CN114170498A - Detection method and device for spilled objects, computer equipment and storage medium - Google Patents
Detection method and device for spilled objects, computer equipment and storage medium Download PDFInfo
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- CN114170498A CN114170498A CN202010837019.7A CN202010837019A CN114170498A CN 114170498 A CN114170498 A CN 114170498A CN 202010837019 A CN202010837019 A CN 202010837019A CN 114170498 A CN114170498 A CN 114170498A
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Abstract
The application relates to a method and a device for detecting a spill, computer equipment and a storage medium. The method comprises the following steps: acquiring point cloud data acquired by a laser radar on a target road, and detecting a plurality of identification objects in the target road according to the point cloud data; if the lost objects exist in the multiple identification objects according to the point cloud data, acquiring the positions of the lost objects; the positions of the spilled objects are obtained according to the corresponding point cloud data; controlling a monitoring camera corresponding to the position of the spilled object to acquire a road image; the road image includes the spill. By adopting the method, the spilled objects in the road can be quickly detected.
Description
Technical Field
The present application relates to the field of traffic safety technologies, and in particular, to a method and an apparatus for detecting a spill, a computer device, and a storage medium.
Background
With the rapid development of economy and the vigorous development of transportation industry, more and more vehicles appear on roads, and the frequent occurrence of traffic accidents also arouses the attention of the nation and people.
Among them, the spilled objects are an important factor causing traffic accidents. Vehicles on roads spill objects or passengers discard objects, which can hinder vehicles from running and even cause secondary accidents after traffic accidents occur.
Therefore, how to rapidly detect the spilled objects becomes a technical problem to be solved urgently in the field of traffic safety.
Disclosure of Invention
In view of the above, it is desirable to provide a spill detection method, a spill detection apparatus, a computer device, and a storage medium, which can quickly detect a spill.
A method of spill detection, the method comprising:
acquiring point cloud data acquired by a laser radar on a target road, and detecting a plurality of identification objects in the target road according to the point cloud data;
if the lost objects exist in the multiple identification objects according to the point cloud data, acquiring the positions of the lost objects; wherein, the position of the spill object is obtained according to the corresponding point cloud data;
controlling a monitoring camera corresponding to the position of the spilled object to acquire a road image; the road image contains the spill.
In one embodiment, after detecting a plurality of recognition objects in the target road according to the point cloud data, the method further includes:
determining the speed and the size of each identification object according to the point cloud data;
determining whether a target identification object meeting preset conditions exists in the plurality of identification objects according to the speed and the size of each identification object; wherein the preset conditions comprise; the speed is lower than a preset speed threshold and the size is smaller than a preset size threshold;
and if the target identification object exists, determining that the lost object exists in the plurality of identification objects, and determining the target identification object as the lost object.
In one embodiment, the point cloud data is composed of sub-point cloud data at a plurality of different acquisition times, and the determining the speed of each identified object according to the point cloud data includes:
aiming at each identification object, determining the positions of the identification objects at different acquisition moments according to the sub-point cloud data of a plurality of different acquisition moments;
and calculating the speed of the identification object according to the positions of the identification object at different acquisition moments and a plurality of different acquisition moments.
In one embodiment, the position of the spill object is a coordinate position of the spill object in a radar coordinate system; the corresponding monitoring camera in position of above-mentioned control and spill thing gathers road image, includes:
determining the coordinate position of the spilling object in the camera coordinate system according to the preset corresponding relation between the radar coordinate system and the camera coordinate system and the coordinate position of the spilling object in the radar coordinate system;
and controlling the corresponding monitoring camera to acquire the road image according to the coordinate position of the spilled object in the camera coordinate system.
In one embodiment, the method further comprises:
and marking the spill object in the road image according to the coordinate position of the spill object in the camera coordinate system.
In one embodiment, after the monitoring camera corresponding to the position of the spill is controlled to capture the road image, the method further comprises:
sending alarm information to a server; the warning information comprises a road image marked with the spilling object, and the warning information is used for indicating the server to display the road image marked with the spilling object.
In one embodiment, the method further comprises:
after the spilled objects are determined to be removed according to the point cloud data acquired by the laser radar on the target road, the spilled object removal information is sent to a server; the spill removal information is used for instructing the server to stop displaying the alarm information.
A spill detection device, the device comprising:
the object detection module is used for acquiring point cloud data acquired by a laser radar on a target road and detecting a plurality of identification objects in the target road according to the point cloud data;
the position acquisition module is used for acquiring the positions of the lost objects if the lost objects exist in the multiple identification objects according to the point cloud data; the positions of the spilled objects are obtained according to the corresponding point cloud data;
the image acquisition module is used for controlling a monitoring camera corresponding to the position of the spilled object to acquire a road image; the road image contains the spill.
In one embodiment, the apparatus further comprises:
the speed size determining module is used for determining the speed and the size of each identification object according to the point cloud data;
the target identification object determining module is used for determining whether a target identification object meeting preset conditions exists in the plurality of identification objects according to the speed and the size of each identification object; wherein the preset conditions comprise; the speed is lower than a preset speed threshold and the size is smaller than a preset size threshold;
and the spilling object determining module is used for determining that spilling objects exist in the plurality of identification objects if the target identification objects exist, and determining the target identification objects as the spilling objects.
In one embodiment, the speed size determining module is specifically configured to determine, for each identification object, positions of the identification object at different acquisition times according to sub-point cloud data of a plurality of different acquisition times; and calculating the speed of the identification object according to the positions of the identification object at different acquisition moments and a plurality of different acquisition moments.
In one embodiment, the position of the spill object is a coordinate position of the spill object in a radar coordinate system; the image acquisition module is specifically used for determining the coordinate position of the spilling object in the camera coordinate system according to the preset corresponding relation between the radar coordinate system and the camera coordinate system and the coordinate position of the spilling object in the radar coordinate system; and controlling the corresponding monitoring camera to acquire the road image according to the coordinate position of the spilled object in the camera coordinate system.
In one embodiment, the apparatus further comprises:
and the image marking module is used for marking the spilled objects in the road image according to the coordinate positions of the spilled objects in the camera coordinate system.
In one embodiment, the apparatus further comprises:
the first information sending module is used for sending alarm information to the server; the warning information comprises a road image marked with the spilling object, and the warning information is used for indicating the server to display the road image marked with the spilling object.
In one embodiment, the apparatus further comprises:
the second information sending module is used for sending the lost and spilled object removal information to the server after the lost and spilled object is determined to be removed according to the point cloud data acquired by the laser radar on the target road; the spill removal information is used for instructing the server to stop displaying the alarm information.
A computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:
acquiring point cloud data acquired by a laser radar on a target road, and detecting a plurality of identification objects in the target road according to the point cloud data;
if the lost objects exist in the multiple identification objects according to the point cloud data, determining the positions of the lost objects and controlling a monitoring camera corresponding to the positions of the lost objects to acquire road images;
and marking the spilled objects in the road image according to the positions of the spilled objects.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
acquiring point cloud data acquired by a laser radar on a target road, and detecting a plurality of identification objects in the target road according to the point cloud data;
if the lost objects exist in the multiple identification objects according to the point cloud data, determining the positions of the lost objects and controlling a monitoring camera corresponding to the positions of the lost objects to acquire road images;
and marking the spilled objects in the road image according to the positions of the spilled objects.
According to the detection method and device for the spilled objects, the computer equipment and the storage medium, the roadside control equipment acquires point cloud data acquired by the laser radar on the target road and detects a plurality of identification objects in the target road according to the point cloud data; if the lost objects exist in the multiple identification objects according to the point cloud data, acquiring the positions of the lost objects; and controlling a monitoring camera corresponding to the position of the spilled object to acquire a road image. Through this disclosed embodiment, can detect out whether have the thing of spilling in the target road fast according to the point cloud data of laser radar collection to after detecting that there is the thing of spilling, trigger the surveillance camera according to the position of the thing of spilling and gather the road image, including the thing of spilling in this road image, so that maintainer removes the thing of spilling according to the road image, thereby avoids the traffic accident.
Drawings
FIG. 1 is a diagram illustrating an exemplary environment in which the method for detecting a spill is applied;
FIG. 2 is a schematic flow chart illustrating a method for detecting a spill according to one embodiment;
FIG. 3 is a second schematic flow chart of the method for detecting the spilled objects in one embodiment;
FIG. 4 is a schematic flow chart illustrating the steps of controlling a surveillance camera corresponding to the position of a spill to capture road images in one embodiment;
FIG. 5 is a schematic flow chart of a method for detecting a spill according to another embodiment;
FIG. 6 is a block diagram showing the structure of a spill detecting device according to an embodiment;
FIG. 7 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further 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 present application and are not intended to limit the present application.
The method for detecting the spilled objects can be applied to the application environment shown in fig. 1. The application environment comprises a road side sensing device 101, a road side control device 102 and a server 103, wherein the road side control device 102 is respectively communicated with the road side sensing device 101 and the server 103 through a network, the road side sensing device 101 transmits collected data to the road side control device 102, and the road side control device transmits road images marked with spilled objects to the server 103. The roadside sensing device 101 may include a laser radar and a monitoring camera; the roadside control devices 102 may be computer chips, personal computers, laptops, tablets; the server 103 may be implemented as a stand-alone server or a server cluster composed of a plurality of servers.
In one embodiment, as shown in fig. 2, there is provided a spill detection method, which is described by taking the method as an example of being applied to the roadside control apparatus in fig. 1, and includes the following steps:
The laser radar scans a target road and collects point cloud data. And then, the laser radar transmits the point cloud data acquired by the target road to the road side control equipment, and the road side control equipment acquires the point cloud data. Then, the road side control device detects a three-dimensional target according to the point cloud data, and detects a plurality of recognition objects in the target road. The embodiment of the present disclosure does not limit the manner of detecting the three-dimensional target.
Wherein, the spill object is an object dropped from a vehicle or artificially thrown, such as a water bottle, paper scraps and the like; and the positions of the spilled objects are obtained according to the corresponding point cloud data.
After the roadside control device detects a plurality of identification objects in the target road, whether a spill object exists in the plurality of identification objects is determined according to the point cloud data. And if the lost objects exist in the plurality of identification objects, determining the positions of the lost objects according to the point cloud data.
And step 203, controlling a monitoring camera corresponding to the position of the spilled object to acquire a road image.
And after the position of the spilling object is determined according to the point cloud data, a monitoring camera corresponding to the position of the spilling object is determined. And then, the roadside control equipment controls the monitoring camera corresponding to the position of the spill object to acquire an image to obtain a road image, wherein the road image contains the spill object.
For example, the roadside control device determines that the spilled object is in the lane a according to the point cloud data, then determines that the image acquisition range of the monitoring camera B covers the lane a, and controls the monitoring camera B to acquire images to obtain a road image.
In the detection method for the spilled objects, the roadside control equipment acquires point cloud data acquired by the laser radar on a target road, and detects a plurality of identification objects in the target road according to the point cloud data; and if the lost objects exist in the multiple identification objects according to the point cloud data, acquiring the positions of the lost objects, and controlling a monitoring camera corresponding to the positions of the lost objects to acquire road images. Through this disclosed embodiment, can detect out whether have the thing of spilling in the target road fast according to the point cloud data of laser radar collection to after detecting that there is the thing of spilling, trigger surveillance camera according to the position of the thing of spilling and gather road image, so that maintainer removes the thing of spilling according to road image, thereby avoids the traffic accident.
The method for detecting the spilled objects can be used for processing point cloud data acquired by the laser radar in real time, and the influence on the running of vehicles around the spilled objects can be caused due to the existence of the spilled objects, and even secondary accidents can be caused after traffic accidents occur. For using video equipment to carry out the detection of objects lost or spilled, because the point cloud data of utilizing laser radar to gather in real time carries out the detection of road surface objects lost or spilled, and point cloud data can acquire information such as speed, size, position of target, and for the video, laser radar receives light intensity to influence for a short time, consequently, based on these characteristics, the scheme of this embodiment has the advantage that the real-time nature is strong, the false retrieval rate is low, the probability of missing to examine is little for the video.
In one embodiment, as shown in fig. 3, after detecting a plurality of recognition objects in the target road according to the point cloud data, the method may further include:
After detecting the plurality of identification objects, the road side control device determines the speed of each identification object according to the point cloud data and determines the size of each identification object according to the point cloud data.
In one embodiment, the point cloud data is composed of sub point cloud data of a plurality of different acquisition moments, and determining the speed of each identified object according to the point cloud data may include: aiming at each identification object, determining the positions of the identification objects at different acquisition moments according to the sub-point cloud data of a plurality of different acquisition moments; and calculating the speed of the identification object according to the positions of the identification object at different acquisition moments and a plurality of different acquisition moments.
For example, according to the sub-point cloud data of the acquisition time t1, determining that the identification object M is at the position X1; and determining the recognition object M at the position X2 according to the sub-point cloud data at the acquisition time T2, wherein the displacement S between the position X1 and the position X2 is X2-X1, and the time T is T2-T1, and then calculating the speed of the recognition object X according to the displacement S and the time T. The speed of the recognition object may also be determined in other manners, which is not limited in this disclosure.
In one embodiment, the roadside control device may first detect sub-point cloud data of a plurality of different acquisition times by using a three-dimensional target detection algorithm, to obtain the identifiers and positions of a plurality of recognition objects at each acquisition time. And then, tracking the identified object by using a target tracking algorithm, so that the same identified object in a plurality of different acquisition moments can be determined.
For example, a three-dimensional target detection algorithm is used for detecting the sub-point cloud data at the acquisition time t1, and the identifier of one of the recognition objects is M1, and the position of the recognition object is X1; and detecting the sub-point cloud data at the acquisition time t2 by using a three-dimensional target detection algorithm, and determining that the identifier of one of the identification objects is M2 and the position is X2. After that, by performing the tracking processing of the recognition object M1 using the target tracking algorithm, it can be determined that the recognition object M2 and the recognition object M1 are the same recognition object M. The embodiment of the present disclosure does not limit the three-dimensional target detection algorithm and the target tracking algorithm.
In one embodiment, determining the size of each identified object from the point cloud data may include: after detecting a plurality of identification objects, the roadside control device can obtain the detection frame of each identification object, and determine the size of each identification object according to the position of a preset point in the detection frame of each identification object.
For example, the roadside control apparatus determines the size of the recognition object M from eight vertices of the detection frame of the recognition object M.
And step 302, determining whether a target identification object meeting preset conditions exists in the plurality of identification objects according to the speed and the size of each identification object.
Wherein the preset conditions comprise; the speed is below a preset speed threshold and the size is less than a preset size threshold.
For each identification object, the roadside control equipment judges whether the speed of the identification object is less than a preset speed threshold value; if the size of the identification object is smaller than the preset speed threshold, judging whether the size of the identification object is smaller than a preset size threshold; and if the size is smaller than the preset size threshold, determining that the target identification object exists in the plurality of objects.
Or, for each identification object, the roadside control device judges whether the size of the identification object is smaller than a preset size threshold; if the speed of the identification object is smaller than the preset size threshold, judging whether the speed of the identification object is smaller than a preset speed threshold; and if the speed is smaller than the preset speed threshold, determining that the target recognition object meeting the preset condition exists in the plurality of objects.
In one embodiment, when the speed of the identification object is less than the preset speed threshold, the speed of the identification object is zero. For example, the plurality of recognition objects C1, C2, C3, C4, wherein the speed of the recognition object C4 is zero and the size is smaller than the preset size threshold, the roadside control apparatus determines that there is a target recognition object that meets the preset condition among the plurality of recognition objects C1, C2, C3, C4.
If the target identification object exists in the plurality of identification objects, the fact that the lost object exists in the plurality of identification objects can be determined, and the target identification object is the lost object. For example, it is determined that there is a target recognition object that meets a preset condition among the plurality of recognition objects C1, C2, C3, C4, it is determined that there is a spill among the plurality of recognition objects C1, C2, C3, C4, and the target recognition object C4 is a spill.
In the above embodiment, the roadside control device determines the speed and the size of each identification object according to the point cloud data; determining whether a target identification object meeting preset conditions exists in the plurality of identification objects according to the speed and the size of each identification object; and if the target identification object exists, determining that the lost object exists in the plurality of identification objects, and determining the target identification object as the lost object. Through the embodiment of the disclosure, the speed and the size of each identification object can be obtained according to the point cloud data acquired by the laser radar, so that whether the missing objects exist in the target road or not can be quickly detected according to the speed and the size of the identification objects.
In one embodiment, as shown in FIG. 4, the position of the spill is the coordinate position of the spill in the radar coordinate system; the step of controlling the monitoring camera corresponding to the position of the spill to collect the road image may include:
After the laser radar and the monitoring camera are arranged on the road side, the corresponding relation between a radar coordinate system and a camera coordinate system can be set in the road side control equipment according to the relative position relation between the laser radar and the monitoring camera. The roadside control device can obtain the coordinate position of the spill object in the radar coordinate system after detecting that the spill object exists in the plurality of identification objects. And then, the roadside control equipment can convert the coordinate position of the spilling object in the radar coordinate system into the camera coordinate system according to the corresponding relation between the radar coordinate system and the camera coordinate system, so as to obtain the coordinate position of the spilling object in the camera coordinate system.
And step 402, controlling the corresponding monitoring camera to acquire the road image according to the coordinate position of the spilled object in the camera coordinate system.
After the coordinate position of the spilling object in the camera coordinate system is determined, the monitoring camera with the image acquisition range covering the coordinate position can be determined according to the coordinate position of the spilling object in the camera coordinate system, and then the monitoring camera is controlled to acquire images to obtain road images.
The road side control equipment determines the coordinate position of the spilling object in the camera coordinate system according to the preset corresponding relation between the radar coordinate system and the camera coordinate system and the coordinate position of the spilling object in the radar coordinate system; and controlling the corresponding monitoring camera to acquire the road image according to the coordinate position of the spilled object in the camera coordinate system. Through this disclosed embodiment, can be according to the corresponding relation between the radar coordinate system that sets up in advance and the camera coordinate system and the coordinate position of thing that gives up a spill in the radar coordinate system, find out the monitoring camera that the image acquisition scope can cover the thing that gives up a spill to contain the thing that gives up a spill in the road image that the monitoring camera was gathered, thereby provide the image basis for the maintainer.
In one embodiment, as shown in fig. 5, a method for detecting a spill is provided, which is described by taking the method as an example of being applied to the roadside control apparatus in fig. 1, and may include:
Wherein the preset conditions comprise; the speed is below a preset speed threshold and the size is less than a preset size threshold.
And step 504, if the target identification object exists, determining that the lost object exists in the plurality of identification objects, and determining the identification object as the lost object.
And 505, acquiring the coordinate position of the spilling object in the radar coordinate system, and determining the coordinate position of the spilling object in the camera coordinate system according to the preset corresponding relation between the radar coordinate system and the camera coordinate system and the coordinate position of the spilling object in the radar coordinate system.
And step 506, controlling the corresponding monitoring camera to acquire the road image according to the coordinate position of the spilled object in the camera coordinate system.
And step 507, marking the spilled objects in the road image according to the coordinate positions of the spilled objects in the camera coordinate system.
After the roadside control equipment determines the coordinate position of the spilling object in the camera coordinate system, the spilling object can be marked in the road image according to the coordinate position in the camera coordinate system, so that maintenance personnel can know relevant information of the spilling object according to the marking, such as the type and the position of the spilling object.
The warning information comprises a road image marked with the spilling object, and the warning information is used for indicating the server to display the road image marked with the spilling object.
The roadside control equipment sends the road image marked with the lost object to the server, and the server displays the road image marked with the lost object after receiving the road image. The maintenance personnel can know the information such as the position, the type and the like of the lost object according to the road image displayed by the server.
Wherein, the spill removal information is used for indicating the server to stop displaying the warning information.
After the spilled object is removed, the roadside control device executes the steps 501 to 502, and if the target identification object meeting the preset condition is not detected, it is determined that the spilled object is removed. Thereafter, the roadside control device transmits the spill removal information to the server. And after the server receives the lost object removal information, displaying the road image marked with the lost object.
In the detection method for the spilled objects, the roadside control equipment can quickly detect whether the spilled objects exist in the target road according to the point cloud data acquired by the laser radar, triggers the monitoring camera to acquire the road image after the spilled objects are detected, marks the spilled objects in the road image, and sends alarm information to the server so that maintenance personnel can remove the spilled objects, thereby avoiding traffic accidents. Further, after the lost object is determined to be removed according to the point cloud data collected by the laser radar, lost object removal information is sent to the server, so that maintenance personnel can confirm that the lost object is removed.
It should be understood that although the various steps in the flowcharts of fig. 2-5 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2-5 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed in turn or alternately with other steps or at least some of the other steps or stages.
In one embodiment, as shown in fig. 6, there is provided a spill detection device comprising:
the object detection module 601 is configured to acquire point cloud data acquired by a laser radar on a target road, and detect a plurality of identification objects in the target road according to the point cloud data;
a position obtaining module 602, configured to obtain a position of a lost object if the lost object is determined to exist in the multiple identification objects according to the point cloud data; the positions of the spilled objects are obtained according to the corresponding point cloud data;
the image acquisition module 603 is used for controlling a monitoring camera corresponding to the position of the spilled object to acquire a road image; the road image includes the spill.
In one embodiment, the apparatus further comprises:
the speed size determining module is used for determining the speed and the size of each identification object according to the point cloud data;
the target identification object determining module is used for determining whether a target identification object meeting preset conditions exists in the plurality of identification objects according to the speed and the size of each identification object; wherein the preset conditions comprise; the speed is lower than a preset speed threshold and the size is smaller than a preset size threshold;
and the spilling object determining module is used for determining that spilling objects exist in the plurality of identification objects if the target identification objects exist, and determining the target identification objects as the spilling objects.
In one embodiment, the speed size determining module is specifically configured to determine, for each identification object, positions of the identification object at different acquisition times according to sub-point cloud data of a plurality of different acquisition times; and calculating the speed of the identification object according to the positions of the identification object at different acquisition moments and a plurality of different acquisition moments.
In one embodiment, the position of the spill object is a coordinate position of the spill object in a radar coordinate system; the image acquisition module 603 is specifically configured to determine a coordinate position of the spill object in the camera coordinate system according to a preset correspondence between the radar coordinate system and the camera coordinate system and a coordinate position of the spill object in the radar coordinate system; and controlling the corresponding monitoring camera to acquire the road image according to the coordinate position of the spilled object in the camera coordinate system.
In one embodiment, the apparatus further comprises:
and the image marking module is used for marking the spilled objects in the road image according to the coordinate positions of the spilled objects in the camera coordinate system.
In one embodiment, the apparatus further comprises:
the first information sending module is used for sending alarm information to the server; the warning information comprises a road image marked with the spilling object, and the warning information is used for indicating the server to display the road image marked with the spilling object.
In one embodiment, the apparatus further comprises:
the second information sending module is used for sending the lost and spilled object removal information to the server after the lost and spilled object is determined to be removed according to the point cloud data acquired by the laser radar on the target road; the spill removal information is used for instructing the server to stop displaying the alarm information.
For specific limitations of the spill detecting device, reference may be made to the above limitations of the spill detecting method, which are not described in detail herein. Each module in the forgoing spill detecting device may be implemented in whole or in part by software, hardware, or a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 7. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, an operator network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a spill detection method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 7 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:
acquiring point cloud data acquired by a laser radar on a target road, and detecting a plurality of identification objects in the target road according to the point cloud data;
if the lost objects exist in the multiple identification objects according to the point cloud data, acquiring the positions of the lost objects; wherein, the position of the spill object is obtained according to the corresponding point cloud data;
controlling a monitoring camera corresponding to the position of the spilled object to acquire a road image; the road image contains the spill.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
determining the speed and the size of each identification object according to the point cloud data;
determining whether a target identification object meeting preset conditions exists in the plurality of identification objects according to the speed and the size of each identification object; wherein the preset conditions comprise; the speed is lower than a preset speed threshold and the size is smaller than a preset size threshold;
and if the target identification object exists, determining that the lost object exists in the plurality of identification objects, and determining the target identification object as the lost object.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
aiming at each identification object, determining the positions of the identification objects at different acquisition moments according to the sub-point cloud data of a plurality of different acquisition moments;
and calculating the speed of the identification object according to the positions of the identification object at different acquisition moments and a plurality of different acquisition moments.
In one embodiment, the position of the spill object is a coordinate position of the spill object in a radar coordinate system; the processor, when executing the computer program, further performs the steps of:
determining the coordinate position of the spilling object in the camera coordinate system according to the preset corresponding relation between the radar coordinate system and the camera coordinate system and the coordinate position of the spilling object in the radar coordinate system;
and controlling the corresponding monitoring camera to acquire the road image according to the coordinate position of the spilled object in the camera coordinate system.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
and marking the spill object in the road image according to the coordinate position of the spill object in the camera coordinate system.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
sending alarm information to a server; the warning information comprises a road image marked with the spilling object, and the warning information is used for indicating the server to display the road image marked with the spilling object.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
after the spilled objects are determined to be removed according to the point cloud data acquired by the laser radar on the target road, the spilled object removal information is sent to a server; the spill removal information is used for instructing the server to stop displaying the alarm information.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
acquiring point cloud data acquired by a laser radar on a target road, and detecting a plurality of identification objects in the target road according to the point cloud data;
if the lost objects exist in the multiple identification objects according to the point cloud data, acquiring the positions of the lost objects; wherein, the position of the spill object is obtained according to the corresponding point cloud data;
controlling a monitoring camera corresponding to the position of the spilled object to acquire a road image; the road image contains the spill.
In one embodiment, the computer program when executed by the processor further performs the steps of:
determining the speed and the size of each identification object according to the point cloud data;
determining whether a target identification object meeting preset conditions exists in the plurality of identification objects according to the speed and the size of each identification object; wherein the preset conditions comprise; the speed is lower than a preset speed threshold and the size is smaller than a preset size threshold;
and if the target identification object exists, determining that the lost object exists in the plurality of identification objects, and determining the target identification object as the lost object.
In one embodiment, the computer program when executed by the processor further performs the steps of:
aiming at each identification object, determining the positions of the identification objects at different acquisition moments according to the sub-point cloud data of a plurality of different acquisition moments;
and calculating the speed of the identification object according to the positions of the identification object at different acquisition moments and a plurality of different acquisition moments.
In one embodiment, the position of the spill object is a coordinate position of the spill object in a radar coordinate system; the computer program when executed by the processor further realizes the steps of:
determining the coordinate position of the spilling object in the camera coordinate system according to the preset corresponding relation between the radar coordinate system and the camera coordinate system and the coordinate position of the spilling object in the radar coordinate system;
and controlling the corresponding monitoring camera to acquire the road image according to the coordinate position of the spilled object in the camera coordinate system.
In one embodiment, the computer program when executed by the processor further performs the steps of:
and marking the spill object in the road image according to the coordinate position of the spill object in the camera coordinate system.
In one embodiment, the computer program when executed by the processor further performs the steps of:
sending alarm information to a server; the warning information comprises a road image marked with the spilling object, and the warning information is used for indicating the server to display the road image marked with the spilling object.
In one embodiment, the computer program when executed by the processor further performs the steps of:
after the spilled objects are determined to be removed according to the point cloud data acquired by the laser radar on the target road, the spilled object removal information is sent to a server; the spill removal information is used for instructing the server to stop displaying the alarm information.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A spill detection method, comprising:
acquiring point cloud data acquired by a laser radar on a target road, and detecting a plurality of identification objects in the target road according to the point cloud data;
if the lost objects exist in the multiple identification objects according to the point cloud data, acquiring the positions of the lost objects; the positions of the spilled objects are obtained according to the corresponding point cloud data;
controlling a monitoring camera corresponding to the position of the spilled object to acquire a road image; the road image includes the spill.
2. The method of claim 1, wherein after the detecting a plurality of identified objects in the target road from the point cloud data, the method further comprises:
determining the speed and the size of each identified object according to the point cloud data;
determining whether a target identification object meeting a preset condition exists in the plurality of identification objects according to the speed and the size of each identification object; wherein the preset conditions comprise; the speed is lower than a preset speed threshold and the size is smaller than a preset size threshold;
and if the target identification object exists, determining that the lost object exists in the plurality of identification objects, and determining the target identification object as the lost object.
3. The method of claim 2, wherein the point cloud data is comprised of sub-point cloud data for a plurality of different acquisition times, and wherein determining the velocity of each of the identified objects from the point cloud data comprises:
for each identification object, determining the positions of the identification objects at different acquisition moments according to the sub-point cloud data of the plurality of different acquisition moments;
and calculating the speed of the identification object according to the positions of the identification object at different acquisition moments and the plurality of different acquisition moments.
4. The method of claim 1, wherein the position of the spill is a coordinate position of the spill in a radar coordinate system; the control with the corresponding surveillance camera in position of thing that gives away gathers road image, include:
determining the coordinate position of the spilling object in a camera coordinate system according to the preset corresponding relation between the radar coordinate system and the camera coordinate system and the coordinate position of the spilling object in the radar coordinate system;
and controlling a corresponding monitoring camera to acquire the road image according to the coordinate position of the spilled object in a camera coordinate system.
5. The method of claim 4, further comprising:
and marking the spill object in the road image according to the coordinate position of the spill object in the camera coordinate system.
6. The method of claim 1, wherein after the controlling a monitoring camera corresponding to the location of the spill captures the road image, the method further comprises:
sending alarm information to a server; the warning information comprises a road image marked with the spilling object, and the warning information is used for indicating the server to display the road image marked with the spilling object.
7. The method of claim 6, further comprising:
after the spilled objects are determined to be removed according to the point cloud data acquired by the laser radar on the target road, spilled object removal information is sent to the server; the spill removal information is used for indicating the server to stop displaying the alarm information.
8. A spill detection device, the device comprising:
the object detection module is used for acquiring point cloud data acquired by a laser radar on a target road and detecting a plurality of identification objects in the target road according to the point cloud data;
the position acquisition module is used for acquiring the positions of the lost objects if the lost objects exist in the multiple identification objects according to the point cloud data; the positions of the spilled objects are obtained according to the corresponding point cloud data;
the image acquisition module is used for controlling a monitoring camera corresponding to the position of the spilled object to acquire a road image; the road image includes the spill.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117095540A (en) * | 2023-10-18 | 2023-11-21 | 四川数字交通科技股份有限公司 | Early warning method and device for secondary road accidents, electronic equipment and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117095540A (en) * | 2023-10-18 | 2023-11-21 | 四川数字交通科技股份有限公司 | Early warning method and device for secondary road accidents, electronic equipment and storage medium |
| CN117095540B (en) * | 2023-10-18 | 2024-01-23 | 四川数字交通科技股份有限公司 | Early warning method and device for secondary road accidents, electronic equipment and storage medium |
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