CN116447985A - Vehicle height detection system of limit for height scene - Google Patents
Vehicle height detection system of limit for height scene Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
- G01B11/0608—Height gauges
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
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- G06V10/225—Image preprocessing by selection of a specific region containing or referencing a pattern; Locating or processing of specific regions to guide the detection or recognition based on a marking or identifier characterising the area
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- G06V2201/08—Detecting or categorising vehicles
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
The invention provides a vehicle height detection system of a height-limiting scene, which comprises a height measurement module, a ranging module, an analysis module and an early warning module, wherein the height measurement module and the ranging module are arranged on the same longitudinal axis, the height measurement module is used for shooting a picture to be detected containing a vehicle to be detected, and the analysis module is used for marking the vehicle to be detected according to the picture to be detected and judging whether the vehicle to be detected is ultrahigh or not; the distance measurement module is used for shooting an ultrahigh picture containing the ultrahigh vehicle according to the mark, and the analysis module is also used for predicting the collision time and the collision distance from the ultrahigh vehicle to the height-limiting scene according to the picture to be detected and the ultrahigh picture; the early warning module is used for sending corresponding early warning information according to the collision time and the collision distance. The invention improves the accuracy and the practicability of the height limit detection and reduces the error of the height limit alarm information.
Description
Technical Field
The invention belongs to the technical field of height detection, and particularly relates to a vehicle height detection system for a height-limiting scene.
Background
Along with the development of economy, construction works such as roads, bridges, tunnels, overpasses and the like are rapidly developed, and the construction is accelerated and meanwhile the construction needs to be protected. At present, a height limiting marker is additionally arranged on the infrastructure to warn a driver, but the warning mode can not remind the driver in real time, the driver can avoid collision only by keeping high attention, the safety is low, the vigilance is poor, the occurrence of height limiting traffic accidents is caused, and huge losses are caused to the infrastructure and lives and properties of the driver.
In order to enable a driver to accurately judge whether or not a host vehicle is superhigh, the prior art discloses a detection method; as shown in fig. 2, a laser is arranged at a height limiting place, the laser emits laser lines, and the light is filtered on a camera lens by using a light filter; if an ultrahigh object appears on a laser line in a scene, the laser line imaging on an image is changed, and whether the vehicle is ultrahigh is detected according to the principle. However, the method is easily affected by illumination, and when the laser intensity is insufficient, the characteristic line cannot be extracted from the image for detection, so that the limited-height detection has poor practicability and accuracy; and the laser device needs to start laser scanning and determine a scanning field angle when in actual use, if the scanning field angle is too large, false scanning can be caused, if the scanning field angle is too small, a plurality of blind areas can appear, and the height limit detection is inaccurate because the standard of the scanning field angle can not be determined.
In order to give an alarm to the ultrahigh vehicle in time, the prior art also discloses a road height limit detection and warning system; as shown in figure 3, a self-powered module is formed by a plurality of power generation units to provide energy for the system, and the road height limit monitoring, warning and violation information reporting system is realized by the mutual communication of the plurality of modules. However, the system does not explain the height measurement principle and scheme, and cannot determine the height measurement precision and the safety protection distance, so that the accuracy and the practicability of height limit detection cannot be ensured, and the situation that alarm information is wrong exists.
Disclosure of Invention
The invention aims to solve the technical problems in the prior art, and provides a vehicle height detection system for a height limiting scene, which improves the accuracy and the practicability of height limiting detection and reduces the error of height limiting alarm information.
In order to achieve the above object of the present invention, according to a first aspect of the present invention, there is provided a vehicle height detection system for a height-limiting scene, including a height measurement module, a ranging module, an analysis module and an early warning module, wherein the height measurement module and the ranging module are installed on the same vertical axis, the height measurement module is used for taking a picture to be detected including a vehicle to be detected, and the analysis module is used for marking the vehicle to be detected according to the picture to be detected and judging whether the vehicle to be detected is superhigh; the distance measurement module is used for shooting an ultrahigh picture containing the ultrahigh vehicle according to the mark, and the analysis module is also used for predicting the collision time and the collision distance from the ultrahigh vehicle to the height-limiting scene according to the picture to be detected and the ultrahigh picture; the early warning module is used for sending corresponding early warning information according to the collision time and the collision distance.
Further, setting collision grades according to the collision emergency, wherein the collision grades comprise a time grade, a distance grade, an early warning grade and an information grade; the early warning module further comprises a decision sub-module, a communication sub-module and an output sub-module; the decision sub-module is used for judging the time grade according to the collision time of the ultrahigh vehicle, judging the distance grade according to the collision distance of the ultrahigh vehicle, determining the corresponding early warning grade according to the time grade and the distance grade, the communication sub-module is used for sending the early warning grade to the output sub-module of the ultrahigh vehicle, and the output sub-module is used for outputting early warning information of the corresponding grade according to the early warning grade.
Further, the process of determining the corresponding early warning level according to the time level and the distance level specifically includes: when the time grade and the distance grade are the same, selecting the early warning grade with the same grade number; and when the time grade and the distance grade are different, selecting an early warning grade with higher urgency.
Further, the output sub-module is mounted on the vehicle.
Further, the output sub-module comprises a prompt tone output sub-module and a lamplight output sub-module.
Further, the process that the height measurement module is installed on the same horizontal plane with the height limited, and the analysis module judges whether the vehicle to be detected is ultrahigh is specifically as follows: in the picture to be detected, if the highest point of the vehicle to be detected is located below the center of the picture, the vehicle to be detected is not overhigh, and if the highest point of the vehicle to be detected is located above the center of the picture, the vehicle to be detected is ultrahigh.
Further, the height measurement module is not installed on the horizontal plane with the height limited, and the process of judging whether the vehicle to be detected is ultrahigh by the analysis module is specifically as follows: calibrating a scale line corresponding to the height limiting scene in the picture to be detected, if the highest point of the vehicle to be detected is positioned below the scale line, the vehicle to be detected is not excessively high, and if the highest point of the vehicle to be detected is positioned above the scale line, the vehicle to be detected is excessively high.
Further, the analysis module stores a detection model, a target tracking model and a calculation model; the detection model is used for identifying the vehicle to be detected in the picture to be detected; the target tracking model is used for marking the identified vehicle to be detected; the calculation model is used for calculating the collision time and the collision distance of the ultrahigh vehicle to the height-limited scene based on an optical flow algorithm.
Further, the detection model is one or more of a YOLO series target detection model, a frame difference method or a background mapping method.
Further, the target tracking model is one or more of a kernel-related filtering algorithm or a target tracking algorithm based on deep learning.
The technical principle of the invention is as follows: according to the scheme, the image to be detected is shot through the height measurement module, the analysis module identifies and marks the vehicle according to the image to be detected, and judges whether the highest point of the vehicle is over high, if the vehicle is over high, the distance measurement module is started, the distance measurement module shoots the image of the over high vehicle, the analysis module performs feature matching on the over high vehicle in the over high image according to the mark, the image shot by the height measurement module and the distance measurement module is combined, the collision time and the collision distance from the over high vehicle to the height limiting scene are predicted, and corresponding early warning information is sent according to the prediction result.
The invention has the technical effects that: compared with the laser height measurement method in the prior art, the method detects the height of the vehicle in a mode of picture shooting identification, is not influenced by illumination intensity, and improves the accuracy of height limit detection; compared with a single module, the coverage range of the field angle is enlarged by using the height measurement module and the ranging module, the monitoring angles of the height measurement module and the ranging module can be adjusted according to the planned monitoring area, and the flexibility of the scheme is improved; the height measurement module and the distance measurement module are mutually independent, are not limited by a base line and resolution ratio in the debugging and actual use processes, can calculate the collision time and the collision distance of the vehicle by using more algorithms, and improve the practicability of the scheme; the scheme can calibrate images and output results through pictures shot by the height measurement module and the distance measurement module, alarm according to the collision time and the collision speed of the detected ultrahigh vehicle, improve the accuracy of height detection, collision time and collision distance calculation, reduce the error of height limiting alarm information and improve the robustness of the vehicle height detection system.
Drawings
FIG. 1 is a schematic diagram of a prior art height limit detection method;
FIG. 2 is a schematic diagram of a road height limit detection and warning system in the prior art;
FIG. 3 is a schematic diagram of a vehicle height detection system in a height-limiting scenario of the present invention;
FIG. 4 is a schematic diagram of the installation location of the altimeter module and the ranging module of the present invention.
Reference numerals: a vehicle 1 to be tested, a height limiting scene 2, a ranging module 3 and a height measuring module 4.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
In the description of the present invention, it should be understood that the terms "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
In the description of the present invention, unless otherwise specified and defined, it should be noted that the terms "mounted," "connected," and "coupled" are to be construed broadly, and may be, for example, mechanical or electrical, or may be in communication with each other between two elements, directly or indirectly through intermediaries, as would be understood by those skilled in the art, in view of the specific meaning of the terms described above.
As shown in fig. 1, the invention provides a vehicle height detection system of a height-limiting scene, which comprises a height measurement module 4, a ranging module 3, an analysis module and an early warning module, wherein the height measurement module 4 and the ranging module 3 are arranged on the same longitudinal axis;
the height measurement module 4 is used for shooting a picture to be detected containing the vehicle 1 to be detected;
the analysis module is used for marking the vehicle 1 to be detected according to the picture to be detected and judging whether the vehicle 1 to be detected is superhigh or not;
the ranging module 3 is used for shooting an ultrahigh picture containing an ultrahigh vehicle according to the mark;
the analysis module is also used for predicting the collision time and the collision distance from the ultrahigh vehicle to the height-limiting scene 2 according to the pictures to be detected and the ultrahigh picture;
the early warning module is used for sending corresponding early warning information according to the collision time and the collision distance.
In this embodiment, the height measurement module 4 and the ranging module 3 are preferably independent monocular night vision cameras, and compared with a laser detection mode, the night vision cameras do not need to consider light intensity, have stronger anti-interference performance, and enable alarm accuracy and stability to be higher. In other embodiments, a binocular camera may be selected, where two cameras of the binocular camera are the altimeter module 4 and the ranging module 3 respectively, but compared with a monocular camera, the binocular camera is more expensive, is troublesome to install, cannot adjust an angle, cannot be applied to various monitoring environments, and has poor practicality; and two independent monocular cameras can be mutually calibrated, so that the robustness is higher.
Specifically, the analysis module stores a detection model, a target tracking model and a calculation model; the detection model is used for identifying the vehicle 1 to be detected in the picture to be detected; the target tracking model is used for marking the identified vehicles 1 to be detected, namely, each vehicle is marked by a fixed identification number, and the identification number can be customized or can be letter or number; the calculation model is used for calculating the collision time and the collision distance from the ultrahigh vehicle to the height-limited scene 2 based on an optical flow algorithm, and specifically, the calculation process of the optical flow algorithm is in the prior art, and is not described in detail herein.
For example, the analysis module identifies that 5 vehicles exist in the picture to be detected, marks 1, 2, 3, 4 and 5 respectively, and judges that the vehicle 3 and the vehicle 5 are superelevation vehicles; the distance measuring module 3 shoots an ultrahigh picture, the analysis module locks the ultrahigh vehicle in the ultrahigh picture according to the characteristics (such as vehicle color, texture, type and the like) of the vehicle 3 and the vehicle 5 in the picture to be detected, and the ultrahigh picture and the picture to be detected are combined to carry out optical flow method calculation to obtain the collision time and the collision distance from the ultrahigh vehicle to the height limiting scene 2; if the analysis module does not detect that the ultrahigh vehicle exists in the picture to be detected, the distance measurement module 3 does not work, the analysis module does not start the calculation model to calculate, the energy consumption of the vehicle height detection system is saved, and the service life of the related hardware is prolonged.
In this embodiment, the analysis module is preferably a single-chip microcomputer or a computer, and a readable program is stored in the analysis module, where the readable program includes a detection model, a target tracking model, and a calculation model. The detection model is one or more of a YOLO series target detection model, a frame difference method or a background mapping method; the target tracking model is one or more of a kernel correlation filtering algorithm or a target tracking algorithm based on deep learning.
Specifically, a collision grade is set according to the collision emergency, and comprises a time grade, a distance grade, an early warning grade and an information grade; in the embodiment, the time level comprises a first-level prompt time, a second-level warning time and a third-level emergency time, and the urgency is sequentially increased, wherein the first-level prompt time, the second-level warning time and the third-level emergency time are expressed as collision times of different levels; the distance level comprises a first-level prompt distance, a second-level warning distance and a third-level emergency distance, the urgency is increased in sequence, wherein the first-level prompt distance, the second-level warning distance and the third-level emergency distance are expressed as collision distances of different levels; the early warning level comprises a first-level prompt early warning, a second-level early warning and a third-level emergency early warning, and the urgency is increased in sequence; the early warning information comprises primary prompt information, secondary warning information and tertiary emergency information, and the urgency is increased in sequence.
In the embodiment, the first-level prompt time is set to be more than or equal to 5 seconds, the second-level warning time is set to be more than or equal to 3 seconds and less than 5 seconds, and the third-level emergency time is set to be less than 3 seconds; setting the first-level prompt distance to be more than or equal to 100 meters, setting the second-level warning distance to be more than or equal to 60 meters and less than 100 meters, and setting the third-level emergency distance to be less than 60 meters; in other embodiments, the collision level and the value interval of each level may be set according to the actual requirement.
The early warning module comprises a decision sub-module, a communication sub-module and an output sub-module;
the decision sub-module is used for judging time grades according to the collision time of the ultrahigh vehicle, judging distance grades according to the collision distance of the ultrahigh vehicle, and deciding corresponding early warning grades according to the time grades and the distance grades;
the communication sub-module is used for sending the early warning grade to the output sub-module of the ultrahigh vehicle; in this embodiment, the communication sub-module is a wireless communication module, including but not limited to one or more of a 4G module, a 5G module, a WIFI module, or a bluetooth module;
the output sub-module is used for outputting the early warning information of the corresponding grade according to the early warning grade.
Specifically, when the traffic flow of the height limiting scene 2 is large, the output submodule is arranged on the vehicle to be detected in order to ensure pertinence and early warning accuracy of early warning information. When a certain vehicle is detected to be overturned, the early warning level is transmitted to an output sub-module of the vehicle through the communication sub-module, and the output sub-module outputs corresponding early warning information according to the early warning level to remind a driver of the vehicle of limiting the height and prohibiting passing; other non-superelevation vehicles nearby the vehicle can not receive the early warning information. If two ultrahigh vehicles exist simultaneously and the early warning grades of the two ultrahigh vehicles are different, the output sub-modules on the two vehicles can respectively early warn, so that the problems of poor early warning accuracy and low safety caused by only one output sub-module are avoided.
Specifically, the process of determining the corresponding early warning level according to the time level and the distance level is as follows: when the time grade and the distance grade are the same, selecting the early warning grade with the same grade number; and when the time grade and the distance grade are different, selecting an early warning grade with higher urgency. The speed of the ultrahigh vehicle is uncertain, so that the collision distance is far, but the speed of the ultrahigh vehicle is too high, so that the predicted collision time is short, and the distance grade corresponding to the collision distance is a primary prompt early warning, but the time distance grade corresponding to the collision time is a tertiary emergency early warning; therefore, when the time grade and the distance grade are different, the early warning grade with higher urgency is selected, the timeliness of early warning is ensured, and the safety of the vehicle height detection system is improved.
In this embodiment, in order to guarantee that the driver can in time acquire early warning information, output submodule includes suggestion sound output submodule and light output submodule, carries out early warning suggestion from vision and hearing, improves the timeliness of early warning, guarantees the security of vehicle and limit for height scene. In this embodiment, when the early warning levels are different, the alert tone output sub-module outputs different alert tones or alert tones of different frequencies, and the light output sub-module outputs alert lights of different colors.
The height measurement module 4 and the distance measurement module 3 are installed according to the monitoring requirement of the height-limiting scene 2, and are specifically oriented to the height-limiting scene 2, and the height measurement module 4 and the distance measurement module 3 are installed in a positioning mode according to the longitudinal axis, the transverse axis and the angle; in this embodiment, the vertical axis installation height of the altimeter module 4 is as follows:
as shown in fig. 4, when the height measuring module 4 is installed on the same horizontal plane with the limited height, the process of determining whether the vehicle 1 to be detected is over-height by the analyzing module is specifically as follows: in the picture to be detected, if the highest point of the vehicle 1 to be detected is located below the center of the picture, the vehicle 1 to be detected is not overhigh, and if the highest point of the vehicle 1 to be detected is located above the center of the picture, the vehicle 1 to be detected is overhigh.
When the height measurement module 4 is not installed on the horizontal plane with the height limited, the process of judging whether the vehicle 1 to be detected is ultrahigh by the analysis module is specifically as follows: calibrating a scale line corresponding to the height limiting scene 2 in the picture to be detected, if the highest point of the vehicle to be detected is positioned below the scale line, the vehicle to be detected 1 is not excessively high, and if the highest point of the vehicle to be detected 1 is positioned above the scale line, the vehicle to be detected 1 is excessively high;
the process of calibrating the scale line is as follows: after the height measurement module 4 is installed, setting a height limiting scale according to the height limiting scene 2, ensuring that the height measurement module 4 can shoot the height limiting scale, shooting a picture to be detected containing the height limiting scale by the height limiting scale, calibrating a scale line in the picture to be detected, removing the height limiting scale after calibration is completed, automatically generating the scale line after shooting the picture to be detected by the subsequent height measurement module 4, and carrying out ultrahigh judgment by referring to the scale line.
In this embodiment, the horizontal axis positioning and the angle of the height measurement module 4 and the ranging module 3, and the vertical axis distance from the height measurement module 4 to the ranging module 3 are all adjusted according to the vertical axis position and the planned monitoring area, so that the actual monitoring area of the height measurement module 4 and the ranging module 3 can cover the planned monitoring area, and the adjustment mode enables the vehicle height detection system to be applicable to various monitoring environments, and improves the practicability of the vehicle height detection system.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. The vehicle height detection system of the height limiting scene is characterized by comprising a height measurement module, a ranging module, an analysis module and an early warning module, wherein the height measurement module and the ranging module are arranged on the same longitudinal axis;
the height measurement module is used for shooting a picture to be detected containing the vehicle to be detected;
the analysis module is used for marking the vehicle to be detected according to the picture to be detected and judging whether the vehicle to be detected is ultrahigh or not;
the distance measuring module is used for shooting an ultrahigh picture containing the ultrahigh vehicle according to the mark;
the analysis module is also used for predicting the collision time and the collision distance from the ultrahigh vehicle to the height-limiting scene according to the pictures to be detected and the ultrahigh picture;
the early warning module is used for sending corresponding early warning information according to the collision time and the collision distance.
2. The vehicle height detection system of claim 1, wherein the collision level is set according to the collision urgency, the collision level including a time level, a distance level, an early warning level, and an information level; the early warning module further comprises a decision sub-module, a communication sub-module and an output sub-module;
the decision sub-module is used for judging the time grade according to the collision time of the ultrahigh vehicle, judging the distance grade according to the collision distance of the ultrahigh vehicle, determining the corresponding early warning grade according to the time grade and the distance grade, the communication sub-module is used for sending the early warning grade to the output sub-module of the ultrahigh vehicle, and the output sub-module is used for outputting early warning information of the corresponding grade according to the early warning grade.
3. The vehicle height detection system of claim 2, wherein the determining the corresponding pre-warning level according to the time level and the distance level comprises: when the time grade and the distance grade are the same, selecting the early warning grade with the same grade number; and when the time grade and the distance grade are different, selecting an early warning grade with higher urgency.
4. A height detection system for a vehicle in a height limited scenario as claimed in claim 2 wherein the output sub-module is mounted on the vehicle.
5. A vehicle height detection system for a height limited scenario as claimed in claim 2, 3 or 4 wherein the output sub-modules comprise a warning tone output sub-module and a light output sub-module.
6. The vehicle height detection system of claim 1, wherein the height measurement module is installed on the same horizontal plane of the height limit, and the process of determining whether the vehicle to be detected is ultrahigh by the analysis module is specifically as follows: if the highest point of the vehicle to be detected in the picture to be detected is positioned below the center of the picture, the vehicle to be detected is not overhigh, if the highest point of the vehicle to be detected is positioned above the center of the picture, the vehicle to be detected is superhigh.
7. The vehicle height detection system of claim 1, wherein the height measurement module is not installed on a height-limited horizontal plane, and the process of determining whether the vehicle to be detected is ultrahigh by the analysis module is specifically as follows: calibrating a scale line corresponding to the height limiting scene in the picture to be detected, if the highest point of the vehicle to be detected is positioned below the scale line, the vehicle to be detected is not excessively high, and if the highest point of the vehicle to be detected is positioned above the scale line, the vehicle to be detected is excessively high.
8. The vehicle height detection system of claim 1, wherein the analysis module stores a detection model, a target tracking model, and a calculation model;
the detection model is used for identifying the vehicle to be detected in the picture to be detected;
the target tracking model is used for marking the identified vehicle to be detected;
the calculation model is used for calculating the collision time and the collision distance of the ultrahigh vehicle to the height-limited scene based on an optical flow algorithm.
9. The vehicle height detection system of claim 8, wherein the detection model is one or more of YOLO series object detection model, frame difference method, or background mapping method.
10. A vehicle height detection system in a height limited scenario according to claim 8 or 9, wherein the object tracking model is one or more of a kernel-dependent filtering algorithm or a deep learning based object tracking algorithm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310419466.4A CN116447985A (en) | 2023-04-19 | 2023-04-19 | Vehicle height detection system of limit for height scene |
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| CN117198063A (en) * | 2023-09-21 | 2023-12-08 | 苏州安泰阿尔法交通科技发展有限公司 | Method, system and medium for monitoring vehicle superelevation |
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| CN117198063A (en) * | 2023-09-21 | 2023-12-08 | 苏州安泰阿尔法交通科技发展有限公司 | Method, system and medium for monitoring vehicle superelevation |
| CN117198063B (en) * | 2023-09-21 | 2024-04-26 | 苏州安泰阿尔法交通科技发展有限公司 | Method, system and medium for monitoring vehicle superelevation |
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