CN204825605U - Discernment of road environment and detection device based on image - Google Patents
Discernment of road environment and detection device based on image Download PDFInfo
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- CN204825605U CN204825605U CN201520598128.2U CN201520598128U CN204825605U CN 204825605 U CN204825605 U CN 204825605U CN 201520598128 U CN201520598128 U CN 201520598128U CN 204825605 U CN204825605 U CN 204825605U
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Abstract
The utility model relates to a discernment of road environment and detection device based on image, including rotary encoder, pulse signal conditioning module, pulse data acquisition board, an image acquisition card, the 2nd image acquisition card, left side area array camera, right side area array camera, PCI bus, on -vehicle industrial computer, GPS send -receiver device, road environment image processing module. The utility model discloses the road environment identification system who builds adopts two mesa battle array cameras to sail the road both sides in lane and carry out incessant shooting detecting the garage, then utilizes the detection software - road environment image processing module who carries on on on -vehicle industrial computer, discerns and detects the image of gathering, draws the sign of road markings line, road rail guard and road both sides, judges whether it needs operating repair. Adopt the method, the perfect function of road detection car for the maintenance and the construction in road ring river provides the reference frame, can show the efficiency that improves the routine maintenance to the environment state of more comprehensive control road.
Description
Technical field
The utility model relates to road environment identification and detection technique field, particularly relates to a kind of road environment identification based on image and checkout gear.
Background technology
Along with the continuous construction of highway in China, the application of all-purpose road inspection vehicle in Road Detection is more and more general.Traditional Road Detection content generally includes such as: surface evenness, rut, road surface breakage etc., but do not detect targetedly for the environment of road, such as: whether lane line is clear bright, the closed state of road left and right sides protective screening, whether intact isolated column in the middle of road is, and whether various direction board is normal.The traditional detection mode of lane line, protective guard is artificial observation, and after a period of time, unification is repaired again, does not have the index quantized as maintenance reference.And traditional all-purpose road inspection vehicle does not have above-mentioned functions, usually just install environment camera additional, as the reference of pavement image playback, do not utilize these view data to carry out analyzing and processing.In order to improve the traffic safety of speedway, improve the function of multifunctional examining measuring car, therefore carry out identifying to the environment of road and detect, the utility model a kind of road environment identification based on image of design and checkout gear, identify the relevant environment state of road, for the maintenance of road, construction provide reference frame.
Summary of the invention
The technical problem that the utility model solves is to provide a kind of road environment identification based on image and checkout gear, to solve the problem in above-mentioned background technology.
The technical problem that the utility model solves realizes by the following technical solutions:
Based on road environment identification and the checkout gear of image, it is characterized in that, comprise rotary encoder, pulse signal conditioning module, pulse data collection plate, first image pick-up card, second image pick-up card, left surface array camera, right flank array camera, pci bus, vehicle-mounted Industrial Personal Computer (IPC), GPS R-T unit, road environment image processing module, described rotary encoder connects pulse signal conditioning module and pulse data collection plate, pulse signal conditioning module connects the first image pick-up card and the second image pick-up card, first image pick-up card connects left surface array camera, second image pick-up card connects right flank array camera, pulse data collection plate, first image pick-up card and the second image pick-up card are connected to vehicle-mounted Industrial Personal Computer (IPC) respectively by pci bus, GPS R-T unit connects vehicle-mounted Industrial Personal Computer (IPC), be provided with the road environment image processing module for carrying out road environment identification and detection in vehicle-mounted Industrial Personal Computer (IPC), road environment image processing module comprises road mark detection module, road separator detection module and road indicator detection module.
Pulse data collection plate described in the utility model is carry out counting for paired pulses information and calculate the PCI2394 board of distance travelled information.
Rotary encoder described in the utility model adopts suitable section EC58A10 type encoder, and the resolution ratio of rotary encoder is for often to turn calibration 3600 line.
First image pick-up card described in the utility model and the second image pick-up card adopt MatroxSoliosXCL type CameraLink interface image capture card.
GPS R-T unit described in the utility model is arranged on the rear portion, top of road detection vehicle, and adopts GARMINeTrexLengendC type GPS.
Vehicle-mounted Industrial Personal Computer (IPC) described in the utility model adopts and grinds magnificent IPC-610H.
Left surface array camera described in the utility model and right flank array camera are arranged at the both sides, top of road detection vehicle respectively.
Beneficial effect:
The road environment recognition system that the utility model is built, the road both sides of two table top array cameras to inspection vehicle traveling lane are adopted uninterruptedly to take, then inspection software-road environment the image processing module be mounted on vehicle-mounted Industrial Personal Computer (IPC) is utilized, carry out identifying to the image gathered and detect, extract the direction board of road marking line, road guard-rail and road both sides, judge that it is the need of Maintenance and Repair.Adopt method described in the utility model, the perfect function of road detection vehicle, the inefficiency reducing manual detection and the shortcoming wasted time and energy, the index of quantification is provided to the environment maintenance of road, make staff scientifically can carry out the maintenance work of road, for the maintenance in road ring river and construction provide reference frame, the efficiency of regular maintenance can be significantly improved, and more comprehensively monitor the ambient condition of road.
Accompanying drawing explanation
Fig. 1 is the structural representation of preferred embodiment of the present utility model.
Fig. 2 is of the present utility model based on the road environment identification of image and the process chart of detection.
Fig. 3 is vehicle-mounted distribution form top view in preferred embodiment of the present utility model.
Fig. 4 is vehicle-mounted distribution form lateral view in preferred embodiment of the present utility model.
Detailed description of the invention
The technological means realized to make the utility model, creation characteristic, reaching object and effect is easy to understand, below in conjunction with concrete diagram, setting forth the utility model further.
See a kind of road environment identification shown in Fig. 1-4 and checkout gear, this device is arranged on road detection vehicle, comprise pulse signal conditioning module, rotary encoder, pulse data collection plate, the first image pick-up card, the second image pick-up card, pci bus, vehicle-mounted Industrial Personal Computer (IPC), GPS R-T unit, left surface array camera, right flank array camera, road environment image processing module, various piece connects to form a kind of road environment identification based on image and checkout gear.
Rotary encoder is arranged on all-purpose road inspection vehicle left rear wheel, inspection vehicle travel time and wheel synchronous axial system, produce square-wave pulse signal, the pulse signal produced has two purposes, one is enter pulse data collection plate, pulse data collection plate adopts PCI2394 board, counted by PCI2394 board, change the distance travelled of inspection vehicle into, two is via after the conditioning of pulse signal conditioning module, pass to the first image pick-up card and the second image pick-up card, triggering left surface array camera and right flank array camera carry out the IMAQ of roadside.First image pick-up card is connected with left surface array camera, and the second image pick-up card is connected with right flank array camera, and connected mode is that CameraLink connects, to ensure higher transfer rate and connective stability.Two area array cameras are via after triggering shooting, DID is returned to image pick-up card, image pick-up card sends data to pci bus, transfer in vehicle-mounted Industrial Personal Computer (IPC) again, vehicle-mounted Industrial Personal Computer (IPC) extracts data, is carried out identification and the detection of road environment by the road environment image processing module in vehicle-mounted Industrial Personal Computer (IPC).GPS R-T unit is used for the Navigation and localization of road detection vehicle, and the mileage counting that paired pulses data acquisition board calculates corrects.Road environment image processing module comprises road mark detection module, road separator detection module and road indicator detection module, road mark detection module is for extracting road marking line, identify and detect the state of tag line, road separator detection module is used for detecting the integrality of road both sides protective guard and road intermediate isolating band, and road indicator detection module is used for detecting the direction board information of road both sides.
Operating principle of the present utility model:
1, the triggering shooting of camera:
Rotary encoder is arranged on the outer, hub spindle center of wheel on rear side of multifunctional examining measuring car, rotary encoder adopts suitable section EC58A10 type encoder, this encoder has 3600 high-resolution often turned, the pulse signal that rotary encoder produces through the conditioning of Signal-regulated kinase can make vehicle body often advance 1m trigger an area array cameras shooting, pulse signal is after the conditioning of Signal-regulated kinase, be passed to the left surface array camera that model is BASLERbeA4000-62km, right flank array camera, area array cameras is taken, first image pick-up card and the second image pick-up card adopt MatroxSoliosXCL type (CameraLink interface), the image collected is transferred in vehicle-mounted Industrial Personal Computer (IPC) for the process of road environment image processing module through CameraLink connecting line.
2, mileage counting:
The high-precision pulse signal transmission that rotary encoder produces is to pulse data collection plate, the mileage that can calculate the corresponding vehicle body traveling of each pulse signal with the relation of wheel diameter is often turned according to its 3600 line, through the counting of pulse data collection plate pulse signals, calculate the distance travelled information of road detection vehicle.
GPS is placed and is selected GARMINeTrexLengendC type GPS, is arranged on roof, and for receiving the GPS locating information that satellite exports, GPS locating information comprises the speed of current detection car, direction, longitude, latitude and positioning time.By resolving receiving the GPS locating information obtained, obtain the GPS mileage information of road detection vehicle, GPS mileage information, as auxiliary parameter, corrects the mileage produced by rotary encoder.
3, image processing flow:
Road road ambient image processing module comprises road mark detection module, road separator detection module and road indicator detection module.For the detection of road marking line, via image enhaucament, Iamge Segmentation, then Threshold segmentation is carried out to image, extract road markings line features, the integrality of tag line is detected.Detect for road separator, the first coupling of Shape-based interpolation, identifies present position, isolation strip in the picture, then to its Image Segmentation Using, further feature extraction, identifies isolation strip state, then event memory.For the detection of road indicator, first Shape-based interpolation coupling, identifies road indicator, then carries out OCR character recognition to the character on direction board, extract character further, carry out the identification of direction board state and the storage of result.
More than show and describe general principle of the present utility model and principal character and advantage of the present utility model.The technician of the industry should understand; the utility model is not restricted to the described embodiments; what describe in above-described embodiment and manual just illustrates principle of the present utility model; under the prerequisite not departing from the utility model spirit and scope; the utility model also has various changes and modifications, and these changes and improvements all fall within the scope of claimed the utility model.The claimed scope of the utility model is defined by appending claims and equivalent thereof.
Claims (7)
1., based on road environment identification and the checkout gear of image, it is characterized in that, comprise rotary encoder, pulse signal conditioning module, pulse data collection plate, first image pick-up card, second image pick-up card, left surface array camera, right flank array camera, pci bus, vehicle-mounted Industrial Personal Computer (IPC), GPS R-T unit, road environment image processing module, described rotary encoder connects pulse signal conditioning module and pulse data collection plate, pulse signal conditioning module connects the first image pick-up card and the second image pick-up card, first image pick-up card connects left surface array camera, second image pick-up card connects right flank array camera, pulse data collection plate, first image pick-up card and the second image pick-up card are connected to vehicle-mounted Industrial Personal Computer (IPC) respectively by pci bus, GPS R-T unit connects vehicle-mounted Industrial Personal Computer (IPC), be provided with the road environment image processing module for carrying out road environment identification and detection in vehicle-mounted Industrial Personal Computer (IPC), road environment image processing module comprises road mark detection module, road separator detection module and road indicator detection module.
2. a kind of road environment identification based on image according to claim 1 and checkout gear, is characterized in that, described pulse data collection plate is carry out counting for paired pulses information and calculate the PCI2394 board of distance travelled information.
3. a kind of road environment identification based on image according to claim 1 and checkout gear, is characterized in that, described rotary encoder adopts suitable section EC58A10 type encoder, and the resolution ratio of rotary encoder is for often to turn calibration 3600 line.
4. a kind of road environment identification based on image according to claim 1 and checkout gear, is characterized in that, the first described image pick-up card and the second image pick-up card adopt MatroxSoliosXCL type CameraLink interface image capture card.
5. a kind of road environment identification based on image according to claim 1 and checkout gear, is characterized in that, described GPS R-T unit is arranged on the rear portion, top of road detection vehicle, and adopts GARMINeTrexLengendC type GPS.
6. a kind of road environment identification based on image according to claim 1 and checkout gear, is characterized in that, described vehicle-mounted Industrial Personal Computer (IPC) adopts and grinds magnificent IPC-610H.
7. a kind of road environment identification based on image according to claim 1 and checkout gear, it is characterized in that, described left surface array camera and right flank array camera are arranged at the both sides, top of road detection vehicle respectively.
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| CN201520598128.2U CN204825605U (en) | 2015-08-10 | 2015-08-10 | Discernment of road environment and detection device based on image |
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| CN201520598128.2U CN204825605U (en) | 2015-08-10 | 2015-08-10 | Discernment of road environment and detection device based on image |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108983784A (en) * | 2018-08-03 | 2018-12-11 | 北京智行者科技有限公司 | Security protection facility checkout alarm method and vehicle based on automatic driving vehicle |
| CN110021167A (en) * | 2019-04-09 | 2019-07-16 | 杭州路灵信息技术有限公司 | A kind of highway cloud inspection system and data processing method |
| CN110146094A (en) * | 2019-06-27 | 2019-08-20 | 成都圭目机器人有限公司 | Robot localization navigation system and its implementation based on lane line |
| CN111629170A (en) * | 2019-02-28 | 2020-09-04 | 贵州省交通规划勘察设计研究院股份有限公司 | Expressway pavement detection method based on lane lines |
| CN114019950A (en) * | 2021-09-29 | 2022-02-08 | 哈尔滨工业大学 | Tunnel structure apparent disease intelligent inspection robot |
-
2015
- 2015-08-10 CN CN201520598128.2U patent/CN204825605U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108983784A (en) * | 2018-08-03 | 2018-12-11 | 北京智行者科技有限公司 | Security protection facility checkout alarm method and vehicle based on automatic driving vehicle |
| CN111629170A (en) * | 2019-02-28 | 2020-09-04 | 贵州省交通规划勘察设计研究院股份有限公司 | Expressway pavement detection method based on lane lines |
| CN110021167A (en) * | 2019-04-09 | 2019-07-16 | 杭州路灵信息技术有限公司 | A kind of highway cloud inspection system and data processing method |
| CN110146094A (en) * | 2019-06-27 | 2019-08-20 | 成都圭目机器人有限公司 | Robot localization navigation system and its implementation based on lane line |
| CN114019950A (en) * | 2021-09-29 | 2022-02-08 | 哈尔滨工业大学 | Tunnel structure apparent disease intelligent inspection robot |
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Granted publication date: 20151202 Termination date: 20160810 |
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| CF01 | Termination of patent right due to non-payment of annual fee |