CN117765417A - Shared vehicle inspection method and device based on unmanned aerial vehicle and storage medium - Google Patents
Shared vehicle inspection method and device based on unmanned aerial vehicle and storage medium Download PDFInfo
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Abstract
The invention belongs to the technical field of road surface inspection and management, and particularly relates to a shared vehicle inspection method and device based on an unmanned aerial vehicle, and a storage medium. Comprising the following steps: s1, acquiring video acquisition data on a preset inspection route, and acquiring a target image set from the video acquisition data; s2, acquiring a target tag data set according to the target image set, and acquiring a parking recognition model or a shared vehicle driving recognition model around the parking frame according to the target image set and the target tag data set; s3, acquiring real-time video data on the routing inspection route, inputting the real-time video data into a parking recognition model around the parking frame, acquiring a recognition result, displaying and marking the recognition result on the real-time video data, and outputting a work order; and S4, sending the work order to operation and maintenance personnel. The invention can effectively reduce the labor intensity of manual inspection, and accurately and timely feed back the vehicle placement result or the vehicle driving result.
Description
Technical Field
The invention belongs to the technical field of road surface inspection and management, and particularly relates to a shared vehicle inspection method and device based on an unmanned aerial vehicle, and a storage medium.
Background
Vehicles are usually used in the outgoing, and new transportation means, namely, shared vehicles, including shared bicycles, shared electric vehicles, shared automobiles and the like, are emerging in recent years; in order to facilitate management of the shared vehicles, the shared vehicles are generally provided with fixed parking positions, people take vehicles from the fixed parking positions when using the shared vehicles, park the vehicles nearby in other fixed parking spaces after using the shared vehicles, and the vehicles are continuously circulated and used, so that convenience is provided for people to travel. However, the number of the shared single vehicles or the shared electric vehicles is numerous and scattered, and although the fixed parking spaces are arranged, the unreasonable parking positions of the vehicles still exist, so that the environmental order is affected. Therefore, it is necessary to periodically patrol and manage the shared vehicle.
However, because of the large number of vehicles and the large management difficulty, when the road surface inspection is performed, because the area of the management district is large, the environment is complex, and the manual inspection is difficult to inspect all routes in a short time, the accumulation condition of the shared vehicles in the parking frame can not be accurately found on time, and the inspection efficiency is low; in addition, the shared vehicle is difficult to inquire the use condition in time in the use process, and the situations of riding, retrograde driving and the like of multiple persons are required to be stopped in time.
Therefore, there is a need to provide a shared vehicle inspection method, a shared vehicle inspection device and a storage medium based on an unmanned aerial vehicle.
Disclosure of Invention
In order to solve the technical problems in the prior art, the invention provides a shared vehicle inspection method, a shared vehicle inspection device and a storage medium based on an unmanned aerial vehicle; and the unmanned aerial vehicle is utilized to quickly acquire the condition of the shared vehicle, and the image recognition technology is utilized to realize inspection.
In order to achieve the above purpose, the technical scheme of the invention is as follows:
a shared vehicle inspection method based on an unmanned aerial vehicle, comprising:
s1, acquiring video acquisition data on a preset inspection route, and acquiring a target image set from the video acquisition data;
s2, acquiring a target tag data set according to the target image set, and acquiring a parking recognition model or a shared vehicle driving recognition model around the parking frame according to the target image set and the target tag data set;
s3, acquiring real-time video data on a routing inspection route, inputting the real-time video data into a parking recognition model or a shared vehicle driving recognition model around a parking frame, acquiring a recognition result, displaying and marking the recognition result on the real-time video data, and outputting a work order;
and S4, sending the work order to operation and maintenance personnel.
Further, in step S1, video acquisition data is acquired by using the unmanned aerial vehicle.
Further, a routing inspection route is planned according to the actual operation data and the vehicle siltation violation data.
The shared vehicle inspection method is used for carrying out shared vehicle arrangement inspection, and further, the target image set comprises a plurality of target images, the parking points and the vehicle information in the target images are labeled, and a target label data set is obtained according to the label labels.
Further, in step S2, the specific method for obtaining the target tag dataset includes: manually identifying a parking frame in the target image, and labeling four vertexes of the parking frame; meanwhile, identifying the boundary of the vehicle in the target image, and marking the boundary of the vehicle by using a rectangular frame; carrying out brand recognition on the vehicles in the target image, and labeling brands and vehicle characteristics; the parking frame vertex positions, the vehicle boundary rectangular borders, brands and vehicle features form a target tag dataset.
Further, the specific method for obtaining the identification result in step S3 includes:
identifying a parking frame and a vehicle brand by using an object detection algorithm, and obtaining the vertex position of the parking frame and the vehicle brand information of a real-time image in the real-time video data;
identifying boundary points of a vehicle head and a vehicle tail by using an object detection algorithm to obtain rectangular frame information of the vehicle boundary of a real-time image in real-time video data;
and judging the relative relation between the vehicle and the parking frame by using a graphic intersection detection algorithm and a nearest point algorithm.
Further, the relative relation between the vehicle and the parking frame is judged by using a graphic intersection detection algorithm and a nearest point algorithm, and the method specifically comprises the following steps: and connecting four vertexes of the parking frame into a rectangle according to the sequence, judging whether the rectangle of the parking frame and the rectangular border of the vehicle border have intersection points, and identifying that the vehicle is parked outside the parking frame if the intersection points are not found.
Further, if the rectangle of the parking frame and the rectangular border of the vehicle border have intersection points, all intersection points of the rectangle of the parking frame and the rectangular border of the vehicle border are obtained; forming a closed polygon according to all the intersection points and the vertexes of the parking frame in the overlapping area of the rectangle of the parking frame and the rectangular frame of the vehicle boundary; and calculating the polygonal area, and judging whether the vehicle is parked in the parking frame or outside the parking frame according to the polygonal area.
Further, if the polygonal area is 75% or more of the rectangular area of the vehicle boundary, it is determined that the vehicle is parked in the parking frame.
Further, the calculation method of the polygonal area is as follows:
wherein A represents polygonal area, n represents the number of vertices of the parking frame in the overlapping area of the rectangle of the parking frame and the rectangular frame of the vehicle boundary, and X i 、Y i Representing the coordinates at the vertices i of the polygon, respectively.
Further, when the shared vehicle inspection method is used for the shared vehicle running inspection, the target image set comprises a plurality of target images, the running information in the target images is labeled, and a target label data set is obtained according to the label; wherein the travel information includes: whether to wear the helmet, ride by multiple persons, run on the motor vehicle lane, and reverse.
The invention also provides a shared vehicle inspection device based on the unmanned aerial vehicle, which adopts the shared vehicle inspection method based on the unmanned aerial vehicle and comprises the following steps:
the acquisition module is used for acquiring video acquisition data and real-time video data on the routing inspection route;
the labeling module is used for labeling the target image;
the training module is used for obtaining a parking recognition model or a shared vehicle driving recognition model of the vehicle around the parking frame;
and the inspection module is used for inputting the real-time video data into a parking recognition model or a shared vehicle driving recognition model around the parking frame, acquiring a recognition result, displaying and marking the recognition result on the real-time video data, outputting a work order, and sending the work order to operation and maintenance personnel.
The invention also provides a computer readable storage medium, on which a computer program is stored, which when being executed by a processor, implements the shared vehicle inspection method based on the unmanned aerial vehicle.
Compared with the prior art, the invention has the following beneficial effects:
the shared vehicle inspection method based on the unmanned aerial vehicle is used for establishing an identification model by using image data acquired by the unmanned aerial vehicle when the shared vehicle is placed and inspected, wherein parking frame vertex information and vehicle boundary information are stored in the identification model; the image data acquired in real time is input into the identification model, so that parking frame vertex information, vehicle boundary information and vehicle brand information of the real-time image can be obtained, and then whether the vehicle is positioned in the parking frame or not is judged through a graphic intersection detection algorithm, so that the aim of vehicle arrangement inspection is fulfilled, the labor intensity of manual inspection is effectively reduced, and the vehicle arrangement result is accurately and timely fed back. Meanwhile, the shared vehicle inspection method can be used for inspecting the arrangement condition of the vehicles, can also be used for inspecting the running of the vehicles by adopting the same algorithm, and can be used for inspecting the illegal use condition of the vehicles in time, so that accidents are avoided.
According to the shared vehicle inspection method based on the unmanned aerial vehicle, which is provided by the invention, the vehicle placement condition is judged through the vertex information of the parking frame and the vehicle boundary, the parking frames under different angles and different environments can be identified, subsequent image processing is not needed, and the identification result is accurate and rapid.
Drawings
FIG. 1 is a schematic flow chart of the method of the present invention.
Fig. 2 is a frame diagram of the device of the present invention.
Detailed Description
The technical solutions of the present invention will be clearly described below with reference to the accompanying drawings, and it is obvious that the described embodiments are not all embodiments of the present invention, and all other embodiments obtained by a person skilled in the art without making any inventive effort are within the scope of protection of the present invention.
It should be noted that the relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments should not be construed as limiting the scope of the present invention unless it is specifically stated otherwise. Furthermore, it should be understood that the dimensions of the various elements shown in the figures are not necessarily drawn to actual scale, e.g., the thickness, width, length, or distance of some elements may be exaggerated relative to other structures for ease of description.
The following description of the exemplary embodiment(s) is merely illustrative, and is in no way intended to limit the invention, its application, or uses. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail herein, but where applicable, should be considered part of the present specification.
Example 1
The embodiment provides a sharing vehicle inspection method based on an unmanned aerial vehicle, which is used for placing and inspecting the sharing vehicle. Wherein the shared vehicle can be a shared bicycle (bicycle), a shared electric vehicle or even a shared automobile; in this embodiment, the placing inspection is mainly performed for the shared bicycle and the shared electric bicycle, as shown in fig. 1, and the specific steps include:
s1, acquiring video acquisition data on a preset inspection route, and acquiring a target image set from the video acquisition data; and planning a routing inspection route according to the actual operation data and the vehicle siltation violation data. The actual running data comprise the number of running vehicles at the parking spot, and the vehicle siltation violation data are the number of vehicle siltation violations of the parking spot; according to the historical inspection conditions, confirming actual running data and vehicle siltation violation data; if the number of vehicles actually running is large and the number of times of vehicle siltation violations is large, discrete points on the inspection route are confirmed, and each parking point meeting the conditions is connected in series to form a route with the shortest inspection length, namely the inspection route.
After the inspection route is planned, video acquisition data are acquired by using the unmanned aerial vehicle according to the planned inspection route, the video acquisition data are composed of multiple frames of target images, a target image set is acquired from the video acquisition data, the target image set comprises a plurality of target images, the target images comprise image information under various scenes, such as the situation that only a parking frame and no vehicle are parked, the situation that both the parking frame and the vehicle are parked and the vehicle is parked in the parking frame, or the situation that both the parking frame and the vehicle are parked and the vehicle is parked outside the parking frame, and even the situation that no parking frame only has the vehicle is adopted.
S2, acquiring a target tag data set according to the target image set, and acquiring a parking recognition model around the parking frame according to the target image set and the target tag data set; the method comprises the following steps: and labeling the parking positions and the vehicle information in the target image, and obtaining a target label data set according to the label labeling.
The specific method comprises the following steps: manually identifying a parking frame in the target image, and labeling four vertexes of the parking frame; meanwhile, identifying the boundary of the vehicle in the target image, and marking the boundary of the vehicle by using a rectangular frame; the brand recognition is carried out on the vehicles in the target image, the brand and the vehicle characteristics are marked, the vehicle characteristics can be usually in colors, and the brand and the vehicle colors are correspondingly associated due to the obvious difference of the vehicle body colors of different brands, so that the brand information can be quickly determined; the parking frame vertex positions, the vehicle boundary rectangular borders, brands and vehicle features form a target tag dataset.
S3, acquiring real-time video data on the routing inspection route, inputting the real-time video data into a parking recognition model around the parking frame, acquiring a recognition result, displaying and marking the recognition result on the real-time video data, and outputting a work order;
the identification model firstly acquires a real-time image from real-time video data, and identifies the real-time image, and the specific method comprises the following steps:
identifying a parking frame and a vehicle brand by using an object detection algorithm, and obtaining the vertex position of the parking frame and the vehicle brand information of a real-time image in the real-time video data; the object detection algorithm specifically adopts a yolov5 algorithm, acquires the vertex position of a parking frame and the color of a vehicle body in a real-time image by adopting the yolov5 algorithm, and determines the brand information of the vehicle through the vehicle body.
Identifying boundary points of a vehicle head and a vehicle tail by using an object detection algorithm to obtain rectangular frame information of the vehicle boundary of a real-time image in real-time video data; the object detection algorithm specifically adopts a yolov5 algorithm, and the boundaries of the head and the tail of the vehicle in the real-time image are obtained by adopting the yolov5 algorithm, so that the rectangular frame of the vehicle is obtained.
And judging the relative relation between the vehicle and the parking frame by using a graphic intersection detection algorithm and a nearest point algorithm. The method specifically comprises the following steps: and connecting four vertexes of the parking frame into a rectangle according to the sequence, judging whether the rectangle of the parking frame and the rectangular border of the vehicle border have intersection points, and identifying that the vehicle is parked outside the parking frame if the intersection points are not found.
If the rectangle of the parking frame and the rectangular border of the vehicle border have intersection points, acquiring all intersection points of the rectangle of the parking frame and the rectangular border of the vehicle border; forming a closed polygon according to all the intersection points and the vertexes of the parking frame in the overlapping area of the rectangle of the parking frame and the rectangular frame of the vehicle boundary; and calculating the polygonal area, and judging whether the vehicle is parked in the parking frame or outside the parking frame according to the polygonal area.
And judging that the vehicle is parked in the parking frame if the polygonal area is more than or equal to 75% of the rectangular area of the boundary of the vehicle.
The calculation method of the polygonal area comprises the following steps:
wherein A represents polygonal area, n represents the number of vertices of the parking frame in the overlapping area of the rectangle of the parking frame and the rectangular frame of the vehicle boundary, and X i 、Y i Representing the coordinates at the vertices i of the polygon, respectively. The coordinates here take the lower left corner of the graph as the origin, and the coordinate values of each vertex of the polygon are obtained.
And finally, counting the vehicle placement conditions of each parking spot according to the identification result, wherein the vehicle placement conditions comprise the number of vehicles parked in the parking frame, the number of vehicles parked outside the parking frame and the corresponding vehicle brands to form a work order.
And S4, sending the work order to operation and maintenance personnel.
According to the embodiment, the real-time image of the parking spot is acquired based on the unmanned aerial vehicle, the parking spot is identified through the trained model, the placement condition of the shared vehicle at the parking spot can be quickly identified, and then operation and maintenance personnel are informed in time, so that the inspection efficiency and accuracy are improved. In addition, during the use of the shared vehicle, the same method can also be used for inspecting the use behavior, such as wearing a helmet, riding by multiple persons, running on a motor vehicle lane, reversing, and the like. Before identification, firstly, manually marking based on a plurality of images of the vehicle in the using process acquired by the unmanned aerial vehicle, marking helmet information correctly worn by a user, marking a plurality of persons riding, marking a motor vehicle lane running and marking a vehicle head and a vehicle tail, establishing an identification model, then acquiring real-time images of the shared vehicle in the using process based on the unmanned aerial vehicle, and carrying out using behavior identification based on the real-time images and the identification model. And aiming at the identification of the retrograde condition, determining through identifying the head and the tail of the vehicle, and judging whether the direction from the tail to the head and the driving direction are the same after the head and the tail are determined, so as to judge whether retrograde.
Example two
The embodiment provides a shared vehicle inspection device based on an unmanned aerial vehicle, and the shared vehicle inspection method based on the unmanned aerial vehicle provided in the first embodiment is shown in fig. 2, and includes:
the acquisition module is used for acquiring video acquisition data and real-time video data on the routing inspection route;
the labeling module is used for labeling the target image;
the training module is used for obtaining a parking recognition model or a shared vehicle driving recognition model of the vehicle around the parking frame;
and the inspection module is used for inputting the real-time video data into a parking recognition model or a shared vehicle driving recognition model around the parking frame, acquiring a recognition result, displaying and marking the recognition result on the real-time video data, outputting a work order, and sending the work order to operation and maintenance personnel.
Example III
The present embodiment provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the shared vehicle inspection method based on the unmanned aerial vehicle provided in the first embodiment.
The above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to examples, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the scope of the technical solution of the present invention, which is intended to be covered by the claims of the present invention.
Claims (10)
1. The shared vehicle inspection method based on the unmanned aerial vehicle is characterized by comprising the following steps of:
s1, acquiring video acquisition data on a preset inspection route, and acquiring a target image set from the video acquisition data;
s2, acquiring a target tag data set according to the target image set, and acquiring a parking recognition model or a shared vehicle driving recognition model around the parking frame according to the target image set and the target tag data set;
s3, acquiring real-time video data on a routing inspection route, inputting the real-time video data into a parking recognition model or a shared vehicle driving recognition model around a parking frame, acquiring a recognition result, displaying and marking the recognition result on the real-time video data, and outputting a work order;
and S4, sending the work order to operation and maintenance personnel.
2. The method for inspecting a shared vehicle according to claim 1, wherein the target image set includes a plurality of target images, and the parking points and the vehicle information in the target images are labeled, and a target label data set is obtained according to the label.
3. The shared vehicle inspection method according to claim 2, wherein in step S2, the specific method for obtaining the target tag data set includes: manually identifying a parking frame in the target image, and labeling four vertexes of the parking frame; meanwhile, identifying the boundary of the vehicle in the target image, and marking the boundary of the vehicle by using a rectangular frame; carrying out brand recognition on the vehicles in the target image, and labeling brands and vehicle characteristics; the parking frame vertex positions, the vehicle boundary rectangular borders, brands and vehicle features form a target tag dataset.
4. The shared vehicle inspection method according to claim 2, wherein the specific method for acquiring the identification result in step S3 includes:
identifying a parking frame and a vehicle brand by using an object detection algorithm, and obtaining the vertex position of the parking frame and the vehicle brand information of a real-time image in the real-time video data;
identifying boundary points of a vehicle head and a vehicle tail by using an object detection algorithm to obtain rectangular frame information of the vehicle boundary of a real-time image in real-time video data;
and judging the relative relation between the vehicle and the parking frame by using a graphic intersection detection algorithm and a nearest point algorithm.
5. The method for inspecting a shared vehicle according to claim 4, wherein the determining the relative relationship between the vehicle and the parking frame using a graphic intersection detection algorithm and a nearest point algorithm comprises: and connecting four vertexes of the parking frame into a rectangle according to the sequence, judging whether the rectangle of the parking frame and the rectangular border of the vehicle border have intersection points, and identifying that the vehicle is parked outside the parking frame if the intersection points are not found.
6. The method according to claim 5, wherein if the rectangle of the parking frame has an intersection with the rectangular border of the vehicle border, all intersection points of the rectangle of the parking frame and the rectangular border of the vehicle border are obtained; forming a closed polygon according to all the intersection points and the vertexes of the parking frame in the overlapping area of the rectangle of the parking frame and the rectangular frame of the vehicle boundary; and calculating the polygonal area, and judging whether the vehicle is parked in the parking frame or outside the parking frame according to the polygonal area.
7. The shared vehicle inspection method according to claim 6, wherein the polygonal area is 75% or more of the rectangular area of the vehicle boundary, and the vehicle is judged to be stopped in the parking frame;
the calculation method of the polygonal area comprises the following steps:
wherein A represents polygonal area, n represents the number of vertices of the parking frame in the overlapping area of the rectangle of the parking frame and the rectangular frame of the vehicle boundary, and X i 、Y i Representing the coordinates at the vertices i of the polygon, respectively.
8. The method for inspecting a shared vehicle according to claim 1, wherein the method for inspecting a shared vehicle is used for inspecting a shared vehicle during running, the target image set includes a plurality of target images, running information in the target images is labeled, and a target label data set is obtained according to the label; wherein the travel information includes: whether to wear the helmet, ride by multiple persons, run on the motor vehicle lane, and reverse.
9. A shared vehicle inspection device based on an unmanned aerial vehicle, adopting the shared vehicle inspection method based on an unmanned aerial vehicle as claimed in any one of claims 1 to 8, comprising:
the acquisition module is used for acquiring video acquisition data and real-time video data on the routing inspection route;
the labeling module is used for labeling the target image;
the training module is used for obtaining a parking recognition model or a shared vehicle driving recognition model of the vehicle around the parking frame;
and the inspection module is used for inputting the real-time video data into a parking recognition model or a shared vehicle driving recognition model around the parking frame, acquiring a recognition result, displaying and marking the recognition result on the real-time video data, outputting a work order, and sending the work order to operation and maintenance personnel.
10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the unmanned aerial vehicle-based shared vehicle inspection method of any one of claims 1-8.
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