CN1845199A - Motor vehicle peccancy behavior automatic shooting device and method mounted on bus - Google Patents
Motor vehicle peccancy behavior automatic shooting device and method mounted on bus Download PDFInfo
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- CN1845199A CN1845199A CN 200510063875 CN200510063875A CN1845199A CN 1845199 A CN1845199 A CN 1845199A CN 200510063875 CN200510063875 CN 200510063875 CN 200510063875 A CN200510063875 A CN 200510063875A CN 1845199 A CN1845199 A CN 1845199A
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Abstract
The invention relates to image processing technical sphere and especially to an automatic grasp-shoot device for violate rules and regulations installed in the bus, which consists of an image-collecting section and a control section. The automatic grasp-shoot device comprises an image-collecting and analysis unit, a communication cell, a master processing element, man-machine interface cell and a local storage element, which is installed on the head, on the end part and on the two sides of the bus for automatic grasp shoot of three acts in violation of regulations of vehicles. The three acts in violation of regulations are: whether there are public-transport vehicles breaking rules and regulations to drive on the accommodation road for public transport or not, whether there are vehicles occupying the cycle track or not, whether there are vehicles breaking rules and regulations to bring to rest or not. The front computer-assisted makeup shoots image and automatically identifies whether there are the said three acts in violation of regulations or not in grasp shoot machine. If there, the image of vehicle with act in violation of regulations is registered and stored, and simultaneously the image is delivered to the traffic administration sector by GPRS wireless transport unit. The drives can carry out manual grasp shoot for vehicles with act in violation of regulations by push-button.
Description
Technical field
The present invention relates to the image processing technique field, particularly a kind of automatic shooting device violating the regulations and method that is installed on the bus handled picture intelligence by dsp chip.
Background technology
At present, for realizing public traffic in priority, increasing public transportation lane has been opened up in each big and medium-sized cities, and some non-public transit vehicles public transportation lane that takies violating the regulations can often be arranged.How to capture these acts of violating regulations? at present existent method has following two kinds: 1) fixing electronic police: in road one side camera is installed, is adopted the technology candid photograph vehicles peccancy based on image processing; 2) mobile electron police: camera is installed in the mobile cruiser, vehicles peccancy is captured.
All there is deficiency in these two kinds of methods.Method 1) need pavement construction, the construction period is long.And littler when a lot of at non-public transit vehicle than public transit vehicle volume, non-public transit vehicle is often blocked by bus, and the candid photograph rate is not high.Method 2) the mobile electron police in mainly is installed in alert with on the cruiser.Can be owing to the cruiser negligible amounts, the candid photograph scope is smaller.
Summary of the invention
The object of the present invention is to provide a kind of motor vehicles act of violating regulations automatic shooting device and method that is installed on the bus.
For solution 1) and method 2) in the not high and little deficiency of candid photograph scope of candid photograph rate, the invention provides a kind of grasp shoot device violating the regulations and method that is installed on the bus, can capture or manually capture the multiple violation phenomenon that around bus, takes place automatically, break rules and regulations to occupy bus zone, parking offense, break rules and regulations to change, break rules and regulations to plug in car etc. such as non-bus.Because bus One's name is legion, height of the carbody than higher, therefore can guarantee candid photograph scope and high candid photograph rate simultaneously.
Technical conceive of the present invention is: by its video on every side of a plurality of camera collections is installed on the different parts of bus; Picture information in video acquisition and analytic unit collection and the analysis public transportation lane draws the conclusion whether various acts of violating regulations are arranged, and captures continuous several subpictures of vehicles peccancy automatically.Such as, non-public transit vehicle is driven against traffic regulations at bus zone etc.; Storage unit realizes the storage to image and data; Image and data that communication unit adopts the GPRS transport module to capture to the wireless transmission of traffic control center, and reception is from the order of traffic control center; Power supply unit is realized the power management to whole device; The man-machine interface unit is replenishing of the mode of capturing automatically, and it adopts the mode of " PTT ".If around the driver of the bus discovery car vehicles peccancy is arranged, so only need click button, can capture vehicles peccancy; The master control processing unit is realized the coordination control to above-mentioned all unit.
By dsp chip picture intelligence is handled, can be captured the non-public transit vehicle that enters the bus special lane violating the regulations automatically.
Technical scheme
The technical solution adopted for the present invention to solve the technical problems is: the different parts (head, afterbody, two sides) at bus is installed the CCD camera, and camera can embed installation, also can install in the outside.Video acquisition and analytic unit carry out image processing and analysis to the video flowing that collects, and whether draw the conclusion of vehicles peccancy.If have, so several images of vehicles peccancy are captured continuously, and be stored in local storage unit, adopt the GPRS radio transmission apparatus that the video flowing of vehicles peccancy is sent to supervision and management center simultaneously.The driver also can adopt button to realize the artificial vehicles peccancy of capturing.
Video acquisition and analytic unit are used to gather and analyze the video flowing that is installed in each position of bus.Can adopt ccd video camera to finish the collection of image.By the A/D conversion chip of video acquisition and analytic unit CCD is gathered the simulated image that comes then and be converted to digital image, adopt the DSP of video acquisition and analytic unit that digital image is handled and analyzed then, judge whether vehicles peccancy is arranged.If have, so image violating the regulations is deposited in memory buffer, and notice CPLD logic controller, get image violating the regulations by CPLD logic controller notice master control processing unit then, by the master control processing unit image violating the regulations is deposited in local storage unit again.
Communication unit adopts the GPRS module to realize wireless transmission.The traffic rate of GPRS is 115.2kbps, and communication unit and master control processing unit adopt serial-port communication, and transfer rate is 115.2K.Therefore resemble if transmit secondary 24 true coloured pictures, and the size of every subpicture is 768 * 576 * 3=1327k that the time of transmitting a subpicture so is 1327k/115.2=11.5s.Because vehicle supervision department does not need real-time picture transmission violating the regulations, so this transfer rate can meet the demands.And along with the application of GPRS technology and CDMA technology, later wireless transmission rate can reach real-time requirement fully.
The man-machine interface unit adopts button to realize man-machine interaction.When around if the driver finds vehicles peccancy being arranged, only need press the candid photograph button and get final product, need not to do other operations, can not disturb the driver to drive.
Storage unit is divided into two: memory buffer and nonvolatile memory.Memory buffer is deposited image violating the regulations; Nonvolatile memory is deposited program code.
The master control processing unit is finished the logic control to video acquisition and analytic unit, communication unit, storage unit and man-machine interface unit.Flow process is as follows: video acquisition and analytic unit deposit the image of capturing in buffer-stored, notify CPLD then, and CPLD notice master control processing unit is got image violating the regulations to buffer-stored.The master control processing unit deposits the image of getting violating the regulations in local storage unit, simultaneously image violating the regulations is sent to long-range Surveillance center by the wireless communication unit based on GPRS.If the driver presses the candid photograph button, the master control processing unit notifies CPLD to allow image acquisition and processing unit capture at this moment.
The power supply voltage regulation unit adopts Vehicular accumulator cell to add power supply voltage stabilizer composition, is above-mentioned all unit power supplies.
A kind of automatic shooting device of vehicles peccancy image, comprise image acquisition and control section, automatic shooting device is made up of video acquisition and analytic unit, communication unit, master control processing unit, man-machine interface unit, local storage unit, and video acquisition and analytic unit are realized the artificial candid photograph based on button; Storage unit realizes the storage to picture violating the regulations; The master control processing unit is realized coordination and the control to above-mentioned four unit; Wherein, video acquisition and analytic unit and man-machine interface unit are connected in the master control processing unit, and communication unit and local storage unit and master control processing unit are interconnected.
Image acquisition and control section by camera, GPRS antenna, A/D converter, presentation manager DSP, memory buffer, CPLD controller, master cpu, manually capture button, nonvolatile memory is formed.Wherein, the CPLD controller links to each other with A/D converter, presentation manager DSP, memory buffer, master cpu respectively, and master cpu is connected with artificial candid photograph button, nonvolatile memory, and master cpu and memory buffer and local storage unit are interconnected.
The camera of grasp shoot device is positioned on afterbody, head and the right side of public transit vehicle, handle 3 kinds of acts of violating regulations of identification by automatic image, whether there is non-public transit vehicle to drive against traffic regulations at public transportation lane, whether there is motor vehicle to take cycle track, whether parking offense is arranged, and continuous several images of vehicles peccancy are captured and storage.
Finish processing by A/D and DSP, and finish Coordination Treatment, finish logic control A/D modular converter, buffer-stored, DSP data processor and master cpu by CPLD to man-machine interface, GPRS communication and storage by additional C PU to simulated image.
By the A/D modular converter simulated data is converted to numerical data, and sends into the DSP data processor, dsp processor is finished the Treatment Analysis of image digital datas all and the result is deposited in buffer memory.
The image violating the regulations of this locality of storage in time is transferred to administrative authority by GPRS antenna transmission mode.
Can handle the information of the multichannel camera that is placed on the vehicle diverse location simultaneously.
Man-machine interface can be the mode by button, also can add the mode that liquid crystal display shows by button.
A kind of automatic grasp shoot method of vehicles peccancy image, different parts at bus is installed the CCD camera, camera can embed installation, also can install in the outside, video acquisition and analytic unit carry out image processing and analysis to the video flowing that collects, several images of vehicles peccancy are captured continuously, and be stored in local storage unit, adopt the GPRS radio transmission apparatus that the video flowing of vehicles peccancy is sent to supervision and management center simultaneously, can handle 3 kinds of acts of violating regulations simultaneously, 1) whether have non-public transit vehicle to drive against traffic regulations at public transportation lane 2) whether parking offense, 3 are arranged) whether have motor vehicle to take cycle track.
Beneficial effect
The invention has the beneficial effects as follows, can effectively capture the vehicles peccancy that around bus, travels.Can realize " whole people are all alert ", the police strength of deficiency has been done replenishing of sufficient societal forces aspect.
Description of drawings
Fig. 1 is an automatic shooting device structural representation of the present invention.
Fig. 2 is that automatic shooting device of the present invention is implemented synoptic diagram.
Fig. 3 is the overall pie graph of automatic shooting device of the present invention.
Fig. 4 is an automatic shooting device composition diagram of the present invention.
Fig. 5 act of violating regulations 1) image processing method process flow diagram.
Fig. 6 act of violating regulations 2) image processing method process flow diagram.
Fig. 7 act of violating regulations 3) image processing method process flow diagram.
Embodiment
The present invention will be further described below in conjunction with drawings and embodiments.
Grasp shoot device structure of the present invention shown in Figure 1.Total device main body, camera, GPRS antenna, front end button, the vehicle power five parts composition captured.Capturing the device main body is the core of whole invention, and it finishes the work of image acquisition, processing, analysis, storage and transmission.It introduces video by camera, sends image by GPRS, realizes artificial the candid photograph by the front end button, and vehicle power is realized the function of supplying power to above-mentioned all parts.
Automatic shooting device shown in Figure 2 is implemented synoptic diagram.Candid photograph device main body is placed on car inside and gets final product; The front end button is placed on driver's next door; Grasp shoot device can be handled the image of 4 road cameras simultaneously, and these 4 cameras can be placed on afterbody, head and two sides of vehicle respectively, and the setting height(from bottom) of these cameras need adjust according to the height of public transit vehicle.The GPRS antenna is installed in roof, and the position is determined on a case-by-case basis.
Automatic shooting device of the present invention shown in Figure 3 totally constitutes.Comprise video acquisition and analytic unit 1, communication unit 2, master control processing unit 3, man-machine interface unit 4, local storage unit 5 and voltage regulation unit.The picture that has or not vehicles peccancy and store vehicles peccancy is gathered and analyzed to video acquisition and analytic unit 1; Communication unit 2 transmits the picture of vehicles peccancy; The artificial candid photograph that man-machine interface unit 4 is realized based on button; The storage that storage unit 5 realizes picture violating the regulations; Coordination and control that master control processing unit 3 is realized above-mentioned four unit; Voltage regulation unit is realized the power supply to above-mentioned all unit.Wherein, video acquisition and analytic unit 1 and man-machine interface unit 4 are connected in master control processing unit 3, and communication unit 2 and local storage unit 5 are interconnected with master control processing unit 3.
Automatic shooting device composition diagram shown in Figure 4.By image acquisition and control section 6. by camera, A/D converter 7., presentation manager DSP 8., memory buffer 9., CPLD controller (10), GPRS antenna (11), master cpu (12), local storage unit (13), nonvolatile memory (14), the artificial button (15) of capturing is formed, wherein, CPLD controller (10) respectively with A/D converter 7., presentation manager DSP 8., memory buffer 9., master cpu (12) connects, master cpu (12) and artificial button (15), nonvolatile memory (14) connects, and master cpu (12) is 9. interconnected with local storage unit (13) with memory buffer.
Video acquisition unit adopts CCD collection site image and gives the A/D chip and handle.The A/D chip adopts the SAA7111A chip of PHILIPIS company, and the 7111A chip has 4 analog channels, and by the picture intelligence of acquisition time 4 tunnel, timesharing is handled.Can select its translative mode by programming, programme by the I2C bus, finish its initialized work, the output format of signal is also controlled by the I2C bus, adopts 4: 2: 2 forms of CCIR601.Like this, on-the-spot image just is converted to numerical data from simulated data, and by buffer, gives dsp chip and carry out further digital image processing.
The DSP data processor: this chip is to be used for carrying out specially pictorial data to handle.The TMS320C6412 chip that adopts TI company to produce.This chip has order set and operating performance flexibly, supports the independent and hybrid programming of assembly language and C language.DSP handles the data that are placed in the buffer-stored, extracts the information of vehicles peccancy by certain image processing algorithm.
CPLD adopts the XC95288XV chip of XILINX company.The input method that programming mode adopts schematic diagram and VHDL language to combine, the download cable by special use downloads in the chip.This chip can be finished the logical relation of entire circuit.
Impact damper adopts the TDT72V215L of TDT company.The video data that is converted by the A/D conversion chip enters TDT72V215L, temporarily deposits therein.When DSP handles it be, can carry out read operation,,, thereby realize the function of buffering so DSP once can read a large amount of books because repetitive instruction can be becoming the instruction in 1 cycle to the instruction in 5 cycles more than one by repeating to read instruction.
Nonvolatile memory is used for depositing the program code of master cpu, adopts the 128000000 28F128J3A chips of INTEL.
Local storage is used for depositing the picture of being captured the vehicles peccancy that gets off by DSP, adopts 256,000,000 CF card.
Master cpu is used for the co-ordination of master control management dsp processor, keyboard interface, GPRS interface, adopts the chip of the EP9312ARM9 of CIRRUSLOGIC company.
The GPRS wireless transport module is used for picture violating the regulations is transferred to administrative authority, adopts the G20 of MOTOROLA company.Be characterized in: embedded ICP/IP protocol, superior performance, volume is minimum by (24.4 * 48.2 * 6.0mm).
The present invention can handle multiple violation phenomenon simultaneously: 1) in the time of morning peak and evening peak, non-bus uses bus zone; 2) at non-stop parking offense; 3) motor vehicle illegally uses cycle track; 4) when traffic flow is crowded, violating the regulations changing and plug in car.
The effect of the camera of afterbody and head mainly is to capture act of violating regulations 1); The effect of the camera on right side mainly is to capture act of violating regulations 2) and 3).
Fig. 5 is for act of violating regulations 1) the image processing algorithm flow process be: at first judge whether when the period of public transport special use in 7:00-9:00AM, otherwise just do not carry out the processing of act of violating regulations 1 such as whether.If in this period, judge whether present bus travels in public transportation lane, specific practice is exactly to seek the yellow line sign of public transportation lane.If in special lane, so that vehicle of bus afterbody and the head camera visual field is analyzed, analyze its vehicle, whether non-bus vehicle is arranged.If have, so just capture the image of a few width of cloth vehicles peccancies continuously.
Step S5.1 reads clock and judges, at first reads the clock of master cpu, and judgement time is not in the special-purpose time period of bus special lane then, if, enter step S5.2 so, otherwise repeating step S5.1;
Step S5.2 filters pattern noise, the visual C that the camera acquisition of bus afterbody and head is arrived
BCarry out the imaging filtering based on Kalman, the elimination noise forms filtered visual C
BG
Step S5.3 location special lane sign and judgement position of bus, in visual C, at first carry out edge extracting, adopt the region shape determining method of forming based on the edge then, orient the special lane markings, because the special lane markings are generally a thick yellow line, in visual C, show as elongated rectangle so, and the equal in length of frequent and visual C, if in visual C, do not find the special lane sign, return S5.1 so; Otherwise, judge whether bus travels at special lane, and judgment rule is: if the special lane sign at the edge, a left side (right side) of image, bus travels at special lane so, and enters step S5.4; Otherwise return step S5.1;
Step S5.4 has judged whether that non-bus travels at special lane, in visual C, adopt edge extracting, adopt the region shape determining method of forming based on the edge then, whether judge has car in special lane, usually the rectangle J of certain area is formed at the edge of car, if the area of rectangle J is put M greater than setting, think so and be bus, otherwise think non-bus, if there is non-bus to travel at special lane, and the duration was above 5 seconds, enter step S5.5 so, otherwise return step S5.1;
Step S5.5 saves image, and the image violating the regulations of continuous three frames of non-bus is saved in buffer-stored, notifies CPLD then, CPLD notice main control unit image violating the regulations from the buffering memory transfer to local storage unit, empty buffer-stored simultaneously.
Fig. 6 is for act of violating regulations 2) the image processing algorithm flow process be: seek at first whether the vehicle that stops to be arranged.If have, then seek the sign that this vehicle periphery has stop board? if have, then be not parking offense, otherwise, capture the image of a few width of cloth vehicles peccancies continuously.Notice that the candid photograph of this act of violating regulations only could be used when bus temporarily stops up and down the passenger before station board.
Step S6.1 filters pattern noise, the visual C that bus right side camera acquisition is arrived
RCarry out the imaging filtering based on Kalman, the elimination noise forms filtered visual C
RG
Whether temporary transient step S6.2 judge bus stop motion, employing is relatively judged whether stop motion of bus based on the interframe of static object of reference, usually, to rest in when bus enters the station station board near, therefore, method adopts station board as static object of reference, by comparing between continuous three frames, if the position of station board remains unchanged, the temporary transient stop motion of bus so, enter step S6.3, otherwise finish;
Step S6.3 judges whether the vehicle that stops, to visual C
BGCarrying out edge extracting, adopt the region shape determining method of forming based on the edge then, whether have car stop, if having, enter step S6.4 if judging, otherwise finish;
Whether step S6.4 has stop board around judging, to visual C
BGCarry out edge extracting, adopt the region shape determining method of forming based on the edge then, judged whether stop board.If stop board is arranged, finish so, otherwise enter step S6.5;
Step S6.5 saves image, and the image violating the regulations of continuous three frames of parking violation is saved in buffer-stored, notifies CPLD then, CPLD notice main control unit image violating the regulations from the buffering memory transfer to local storage unit, empty buffer-stored simultaneously.
Fig. 7 is for act of violating regulations 3) the image processing algorithm flow process be: the sign in localization bike road at first.About the localization bike road, because the sign disunity of cycle track, the highway section that has even clearly do not mark.Therefore, the method that herein adopts is also unified not to the utmost.Adopt diverse ways in different highway sections.Can therefore can combine with the GPS subsystem of bus owing to capturing device itself and not knowing concrete position, the method for different cycle tracks location is taked in the position of location bus in different highway sections.If have motor vehicle continuing to travel the so just continuous image of capturing a few width of cloth vehicles peccancies at cycle track.
Step S7.1 filters pattern noise, the visual C that bus right side camera acquisition is arrived
RCarry out the imaging filtering based on Kalman, the elimination noise forms filtered visual C
RG
Step S7.2 receives the GPS locating information and calls different localization methods, locatees the residing position of current bus by the gps receiver that is installed in bus, then the plurality of bicycles channel positioning method of storing in advance according to different call by locations; Method one: usually the bus special lane is all in the outside in ordinary motor vehicle road, adjacent with cycle track, therefore, if the right side video camera of bus has detected vehicle ', this vehicle travels certainly at cycle track so, and the part of the bicycle that has allows motor-driven vehicle going, just can not adopt said method this moment, how to distinguish both of these case, adopt the locating information of GPS to distinguish, store the longitude and the latitude scope in different situations highway section in advance, call correlation method according to longitude and latitude scope then, if vehicle ' is arranged, enter step S7.3 so, otherwise return S7.1 at cycle track;
Step S7.3 saves image.The image violating the regulations that illegally travels at continuous three frames of cycle track is saved in buffer-stored, notifies CPLD then, CPLD notice main control unit image violating the regulations from the buffering memory transfer to local storage unit, empty buffer-stored simultaneously.
Claims (12)
1. the automatic shooting device of a vehicles peccancy image, it is characterized in that, comprise image and control section, automatic shooting device by video acquisition and analytic unit 1., communication unit 2., the master control processing unit 3., 5. 4. the man-machine interface unit form with local storage unit, the picture that has or not vehicles peccancy and store vehicles peccancy is gathered and analyzed to video acquisition and analytic unit 1.; 2. communication unit transmits the picture of vehicles peccancy; The artificial candid photograph based on button is realized in the man-machine interface unit 4.; 5. storage unit realizes the storage to picture violating the regulations; 3. the master control processing unit realizes that to the coordination of above-mentioned 4 unit and control wherein, 3. 4. 1. video acquisition and analytic unit are connected in the master control processing unit with the man-machine interface unit, and communication unit is 2. 5. 3. interconnected with the master control processing unit with local storage unit.
2. the automatic shooting device of vehicles peccancy image according to claim 1, it is characterized in that, by image acquisition and control section 6. by camera, A/D converter 7., presentation manager DSP 8., memory buffer 9., CPLD controller (10), GPRS antenna (11), master cpu (12), local storage unit (13), nonvolatile memory (14), the artificial button (15) of capturing is formed, wherein, CPLD controller (10) respectively with A/D converter 7., presentation manager DSP 8., memory buffer 9., master cpu (12) connects, master cpu (12) and artificial button (15), nonvolatile memory (14) connects, and master cpu (12) is 9. interconnected with local storage unit (13) with memory buffer.
3. according to the automatic shooting device of right 1 or 2 described vehicles peccancy images, it is characterized in that, the camera of grasp shoot device is by afterbody, head and right side at public transit vehicle, handle 3 kinds of acts of violating regulations of identification by automatic image, whether there is non-public transit vehicle to drive against traffic regulations at public transportation lane, whether there is motor vehicle to take cycle track, whether has vehicle peccancy to stop, and continuous several images of vehicles peccancy are captured and storage.
4. the automatic shooting device of vehicles peccancy image according to claim 1 and 2, it is characterized in that, finish processing by A/D and DSP to simulated image, and finish Coordination Treatment to man-machine interface, GPRS communication and storage by additional C PU, finish logic control by CPLD to A/D modular converter, buffer-stored, DSP data processor and master cpu.
5. the automatic shooting device of vehicles peccancy image according to claim 2, it is characterized in that, by the A/D modular converter simulated data is converted to numerical data, and sends into the DSP data processor, dsp processor is finished to the Treatment Analysis of image digital data and result and is deposited buffer memory in.
6. the automatic shooting device of vehicles peccancy image according to claim 2 is characterized in that, it is characterized in that, in time is transferred to administrative authority being stored in local image violating the regulations by the GPRS wireless transmission method.
7. the automatic shooting device of vehicles peccancy image according to claim 1 is characterized in that, can handle the information of the multichannel camera that is placed on the vehicle diverse location simultaneously.
8. the automatic shooting device of vehicles peccancy image according to claim 1 is characterized in that, man-machine interface can be the mode by button, also can add the mode that liquid crystal display shows by button.
9. the automatic grasp shoot method of a vehicles peccancy image, it is characterized in that, different parts at bus is installed the CCD camera, camera can embed installation, also can install in the outside, video acquisition and analytic unit carry out image processing and analysis to the video flowing that collects, several images of vehicles peccancy are captured continuously, and be stored in local storage unit, adopt the GPRS radio transmission apparatus that the video flowing of vehicles peccancy is sent to supervision and management center simultaneously, can handle 3 kinds of acts of violating regulations simultaneously, 1) whether there is non-public transit vehicle to drive against traffic regulations at public transportation lane, 2) whether parking offense, 3 are arranged) whether there is motor vehicle to take cycle track.
10. the automatic grasp shoot method of vehicles peccancy image according to claim 9 is characterised in that:
Wherein judge 1) whether there is non-public transit vehicle to drive against traffic regulations in the method for public transportation lane, its step is as follows:
Step S5.1 reads clock and judges that at first read the clock of master cpu, judgement time is not in the special-purpose time period of bus special lane then, if, enter step S5.2 so, otherwise repeating step S5.1;
Step S5.2 filters pattern noise, the visual C that the camera acquisition of bus head and afterbody is arrived
BCarry out the imaging filtering based on Kalman, the elimination noise forms filtered visual C
BG
Step S5.3, location special lane sign and judgement position of bus, in visual C, at first carry out edge extracting, adopt the region shape determining method of forming based on the edge then, orient the special lane markings, because the special lane markings are generally a thick yellow line, in visual C, show as elongated rectangle so, and the equal in length of frequent and visual C, if in visual C, do not find the special lane sign, return S5.1 so; Otherwise, judge whether bus travels at special lane, and judgment rule is: if the special lane sign at the edge, a left side (right side) of image, bus travels at special lane so, and enters step S5.4; Otherwise return step S5.1;
Step S5.4, judged whether that non-bus travels at special lane, in visual C, adopt edge extracting, adopt the region shape determining method of forming based on the edge then, whether have car special lane in, the rectangle J of certain area is formed at the edge of car usually, if the area of rectangle J is put M greater than setting if judging, think so and be bus, otherwise think non-bus, if there is non-bus to travel at special lane, and the duration was above 5 seconds, enter step S5.5 so, otherwise return step S5.1;
Step S5.5 saves image, and the image violating the regulations of continuous three frames of non-bus is saved in buffer-stored, notifies CPLD then, CPLD notice main control unit image violating the regulations from the buffering memory transfer to local storage unit, empty buffer-stored simultaneously.
11. the automatic grasp shoot method of vehicles peccancy image according to claim 9 is characterised in that:
Wherein judge 2) whether the determination methods of parking offense is arranged, its step is as follows:
Step S6.1 filters pattern noise, the visual C that bus right side camera acquisition is arrived
RCarry out the imaging filtering based on Kalman, the elimination noise forms filtered visual C
RG
Whether temporary transient step S6.2 judge bus stop motion, employing is relatively judged whether stop motion of bus based on the interframe of static object of reference, usually, to rest in when bus enters the station station board near, therefore, method adopts station board as static object of reference, by comparing between continuous three frames, if the position of station board remains unchanged, the temporary transient stop motion of bus so, enter step S6.3, otherwise finish;
Step S6.3 judges whether the vehicle that stops, to visual C
BGCarrying out edge extracting, adopt the region shape determining method of forming based on the edge then, whether have car stop, if having, enter step S6.4 if judging, otherwise finish;
Whether step S6.4 has stop board around judging, to visual C
BGCarry out edge extracting, adopt the region shape determining method of forming based on the edge then, judged whether stop board,, finish so, otherwise enter step S6.5 if stop board is arranged;
Step S6.5 saves image, and the image violating the regulations of continuous three frames of parking violation is saved in buffer-stored, notifies CPLD then, CPLD notice main control unit image violating the regulations from the buffering memory transfer to local storage unit, empty buffer-stored simultaneously.
12. the automatic grasp shoot method of vehicles peccancy image according to claim 9 is characterised in that:
Wherein judge 3) whether there is motor vehicle to take the determination methods of cycle track, its step is as follows:
Step S7.1 filters pattern noise, the visual C that bus right side camera acquisition is arrived
RCarry out the imaging filtering based on Kalman, the elimination noise forms filtered visual C
RG
Step S7.2 receives the GPS locating information and calls different localization methods, locatees the residing position of current bus by the gps receiver that is installed in bus, then the plurality of bicycles channel positioning method of storing in advance according to different call by locations; Method one: usually the bus special lane is all in the outside in ordinary motor vehicle road, adjacent with cycle track, therefore, if the right side video camera of bus has detected vehicle ', this vehicle travels certainly at cycle track so, and the part of the bicycle that has allows motor-driven vehicle going, just can not adopt said method this moment, how to distinguish both of these case, adopt the locating information of GPS to distinguish, store the longitude and the latitude scope in different situations highway section in advance, call correlation method according to longitude and latitude scope then, if vehicle ' is arranged, enter step S7.3 so, otherwise return S7.1 at cycle track;
Step S7.3 saves image, and the image violating the regulations that illegally travels at continuous three frames of cycle track is saved in buffer-stored, notifies CPLD then, CPLD notice main control unit image violating the regulations from the buffering memory transfer to local storage unit, empty buffer-stored simultaneously.
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