CN108573237A - Distort well lid Patrol Locator System - Google Patents
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- CN108573237A CN108573237A CN201810363856.3A CN201810363856A CN108573237A CN 108573237 A CN108573237 A CN 108573237A CN 201810363856 A CN201810363856 A CN 201810363856A CN 108573237 A CN108573237 A CN 108573237A
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- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
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- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/26—Segmentation of patterns in the image field; Cutting or merging of image elements to establish the pattern region, e.g. clustering-based techniques; Detection of occlusion
- G06V10/267—Segmentation of patterns in the image field; Cutting or merging of image elements to establish the pattern region, e.g. clustering-based techniques; Detection of occlusion by performing operations on regions, e.g. growing, shrinking or watersheds
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- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
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Abstract
The present invention relates to a kind of distortion well lid Patrol Locator Systems, including：Mobile satellite location equipment is arranged on the roof of bus, for receiving the location data of navigation satellite transmission using as bus navigation position；Data acquisition facility, is arranged in the front end of bus, image scene data acquisition is carried out for the frontal scene to bus, to export corresponding captured at jobsite image；Linear processing devices, for executing linear gradation transformation to the captured at jobsite image, the linear gradation transformation includes：The gray value of each pixel in the captured at jobsite image former ash degree respectively the captured at jobsite image of range is mapped in default tonal range, to obtain the corresponding mapping gray value of each pixel, the corresponding linear process image of the captured at jobsite image is obtained based on the corresponding mapping gray value of each pixel.By means of the invention it is possible to reduce the probability of happening for distorting well lid related accidents.
Description
Technical field
The present invention relates to road safety setting field more particularly to a kind of distortion well lid Patrol Locator Systems.
Background technology
The noise problem and safety problem of well lid are always two hang-ups of well lid design producer concern.
Most of well lid and road surface fitting be not tight, and tire can generate collision with well lid when vehicle presses through, therefore well lid becomes
One of the noise source in city.In the 1970s, many deep hardships by well lid noise of japanese people, carry to local government one after another
Go out requirement and solves " noisy well lid ".The standard of well cover for sewer is changed immediately by Japanese government, and cylindrical well lid is changed to
Small conical well lid under big, and well lid casting is required to must be extremely accurate to millimeter.So, well lid and road surface being capable of tight silk conjunctions
The fitting of seam ground, has both prevented noise, has also increased the difficulty for arriving well lid steathily.
2010, Kochi County, Japan suddenly rained cats and dogs, and causes part well cover for sewer to fall off or damaged, multidigit pedestrian is caused to fall
Fall water channel.Japanese Homeland Security province convenes expert and local government to set up " Sewage well cover emergency safety countermeasure committee member immediately
Meeting ", the sewer scene to problem occurs carry out on-site inspection.Investigation is found that 8 classes need the well lid safety problem solved, and
According to the principle of " locking danger zone, delimit danger classes, thoroughly eliminated safe hidden trouble according to danger classes and existing capabilities "
It has worked out corresponding " Sewage well cover emergency safety countermeasure ".It specifically includes the dropproof well lid of change solution pressure type, set up camera prison
Well logging lid state, setting ladder is escaped danger with being fallen pedestrian, establishes Sewage well cover information and damage monitoring system in sewer
Deng.
Even if to being improved in terms of above-mentioned two, since well lid is on road, often by vehicular traffic and crowd
It tramples and squeezes, be easy to cause the problem on deformation such as distortion, reached a certain level once distorting, the road of its position will be influenced
Safety.In the prior art, lack the corresponding mechanism that detection well lid distorts degree.
Invention content
To solve the above-mentioned problems, the present invention provides a kind of distortion well lid Patrol Locator System, well lid object is introduced
Distortion degree detecting mechanism, to provide corresponding location data when distortion degree transfinites, meanwhile, in order to improve the effect of detection
Rate and speed improve generality and coverage rate that well lid distorts degree inspection using bus as carrier is checked.
According to an aspect of the present invention, a kind of distortion well lid Patrol Locator System is provided, the system comprises：
Mobile satellite location equipment is arranged on the roof of bus, for receiving the location data of navigation satellite transmission to make
For bus navigation position, and export the bus navigation position；
Data acquisition facility, is arranged in the front end of bus, and image scene number is carried out for the frontal scene to bus
According to acquisition, to export corresponding captured at jobsite image；
Linear processing devices are connect with the data acquisition facility, for receiving the captured at jobsite image, to described existing
Field capture images execute linear gradation transformation, and the linear gradation transformation includes：The captured at jobsite image former ash degree will be in
The gray value of each pixel is mapped in default tonal range in the captured at jobsite image of range respectively, each to obtain
The corresponding mapping gray value of pixel obtains the captured at jobsite based on the corresponding mapping gray value of each pixel
The corresponding linear process image of image；
Target initial survey equipment, connect with the linear processing devices, for carrying out mesh at the linear process image
Edge detection is marked, is partitioned into what object edge was surrounded from the linear process image with the result detected based on object edge
Target initial survey image；
The target initial survey image is based respectively on each benchmark by image transfer converter for receiving target initial survey image
The size of target pattern carries out corresponding size change over processing, to obtain each size change over subgraph, each size
The size for converting the corresponding datum target pattern of subgraph is identical；Wherein, each datum target pattern is in city
Various benchmark communal facility patterns；
Type identification apparatus is connect with described image conversion equipment, the feature for obtaining each datum target image
Value using as reference characteristic value, be additionally operable to obtain the characteristic value of size change over subgraph corresponding with the datum target image with
As transform characteristics value, and calculate the characteristic value of each datum target image and ruler corresponding with the datum target image
The absolute value of the difference of characteristic value this two kinds of characteristic values of very little transformation subgraph is using corresponding absolutely as the datum target image
Value；The type identification apparatus selects the corresponding target type of datum target image of absolute value minimum as the target initial survey
Target identification type output in image.
The present invention at least has the important inventive point of following four：
(1) it uses bus as carrier is checked, improves generality and coverage rate that well lid distorts degree inspection, avoid
Distort the generation of well lid related accidents；
(2) the well lid object subgraph recognized is matched with benchmark well lid shape with determination well lid object
The distortion degree of well lid object in image, and corresponding location data is provided when distortion degree transfinites, to fast implement
Distort the search operation of well lid；
(3) by the way of linear gradation transformation, the contrast of image is improved, being provided for subsequent image procossing more has ginseng
Examine the image data of meaning；
(4) in order to which the target type in image is recognized accurately, before object matching, to image and each image to be matched
It is normalized, carries out high-precision feature matching operation on this basis, so as to avoid the erroneous judgement of target type.
Specific implementation mode
The embodiment of the distortion well lid Patrol Locator System of the present invention will be described in detail below.
In order to overcome the shortcomings of that well lid distortion degree lacks corresponding testing mechanism in city in the prior art, the present invention is built
A kind of distortion well lid Patrol Locator System to the well lid excessively distorted detect rapidly and position, in order to relevant departments
Rush towards repair.
The distortion well lid Patrol Locator System shown according to an embodiment of the present invention includes：
Mobile satellite location equipment is arranged on the roof of bus, for receiving the location data of navigation satellite transmission to make
For bus navigation position, and export the bus navigation position；
Data acquisition facility, is arranged in the front end of bus, and image scene number is carried out for the frontal scene to bus
According to acquisition, to export corresponding captured at jobsite image；
Linear processing devices are connect with the data acquisition facility, for receiving the captured at jobsite image, to described existing
Field capture images execute linear gradation transformation, and the linear gradation transformation includes：The captured at jobsite image former ash degree will be in
The gray value of each pixel is mapped in default tonal range in the captured at jobsite image of range respectively, each to obtain
The corresponding mapping gray value of pixel obtains the captured at jobsite based on the corresponding mapping gray value of each pixel
The corresponding linear process image of image；
Target initial survey equipment, connect with the linear processing devices, for carrying out mesh at the linear process image
Edge detection is marked, is partitioned into what object edge was surrounded from the linear process image with the result detected based on object edge
Target initial survey image；
The target initial survey image is based respectively on each benchmark by image transfer converter for receiving target initial survey image
The size of target pattern carries out corresponding size change over processing, to obtain each size change over subgraph, each size
The size for converting the corresponding datum target pattern of subgraph is identical；Wherein, each datum target pattern is in city
Various benchmark communal facility patterns；
Type identification apparatus is connect with described image conversion equipment, the feature for obtaining each datum target image
Value using as reference characteristic value, be additionally operable to obtain the characteristic value of size change over subgraph corresponding with the datum target image with
As transform characteristics value, and calculate the characteristic value of each datum target image and ruler corresponding with the datum target image
The absolute value of the difference of characteristic value this two kinds of characteristic values of very little transformation subgraph is using corresponding absolutely as the datum target image
Value；The type identification apparatus selects the corresponding target type of datum target image of absolute value minimum as the target initial survey
Target identification type output in image；
Shape analysis equipment is connect with the type identification apparatus, for being well lid in the target identification type received
When, receive corresponding with target identification type target initial survey image, and by the target initial survey image and standard well lid shape
Shape is matched with the distortion degree of well lid object in the determination well lid object subgraph, using as defeated to visibility distortion degree
Go out.
Then, continue that the concrete structure of the distortion well lid Patrol Locator System of the present invention is further detailed.
In the distortion well lid Patrol Locator System, further include：
Alarm triggering equipment, connect respectively with the mobile satellite location equipment and the shape analysis equipment, for receiving
State bus navigation position and described to visibility distortion degree, and it is described transfinite to visibility distortion degree when, send out well lid deformation
Signal, and it is described do not transfinite to visibility distortion degree when, send out well lid normal signal.
In the distortion well lid Patrol Locator System, further include：
IP packet sending devices are connect with alarm triggering equipment, for when receiving the well lid deformation signal, inciting somebody to action
The bus navigation position is broken into the well lid deformation signal into an IP packet, and the IP packets for breaking into acquisition are passed through shifting
Dynamic communication network is wirelessly sent at the urban road administrative center of distal end.
In the distortion well lid Patrol Locator System：
The default tonal range includes that the captured at jobsite image former ash degree range and is wider than the captured at jobsite respectively
Image former ash degree distinguishes range so that the contrast of the linear process image is more than the contrast of the captured at jobsite image.
In the distortion well lid Patrol Locator System：
The characteristic value for obtaining each datum target image to include as reference characteristic value：With the datum target
The origin that angle is coordinate system of sitting down of image, obtains the square to be analyzed in the datum target image, it is described it is to be analyzed just
It is rectangular that angle is sat down as angle of sitting down with the datum target image, the datum target as the length of side and is located at using pre-set length threshold
Square in image, for each pixel in the square to be analyzed, by its abscissa, its ordinate and its picture
Element value three is multiplied, to obtain the reference value of the pixel, by the reference of each pixel in the square to be analyzed
Value is added the reference value to obtain the analysis square and as reference characteristic value.
In the distortion well lid Patrol Locator System：
The characteristic value for obtaining corresponding with datum target image size change over subgraph is using as transform characteristics
Value includes：Using the angle of sitting down of the size change over subgraph as the origin of coordinate system, obtain in the size change over subgraph
Square to be analyzed, the square to be analyzed is angle of sitting down with the angle of sitting down of the size change over subgraph, with preset length
Threshold value is the length of side and the square in the size change over subgraph, for each picture in the square to be analyzed
Its abscissa, its ordinate are multiplied by vegetarian refreshments with its pixel value three, to obtain the reference value of the pixel, are waited for described
The reference value addition for analyzing each pixel in square is to obtain the reference value of the analysis square and special as converting
Value indicative.
In the distortion well lid Patrol Locator System：
The IP packets sending device is handled when receiving the well lid normal signal without IP packings.
In the distortion well lid Patrol Locator System：
The shape analysis equipment, alarm triggering equipment and the IP packets sending device are all arranged on bus
In instrument board.
In addition, in the distortion well lid Patrol Locator System, the mobile satellite location equipment is integrated with GPS navigation data and connects
Mouthful, for receiving the location data of navigation satellite transmission using as bus navigation position, and export the bus navigation bits
It sets.
The predecessor of GPS is a kind of Transit satellite positioning system of US military development, is developed within 1958, and 1964 formal
It comes into operation.StarNet's work that 5 to 6 satellites of the system form, at most bypasses the earth 13 times daily, and can not provide height
Information is spent, it is also not fully up to expectations in terms of positioning accuracy.However, transit navigation system makes research and development department achieve satellite positioning
Preliminary experience, and the feasibility positioned by satellite system is demonstrated, bury place mat for the development of GPS.Due to satellite
Locating and displaying go out in terms of navigation huge superiority and transit navigation system exist in terms of submarine and ship navigation it is huge lack
It falls into.U.S.'s the armies of navy, army and air force and civilian department all feel that there is an urgent need to a kind of new satellite navigation systems.
For this purpose, United States Naval Research Laboratory (NRL) proposes 12 to 18 satellite compositions of use of entitled Tinmation
The global location net plan of 10000km height, and a test satellite was respectively transmitted in 1967,1969 and 1974,
Preliminary test atomic clock timekeeping system on these satellites, this is the pinpoint bases GPS.And United States Air Force then proposes
The plan that 3 to 4 group of stars are formed with 4 to 5 satellites of every group of stars of 621-B, in these satellites in addition to 1 using geo-stationary orbit its
Remaining all service life are inclined plane for 24 hours, which is basic distribution satellite distance measuring signal with pseudo noise code (PRN),
Powerful function can also detected when signal density is less than the 1% of ambient noise.The Successful utilization of pseudo noise code is
GPS is able to a successful important foundation.The plan of naval is mainly used for providing low dynamic 2 dimension positioning for naval vessel, empty
The plan of army can be for providing high dynamic service, however system is excessively complicated.Due to simultaneously develop two systems can cause it is huge
Expense and here two plans are provided to provide global location and design, so U.S. Department of Defense in 1973 closes 2
Two be one, and the satellite navigation and positioning co-plan office leader to be taken the lead by Ministry of National Defence, and administrative body is also built up in Los Angeles
At air force's space flight.Mechanism member is numerous, including US Army, naval, marine corps, Ministry of Communications, National Defense Mapping Agency, NATO
With the representative of Australia.
Distortion well lid Patrol Locator System using the present invention distorts degree detecting machine for well lid is lacked in the prior art
The technical issues of processed, improves generality and covering that well lid distorts degree inspection by using bus as carrier is checked
Rate avoids the generation for distorting well lid related accidents, by the well lid object subgraph recognized and the progress of benchmark well lid shape
It is equipped with the distortion degree for determining well lid object in the well lid object subgraph, and provides when distortion degree transfinites and determines accordingly
Position data, it is particularly critical to fast implement the search operation for distorting well lid, by the way of linear gradation transformation,
The contrast for improving image, the image data for more having reference significance is provided for subsequent image procossing, and in order to accurately identify
Go out the target type in image, before object matching, image and each image to be matched are normalized, it is basic herein
It is upper to carry out high-precision feature matching operation.
It is understood that although the present invention has been disclosed in the preferred embodiments as above, above-described embodiment not to
Limit the present invention.For any person skilled in the art, without departing from the scope of the technical proposal of the invention,
Many possible changes and modifications all are made to technical solution of the present invention using the technology contents of the disclosure above, or are revised as
With the equivalent embodiment of variation.Therefore, every content without departing from technical solution of the present invention is right according to the technical essence of the invention
Any simple modifications, equivalents, and modifications made for any of the above embodiments still fall within the range of technical solution of the present invention protection
It is interior.
Claims (8)
1. a kind of distortion well lid Patrol Locator System, which is characterized in that the system comprises：
Mobile satellite location equipment is arranged on the roof of bus, for receiving the location data of navigation satellite transmission using as public affairs
Vehicle navigation position is handed over, and exports the bus navigation position；
Data acquisition facility, is arranged in the front end of bus, and carrying out image scene data for the frontal scene to bus obtains
It takes, to export corresponding captured at jobsite image；
Linear processing devices are connect with the data acquisition facility, for receiving the captured at jobsite image, are caught to the scene
It obtains image and executes linear gradation transformation, the linear gradation transformation includes：The captured at jobsite image former ash degree will be in distinguish
The gray value of each pixel is mapped in default tonal range in the captured at jobsite image of range, to obtain each pixel
The corresponding mapping gray value of point obtains the captured at jobsite image based on the corresponding mapping gray value of each pixel
Corresponding linear process image；
Target initial survey equipment, connect with the linear processing devices, and target side is carried out in being used at the linear process image
Edge detects, and the target that object edge is surrounded is partitioned into from the linear process image with the result detected based on object edge
Initial survey image；
The target initial survey image is based respectively on each datum target by image transfer converter for receiving target initial survey image
The size of pattern carries out corresponding size change over processing, to obtain each size change over subgraph, each size change over
The size of the corresponding datum target pattern of subgraph is identical；Wherein, each datum target pattern is various in city
Benchmark communal facility pattern；
Type identification apparatus is connect with described image conversion equipment, for obtain the characteristic value of each datum target image with
As reference characteristic value, be additionally operable to obtain the characteristic value of size change over subgraph corresponding with the datum target image using as
Transform characteristics value, and calculate characteristic value and size corresponding with the datum target image change of each datum target image
The absolute value of the difference of the characteristic value of subgraph this two kinds of characteristic values is changed using as the corresponding absolute value of the datum target image；Institute
Stating type identification apparatus selects the corresponding target type of datum target image of absolute value minimum as the target initial survey image
Interior target identification type output；
Shape analysis equipment is connect with the type identification apparatus, for when the target identification type received is well lid, connecing
Target initial survey image corresponding with the target identification type is received, and the target initial survey image and standard well lid shape are carried out
Matching is with the distortion degree of well lid object in the determination well lid object subgraph, to be exported as to visibility distortion degree.
2. distorting well lid Patrol Locator System as described in claim 1, which is characterized in that the system also includes：
Alarm triggering equipment, connect respectively with the mobile satellite location equipment and the shape analysis equipment, for receiving the public affairs
Hand over vehicle navigation position and described to visibility distortion degree, and it is described transfinite to visibility distortion degree when, send out well lid deformation signal,
And it is described do not transfinite to visibility distortion degree when, send out well lid normal signal.
3. distorting well lid Patrol Locator System as claimed in claim 2, which is characterized in that the system also includes：
IP packet sending devices connects with alarm triggering equipment, for when receiving the well lid deformation signal, will described in
Bus navigation position is broken into the well lid deformation signal into an IP packet, and the IP packets for breaking into acquisition are led to by mobile
Communication network is wirelessly sent at the urban road administrative center of distal end.
4. distorting well lid Patrol Locator System as claimed in claim 3, it is characterised in that：
The default tonal range includes that the captured at jobsite image former ash degree range and is wider than the captured at jobsite image respectively
Former ash degree distinguishes range so that the contrast of the linear process image is more than the contrast of the captured at jobsite image.
5. distorting well lid Patrol Locator System as claimed in claim 4, it is characterised in that：
The characteristic value for obtaining each datum target image to include as reference characteristic value：With the datum target image
Sit down angle be coordinate system origin, obtain the square to be analyzed in the datum target image, the square to be analyzed
It is angle of sitting down with the angle of sitting down of the datum target image, the datum target image as the length of side and is located at using pre-set length threshold
Interior square, for each pixel in the square to be analyzed, by its abscissa, its ordinate and its pixel value
Three is multiplied, to obtain the reference value of the pixel, by the reference value phase of each pixel in the square to be analyzed
Obtained the reference value of the analysis square and as reference characteristic value.
6. distorting well lid Patrol Locator System as claimed in claim 5, it is characterised in that：
The characteristic value for obtaining corresponding with datum target image size change over subgraph is using as transform characteristics value packet
It includes：Using the angle of sitting down of the size change over subgraph as the origin of coordinate system, obtains and waited for point in the size change over subgraph
Analysis square, the square to be analyzed is angle of sitting down with the angle of sitting down of the size change over subgraph, with pre-set length threshold
Square for the length of side and in the size change over subgraph, for each pixel in the square to be analyzed
Its abscissa, its ordinate are multiplied by point with its pixel value three, to obtain the reference value of the pixel, are waited for described point
The reference value of each pixel in analysis square is added the reference value to obtain the analysis square and as transform characteristics
Value.
7. distorting well lid Patrol Locator System as claimed in claim 6, it is characterised in that：
The IP packets sending device is handled when receiving the well lid normal signal without IP packings.
8. distorting well lid Patrol Locator System as claimed in claim 7, it is characterised in that：
The shape analysis equipment, the alarm triggering equipment and the IP packets sending device are all arranged on the instrument of bus
In disk.
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| CN201810363856.3A CN108573237A (en) | 2018-04-22 | 2018-04-22 | Distort well lid Patrol Locator System |
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| US20110148647A1 (en) * | 2009-12-22 | 2011-06-23 | At&T Intellectual Property I, L.P. | Manhole Security Device and Methods Thereof |
| CN102061659A (en) * | 2010-10-27 | 2011-05-18 | 毛庆洲 | Urban road pavement routine inspection equipment |
| CN106226834A (en) * | 2016-07-14 | 2016-12-14 | 昆山市交通工程试验检测中心有限公司 | A kind of vehicular road surface manhole disappearance detection method |
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