CN114924583A - Safety monitoring method for personnel behaviors and vehicle tracks based on unmanned aerial vehicle inspection - Google Patents
Safety monitoring method for personnel behaviors and vehicle tracks based on unmanned aerial vehicle inspection Download PDFInfo
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- CN114924583A CN114924583A CN202210470405.6A CN202210470405A CN114924583A CN 114924583 A CN114924583 A CN 114924583A CN 202210470405 A CN202210470405 A CN 202210470405A CN 114924583 A CN114924583 A CN 114924583A
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Abstract
The embodiment of the application provides a safety monitoring method of personnel's action and vehicle orbit based on unmanned aerial vehicle patrols and examines, relates to the road engineering field, the method includes: planning the inspection time and the fixed route of the unmanned aerial vehicle according to the construction operation time and the construction direction of the target road; flying by the unmanned aerial vehicle carrying the camera equipment and the GPS through the fixed line, and carrying out safety inspection on the construction operation area of the target road; identifying and tracking constructors and vehicles of a target road by adopting a multi-target tracking method based on mobile camera shooting, and drawing track graphs of all the constructors and the vehicles on a construction site; early warning of abnormal track of a construction vehicle; when an accident occurs, the action track of related personnel of the accident is tracked in the fastest time, so that the accident occurrence reason is determined, and emergency response is adopted.
Description
Technical Field
The application relates to the field of road engineering, in particular to a safety monitoring method for personnel behaviors and vehicle tracks based on unmanned aerial vehicle inspection.
Background
In the prior art, road transportation is the most flexible and direct transportation way to a portal, and can assist the passenger and cargo gathering and distribution transportation way of other transportation ways, and the current environment has many road construction requirements throughout the country.
However, because the road construction span is long, the time is long, the operation area is not fixed, most road construction sites lack safety monitoring, the road construction sites mainly depend on manual inspection, the subjectivity is large, the coverage area is small, construction safety logs mostly adopt a handwriting mode, the management is inconvenient, and the situations of personnel and vehicles on the construction sites cannot be well reflected.
Therefore, it is necessary to develop a safety monitoring method for the behavior of road construction personnel and the trajectory of vehicles based on unmanned aerial vehicle routing inspection, which reduces the risk of accidents, improves the level of safety management of road construction, and realizes the modernization and intellectualization of road construction, thereby ensuring the safety and quality of construction.
Disclosure of Invention
The embodiment of the application provides a safety monitoring method for personnel behaviors and vehicle tracks based on unmanned aerial vehicle inspection, which is used for carrying out comprehensive, efficient and accurate safety monitoring on a road construction site and recording the tracks of personnel and vehicles.
In an embodiment of the application, a safety monitoring method based on unmanned aerial vehicle inspection personnel behaviors and vehicle tracks is provided, and the method comprises the following steps: planning the inspection time and the fixed route of the unmanned aerial vehicle according to the construction operation time and the construction direction of the target road; flying by the unmanned aerial vehicle carrying camera equipment and a GPS through the fixed line, and carrying out safety inspection on the construction operation area of the target road; identifying and tracking constructors and vehicles of a target road by adopting a multi-target tracking method based on mobile shooting, and drawing track maps of all the constructors and vehicles on a construction site; pre-warning abnormal tracks of construction vehicles; when an accident occurs, the behavior tracks of the personnel related to the accident occurrence are tracked in the fastest time, so that the accident occurrence reason is determined, and emergency response is adopted.
In an embodiment, the method for identifying and tracking constructors and vehicles on a target road by using a multi-target tracking method based on mobile camera shooting to draw track maps of all constructors and vehicles on a construction site includes the following steps: detecting personnel and vehicles on a construction site by adopting a YOLOV3 network; adopting a kalman-filter algorithm to preliminarily track the action tracks of personnel and vehicles, including the flight track of the unmanned aerial vehicle; improving a kalman-filter algorithm, and eliminating the flight trajectory of the unmanned aerial vehicle; and generating a track graph of the final personnel and the vehicle.
In one embodiment, the construction vehicle abnormal track early warning includes: in the construction area of the target road, when a construction vehicle does not move at a reasonable speed in a preset range according to a fixed route, defining the construction vehicle as track abnormity, and detecting the track abnormity in real time by the unmanned aerial vehicle and sending the track abnormity to a ground moving end through a WiFi image transmission technology for early warning; and the preset range and the reasonable speed are preset values and are configured according to the operation types of different vehicles.
In one embodiment, when the accident occurs, the action track of the personnel related to the accident occurrence is tracked in the fastest time so as to determine the accident occurrence reason, and the emergency response is taken, which comprises the following steps: and tracking the accident occurrence place and the action track of related personnel according to the real-time track graph returned by the unmanned aerial vehicle, and taking measures when the accident occurrence place and the action track of the related personnel arrive at the real-time accident place.
Through this application embodiment, unmanned aerial vehicle patrols and examines and has characteristics quick, nimble, and the wide coverage. And planning the inspection time and route of the unmanned aerial vehicle according to the road construction operation time and the construction direction. The safety control of current road construction relies on the mode of artifical inspection mostly, through the hand-written paper construction log record, and the subjectivity is strong, and the inspection coverage is little, and unmanned aerial vehicle inspection utensil has characteristics quick, nimble, and the coverage is wide. The unmanned aerial vehicle carrying the camera equipment and the GPS flies on a fixed line, and the construction operation area is safely patrolled and examined. The unmanned aerial vehicle is characterized in that the unmanned aerial vehicle can be used for routing inspection along two sides of construction operation, the complex situation of a road construction site can be completely recorded, a new method is provided for safety management of the road construction site, the risk of construction accidents is effectively reduced, the construction safety is improved, and the modern and intelligent development of road construction is facilitated.
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The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application in a non-limiting sense. In the drawings:
FIG. 1 is a schematic flow chart diagram according to an embodiment of the present application;
FIG. 2 is a flow diagram of an architecture according to an embodiment of the present application.
Detailed Description
The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
As shown in fig. 1, a method for monitoring the safety of the personnel behavior and the vehicle track based on the unmanned aerial vehicle inspection is provided, which comprises the following steps:
s102, planning the inspection time and the fixed route of the unmanned aerial vehicle according to the construction operation time and the construction direction of the target road;
s104, flying the unmanned aerial vehicle carrying the camera equipment and the GPS by the fixed line, and carrying out safety inspection on the construction operation area of the target road;
s106, identifying and tracking constructors and vehicles of the target road by adopting a multi-target tracking method based on mobile camera shooting, and drawing track maps of all the constructors and vehicles on a construction site;
s108, early warning of abnormal tracks of the construction vehicles;
and S110, when an accident happens, tracing the action track of the personnel related to the accident occurrence in the fastest time, determining the accident occurrence reason and adopting emergency response.
In an embodiment, the method for identifying and tracking constructors and vehicles on a target road by using a multi-target tracking method based on mobile camera shooting to draw track maps of all constructors and vehicles on a construction site includes the following steps:
s1, detecting the personnel and vehicles on the construction site by adopting a YOLOV3 network;
s2, adopting a kalman-filter algorithm to preliminarily track the action tracks of the personnel and the vehicles, including the flight track of the unmanned aerial vehicle;
s3, improving the kalman-filter algorithm to eliminate the flight path of the unmanned aerial vehicle;
and S4, generating a track graph of the final person and the vehicle.
In one embodiment, the construction vehicle abnormal track early warning includes:
s1, in the construction area of the target road, when a construction vehicle does not move at a reasonable speed in a preset range according to a fixed route, defining the construction vehicle as track abnormity, and carrying out real-time detection by the unmanned aerial vehicle and sending the detected track abnormity to a ground moving end through a WiFi image transmission technology for early warning; the preset range and the reasonable speed are preset values and are configured according to the operation types of different vehicles.
In one embodiment, when an accident occurs, the action track of personnel related to the accident occurrence is tracked in the fastest time, so as to determine the cause of the accident, and an emergency response is taken, which includes the following steps:
and S1, tracking the accident occurrence place and the action track of related personnel according to the real-time track graph returned by the unmanned aerial vehicle, and taking measures when the accident occurrence place and the action track of the related personnel arrive at the real-time accident place.
As shown in fig. 2, the following specific example is used for explanation:
s1: and planning the inspection time and route of the unmanned aerial vehicle according to the road construction operation time and the construction direction.
S2: the unmanned aerial vehicle carrying the camera device and the GPS flies in a fixed line on one side of the construction operation and then flies back along the other side of the construction operation, the flying speed is 5-10m/s, and the shooting angle is 45, so that the full-coverage shooting of a construction site is achieved.
S3: the improved multi-target tracking network based on mobile camera shooting is adopted to realize real-time identification and tracking of the personnel and vehicles on the road construction site. The principle of multi-target tracking is mainly that a detector and a tracker are combined, the detector can detect a target, a coordinate frame is obtained, the position of a central point is calculated and input into the tracker, and then the tracker predicts the position of the next frame of the central point of the target through Kalman filtering so as to realize the tracking of the target.
The algorithm steps contained therein are: (1) a deep learning network of YOLOV3 is used as a detector to detect and identify all personnel and vehicles on a construction site in real time. YOLOV3 contains a full convolution neural network-Darknet-53, and the detection speed and precision are good. (2) And then tracking the detected target by combining Kalman-Filter. However, the trajectory of the drone is not eliminated, that is, the tracking trajectory of each target includes the flight trajectory of the drone. (3) The tracker is modified, primarily to eliminate the flight trajectory of the drone. The method is that in the time of one frame, the distance of the unmanned aerial vehicle flight trajectory in the x and y directions is subtracted from the position of the target center point predicted by the tracker, so that the real trajectory of the target is obtained.
And S4, early warning of track abnormity of the construction vehicle. According to construction site information acquired by unmanned aerial vehicle inspection, the construction site is divided into areas, wherein the areas mainly comprise a construction operation area, a roadside safety area and a normal traffic flow area. The construction vehicle is only required to slowly move in a fixed route in a construction operation area under normal conditions; if the vehicle suddenly travels to a roadside safety area or a normal traffic flow area, a certain danger is caused, which may cause an accident. Consequently, patrol and examine through unmanned aerial vehicle, trail the orbit of traveling of vehicle, in case the orbit appears the sudden change, unmanned aerial vehicle real-time detection and pass through wiFi picture transmission technique and send to ground and remove the end, in time send the early warning to managers, take measures in order to reduce the risk of taking place the accident.
And S5, accident emergency response. When an accident occurs, the action tracks of the accident occurrence place and related personnel are tracked in the fastest time, and measures are taken to reduce the hazard of the accident; and determining the accident occurrence reason and avoiding the reoccurrence.
The foregoing is only a preferred embodiment of the present application and it should be noted that, for a person skilled in the art, several modifications and refinements can be made without departing from the principle of the present application, and these modifications and refinements should also be regarded as the protection scope of the present application.
Claims (4)
1. A safety monitoring method for personnel behaviors and vehicle tracks based on unmanned aerial vehicle inspection is characterized by comprising the following steps:
planning the inspection time and the fixed route of the unmanned aerial vehicle according to the construction operation time and the construction direction of the target road;
flying by the unmanned aerial vehicle carrying the camera equipment and the GPS through the fixed line, and carrying out safety inspection on the construction operation area of the target road;
identifying and tracking constructors and vehicles of a target road by adopting a multi-target tracking method based on mobile camera shooting, and drawing track diagrams of all the constructors and vehicles on a construction site;
early warning of abnormal track of a construction vehicle;
when an accident occurs, the action track of related personnel of the accident occurrence is tracked in the fastest time, so that the accident occurrence reason is determined, and emergency response is adopted.
2. The method as claimed in claim 1, wherein the method for multi-target tracking based on mobile camera shooting is used for identifying and tracking the constructors and vehicles on the target road and drawing the locus diagrams of all the constructors and vehicles on the construction site, and comprises the following steps:
detecting the personnel and vehicles on the construction site by adopting a YOLOV3 network;
adopting a kalman-filter algorithm to preliminarily track the action tracks of the personnel and the vehicles, including the flight track of the unmanned aerial vehicle;
improving a kalman-filter algorithm, and eliminating the flight trajectory of the unmanned aerial vehicle;
and generating a track map of the final personnel and the vehicle.
3. The method of claim 1, wherein the construction vehicle abnormal trajectory early warning comprises: in the construction area of the target road, when a construction vehicle does not move at a reasonable speed in a preset range according to a fixed route, defining the construction vehicle as track abnormity, and detecting the track abnormity in real time by the unmanned aerial vehicle and sending the track abnormity to a ground moving end through a WiFi image transmission technology for early warning; the preset range and the reasonable speed are preset values and are configured according to the operation types of different vehicles.
4. The method of claim 1, wherein: when an accident occurs, the action track of related personnel of the accident is tracked in the fastest time, so that the accident occurrence reason is determined, and emergency response is adopted, and the method comprises the following steps: and tracking the accident occurrence place and the action track of related personnel according to the real-time track graph returned by the unmanned aerial vehicle, and taking measures when the accident occurrence place and the action track of the related personnel arrive at the real-time accident place.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210470405.6A CN114924583A (en) | 2022-04-28 | 2022-04-28 | Safety monitoring method for personnel behaviors and vehicle tracks based on unmanned aerial vehicle inspection |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116071962A (en) * | 2023-02-24 | 2023-05-05 | 内蒙古交科路桥建设有限公司 | Automatic inspection system of highway unmanned aerial vehicle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116071962A (en) * | 2023-02-24 | 2023-05-05 | 内蒙古交科路桥建设有限公司 | Automatic inspection system of highway unmanned aerial vehicle |
| CN116071962B (en) * | 2023-02-24 | 2024-05-17 | 内蒙古交科路桥建设有限公司 | Automatic inspection system of highway unmanned aerial vehicle |
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