A kind of wagon detector and its installation method of microwave and video fusion detectionTechnical field
The present invention relates to the wagon detectors and its installation method of a kind of microwave and video fusion detection.
Background technique
There are mainly three types of wagon detectors on present road: ground magnetic-type wagon detector, microwave-type wagon detector andVideo-type wagon detector.
Ground magnetic-type wagon detector needs to cut road and carries out paving buriing work, and difficulty of construction is big, and construction cost is high, once roadRoad needs to construct again, and (maintenance or road change) then magnetic-type wagon detector is destroyed.Metallics near road surface can be rightGround magnetic-type wagon detector causes significant impact.One ground magnetic-type wagon detector can only detect some section on single laneWagon flow situation, the road information that can be provided are limited.
Microwave-type wagon detector emits microwave beam to the pavement of road of detection zone, and vehicle enters beam irradiation rangeWhen generate reflection signal, microwave vehicle detector receive vehicle reflection signal handled, obtain the position and speed of vehicleInformation.Microwave-type wagon detector is able to detect one section of region of road, and climate condition influences smaller (evening on daytime performanceIndifference, sleet hardships influence smaller).But microwave-type wagon detector can not provide the visual information at road scene, can notIt is detected to vehicle is stopped, false target is often detected after cart to the detection of cart, to the closer vehicle of spacingDetection also can not effectively distinguish, can not effectively distinguish cart, trolley, non-motor vehicle and pedestrian.
Video-type wagon detector carries out image procossing and analysis by the road surface video to monitoring region, obtains vehicle and existsLocation information on picture, and according to the variation of Pictures location, the speed of vehicle can be estimated roughly.Video-type wagon detector byIt is limited to detect recognition capability, center picture region can only be preferably identified.The advantages of video-type wagon detector, isThe image situation on road surface can be provided, ideally, to the cart of picture centre region, intensive trolley has excellent lightDetection performance；It is also good to the recognition effect of different vehicle vehicle and pedestrian.The disadvantage of video-type wagon detector be byIt is very big (can not work substantially under evening degradation, rain and fog weather) to bright situation, weather influence.
In conclusion three kinds of common at present wagon detectors respectively have advantage and disadvantage, but without providing detection good enoughEffect.
Summary of the invention
It is an object of the invention to overcome above-mentioned the deficiencies in the prior art, if a kind of equipment, can simultaneously using microwave andIf video is detected, and the data of both detection methods can mutually be unified, which will provide quite ideal inspectionEffect is surveyed, can be detected by microwave and guarantee sufficiently large detection zone, and climate condition does not influence, and can be mentioned by video detectionInformation is influenced for scene, complete static target, cart detection and distinguishes a variety of models classification.
The target information that microwave vehicle detector detects is based on real world, and the coordinate and speed of target are all basesIn the coordinate (world coordinate system) and speed of real world；The target information that video-based vehicle detection detects is based on figureThe coordinate of piece, target is the pixel coordinate of picture.How by the target information and video based on real world of microwave vehicle checkerVehicle checker carries out unification based on the information of picture pixels in the same wagon detector, and installs and make on real roadWith being a huge problem.The present invention provides the wagon detector of a kind of microwave and video fusion detection, has detection zoneGreatly, accurate target position, velocity information and field image information can be provided, the effect of the target of stopping is able to detect.
The invention is realized in this way the wagon detector of a kind of microwave and video fusion detection, including housing main body, instituteIt states housing main body two sides and is separately installed with panel fixing frame and rear cover, be arranged between the panel fixing frame and housing main bodyThere is MICROWAVE PROTECTION panel, camera, Microwave Detector, power panel and processing module are provided in the housing main body, it is describedBe equipped with circular hole in the corresponding MICROWAVE PROTECTION panel of camera, the power panel respectively with camera, Microwave Detector and placeManage module be electrically connected, the processing module respectively with camera and Microwave Detector data connection, the housing main bodyOutside is provided with mounting bracket.
Preferably, the housing main body is aluminum alloy casing main body, it is internally provided with partition in the middle part of the housing main body,The camera and Microwave Detector setting are arranged in plate front end, the power panel and processing module in partition rear end.
Preferably, outside is equipped with multiple heat release holes in the middle part of the housing main body.
Preferably, the mounting bracket and housing main body are hinged.
Preferably, the installation method of the wagon detector, comprising the following steps:
1) wagon detector is tentatively installed to by mounting bracket by designated mounting position, the video shadow exported according to cameraPicture, the azimuth of first successive step wagon detector and pitch angle, make wagon detector be directed at area to be tested, and judgment basis is viewFrequency image center is overlapped with area to be tested center；
2) it is then turned on Microwave Detector, and the target data that Microwave Detector is detected is depicted as track thermal map,According to track thermal map shape, wagon detector azimuth is adjusted, occurs track thermal map vertically, at this time vehicle sensors and laneDirection face, azimuth mix up, then adjust pitch angle, and microwave detector is made to detect the mesh of detection zone distalmost end and most proximal endTrack is marked, then pitch angle mixes up；
3) after the completion of the adjustment of azimuth pitch angle, fixed vehicle detector；
4) after wagon detector is fixed, target trajectory thermal map is drawn again according to the shape of track thermal map and draws detection zoneRoad-map, referring to detection zone map, by Microwave Detector detection target and position of the target in camera pictureIt is matched, and obtains pixel coordinate of the target in picture, carry out 12 groups of target pairings, the pixel for obtaining 12 groups of targets is satMark detects to obtain the world coordinates of corresponding target in conjunction with Microwave Detector, forms coordinate conversion equation set, after solving equations,Homography matrix data of the camera under current installation condition are acquired, homography matrix data are transported to wagon detectorInside processing module, it is supplied to track algorithm use；
5) microwave detector installation and debugging are completed, being capable of normal use.
Preferably, the homography matrix data of camera are used to realize microwave built in wagon detector in the step 4)Detection module detected target data and camera detection based on world coordinate system obtain based on picture pixels coordinateTarget data between mutual conversion.
Preferably, in the step 4) homography matrix data of camera acquisition methods are as follows: camera target pictureThe transformational relation calculating formula of the world coordinates of the target in plain coordinate and real world are as follows:
Wherein (Xp, Yp, Zp) is the pixel coordinate in camera picture, and (Xw, Yw, Zw) is the seat of target in world coordinate systemMark, and H-matrix calculation relational expression are as follows:
When wagon detector is after designated position is installed, then the homography matrix of the camera determines, by acquiring microwaveDetection module detects target data, target data is depicted as thermal map, then the thermal map embodies the lane situation of detection zone, rootAccording to the lane situation of thermal map, the map of detection zone is drawn, after obtaining detection zone map, will test the microwave in area mapThe target that detection module detects is compared with the target in camera picture, can be completed Microwave Detector and be detectedTo the matching of target in target and camera picture, on the object matching that target and Microwave Detector in picture detectAfterwards, it extracts and obtains the pixel coordinate (Xp, Yp, Zp) of the target, examined in conjunction with above-mentioned coordinate transformation relation and Microwave DetectorCoordinate (Xw, Yw, Zw) of the target based on world coordinate system provided is surveyed, then obtains one using H-matrix as the equation of unknown number, HMatrix is made of 12 elements, selects the pixel coordinate and world coordinates of the target of 12 successful matchings, can be with 12 equation setsAt equation group, then can solve to obtain H-matrix.
Preferably, track algorithm in the step 4) are as follows: in each detection cycle, obtain Microwave Detector meshAfter marking data and camera detection target data, first data validity is verified, then rejecting invalid data will testTwo kinds of obtained target datas are matched with the target in tracking, matched foundation be position, speed and vehicle size,If matched, the data for illustrating that detection obtains belong to the target tracked, can update tracking with the data newly detectedTarget；It has tracked after target all matches, still the valid data unmatched, according to the newly-built tracking target of the data；UsingThe method that the target data that Microwave Detector target data and camera detection target data obtain is weighted with the degree of reliability obtainsTarget data finally is obtained, target following state is updated with final target data.
Preferably, the degree of reliability includes following situation: Microwave Detector target data and camera detection meshMark data all detect the target, and the degree of reliability is high；Microwave Detector target data and camera detection target dataAll detect the target, degree of reliability height difference；Microwave Detector target data and camera detection target data are whereinOne detects the target；Microwave Detector target data and camera detection target data all do not detect the target.
In conclusion by adopting the above-described technical solution, the beneficial effects of the present invention are: due to using microwave and videoThe vehicle equipment of fusion can have both the advantages of microwave-type wagon detector is with video-type wagon detector after mounting,And eliminate microwave-type wagon detector and the disadvantage of video-type wagon detector respectively；To have the advantage that detection zoneGreatly, and hardly it is influenced by weather condition, eliminate individual video detection detection zone deficiency and is influenced by weather conditionThe shortcomings that.Accurate target position and velocity information can be provided, accurate target position can not be provided by improving individual video detectionIt sets and the shortcomings that speed.Field image information can be provided, cart, closely spaced two cars and various different automobile types can be detected very wellVehicle, improve that individual microwave detection cart detection effect is poor, closely spaced vehicle detection effect is poor, differentiation vehicle effect is poorThe shortcomings that.The target that can detecte stopping eliminates the shortcomings that individual microwave detection cannot detect static target.It can obtain simultaneouslyThese performances are obtained, are not available for former individually microwave-type wagon detector and video-type wagon detector.
Detailed description of the invention
In order to illustrate more clearly of technical solution of the present invention, letter will be made to attached drawing needed in the embodiment belowSingly introduce, it should be apparent that, drawings in the following description are only some embodiments of the invention, skill common for this fieldFor art personnel, without creative efforts, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is that the present invention provides the detonation configuration of a kind of microwave of embodiment and the wagon detector of video fusion detectionFigure.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, completeSite preparation description.
As shown in Figure 1, the wagon detector of a kind of microwave and video fusion detection, be installed on the upright bar of trackside, L-type frame andOn portal frame.The wagon detector using the method that microwave detection is blended with video detection in detection zone motor vehicle,Non-motor vehicle and pedestrian detect.Including housing main body 5,5 two sides of housing main body are separately installed with panel fixing frame 1With rear cover 8, it is provided with MICROWAVE PROTECTION panel 2 between the panel fixing frame 1 and housing main body 5, is set in the housing main body 5Be equipped with camera 3, its principle of Microwave Detector 4(be according to microwave reflection, transmission, diffraction it is dry penetrate, the physics such as Cavity perturbation it is specialProperty change and tested target dielectric constant and loss tangent angle opposite variation, pass through measurement microwave basic parameter: amplitudeDecaying, phase-shift phase or frequency variation, realize the device that is detected to target), power panel 5 and processing module 6,3 He of cameraMicrowave Detector 4 is integrated to be assembled on same plastic casing, and wherein camera 3 obtains image information, and processing module 7 is runArtificial intelligence Target Recognition Algorithms obtain picture target information, and processing module 7(specifically uses existing data processor) also holdCarry on a shoulder pole the whole algorithms and software function of entire wagon detector.Circular hole is equipped in the corresponding MICROWAVE PROTECTION panel 2 of the camera 310, MICROWAVE PROTECTION panel 2 is formed by polycarbonate (Polycarbonate, abbreviation PC) material injection, and microwave penetration characteristic is excellentDifferent, anti-ultraviolet property, weather resistance tool are good, adapt to the application scenarios of wagon detector outdoor application.On MICROWAVE PROTECTION panel 2Circular hole 10, the excellent acrylic thin slice of insertion translucency, the form as camera 3.The power panel 5 respectively with camera3, Microwave Detector 4 and processing module 6 are electrically connected, and the processing module 6 detects mould with camera 3 and microwave respectively4 data connection of block is provided with mounting bracket 9 on the outside of the housing main body 5.The housing main body 5 is aluminum alloy casing main body, is taken the photographAs high heating part directly or indirectly (is intermediate matchmaker by heat dissipation good conductor in head 3, Microwave Detector 4 and processing module 7It is situated between) it is close to housing main body 5, it conducts heat to housing main body 5 and dissipates.It is internally provided with partition 11 in the middle part of the housing main body 5,Housing main body 5 is separated into ante-chamber and back cavity, the camera 3 and Microwave Detector 4 are arranged in 11 front end of partition, the electricitySource plate 5 and processing module 6 are arranged in 11 rear end of partition.The 5 middle part outside of housing main body is equipped with multiple heat release holes 12, heat release hole12 be multiple holes ganged up vertically and level is ganged up, and promotes integral heat sink performance, and it is larger to be conducive to video detection module operation power consumptionArtificial intelligence Target Recognition Algorithms.There is waterproof adhesive tape in 5 both ends outer of housing main body, in panel fixing frame 1, MICROWAVE PROTECTIONPanel 2 and rear cover 8 are bonded and are compressed when carrying out self-contained with housing main body 5, guarantee the outdoor waterproof performance used.The installationBracket 9 and housing main body 5 are hinged, so that the angle of housing main body 5 is adjustable.
Wagon detector contains microwave detection and videoIt is to need mutually to convert two obtained data of detection module, by algorithm further after detecting two parts functionIt is used in conjunction with.The target data based on world coordinates that Microwave Detector is detected is transformed into camera picture, is obtainedRespective pixel coordinate is obtained, is needed using coordinate transfer equation:
By Microwave Detector obtain target world coordinates (Xw, Yw,Zw the pixel coordinate) being converted into picture needs first to obtain H-matrix:
That is the homography matrix of camera.
It the characteristics of for this wagon detector while built-in Microwave Detector and camera, can be by Microwave DetectorThe target of acquisition is matched by artificial method with the corresponding target in picture, thus obtain pixel coordinate (Xp, Yp,Zp).There are the world coordinates (Xw, Yw, Zw) and pixel coordinate (Xp, Yp, Zp) of the same target, so that it may list a conversionEquation.H-matrix is made of 12 elements, selects the pixel coordinate and world coordinates of the target of 12 successful matchings, can be with 12Equation forms equation group, then can solve to obtain H-matrix.
And to complete microwave detection and obtain the pairing for corresponding to target in target and picture, it needs with first drawing detection zoneFigure can be just completed quickly and effectively micro- according to the comparison reference of lane situation in lane situation in detection zone map and pictureThe pairing of target is corresponded in wave detection target and picture.Target data is detected by acquiring more microwave, target data is drawnThermal map is made, then the thermal map embodies the lane situation of detection zone, according to the lane situation of thermal map, can draw detection zoneMap.
After obtaining live map, so that it may easily match detections of radar target and position of the target in pictureIt is right, to obtain pixel coordinate.
It is installed and is obtained under the installation site after the homography matrix of camera in wagon detector, according to aforementioned turnRelationship is changed, the world coordinates data and pixel coordinate data of target can be converted mutually.Ideally, the same targetWorld coordinates be converted into picture pixels coordinate after, should be overlapped with the pixel coordinate that video detection obtains, equally, pixel coordinate turnAfter at world coordinates, the world coordinates that should also detect with microwave coincides.That is, wagon detector can be examined by microwaveIt surveys and video detection obtains two kinds of data, both data can carry out indifference processing after conversion.To both dataProcessing method are as follows: in each detection cycle, after obtaining microwave detection target data and video detection target data, first logarithmIt is verified according to validity, rejects invalid data, such as reject the target data on the non-rice habitats provided in video detection.SoAfterwards, the two kinds of target datas that will test are matched with the target in tracking, and matched foundation can be position, speedThe conditions such as degree and vehicle.If matched, illustrate that the obtained data of detection belong to the target tracked, it can be with newly detectingData update tracking target.All to have tracked after target all matches, still valid data unmatched can be according to thisThe newly-built tracking target of data.To the same target, have several match conditions and occur: microwave and video all detect the target,And confidence level is very high；Microwave and video all detect the target, but confidence level has height difference；Microwave and video only oneDetect the target；Microwave and video all do not detect the target.At this point, the target data obtained using two kinds of detection methodsFinal target data is obtained with the method for confidence level weighting, target following state is updated with final target data.
Finally, being the installation and debugging of wagon detector.Wagon detector is tentatively installed to designated mounting position, fixed spiral shellNail wouldn't be tightened.According to the video image that built-in camera exports, the azimuth of first successive step wagon detector and pitch angle makeWagon detector is directed at area to be tested, and judgment basis is that video image center is substantially overlapped with area to be tested center.Then,Microwave Detector is opened, and the target data that Microwave Detector is detected is depicted as thermal map, the case where according to thermal map,Fine tuning wagon detector azimuth, occurs track thermal map vertically, illustrates vehicle sensors at this time and track direction face, orientationAngle mixes up, then fine tuning pitch angle, so that microwave detector is can detecte the target trajectory of detection zone distalmost end and most proximal end, thenPitch angle mixes up.After the completion of the adjustment of azimuth pitch angle, it is completely fixed wagon detector.After being completely fixed, draw again at this timeTarget trajectory thermal map the road-map of detection zone is drawn according to the shape of track thermal map.Later, referring to detection zoneMicrowave detection target is matched with position of the target in camera picture, and obtains the target in picture by figurePixel coordinate.12 groups of target pairings are carried out, the pixel coordinate of 12 groups of targets is obtained, detect to obtain the generation of corresponding target in conjunction with microwaveBoundary's coordinate, forms coordinate conversion equation set, and solving equations acquire homography square of the built-in camera under current installation conditionBattle array updates homography matrix to inside wagon detector, uses for algorithm.So far, microwave detector installation and debugging are completed, canWith normal use.
In conclusion by adopting the above-described technical solution, the beneficial effects of the present invention are: due to using microwave and videoThe vehicle equipment of fusion can have both the advantages of microwave-type wagon detector is with video-type wagon detector after mounting,And eliminate microwave-type wagon detector and the disadvantage of video-type wagon detector respectively；To have the advantage that detection zoneGreatly, and hardly it is influenced by weather condition, eliminate individual video detection detection zone deficiency and is influenced by weather conditionThe shortcomings that.Accurate target position and velocity information can be provided, accurate target position can not be provided by improving individual video detectionIt sets and the shortcomings that speed.Field image information can be provided, cart, closely spaced two cars and various different automobile types can be detected very wellVehicle, improve that individual microwave detection cart detection effect is poor, closely spaced vehicle detection effect is poor, differentiation vehicle effect is poorThe shortcomings that.The target that can detecte stopping eliminates the shortcomings that individual microwave detection cannot detect static target.It can obtain simultaneouslyThese performances are obtained, are not available for former individually microwave-type wagon detector and video-type wagon detector.
It is the preferred embodiment of the present invention above, it is noted that for those skilled in the art,Various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also considered as this hairBright protection scope.