CN207037746U - Pedestrian's flow quantity detecting system based on laser radar - Google Patents
Pedestrian's flow quantity detecting system based on laser radar Download PDFInfo
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Abstract
The utility model provides a kind of pedestrian's flow quantity detecting system based on laser radar, applied to public technical field of security and protection, includes the laser radar of at least one range data for detecting pedestrian；At least one range data for being used to be sent according to the laser radar generates the core terminal of pedestrian's data, is communicated to connect between the core terminal and the laser radar；At least one management service end for receiving pedestrian's data that the core terminal is sent, communicated to connect between the management service end and the core terminal.Whereby, the utility model provides the two-way pedestrian counting method based on laser, essentially eliminates the influence of illumination variation and close background color to counting, alleviates the interference blocked to counting between pedestrian.
Description
Technical field
It the utility model is related to public technical field of security and protection, more particularly to a kind of pedestrian's flow detection based on laser radar
System.
Background technology
In existing life, daily flow of the people is either detected in library, market or large-scale meeting-place for improving
The form of operation and administration in market, sales tactics is adjusted, attract customer, additional income, it is essential to improve operating efficiency.Other row
People counts can also provide important decision-making foundation for management of public safety person, and public security department can be real by pedestrian counting system
When monitor each department flow of the people and direction, and then predict crowd massing region, can be in advance to the stream of people with reference to count results
Measure security incident that is excessive, being likely to occur and carry out early warning, dredge the stream of people in time, avoid the generation of accident.
Pedestrian flow detection system is broadly divided into two kinds both at home and abroad at present：Contact and contactless.Pedestrian's meter of contact
Number equipment includes gate, piezoelectricity counter etc.；Contactless counting equipment includes infrared counting device, heat sensor, laser ranging
Instrument and camera monitor flow of the people.The advantages of contact count tool is that technology is simple.Some contact pedestrian counting instruments
Pedestrian's quantity can be accurately calculated very much, such as the gate of subway station；But other pedestrian counting instruments, as piezoelectric type counts
Device, although can with sense weight, can not judge whether be pedestrian or pedestrian quantity.Generally, the equipment of contact
Pedestrian can be disturbed normally to walk, reduce stream of people's speed.Contactless count tool will not be physically contacted with pedestrian, therefore
The normal pass of pedestrian is not interfered with.But the degree of accuracy of pedestrian counting may be by external environment condition and pedestrian's dense degree
Influence.By taking infrared counter as an example, when pedestrian passes through, the light beam of infrared transmitter transmitting is blocked by pedestrian, and receiver is temporary transient
Infrared beam can not be received, pedestrian's quantity adds one.The technical principle of this method is simple, and deployed with devices is convenient.But work as row
People's quantity is more, and when application scenarios are more crowded, infrared counting device can not just count the quantity of pedestrian side by side, causes to count accurately
The degradation of degree.It is the method for most main flow in the market as sensor using camera, its advantage is using simple, is passed
Sensor technology maturation, shortcoming are to lack depth information, and data segmentation is difficult, is easily influenceed by illumination shade, detects target
Between easily mutually block, seem unable to do what one wishes in a large amount of target detections of large scene high dynamic.Such as Japanese northern positive electricity machine public affairs
The developed pedestrian's flow quantity detecting system of department, is networked using two laser scanners, is controlled by a computer remote and carry out data
Processing.Its system architecture is simple, and laser radar is scanned in the horizontal plane, the pedestrian being mainly used under sparse passenger flow situation
Detection and statistics, such as automatic door control.
Laser scanner in pedestrian's waist height scan in horizontal plane, the data serious shielding between pedestrian, intensive feelings
Guest flow statistics precision under condition is low；Wherein laser radar is as current most reliable sensor, and price is sufficiently expensive, other kinds
Class sensor has that precision is not high, and detection range and investigative range are limited, it is impossible to the shortcomings that identifying object, thus can not obtain wide
General use.This respect, domestic laser radar market development is not mature enough, up to the present all without the application scheme of maturation.
In summary, prior art there will naturally be inconvenience and defect in actual use, and it is therefore necessary to improved.
Utility model content
For it is above-mentioned the defects of, the purpose of this utility model is to provide a kind of pedestrian's flow detection based on laser radar
System, its object is to eliminate the influence of illumination variation and close background color to counting, realize blocking to meter between pedestrian
The interference of number and walking direction, realizes two-way counting, improves the practical value of laser radar.
To achieve these goals, the utility model provides a kind of pedestrian's flow quantity detecting system based on laser radar, extremely
The laser radar of few one range data for detecting pedestrian；
At least one range data for being used to be sent according to the laser radar generates the core terminal of pedestrian's data, institute
State and communicated to connect between core terminal and the laser radar；
At least one management service end for receiving pedestrian's data that the core terminal is sent, the management service
Communicated to connect between end and the core terminal.
According to pedestrian's flow quantity detecting system described in the utility model based on laser radar, the core terminal includes：
One includes the height map of the prospect of pedestrian according to range data generation, and the work of the test point in the prospect will be gathered
Class handles to obtain the foreground detection module of the height agglomerate of pedestrian；
One identifies the height agglomerate in monitor area according to the height map, calculates the quantity of monitor area one skilled in the art
Pedestrian counting module；
One parses the height agglomerate, the test point according to the quantity of pedestrian, judges that pedestrian direction obtains pedestrian's number
According to walking direction module；
The foreground detection module is arranged between the laser radar and the pedestrian counting module, the pedestrian counting
Module electrically connects walking direction module, and the foreground detection module is electrically connected to the pedestrian counting module.
According to pedestrian's flow quantity detecting system described in the utility model based on laser radar, the foreground detection module is also wrapped
Include：
One carries out the background submodule of background modeling according to initial configuration；
One obtains the acquisition submodule of the range data of the laser radar, and the two dimension that the range data includes pedestrian is put down
Identity distance from and coordinate data；
One extracts pretreatment of the height agglomerate as the prospect corresponding to the test point from the range data
Submodule；The pretreatment submodule is additionally operable to judge whether the test point in the height agglomerate is effective and divides by preset rules
Flow data frame；
The effective test point in a pair of prospects carries out the cluster submodule of cluster analysis.
According to pedestrian's flow quantity detecting system described in the utility model based on laser radar, the pedestrian counting module is also wrapped
Include：
One calculates the agglomerate calculating sub module of the geometric properties of agglomerate according to the height agglomerate data；
A pair of geometric properties call Gaussian process to return the regression analysis submodule for calculating the quantity of pedestrian；
The pedestrian counting module is additionally operable to delete the height map for having completed pedestrian counting and walking direction, reclaims institute
State the memory headroom of height map occupancy；
The walking direction module also includes：
One along time-projection to protrude the head feature of pedestrian, with the sliding window positioning head region of variable-size
Head feature submodule；
The Comprehensive analysis results of one test point in the height agglomerate data, ballot judge pedestrian direction
Analysis directions submodule.
According to pedestrian's flow quantity detecting system described in the utility model based on laser radar, the management service end is also wrapped
Include：
The receiving module for pedestrian's data that one core terminal for receiving each passage is uploaded by interchanger；
The configuration module of a pair of each core terminal configuration service parameters；
The number when front direction is obtained on one direction in pedestrian's data, is sent when the number reaches alarm threshold
The alarm module of alarm.
According to pedestrian's flow quantity detecting system described in the utility model based on laser radar, the management service end is also wrapped
Include：
One display module shown according to pedestrian's data, flow of the people and direction of travel to each passage.
Also include three according to laser radar described in pedestrian's flow quantity detecting system described in the utility model based on laser radar
Angle range laser radar.
It is based on winged according to laser radar described in pedestrian's flow quantity detecting system described in the utility model based on laser radar
The laser radar of row time principle, and including single line and/or multi-thread.
It is provided with according in core terminal described in pedestrian's flow quantity detecting system described in the utility model based on laser radar
Arm processor handles laser radar data.
According to pedestrian's flow quantity detecting system described in the utility model based on laser radar, the laser radar is aloft put
Top is affixed one's name to, and detects pedestrian diagonally downward.
The utility model is not easily susceptible to illumination change by the higher angular resolution of application laser radar and scan frequency
The influence of change, range accuracy is high, realizes the two-way pedestrian counting method based on laser, this essentially eliminates illumination variation and phase
Nearly influence of the background color to counting, alleviates the interference blocked to counting between pedestrian, improves the practical valency of laser radar
Value.
Brief description of the drawings
Fig. 1 is the core terminal structural representation of pedestrian flow quantity detecting system of the utility model based on laser radar；
Fig. 2 is the preferred structure signal of the core terminal of pedestrian flow quantity detecting system of the utility model based on laser radar
Figure；
Fig. 3 is pedestrian flow quantity detecting system schematic flow sheet of the utility model based on laser radar；
Fig. 4 is the laser radar system embodiment overall schematic that the utility model is applied to Pedestrian flow detection；
Fig. 5 is pedestrian flow rate testing methods first embodiment schematic flow sheet of the utility model based on laser radar；
Fig. 6 A are that the utility model shows applied to the laser radar detection method second embodiment flow of pedestrian's flow detection
One of be intended to；
Fig. 6 B are that the utility model shows applied to the laser radar detection method second embodiment flow of pedestrian's flow detection
The two of intention；
Fig. 7 is the laser radar detection method 3rd embodiment entire flow that the utility model is applied to pedestrian's flow detection
Schematic diagram；
Fig. 8 is the laser radar schematic diagram that the utility model is applied to pedestrian's flow detection.
Embodiment
In order that the purpose of this utility model, technical scheme and advantage are more clearly understood, below in conjunction with accompanying drawing and implementation
Example, the utility model is further elaborated.It should be appreciated that specific embodiment described herein is only explaining
The utility model, it is not used to limit the utility model.
In order to solve the above problems, with reference to illustrating, as shown in FIG. 1 to 3, parts can be built in movement eventually
The software unit at end, hardware cell or software and hardware combining unit.With reference to illustrating, as shown in FIG. 1 to 3, the present invention provides
A kind of pedestrian's flow quantity detecting system based on laser radar, including an at least core terminal 100, laser radar 300 and management
Service end 200, core terminal 100 include：
Foreground detection module 10, for the height map according to prospect of the range data generation comprising pedestrian, to the prospect
In test point as clustering processing obtain the height agglomerate of pedestrian；
Pedestrian counting module 20, for identifying the height agglomerate in monitor area according to the height map, calculate prison
Control the quantity of region one skilled in the art；
Walking direction module 30, the height agglomerate, the test point are parsed for the quantity according to pedestrian, judge to go
People direction obtains pedestrian's data；
Foreground detection module 10 is arranged between the laser radar 300 and pedestrian counting module 20, the core terminal
Pedestrian's data are sent to by management service end by network connection, pedestrian's data include the described apart from number of the pedestrian
According to, direction, number.Data handling procedure：In height map, prospect refers to the height agglomerate for the test point composition being expert on the person.
Foreground detection module is between hardware and pedestrian counting module in systems, and main function is to read laser range finder to return
Range data, the height of prospect is then turned to, test point is clustered, generate pedestrian level agglomerate.Improved with this, detection range,
The parameters such as scanning range, scan frequency, angular resolution, measurement distance precision are effectively lifted, and product installation is simple, practical
Property and real-time；Wherein：1. the sensor of laser radar 300 can measure 200 meters of scopes when using conventional sensor
Interior comprehensive two dimensional surface distance and bearing information, measurement frequency is high, and data update rate is fast, can accurately obtain the position of barrier
Coordinate is put, and according to being actually needed, safety zone is set, the present embodiment can also use larger range of sensor so that swash
Optical radar 300 has broader monitoring range.2. the effect of core terminal 100 is by built-in ARM (Advanced RISC
Machines) algorithm plate, the data of acquisition are handled, using the profile of Algorithm Analysis barrier, detection flow of the people obtains
Accurate result.
Pedestrian's flow quantity detecting system of the present invention based on laser radar further has, foreground detection module 10
Also include：
Background submodule 11, for carrying out background modeling according to initial configuration；
Acquisition submodule 12, for obtaining the range data of the laser radar, the range data includes the two of pedestrian
Dimensional plane distance and coordinate data；
Pre-process submodule 13, for from height agglomerate corresponding to range data extraction test point as before described
Scape；Whether pretreatment submodule 13 is additionally operable to judge test point in the height agglomerate effectively and by preset rules streamed data
Frame；
Submodule 14 is clustered, for carrying out cluster analysis to the effective test point in the prospect.
Further, pedestrian counting module 20 also includes：
Agglomerate calculating sub module 21, for calculating the geometric properties of agglomerate according to the height agglomerate data；
Regression analysis submodule 22, the quantity of pedestrian is calculated for calling Gaussian process to return to the geometric properties；
Pedestrian counting module 20 is additionally operable to delete the height map for having completed pedestrian counting and walking direction, described in recovery
The memory headroom that height map takes.
Pedestrian's flow quantity detecting system of the present invention based on laser radar is preferably, and walking direction module 30 is also wrapped
Include：
Head feature submodule 31, for protruding the head feature of pedestrian along time-projection, with the cunning of variable-size
Dynamic window positioning head region；
Analysis directions submodule 32, the comprehensive analysis knot for the test point in the height agglomerate data
Fruit, ballot judge pedestrian direction.When TOF laser radars use the sensor of 200m scopes, or larger range of sensor, according to
So realize environment scanning probe in 360 degrees omnidirection, the range data of the object in corresponding monitoring range can collect, especially
It is that aloft top set is disposed by laser radar 300, detects diagonally downward, reduces being blocked to laser between pedestrian, improves
The accuracy rate of detection.
Effective detection is carried out to pedestrian head using the sliding window of variable-size, while using the method for ballot, is reached
The purpose that bidirectional-movement judges；On the basis of Laser Radar Scanning detection, line number can be entered using any microprocessor
According to processing.The information of each module as shown in Figure 4 is as follows：Laser radar mainly includes laser radar sensor, with core terminal 100
Middle laser radar is basic existing for whole system, laser radar is based on as shown in Figure 4 and Figure 8 as most crucial sensor
TOF (Time of Flight, flight time) principle, its precision are not easy by distance and illumination effect, are exactly basis specifically
Laser runs into the reciprocal time after barrier, calculates target and the distance of oneself.After obtaining range data, to the obstacle in the visual field
Thing and pedestrian carry out imaging, finally with machine vision technique to pedestrian and obstacle recognition.
According to pedestrian's flow quantity detecting system of the present invention based on laser radar, management service end 200 also includes：
Receiving module 210, pedestrian's data that the core terminal 100 for receiving each passage is uploaded by interchanger；
Configuration module 220, for each core terminal configuration service parameter.
Alarm module 230, the number when front direction is obtained on the direction in pedestrian's data, when the number reaches
Alarm is sent to alarm threshold.
In Fig. 4 can based on pedestrian's flow quantity detecting system of laser radar integral construction configure, it can be seen that applied field
Scape, as shown in figure 4, the deployment schematic diagram of detection device, mainly (main to include processing by laser radar 300, core terminal 100
Device), the management service end 200 of interchanger 400 and Background control effect forms, and management service end 200 is mainly to net here
Network parameter is configured, and sets early-warning parameterses, it is preferred that display module 250 is provided with, can be to the flow of the people of each passage
And direction of travel is shown.The laser radar also includes range of triangle laser radar, i.e., swashing based on principle of triangulation
Optical radar.Preferably, the laser radar is TOF laser radars, and including single line and/or multi-thread, the core terminal
In be provided with arm processor processing laser radar data.Aloft, detection diagonally downward is gone for the laser radar top set deployment
People.
The laser radar used in above-described embodiment can be replaced, wherein TOF laser radars can be single line or
It is multi-thread, or with other type laser radars, can replace in any combination, to realize same action effect.Laser radar
It can be used for detecting vehicle flowrate.
In order to illustrate that the present invention of the present invention provides a kind of pedestrian's flow rate testing methods based on laser radar, based on above-mentioned
Such as flow of the people monitoring systems of Fig. 1~Fig. 4 based on laser radar and its each portion, the present invention provides a kind of based on laser radar
Pedestrian's flow rate testing methods, in the first embodiment, key step includes：
Step S501, according to the height map of prospect of the range data generation comprising pedestrian, to the test point in the prospect
Obtain the height agglomerate of pedestrian as clustering processing；
Step S502, the height agglomerate in monitor area is identified according to the height map, calculates monitor area one skilled in the art's
Quantity；
Step S503, the height agglomerate, the test point are parsed according to the quantity of pedestrian, judge that pedestrian direction obtains
Pedestrian's data；
Pedestrian's data include the range data, direction, the number of the pedestrian.This several have core terminal respectively
Foreground detection module, pedestrian counting module, walking direction module perform, obtain final pedestrian's data.In core terminal 100
Arm processor be used for analyzing and processing laser radar data, and according to the data obtained, detection algorithm is run, so as to obtain the stream of people
Amount.The input of pedestrian counting module 20 is the pedestrian level agglomerate that foreground detection module 10 is extracted.Pedestrian counting module 20 is first counted
The geometric properties of agglomerate are calculated, Gaussian process is recalled and returns the quantity for calculating pedestrian.After the completion of pedestrian counting module 20, it will count
As a result it is transmitted to walking direction module 30, the direction of each pedestrian in decision height agglomerate.Then, pedestrian counting module 20 is by
The height agglomerate for completing pedestrian counting and walking direction is deleted, the memory headroom that recycle object takes.The base of walking direction module 30
In the pedestrian counting result of pedestrian counting module 20, the header area of pedestrian is oriented in projection of the height agglomerate along time shaft
Domain, then judge that each pedestrian's enters outgoing direction respectively.For pedestrian each laser infrared radar imaging when each test point, pass through
The feature of height agglomerate judges the trend of whole people, because the data frame of collection is multiple data frames within the default time
In order to realize the detection of complete multichannel, detection is monitored in the flow of the people as shown in Figure 4 based on laser radar
In the preferred embodiment of system, methods described further comprises：
Pedestrian's data are sent to management service end by core terminal 100 by network connection；
Further, become apparent from order that obtaining the Pedestrian flow detection method of the invention based on laser radar and illustrating, by this
Invention pedestrian's flow quantity detecting system realization based on laser radar, in a second embodiment, as shown in Figure 6A, including：
Step S601, background modeling is carried out according to initial configuration；This step is performed by background submodule 11.If modeling is lost
Lose, then as shown in Fig. 6 B,
Step S602, obtains the range data of the laser radar, the range data include the two dimensional surface of pedestrian away from
From and coordinate data；Performed by being obtained from module 12；
Step S603, from height agglomerate corresponding to range data extraction test point as the prospect；
Step S604, judge the test point in the height agglomerate whether effectively and by preset rules streamed data frame；Step
Rapid S603, step S604 are performed by pretreatment submodule 13.Current data frame still cannot function as effectively by prospect conversion
During data frame, Fig. 6 B step S610 processing is branched to.
Step S605, cluster analysis is carried out to the effective test point in the prospect.This step is by cluster submodule
Block 14 performs.
Step S606, the geometric properties of agglomerate are calculated according to the height agglomerate data；This step is by calculating agglomerate submodule
Block 21 performs；
Step S607, Gaussian process is called to return the quantity for calculating pedestrian to the geometric properties；This step is divided by returning
Analysis submodule 22 performs, and obtains pedestrian counting result；
In order to realize the judgement in direction, methods described also includes：
Step S608, along time-projection to protrude the head feature of pedestrian, with the sliding window positioning head of variable-size
Portion region；This step is performed by head feature submodule 31；
Step S609, the Comprehensive analysis results of the test point in the height agglomerate data, ballot judge row
People direction.This step is performed by analysis directions submodule 32；
Step S610, the height map for having completed pedestrian counting and walking direction is deleted, reclaim the height map and take
Memory headroom.Jump to such as the step S612 in Fig. 6 B.
In step S603, the data frame for being difficult to take out effective height map for that can not meet preset rules is then used as back
The height map processing of receipts, gives over to backup or complete deletion, flow shown in reference picture 6B.
Step S612, data frame still pending processing are also present in internal memory, so far, either reclaim the height map and take
Memory headroom.
Pedestrian's flow rate testing methods based on laser radar in the present embodiment, it is preferred that methods described also includes：
Receive pedestrian's data that the core terminal of each passage is uploaded by interchanger；
To each core terminal configuration service parameter.
Present invention also offers the 3rd embodiment of pedestrian's flow rate testing methods based on laser radar, in the present embodiment
Overall flow, be to be briefly summarized on the basis of previous embodiment, in 3rd embodiment, as shown in fig. 7, step is as follows：
Step S701, management service end parameter configuration.
Step S702, background modeling.If modeling failure, performs step S713；Initialization obtains surrounding fixed obstacle
Positional information, established in background model, the processing of progress and dynamic pedestrian, vehicles etc. are had any different.
Step S703, obtain laser radar data；
Step S704, extraction prospect height；
Step S705, data frame height all 0；Step S712 is performed if all 0；All 0 means do not have
Someone or other objects pass through；
Step S706, available point cluster；Cluster analysis is carried out to the effective test point in the prospect；
Step S707, calculate agglomerate feature；
Step S708, regression analysis；Gaussian process is called to return the quantity for calculating pedestrian to the geometric properties；
Step S709, head positioning；Along time-projection to protrude the head feature of pedestrian, with the sliding window of variable-size
Mouth positioning head region；
Step S710, walking direction；The Comprehensive analysis results of the test point in the height agglomerate data, throw
Ticket judges pedestrian direction
Step S711, remove height map；Step S713 is performed, starts to remove height map, internal memory is reclaimed, into whether terminating
When the judgement that front-wheel calculates；
Step S711, remove height map；Step S713 is performed, starts to remove height map, internal memory is reclaimed, into whether terminating
When the judgement that front-wheel calculates；
Step S712, it is to be recycled that data frame is added into height map etc.；After the recovery when front-wheel processing enters last move back
Go out to judge, perform step S713；
Step S713, if still have untreated data frame；If without data frame in internal memory, then illustrate to pacify
The full processing terminated when front-wheel.
Preferably, the number when front direction is obtained last, on the direction in pedestrian's data, when the number reaches
Alarm is sent to alarm threshold.Arm processor is preferably in core terminal 100, but can also be replaced with for analyzing and processing
Laser radar data, the height map of data frame is slightly different as pretreatment before running detection algorithm, but crucially for
Agglomerate cluster, the differentiation in direction, are monitored after pedestrian's data are taken for administrative staff, after threshold value.
In summary, the present invention proposes the two-way pedestrian counting method based on laser, and this method essentially eliminates illumination
Change and influence of the close background color to counting, alleviate the interference blocked to counting between pedestrian.Laser radar cost
Higher, domestic technique is not overripened, can not develop a series of Related products, and our company is directed to researching and developing swashing for high-performance low price
Optical radar, a series of products of Devoting Major Efforts To Developing, improve the practical value of laser radar.
Certainly, the utility model can also have other various embodiments, without departing substantially from the utility model spirit and its essence
In the case of, those skilled in the art work as can make various corresponding changes and deformation according to the utility model, but these
Corresponding change and deformation should all belong to the scope of the claims appended by the utility model.
Claims (6)
- A kind of 1. pedestrian's flow quantity detecting system based on laser radar, it is characterised in that including：The laser radar of at least one range data for detecting pedestrian；At least one range data for being used to be sent according to the laser radar generates the core terminal of pedestrian's data, the core Communicated to connect between heart terminal and the laser radar；At least one is used to receiving the management service ends of pedestrian's data that the core terminal is sent, the management service end with Communicated to connect between the core terminal.
- 2. pedestrian's flow quantity detecting system based on laser radar according to claim 1, it is characterised in that the management service End also includes：One display module shown according to pedestrian's data, flow of the people and direction of travel to each passage.
- 3. pedestrian's flow quantity detecting system based on laser radar according to claim 1, it is characterised in that the laser radar Also include range of triangle laser radar.
- 4. pedestrian's flow quantity detecting system based on laser radar according to claim 1, it is characterised in that the laser radar It is the laser radar based on time-of-flight, and including single line and/or multi-thread.
- 5. pedestrian's flow quantity detecting system based on laser radar according to claim 1, it is characterised in that the core terminal In be provided with arm processor processing laser radar data.
- 6. pedestrian's flow quantity detecting system based on laser radar according to claim 1, it is characterised in that the laser radar Aloft top set is disposed, and detects pedestrian diagonally downward.
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