CN104766086B - The monitoring and managing method and system of a kind of way mark - Google Patents
The monitoring and managing method and system of a kind of way mark Download PDFInfo
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- CN104766086B CN104766086B CN201510176310.3A CN201510176310A CN104766086B CN 104766086 B CN104766086 B CN 104766086B CN 201510176310 A CN201510176310 A CN 201510176310A CN 104766086 B CN104766086 B CN 104766086B
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Abstract
The monitoring and managing method and system of a kind of way mark, this method include：First, by existing road criterion GPS and view data, preparation standards model is set up by marking simple sequence mode；Secondly, newest real time GPS and view data are obtained by inspection operation, real-time model is set up by the double sequential manners of mark；Then, real-time model data are compared by double sequences match search with master pattern data, the real-time optimized image obtained in real-time model is matched with the standard picture in master pattern；And then, using image matching algorithm contrast standard model image data, so that it is determined that the particular type that mark is damaged；Finally, master pattern is updated according to recognition result, service mode.The present invention is damaged and its type according to internal association relation between way mark position and image, periodically collection in real time, automatic identification and positioning way mark, is improved Asset detection efficiency, is reduced maintenance workload.
Description
Technical field
It is particularly a kind of that way mark is supervised using information system the present invention relates to computer information technology field
The method and system of pipe.
Background technology
One of construction is the important component of public assets based on road, it is necessary to right after road construction completion
It carries out real-time monitoring and just can guarantee that the normal of road is used with maintenance, while real-time monitoring and maintenance are also highway safety assets
One of most basic means.Supervised currently used for road mainly has pavement management system and bridge management system with the system conserved
Deng, and these systems are only used for that geology and highway pavement are detected and conserved, it is impossible to realize the supervision of way mark.
Way mark is generally arranged above the both sides of highway or highway, needs staff to carry out on the way when being guarded to it
The data acquisition and typing at scene, not only expend substantial amounts of human and material resources, time and resource, the feelings such as missing inspection, error of omission easily occur
Condition, and because the detection cycle consuming time is long, it may appear that the way mark of damage cannot find and change in time, have impact on
The specification of road, attractive in appearance and safety index, the trip to people indicate to produce negative effect；Further, since artificially judge
Otherness, the problems such as easily causing standard disunity occurs.The intact of way mark is exercised driver safety on highway
Importance it is even more self-evident, such as occur way mark on a highway missing easily lead to the vehicle run at high speed
There are the severe traffic accidents such as driving；Along with highway long range and too fast vehicle running velocity the features such as, can also
Influence is produced on the operating efficiency of staff, it is often more important that go back the inherently safe of entail dangers to staff.
The content of the invention
The technical problem to be solved in the invention is to provide one kind can enter without staff to scene to way mark
Monitoring and managing method and supervisory systems that row is monitored and is accurately positioned to failure identification in real time.
In order to solve the above technical problems, the technical solution used in the present invention is as follows.
A kind of monitoring and managing method of way mark, it is characterised in that specifically include following steps：
S101. the preparation standards model of way mark is set up；
S102. the real time information of way mark is obtained, and sets up real-time model；
S103. the real-time optimal figure of way mark in the real time information collected by expert algorithm obtaining step S102
Picture；
S104. to the standard drawing of the real-time optimized image and preparation standards model in step S101 that are obtained in step S103
As being matched by sequence search, the specific classification that actual way mark is damaged is drawn by expert algorithm, and store；
S105. judged whether to need repairing according to recognition result, and need are determined whether according to the maintenance result of feedback
Update the standard picture in preparation standards model；
S106. database is set up, the data in step S101~S104 are managed；
S107. host computer interface is designed, data are shown with intuitive way, realizes that people supervise to way mark
Actual demand.
Step S101 of the present invention specifically includes herein below：
S1011. determine that the parameters such as camera model, and height and position according to way mark are calculated, on inspection car
Correct position installs camera；
S1012. the standard picture of way mark is gathered；
S1013. the standard GPS location information of way mark is gathered；
S1014. the result gathered according to step S1012 and S1013, preparation standards are set up by marking simple sequence mode
Model.
Step S102 of the present invention specifically includes herein below：
S1021. the real-time image information of way mark is obtained using the video mode of camera；
S1022. real time GPS positioning is carried out to way mark, obtains the real time GPS information of way mark；
S1023. real time GPS information is matched with corresponding realtime graphic, and set up by the double sequential manners of mark
Real-time model.
Step S1023 of the present invention specifically includes herein below：
First, the real time GPS information to way mark is acquired one by one, and carries out sequence mark；
Secondly, the sample frequency of way mark real-time image information is calculated, and sampled images are carried out with double sequence marks；
Then, judge whether the real-time image information of way mark and the first sequence of real time GPS information match, if it matches,
Then set up real-time model.
Step S103 of the present invention specifically includes herein below：
S1031. image carries out preliminary treatment；
S1032. the real-time optimized image containing way mark is selected.
Preliminary treatment is carried out to image using expert algorithm in step S1031 of the present invention, process content is included in S102
The process step that the preliminary denoising of the image progress collected, filtering, reduction, Slant Rectify, motion blur are eliminated.
Step S1032 of the present invention specifically includes herein below：
First, the n two field pictures obtained to realtime graphic after preliminary treatment are detected (n=1...5)；
Secondly, according to the particularity of way mark color, RGB is converted into hsv color space；
Then, judge whether contain special color in present image by hsv color space；
Again, image is further split by color region；
Finally, compare the cut zone size between different images, choose the maximum conduct of cut zone and most preferably scheme in real time
Picture.
Step S104 of the present invention specifically includes herein below：
S1041, calculates threshold value, real time GPS information is matched with standard GPS longitude and latitude information；
S1042, is stored in the real time GPS information in threshold range, and preserve matching preparation standards model
GPS simple sequences and the double sequences of GPS in real-time model；
S1043, according to threshold requirement, by the real time GPS information of matching standard drawing corresponding with preparation standards model again
Corresponding real-time optimized image is matched in picture and real-time model；
S1044, draws the specific classification that optimal way mark is damaged in real time, and store by expert algorithm.
A kind of supervisory systems of way mark, the system includes：
Image capture module 101, for carrying out IMAQ to way mark；
GPS information acquisition module 102, is acquired for the GPS location information to way mark；
Preparation standards model sets up module 103 with real-time model, for being adopted by image capture module 101, GPS information
The standard picture information and standard GPS longitude and latitude information of 102 pairs of fixed point way marks of collection module synchronize sequence mark respectively,
Set up standard picture information and the one-to-one way mark preparation standards model of standard GPS longitude and latitude information sequences；
By image capture module 101, GPS information acquisition module 102 to the real time GPS information of way mark and in real time figure
As being acquired, the real time GPS information and the corresponding image information of real time GPS information of way mark are extracted, is adopted by image
Sample and double sequence marks set up the real-time model of way mark；
Two model fitting modules 104, set up in module 103 by sequences match to preparation standards model and real-time model
And threshold value is deleted to select and extracts key images, the key images of selection are calculated by parameter and expert algorithm is controlled, to pinpointing GPS pairs
The key images containing way mark answered are handled, and therefrom draw real-time optimized image by processing；
Image procossing and identification module 105, for being drawn after being counted in two model fitting modules 104 by expert algorithm
The real-time optimized image containing way mark and preparation standards model and real-time model set up the standard counted in module 103
Image information carries out pattern match, is matched and trained by expert algorithm, draws the types of damage of the way mark after actual match,
And carry out classification storage；
Database module 106, for carrying out orderly, effective supervision to the data message in system, sets up database machine
System；
Upper computer control module 107, is linked with database in database module, the data after display processing directly perceived.
A kind of supervisory systems of above-mentioned way mark, it is public that the information that the upper computer control module is shown mainly includes fixed point
Specific category, the damage of way mark after the GPS latitude and longitude informations of line, the image for pinpointing way mark, image recognition
The identification information whether status information and maintenance complete.
As a result of above technical scheme, the invention technological progress is as follows.
The present invention integrates the acquisition of way mark assets information, detection, identification, positioning function, can be to way mark
Whether damage, damage type and damage place progress automatic detection, shorten the detection cycle of Asset, improve detection
Efficiency, reduces potential safety hazard, and the driving safety of highway has been effectively ensured.
The application of the present invention provides for the Assets collection of highway and easily gathers path, is highway
Liquidation provides simple passage, is that staff safeguards that the driving safety of highway brings great convenience, right
Reducing road running security incident has certain positive role, highly efficient compared to traditional liquidation system, saves people
Power, financial resources, material resources.GPS positioning system of the present invention can be positioned and counted to the position of way mark trouble point, realize intelligence
It can position, can accurately obtain the particular location of damage way mark, and any section covered for GPS is practical, is applicable model
Enclose wide.Image processing process uses advanced expert algorithm, it is ensured that the accuracy of result；Meanwhile, it may go out to various
Existing failure has carried out feature extraction and calculating, can recognize a variety of due to way mark failure caused by different factors, culvert
Lid scope is wide, and recognition performance is high.Various types of data after the integrated information and identification of GPS and image is formed data by the present invention
Data can be shared, be recovered, being unified and complete control by storehouse.Present invention also offers rational interactive interface, make work
Personnel can understand the concrete condition of way mark directly on interactive interface and carry out associative operation, convenient and practical.
Brief description of the drawings
The entirety that Fig. 1 is the present invention realizes block diagram；
Fig. 2 is the general structure block diagram of system of the present invention；
Fig. 3 is the flow chart of the method for the invention；
Fig. 4 is the schematic view of the mounting position of camera in the present embodiment；
Fig. 5 is the travel range schematic diagram of inspection car in the present embodiment；
Fig. 6 is that the present invention realizes the flow chart for extracting key frame in real time execution from intake image；
Fig. 7 is the flow chart that the present invention realizes image disposed of in its entirety；
Fig. 8 be real time GPS information of the present invention matched with realtime graphic realize block diagram；
Fig. 9 be optimized image in real time of the invention matched with standard picture realize block diagram；
Figure 10 is the flow chart that the present invention realizes realtime graphic preliminary treatment；
Figure 11 is that the present invention selects the flow chart containing the real-time optimized image of way mark；
Figure 12 is realtime graphic identification process figure of the present invention by taking Point Pattern Matching as an example；
Figure 13 is the structured flowchart of database of the present invention；
Figure 14 is the schematic diagram of upper computer control module interactive interface of the present invention.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention will be described in further detail.
A kind of supervisory systems of way mark, its structured flowchart including image capture module 101, GPS as shown in Fig. 2 believe
Breath acquisition module 102, preparation standards model and real-time model set up module 103, two model fitting modules 104, image procossing
With identification module 105, database module 106 and upper computer control module 107.The functions of modules and intermodule information
Transmission is as described below.
Image capture module 101, for carrying out IMAQ to way mark.Image capture module 101 includes two parts
Content：One is to be acquired storage to the standard picture for pinpointing way mark by vehicle-mounted industrial camera, and two be to traveling process
The realtime graphic of middle way mark is acquired.
In the present embodiment, image is acquired using Z30M industrial cameras, Z30M cameras support video and take pictures two
Kind of pattern, therefore when setting up preparation standards model and being acquired to fixed point way mark standard picture, can be using taking pictures
Pattern is gathered manually.And in the operation gathered in real time to way mark, then can be using video mode to highway mark on the way
Know and carry out overall collection.
GPS information acquisition module 102, is acquired for the GPS location information to way mark.
GPS information acquisition module 102 includes two parts content：One is to setting up way mark in preparation standards model
Standard GPS location information is acquired, marks, stored, and forms the standard GPS longitude and latitude information of way mark；Two be to going on the way
The real time GPS information of way mark is acquired during entering.
Preparation standards model sets up module 103 with real-time model, for being adopted by image capture module 101, GPS information
The standard picture information and standard GPS longitude and latitude information of 102 pairs of fixed point way marks of collection module are counted, and are carried out respectively same
Simple sequence mark is walked, the preparation standards model of way mark is set up, using this model as realistic basis, realizes itself and highway mark
The real-time statistics of knowledge are matched.
By image capture module 101, GPS information acquisition module 102 to the real time GPS information of way mark and in real time figure
As being acquired, the real time GPS information and the corresponding image information of real time GPS information of way mark are extracted, is adopted by image
Sample and double sequence marks, both correspond first sequence, and set up the real-time model of way mark on this basis.
Two model fitting modules 104, the GPS threshold value models that the parameter gathered according to GPS information acquisition module 102 is calculated
Enclose, compare the standard GPS longitude and latitude information of way mark in preparation standards model, preserve effective real time GPS in threshold range
Information bar, and sequence mark and storage are equally carried out, prepared for the matching for realtime graphic and real time GPS information.
In the present invention, the parameter that two model fitting modules 104 can be gathered according to GPS information acquisition module 102 is calculated
The GPS threshold ranges gone out, compare the standard GPS longitude and latitude information of way mark in preparation standards model, preserve in threshold range
Effective real time GPS information bar.The image that there is way mark in minimum zone is extracted, memory space and processing number is reduced
Amount, is improved in the efficiency and real-time gatherer process of real-time matching to there may be the accurate of way mark section image zooming-out
Rate.
Sequences match and threshold value can be passed through to the real time information that preparation standards model and real-time model are set up in module 103
Delete to select and extract key images, the key images of selection are calculated by parameter and expert algorithm is controlled, GPS is corresponding to be contained to pinpointing
The key images for having way mark are handled, and therefrom draw real-time optimized image by processing.
Image procossing and identification module 105, processing include carrying out frame flag, reduction, denoising etc. to the image information of extraction
Preliminary treatment, is detected to the image with way mark information, is split, obtain can with preparation standards model
The real-time optimized image that way mark standard picture is matched.
The real-time optimal figure containing way mark drawn after being counted in two model fitting modules 104 by expert algorithm
Pattern match is carried out as setting up the standard picture information counted in module 103 with preparation standards model and real-time model, is passed through
Expert algorithm matching training, draws the types of damage of the way mark after actual match, and carry out classification storage.
Database module 106, for carrying out orderly, effective supervision to the data message in system, sets up database machine
System, is easy to data to extract, check.
Upper computer control module 107, is linked with database in database module, total system of the present invention is carried out straight
Displaying is seen, is easy to staff to operate.Upper computer control module is more directly perceived by the data after processing with friendly interactive interface
Ground is used for related personnel, and display information mainly includes the GPS latitude and longitude informations of fixed point way mark, pinpoints the figure of way mark
The information such as the identification information whether specific category, the distress condition of way mark and maintenance after picture, image recognition complete, with
It is easy to staff to take corresponding change or maintenance measure in time.
The present invention realizes the overall flow figure of image procossing as shown in fig. 7, being specially：1) to the standard picture of way mark
It is acquired to form pretreatment integrated information with standard GPS location information, then the acquisition highway mark from the pretreatment integrated information
Accurate standard picture feature；2) standard GPS longitude and latitude information setting threshold values are passed through；3) realtime graphic for obtaining way mark is believed and real
When GPS information, and choose according to threshold value the realtime graphic and real time GPS information of matching, and form real-time integrated information；4) to obtaining
The realtime graphic of the matching taken is met the real-time optimal figure of demand after the sequence of operations such as pretreatment, detection, segmentation
Picture；5) identification is compared in the standard picture in real-time optimized image and preparation standards model, show that way mark is real-time
Status information, and carry out classification storage.
A kind of method of way mark supervision, its flow chart is as shown in figure 1, this method includes：First, by existing highway
Standard GPS and view data, preparation standards model is set up by marking simple sequence mode；Secondly, optimal sampling frequency is determined
And latest GPS and view data are obtained by the way that highway inspection operation is automatic, set up real-time model by the double sequential manners of mark；So
Real-time model data are compared through double sequences match search with preparation standards model data afterwards, obtain real by real-time model
When optimized image matched with standard picture；And then determine highway mark using dot pattern image matching algorithm contrast standard data
Know the particular type damaged；Preparation standards model is updated finally according to recognition result, service mode.
The particular flow sheet of this method is as shown in figure 3, comprise the following steps：
S101. the preparation standards model of way mark is set up.
The image of standard way mark is acquired by selected instrument, and synchronously obtains the GPS location of present image
Information, is stored to the data obtained, sets up preparation standards model.The foundation of preparation standards model specifically includes following step
Suddenly.
S1011. camera model is determined, and is installed according to the correct position of the height and position of way mark on inspection car
Camera.
Camera model is determined first, so that it is determined that the parameter such as focal length, frame per second, according to regarding of being absorbed of effective unit time
Frequency frame, obtains corresponding actual range, and then determines the speed of inspection car, is allowed to be matched, while also avoiding to all the way
The repetition of section judges；Camera is installed in the ad-hoc location of inspection car, nominally the height and position of way mark has one
Fixed regulation, therefore installation site and setting angle of the camera on inspection car can be determined according to the height and position, and
Inspection car running track, so that camera absorbs the real-time optimized image of way mark.
In the present embodiment, the selection of specific camera model and being calculated as follows for installation site.
In the present embodiment, camera use Z30M color cameras, pixel 360,000, resolution ratio can provide 752*480 (54 frames/
Second), 640 × 480 (60 frames/second) or 320 × 240 (60 frames/second), frame per second can be configured as needed；The biography of camera lens
Sensor is 1/3CMOS (black and white/colour), and sensor size is 4510um*2880um (wide * is high), Z30M/Z30C default installations seat
For CS models.
It is 10m according to the highest setting height(from bottom) of standard way mark, the full-size of way mark is 4*3m, inspection overall height
Spend for 1.5m, and the speed of inspection car is 14m/s, for ensure way mark can in coverage, the present embodiment selection away from
From the shooting distance at way mark 14m being camera.
1st, the angle of looking up that camera is installed is calculated according to following formula.
It is computed that tan θ=0.82 can be obtained, and then show that its upward view angle sets about 40 ° when 40 ° of θ ≈, i.e. camera are installed.
The schematic view of the mounting position of the present embodiment camera is as shown in Figure 4.
2nd, the wide angular range requirement of camera lens is calculated according to following formula.
Then θ3=θ1-θ2=49 ° -31 °=18 °, i.e. camera lens wide angular range at least need to reach 18 °.
3rd, the selection of camera lens model.
It can be seen from the sensor model number 1/3COMS of selection camera lens, size sensor is 4510um*2880um (wide * is high),
The vertical focal length and horizontal focal length of camera lens are calculated by following formula：
Wherein, fwFor horizontal focal length, fhFor horizontal focal length, w is sensor width, and L is distance of the subject away from camera lens, W
For the width of subject, h is sensor height, and H is the height of subject.
In the present embodiment, subject is that the Breadth Maximum of way mark is 4m, and the maximum height of subject is 3m, then：
Due in the present embodiment, having assumed initially that subject and camera lens minimum range need to reach 14m, and actual shooting
During then may be much larger than this, therefore can obtain focal length minimum zone be 13.44mm~15.785mm.According to the camera lens of selection
Minimum field-of-view angle and minimum focus scope, the present embodiment choose camera lens model 0660MV.
Z30M industrial cameras can provide one or more USB high-speed interfaces and are attached with PC, and wiring is simple, and data are passed
Defeated facility, without increase connecting line in addition, easy to use, plug and play supports hot plug, and aluminum alloy casing, shock resistance is strong,
With powerful anti-electromagnetic interference capability, parameter meets the requirement of IMAQ of the present invention.The focal length of the camera lens can be 6
It is adjusted between~60mm, adjustable range is wide, horizontal field of view angle Angle of View：44.5~4.6, meet multi-angle
Demand, and Z30M industrial cameras can be changed taking pictures between video, and preparation standards model in the present invention is built
Video acquisition in vertical and follow-up detection in real time can be met.
Expressway Road is spacious, vehicle is various, and inspection vehicle can not possibly advance on fixed track, and the intake of image
But there is certain limitation in scope, therefore, and the present invention needs to be determined the travel range of inspection car, inspection car running track
Determination method it is as follows.
If the size of highway label is l*w, the industrial camera field-of-view angle of selection is θ1, optimum distance L, as shown in Figure 5.By
The right side of road, l should be arranged on by national standard in way mark1For the distance of image center line to label left side bearing, then, then have：
Thus it just can show that inspection vehicle can offset the specific scope of the traffic sign of road edge.
The optimum position scope of image capture is determined, just actual acquisition can be carried out to image.And in actual fixed point
In collection, how fixed position is determined to be also required to certain auxiliary equipment, the present invention is using infrared sensor to actual phase
Machine is apart from way mark apart from the S and range of operation l of vehicle1Measure, when reaching setting numerical value, then can pass through
Joystick in inspection car presses camera shutter, obtains present image.
S1012. the standard picture of way mark is gathered.
To the standard picture of way mark using camera exposal model, with pinpoint take pictures in the form of be acquired.This hair
Collection is only needed in bright just can once complete, and the standard picture of the way mark of collection is used to set up preparation standards model.
S1013. the standard GPS location information of way mark is gathered.
GPS location is carried out to way mark, the standard GPS location information of way mark is obtained.Only need to adopt in the present invention
Collection just can once be completed, and the standard GPS location information of the way mark of collection is used to set up preparation standards model.
S1014. the result gathered according to step S1012 and S1013, preparation standards are set up by marking simple sequence mode
Model.The simple sequence mark mode is that the standard picture of synchronous acquisition is gradually marked with GPS information according to acquisition order.
Standard GPS in preparation standards model can not possibly realize automatic data collection, it is necessary to staff's hand with standard picture
Dynamic to be operated, the present invention determines the optimal acquisition point of image under the cooperation of related sensor, when inspection vehicle is run to most
When in the range of good collection point, collection standard GPS and image, and simple sequence is carried out respectively to both manually after being determined through staff
Mark, is gathered by the fixed point of standard picture and carries out gradually sequence mark to image, synchronous to obtain standard GPS location information simultaneously
Gradually flag sequence, because standard picture is synchronous with standard GPS location acquisition of information in the process, flag sequence is also maintained for
Unanimously, by the matching of sequence number, standard picture information and standard GPS location information are carried out integrated fusion to set up pre- place
Manage master pattern.
S102. the real time information of way mark is obtained, and sets up real-time model.
Obtain in inspection car traveling process, the real-time video information and real time GPS information of way mark pass through parameter meter
Calculate, determine GPS threshold values, draw the section for needing to be positioned, obtain the realtime graphic of the way mark in positioning section, it is ensured that institute
Way mark is included in the image information of extraction.The acquisition of real time information specifically includes following steps.
S1021. the real-time image information of way mark is obtained using the video mode of camera.
The collection of way mark realtime graphic, can be with according to the demand of onsite supervision plan using the video mode of camera
Carry out at any time.Video acquisition is to be attached by industrial digital camera with PC, and information is directly transferred into PC by USB interface,
And stored.The installation site of camera need to be considered during video acquisition, the calculating of each parameter of camera, camera lens and Sensor (are passed
Sensor) selection；Need to consider influence of the change of speed during vehicle inspection to video image simultaneously, so being patrolled in the present invention
Inspection car uses constant speed inspection, when waiting unexpected phenomenon when occurring overtaking other vehicles, then can artificially operate brake or gearshift, release out
Constant speed inspection is carried out again during existing situation.
S1022. real time GPS positioning is carried out to way mark, obtains the real time GPS information of way mark.
The collection of way mark real time GPS information, can at any time be carried out according to the demand of onsite supervision plan.Highway
In the real-time gatherer process for identifying real time GPS information, if carrying out sequence when there is standard way mark at current GPS location
With mark.
Due to the long range of highway section, GPS location of the present invention uses the GPS location system of error within the specific limits
System, ensures integrality, the reliability of GPS location acquisition of information using expert algorithm, and real time GPS information is stored to corresponding positions
Put.
S1023. real time GPS information (including time, longitude, latitude) is matched with corresponding realtime graphic, and led to
Cross the double sequential manners of mark and set up real-time model.Described pair of sequence mark mode is using the acquisition time of real time information as sequence mark
GPS information during document；First sequence mark is carried out first by sequence of real-time time to the realtime graphic gathered according to certain sample frequency
Note, secondly enters row order row mark again to the multiframe realtime graphic with same real-time time sequence number according to sampling order, so that
Set up real-time model.
Contain way mark to how to extract correspondence real time GPS information from the image of real time shooting with reference to Fig. 6
Image illustrate.
First, the real time GPS information to way mark is acquired one by one, and carries out double sequence marks.Real time GPS is believed
When breath carries out sequence mark one by one, institute's flag sequence is the GPS real-time acquisition time：Year, month, day, hour, min, second, i.e. length be
The sequence field of 14.
In the present embodiment, to GPS frequency and image frame per second by mark, expert algorithm design is carried out, makes to reach between the two
To the effect matched one by one.GPS is connected by USB serial ports with PC, and the realization of GPS latitude and longitude informations is received and extracted by VB
Journey is as follows：
// obtain latitude and longitude information
// determine when to start to receive GPS information
If Strnum=vbLf Then' are when running into new line
If (StrArray (0)=" ") Then' runs into the first character " " of character start of string
G=g+1//counted to the GPS information bar number of collection
MyY1=TStrGps (5) ' extracts the longitude in character string
MyY=" " ＆Mid (MyY1,1,2) ＆ " ' " ＆Mid (MyY1,3,3) ＆ " " " ＆Mid (MyY1,7,4)
Text4.Text=g＆MyY//the latitude information of extraction is marked and deposited into Text4.text
Open"C:GPS latitude " ＆d＆ " .txt " For Append As#4
Print#4,Text3.Text
Close#4//will have latitude information is deposited to computer relevant position
MyX1=TStrGps (3) ' extracts the latitude in character string
MyX=" " ＆Mid (MyX1,1,2) ＆ " ' " ＆Mid (MyX1,3,2) ＆ " " " ＆Mid (MyX1,6,4)
Text3.Text=g＆MyX//the longitude information of extraction is marked and deposited into Text3.text
Open"C:GPS longitude " ＆d＆ " .txt " For Append As#5
Print#5,Text4.Text
Close#5//deposit the document for having longitude information to computer relevant position.
Secondly, the sample frequency of way mark real-time image information is calculated, and sampled images are carried out with double sequence marks；Mark
, it is necessary to carry out double sequence marks frame by frame to every frame pictorial information of the way mark image information of collection during note, marked
Double sequences be divided into first sequence, secondary sequence, wherein first sequence is the real-time time that picture frame is obtained：Year, month, day, hour, min, second,
Length is the sequence field of 14, and order is classified as the sampling order of multiple image under same first sequence number.
IMAQ is uninterruptedly acquired with visual form in real-time model, because the frequency acquisition of camera is higher, such as
Fruit is handled each two field picture, and high requirement is proposed to processing speed and disk storage.Based on this, the present invention is logical
Calculating sample frequency is crossed, realtime graphic is sampled, image procossing amount is reduced, while ensureing result.If camera is sampled
Frequency is X frames/S, and vehicle gait of march is Vm/s, then sample frequency F can set as follows:
According to Z30M cameras filming frequency X=60 frames of the present invention/S, V=14m/s, it can be calculated：F=5 frames/m.
Then, the acquisition time of pictorial information and real time GPS information can be learnt from real time GPS information and image acquiring way
It is consistent, passage time sequences match realizes the foundation of real-time model.
S103. the real-time optimal figure of way mark in the real time information collected by expert algorithm obtaining step S102
Picture.
Preliminary treatment is carried out for the realtime graphic collected in step S102, and highway is contained by expert algorithm acquisition
The real-time optimized image information of mark, and be marked, store.The preliminary treatment of image includes the image to being collected in S102
Carry out preliminary denoising, filtering, reduction, Slant Rectify, motion blur and the process step such as eliminate, thus obtain containing way mark and
The real-time optimized image that can be matched with the standard picture in preparation standards model.Comprise the following steps that.
S1031. image carries out preliminary treatment.
In practical application, the primary image problem that noise and motion blur are caused is easy to influence follow-up image procossing,
Therefore need to carry out preliminary treatment first to image.The present invention realizes that the flow chart of image preliminary treatment is as shown in Figure 10.
First, calculated according to parameters such as inspection car speed, shooting camera frame per second, GPS location frequencies, obtain key frame
Match parameter；Secondly, the video image of collection is converted into JPG format pictures；Then, picture is carried out to JPG format pictures to go
Make an uproar, filter, motion blur elimination, the processing such as Slant Rectify.Picture denoising is improved using the good medium filtering of denoising effect and calculated
Method eliminates influence of noise, and motion blur is eliminated to be handled using Wiener filtering and innovatory algorithm, and Slant Rectify is calculated using expert
Method is corrected to tilting picture.
In the present embodiment, the realtime graphic obtained by the real time GPS information correspondence of preservation can according to Z30M parameter
Know, the preservation image that GPS is corresponded to herein is 5 frames, and in follow-up specific identification, it is optimal in real time that the present invention only needs to a wherein frame
Image is realized.
S1032. the real-time optimized image containing way mark is selected
The present invention selects the flow chart containing the real-time optimized image of way mark as shown in figure 11, and the process of implementing is：
First, 5 two field pictures obtained to realtime graphic after preliminary treatment are detected.
Secondly, according to the particularity of way mark color, RGB is converted into hsv color space.
Then, judge whether contain special color in present image by hsv color space.Special color refer to it is red,
Blue, yellow correspondence HSV space color；If containing one of which, then it is assumed that the intake containing way mark in present image,
Storage is marked to the picture.
Again, image is further split by color region.
Finally, compare the cut zone size between different images, choose the maximum conduct of cut zone and most preferably scheme in real time
Picture.
In actual applications, because shooting distance and other factorses influence, the effect that way mark is shot is not quite similar.This
Invention assert cut zone scope it is maximum for real-time optimized image because cut zone is bigger, then prove that camera distance is actual
The position of way mark is closer, and region shared by way mark is also bigger in the image absorbed, more clear, i.e. image effect
Closer to the preferable real-time optimized image of institute of the invention.
S104. to the standard drawing of the real-time optimized image and preparation standards model in step S101 that are obtained in step S103
As being matched, the specific classification that way mark is damaged is drawn by expert algorithm, and store.
S1041, calculates threshold value, real time GPS information is matched with the standard GPS longitude and latitude information of standard.
From above, the present invention divides both when preparation standards model in real-time model with extracting GPS information
Sequence mark has not been carried out, and can obtain both by parameter calculating can realize the threshold range of matching, and specific calculating process is as follows.
The warp of two points of known A points and B points, latitude information, are derived according to the knowledge about circle and triangle, draw ground
The formula of ball surface point distance is as follows：
C=sin (MLatA) * sin (MLatB) * cos (MLonA-MLonB)+cos (MLatA) * cos (MLatB)
Distance=R*Arccos (C) * π/180
It can be obtained by above formula：Arccos (C)=Distance*180/ (R* π)
Wherein, R is identical with Distance unit.
In the present embodiment, way mark inspection speed is 14m/s, and GPS location frequency is 1S/ times, therefore present invention selection
Threshold value earth surface distance can be calculated Arccos (C)=1.34 × 10 for 15m, i.e. Dis tan ce=15 (m)-4, further
C=cos (1.34 × 10 can be obtained-4)≈1。
And from above formula, when A points with B points in same Longitude In System：
C=sin (MLatA) * sin (MLatB) * cos (0 °)+cos (MLatA) * cos (MLatB)
C=sin (MLatA) * sin (MLatB) * 1+cos (MLatA) * cos (MLatB)
Understood by C ≈ 1, and mathematics trigonometric function theorem, as MLatA ≈ MLatB,
C≈sin2(MLatA)+cos2(MLatA)=1,
Therefore, when A points and B point latitudes are also at same position, i.e., when latitude threshold value reaches 0, ground distance threshold can be reached
Value 15m requirement, but can not have so accurate threshold range in actual application, therefore, for
C=sin (MLatA) * sin (MLatB) * 1+cos (MLatA) * cos (MLatB) ≈
sin2(MLatA)+cos2(MLatA)=1
That is sin (MLatA) ≈ sin (MLatB), cos (MLatA) ≈ cos (MLatB)
Detected according to sine and cosine and experimental data, when longitude is consistent, it is assumed that it is effectively calculating, warp to take decimal point two
Consult databook can obtain sin (θ)=0.0044, take 2 significant digits effectively, sin (θ) ≈ 0, and now 0.25 ° of θ ≈=
15 ", therefore, latitude threshold range is determined at 0.25 °, can effectively be positioned.Similarly, when 2 points are in Same Latitude
When, the determination of longitude threshold value can also be realized by above method, be computed longitude threshold value and be also defined as 0.25 °.
S1042, is stored in the real time GPS information in threshold range, and preserve matching preparation standards model
GPS simple sequences and the double sequences of GPS in real-time model.
When matching between the two is in threshold range, the real time GPS information currently extracted is preserved, simultaneously will
GPS sequences in matching preparation standards model carry out correspondence storage；And corresponding to the real time GPS information preserved
Ground areas in certainly exist way mark.Therefore the reality of this reservation is easily found according to the flag sequence interface of beginning
When GPS information corresponding to the realtime graphic containing way mark, complete real time information acquisition.
S1043, according to threshold requirement, by the real time GPS information of matching standard drawing corresponding with preparation standards model again
Corresponding real-time optimized image is matched in picture and real-time model.
, then will be with reality when the first sequences match of the first sequence and real time GPS information of the real-time image information of way mark
When the first sequences match of GPS location information real-time image information be defined as key frame images, and preserved, it is fixed in these images
Contain way mark；The sequence of preparation standards model Plays GPS location information is subjected to correspondence storage again simultaneously, just
Realize and the IMAQ containing way mark at GPS is pinpointed in real time execution.
In the present embodiment, realize that real time GPS information and the flow chart matched one by one of realtime graphic are as shown in Figure 8.First
It is marked frame by frame with double sequence forms for the way mark realtime graphic of extraction, i.e., shape is such as：(i is the reality of 14 to ij.jpg
When time series, j=1....5).And corresponding real time GPS information is using sequence that (k is 14 reality labeled as k.GSA.GSV one by one
When time series), wherein GSA represents longitude, and GSV represents latitude.Realtime graphic and real time GPS label information are extracted, to lead-in
Symbol is matched, if it does, then the GPS information after photo current Corresponding matching, it is achieved thereby that realtime graphic and real time GPS
The pairing of information.
In the present embodiment, realize that the double sequence permutation processes of image are as follows using C language：
When real time GPS information is matched with realtime graphic realization in the present invention：That is i=g, then matched between the two, real
Now process is：
ifstream in("5.txt")；// read the txt documents containing longitude information
string string；
While (getline (in, string)) // row reading data and be stored in string, until data are all read
Take
Char c1=string [0]；// read character string string initial characters
Int g=atoi (c1)；// initial character c1 is changed into digital value
If (i==g) // judge whether GPS initial characters match with picture name initial character.
The real-time optimized image extracted after above-mentioned real-time collection enters row mode with the correspondence image in preparation standards model
The flow chart of matching is as shown in Figure 9.The present invention is by the real-time optimized image extracted after gathering in real time and preparation standards mould
Correspondence image in type carried out after pattern match the identification of way mark types of damage, therefore how to ensure between the two
Matching is also just particularly important.
The present invention is when setting up preparation standards model and processing real time information, just respectively to standard GPS location information, mark
Quasi- image, real time GPS information and realtime graphic are marked respectively, and wherein standard picture is corresponding with real time GPS information consistent,
Realtime graphic is corresponding with real time GPS information consistent.Therefore when real time GPS information and standard GPS location information matches are completed, just
It can realize that real time GPS information is corresponding with standard picture, and real time GPS information is consistent with real-time image sequences, so that
It can realize that the real-time optimized image of extract real-time is corresponding with standard picture realization, basis is provided for follow-up pattern-recognition.
S1044, draws the specific classification that optimal way mark is damaged in real time, and store by expert algorithm.
The sequence of the real-time optimized image obtained in step S103 and the standard picture of preparation standards model in step S101
Row mark is consistent, therefore both consistent images of sequence mark are carried out into the pattern match under expert algorithm control, obtains reality
Recognition result, and carry out classification storage.
Image recognition flow chart under realtime graphic pattern match is referring to Figure 12.Actual way mark is that may be present to be damaged
Bad form is various, in the present embodiment, is illustrated by taking Point Pattern Matching as an example.
The standard angle point of rectangle way mark is four angle points, first so as to angle of the SUSAN algorithms to standard way mark
Point is extracted, and sets up master pattern；Secondly, the angle point of realtime graphic is extracted in the real-time optimized image after extraction process；So
Afterwards, both are trained via Point Pattern Matching, draws final matching result；Such as both angle point numbers are consistent with corner location, then
Judge that current way mark in real time is normal, such as it is inconsistent, assert that Current Highway mark has damaged location, be used as trouble point, tie
GPS location is closed, is classified as abnormal classification.In the present embodiment, concrete methods of realizing is as follows.
SrcImage=cvLoadImage (" picture storage location ", 1)；// Load Image
GrayImage=cvCreateImage (cvGetSize (srcImage), IPL_DEPTH_8U, 1)；
// by artwork gray processing
cvCvtColor(srcImage,grayImage,CV_BGR2GRAY)；
// the company of establishment and artwork size identical intermediate images
Corners1=cvCreateImage (cvGetSize (srcImage), IPL_DEPTH_32F, 1)；
Corners2=cvCreateImage (cvGetSize (srcImage), IPL_DEPTH_32F, 1)；
// Corner Detection
cvGoodFeaturesToTrack(grayImage,corners1,corners2,corners,
&cornerCount,qualityLevel,minDistance,0)；
printf("num corners found:%d n ", cornerCount)；
// be marked angle point in artwork
Actual way mark edge angle point is shown after the calculating of above-mentioned algorithm to standard picture, realtime graphic also may be used
To be similarly obtained real-time edge angle point, both angle point quantity is then counted, if unanimously, retention criteria image judges
Way mark is normal mark, if angle point quantity is inconsistent, way mark is improper.
S105. judge whether to need repairing according to the recognition result of step S104 acquisitions, and according to the maintenance knot of feedback
Fruit come determine the need for update preparation standards model in standard picture；
By background work personnel whether repair complete judge original image renewal whether, maintenance do not complete, then not
Processing, maintenance is completed, then by the complete image after current maintenance to update the standard picture in preparation standards model.
S106. database is set up, the data in step S101~S104 are managed.
Because the data volume of image procossing is huge, simple storage can not meet demand of the people to data, database
Build, be that related personnel makes correct decisions, is that data are efficiently treated through offer guarantee.
Collection information and processing data are incorporated to database and are managed by the present invention, and database import information includes：Highway
Standard picture, the standard GPS location information of way mark, the realtime graphic video information of way mark, the way mark of mark
Real time GPS information, GPS and image match integrated information, expert algorithm is calculated comprising way mark image most
There is obstacle after good realtime graphic frame, metadatabase (the standard picture storehouse i.e. to train generation grader), Classification and Identification
Asset image integrated information etc..
As shown in figure 13, database includes metadatabase, real-time data base, image to the structured flowchart of database in the present invention
Storehouse, backstage personal management storehouse and five points of time management storehouse storehouse are managed, the function in each point of storehouse is as described below.
Metadatabase：Be stored with the flag sequence of the standard picture of fixed point way mark, storage in preparation standards model
Position and the specific image being stored in a binary format in database；The flag sequence of standard GPS location information and right
Longitude, the latitude answered；Generation time of each correspondence image and GPS integrated informations etc..
Real-time data base：To gathered in real-time model video-frequency band and cycle GPS information, processing after key video sequence frame and
Flag sequence, the location information (warp, latitude) of sampling and the management of flag sequence, according to above to key frame and sampling positioning letter
The extraction of breath is understood, can realize that matching is directly connected to final process result, therefore real-time model well between both
Management do not allow error.
Image management storehouse：The presence of image is suffered from preparation standards model and real-time model, in real-time model
Image found according to sequence after the image in corresponding preparation standards model, under the control of expert algorithm, it will
Obtain a final result.The image management function of the present invention is that image library is further managed according to recognition result
Reason, recognition result is normal, then the image in preparation standards model is without processing, retention criteria image；If improper,
Need to be updated the image in preparation standards model.And this renewal is linked up with whether repairing, maintenance is completed then to dimension
Label after repairing carries out image zooming-out, updates pretreatment image, if do not repaired, keeps undetermined.
Background work personal management storehouse.Background work personnel include：Preparation standards model collector, real-time inspection people
It is member, the middle transition personnel of the statistics of statistics trouble point and fault type and contact maintenance, maintenance personal, anti-according to maintenance personal
Present the verification personnel that result is repaired in result identification.After being repaired to improper mark via maintenance personal, maintenance result is carried out true
It is fixed, and the improper mark for completing maintenance is marked, so that it is determined that being carried out to the standard picture in preparation standards model
Update, to ensure the real-time follow-up of metadatabase.
Time management storehouse：Due to the whether normal personal safety and safety of property for being seriously related to people of highway label, therefore when
Between the efficiency that namely works it is especially important.Time includes：Preparation standards model setup time, real-time monitoring time, result
Qualification time, maintenance personal's contact time and maintenance deadline etc..Real-time monitoring time can be according to warp in the present invention
Setting polling period is tested, so that the inspection date is set, if warning can be proposed without timely inspection by expiring；When being completed to maintenance
Between can limit the time limit, overdue, place is necessarily to punish.
S107. design upper computer control module interface, data are shown, realize people to highway with intuitive way
The actual demand of mark supervision, embodies the hommization and intellectuality of the present invention.
In the present invention, upper computer control module and database pass through the hardware connection between serial ports and the system of communication protocol
It is fixed, it is ensured that the data of storage can accurately be uploaded to upper computer control module interactive interface, be inquiry, report printing of people etc.
Facility is provided.
Upper computer control module interface reference picture as shown in figure 14, can be by the real-time figure of way mark in the present embodiment
Picture, real time GPS information and image actual classification result are shown, facilitate staff to compare information and Asset is carried out
Associated maintenance.
Claims (10)
1. a kind of monitoring and managing method of way mark, it is characterised in that specifically include following steps：
S101. the preparation standards model of way mark is set up；
S102. the real time information of way mark is obtained, and sets up real-time model；
S103. the real-time optimized image of way mark in the real time information collected by expert algorithm obtaining step S102；
S104. the standard picture of the real-time optimized image and preparation standards model in step S101 to being obtained in step S103 leads to
Cross sequence search to be matched, the specific classification that actual way mark is damaged is drawn by expert algorithm, and store；
S105. judged whether to need repairing according to recognition result, and determined the need for more according to the maintenance result of feedback
Standard picture in new preparation standards model；
S106. database is set up, the data in step S101 ~ S104 are managed；
S107. host computer interface is designed, data are shown with intuitive way, the reality that people supervise to way mark is realized
Border demand.
2. a kind of monitoring and managing method of way mark according to claim 1, it is characterised in that step S101 specifically include with
Lower content：
S1011. camera model is determined, and is calculated according to the height and position of way mark, the correct position peace on inspection car
Fill camera；
S1012. the standard picture of way mark is gathered；
S1013. the standard GPS location information of way mark is gathered；
S1014. the result gathered according to step S1012 and S1013, preparation standards mould is set up by marking simple sequence mode
Type；The simple sequence mark mode is that the standard picture of synchronous acquisition is gradually marked with GPS information according to acquisition order.
3. a kind of monitoring and managing method of way mark according to claim 1, it is characterised in that step S102 specifically include with
Lower content：
S1021. the real-time image information of way mark is obtained using the video mode of camera；
S1022. real time GPS positioning is carried out to way mark, obtains the real time GPS information of way mark；
S1023. real time GPS information is matched with corresponding realtime graphic, and sets up real-time by the double sequential manners of mark
Model；Described pair of sequence mark mode is using the acquisition time of real time information as sequence mark real time GPS information；To according to certain
The realtime graphic of sample frequency collection carries out first sequence mark first by sequence of real-time time, secondly to same real-time time
The multiframe realtime graphic of sequence number enters row order row mark according to sampling order again.
4. a kind of monitoring and managing method of way mark according to claim 3, it is characterised in that step S1023 specifically include with
Lower content：
First, the real time GPS information to way mark is acquired one by one, and carries out sequence mark；
Secondly, the sample frequency of way mark real-time image information is calculated, and sampled images are carried out with double sequence marks；
Then, judge whether the real-time image information of way mark and the first sequence of real time GPS information match, if it matches, then building
Vertical real-time model.
5. a kind of monitoring and managing method of way mark according to claim 1, it is characterised in that step S103 specifically include with
Lower content：
S1031. image carries out preliminary treatment；
S1032. the real-time optimized image containing way mark is selected.
6. a kind of monitoring and managing method of way mark according to claim 5, it is characterised in that：Using special in step S1031
Family's algorithm carries out preliminary treatment to image, preliminary denoising that process content includes carrying out the image that collects in S102, filtering,
The process step that reduction, Slant Rectify, motion blur are eliminated.
7. a kind of monitoring and managing method of way mark according to claim 5, it is characterised in that step S1032 specifically include with
Lower content：
First, the n two field pictures obtained to realtime graphic after preliminary treatment are detected；
Secondly, according to the particularity of way mark color, RGB is converted into hsv color space；
Then, judge whether contain special color in present image by hsv color space；
Again, image is further split by color region；
Finally, compare the cut zone size between different images, choose the maximum real-time optimized image of conduct of cut zone.
8. a kind of monitoring and managing method of way mark according to claim 1, it is characterised in that step S104 specifically include with
Lower content：
S1041, calculates threshold value, real time GPS information is matched with standard GPS longitude and latitude information；
S1042, is stored in the real time GPS information in threshold range, and it is mono- to preserve the GPS of matching preparation standards model
Sequence and the double sequences of GPS in real-time model；
S1043, according to threshold requirement, by the real time GPS information of matching again standard picture corresponding with preparation standards model with
And corresponding real-time optimized image is matched in real-time model；
S1044, draws the specific classification that optimal way mark is damaged in real time, and store by expert algorithm.
9. a kind of supervisory systems of way mark, it is characterised in that：The system includes
Image capture module 101, for carrying out IMAQ to way mark；
GPS information acquisition module 102, is acquired for the GPS location information to way mark；
Preparation standards model sets up module 103 with real-time model, for gathering mould by image capture module 101, GPS information
The standard picture information and standard GPS longitudes and latitudes information of 102 pairs of fixed point way marks of block synchronize simple sequence mark respectively, and
Set up preparation standards model；The simple sequence mark mode is according to collection to the standard picture of synchronous acquisition with GPS information
Order is gradually marked；
The real time GPS information and realtime graphic of way mark are entered by image capture module 101, GPS information acquisition module 102
Row collection, extracts the real time GPS information and the corresponding image information of real time GPS information of way mark, by image sampling and
Double sequence marks, set up real-time model；Described pair of sequence mark mode is real by sequence mark of the acquisition time of real time information
When GPS information；First sequence mark is carried out first by sequence of real-time time to the realtime graphic gathered according to certain sample frequency, its
It is secondary to enter row order row mark again according to sampling order to the multiframe realtime graphic with same real-time time sequence number；
Two model fitting modules 104, sequence is passed through to the real time information that preparation standards model and real-time model are set up in module 103
Row matching and threshold value delete choosing and extract key images, and the key images of selection are calculated by parameter and expert algorithm is controlled, to fixed
The corresponding key images containing way mark of point GPS are handled, and therefrom draw real-time optimized image by processing；
Image procossing and identification module 105, it is real-time optimal containing way mark by what is drawn in two model fitting modules 104
Image and preparation standards model set up the standard picture information counted in module 103 with real-time model and carry out pattern match, lead to
Expert algorithm matching training is crossed, the types of damage of the way mark after actual match is drawn, and carry out classification storage；
Database module 106, for carrying out orderly, effective supervision to the data message in system, sets up database mechanisms；
Upper computer control module 107, is linked with database in database module, the data after display processing directly perceived.
10. a kind of supervisory systems of way mark according to claim 9, it is characterised in that：The PC control mould
The information that block is shown mainly is included after the GPS latitude and longitude informations of fixed point way mark, the image of fixed point way mark, image recognition
Specific category, the distress condition information of way mark and the identification information that whether completes of maintenance.
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