CN106170072B - Video acquisition system and acquisition method thereof - Google Patents
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Abstract
Translated fromChinese
Description
Translated fromChinese技术领域technical field
本发明属于交通信息领域，特别是涉及一种视频采集系统及其采集方法。The invention belongs to the field of traffic information, in particular to a video collection system and a collection method thereof.
背景技术Background technique
近年来，车辆检测技术广泛应用于交通监控、汽车辅助驾驶系统和自动导航系统中，已经成为智能交通监控中的一个重要组成部分。现有的车辆检测技术主要根据位置不同，分为埋入式和悬挂式两种。In recent years, vehicle detection technology has been widely used in traffic monitoring, vehicle assisted driving systems and automatic navigation systems, and has become an important part of intelligent traffic monitoring. The existing vehicle detection technology is mainly divided into two types: embedded type and suspended type according to different positions.
埋入式检测器直接安装在路面下，利用机动车通过检测区域，在电磁感应作用下触发记录仪，实现对车辆数的检测。其采集方式包括：地感线圈检测器、磁力检测器、气压管检测器等。埋入式检测器不受天气、能见度、光线等条件的影响，然而其埋于地下，安装和维护需要破坏路面，影响交通的正常运行，并且安装和维护成本较高，同时影响路面寿命。地感线圈检测器由环形线圈、接线盒、传输电缆和信号检测处理单元等几部分构成。环形感应线圈检测器具备测速和交通流量计数精度较高，稳定性好，成本相对较低，不容易受天气变化和交通环境变化影响等优点。然而，除埋入式检测器普遍具有的限制以外，感应线圈在大车重压下容易损坏，易受冰冻、路基下沉、盐碱等环境影响，增加了维护成本；道路改建和扩建等对感应线圈检测器有影响；高峰时段，车流量大、拥堵车间距小时，精度降低；无法感知车辆类型等具体车辆信息；不能检测静止车辆；容易受到车辆行驶引起的温度变化影响。地感线圈检测器更适用于高速公路和隧道的交通流量检测。磁力检测器的主要组成部分为探头和可放大调节器，适用于交通流较小的情况。磁力检测器检测区域较小，难以分辨纵向过于靠近的车辆，不能检测静止车辆。橡胶气压管检测器具备安装快速、电源用量少、费用低、维修简单等优点。但是橡胶气压管检测器对温度比较敏感，气压管容易受到车辆轮胎的磨损和破坏，在车流量大的情况下，其精度会受到影响。The embedded detector is directly installed under the road surface, and the motor vehicle passes through the detection area and triggers the recorder under the action of electromagnetic induction to realize the detection of the number of vehicles. The collection methods include: ground-sensing coil detectors, magnetic detectors, air pressure pipe detectors, etc. Buried detectors are not affected by weather, visibility, light and other conditions. However, they are buried underground. Installation and maintenance need to destroy the road surface, affecting the normal operation of traffic, and the installation and maintenance costs are high, which also affects the life of the road surface. The ground induction coil detector is composed of several parts such as toroidal coil, junction box, transmission cable and signal detection processing unit. The ring induction coil detector has the advantages of high speed measurement and traffic flow counting accuracy, good stability, relatively low cost, and is not easily affected by weather changes and traffic environment changes. However, in addition to the general limitations of embedded detectors, the induction coil is easily damaged under the heavy pressure of the cart, and is susceptible to environmental impacts such as freezing, subsidence of the roadbed, and salinity, which increases maintenance costs; road reconstruction and expansion The induction coil detector has an impact; during peak hours, the traffic flow is large and the distance between congested vehicles is small, and the accuracy is reduced; specific vehicle information such as vehicle type cannot be sensed; stationary vehicles cannot be detected; it is easily affected by temperature changes caused by vehicle driving. Ground-sensing coil detectors are more suitable for traffic flow detection in highways and tunnels. The main components of the magnetic detector are the probe and the magnified regulator, which are suitable for the situation of small traffic flow. The detection area of the magnetic detector is small, and it is difficult to distinguish vehicles that are too close in the longitudinal direction, and cannot detect stationary vehicles. The rubber pneumatic tube detector has the advantages of quick installation, less power consumption, low cost, and simple maintenance. However, the rubber air pressure tube detector is sensitive to temperature, and the air pressure tube is easily damaged and damaged by the vehicle tires, and its accuracy will be affected in the case of heavy traffic flow.
悬挂式检测器主要包括视频图像检测器、微博雷达检测器、超声波检测器和红外线检测器等。相对于埋入式检测器而言，悬挂式检测器安装和维护比较方便，对交通影响小，具有价格优势。同时，悬挂式检测器可检测多种交通参数、检测范围较大，并且使用灵活，更适用于短期交通流量检测。微波雷达检测器主要由雷达天线和接受器等两部分构成。在恶劣的天气条件下性能表现出色，同时适用于白天和晚上。然而，其无法检测静止车辆，对于不同类型车辆细分研究甄别度受到限制，不适用于交叉口交通流量检测。红外线检测器包括主动红外线检测器和被动红外线检测器两种，主要由红外接收管和红外调节器等构成，主动红外检测器还包括激光二极管。红外线检测器适用于白天和晚上，不会对周围环境造成辐射影响。然而，红外线检测器容易受到天气影响，太阳光反射容易干扰检测信号，空气中的烟尘颗粒或恶劣天气影响检测结果。超声波检测器主要由发射电路(探头)、接收电路、信号控制与处理电路等几部分构成。不受光线影响，对雨、雾、雪有很好的适应能力，成本小、体积小、优化升级方便，不受其他车辆遮挡影响，使用寿命长，可检测静止车辆。超声波检测器的精度受限于环境条件。其反应时间长，容易产生较大误差；精度受温度变化、强烈气流紊乱影响；拥堵和车流不均匀路段，由于遮挡对精度有影响。多数检测器是单道设备，使得整体成本较高。安装要求离最近车道3m的距离，且高度有要求，因此在桥梁、立交、高架桥的安装会受到限制适用性，不适用于交叉路口。Suspended detectors mainly include video image detectors, microblogging radar detectors, ultrasonic detectors and infrared detectors. Compared with buried detectors, suspended detectors are more convenient to install and maintain, have less impact on traffic, and have a price advantage. At the same time, the suspended detector can detect a variety of traffic parameters, has a large detection range, and is flexible in use, which is more suitable for short-term traffic flow detection. The microwave radar detector is mainly composed of two parts: the radar antenna and the receiver. Excellent performance in harsh weather conditions, both day and night. However, it cannot detect stationary vehicles, and the discrimination degree of research on different types of vehicles is limited, and it is not suitable for intersection traffic flow detection. Infrared detectors include active infrared detectors and passive infrared detectors, which are mainly composed of infrared receiver tubes and infrared regulators. Active infrared detectors also include laser diodes. Infrared detectors are suitable for day and night and do not cause radiation effects on the surrounding environment. However, infrared detectors are easily affected by the weather, the reflection of sunlight can easily interfere with the detection signal, and soot particles in the air or bad weather can affect the detection results. Ultrasonic detector is mainly composed of transmitting circuit (probe), receiving circuit, signal control and processing circuit and so on. Not affected by light, it has good adaptability to rain, fog and snow, low cost, small size, easy optimization and upgrading, not affected by other vehicles, long service life, and can detect stationary vehicles. The accuracy of ultrasonic detectors is limited by environmental conditions. Its response time is long, and it is easy to produce large errors; the accuracy is affected by temperature changes and strong airflow disturbances; congestion and uneven traffic flow sections have an impact on the accuracy due to occlusion. Most detectors are single-channel devices, making the overall cost higher. The installation requires a distance of 3m from the nearest lane, and the height is required, so the installation on bridges, interchanges, and viaducts will be limited in applicability, and it is not suitable for intersections.
视频图像检测器主要包括高清摄像机、补光灯、云台及其他外围设备等，适用于车辆的分类检测。视频图像检测器检测区域广泛，单台摄像机可检测多车道，减少传感器的安装数目；安装简单，使用维护方便，可直接观察检测情况以调整最佳的检测位置；数据采集广泛，可以得到多种交通信息，包括交通工具类型、交通流量、道路占有率、车辆运行速度、排队长度等；可检测静止车辆；图像再现，具有很好的可视化效果；采集数据可重复利用。视频图像检测器的稳定性较差。视频图像检测器容易受到光线的影响，夜间的车流量检测精度较低；容易受到雨、雪等天气影响，雨、雪等天气使得摄像头模糊，使得检测结果受到影响；风吹或车辆经过引起摄像机晃动，使得检测结果受到影响；大型车辆对小型车辆的遮挡、交通拥挤造成的车辆之间遮挡等引起统计的失真。同时，视频图像检测器需要使用强光辅助照明，耗电不节能。The video image detector mainly includes high-definition cameras, fill lights, pan-tilts and other peripheral devices, etc., and is suitable for the classification and detection of vehicles. The video image detector has a wide detection area, and a single camera can detect multiple lanes, reducing the number of sensors installed; it is simple to install, easy to use and maintain, and can directly observe the detection situation to adjust the best detection position; extensive data collection, can obtain a variety of Traffic information, including vehicle type, traffic flow, road occupancy, vehicle running speed, queue length, etc.; stationary vehicles can be detected; image reproduction has a good visualization effect; collected data can be reused. Video image detectors are less stable. The video image detector is easily affected by light, and the detection accuracy of traffic flow at night is low; it is easily affected by weather such as rain and snow, which blurs the camera and affects the detection results; Shaking affects the detection results; the occlusion of small vehicles by large vehicles and the occlusion between vehicles caused by traffic congestion cause statistical distortion. At the same time, the video image detector needs to use strong light for auxiliary lighting, which consumes power and does not save energy.
专利文献CN101783071 A公开的一种监测车辆违法行为的嵌入式系统图像采集器、记录设备、交通灯信号、信号采集模块、补光设备、补光驱动模块、云台或固定架、云台驱动模块、控制板和外部系统，来实现监测与记录车辆违法行为，还包括主控板、图像处理板、路由器；监测车辆违法行为的嵌入式系统实现的步骤如下：(1)系统连接方式：选择使用单机连接方式或使用联网连接方式两者之一；所述的使用单机连接的方式是：图像采集器和主控板连接，图像采集器和图像处理板连接；主控板和路由器连接，主控板和信号采集模块连接，主控板和补光驱动模块连接，主控板和记录设备连接；图像处理板和路由器连接，图像处理板和信号采集模块连接；交通灯信号和信号采集模块连接；补光设备和补光驱动模块连接；控制板和路由器连接，控制板和图像采集器连接；图像采集器是安装在固定架上或是安装在云台上，当图像采集器安装在云台上时，控制板和云台驱动模块连接；所述的使用联网连接的方式是：图像采集器和主控板连接，图像采集器和图像处理板连接；主控板和路由器连接，主控板和信号采集模块连接，主控板和补光驱动模块连接，主控板和记录设备连接；图像处理板和路由器连接，图像处理板和信号采集模块连接；交通灯信号和信号采集模块连接；补光设备和补光驱动模块连接；控制板和路由器连接；控制板和图像采集器连接；图像采集器是安装在固定架上或是安装在云台上，当图像采集器安装在云台上时，控制板和云台驱动模块连接；外部系统和路由器连接，外部系统是监测车辆违法行为的嵌入式系统以外的交通管理部门的计算机系统；(2)监测区域设置：在图像采集器采集的范围上设置一个监测区域，该区域是一个以上监测子区域，并对每个监测子区域建立一个坐标系和设置交通违法线，每个监测子区域均是用一条以上的线围成的一个封闭区域，交通违法线为一条以上线段，这些线段所围区域，或者这些线段和监测子区域边界线所围区域在监测子区域中形成一个以上禁行区，禁行区是指禁行区域和时间禁行区域；禁行区域是指禁止车辆穿越交通违法线行驶的区域，时间禁行区域是指在交通信号限制时禁止车辆穿越交通违法线行驶的区域；(3)图像采集：图像采集器连续采集图像源的视频图像，并将这些图像同时输入到主控板和图像处理板；主控板将这些图像的每幅图像分别变换成一组用于主控板处理所用的数字数据；图像处理板将这些图像的每幅图像分别变换成一组用于图像处理板处理所用的数字数据；(4)识别车辆：根据监测子区域内的物体移动产生的图像差异和图像中车辆的形状，图像处理板将车辆与非移动物体以及其它移动物体相区别，并计算车辆的位置、车辆的移动方向和移动量；图像差异是指当监测子区域内物体移动时在不同组数据中产生的数据数值大小的差异；(5)记录违法数据：记录违法数据是指生成违法数据和记录违法数据；违法数据是指车辆违法图片和车辆违法视频流文件；生成违法数据是指生成车辆违法图片和生成车辆违法视频流文件；生成车辆违法图片是指，图像处理板根据识别车辆得到的车辆位置、车辆移动方向和移动量，如车辆在禁行区内移动，则由图像处理板将车辆处于违法状态的信号发给主控板，主控板用图像采集器的视频图像生成记录该车辆违法位置的图片；如车辆在禁行区内继续移动并且车辆已经违法，则由图像处理板将车辆已经违法的信号发给主控板，主控板用以下两种方法之一进行处理，方法一：主控板控制图像采集器采集高分辨率的图片，并且主控板将这高分辨率的图片从图像采集器传输到主控板；再由主控板用记录该车辆违法位置的图片和高分辨率的图片生成车辆违法图片；方法二：主控板用图像采集器的视频图像生成记录该车辆另一个违法位置的图片；主控板控制图像采集器采集高分辨率的图片，并且主控板将这高分辨率的图片从图像采集器传输到主控板；再由主控板用记录该车辆两个违法位置的图片和高分辨率的图片生成车辆违法图片；生成车辆违法视频流文件是指主控板对车辆违法这段时间的视频流图像进行实时压缩处理生成车辆违法视频流文件，视频流的压缩格式是H.264压缩编码格式；记录违法数据是指由主控板控制记录设备记录下这些违法数据；(6)记录录像文件：记录录像文件是指生成录像文件和记录录像文件；录像文件是一系列多个单元录像文件，每个单元录像文件记录的录像时间长度≥1分钟；录像是指实时压缩的视频流图像的录像，视频流图像的压缩格式是H.264压缩编码格式；生成录像文件是指主控板对视频流图像进行实时压缩处理生成录像文件；记录录像文件是指由主控板控制记录设备记录下这些录像文件；(7)补光设备的设置：当监测区域光照度小于图像采集器最低照度时，由主控板控制补光驱动模块使补光设备处于开启，否则主控板控制补光驱动模块使补光设备处于关闭；补光设备输出可见光，输出可见光的光照度使图像采集器采集范围的监测区域上的光照度≥图像采集器的最低照度。该专利该图像采集器安装在一个云台上，通过旋转云台可以监测与记录其它车道的车辆违法行为；本系统记录的证据是两张以上图片和一个记录车辆违法过程的视频流，该专利无法同时对多个图像采集器进行图像处理，视频图像检测器容易受到如光线的影响，容易受到雨、雪等天气影响，图像处理精度低，对采集目标的识别容易失真，虽然采用了云台，但不支持多个云台上的图像采集器持续追踪采集目标，也无法自动提示，且由于视频图像检测器需要使用强光辅助照明，耗电不节能。Patent document CN101783071 A discloses an embedded system image collector, recording device, traffic light signal, signal acquisition module, supplementary light device, supplementary light drive module, pan/tilt or fixed frame, pan/tilt drive module for monitoring illegal behavior of vehicles , control board and external system to monitor and record vehicle illegal behavior, including main control board, image processing board, router; the steps to implement the embedded system for monitoring vehicle illegal behavior are as follows: (1) System connection method: choose to use Either the single-machine connection method or the network connection method; the single-machine connection method is: the image collector is connected to the main control board, the image collector is connected to the image processing board; the main control board is connected to the router, and the main control board is connected. The board is connected with the signal acquisition module, the main control board is connected with the fill light drive module, the main control board is connected with the recording equipment; the image processing board is connected with the router, the image processing board is connected with the signal acquisition module; the traffic light signal is connected with the signal acquisition module; The fill light device is connected to the fill light drive module; the control board is connected to the router, and the control board is connected to the image collector; the image collector is installed on the fixed frame or on the PTZ, when the image collector is installed on the PTZ When the control board is connected with the PTZ drive module; the method of using the network connection is: the image collector is connected with the main control board, the image collector is connected with the image processing board; the main control board is connected with the router, the main control board and the The signal acquisition module is connected, the main control board is connected with the supplementary light drive module, the main control board is connected with the recording equipment; the image processing board is connected with the router, and the image processing board is connected with the signal acquisition module; the traffic light signal is connected with the signal acquisition module; supplementary light The device is connected with the fill light drive module; the control board is connected with the router; the control board is connected with the image collector; whether the image collector is installed on the fixed frame or on the PTZ, when the image collector is installed on the PTZ, The control board is connected with the PTZ drive module; the external system is connected with the router, and the external system is the computer system of the traffic management department other than the embedded system that monitors the illegal behavior of vehicles; (2) Monitoring area setting: on the range collected by the image collector Set up a monitoring area, which is more than one monitoring sub-area, establish a coordinate system and set a traffic violation line for each monitoring sub-area, and each monitoring sub-area is a closed area surrounded by more than one line. The traffic violation line is more than one line segment, the area enclosed by these line segments, or the area enclosed by these line segments and the boundary line of the monitoring sub-area forms more than one prohibited area in the monitoring sub-area. Area; Prohibited area refers to the area where vehicles are prohibited from crossing the traffic illegal line, and time prohibited area refers to the area where vehicles are prohibited from crossing the traffic illegal line when the traffic signal is restricted; (3) Image acquisition: The image collector continuously collects images source video images, and input these images to the main control board and the image processing board at the same time; the main control board converts each image of these images into a set of digital data for processing by the main control board; the image processing board converts these images Each image of the image is transformed into a set of Digital data; (4) Vehicle identification: According to the image difference generated by the movement of objects in the monitored sub-area and the shape of the vehicle in the image, the image processing board distinguishes the vehicle from non-moving objects and other moving objects, and calculates the position, The moving direction and amount of movement of the vehicle; the image difference refers to the difference in the size of the data generated in different sets of data when objects move in the monitoring sub-area; (5) Recording illegal data: Recording illegal data refers to generating illegal data and recording Illegal data; Illegal data refers to illegal pictures of vehicles and illegal video stream files of vehicles; generating illegal data refers to generating illegal pictures of vehicles and generating illegal video streaming files of vehicles; If the vehicle moves in the forbidden area, the image processing board will send the signal that the vehicle is in illegal state to the main control board, and the main control board will use the video image of the image collector to generate and record the vehicle. The picture of the illegal location; if the vehicle continues to move in the forbidden area and the vehicle has violated the law, the image processing board will send the signal that the vehicle has violated the law to the main control board, and the main control board will use one of the following two methods for processing. 1: The main control board controls the image collector to collect high-resolution pictures, and the main control board transmits the high-resolution pictures from the image collector to the main control board; then the main control board uses the image to record the illegal location of the vehicle and high-resolution pictures to generate illegal pictures of the vehicle; method 2: the main control board uses the video image of the image collector to generate a picture of another illegal location of the vehicle; the main control board controls the image collector to collect high-resolution pictures, and The main control board transmits the high-resolution picture from the image collector to the main control board; then the main control board uses the pictures of the two illegal positions of the vehicle and the high-resolution picture to generate the illegal picture of the vehicle; generates the illegal video of the vehicle Streaming file means that the main control board performs real-time compression processing on the video stream images during the period of violation of the vehicle law to generate a video stream file of the illegal vehicle. Control the recording equipment to record these illegal data; (6) Record video files: record video files refer to generating video files and recording video files; video files are a series of multiple unit video files, and the length of video recording time recorded by each unit video file. ≥1 minute; video refers to the video of the real-time compressed video stream image, and the compression format of the video stream image is H.264 compression encoding format; to generate a video file refers to the real-time compression of the video stream image by the main control board to generate a video file; Recording video files means that the main control board controls the recording device to record these video files; (7) Setting of the supplementary light equipment: when the illumination in the monitoring area is less than the minimum illumination of the image collector, the main control board controls the supplementary light drive module to make the supplementary light. The light equipment is turned on, otherwise the main control board controls the fill light drive module to turn off the fill light equipment; the fill light equipment outputs visible light, and the illuminance of the output visible light makes the illuminance on the monitoring area of the image collector's collection range ≥ the minimum illuminance of the image collector . In this patent, the image collector is installed on a PTZ, which can monitor and record illegal behavior of vehicles in other lanes by rotating the PTZ; the evidence recorded by this system is more than two pictures and a video stream recording the illegal process of vehicles. The patent It is impossible to perform image processing on multiple image collectors at the same time. The video image detector is easily affected by light, rain, snow and other weather. The image processing accuracy is low, and the recognition of the acquisition target is easy to be distorted. Although the pan/tilt is used , but it does not support the image collectors on multiple PTZs to continuously track the acquisition target, nor can it automatically prompt, and because the video image detector needs to use strong light for auxiliary lighting, power consumption is not energy-saving.
专利文献CN104408932 A公开的一种基于视频监控的酒驾车辆检测系统包括视频采集模块，直接利用路口处的监控摄像头，对行驶车辆进行监控，采集相应的交通视频；数字图像预处理模块，通过滤波用于去除图像中的噪声，去噪声干扰有效地促进后续目标的采集；目标捕获模块，设置判定酒驾车辆的标准，自动提取被跟踪目标，检测出目标位置；目标跟踪测量模块，检测出目标位置，将计算的数据返回主控计算机，从而控制摄像头的转动，以便目标始终锁定在摄像系统视场内；车牌提取与识别模块，用于在酒驾车辆目标锁定后，获取该违法车辆的信息，通过图片处理来提取出酒驾车辆的车牌信息；信息输出模块，用于将完整的车牌信息以及视频监控的目标位置输出至值班室计算机，并设置相应的声音提醒，由值班人员通知距离目标位置最近的交警进行查处；所述目标捕获模块和目标跟踪测量模块均是实现酒驾车辆的监测和锁定，车牌提取与识别模块是将之前锁定的目标的信息提取，方便交警及时准确地拦截目标车辆。该专利识别酒驾车辆在行驶道路上呈现危险性的S形驾驶，则系统自动判断该车辆运动轨迹并且判断为酒驾目标危险车辆，通过牌照处理将信息发送到相关人员手中进行酒驾处理。但该专利无法同时对多个图像采集器进行图像处理，视频图像检测器容易受到如光线的影响，容易受到雨、雪等天气影响，图像处理精度低，对采集目标的识别容易失真，不支持多个云台上的图像采集器持续追踪采集目标，也不支持云台调整摄像头以提高图像采集质量。Patent document CN104408932 A discloses a video surveillance-based drunk driving vehicle detection system including a video acquisition module, which directly uses the surveillance cameras at the intersection to monitor the driving vehicles and collect corresponding traffic videos; In order to remove the noise in the image and eliminate noise interference, it can effectively promote the collection of subsequent targets; the target capture module sets the criteria for judging drunk driving vehicles, automatically extracts the tracked target, and detects the target position; the target tracking measurement module detects the target position, Return the calculated data to the main control computer, so as to control the rotation of the camera, so that the target is always locked in the field of view of the camera system; the license plate extraction and recognition module is used to obtain the information of the illegal vehicle after the target of the drunk driving vehicle is locked. Process to extract the license plate information of the drunk driving vehicle; the information output module is used to output the complete license plate information and the target position of the video surveillance to the duty room computer, and set the corresponding sound reminder, and the duty officer will notify the traffic police closest to the target position. Investigate and punish; the target capture module and target tracking measurement module both realize the monitoring and locking of drunk driving vehicles, and the license plate extraction and recognition module extracts the information of the previously locked target, which is convenient for the traffic police to intercept the target vehicle in a timely and accurate manner. The patent identifies the dangerous S-shaped driving of a drunk driving vehicle on the road, and the system automatically judges the vehicle's trajectory and judges that it is a target dangerous vehicle for drunk driving, and sends the information to the relevant personnel through license plate processing for drunk driving processing. However, this patent cannot perform image processing on multiple image collectors at the same time. The video image detector is easily affected by light, such as rain, snow and other weather. The image processing accuracy is low, and the recognition of the acquisition target is easy to be distorted. It does not support Image collectors on multiple PTZs continuously track acquisition targets, and do not support PTZs to adjust cameras to improve image acquisition quality.
专利文献CN103226891B公开的一种基于视频的车辆碰撞事故检测方法，其特征在于，包括如下步骤：采集视频流数据；将采集到的视频图像进行处理获取运动前景检测图像；对运动前景检测图像中的车辆进行跟踪；对跟踪车辆进行检测判定出发生车体粘连的车辆；对粘连在一起的车辆的车速进行判别，将车速发生突变的车辆判定为发生碰撞事故的车辆，并进行事故提示。该专利对事故的发生能够第一时间进行定位并提供事故提示，有效提高了交通事故的响应速度和处理速度，从而有效缓解因交通事故带来的交通压力，但其不能无法同时对多个图像采集器进行图像处理，视频图像检测器容易受到如光线的影响，容易受到雨、雪等天气影响，图像处理精度低，对采集目标的识别容易失真，不支持多个云台上的图像采集器持续追踪采集目标，无法在提示的同时发送位置数据和图像信息。Patent document CN103226891B discloses a video-based vehicle collision accident detection method, which is characterized in that it includes the following steps: collecting video stream data; processing the collected video images to obtain a motion foreground detection image; The vehicle is tracked; the tracked vehicle is detected to determine the vehicle with car body adhesion; the speed of the adhered vehicles is determined, the vehicle with sudden change in speed is determined as the vehicle that has a collision accident, and the accident reminder is given. The patent can locate the accident at the first time and provide accident prompts, which effectively improves the response speed and processing speed of traffic accidents, thereby effectively alleviating the traffic pressure caused by traffic accidents. The collector performs image processing. The video image detector is easily affected by light, rain, snow and other weather. The image processing accuracy is low, and the recognition of the acquisition target is easily distorted. It does not support image collectors on multiple PTZs. Continuously track the acquisition target, and cannot send location data and image information at the same time as prompting.
因此，本领域急需要解决的技术问题在于：第一方面，同时对多个图像采集器进行图像处理，利用云台控制避免外界因素如振动等对图像采集的不利影响，对图像进行综合处理提高图像处理精度，无需补光设备降低能耗和提高耐久性；第二方面，提高图像识别精度，利用处理设备调用多个云台上的图像采集器持续追踪采集目标，支持云台调整摄像头以提高图像采集质量和追踪效果；第三方面，利用定位装置提供实时位置数据和提供采集目标的全流程图像信息且同时自动提示，提高采集效率。Therefore, the technical problems that need to be solved urgently in this field are: firstly, image processing is performed on multiple image collectors at the same time, and the PTZ control is used to avoid the adverse effects of external factors such as vibration on image acquisition, and the comprehensive processing of images can improve the Image processing accuracy, no need for supplementary light equipment to reduce energy consumption and improve durability; second, improve image recognition accuracy, use processing equipment to call image collectors on multiple PTZs to continuously track acquisition targets, and support PTZ to adjust cameras to improve the accuracy of image processing. Image acquisition quality and tracking effect; thirdly, the positioning device is used to provide real-time position data and provide full-process image information of the acquisition target and automatically prompt at the same time to improve acquisition efficiency.
在背景技术部分中公开的上述信息仅仅用于增强对本发明背景的理解，因此可能包含不构成在本国中本领域普通技术人员公知的现有技术的信息。The above information disclosed in this Background section is only for enhancement of understanding of the background of the invention and therefore it may contain information that does not form the prior art that is already known in this country to a person of ordinary skill in the art.
发明内容SUMMARY OF THE INVENTION
本发明的发明目的是提供一种视频采集系统及其采集方法，解决了上述技术问题，从现有的单个摄像头视频检测改进为多个摄像头视频协同检测，且通过控制云台提高图像采集质量和持续追踪采集目标，通过图像处理消除了补光设备的应用，提高了耐久性和降低能耗，进一步提高了图像处理精度、利用颜色及纹理滤波和光流分割提高了识别精度，和利用定位装置提供实时位置数据和提供采集目标的全流程图像信息且同时自动提示，提高采集效率。The purpose of the present invention is to provide a video acquisition system and a collection method thereof, which solve the above-mentioned technical problems, improve the video detection of a single camera to a multi-camera video collaborative detection, and improve the quality of image acquisition by controlling the pan/tilt. Continuously track the acquisition target, eliminate the application of supplementary light equipment through image processing, improve durability and reduce energy consumption, further improve image processing accuracy, use color and texture filtering and optical flow segmentation to improve recognition accuracy, and use positioning devices to provide Real-time location data and full-process image information of the acquisition target are provided and automatically prompted at the same time to improve acquisition efficiency.
本发明的目的是通过以下技术方案予以实现。The purpose of the present invention is to be achieved through the following technical solutions.
根据本发明的一方面，一种视频采集系统包括图像采集设备和图像处理设备，所述图像采集设备经由无线通信设备与所述图像处理设备连通，所述图像采集设备包括多个带有用于定位的定位装置的图像采集器和图像预处理模块，所述图像处理设备包括图像分割模块、图像处理器、云台控制器、存储器和GPRS系统，每个所述图像采集器设在相应的云台上，图像预处理模块包括将图像的对比度变换到预定对比度阈值范围之内的亮度变换单元、将图像的灰度值归一化直方处理的直方均衡单元和用于滤波的拉普拉斯锐化滤波器，所述图像采集器采集的图像经由图像预处理模块形成数字图像，所述数字图像经由无线通信设备发送到所述图像处理设备，所述图像分割模块包括将所述数字图像分割成背景区域和目标区域的sobel检测器、用于滤波的颜色及纹理滤波器和从所述背景区域中分割多个运动的目标的光流分割单元，所述图像处理器通过判断所述多个运动的目标是否重合到预定范围以确定为采集目标，所述图像处理器包括在所述数字图像中跟踪所述采集目标的自适应波门模块，且所述图像处理器基于定位装置计算所述采集目标的位置数据，所述图像处理设备根据所述位置数据选择相应位置的云台上的图像采集器使得所述云台控制器控制云台使得所述图像采集器采集所述采集目标，所述图像处理设备在存储器中记录所述采集目标的位置数据和图像信息并经由所述GPRS系统提示。According to an aspect of the present invention, a video capture system includes an image capture device and an image processing device, the image capture device communicates with the image processing device via a wireless communication device, the image capture device includes a plurality of The image acquisition device and the image preprocessing module of the positioning device, the image processing equipment includes an image segmentation module, an image processor, a PTZ controller, a memory and a GPRS system, and each of the image acquisition devices is located in the corresponding PTZ Above, the image preprocessing module includes a brightness transform unit that transforms the contrast of the image into a predetermined contrast threshold range, a histogram equalization unit that normalizes the gray value of the image and histogram processing, and Laplacian sharpening for filtering. a filter, an image collected by the image collector forms a digital image via an image preprocessing module, the digital image is sent to the image processing device via a wireless communication device, and the image segmentation module includes segmenting the digital image into a background Sobel detectors for regions and object regions, color and texture filters for filtering, and an optical flow segmentation unit for segmenting a plurality of moving objects from the background region, the image processor determines the Whether the target coincides with a predetermined range is determined as the acquisition target, the image processor includes an adaptive wave gate module that tracks the acquisition target in the digital image, and the image processor calculates the acquisition target based on the positioning device The image processing device selects the image collector on the PTZ at the corresponding position according to the position data, so that the PTZ controller controls the PTZ so that the image collector collects the acquisition target, the image The processing device records the location data and image information of the acquisition target in the memory and prompts via the GPRS system.
优选地，所述图像处理器计算重合的目标重合持续时间超过预定时间和\或计算重合的目标的速度的变化值大于预定数值时，所述图像处理器判定重合的目标为采集目标。Preferably, the image processor determines that the overlapping target is the acquisition target when the image processor calculates that the coincidence duration of the overlapping target exceeds a predetermined time and/or the change value of the speed of the calculated overlapping target is greater than a predetermined value.
优选地，所述定位装置为GPS定位系统或北斗定位系统，所述定位装置可集成在图像采集器中或独立地设在所述图像采集器上。Preferably, the positioning device is a GPS positioning system or a Beidou positioning system, and the positioning device can be integrated in the image collector or independently provided on the image collector.
优选地，所述图像采集器为强光摄像头、微光摄像头或CCD摄像机。Preferably, the image collector is a strong light camera, a low light camera or a CCD camera.
优选地，亮度变换单元将图像的对比度变换到0到1的对比度阈值范围之内。Preferably, the luminance transform unit transforms the contrast of the image into a contrast threshold range of 0 to 1.
优选地，建立所述图像采集设备与所述图像处理设备之间的连通的无线通信设备由具有不同优先级的无线网通信设备、移动通信网络设备和卫星网络通信设备中的一个或多个组成。Preferably, the wireless communication device that establishes the communication between the image acquisition device and the image processing device is composed of one or more of wireless network communication devices, mobile communication network devices and satellite network communication devices with different priorities .
优选地，所述云台控制器控制云台的上下和左右转动角度以及控制图像采集器的拍摄角度和/或焦距。Preferably, the pan/tilt controller controls the up and down and left/right rotation angles of the pan/tilt and controls the shooting angle and/or focal length of the image collector.
优选地，所述图像处理设备为DSP+ARM双核处理器，所述图像处理器为主频750Mhz的TIC674x或TMS320DM81X处理器，所述GPRS系统集成有GSM模块。Preferably, the image processing device is a DSP+ARM dual-core processor, the image processor is a TIC674x or TMS320DM81X processor with a main frequency of 750Mhz, and the GPRS system integrates a GSM module.
根据本发明的另一方面，一种根据所述的视频采集系统的采集方法包括以下步骤。According to another aspect of the present invention, a collection method according to the video collection system includes the following steps.
第一步骤中，多个图像采集器采集图像，经由多个图像采集器在相应的预定区域采集图像。In the first step, multiple image collectors collect images, and images are collected in corresponding predetermined areas via the multiple image collectors.
第二步骤中，图像预处理模块预处理图像，所述图像经由图像预处理模块进行预处理，其中，图像经由亮度变换单元将图像的对比度变换到预定对比度阈值范围之内，经由直方均衡单元将图像的灰度值归一化直方处理，和经由拉普拉斯锐化滤波器滤波后形成数字图像。In the second step, the image preprocessing module preprocesses the image, and the image is preprocessed by the image preprocessing module, wherein the image contrast is transformed into a predetermined contrast threshold range through the brightness transformation unit, and the histogram equalization unit is used to transform the image. The gray value of the image is normalized histogram, and filtered through a Laplacian sharpening filter to form a digital image.
第三步骤中，图像分割模块分割图像，经由sobel检测器将所述数字图像分割成背景区域和目标区域，利用颜色及纹理滤波器进行滤波，和光流分割单元从所述背景区域中分割多个运动的目标。In the third step, the image segmentation module divides the image, divides the digital image into a background area and a target area via a sobel detector, uses color and texture filters for filtering, and an optical flow segmentation unit from the background area. goal of the movement.
第四步骤中，图像处理器识别采集目标，图像处理器判断所述多个运动的目标是否重合，当所述运动的目标重合到预定范围时，图像处理器确认所述运动的目标为采集目标。In the fourth step, the image processor identifies the acquisition target, and the image processor determines whether the plurality of moving targets overlap. When the moving targets overlap to a predetermined range, the image processor confirms that the moving target is the acquisition target. .
第五步骤中，自适应波门模块追踪采集目标，自适应波门模块在所述数字图像中跟踪所述采集目标，且所述图像处理器基于用于定位的定位装置计算所述采集目标的位置数据。In the fifth step, the adaptive wave gate module tracks the acquisition target, the adaptive wave gate module tracks the acquisition target in the digital image, and the image processor calculates the acquisition target based on the positioning device used for positioning. location data.
第六步骤中，所述图像处理设备持续追踪采集目标，所述图像处理设备根据所述位置数据选择相应位置的云台上的图像采集器使得所述云台控制器控制云台使得所述图像采集器采集采集目标。In the sixth step, the image processing device continuously tracks the acquisition target, and the image processing device selects an image collector on the PTZ at a corresponding position according to the position data, so that the PTZ controller controls the PTZ to make the image The collector collects the collection target.
第七步骤中，所述图像处理设备记录并提示，所述图像处理设备记录所述采集目标的位置数据和图像信息并经由所述GPRS系统提示。In the seventh step, the image processing device records and prompts, and the image processing device records the location data and image information of the acquisition target and prompts via the GPRS system.
优选地，第六步骤中，所述图像处理设备根据所述位置数据选择离所述采集目标最近的云台上的图像采集器，所述云台控制器控制云台的上下和左右转动角度以及控制图像采集器的拍摄角度和焦距。Preferably, in the sixth step, the image processing device selects the image collector on the pan-tilt closest to the acquisition target according to the position data, and the pan-tilt controller controls the up-down and left-right rotation angles of the pan-tilt and the Controls the capture angle and focal length of the imager.
优选地，第七步骤中，所述图像处理设备按时间顺序从所述运动的目标相交所述交通违法线时刻起编辑所述采集目标的图像信息并将图像信息和位置数据经由所述GPRS系统提示。Preferably, in the seventh step, the image processing device edits the image information of the acquisition target in chronological order from the moment when the moving target crosses the traffic violation line and transmits the image information and position data via the GPRS system hint.
上述说明仅是本发明技术方案的概述，为了能够使得本发明的技术手段更加清楚明白，达到本领域技术人员可依照说明书的内容予以实施的程度，并且为了能够让本发明的上述和其它目的、特征和优点能够更明显易懂，下面以本发明的具体实施方式进行举例说明。The above description is only an overview of the technical solution of the present invention, in order to make the technical means of the present invention clearer, to the extent that those skilled in the art can implement it according to the content of the description, and in order to make the above and other purposes of the present invention, The features and advantages can be more clearly understood, and are exemplified by specific embodiments of the present invention below.
附图说明Description of drawings
通过阅读下文优选的具体实施方式中的详细描述，本发明各种其他的优点和益处对于本领域普通技术人员将变得清楚明了。说明书附图仅用于示出优选实施方式的目的，而并不认为是对本发明的限制。显而易见地，下面描述的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。而且在整个附图中，用相同的附图标记表示相同的部件。在附图中：Various other advantages and benefits of the present invention will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings are for the purpose of illustrating preferred embodiments only, and are not to be considered as limiting the invention. Obviously, the drawings described below are only some embodiments of the present invention, and for those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative effort. Also throughout the drawings, the same components are denoted by the same reference numerals. In the attached image:
图1是根据本发明一个实施例的视频采集系统的结构示意图；1 is a schematic structural diagram of a video capture system according to an embodiment of the present invention;
图2是根据本发明一个实施例的视频采集系统的经由亮度变换单元处理的亮度对比图；2 is a luminance comparison diagram processed by a luminance conversion unit of a video capture system according to an embodiment of the present invention;
图3是根据本发明一个实施例的视频采集系统的经由直方均衡单元的直方均衡化对比图；3 is a comparison diagram of histogram equalization via a histogram equalization unit of a video capture system according to an embodiment of the present invention;
图4是根据本发明一个实施例的视频采集系统的经由拉普拉斯锐化滤波器的滤波对比图；4 is a comparison diagram of filtering via a Laplacian sharpening filter of a video capture system according to an embodiment of the present invention;
图5是根据本发明一个实施例的视频采集系统的经由sobel检测器的处理对比图；5 is a comparison diagram of processing via a sobel detector of a video capture system according to an embodiment of the present invention;
图6是根据本发明一个实施例的视频采集系统的自适应波门模块的波门图；6 is a wave gate diagram of an adaptive wave gate module of a video acquisition system according to an embodiment of the present invention;
图7是根据本发明一个实施例的根据视频采集系统的压线检测方法的步骤示意图。FIG. 7 is a schematic diagram of steps of a method for detecting line pressing according to a video capture system according to an embodiment of the present invention.
以下结合附图和实施例对本发明作进一步的解释。The present invention will be further explained below in conjunction with the accompanying drawings and embodiments.
具体实施方式Detailed ways
下面将参照附图更详细地描述本发明的具体实施例。虽然附图中显示了本发明的具体实施例，然而应当理解，可以以各种形式实现本发明而不应被这里阐述的实施例所限制。相反，提供这些实施例是为了能够更透彻地理解本发明，并且能够将本发明的范围完整的传达给本领域的技术人员。Specific embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While specific embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that the present invention will be more thoroughly understood, and will fully convey the scope of the present invention to those skilled in the art.
需要说明的是，在说明书及权利要求当中使用了某些词汇来指称特定组件。本领域技术人员应可以理解，技术人员可能会用不同名词来称呼同一个组件。本说明书及权利要求并不以名词的差异来作为区分组件的方式，而是以组件在功能上的差异来作为区分的准则。如在通篇说明书及权利要求当中所提及的“包含”或“包括”为一开放式用语，故应解释成“包含但不限定于”。说明书后续描述为实施本发明的较佳实施方式，然所述描述乃以说明书的一般原则为目的，并非用以限定本发明的范围。本发明的保护范围当视所附权利要求所界定者为准。It should be noted that certain terms are used in the description and claims to refer to specific components. It should be understood by those skilled in the art that the same component may be referred to by different nouns. The description and the claims do not use the difference in terms as a way to distinguish components, but use the difference in function of the components as a criterion for distinguishing. As referred to throughout the specification and claims, "comprising" or "including" is an open-ended term and should be interpreted as "including but not limited to". Subsequent descriptions in the specification are preferred embodiments for implementing the present invention, however, the descriptions are for the purpose of general principles of the specification and are not intended to limit the scope of the present invention. The scope of protection of the present invention should be determined by the appended claims.
为便于对本发明实施例的理解，下面将结合附图以几个具体实施例为例做进一步的解释说明，且各个附图并不构成对本发明实施例的限定。In order to facilitate the understanding of the embodiments of the present invention, the following will take several specific embodiments as examples for further explanation and description in conjunction with the accompanying drawings, and each accompanying drawing does not constitute a limitation to the embodiments of the present invention.
图1为本发明的一个实施例的视频采集系统的结构示意图，本发明实施例将结合图1进行具体说明。FIG. 1 is a schematic structural diagram of a video capture system according to an embodiment of the present invention, and the embodiment of the present invention will be described in detail with reference to FIG. 1 .
如图1所示，本发明的一个实施例提供了一种视频采集系统包括图像采集设备1和图像处理设备2，所述图像采集设备1经由无线通信设备与所述图像处理设备2连通，所述图像采集设备1包括多个带有用于定位的定位装置3的图像采集器4和图像预处理模块5，所述图像处理设备2包括图像分割模块6、图像处理器7、云台控制器8、存储器9和GPRS系统10，每个所述图像采集器4设在相应的云台11上，图像预处理模块5包括将图像的对比度变换到预定对比度阈值范围之内的亮度变换单元12、将图像的灰度值归一化直方处理的直方均衡单元13和用于滤波的拉普拉斯锐化滤波器14，所述图像采集器4采集的图像经由图像预处理模块5形成数字图像，所述数字图像经由无线通信设备发送到所述图像处理设备2，所述图像分割模块6包括将所述数字图像分割成背景区域和目标区域的sobel检测器15、用于滤波的颜色及纹理特征滤波器16和从所述背景区域中分割多个运动的目标的光流分割单元17，所述图像处理器7通过判断多个运动的目标是否重合到预定范围以确定为采集目标，所述图像处理器7包括在所述数字图像中跟踪所述采集目标的自适应波门模块18，且所述图像处理器7基于定位装置3计算所述采集目标的位置数据，所述图像处理设备2根据所述位置数据选择相应位置的云台11上的图像采集器4使得所述云台控制器8控制云台11使得所述图像采集器4采集采集目标，所述图像处理设备2在存储器9中记录所述采集目标的位置数据和图像信息并经由所述GPRS系统10提示。As shown in FIG. 1, an embodiment of the present invention provides a video capture system including an image capture device 1 and an
本发明实施例中优选的，所述定位装置3为GPS定位系统或北斗定位系统，所述定位装置3可集成在图像采集器4中或独立地设在所述图像采集器4上。更优选地，定位装置3是型号为ProGin SR-92的GPS定位模块，其提供定位功能，安装后即可用，无需配置地理位置细细，该GPS定位模块为单片式低功耗的内部集成天线的定位模块，其有导航、定位和定时的作用，其中，定位装置3可通过GPS定位模块的GPIO管脚控制功耗模式。In the embodiment of the present invention, preferably, the
本发明实施例中优选的，所述图像采集器4为强光摄像头、微光摄像头或CCD摄像机。图像采集器4可以在各种天气下全天24小时工作，图像采集器4可采用PAL信号格式，可以是25帧每秒，720像素×576像素，每帧图像扫描分为奇场和偶场，图像采集器4的拍摄视角在47度到3度范围，在3.9－85.8毫米范围内可变焦，可在弱光线条件下，实现正常状态下的彩色拍摄效果。在一个实施例中，图像采集器4可设有补光装置以弥补在极端黑暗的条件下的拍摄曝光。Preferably in the embodiment of the present invention, the
本发明实施例中优选的，图像预处理模块5是一种图像处理器，优选地是DSP处理器，且特别地，图像预处理模块5是TMS320DM642处理器，其中嵌入亮度变换单元12、直方均衡单元13和拉普拉斯滤波器14，图像预处理模块5将图像采集器4采集的彩色的图像变换成数字图像，其中，亮度变换单元12直接对图像的像素进行操作，表达函数为g(x,y)＝T[f(x,y)]，其中，f(x,y)为输入图像，g(x,y)为处理后的输出图像，操作符T定义在(x,y)指定领域1×1中，(x,y)处的g值取决于f在该点的亮度，因此简化为s＝T[r]，r表示f中相应点(x,y)的亮度，s表示g中相应点(x,y)的亮度，变化函数为，当r<rmin,T(r)＝smin；当rmax<r<rmin,T(r)＝smin+(smax-smin)(r-rmin)/(rmax-rmin)；当r>rmax,T(r)＝smax；在一个实施例中，亮度变换单元12将图像的对比度变换到0到1的对比度阈值范围之内，如图2所示的经由亮度变换单元12处理的亮度对比图，左图为原图，右图为亮度变换单元12处理后的亮度图。本发明使用亮度变换单元12处理图像亮度特别有利于视频采集系统避免环境影响如黑夜或特别明亮等极端天气下对图像采集质量的影响，提高图像采集设备采集的图像的质量，有利于后续的图像处理。直方均衡单元13按照图像的概率密度函数定义有p(sk)＝h(sk)/A0，其中，A0为总像素，转换前图像的概率密度函数为pr，转换后的概率密度函数为Ps，Ps＝prdr/ds,直方均衡单元13利用离散图像转换公式将图像的灰度值归一化直方处理，如图3所示的经由直方均衡单元13的直方均衡化对比图，其中，左图为原图，右图为处理后的视图。本发明使用直方均衡单元13处理图像灰度特别有利于后续的图像处理，特别是有利于图像识别。用于滤波的拉普拉斯锐化滤波器14为使用中心为－8的拉普拉斯锐化模使得边缘和轮廓线模糊的图像变得清晰，特别有利于加强图像细节的清晰度，有利于提高图像的采集质量。如图4所示的经由拉普拉斯锐化滤波器14的滤波对比图，其中，左图为原图，中图为锐化效果图，右图为原图减去锐化效果的视图。In this embodiment of the present invention, preferably, the image preprocessing module 5 is an image processor, preferably a DSP processor, and in particular, the image preprocessing module 5 is a TMS320DM642 processor, in which a luminance transformation unit 12, a histogram equalization The unit 13 and the Laplacian filter 14, the image preprocessing module 5 converts the colored image collected by the image collector 4 into a digital image, wherein the luminance transform unit 12 directly operates on the pixels of the image, and the expression function is g( x,y)=T[f(x,y)], where f(x,y) is the input image, g(x,y) is the processed output image, and the operator T is defined in (x,y) In the specified field 1×1, the value of g at (x, y) depends on the brightness of f at this point, so it is simplified to s=T[r], r represents the brightness of the corresponding point (x, y) in f, s Represents the brightness of the corresponding point (x, y) in g, the change function is, when r<rmin, T(r)=smin; when rmax<r<rmin, T(r)=smin+(smax-smin)(r- rmin)/(rmax-rmin); when r>rmax, T(r)=smax; in one embodiment, the brightness transformation unit 12 transforms the contrast of the image into a contrast threshold range of 0 to 1, as shown in FIG. 2 In the shown luminance comparison graph processed by the luminance transforming unit 12 , the left graph is the original graph, and the right graph is the luminance graph processed by the luminance transforming unit 12 . The present invention uses the
本发明实施例中优选的，建立所述图像采集设备1与所述图像处理设备2之间的连通的无线通信设备由具有不同优先级的无线网通信设备、移动通信网络设备和卫星网络通信设备中的一个或多个组成。在一个实施例中，移动通信网络设备主要由2G/3G/4G无线通信芯片组构成，负责通过移动通信网络建立所述图像采集设备1与所述图像处理设备2之间的无线通信。无线局域网通信设备可以是蓝牙、ZigBee或Wi-Fi器中的一个，无线局域设备可通过2.4GHz通信频率建立短距离通信，在室内或低速移动的室外环境会优选该设备建立所述图像采集设备1与所述图像处理设备2之间的通信连接。卫星通信设备利用卫星通信信道建立所述图像采集设备1与所述图像处理设备2之间的通信连接，一般是在无其他可用无线通信网络的情况下，会使用卫星通信器，作为应急通信。In this embodiment of the present invention, preferably, the wireless communication device that establishes the connection between the image acquisition device 1 and the
在一个实施例中，依据无线网络成本或无线网络接入速度，选择无线传输网络，本申请设计以下为优先级方案，Wi-Fi网络：优先级为0；4G无线网络：优先级为1；3G无线网络：优先级为2；卫星通信网络：优先级为3；优先级别0-3，所选择无线网络优先级由高到低，即如果同时存在多种无线信号，且信号强度有效时，所述图像采集设备1与所述图像处理设备2之间的无线通信会首先选择Wi-Fi网络作为无线接入网络；当Wi-Fi信号强度无效时，无线通信会次优选择4G网络作为无线接入网络；依次类推。In one embodiment, the wireless transmission network is selected according to the cost of the wireless network or the access speed of the wireless network. This application designs the following priority scheme, Wi-Fi network: priority is 0; 4G wireless network: priority is 1; 3G wireless network: priority is 2; satellite communication network: priority is 3; priority is 0-3, the priority of the selected wireless network is from high to low, that is, if there are multiple wireless signals at the same time, and the signal strength is valid, The wireless communication between the image acquisition device 1 and the
本发明实施例中优选的，所述云台控制器8控制云台11的上下和左右转动角度以及控制图像采集器4的拍摄角度和/或焦距。在实施例中，云台11是承载图像采集器4进行水平和垂直两个方向转动的装置，云台11设有两个电机，一个电机负责水平方向的转动，另一个负责垂直方向上的转动，云台11还设有检测云台倾角的角度传感器，云台控制器8为了使得图形采集器4处于所期望的理想拍摄角度，通过角度传感器接收的倾角计算且驱动电机调整图像采集器4的拍摄角度，云台控制器8可带有控制图像采集器4焦距的变焦设备，该变焦设备发出变焦信号调整图像采集器的焦距以提高图像采集质量，云台控制器8优选地是AVR单片机。优选地，云台11包括用于光圈操纵和方位运动的可调整机构，另外，云台11可以是二轴或三轴云台。更优选地，所述视频采集系统可以实时调整图像采集器4方位和拍摄参数，或者根据来自用户的指令去调整拍摄动作和拍摄参数。在一个实施例中，使用7米高自动升降云台11以避免车辆之间遮挡造成的视频图像检测失真。云台11内装三个电动机，一个负责水平方向转动，一个负责垂直方向转动，一个负责角度调节姿态调整，使得其视频图像采集更为灵活。进一步，为增加交通视频图像采集装置的稳定性，云台11使用的三脚架为可更换脚钉的三脚架，在城市硬化地面为增强其抓地力使用橡胶脚钉，若将采集设备安装在绿化带等更换使用金属脚钉。将电动机和动力蓄电池安置在摄像机下方，作为缀重，增加装置的稳定性，并同时安置配重挂钩。Preferably in the embodiment of the present invention, the
优选的，图像采集设备1设有独立的电源，如动力蓄电池等，配置保温、防雨罩等外围装置延长摄像机电池续航能力，减小雨、雪天气对采集交通视频质量的影响。Preferably, the image acquisition device 1 is provided with an independent power source, such as a power battery, etc., and is equipped with peripheral devices such as heat preservation and rain cover to prolong the battery life of the camera and reduce the impact of rain and snow on the quality of the collected traffic video.
优选的，所述图像处理设备2还包括存储器，其可以是易失性存储器或非易失性存储器。存储器可以包括一个或多个只读存储器ROM、随机存取存储器RAM、快闪存储器、电子可擦除可编程只读存储器EEPROM或其它类型的存储器。优选的，所述图像处理器7可以是通用处理器、数字信号处理器、专用集成电路ASIC，现场可编程门阵列FPGA、模拟电路、数字电路、及其组合、或其他已知或以后开发的处理器。本发明实施例中优选的，所述图像处理设备2为DSP+ARM双核处理器，所述图像处理器7为主频750Mhz的TIC674x或TMS320DM81X处理器，所述GPRS系统10集成有GSM模块。所述图像处理设备2和图像处理器7优选地设有USB接口扩展。优选地，所述图像处理设备2设有所述地理信息系统GIS，所述地理信息系统GIS包括GIS信息导入导出单元、信息展示单元和信息维护单元，其中，所述GIS信息导入导出单元用于地理信息系统GIS的信息的导入和导出，其导入和导出的格式包括但不限于文本、XML、CSV、EXCEL、WORD、PDF等格式；所述信息展示单元用于在GIS地图上展示地图数据信息；所述信息维护单元用于在GIS地图上浏览、编辑和删除数据信息。地理信息系统GIS展示地图数据信息，并提供地图数据的规划、选择和框选等操作，并可用于在GIS地图上浏览、编辑和删除相应的数据信息。Preferably, the
在一个实施例中，所述图像分割模块6包括将所述数字图像分割成背景区域和目标区域的sobel检测器15、用于滤波的颜色及纹理特征滤波器16和从所述背景区域中分割多个运动的目标的光流分割单元17，其中，sobel检测器15通过对图像的边缘检测将所述数字图像分割成背景区域和目标区域，优选地，sobel检测器15可采用水平模版或垂直模版边缘检测，如图5所示的经由sobel检测器15的处理对比图，其中，左图为原图，中图为水平模版处理图，右图为垂直模版处理图。使用sobel检测器15处理图像有助于边缘清晰化，sobel检测器15特别适合与直方均衡单元13配合使用，这能够使得图像处理效果显著提升。颜色及纹理特征滤波器16采用颜色特征和纹理特征去除噪声干扰，从图像的颜色及纹理特征两方面能够进一步地提高目标提取精度，光流分割单元17假设运动前后图像的灰度值保持不变，通过光流约束方程将目标区域从背景区域中提取出来，本发明使用的双核处理器能够进行高速处理，既克服了光流分割单元的计算耗时大的缺点，又进一步提高了目标提取的精度。In one embodiment, the
所述图像处理器7通过判断多个运动的目标是否重合到预定范围以确定为采集目标，一般的，预定范围可设定为目标的形状尺寸的一部分，例如，设定为目标的长度的10％，当前后运动目标重合的范围达到如目标的长度的10％的预定范围时，图像处理器7确认当下时刻的当下位置的运动目标为采集目标，另外，所述运动目标并不仅限于前后两个目标，也可以是在附近的多个目标，在一个实施例中，所述预定范围也可以说是目标的面积，例如，当前后运动目标重合的范围达到如目标的面积的20％的预定范围时，图像处理器7确认当下时刻的当下位置的运动目标为采集目标。The
本发明优选的，所述图像处理器7计算重合的目标重合持续时间超过预定时间和\或计算重合的目标的速度的变化值大于预定数值时，所述图像处理器判定重合的目标为采集目标，其中，优选地，图像处理器7计算两个或多个目标重合的持续时间，如果持续时间超过如20秒的预定时间，和/或重合的目标的速度变化大于如40公里每小时的预定数值时，图像处理器7判定重合的目标为采集目标，这能够进一步提高碰撞的识别精度。Preferably in the present invention, the
自适应波门模块18在所述数字图像中跟踪所述采集目标，自适应波门模块18可以根据目标和背景自动调整波门的大小，例如，在图6中，x前是目标在图像中的最左端，x后是目标在图像中的最右端，y前是目标在图像中的最上端，y后是目标在图像中的最下端，xw＝x后－x前，yw＝y后－y前，Δ为选取的余量，目标的几何中心位置xc＝x前+x后/2,yc＝y前+y后/2,波门位置为x波前＝xc-1/2xw-Δ,x波后＝xc+1/2xw+Δ,y波前＝yc-1/2yw-Δ,y波后＝yc+1/2yw+Δ,自适应波门模块18在新的波门内的图像与前图像进行比对，计算出新的波门位置，然后形成下一个波门，依次类推不断追踪采集目标。The adaptive wave gate module 18 tracks the acquisition target in the digital image, and the adaptive wave gate module 18 can automatically adjust the size of the wave gate according to the target and the background, for example, in Figure 6, the front of the x is the target in the image The leftmost end of the image, after x is the rightmost end of the target in the image, before y is the uppermost end of the target in the image, after y is the lowermost end of the target in the image, xw = x after - x before, yw = y after - y front, Δ is the selected margin, the geometric center position of the target xc=x front+x back/2, yc=y front+y back/2, the wave gate position is x wavefront=xc-1/2xw-Δ , X wave back=xc+1/2xw+Δ, y wave front=yc-1/2yw-Δ, y wave back=yc+1/2yw+Δ, the adaptive wave gate module 18 in the new wave gate The image is compared with the previous image, the new wave gate position is calculated, and then the next wave gate is formed, and so on, the acquisition target is continuously tracked.
在一个实施例中，所述图像处理器7基于定位装置3计算所述采集目标的位置数据，所述图像处理设备2根据所述位置数据选择相应位置的云台11上的图像采集器4使得所述云台控制器8控制云台11使得所述图像采集器4采集采集目标，所述图像处理设备2在存储器9中记录所述采集目标的位置数据和图像信息并经由所述GPRS系统10提示。优选地，GPRS系统10为内嵌tcp/ip协议的集成有GSM功能的MC39I GPRS模块。其可以支持数据、语音、短信和传真，自动支持波特率4800、9600、19200、38400、57600、115200、230400bps，GPRS模块可具有工作模式、节电模式和提示模式，图象处理设备可控制GPRS模块的模式。In one embodiment, the
图7为本发明的采集方法的流程图，本发明实施例将结合图7进行具体说明。FIG. 7 is a flowchart of a collection method of the present invention, and an embodiment of the present invention will be described in detail with reference to FIG. 7 .
参见图7，根据本发明一个实施例的一种根据所述的视频采集系统的采集方法，其包括以下步骤。Referring to FIG. 7 , according to an embodiment of the present invention, a collection method according to the described video collection system includes the following steps.
第一步骤S1中，多个图像采集器4采集图像，经由多个图像采集器4在相应的预定区域采集图像。In the first step S1 , a plurality of
第二步骤S2中，图像预处理模块5预处理图像，所述图像经由图像预处理模块5进行预处理，其中，图像经由亮度变换单元12将图像的对比度变换到预定对比度阈值范围之内，经由直方均衡单元13将图像的灰度值归一化直方处理，和经由拉普拉斯锐化滤波器14滤波后形成数字图像。In the second step S2, the
第三步骤S3中，图像分割模块6分割图像，经由sobel检测器15将所述数字图像分割成背景区域和目标区域，利用颜色及纹理滤波器16进行滤波，和光流分割单元17从所述背景区域中分割多个运动的目标。In the third step S3, the
第四步骤S4中，图像处理器7识别采集目标，图像处理器7通过判断多个运动的目标是否重合，当所述运动的目标重合到预定范围时，图像处理器7确认所述运动的目标为采集目标。In the fourth step S4, the
第五步骤S5中，自适应波门模块18追踪采集目标，自适应波门模块18在所述数字图像中跟踪所述采集目标，且所述图像处理器7基于用于定位的定位装置3计算所述采集目标的位置数据。In the fifth step S5, the adaptive
第六步骤S6中，所述图像处理设备2持续追踪采集目标，所述图像处理设备2根据所述位置数据选择相应位置的云台11上的图像采集器4使得所述云台控制器8控制云台11使得所述图像采集器4采集所述采集目标。In the sixth step S6, the
第七步骤S7中，所述图像处理设备2记录并提示，所述图像处理设备2记录所述采集目标的位置数据和图像信息并经由所述GPRS系统10提示。In the seventh step S7 , the
在一个实施例中，第六步骤S6中，所述图像处理设备2根据所述位置数据选择离所述采集目标最近的云台11上的图像采集器4，所述云台控制器8控制云台11的上下和左右转动角度以及控制图像采集器4的拍摄角度和焦距。In one embodiment, in the sixth step S6, the
在一个实施例中，第七步骤S7中，所述图像处理设备2按时间顺序从所述运动的目标碰撞时刻起编辑所述采集目标的图像信息并将所述图像信息和位置数据经由所述GPRS系统10提示。In one embodiment, in the seventh step S7, the
尽管以上结合附图对本发明的实施方案进行了描述，但本发明并不局限于上述的具体实施方案和应用领域，上述的具体实施方案仅仅是示意性的、指导性的，而不是限制性的。本领域的普通技术人员在本说明书的启示下和在不脱离本发明权利要求所保护的范围的情况下，还可以做出很多种的形式，这些均属于本发明保护之列。Although the embodiments of the present invention have been described above with reference to the accompanying drawings, the present invention is not limited to the above-mentioned specific embodiments and application fields, and the above-mentioned specific embodiments are only illustrative and instructive, rather than restrictive . Those of ordinary skill in the art can also make many forms under the inspiration of this specification and without departing from the scope of protection of the claims of the present invention, which all belong to the protection of the present invention.
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