CN115656106A - Method, device, equipment, system and medium for detecting retroreflection coefficient of road sign - Google Patents

Abstract

The application relates to a road sign identification retroreflection coefficient detection method, a device, equipment, a system and a medium, which are applied to the technical field of safety detection, wherein the method comprises the following steps: acquiring the position of the retroreflection coefficient detection equipment, and establishing a rectangular coordinate system based on the position; acquiring image information of a target to be detected, and determining a central point of the target to be detected; determining a retroreflection axis, a reference axis, an observation axis and an illumination body axis based on the Cartesian rectangular coordinate system and the central point of the target to be detected; calculating the angle of the current observation angle and the angle of the current incident angle; judging whether the current angle is consistent with a preset angle or not; if not, establishing a local coordinate system; obtaining a transformation relation between a local coordinate system and a Cartesian rectangular coordinate system, and calculating an attitude adjustment angle; and adjusting the posture of the retroreflection coefficient detection equipment based on the posture adjustment angle, and measuring the retroreflection coefficient of the target to be detected based on the adjusted posture. This application has safe efficient detection road sign's contrary effect of reflection coefficient.

Description

Method, device, equipment, system and medium for detecting retroreflection coefficient of road sign

Technical Field

The application relates to the technical field of safety monitoring, in particular to a road sign retroreflection coefficient detection method, device, equipment, system and medium.

Background

The retroreflective material is widely applied to road signs such as traffic signs, marked lines, contour marks, vehicle reflective marks, motor vehicle license plates and the like of roads, and the road signs are used as important infrastructure in the roads and have very important functions in the aspects of ensuring traffic safety and improving intrinsic safety level.

The coefficient of retroreflection is the most important technical indicator for testing various retroreflective materials. Therefore, the acceptance and maintenance work of the road sign is enhanced, the retroreflection coefficient of the road sign is in a standard range, and the method is the guarantee work for developing and perfecting the road traffic safety.

The existing method for detecting the retroreflection coefficient of the road mark is that a worker detects the road mark through a handheld detection device, most of the road marks are high in position and need to depend on a climbing device during detection, and the detection process is high in labor intensity, low in detection efficiency and poor in safety.

Disclosure of Invention

In order to safely and efficiently detect the retroreflection coefficient of the road sign, the application provides a method, a device, equipment, a system and a medium for detecting the retroreflection coefficient of the road sign.

In a first aspect, the application provides a method for detecting a road sign retroreflection coefficient, which adopts the following technical scheme:

a road marking retroreflection coefficient detection method comprises the following steps:

acquiring the position of the retroreflection coefficient detection equipment, and establishing a Cartesian rectangular coordinate system based on the position of the retroreflection coefficient detection equipment; acquiring image information of a target to be detected, and determining a central point of the target to be detected based on the image information;

determining a retroreflection axis, a reference axis, an observation axis and an illumination body axis based on the Cartesian rectangular coordinate system and the central point of the target to be detected; calculating an angle of a current observation angle and an angle of a current incident angle based on the retroreflective body axis, the reference axis, the observation axis, and the illumination body axis; judging whether the angle of the current observation angle and the angle of the current incidence angle are consistent with the angle of the preset observation angle and the angle of the preset incidence angle;

if the angle of the current observation angle and the angle of the current incidence angle are not consistent with the angle of the preset observation angle and the angle of the preset incidence angle, establishing a local coordinate system based on the position of the retro-reflection coefficient detection equipment;

acquiring a transformation relation between a local coordinate system and a Cartesian rectangular coordinate system, and calculating an attitude adjustment angle based on the transformation relation;

and adjusting the posture of the retroreflection coefficient detection equipment based on the posture adjustment angle, and measuring the retroreflection coefficient of the target to be detected based on the adjusted posture.

By adopting the technical scheme, in the stages of acceptance and inspection and maintenance of the road mark, namely the target to be detected, a large number of road marks need to be subjected to retroreflective coefficient detection and calculation, a plurality of axes for detecting retroreflective coefficients are established according to the center point of the road mark during detection, a Cartesian rectangular coordinate system is established according to the position of retroreflective coefficient detection equipment, the angles of the observation angle and the incident angle under the current posture are determined, when the angles of the observation angle and the incident angle are different from the preset angles, a local coordinate system is established, and the posture adjustment angle is calculated according to the transformation shutdown between the local coordinate system and the Cartesian rectangular coordinate system, so that the adjusted observation angle and incident angle are consistent with the preset observation angle and incident angle, the retroreflective coefficients are accurately measured and calculated, the whole adjustment process does not need to involve working personnel, and the retroreflective coefficients of the road marks can be safely and efficiently detected.

Optionally, calculating the angle of the current observation angle and the angle of the current incident angle based on the retroreflector axis, the reference axis, the observation axis, and the illuminant axis includes:

obtaining the distance between the retroreflection coefficient detection equipment and a target to be detected;

determining a spatial vector of the retroreflector axis, the reference axis, the observation axis and the illuminator axis in a Cartesian rectangular coordinate system based on the distances; calculating the angle of the current observation angle based on the space vector of the observation axis and the space vector of the lighting body axis;

the angle of the current angle of incidence is calculated based on the space vector of the retroreflective body axis and the space vector of the illuminator axis.

Optionally, the obtaining image information of the target to be detected, and determining the central point of the target to be detected based on the image information includes: and acquiring the geometric shape of the image of the target to be detected, and calculating the central point of the target to be detected based on the geometric shape of the image.

Optionally, establishing a local coordinate system based on the position of the retro-reflection coefficient detection device includes:

and establishing a local coordinate system of the current posture and a local coordinate system of a preset target posture based on a Cartesian rectangular coordinate system of the retroreflection coefficient detection equipment.

Optionally, obtaining a transformation relationship between the local coordinate system and the cartesian rectangular coordinate system, and calculating the attitude adjustment angle based on the transformation relationship includes:

acquiring an Euler angle between a local coordinate system of a current attitude and a local coordinate system of a preset target attitude, and establishing a rotation matrix based on the Euler angle and a transformation relation;

acquiring an attitude adjustment sequence, and establishing an Euler transformation matrix based on the rotation matrix;

determining an attitude adjustment formula based on the Euler transformation matrix;

and calculating an attitude adjustment angle based on the attitude adjustment matrix.

Optionally, obtaining a position of the retroreflection coefficient detection device, and establishing a cartesian rectangular coordinate system based on the position of the retroreflection coefficient detection device includes:

acquiring a real-time relative distance between a vehicle provided with retro-reflection coefficient detection equipment and a target to be detected, and judging whether the real-time relative distance reaches a preset distance range;

if the real-time relative distance reaches the preset distance range, acquiring a safe parking position and parking at the safe parking position;

acquiring a safe parking position, and determining the position of the retroreflection coefficient detection equipment based on the safe parking position;

and establishing a Cartesian rectangular coordinate system based on the position of the retroreflection coefficient detection equipment.

In a second aspect, the present application provides a road sign retroreflection coefficient detection device, which adopts the following technical scheme:

a pavement marking coefficient of retroreflection detection device, comprising:

the position acquisition module is used for acquiring the position of the retroreflection coefficient detection equipment and establishing a Cartesian rectangular coordinate system based on the position of the retroreflection coefficient detection equipment;

the center confirmation module is used for acquiring image information of the target to be detected and determining a center point of the target to be detected based on the image information; the axis determining module is used for determining a retroreflection body axis, a reference axis, an observation axis and an illumination body axis based on a Cartesian rectangular coordinate system and a central point of a target to be detected;

an angle calculation module for calculating an angle of a current observation angle and an angle of a current incident angle based on the retroreflective body axis, the reference axis, the observation axis, and the illumination body axis;

the angle judging module is used for judging whether the angle of the current observation angle and the angle of the current incidence angle are consistent with the angle of the preset observation angle and the angle of the preset incidence angle;

the coordinate establishing module is used for establishing a local coordinate system based on the position of the retro-reflection coefficient detection equipment if the angle of the current observation angle and the angle of the current incidence angle are inconsistent with the angle of the preset observation angle and the angle of the preset incidence angle;

the attitude calculation module is used for acquiring the transformation relation between the local coordinate system and the Cartesian rectangular coordinate system and calculating an attitude adjustment angle based on the transformation relation;

and the equipment adjusting module is used for adjusting the posture of the retroreflection coefficient detection equipment based on the posture adjusting angle and measuring the retroreflection coefficient of the target to be detected based on the adjusted posture.

By adopting the technical scheme, in the stages of acceptance and inspection and maintenance of the road mark, namely the target to be detected, a large number of road marks need to be subjected to retroreflective coefficient detection and calculation, a plurality of axes for detecting retroreflective coefficients are established according to the center point of the road mark during detection, a Cartesian rectangular coordinate system is established according to the position of retroreflective coefficient detection equipment, the angles of the observation angle and the incident angle under the current posture are determined, when the angles of the observation angle and the incident angle are different from the preset angles, a local coordinate system is established, and the posture adjustment angle is calculated according to the transformation shutdown between the local coordinate system and the Cartesian rectangular coordinate system, so that the adjusted observation angle and incident angle are consistent with the preset observation angle and incident angle, the retroreflective coefficients are accurately measured and calculated, the whole adjustment process does not need to involve working personnel, and the retroreflective coefficients of the road marks can be safely and efficiently detected.

In a third aspect, the present application provides an electronic device, which adopts the following technical solutions:

an electronic device comprising a memory and a processor, the memory having stored thereon a computer program that can be loaded by the processor and that executes the method of detecting road marking retroreflection coefficients of any one of the first aspects.

In a fourth aspect, the present application provides a road sign retroreflection coefficient detection system, which adopts the following technical scheme: a road sign retroreflection coefficient detection system comprises a vehicle-mounted retroreflection coefficient detection device, a distance sensor, an image acquisition device and the electronic device of the third aspect;

the retroreflection coefficient detection equipment is used for detecting the retroreflection coefficient of the equipment to be detected and sending the retroreflection coefficient to the electronic equipment;

the distance sensor is used for detecting the distance between the retroreflection coefficient detection equipment and a target to be detected and sending the distance to the electronic equipment;

the image acquisition equipment is used for acquiring image information of a target to be detected and sending the image information to the electronic equipment.

In a fifth aspect, the present application provides a computer-readable storage medium, which adopts the following technical solutions:

a computer-readable storage medium storing a computer program that can be loaded by a processor and that executes the method for detecting a pavement marking retroreflection coefficient according to any one of the first aspect.

Drawings

Fig. 1 is a schematic flowchart of a method for detecting a retroreflection coefficient of a road marking according to an embodiment of the present disclosure.

Fig. 2 is a block diagram of a detection device and a target to be detected according to an embodiment of the present disclosure.

Fig. 3 is a structural block diagram of a cartesian rectangular coordinate system provided in an embodiment of the present application.

Fig. 4 is a block diagram of a local coordinate system according to an embodiment of the present disclosure.

Fig. 5 is a block diagram of a road sign retroreflection coefficient detection apparatus according to an embodiment of the present disclosure.

Fig. 6 is a block diagram of an electronic device according to an embodiment of the present application.

Fig. 7 is a block diagram of a road sign retroreflection coefficient detection system according to an embodiment of the present disclosure.

Detailed Description

The present application is described in further detail below with reference to the attached drawings.

Fig. 1 is a schematic flow chart of a method for detecting a road sign retroreflection coefficient according to an embodiment of the present disclosure.

As shown in fig. 1, the main flow of the method is described as follows (steps S101 to S108):

in this embodiment, besides the retro-reflection coefficient detection device, a distance sensor and an image acquisition device are further provided, the distance sensor can adopt a laser range finder, the image acquisition device can adopt an industrial camera, it needs to be explained that the specific distance sensor and the image acquisition device need to be set by self according to actual needs, only the distance measurement and the image acquisition effect need to be achieved, and specific limitation is not made herein.

Step S101, obtaining the position of the retroreflection coefficient detection equipment, and establishing a Cartesian rectangular coordinate system based on the position of the retroreflection coefficient detection equipment.

Aiming at the step S101, acquiring the real-time relative distance between a vehicle provided with retro-reflection coefficient detection equipment and a target to be detected, and judging whether the real-time relative distance reaches a preset distance range; if the real-time relative distance reaches the preset distance range, acquiring a safe parking position and parking at the safe parking position; acquiring a safe parking position, and determining the position of the retroreflection coefficient detection equipment based on the safe parking position; and establishing a Cartesian rectangular coordinate system based on the position of the retroreflection coefficient detection equipment.

In this embodiment, the distance sensor detects the relative distance between the vehicle and the target to be detected, the retroreflection coefficient detection device is installed on the distance sensor in real time, when the distance between the retroreflection coefficient detection device and the target to be detected reaches a preset distance range, a safe position capable of parking in the distance range is selected for parking, the real distance between the parking position and the target to be detected is obtained, and a space rectangular coordinate system is established according to the actual distance of the retroreflection coefficient detection device.

The space rectangular coordinate system is established by adopting a Cartesian rectangular coordinate system, the retroreflection coefficient detection device comprises a receiver and a projection light source, the area and the brightness of the projection light source projected onto the target to be detected are kept within the range capable of being measured and received by the receiver, and the distance range is set between 50 meters and 35 meters.

Step S102, image information of the target to be detected is obtained, and the central point of the target to be detected is determined based on the image information.

In step S102, an image geometry of the target to be detected is obtained, and a center point of the target to be detected is calculated based on the image geometry.

In this embodiment, the image information includes image color information and image geometry of the object to be detected, the image color information is used for calculating the retroreflection coefficient, and the image geometry is used for calculating the center point of the object to be detected.

The road mark is characterized in that the shape and the size of the target to be detected are various, the most common geometric shapes of the target to be detected are equiaxed symmetrical graphs such as a square, a rectangle and a circle, when the target to be detected is an axisymmetric graph, a central point is determined according to the intersection point of at least two symmetrical axes of the axisymmetric graph, but when the target to be detected is not the axisymmetric graph, the gravity center of the graph is calculated, and the gravity center is used as the central point.

And S103, determining a retroreflector axis, a reference axis, an observation axis and an illumination body axis based on the Cartesian rectangular coordinate system and the central point of the target to be detected.

Step S104, calculating the angle of the current observation angle and the angle of the current incidence angle based on the retroreflection axis, the reference axis, the observation axis and the illumination body axis;

aiming at the step S104, the distance between the retro-reflection coefficient detection equipment and the target to be detected is obtained; determining a space vector of the retroreflection axis, the reference axis, the observation axis and the illumination body axis in a Cartesian rectangular coordinate system based on the distances; calculating the angle of the current observation angle based on the space vector of the observation axis and the space vector of the illuminator axis; the angle of the current angle of incidence is calculated based on the spatial vector of the retroreflector axis and the spatial vector of the illuminator axis.

In this embodiment, the spatial points in the cartesian rectangular coordinate system can be converted into vector relationships according to the principle of testing the retroreflection coefficients. In consideration of control variables and modeling, the targets to be detected in the established road detection model are all in ideal states. In a Cartesian rectangular coordinate system for dynamically testing the retroreflection coefficient, it is assumed that the retroreflection axis of the target to be detected can be perpendicular or parallel to one or more coordinate axes. The reference axis passes through the surface of the retroreflector and is perpendicular to the plane of the pavement, and is used for positioning the object to be measured in the x-y plane. The illumination axis is emitted by the projection light source and points to the central point of the target to be detected, and the height of the projection light source is relatively fixed in the test system. The observation axis is sent out by a receiver for testing the retroreflection coefficient and points to the retroreflection body to be tested. Thus, the following four vectors of the retro-reflection test space are obtained, and a retro-reflection test space vector table is generated.

The retroreflection test space vector table is as follows:

TABLE 1 retro-reflective test space vector table

Serial number	Name (R)	Definition of	(Vector)
				1	Retroreflective article shaft	Normal vector perpendicular to surface of retroreflector	R
2	Reference shaft	Derived from the axis of the retroreflector, perpendicular to each other	D
				3	Observation shaft	Directed from a receiver toward a retroreflective article	E
4	Lighting body shaft	Directed from a projection source toward a retroreflective article	I

Fig. 2 is a block diagram of a detection device and a target to be detected according to an embodiment of the present disclosure.

As shown in fig. 2, the angle between the axis of the retroreflective article and the axis of the illuminator is the angle of incidence, denoted by β, and the angle between the axis of the illuminator and the observation axis is the angle of observation, denoted by α. In the present embodiment, the absolute value of the preset angle of the incident angle β is 4 degrees, and the absolute value of the preset angle of the observation angle α is 0.2 degrees.

In the present embodiment, since the angle is calculated by a 180-degree measurement method and the angle of the incident angle may be a negative number, the absolute value of the angle of the incident angle may be set to 4 degrees in order to eliminate the influence on the calculation when the incident angle is a negative number.

Fig. 3 is a structural block diagram of a cartesian rectangular coordinate system provided in an embodiment of the present application.

As shown in FIG. 3, the global coordinate system is the basis of the test geometry system, and a Cartesian rectangular coordinate system is used for establishing a mathematical model of the spatial point and the ordered array association. The method comprises the following steps of establishing a whole coordinate system for dynamically testing a retro-reflecting system by combining a road detection scene, setting the origin of the coordinate system as a projection point of a testing device on a road surface as an O point, setting the plane of the road as an x-y plane of the coordinate system, assuming that the x direction is opposite to the driving direction, setting the y axis to be vertical to the x axis and to point to a road shoulder, setting the z axis to pass through the origin and be vertical to the x-y plane, and setting the position above the road surface as a positive direction.

In this embodiment, from table 1 and fig. 3, the following relational expression of the spatial vector relationship of the spatial vectors of the retroreflective body axis, the reference axis, the observation axis, and the illuminator axis in the cartesian rectangular coordinate system is obtained:

R＝(x ₁ ，y ₁ ，z ₁ ) ^T ；

D＝(x ₂ ，y ₂ ，z ₂ ) ^T ；

E＝(x ₃ ，y ₃ ，z ₃ ) ^T ；

I＝(x ₄ ，y ₄ ，z ₄ ) ^T ；

wherein, T is transposed, and xyz in the relational expression are all measured values.

Calculating space vectors of a retroreflection axis, a reference axis, an observation axis and a lighting body axis based on the relational expression, and calculating the angle of the current observation angle based on a calculation formula of the space vector of the observation axis, the space vector of the lighting body axis and the observation angle; and calculating the angle of the current incidence angle based on the space vector of the retroreflector axis and the space vector of the illuminator axis.

The observation angle α is calculated as:

where E is the space vector of the observation axis, I is the space vector of the illuminant axis, | E | is the absolute value of the space vector of the observation axis, | I | is the absolute value of the space vector of the illuminant axis.

The formula for the angle of incidence β is:

wherein, R is the space vector of the retroreflective axis, I is the space vector of the illuminator axis, | R | is the absolute value of the space vector of the retroreflective axis, | I | is the absolute value of the space vector of the illuminator axis.

Step S105, determining whether the angle of the current observation angle and the angle of the current incident angle are consistent with the angle of the preset observation angle and the angle of the preset incident angle.

And S106, if the angle of the current observation angle and the angle of the current incidence angle are not consistent with the angle of the preset observation angle and the angle of the preset incidence angle, establishing a local coordinate system based on the position of the retroreflection coefficient detection equipment.

In step S106, a local coordinate system of the current pose and a local coordinate system of the preset target pose are established based on the cartesian rectangular coordinate system of the retroreflection coefficient detection device.

In the present embodiment, the cartesian rectangular coordinate system establishes a functional relationship between the angles of the actual observation angle and the incident angle and the actual measurement distance, but cannot solve the problem of attitude adjustment of the test equipment, i.e., rotation of the rigid body. Therefore, it is necessary to introduce euler angles to establish a local coordinate system of the retroreflection coefficient detection device. Euler angles are three independent angular parameters used to uniquely determine the position of a fixed point rotational rigid body, and consist of a nutation angle theta, a precession angle psi, and a rotation angle omega.

Fig. 4 is a block diagram of a local coordinate system according to an embodiment of the present disclosure.

As shown in fig. 4, assuming that the posture of the retro-reflection coefficient detection apparatus is adjusted to be a rigid body motion, on the basis of a rectangular coordinate system Oxyz with an origin point O, a local coordinate system of a current posture is established on the basis of a state where an angle of an observation angle is an angle of a preset observation angle and an angle of an incident angle is an angle of a preset incident angle, and a coordinate system Ox ' y ' z ' of the rigid body is established, that is, a local coordinate system of a preset target posture is established on the basis of a state where an angle of an observation angle is an angle of a current observation angle and an angle of an incident angle is an angle of a current incident angle. The axes Oz and Oz ' are taken as basic axes, and the vertical planes Oxy and Ox ' y ' are taken as basic planes. The angle θ from the axis Oz to Oz' is called the nutation angle. The perpendicular ON to the plane zOz ' is called the pitch line, which is again the intersection of the base planes Ox ' y ' and Oxy. In the coordinate system of the right-hand screw rule, the nutation angle θ should be measured counterclockwise, as viewed from the positive end of the ON. An angle psi from the fixed axis Ox to the pitch line ON is called a precession angle, an angle omega from the pitch line ON to the moving axis Ox' is called a rotation angle, and a nutation angle theta, the precession angle psi and the rotation angle omega form an adjusting angle for adjusting the posture of the retroreflection coefficient detection equipment.

And S107, acquiring a transformation relation between the local coordinate system and a Cartesian rectangular coordinate system, and calculating the attitude adjustment angle based on the transformation relation.

Aiming at the step S107, acquiring an Euler angle between a local coordinate system of the current posture and a local coordinate system of a preset target posture, and establishing a rotation matrix based on the Euler angle and a transformation relation;

acquiring an attitude adjustment sequence, and establishing an Euler transformation matrix based on the rotation matrix;

determining an attitude adjustment formula based on the Euler transformation matrix;

and calculating an attitude adjustment angle based on the attitude adjustment matrix.

In the present embodiment, the transformation relationship between the local coordinates and the cartesian rectangular coordinate system is as follows:

x＝x′cos(x,x′)+y′cos(x,y′)+z′cos(x,z′)；

y＝x′cos(y,x′)+y′cos(y,y′)+z′cos(y,z′)；

z＝x′cos(z,x′)+y′cos(z,y′)+z′cos(z,z′)；

the cos is an included angle between two coordinates in two local coordinate systems, and the vector sum of three vectors in the local coordinate systems is a vector of a Cartesian rectangular coordinate system.

The three rotations are performed in a three-dimensional cartesian rectangular coordinate system, but are all planar rotations, and rotation matrices established based on euler angles and transformation relations are respectively as follows:

according to the sequence of posture adjustment, the Euler transformation matrix from the rectangular coordinate system to the local coordinate system is:

under the condition based on the Euler transformation matrix, the calculation formula capable of deducing the attitude angle is as follows:

and substituting the data obtained by the actual measurement into a formula to calculate the posture adjustment angle of the retroreflection coefficient detection equipment.

And S108, adjusting the posture of the retroreflection coefficient detection equipment based on the posture adjusting angle, and measuring the retroreflection coefficient of the target to be detected based on the adjusted posture.

In this embodiment, both the establishment of the euler transformation matrix and the calculation formula of the attitude angle are related to the attitude adjustment sequence, the attitude adjustment sequence is the adjustment sequence of the nutation angle θ, the precession angle ψ and the spin angle ω, that is, which angle is rotated first when the attitude adjustment is performed, the rotation sequence can be set by itself according to the actual requirements, if not, the establishment of the matrix and the formula is performed in the sequence of the nutation angle θ, the spin angle ω and the precession angle ψ, and the specific attitude adjustment sequence is not specifically limited herein.

In this embodiment, in an ideal state, when the posture is adjusted, the position of the projection light source does not need to be adjusted and changed, but in an actual application, the posture of the receiver is adjusted first, and after the posture of the receiver is adjusted, the vertical distance between the receiver and the projection light source is adjusted, so that the angle of the observation angle reaches the requirement of 0.2 degrees.

Fig. 5 is a block diagram illustrating a road sign retroreflection coefficient detection apparatus 200 according to an embodiment of the present disclosure.

As shown in fig. 5, the road sign retroreflection coefficient detection apparatus 200 mainly includes:

the position acquisition module 201 is configured to acquire a position of the retroreflection coefficient detection device, and establish a cartesian rectangular coordinate system based on the position of the retroreflection coefficient detection device;

the center confirmation module 202 is configured to obtain image information of the target to be detected, and determine a center point of the target to be detected based on the image information;

the axis determining module 203 is used for determining a retroreflection axis, a reference axis, an observation axis and an illumination body axis based on the cartesian rectangular coordinate system and the central point of the target to be detected;

an angle calculation module 204 for calculating an angle of the current observation angle and an angle of the current incident angle based on the retroreflector axis, the reference axis, the observation axis, and the illuminant axis;

an angle determination module 205, configured to determine whether the angle of the current observation angle and the angle of the current incident angle are consistent with the angle of the preset observation angle and the angle of the preset incident angle;

a coordinate establishing module 206, configured to establish a local coordinate system based on the position of the retro-reflection coefficient detection device if the angle of the current observation angle and the angle of the current incident angle are not consistent with the angle of the preset observation angle and the angle of the preset incident angle;

the attitude calculation module 207 is configured to obtain a transformation relationship between the local coordinate system and the cartesian rectangular coordinate system, and calculate an attitude adjustment angle based on the transformation relationship;

and the device adjusting module 208 is configured to adjust the posture of the retroreflection coefficient detection device based on the posture adjustment angle, and measure the retroreflection coefficient of the target to be detected based on the adjusted posture.

As an optional implementation manner of this embodiment, the angle calculation module 204 is specifically configured to obtain a distance between the retroreflection coefficient detection device and the target to be detected; determining a spatial vector of the retroreflector axis, the reference axis, the observation axis and the illuminator axis in a Cartesian rectangular coordinate system based on the distances; calculating the angle of the current observation angle based on the space vector of the observation axis and the space vector of the lighting body axis; the angle of the current angle of incidence is calculated based on the space vector of the retroreflective body axis and the space vector of the illuminator axis.

As an optional implementation manner of this embodiment, the center confirmation module 202 is specifically configured to acquire an image geometry of the target to be detected, and calculate a center point of the target to be detected based on the image geometry.

As an alternative implementation manner of this embodiment, the coordinate establishing module 206 is specifically configured to establish a local coordinate system of the current pose and a local coordinate system of the preset target pose based on a cartesian rectangular coordinate system of the retro-reflection coefficient detecting device.

As an optional implementation manner of this embodiment, the pose calculation module 207 is specifically configured to obtain an euler angle between a local coordinate system of the current pose and a local coordinate system of the preset target pose, and establish a rotation matrix based on the euler angle and a transformation relationship; acquiring an attitude adjustment sequence, and establishing an Euler transformation matrix based on the rotation matrix; determining an attitude adjustment formula based on the Euler transformation matrix; and calculating an attitude adjustment angle based on the attitude adjustment matrix.

As an optional implementation manner of this embodiment, the position obtaining module 201 is specifically configured to obtain a real-time relative distance between a vehicle equipped with a retro-reflection coefficient detection device and a target to be detected, and determine whether the real-time relative distance reaches a preset distance range; if the real-time relative distance reaches the preset distance range, acquiring a safe parking position and parking at the safe parking position; acquiring a safe parking position, and determining the position of the retroreflection coefficient detection equipment based on the safe parking position; and establishing a Cartesian rectangular coordinate system based on the position of the retroreflection coefficient detection device.

In one example, the modules in any of the above apparatus may be one or more integrated circuits configured to implement the above method, for example: one or more Application Specific Integrated Circuits (ASICs), or one or more Digital Signal Processors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs), or a combination of at least two of these integrated circuit forms.

For another example, when a module in a device may be implemented in the form of a processing element scheduler, the processing element may be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of invoking programs. As another example, these modules may be integrated together, implemented in the form of a system-on-a-chip (SOC).

It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described apparatuses and modules may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

Fig. 6 is a block diagram of an electronic device 300 according to an embodiment of the present disclosure.

As shown in FIG. 6, electronic device 300 includes a processor 301 and memory 302, and may further include an information input/information output (I/O) interface 303, one or more of a communications component 304, and a communications bus 305.

The processor 301 is configured to control the overall operation of the electronic device 300 to complete all or part of the steps of the method for detecting the retroreflection coefficient of the road sign; the memory 302 is used to store various types of data to support operation at the electronic device 300, such data may include, for example, instructions for any application or method operating on the electronic device 300, as well as application-related data. The Memory 302 may be implemented by any type of volatile or non-volatile Memory device or combination thereof, such as one or more of Static Random Access Memory (SRAM), electrically Erasable Programmable Read-Only Memory (EEPROM), erasable Programmable Read-Only Memory (EPROM), programmable Read-Only Memory (PROM), read-Only Memory (ROM), magnetic Memory, flash Memory, magnetic or optical disk.

The I/O interface 303 provides an interface between the processor 301 and other interface modules, such as a keyboard, mouse, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 304 is used for wired or wireless communication between the electronic device 300 and other devices. Wireless Communication, such as Wi-Fi, bluetooth, near Field Communication (NFC), 2G, 3G, or 4G, or a combination of one or more of them, so that the corresponding Communication component 104 may include: wi-Fi components, bluetooth components, NFC components.

The electronic Device 300 may be implemented by one or more Application Specific Integrated Circuits (ASICs), digital Signal Processors (DSPs), digital Signal Processing Devices (DSPDs), programmable Logic Devices (PLDs), field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components, and is configured to perform the road sign retroreflective factor detection method of the above-described embodiments.

The communication bus 305 may include a path to transfer information between the aforementioned components. The communication bus 305 may be a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The communication bus 305 may be divided into an address bus, a data bus, a control bus, and the like.

The electronic device 300 may include, but is not limited to, a mobile terminal such as a mobile phone, a notebook computer, a digital broadcast receiver, a PDA (personal digital assistant), a PAD (tablet), a PMP (portable multimedia player), a vehicle terminal (e.g., a car navigation terminal), etc., and a stationary terminal such as a digital TV, a desktop computer, etc., and may also be a server, etc.

Fig. 7 is a block diagram of a road sign retroreflection coefficient detection system according to an embodiment of the present disclosure.

As shown in fig. 7, a road sign retroreflection coefficient detection system includes an electronic device 300, a vehicle-mounted retroreflection coefficient detection device 400, a distance sensor 500, and an image acquisition device 600;

the retroreflection coefficient detection equipment 400 is used for detecting the retroreflection coefficient of the equipment to be detected and sending the retroreflection coefficient to the electronic equipment;

the distance sensor 500 is used for detecting the distance between the retroreflection coefficient detection device and a target to be detected and sending the distance to the electronic device;

the image collecting device 600 is configured to collect image information of an object to be detected and send the image information to the electronic device.

The present application further provides a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the steps of the method for detecting a coefficient of retroreflection of a road sign.

The computer-readable storage medium may include: various media capable of storing program codes, such as a usb disk, a removable hard disk, a read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

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.

The foregoing description is only exemplary of the preferred embodiments of the application and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the application referred to in the present application is not limited to the embodiments in which the above-mentioned features are combined in particular, and also encompasses other embodiments in which the above-mentioned features or their equivalents are combined arbitrarily without departing from the concept of the application. For example, the above features and the technical features (but not limited to) having similar functions in the present application are mutually replaced to form the technical solution.

Claims (10)

1. A road sign retroreflection coefficient detection method is characterized by comprising the following steps:

acquiring the position of a retro-reflection coefficient detection device, and establishing a Cartesian rectangular coordinate system based on the position of the retro-reflection coefficient detection device;

acquiring image information of the target to be detected, and determining a central point of the target to be detected based on the image information;

determining a retroreflection axis, a reference axis, an observation axis and an illumination body axis based on the Cartesian rectangular coordinate system and the central point of the target to be detected;

calculating an angle of a current observation angle and an angle of a current incident angle based on the retroreflective body axis, the reference axis, the observation axis, and the illuminant axis;

judging whether the angle of the current observation angle and the angle of the current incidence angle are consistent with the angle of a preset observation angle and the angle of a preset incidence angle or not;

if the angle of the current observation angle and the angle of the current incidence angle are not consistent with the angle of a preset observation angle and the angle of a preset incidence angle, establishing a local coordinate system based on the position of the retroreflection coefficient detection equipment;

acquiring a transformation relation between the local coordinate system and the Cartesian rectangular coordinate system, and calculating an attitude adjustment angle based on the transformation relation;

and adjusting the posture of the retroreflection coefficient detection equipment based on the posture adjustment angle, and measuring the retroreflection coefficient of the target to be detected based on the adjusted posture.

2. The method of claim 1, wherein calculating the angle for the current observation angle and the angle for the current entrance angle based on the retroreflector axis, the reference axis, the observation axis, and a illuminant axis comprises:

acquiring the distance between the retroreflection coefficient detection equipment and the target to be detected;

determining a spatial vector of the retroreflector axis, the reference axis, the observation axis, and the illuminant axis in the Cartesian rectangular coordinate system based on the distances;

calculating an angle of a current observation angle based on the space vector of the observation axis and the space vector of the illuminant axis;

an angle of a current angle of incidence is calculated based on the spatial vector of the retroreflective body axis and the spatial vector of the illuminator axis.

3. The method according to claim 1, wherein the acquiring image information of the target to be detected, and the determining the central point of the target to be detected based on the image information comprises:

and acquiring the geometric shape of the image of the target to be detected, and calculating the central point of the target to be detected based on the geometric shape of the image.

4. The method of claim 1, wherein establishing the local coordinate system based on the location of the retro-reflection coefficient detection device comprises:

and establishing a local coordinate system of the current posture and a local coordinate system of a preset target posture on the basis of the Cartesian rectangular coordinate system of the retroreflection coefficient detection equipment.

5. The method of claim 4, wherein obtaining a transformation relationship between the local coordinate system and the Cartesian rectangular coordinate system, and wherein calculating the pose adjustment angle based on the transformation relationship comprises:

acquiring an Euler angle between the local coordinate system of the current posture and the local coordinate system of the preset target posture, and establishing a rotation matrix based on the Euler angle and the transformation relation;

acquiring an attitude adjustment sequence, and establishing an Euler transformation matrix based on the rotation matrix of the attitude adjustment sequence;

determining an attitude adjustment formula based on the Euler transformation matrix;

and calculating an attitude adjustment angle based on the attitude adjustment matrix.

6. The method of claim 1, wherein obtaining the location of the retro-reflection coefficient detection device, and wherein establishing a cartesian rectangular coordinate system based on the location of the retro-reflection coefficient detection device comprises:

acquiring a real-time relative distance between a vehicle provided with a retro-reflection coefficient detection device and a target to be detected, and judging whether the real-time relative distance reaches a preset distance range;

if the real-time relative distance reaches a preset distance range, acquiring a safe parking position and controlling the vehicle to park in the safe parking position;

acquiring the safe parking position, and determining the position of the retroreflection coefficient detection equipment based on the safe parking position;

and establishing a Cartesian rectangular coordinate system based on the position of the retroreflection coefficient detection equipment.

7. A road sign retroreflection coefficient detection device, characterized by comprising:

the device comprises a position acquisition module, a position acquisition module and a coordinate acquisition module, wherein the position acquisition module is used for acquiring the position of a retroreflection coefficient detection device and establishing a Cartesian rectangular coordinate system based on the position of the retroreflection coefficient detection device;

the center confirmation module is used for acquiring the image information of the target to be detected and determining the center point of the target to be detected based on the image information;

the axis determining module is used for determining a retroreflection axis, a reference axis, an observation axis and an illumination body axis based on the Cartesian rectangular coordinate system and the central point of the target to be detected;

an angle calculation module for calculating an angle of a current observation angle and an angle of a current incident angle based on the retroreflective body axis, the reference axis, the observation axis, and the illuminant axis;

the angle judging module is used for judging whether the angle of the current observation angle and the angle of the current incidence angle are consistent with the angle of a preset observation angle and the angle of a preset incidence angle;

a coordinate establishing module, configured to establish a local coordinate system based on the position of the retro-reflection coefficient detection device if the angle of the current observation angle and the angle of the current incident angle are not consistent with the angle of a preset observation angle and the angle of a preset incident angle;

the attitude calculation module is used for acquiring the transformation relation between the local coordinate system and the Cartesian rectangular coordinate system and calculating an attitude adjustment angle based on the transformation relation;

and the equipment adjusting module is used for adjusting the posture of the retroreflection coefficient detection equipment based on the posture adjusting angle and measuring the retroreflection coefficient of the target to be detected based on the adjusted posture.

8. An electronic device comprising a processor, the processor coupled with a memory;

the processor is configured to execute a computer program stored in the memory to cause the electronic device to perform the method of any of claims 1 to 6.

9. A road sign coefficient of retroreflection detection system comprising an on-board coefficient of retroreflection detection device, a distance sensor, an image capture device, and the electronic device of claim 8;

the retroreflection coefficient detection equipment is used for detecting the retroreflection coefficient of the equipment to be detected and sending the retroreflection coefficient to the electronic equipment;

the distance sensor is used for detecting the distance between the retroreflection coefficient detection equipment and a target to be detected and sending the distance to the electronic equipment;

the image acquisition equipment is used for acquiring image information of a target to be detected and sending the image information to the electronic equipment.

10. A computer-readable storage medium comprising a computer program or instructions which, when run on a computer, cause the computer to carry out the method of any one of claims 1 to 6.

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