using three bands separately is also a possible solution.
Step S2013: and sequentially comparing the data difference value of each pixel point in the three paths of wave band image data with the same scene with a preset tolerance by taking the information point as a center, and extracting the outline of the reference object according to the comparison result.
Step S2013 is a comparison step, which is used to indicate that there is a sudden change, i.e., a contour point of the reference object, when the data difference is greater than a preset tolerance.
The premise of the above is that the reference object should be a solid object and have a color greatly different from that of the background, depending on the actual scene, and will not be described in detail herein.
Fig. 4 shows a third sub-flow chart of the display panel control method of the high-speed police car, and the step of determining the center point according to the reference object profile specifically includes:
step S2021: reading the reference object contour, determining two pixel points with the farthest distance in the preset direction of the reference object contour, and calculating the distance of the two pixel points;
step S2022: acquiring the total number of pixel points in the characteristic region, and determining the theoretical gravity center of the profile according to the total number and the distance;
step S2023: continuously increasing the detection radius by taking the theoretical gravity center as a circle center, and marking corresponding pixel points and stopping detection when the pixel points exist in the detection area;
And the marked pixel point is the central point.
Step S2021 to step S2023 provide a specific center point determination scheme, whose principle is that the total pixel point is divided by the maximum pixel point distance in a certain direction; it should be noted that, in this step, a plurality of directions may be set, so that the determination process of the central point is more accurate; however, the calculation result of the center point may not be an integer, and the point closest to the calculation result is required to be the center point.
Example 2
Fig. 5 is a schematic structural diagram illustrating a display panel control device of a high-speed police car, and in an embodiment of the present invention, the high-speed police car includes:
the base body is used for mounting the travelling wheel device, the horizontal angle adjusting device, the vertical angle adjusting device and the height adjusting device 13;
the travelling wheel device is used for adjusting the position of the early warning vehicle and is connected with a power system of the early warning vehicle;
display panel controlling means of high-speed alert early warning car, the display panel controlling means of high-speed alert early warning car includes:
the horizontal angle adjusting device comprises a first motor 1, a second motor and a control device, wherein the first motor is used for receiving a horizontal adjusting instruction and generating a motor action instruction;
The vertical angle adjusting device comprises a second motor 2 and is used for receiving a vertical adjusting instruction and generating a motor action instruction;
a height adjustment device 13, said height adjustment device 13 comprising a third motor 3 for receiving height adjustment instructions and generating motor action instructions.
Further, the substrate includes:
the device comprises a first base 4, wherein a second base 8 is arranged on the first base 4, a box body 11 is arranged on the second base 8, and a box cover 12 is detachably connected to the box body 11; a third base 22 is arranged on the box cover 12, a fourth base 23 is arranged above the third base 22, and a display panel 20 is arranged above the fourth base 23;
wherein the travelling wheel device is arranged on the first base 4; the horizontal angle adjusting device is arranged inside the box body 11; the vertical angle adjusting means is installed between the fourth base 23 and the third base 22; the height adjusting means 13 is mounted on the display panel 20 and the fourth chassis 23.
In one embodiment of the present invention, the horizontal angle adjusting device is used for driving the display panel 20 to rotate in a horizontal plane, the vertical angle adjusting device is used for driving the display panel 20 to rotate in a vertical plane, and the height adjusting device 13 is used for adjusting the height of the display panel 20; the three devices are respectively provided with independent motors to provide power, and the motors are control motors and can make corresponding actions according to instructions.
Fig. 6 is a schematic structural diagram of a travelling wheel device in a display board control device of a high-speed police car, wherein the travelling wheel device comprises:
the bearing frame 5 is provided with a rotating shaft, the rotating shaft is rotatably connected with the first base 4, and a steering device is arranged between the second base 8 and the first base 4 at a position corresponding to the rotating shaft;
a wheel frame 6 rotatably connected with the object bearing frame 5, wherein wheels 7 are arranged at two ends of the wheel frame 6;
in one embodiment of the present invention, the wheel frame 6 can rotate around the object bearing frame 5, and when bumping, the wheel frame 6 which can rotate freely can play a certain role in preventing bumping.
The horizontal angle adjusting device includes:
a first gear 9 mounted on the first motor 1;
a second gear 10 is rotatably connected to the second base 8, and the second gear 10 is engaged with the first gear 9.
Specifically, the vertical angle adjusting device includes:
a third base 22 connected with the central shaft of the second gear 10, wherein the second motor 2 is mounted on the third base 22, and the output shaft of the second motor 2 is provided with a third gear 14;
a first limiting seat arranged on the third base 22, wherein a transmission shaft is rotatably connected between the limiting seats, a fourth gear 15 is arranged on the transmission shaft, and the fourth gear 15 is meshed with the third gear 14;
The transmission gear 16 is arranged at two ends of the transmission shaft, the fourth base 23 is provided with a second limiting seat, and the transmission gear 16 is matched with the second limiting seat.
Fig. 8 shows a schematic top view of a third base of the vertical angle adjustment apparatus, in an embodiment of the present invention, the first motor 1 drives the first gear 9 to rotate, the first gear 9 drives the second gear 10 to rotate, the second gear 10 drives the third base 22 to rotate, and the third base 22 drives the display panel 20 to rotate around the center of the second gear 10, that is, to rotate horizontally.
The second motor 2 drives the third gear 14 to rotate, the third gear 14 drives the fourth gear 15 to rotate, the fourth gear 15 drives the transmission shaft to rotate, the transmission shaft drives the fourth base 23 to rotate through the transmission gear 16, and the fourth base 23 drives the display panel 20 to rotate in the vertical direction, namely, to rotate vertically.
Fig. 7 shows a schematic structural diagram of a height adjusting device 13 in a display panel control device of a high-speed police car, wherein the height adjusting device 13 comprises:
two positioning bolts 17 arranged on the output shaft of the third motor 3, wherein the rotation directions of the two positioning bolts 17 are opposite;
Two sliding blocks 18 connected to the fourth base 23 in a sliding manner, wherein the sliding blocks 18 are matched with the positioning bolts 17;
a connecting rod 19 hinged on the sliding block 18, wherein the top end of the connecting rod 19 is connected with the display panel 20 in a sliding way;
and an expansion link 21 disposed between the display panel 20 and the third chassis 22.
In an embodiment of the technical solution of the present invention, the third motor 3 drives the positioning bolt 17 to rotate, the positioning bolt 17 drives the sliding block 18 to translate through the thread transmission, the distance between the end portions of the connecting rods 19 can be adjusted by the translation of the sliding block 18, a spring rod structure is formed between the connecting rods 19, and when the distance between the end portions of the connecting rods 19 changes, the height of the spring rod also changes, thereby adjusting the height of the display panel 20.
Example 2
In an embodiment of the present invention, a display panel control system for a high-speed police early-warning vehicle is provided, the system includes:
the control end is used for acquiring the relative distance between the early warning vehicle and a reference object in real time and reading a reference image according to the relative distance; wherein the reference image comprises a reference object; acquiring an actual image containing a reference object in real time, comparing the actual image with the reference image, and calculating the offset degree between the reference object in the actual image and the reference object in the reference image; generating an angle adjusting instruction according to the offset degree, and generating a height adjusting instruction according to the relative distance, wherein the angle adjusting instruction comprises a horizontal adjusting instruction and a vertical adjusting instruction;
The execution end comprises a horizontal angle adjusting module, a vertical angle adjusting module and a height adjusting module;
the horizontal angle adjusting module is used for receiving a horizontal adjusting instruction and generating a motor action instruction;
the vertical angle adjusting module is used for receiving a vertical adjusting instruction and generating a motor action instruction;
and the height adjusting module is used for receiving the height adjusting instruction and generating a motor action instruction.
In an embodiment of the technical solution of the present invention, the control end is generally installed in a control system of an early warning vehicle, wherein the control system at least comprises a communication function and an image acquisition function; the horizontal angle adjusting module is used for controlling the first motor, the vertical angle adjusting module is used for controlling the second motor, and the height adjusting module is used for controlling the third motor.
The functions realized by the display panel control method of the high-speed police car are all completed by a computer device, the computer device comprises one or more processors and one or more memories, and at least one program code is stored in the one or more memories and is loaded and executed by the one or more processors to realize the functions of the display panel control method of the high-speed police car.
The processor fetches instructions and analyzes the instructions from the memory one by one, then completes corresponding operations according to the instruction requirements, generates a series of control commands, enables all parts of the computer to automatically, continuously and coordinately act to form an organic whole, realizes the input of programs, the input of data, the operation and the output of results, and the arithmetic operation or the logic operation generated in the process is completed by the arithmetic unit; the Memory comprises a Read-Only Memory (ROM) which is used for storing computer programs, and a protection device is arranged outside the Memory.
Illustratively, the computer program may be partitioned into one or more modules, stored in memory and executed by a processor, to implement the invention. One or more of the modules may be a series of computer program instruction segments capable of performing certain functions, the instruction segments being used to describe the execution of the computer program in the terminal device.
It will be appreciated by those skilled in the art that the above description of the serving device is merely an example and does not constitute a limitation of the terminal device, and may include more or less components than those described above, or some of the components may be combined, or different components may include, for example, input output devices, network access devices, buses, etc.
The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may be any conventional processor or the like, which is the control center of the terminal equipment and connects the various parts of the entire user terminal using various interfaces and lines.
The memory may be used to store computer programs and/or modules, and the processor may implement various functions of the terminal device by operating or executing the computer programs and/or modules stored in the memory and calling data stored in the memory. The memory mainly comprises a storage program area and a storage data area, wherein the storage program area can store an operating system, application programs required by at least one function (such as an information acquisition template display function, a product information publishing function and the like) and the like; the storage data area may store data created according to the use of the berth status display system (such as product information acquisition templates corresponding to different product categories, product information that needs to be issued by different product providers, and the like). In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
The terminal device integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the modules/units in the system according to the above embodiment may be implemented by a computer program, which may be stored in a computer-readable storage medium and used by a processor to implement the functions of the embodiments of the system. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, U.S. disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution media, and the like.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all equivalent structures or equivalent processes performed by the present invention or directly or indirectly applied to other related technical fields are also included in the scope of the present invention.
Claims (7)
1. A method for controlling a display panel of a high-speed police car, comprising:
acquiring a relative distance between the early warning vehicle and a reference object in real time, and reading a reference image in a preset reference image library according to the relative distance; wherein the reference image comprises a reference object;
acquiring an actual image containing a reference object in real time, comparing the actual image with the reference image, and calculating the offset between the reference object in the actual image and the reference object in the reference image;
generating an angle adjusting instruction according to the deviation degree, and generating a height adjusting instruction according to the relative distance, wherein the angle adjusting instruction comprises a horizontal adjusting instruction and a vertical adjusting instruction;
the step of calculating the degree of offset between the reference object in the actual image and the reference object in the reference image specifically includes:
Determining the reference object contour in the actual image and the reference image respectively;
determining a central point according to the profile of the reference object, and calculating the offset distance of the two central points in the vertical direction and the horizontal direction;
converting the offset distance into an offset degree according to the image size; wherein the degree of offset comprises a vertical degree of offset and a horizontal degree of offset;
the step of determining the reference object contour in the actual image and the reference image respectively comprises the following steps:
acquiring heat source information in real time, and positioning information points according to the heat source information;
acquiring three-path wave band image data with a reference object as a center, carrying out scene registration on the three-path wave band image data, and carrying out geometric distortion correction processing on the three-path wave band image data according to an offset distance to obtain three-path wave band image data with the same scene; the three wave bands comprise visible light, infrared light and ultraviolet light;
and sequentially comparing the data difference value of each pixel point in the three paths of wave band image data with the same scene with a preset tolerance by taking the information point as a center, and extracting the outline of the reference object according to the comparison result.
The step of determining a center point according to the reference object profile specifically includes:
Reading the reference object contour, determining two pixel points with the farthest distance in the preset direction of the reference object contour, and calculating the distance of the two pixel points;
acquiring the total number of pixel points in the characteristic region, and determining the theoretical gravity center of the contour according to the total number and the distance;
continuously increasing the detection radius by taking the theoretical gravity center as a circle center, and marking corresponding pixel points and stopping detection when the pixel points exist in the detection area;
and the marked pixel point is the central point.
2. A high-speed police car, characterized in that it includes:
the base body is used for mounting a travelling wheel device, a horizontal angle adjusting device, a vertical angle adjusting device and a height adjusting device;
a traveling wheel device;
the display panel control device of the high-speed police car for realizing the display panel control method of claim 1, comprising:
the horizontal angle adjusting device comprises a first motor and a second motor, wherein the first motor is used for receiving a horizontal adjusting instruction and generating a motor action instruction;
the vertical angle adjusting device comprises a second motor and is used for receiving a vertical adjusting instruction and generating a motor action instruction;
And the height adjusting device comprises a third motor and is used for receiving the height adjusting instruction and generating a motor action instruction.
3. The high-speed police car according to claim 2, wherein the base body comprises:
the box body is detachably connected with the box cover; a third base is arranged on the box cover, a fourth base is arranged above the third base, and a display panel is arranged above the fourth base;
the walking wheel device is mounted on the first base; the horizontal angle adjusting device is arranged in the box body; the vertical angle adjusting device is installed between the fourth base and the third base; the height adjusting device is installed on the display panel and the fourth base.
4. The high-speed police early warning vehicle of claim 3, wherein the road wheel device comprises:
the bearing frame is provided with a rotating shaft, the rotating shaft is rotatably connected with the first base, and a steering device is arranged between the second base and the first base at a position corresponding to the rotating shaft;
The wheel frame is rotationally connected to the object bearing frame, and wheels are mounted at two ends of the wheel frame;
the horizontal angle adjusting device includes:
a first gear mounted on the first motor;
and a second gear is rotatably connected to the second base, and the second gear is meshed with the first gear.
5. The high-speed police precaution vehicle of claim 4, characterized in that the vertical angle adjusting device comprises:
the second motor is arranged on the third base, and a third gear is arranged on an output shaft of the second motor;
the first limiting seat is installed on the third base, a transmission shaft is rotatably connected between the limiting seats, a fourth gear is arranged on the transmission shaft, and the fourth gear is meshed with the third gear;
the transmission gears are arranged at two ends of the transmission shaft, the fourth base is provided with a second limiting seat, and the transmission gears are matched with the second limiting seat.
6. The high-speed police precaution vehicle of claim 5, characterized in that the height adjustment means comprises:
the two positioning bolts are arranged on the output shaft of the third motor, and the rotation directions of the two positioning bolts are opposite;
The two sliding blocks are connected to the fourth base in a sliding mode and matched with the positioning bolt;
the connecting rod is hinged on the sliding block, and the top end of the connecting rod is connected with the display panel in a sliding manner;
and the telescopic rod is arranged between the display panel and the third base.
7. A display panel control system of a high-speed police car for implementing the display panel control method of the high-speed police car according to claim 1, wherein the system is installed in a display panel control device of the high-speed police car, and the system comprises:
the control end is used for acquiring the relative distance between the early warning vehicle and a reference object in real time and reading a reference image according to the relative distance; wherein the reference image comprises a reference object; acquiring an actual image containing a reference object in real time, comparing the actual image with the reference image, and calculating the offset degree between the reference object in the actual image and the reference object in the reference image; generating an angle adjusting instruction according to the offset degree, and generating a height adjusting instruction according to the relative distance, wherein the angle adjusting instruction comprises a horizontal adjusting instruction and a vertical adjusting instruction;
The execution end comprises a horizontal angle adjusting module, a vertical angle adjusting module and a height adjusting module;
the horizontal angle adjusting module is used for receiving a horizontal adjusting instruction and generating a motor action instruction;
the vertical angle adjusting module is used for receiving a vertical adjusting instruction and generating a motor action instruction;
and the height adjusting module is used for receiving the height adjusting instruction and generating a motor action instruction.
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| CN202111257049.1A CN114114990B (en) | 2021-10-27 | 2021-10-27 | Display panel control method, system and device of high-speed police early-warning vehicle |
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| CN114114990B true CN114114990B (en) | 2022-06-14 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US5914698A (en) * | 1996-04-15 | 1999-06-22 | Addco Manufacturing, Inc. | Modular message board |
| JP2013097417A (en) * | 2011-10-28 | 2013-05-20 | Sumitomo Electric Ind Ltd | Traffic situation display device and computer program |
| CN107452231A (en) * | 2017-09-15 | 2017-12-08 | 公安部交通管理科学研究所 | Traffic accidents scene early warning robot |
| CN210639878U (en) * | 2019-09-17 | 2020-05-29 | 王智慧 | Warning sign is used in municipal garden |
| CN211420925U (en) * | 2019-11-12 | 2020-09-04 | 长沙职业技术学院 | Road information safety warning device |
| CN111696372B (en) * | 2020-06-11 | 2021-09-28 | 合肥工业大学 | Expressway information display device and display method thereof |
| CN112944148B (en) * | 2021-01-26 | 2022-06-24 | 文博 | Safety warning device for building engineering management |
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