CN117975400A - Garbage correction condition detection method, electronic equipment and storage medium - Google Patents
Garbage correction condition detection method, electronic equipment and storage medium Download PDFInfo
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Abstract
The invention relates to a garbage correction condition detection method, electronic equipment and a storage medium, belonging to the technical field of garbage correction condition detection, wherein the method comprises the following steps: detecting and obtaining junk information of a current frame, and obtaining GPS coordinates of a patrol car; determining a first judgment score and a second judgment score; determining a first road boundary score and a second road boundary score; determining a garbage range score; forming a garbage feature vector; when the patrol car detects garbage, recording the corresponding frame number i 1 and a first garbage feature vector, and rechecking after the frame number i 2 corresponding to the set correction time to obtain a second garbage feature vector; determining a first length score, a second length score, a first correction sub-score, a second correction sub-score, and a third correction sub-score; determining a data criterion score, a correction criterion score and a garbage correction score; and determining whether the garbage is subjected to modification according to the garbage modification score, and if the garbage is not subjected to modification, sending reminding modification information to a management department.
Description
Technical Field
The invention belongs to the technical field of garbage correction condition detection, and particularly relates to a garbage correction condition detection method, electronic equipment and a storage medium.
Background
At present, the detection of the garbage correction condition is that the image of the camera is used for manually checking and detecting, the efficiency of checking and detecting the garbage correction condition is low, and the user experience is poor. Therefore, a method capable of improving efficiency and user experience in detecting the garbage correction situation is needed.
Disclosure of Invention
In view of the above shortcomings in the prior art, an object of the present invention is to provide a method for detecting a garbage correction situation, an electronic device, and a storage medium, which can improve efficiency and user experience of detecting a garbage correction situation.
The first aspect of the invention provides a garbage correction condition detection method, which comprises the following steps:
Detecting garbage in a camera of the patrol car by using a roadside garbage detection model to obtain garbage information of a current frame, and acquiring GPS coordinates of the patrol car;
acquiring a coordinate set of a first lane line pixel point and a coordinate set of a second lane line pixel point in a current frame image by using a trained lane line detection model;
Determining a first judgment score according to the coordinate set of the first lane line pixel point and the junk information of the current frame, and determining a second judgment score according to the coordinate set of the second lane line pixel point and the junk information of the current frame;
Determining a first road boundary score according to the coordinate set of the first lane line pixel point and the first judgment score, and determining a second road boundary score according to the coordinate set of the second lane line pixel point and the second judgment score;
Determining a garbage range score according to the garbage information, the first road boundary score and the second road boundary score, and forming a garbage feature vector from the garbage information of the current frame, the GPS coordinates of the patrol car and the garbage range score;
When the patrol car detects garbage, recording a corresponding frame number i 1 and a first garbage feature vector, and after the frame number i 2 corresponding to the set correction time is passed, arranging the patrol car to recheck the position where the garbage is detected according to a patrol path to obtain a second garbage feature vector of the patrol car passing through the garbage existing path;
Determining a first length score, a second length score, a first correction sub-score and a third correction sub-score according to the first garbage feature vector and the second garbage feature vector, and determining a second correction sub-score according to the first garbage feature vector, the second garbage feature vector, the first length score and the second length score;
determining a data criterion score according to the first correction sub-score and the second correction sub-score, determining a correction criterion score according to the first correction sub-score, the second correction sub-score and the third correction sub-score, and determining a garbage correction score according to the correction criterion score, the data criterion score and the first garbage feature vector;
And determining whether the garbage is subjected to modification according to the size of the garbage modification score, and if the garbage is not subjected to modification, sending reminding modification information to a management department.
Further, in the above method for detecting a correction situation of garbage, the determining the first judgment score according to the coordinate set of the pixel point of the first lane line and the garbage information of the current frame is determined by the following formula:
determining a second judgment score according to the coordinate set of the pixel points of the second lane line and the garbage information of the current frame, wherein the second judgment score is determined by the following formula:
Wherein, Garbage information representing a current frame, i representing a number of frames corresponding to an image,For the coordinates of the left vertex of the garbage box,For the width of the garbage box,For the height of the garbage box, when garbage does not exist in the image of the current frame, the method causes，A set of coordinates representing a first lane line pixel point,A set of coordinates representing pixels of the second lane line, j representing a sequence number of coordinates,A first judgment score is indicated,Representing a second judgment score.
Further, in the above method for detecting a modification situation of garbage, the first road boundary score is determined according to the coordinate set of the pixel point of the first lane line and the first judgment score by the following formula:
determining a second road boundary score according to the coordinate set of the second lane line pixel point and the second judgment score is determined by the following formula:
a set of coordinates representing a first lane line pixel point, A set of coordinates representing pixels of the second lane line, j representing a sequence number of coordinates,A first judgment score is indicated,A second judgment score is indicated and a second judgment score,A first road side boundary score representing the current frame i,A second road boundary score representing the current frame i,The number of elements is，The number of elements is，Is a non-negative correction constant.
Further, in the above method for detecting a modification situation of garbage, determining the garbage range score according to the garbage information, the first road boundary score and the second road boundary score is determined by the following formula:
Wherein, Garbage information representing a current frame, i representing a number of frames corresponding to an image,For the coordinates of the left vertex of the garbage box,For the width of the garbage box,For the height of the garbage box, when garbage does not exist in the image of the current frame, the method causes，Is a non-negative correction constant that is set to a non-negative correction constant,A first road side boundary score representing the current frame i,A second road boundary score representing the current frame i,Representing the garbage scope score for the current frame i.
Further, in the above method for detecting a modification situation of garbage, the first length score, the second length score, the first modification sub-score and the third modification sub-score are determined according to the first garbage feature vector and the second garbage feature vector by the following formula:
Determining a second correction sub-score from the first garbage feature vector, the second garbage feature vector, and the first length score, the second length score is determined by the following formula:
Wherein, A first garbage feature vector is represented and,A first length score is represented and a second length score is represented,A second garbage feature vector is represented and,A first length score representing the current frame,A second length score representing the current frame,A set first judgment threshold value is indicated,A set second judgment threshold value is indicated,A first warping sub-score representing the current frame i,A third warping sub-score representing the current frame i,A second warping sub-score representing the current frame i,Is a non-negative correction constant.
Further, in the above garbage correction condition detection method, the determining the data criterion score according to the first correction sub-score and the second correction sub-score is determined by the following formula:
determining the correction criterion score from the first correction sub-score, the second correction sub-score, and the third correction sub-score is determined by the following formula:
Wherein, A first warping sub-score representing the current frame i,A third warping sub-score representing the current frame i,A second warping sub-score representing the current frame i,Indicating the modification criterion score for the current frame i,And (3) representing the data criterion score of the current frame i, and n 3 representing the number of second garbage feature vectors.
Further, in the above method for detecting a modification situation of garbage, the modification score of garbage is determined according to the modification criterion score, the data criterion score and the first garbage feature vector by the following formula:
Wherein, Indicating the modification criterion score for the current frame i,A data criterion score representing the current frame i, n 3 representing the number of second garbage feature vectors,A first garbage feature vector is represented and,Indicating the garbage correction score.
Further, in the above method for detecting the modification condition of garbage, determining whether the modification of garbage is completed according to the size of the modification score of garbage includes:
Judging the garbage correction component and setting a third judgment threshold value When the judgment result is that the garbage correction amount is smaller than the set third judgment threshold valueWhen the garbage is judged to be completely rectified; otherwise, judging that the garbage is not completely rectified.
In a second aspect of the present invention, there is also provided an electronic device, including: a processor and a memory;
The processor is used for executing the garbage correction condition detection method according to any one of the above by calling the program or the instruction stored in the memory.
In a third aspect of the present invention, there is also provided a computer-readable storage medium storing a program or instructions that cause a computer to execute a garbage correction condition detection method according to any one of the above.
The beneficial effects of the invention are as follows: the invention obtains the garbage information of the current frame by detecting garbage in the camera of the patrol car by using a roadside garbage detection model, and obtains the GPS coordinates of the patrol car; acquiring a coordinate set of a first lane line pixel point and a coordinate set of a second lane line pixel point in a current frame image by using a trained lane line detection model; determining a first judgment score according to the coordinate set of the first lane line pixel point and the junk information of the current frame, and determining a second judgment score according to the coordinate set of the second lane line pixel point and the junk information of the current frame; determining a first road boundary score according to the coordinate set of the first lane line pixel point and the first judgment score, and determining a second road boundary score according to the coordinate set of the second lane line pixel point and the second judgment score; determining a garbage range score according to the garbage information, the first road boundary score and the second road boundary score; the garbage information of the current frame, the GPS coordinates of the patrol car and the garbage range score form a garbage characteristic vector; when the patrol car detects garbage, recording a corresponding frame number i 1 and a first garbage feature vector, and after the frame number i 2 corresponding to the set correction time is passed, arranging the patrol car to recheck the position where the garbage is detected according to a patrol path to obtain a second garbage feature vector of the patrol car passing through the garbage existing path; determining a first length score, a second length score, a first correction sub-score, and a third correction sub-score according to the first garbage feature vector and the second garbage feature vector; determining a second correction sub-score according to the first garbage feature vector, the second garbage feature vector, the first length score and the second length score; determining a data criterion score according to the first correction sub-score and the second correction sub-score, and determining a correction criterion score according to the first correction sub-score, the second correction sub-score and the third correction sub-score; determining a garbage correction score according to the correction criterion score, the data criterion score and the first garbage feature vector; and determining whether the garbage is subjected to modification according to the size of the garbage modification score, and if the garbage is not subjected to modification, sending reminding modification information to a management department. The invention can improve the efficiency and the user experience of detecting the garbage correction condition.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, like reference numerals being used to refer to like parts throughout the several views. It is apparent that the drawings in the following description are only some of the embodiments described in the embodiments of the present invention, and that other drawings may be obtained from these drawings by those of ordinary skill in the art.
FIG. 1 is a diagram of a method for detecting a garbage correction condition according to an embodiment of the present invention;
Fig. 2 is a schematic block diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the embodiments of the present invention better understood by those skilled in the art, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. It should be understood that the description is only illustrative and is not intended to limit the scope of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, shall fall within the scope of the invention.
In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the concepts of the present disclosure.
In the description of the present invention, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The terms "mounted," "connected," "coupled," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the invention. Rather, they are merely examples of methods and systems that are consistent with aspects of the invention as detailed in the accompanying claims.
The invention provides a garbage correction condition detection method, electronic equipment and a storage medium, which can improve the efficiency and user experience of detecting the garbage correction condition.
Method embodiment
Fig. 1 is a diagram of a method for detecting a garbage correction situation according to an embodiment of the present invention.
In a first aspect of the present invention, a method for detecting a modification situation of garbage is provided, and in combination with fig. 1, the method includes steps S1 to S9:
s1: and detecting the garbage in the camera of the patrol car by using a roadside garbage detection model to obtain the garbage information of the current frame, and acquiring the GPS coordinates of the patrol car.
Specifically, in the embodiment of the invention, garbage pictures on a patrol path are collected according to the patrol path set by a patrol car, the garbage pictures are marked, and the marked garbage pictures are trained by using a training model based on YOLO to obtain a roadside garbage detection model. When the patrol car patrol according to the set path, the garbage in the camera of the patrol car is detected by using a roadside garbage detection model, and when the garbage in the image is detected to exist, garbage information is obtainedWhere i is the number of frames corresponding to the image,For the coordinates of the left vertex of the garbage box,For the width of the garbage box,For the height of the garbage box, when no garbage exists in the image, the garbage box is made to be; Acquiring GPS coordinates of patrol car。
S2: and acquiring a coordinate set of the first lane line pixel point and a coordinate set of the second lane line pixel point in the current frame image by using the trained lane line detection model.
Specifically, in the embodiment of the invention, a trained lane line detection model is used for acquiring a coordinate set of a first lane line pixel point and a coordinate set of a second lane line pixel point in a current frame imageWhere j is the serial number of the coordinate,The number of elements is，The number of elements is。
S3: determining a first judgment score according to the coordinate set of the first lane line pixel point and the junk information of the current frame, and determining a second judgment score according to the coordinate set of the second lane line pixel point and the junk information of the current frame.
Specifically, in the embodiment of the present invention, a first judgment score is determined according to a coordinate set of a first lane line pixel point and junk information of a current frame, and a second judgment score is determined according to a coordinate set of a second lane line pixel point and junk information of the current frame.
S4: and determining a first road boundary score according to the coordinate set of the first lane line pixel point and the first judgment score, and determining a second road boundary score according to the coordinate set of the second lane line pixel point and the second judgment score.
Specifically, in the embodiment of the present invention, a first road boundary score is determined according to the coordinate set of the first lane line pixel point and the first judgment score, and a method for determining a second road boundary score according to the coordinate set of the second lane line pixel point and the second judgment score is described in detail below.
S5: determining a garbage range score according to the garbage information, the first road boundary score and the second road boundary score; and forming the garbage characteristic vector by the garbage information of the current frame, the GPS coordinates of the patrol car and the garbage range score.
Specifically, in the embodiment of the invention, according to the junk informationDetermining a garbage range score from a first road boundary score and a second road boundary scoreThe method of (2) is described in detail below, and the junk information of the current frame is described in detail belowGPS coordinates of patrol carAnd garbage range scoreAnd forming the garbage feature vector.
S6: when the patrol car detects the garbage, the corresponding frame number i 1 and the first garbage feature vector are recorded, after the set correction time corresponding frame number i 2 is passed, the patrol car is arranged to recheck the position where the garbage is detected according to the patrol path, and the second garbage feature vector of the patrol car passing through the garbage existing path is obtained.
Specifically, in the embodiment of the invention, when the patrol car detects garbage, the corresponding frame number is recordedFirst garbage feature vector; After the set correction time corresponds to the number of framesThen, arranging a patrol car to review the position of the detected garbage according to a patrol path to obtain a second garbage characteristic vector of each frame i of the patrol car passing through the garbage existence pathThe number of vectors is。
S7: and determining a first length score, a second length score, a first correction sub-score and a third correction sub-score according to the first garbage feature vector and the second garbage feature vector, and determining a second correction sub-score according to the first garbage feature vector, the second garbage feature vector, the first length score and the second length score.
Specifically, in the embodiment of the present invention, a first length score, a second length score, a first modification sub-score, and a third modification sub-score are determined according to a first garbage feature vector and a second garbage feature vector, and a method for determining a second modification sub-score according to the first garbage feature vector, the second garbage feature vector, the first length score, and the second length score is described in detail below.
S8: determining a data criterion score according to the first correction sub-score and the second correction sub-score, determining a correction criterion score according to the first correction sub-score, the second correction sub-score and the third correction sub-score, and determining a garbage correction score according to the correction criterion score, the data criterion score and the first garbage feature vector.
Specifically, in the embodiment of the present invention, the data criterion score is determined according to the first correction sub-score and the second correction sub-score, the correction criterion score is determined according to the first correction sub-score, the second correction sub-score and the third correction sub-score, and the garbage correction score is determined according to the correction criterion score, the data criterion score and the first garbage feature vector.
S9: and determining whether the garbage is subjected to modification according to the size of the garbage modification score, and if the garbage is not subjected to modification, sending reminding modification information to a management department.
Specifically, in the embodiment of the invention, whether the garbage is changed completely is determined according to the size of the garbage change score, and if the garbage is not changed completely, reminding change information is sent to the management department, so that the management department can take countermeasures in time.
Further, in the above method for detecting a correction situation of garbage, the determining the first judgment score according to the coordinate set of the pixel point of the first lane line and the garbage information of the current frame is determined by the following formula:
determining a second judgment score according to the coordinate set of the pixel points of the second lane line and the garbage information of the current frame, wherein the second judgment score is determined by the following formula:
Wherein, Garbage information representing a current frame, i representing a number of frames corresponding to an image,For the coordinates of the left vertex of the garbage box,For the width of the garbage box,For the height of the garbage box, when garbage does not exist in the image of the current frame, the method causes，A set of coordinates representing a first lane line pixel point,A set of coordinates representing pixels of the second lane line, j representing a sequence number of coordinates,A first judgment score is indicated,Representing a second judgment score.
Further, in the above method for detecting a modification situation of garbage, the first road boundary score is determined according to the coordinate set of the pixel point of the first lane line and the first judgment score by the following formula:
determining a second road boundary score according to the coordinate set of the second lane line pixel point and the second judgment score is determined by the following formula:
a set of coordinates representing a first lane line pixel point, A set of coordinates representing pixels of the second lane line, j representing a sequence number of coordinates,A first judgment score is indicated,A second judgment score is indicated and a second judgment score,A first road side boundary score representing the current frame i,A second road boundary score representing the current frame i,The number of elements is，The number of elements is，Is a non-negative correction constant.
Further, in the above method for detecting a modification situation of garbage, determining the garbage range score according to the garbage information, the first road boundary score and the second road boundary score is determined by the following formula:
Wherein, Garbage information representing a current frame, i representing a number of frames corresponding to an image,For the coordinates of the left vertex of the garbage box,For the width of the garbage box,For the height of the garbage box, when garbage does not exist in the image of the current frame, the method causes，Is a non-negative correction constant that is set to a non-negative correction constant,A first road side boundary score representing the current frame i,A second road boundary score representing the current frame i,Representing the garbage scope score for the current frame i.
Further, in the above method for detecting a modification situation of garbage, the first length score, the second length score, the first modification sub-score and the third modification sub-score are determined according to the first garbage feature vector and the second garbage feature vector by the following formula:
Determining a second correction sub-score from the first garbage feature vector, the second garbage feature vector, and the first length score, the second length score is determined by the following formula:
Wherein, A first garbage feature vector is represented and,A first length score is represented and a second length score is represented,A second garbage feature vector is represented and,A first length score representing the current frame,A second length score representing the current frame,A set first judgment threshold value is indicated,A set second judgment threshold value is indicated,A first warping sub-score representing the current frame i,A third warping sub-score representing the current frame i,A second warping sub-score representing the current frame i,Is a non-negative correction constant.
Specifically, in the embodiment of the present invention, a first judgment threshold is setA set second judgment threshold valueThe size of the (C) is flexibly set according to actual conditions.
Further, in the above garbage correction condition detection method, the determining the data criterion score according to the first correction sub-score and the second correction sub-score is determined by the following formula:
determining the correction criterion score from the first correction sub-score, the second correction sub-score, and the third correction sub-score is determined by the following formula:
Wherein, A first warping sub-score representing the current frame i,A third warping sub-score representing the current frame i,A second warping sub-score representing the current frame i,Indicating the modification criterion score for the current frame i,And (3) representing the data criterion score of the current frame i, and n 3 representing the number of second garbage feature vectors.
Further, in the above method for detecting a modification situation of garbage, the modification score of garbage is determined according to the modification criterion score, the data criterion score and the first garbage feature vector by the following formula:
Wherein, Indicating the modification criterion score for the current frame i,A data criterion score representing the current frame i, n 3 representing the number of second garbage feature vectors,A first garbage feature vector is represented and,Indicating the garbage correction score.
Further, in the above method for detecting the modification condition of garbage, determining whether the modification of garbage is completed according to the size of the modification score of garbage includes:
Judging the garbage correction component and setting a third judgment threshold value When the judgment result is that the garbage correction amount is smaller than the set third judgment threshold valueWhen the garbage is judged to be completely rectified; otherwise, judging that the garbage is not completely rectified.
Specifically, in the embodiment of the present invention, the third determination threshold is setThe size of the (C) is flexibly set according to actual conditions.
In a second aspect of the present invention, there is also provided an electronic device, including: a processor and a memory;
The processor is used for executing the garbage correction condition detection method according to any one of the above by calling the program or the instruction stored in the memory.
In a third aspect of the present invention, there is also provided a computer-readable storage medium storing a program or instructions that cause a computer to execute a garbage correction condition detection method according to any one of the above.
Fig. 2 is a schematic block diagram of an electronic device according to an embodiment of the present invention.
As shown in fig. 2, the electronic device includes: at least one processor 201, at least one memory 202, and at least one communication interface 203. The various components in the electronic device are coupled together by a bus system 204. A communication interface 203 for information transfer with an external device. It is understood that the bus system 204 is used to enable connected communications between these components. The bus system 204 includes a power bus, a control bus, and a status signal bus in addition to the data bus. But for clarity of illustration the various buses are labeled as bus system 204 in fig. 2.
It will be appreciated that the memory 202 in this embodiment may be either volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory.
In some implementations, the memory 202 stores the following elements, executable units or data structures, or a subset thereof, or an extended set thereof: an operating system and application programs.
The operating system includes various system programs, such as a framework layer, a core library layer, a driving layer, and the like, and is used for realizing various basic services and processing hardware-based tasks. Applications, including various applications such as a media player (MEDIA PLAYER), browser (Browser), etc., are used to implement various application services. The program for implementing any one of the methods for detecting the garbage correction condition provided by the embodiment of the invention can be contained in the application program.
In the embodiment of the present invention, the processor 201 is configured to execute the steps of each embodiment of the garbage correction condition detection method provided by the embodiment of the present invention by calling a program or an instruction stored in the memory 202, specifically, a program or an instruction stored in an application program.
Detecting garbage in a camera of the patrol car by using a roadside garbage detection model to obtain garbage information of a current frame, and acquiring GPS coordinates of the patrol car;
acquiring a coordinate set of a first lane line pixel point and a coordinate set of a second lane line pixel point in a current frame image by using a trained lane line detection model;
Determining a first judgment score according to the coordinate set of the first lane line pixel point and the junk information of the current frame, and determining a second judgment score according to the coordinate set of the second lane line pixel point and the junk information of the current frame;
Determining a first road boundary score according to the coordinate set of the first lane line pixel point and the first judgment score, and determining a second road boundary score according to the coordinate set of the second lane line pixel point and the second judgment score;
determining a garbage range score according to the garbage information, the first road boundary score and the second road boundary score;
The garbage information of the current frame, the GPS coordinates of the patrol car and the garbage range score form a garbage characteristic vector;
When the patrol car detects garbage, recording a corresponding frame number i 1 and a first garbage feature vector, and after the frame number i 2 corresponding to the set correction time is passed, arranging the patrol car to recheck the position where the garbage is detected according to a patrol path to obtain a second garbage feature vector of the patrol car passing through the garbage existing path;
Determining a first length score, a second length score, a first correction sub-score, and a third correction sub-score according to the first garbage feature vector and the second garbage feature vector;
Determining a second correction sub-score according to the first garbage feature vector, the second garbage feature vector, the first length score and the second length score;
determining a data criterion score according to the first correction sub-score and the second correction sub-score, and determining a correction criterion score according to the first correction sub-score, the second correction sub-score and the third correction sub-score;
determining a garbage correction score according to the correction criterion score, the data criterion score and the first garbage feature vector;
And determining whether the garbage is subjected to modification according to the size of the garbage modification score, and if the garbage is not subjected to modification, sending reminding modification information to a management department.
Any one of the methods for detecting the garbage correction condition provided by the embodiment of the invention can be applied to the processor 201 or implemented by the processor 201. The processor 201 may be an integrated circuit chip with signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in the processor 201 or by instructions in the form of software. The Processor 201 may be a general purpose Processor, a digital signal Processor (DIGITAL SIGNAL Processor, DSP), an Application SPECIFIC INTEGRATED Circuit (ASIC), an off-the-shelf programmable gate array (Field Programmable GATE ARRAY, FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The steps of any one of the methods for detecting the garbage correction condition provided by the embodiment of the invention can be directly embodied as the execution completion of the hardware decoding processor or the combined execution completion of the hardware and software units in the decoding processor. The software elements may be located in a random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in the memory 202 and the processor 201 reads the information in the memory 602 and performs the steps of the method in combination with its hardware.
Those skilled in the art will appreciate that while some embodiments described herein include some features but not others included in other embodiments, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments.
Those skilled in the art will appreciate that the descriptions of the various embodiments are each focused on, and that portions of one embodiment that are not described in detail may be referred to as related descriptions of other embodiments.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, those skilled in the art may make various modifications and alterations without departing from the spirit and scope of the present invention, and such modifications and alterations fall within the scope of the appended claims, which are to be construed as merely illustrative of the present invention, but the scope of the invention is not limited thereto, and various equivalent modifications and substitutions will be readily apparent to those skilled in the art within the scope of the present invention, and are intended to be included within the scope of the present invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
The present invention is not limited to the above embodiments, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the present invention, and these modifications and substitutions are intended to be included in the scope of the present invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Claims (10)
1. The garbage correction condition detection method is characterized by comprising the following steps of:
Detecting garbage in a camera of the patrol car by using a roadside garbage detection model to obtain garbage information of a current frame, and acquiring GPS coordinates of the patrol car;
acquiring a coordinate set of a first lane line pixel point and a coordinate set of a second lane line pixel point in a current frame image by using a trained lane line detection model;
determining a first judgment score according to the coordinate set of the first lane line pixel point and the junk information of the current frame, and determining a second judgment score according to the coordinate set of the second lane line pixel point and the junk information of the current frame;
determining a first road boundary score according to the coordinate set of the first lane line pixel point and the first judgment score, and determining a second road boundary score according to the coordinate set of the second lane line pixel point and the second judgment score;
Determining a garbage range score according to the garbage information, the first road boundary score and the second road boundary score, and forming a garbage feature vector from the garbage information of the current frame, the GPS coordinates of the patrol car and the garbage range score;
When the patrol car detects garbage, recording a corresponding frame number i 1 and a first garbage feature vector, and after the frame number i 2 corresponding to the set correction time is passed, arranging the patrol car to recheck the position where the garbage is detected according to a patrol path to obtain a second garbage feature vector of the patrol car passing through the garbage existing path;
Determining a first length score, a second length score, a first modification sub-score and a third modification sub-score according to the first garbage feature vector and the second garbage feature vector, and determining a second modification sub-score according to the first garbage feature vector, the second garbage feature vector, the first length score and the second length score;
determining a data criterion score according to the first modification sub-score and the second modification sub-score, determining a modification criterion score according to the first modification sub-score, the second modification sub-score and the third modification sub-score, and determining a garbage modification score according to the modification criterion score, the data criterion score and a first garbage feature vector;
And determining whether the garbage is subjected to modification according to the size of the garbage modification score, and if the garbage is not subjected to modification, sending reminding modification information to a management department.
2. The method for detecting a correction of garbage as claimed in claim 1, wherein said determining a first judgment score according to the coordinate set of the pixel points of the first lane line and the garbage information of the current frame is determined by the following formula:
;
The second judgment score is determined according to the coordinate set of the second lane line pixel point and the junk information of the current frame by the following formula:
;
Wherein, Junk information representing a current frame, i representing a number of frames corresponding to an image,/>For garbage box left vertex coordinates,/>Is the width of garbage square,/>For the height of the garbage box, when garbage does not exist in the image of the current frame, the method comprises the following steps of/>，/>Coordinate set representing pixel point of first lane line,/>Coordinate set representing second lane line pixel point, j represents serial number of coordinates,/>, andRepresenting the first judgment score,/>Representing a second judgment score.
3. The method for detecting a modification of refuse according to claim 1, wherein said determining a first road boundary score according to the first judgment score and the coordinate set of the first lane line pixel point is determined by the following formula:
;
determining a second road boundary score according to the coordinate set of the second lane line pixel point and the second judgment score is determined by the following formula:
;
coordinate set representing pixel point of first lane line,/> Coordinate set representing second lane line pixel point, j represents serial number of coordinates,/>, andRepresenting the first judgment score,/>Representing a second judgment score,/>First road boundary score representing current frame i,/>Second road boundary score representing current frame i,/>The number of elements is/>，/>The number of elements is/>，/>Is a non-negative correction constant.
4. The method of claim 1, wherein the determining the garbage range score from the garbage information, the first road boundary score, and the second road boundary score is determined by the following formula:
;
Wherein, Junk information representing a current frame, i representing a number of frames corresponding to an image,/>For garbage box left vertex coordinates,/>Is the width of garbage square,/>For the height of the garbage box, when garbage does not exist in the image of the current frame, the method comprises the following steps of/>，/>Is a non-negative correction constant,/>First road boundary score representing current frame i,/>Second road boundary score representing current frame i,/>Representing the garbage scope score for the current frame i.
5. The method of claim 1, wherein the determining the first length score, the second length score, the first modification sub-score, and the third modification sub-score according to the first garbage feature vector and the second garbage feature vector is determined by the following formula:
;
;
;
;
The determining the second correction sub-score according to the first garbage feature vector, the second garbage feature vector, the first length score and the second length score is determined by the following formula:
;
Wherein, Representing a first garbage feature vector,/>Representing the first Length score,/>Representing a second garbage feature vector,/>Representing a first length score of the current frame,/>Representing a second length score of the current frame,/>Representing a set first judgment threshold value,/>Representing a second set judgment threshold value,/>First rectifying sub-score representing current frame i,/>Third improvement sub-score representing current frame i,/>A second improvement sub-score representing the current frame i,/>Is a non-negative correction constant.
6. The garbage correction condition detection method according to claim 1, wherein the determining the data criterion score according to the first correction sub-score and the second correction sub-score is determined by the following formula:
;
determining a modification criterion score from the first modification sub-score, the second modification sub-score, and the third modification sub-score is determined by the following formula:
;
Wherein, First rectifying sub-score representing current frame i,/>A third warping sub-score representing the current frame i,A second improvement sub-score representing the current frame i,/>Indicating the correction criterion score for the current frame i,/>And (3) representing the data criterion score of the current frame i, and n 3 representing the number of second garbage feature vectors.
7. The method of claim 1, wherein the determining the garbage correction score based on the correction criterion score, the data criterion score, and the first garbage feature vector is determined by the following formula:
;
Wherein, Indicating the correction criterion score for the current frame i,/>Data criterion score representing current frame i, n 3 representing number of second garbage feature vectors,/>, andRepresenting a first garbage feature vector,/>Indicating the garbage correction score.
8. The method for detecting the modification of garbage according to claim 1, wherein the determining whether the modification of garbage is completed according to the size of the modification score of garbage comprises:
Judging the garbage correction amount and a set third judgment threshold value When the judging result is that the garbage correction value is smaller than the set third judging threshold value/>When the garbage is judged to be completely rectified; otherwise, judging that the garbage is not completely rectified.
9. An electronic device, comprising: a processor and a memory;
the processor is configured to execute a garbage correction condition detection method according to any one of claims 1 to 8 by calling a program or instructions stored in the memory.
10. A computer-readable storage medium storing a program or instructions that cause a computer to execute a garbage correction condition detection method according to any one of claims 1 to 8.
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