CN109444871B - Pedestrian and animal detection method and device, computer equipment and storage medium - Google Patents
Pedestrian and animal detection method and device, computer equipment and storage medium Download PDFInfo
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Abstract
The invention relates to a pedestrian and animal detection method, a device, a computer device and a storage medium, wherein the method comprises the steps of acquiring sensor detection signals for detecting a plurality of nodes on the surface of a road; screening the sensor detection signals of the plurality of nodes to obtain a sensor detection signal of a first node; judging whether pedestrians and/or animals pass through the sensor detection signal of the first node; if so, processing the current moment to obtain a first time stamp; accumulating the storage time of the first timestamp to obtain accumulated time; judging whether the accumulated time is not greater than a preset threshold value; if not, clearing the first time stamp; if so, acquiring a sensor detection signal of a next adjacent node of the first node; judging whether pedestrians and/or animals pass through the detection road according to the sensor detection signal of the next adjacent node; if yes, calculating the moving speed of the pedestrians and/or the animals; if not, the first time stamp is cleared. The invention realizes the improvement of the detection accuracy and reliability.
Description
Technical Field
The present invention relates to a pedestrian and animal detection method, and more particularly, to a pedestrian and animal detection method, apparatus, computer device, and storage medium.
Background
Under the promotion of the high-speed development of modern socioeconomic, global traffic is rapidly developed, however, the development of traffic brings many very severe traffic problems, for example, the construction of road infrastructure cannot catch up with the explosive increase of the number of vehicles, which leads to traffic jam, thereby bringing a series of problems of low traffic efficiency, reduced traffic safety factor, serious environmental pollution and the like. In order to solve the above problems, many countries have started to turn attention to intelligent traffic construction and intelligent highway construction, and it is desired to improve traffic efficiency and traffic safety by introducing information technology to realize intellectualization and high efficiency of a traffic system. With the development of information technology and computer technology, the automatic driving technology is gradually promoted to schedule, and becomes a topic to be popular with researchers in various fields. As far as the present is concerned, although the automatic driving technology has been developed, there are still many problems, mainly the driving safety problem, and the accidents are frequent in the test of each large car factory. Aiming at the problems, many learners put forward the construction of the intelligent road, the idea is to improve the road safety factor through the combination of the intelligent road and the automatic driving technology, the networking and the intellectualization of the traffic system are really realized, the pedestrian detection system is one of the most important parts in the construction of the intelligent road, the pedestrian detection system has remarkable significance for the construction of the intelligent road, and the road side can be led to send out early warning messages to vehicle terminals in time through pedestrian detection, so that most traffic accidents can be avoided, and the safety of road traffic is greatly improved.
Most of detection methods in the existing pedestrian detection system are realized based on single equipment and machine vision, and the detection methods have certain defects: firstly, the detection method based on machine vision generally has higher equipment cost, and has certain difficulty in realizing large-scale deployment and use in a short period; secondly, the detection method of the machine vision is seriously influenced by environmental conditions, especially in the environment with poor lighting conditions at night in the weather of heavy fog and rain or snow, and in the environment with poor light conditions caused by the shielding of objects such as tall buildings and the like, the detection rate of the detection method based on the machine vision in the environment is greatly reduced, even the detection capability is completely lost; thirdly, the detection method based on a single module has higher omission factor; the influence of the environmental conditions on the pedestrian detection system is obvious, so that the missing rate of a single device can be greatly increased in a complex environment, and the performance of the whole system is directly influenced.
Therefore, it is necessary to design a new method to improve the detection accuracy and reliability.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a pedestrian and animal detection method, a pedestrian and animal detection device, computer equipment and a storage medium.
In order to achieve the purpose, the invention adopts the following technical scheme: a pedestrian and animal detection method comprising:
acquiring sensor detection signals for detecting a plurality of nodes on the surface of a road;
screening the sensor detection signals of the plurality of nodes to obtain a sensor detection signal of a first node;
judging whether pedestrians and/or animals pass through a detection road according to the sensor detection signal of the first node;
if so, processing the current moment to obtain a first time stamp;
accumulating the storage time of the first timestamp to obtain accumulated time;
judging whether the accumulated time is not greater than a preset threshold value;
if not, clearing the first time stamp;
if so, acquiring a sensor detection signal of a next adjacent node of the first node;
judging whether pedestrians and/or animals pass through the detection road according to the sensor detection signal of the next adjacent node;
if yes, calculating the moving speed of the pedestrians and/or the animals;
if not, returning to the clearing of the first time stamp.
The further technical scheme is as follows: before the sensor detection signals for detecting a plurality of nodes on the road surface are acquired, the method further comprises the following steps:
and arranging a plurality of sensors at intervals according to an arrangement mode that the lower lines of the sensors form a certain included angle with the edge lines of the roads to be detected.
The further technical scheme is as follows: the screening the sensor detection signals of the plurality of nodes to obtain the sensor detection signal of the first node includes:
and acquiring the sensor detection signal of the node with the first sensor detection signal receiving time to obtain the sensor detection signal of the first node.
The further technical scheme is as follows: the processing the current time to obtain the first timestamp includes:
acquiring the current moment;
packaging the current time to form a timestamp;
the time stamp is temporarily stored to form a first time stamp.
The further technical scheme is as follows: the calculation of the moving speed of the pedestrian and/or the animal comprises the following steps:
acquiring the receiving time of a sensor detection signal of a next adjacent node of the first node;
packaging the receiving time of the sensor detection signal of the next adjacent node of the first node into a timestamp to obtain a second timestamp;
acquiring the time difference of the first time stamp and the second time stamp;
according to the distance between the first node and the next adjacent node of the first node;
the quotient of the distance and the time difference is obtained to form the moving speed of the pedestrian and/or the animal.
The further technical scheme is as follows: after the calculating the moving speed of the pedestrian and/or the animal, the method further comprises the following steps:
acquiring a data request;
and sending the moving speed of the pedestrians and/or the animals, the first time stamp and the second time stamp to a designated data management center according to the data request.
The invention also provides a pedestrian and animal detection device, comprising:
a first signal acquisition unit for acquiring sensor detection signals for detecting a plurality of nodes on a road surface;
the screening unit is used for screening the sensor detection signals of the plurality of nodes to obtain the sensor detection signal of the first node;
the first judgment unit is used for judging whether pedestrians and/or animals pass through the detection road or not according to the sensor detection signal of the first node;
the first timestamp obtaining unit is used for processing the current moment to obtain a first timestamp if the current moment is the first timestamp;
the accumulation unit is used for accumulating the storage time of the first timestamp to obtain accumulated time;
the time judging unit is used for judging whether the accumulated time is not greater than a preset threshold value or not;
a clearing unit, configured to clear the first timestamp if the first timestamp is not the same as the first timestamp;
the second signal acquisition unit is used for acquiring a sensor detection signal of a next adjacent node of the first node if the first node is detected to be the next adjacent node of the first node;
the second judgment unit is used for judging whether pedestrians and/or animals pass through the detection road or not according to the sensor detection signal of the next adjacent node;
and the moving speed acquisition unit is used for calculating the moving speed of the pedestrians and/or the animals if the moving speed is positive.
The further technical scheme is as follows: the device further comprises:
and the deployment unit is used for deploying a plurality of sensors at intervals according to a deployment mode that the lower lines of the sensors form a certain included angle with the edge line of the road of the detection road.
The invention also provides computer equipment which comprises a memory and a processor, wherein the memory is stored with a computer program, and the processor realizes the method when executing the computer program.
The invention also provides a storage medium storing a computer program which, when executed by a processor, is operable to carry out the method as described above.
Compared with the prior art, the invention has the beneficial effects that: the invention detects whether the pedestrian and/or the animal passes through the detection road through the plurality of sensors, reduces the problem of missed detection of a single sensor, judges the pedestrian and/or the animal of the sensor detection signal sent by the first node by taking the node where the first received sensor detection signal is positioned as the first node, combines the result of judging the pedestrian and/or the animal of the sensor detection signal sent by the next adjacent node of the first node in the set time, and calculates the moving speed of the pedestrian and/or the animal by the timestamp of the sensor detection signal sent by the two nodes, thereby realizing the improvement of the detection accuracy and the reliability.
The invention is further described below with reference to the accompanying drawings and specific embodiments.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic view of a first application scenario of the pedestrian and animal detection method according to the embodiment of the present invention;
fig. 2 is a schematic view of an application scenario of the pedestrian and animal detection method according to the embodiment of the present invention;
FIG. 3 is a schematic flow chart of a pedestrian and animal detection method according to an embodiment of the present invention;
FIG. 4 is a schematic sub-flow chart of a pedestrian and animal detection method according to an embodiment of the present invention;
FIG. 5 is a schematic sub-flow chart of a pedestrian and animal detection method according to an embodiment of the present invention;
FIG. 6 is a schematic flow chart of a pedestrian and animal detection method according to another embodiment of the present invention;
FIG. 7 is a schematic flow chart of a pedestrian and animal detection method according to another embodiment of the present invention;
FIG. 8 is a schematic block diagram of a pedestrian and animal detection arrangement provided by an embodiment of the present invention;
FIG. 9 is a schematic block diagram of a pedestrian and animal detection arrangement provided in accordance with another embodiment of the present invention;
FIG. 10 is a schematic block diagram of a pedestrian and animal detection arrangement provided in accordance with another embodiment of the present invention;
FIG. 11 is a schematic block diagram of a computer device provided by an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
Referring to fig. 1 to 3, fig. 1 is a schematic view of an application scenario of a pedestrian and animal detection method according to an embodiment of the present invention, and fig. 2 is a schematic view of an application scenario of a pedestrian and animal detection method according to an embodiment of the present invention. Fig. 3 is a schematic flow chart of a pedestrian and animal detection method according to an embodiment of the present invention. The pedestrian and animal detection method is applied to a server. The server can be a server in a distributed service platform, a pedestrian and animal detection platform is deployed in the server, a plurality of sensors send respective detected sensor detection signals to the server, the server can screen a node where the first received sensor detection signal is located first to serve as a first node, a reference standard is formed, preliminary judgment of passing of pedestrians and/or animals is carried out according to the sensor detection signal of the first node, whether the pedestrians and/or animals pass is judged according to the sensor detection signal of the next adjacent node of the first node, re-judgment is carried out, and therefore detection accuracy and reliability are improved.
It should be noted that fig. 3 only illustrates one server, and in an actual operation process, the server may determine sensor detection signals of a plurality of sensors.
Fig. 3 is a schematic flow chart of a pedestrian and animal detection method according to an embodiment of the present invention. As shown in fig. 3, the method includes the following steps S110 to S150.
And S110, acquiring sensor detection signals for detecting a plurality of nodes on the road surface.
In this embodiment, one sensor serves as a node, and the sensor detection signal refers to a signal reflected by a target after the microwave transmitted by the microwave radar sensor of the doppler effect is detected.
The microwave radar sensor based on the Doppler effect is used for data acquisition, the microwave radar sensor is low in cost, highly integrated and easy to deploy, and can be packaged in a tiny spike lamp through a packaging technology, so that deployment in any complex environment can be achieved without large-scale construction or secondary construction of the deployment environment. The detection principle of the microwave radar sensor is that data acquisition is carried out by utilizing the transmitting and receiving conditions of microwaves, so that the detection reliability is higher.
The microwave refers to an extremely high frequency electromagnetic wave with a frequency in the range of 300M-300G, and the wavelength range of the extremely high frequency electromagnetic wave is from 1M-1 mm. The microwave has the characteristics of linear (line of sight) transmission, no interference of other electromagnetic waves, wide frequency band, small system volume and the like. First of all, it is widely used in the communication field. Secondly, another important application of the microwave technology belongs to radar, and the microwave radar is used for speed measurement, distance measurement, side direction and the like of a long-distance moving target.
And S120, screening the sensor detection signals of the plurality of nodes to obtain the sensor detection signal of the first node.
In this embodiment, the first node refers to a node where a sensor detection signal received by the server first is located, the first node is a node where a sensor that a pedestrian and/or an object passes through is detected first, and the first node is acquired to improve detection efficiency.
Specifically, the sensor detection signal of the node at which the sensor detection signal reception time is the first is acquired to obtain the sensor detection signal of the first node.
When an interrupt switch of the server is in an open state, and a sensor detection signal transmitted firstly, namely a sensor detection signal for only preempting the first interrupt resource, is acquired, a node sent by the sensor detection signal is used as a first node, sensor detection signals sent by other nodes are not processed, and except for processing the sensor detection signal of a next node adjacent to the first node, the movement speed is acquired.
And sending the screened sensor detection signal of the first node to other adjacent nodes and a vehicle-mounted terminal positioned in a communication range through a wireless communication module, so as to realize information interaction among a plurality of nodes.
In other embodiments, the step S120 may include steps S121 to S123.
S121, acquiring receiving time of sensor detection signals of a plurality of nodes;
s122, sequencing the sensor detection signals of the nodes according to the receiving time sequence;
and S123, acquiring the sensor detection signal of the node with the first receiving time to obtain the sensor detection signal of the first node.
The sensor detection signals of all the nodes can be received simultaneously, time sequencing is carried out on the receiving time of the sensor detection signals of all the nodes, and the node sent by the sensor detection signal with the earliest receiving time is screened out to serve as the first node.
And S130, judging whether pedestrians and/or animals pass through the detection road according to the sensor detection signal of the first node.
In this embodiment, when a pedestrian and/or an animal has a behavior of crossing a street and breaking into a motorway, the doppler microwave radar sensor located on the road surface receives an echo to acquire a detection signal, and the detection signal is weak and needs to be amplified so as to know the frequency change of the detection signal and acquire the doppler square wave signal with the changed frequency more accurately.
Specifically, the frequency of the sensor detection signal is calculated in a certain period, for example, a period length is set, the number of signal rising edges of the sensor detection signal in the period length is counted, the doppler signal frequency is obtained, if the doppler signal frequency falls within a set threshold interval for discrimination, the set threshold interval for discrimination is set to 10-1000, and when the obtained doppler signal frequency is in the interval, the current detection result is judged to be that a pedestrian or an animal passes through. Whether the pedestrian and/or the animal is/are judged based on the signal processing and the comparison.
If not, the process returns to step S110.
And S140, if so, processing the current time to obtain a first time stamp.
In this embodiment, the first timestamp refers to a time when the sensor detection signal of the first node is received.
In one embodiment, as shown in fig. 4, the step S140 may include steps S141 to S143.
S141, acquiring the current time;
s142, packaging the current time to form a timestamp;
and S143, temporarily storing the time stamp to form a first time stamp.
Specifically, when the first node detects the passing of a person, the server first encapsulates the current time into a time stamp by accessing the system clock, and transmits the time stamp to the next adjacent node of the first node. After the next adjacent node receives the transmitted content, the next adjacent node knows that the data is a time stamp by analyzing the data format, so that the next adjacent node temporarily stores the data in the memory of the next adjacent node.
And S150, accumulating the storage time of the first time stamp to obtain accumulated time.
In this embodiment, a timer is specifically started to count the storage time of the first timestamp.
And S160, judging whether the accumulated time is not greater than a preset threshold value.
In this embodiment, specifically, in order to determine whether the timing time is reached, if yes, the first timestamp is automatically cleared regardless of whether the next adjacent node of the first node detects or does not detect the passing of a pedestrian and/or an animal, so as to ensure the accuracy and reliability of the detection.
When a pedestrian passes through and/or an animal intrudes at a certain point of a detection road, and a sensor at the point does not acquire the information due to some environmental reasons, the condition of missing detection occurs, which directly affects the reliability of the whole system, and if a multi-sensor cooperation detection method is used, the condition can be effectively avoided: multiple sensors are deployed on a fixed survey roadway. The method achieves the blind area-free coverage of the detection area, when pedestrians and/or animals pass through the detection road, missing detection may occur to one sensor, but the probability that missing detection occurs to a plurality of sensors at the same time is greatly reduced, so that the reliability of the system can be greatly improved.
S170, if not, clearing the first time stamp.
The first time stamp is cleared to avoid interference with the next detection, so as to improve the accuracy of each detection.
S180, if yes, acquiring a sensor detection signal of a next adjacent node of the first node;
and S190, judging whether pedestrians and/or animals pass through the detection road according to the sensor detection signal of the next adjacent node.
The determination process can refer to step S130, which is not described herein.
And S200, if so, calculating the moving speed of the pedestrian and/or the animal.
In this embodiment, the moving speed of the pedestrians and/or the animals is calculated, and the server can accurately inform the vehicle-mounted terminal of how many pedestrians and/or animals will reach the designated area according to the moving speed, so that a sufficiently long reaction time is provided for the vehicle-mounted terminal, and the probability of traffic accidents is greatly reduced.
In one embodiment, as shown in fig. 5, the step S200 may include steps S201 to S205.
S201, acquiring the receiving time of a sensor detection signal of a next adjacent node of a first node;
s202, packaging the receiving time of the sensor detection signal of the next adjacent node of the first node into a timestamp to obtain a second timestamp;
s203, acquiring the time difference of the first time stamp and the second time stamp;
s204, according to the distance between the first node and the next adjacent node of the first node;
and S205, acquiring the quotient of the distance and the time difference to form the moving speed of the pedestrian and/or the animal.
According to the distance between the two nodes and the time difference of the time stamps of the sensor detection signals of the two nodes received by the server, the moving speed of people and/or animals can be calculated, and the method is simple and convenient.
If not, the process returns to the step S170.
A plurality of sensors are deployed and detected to meet the requirements of improving the overall reliability of the system, implementing non-blind area coverage on a detected road and the like. By utilizing the cooperation of multiple sensors, the detection rate of the system is greatly improved, and the whole system is safer and more reliable. By deploying the detection module, the pedestrian detection is realized, real-time detection and early warning of animals (such as pets and wild animals) intruding into a detection area can be realized, the moving speed of a detection target can be calculated in real time, and reliable data support is provided for analysis and processing work of other systems.
A node is provided with a detection module, the detection module can be used for packaging a plurality of sensors, and the sensors are packaged at the bottom of the module at a fixed angle by combining antenna configuration parameters of the sensors, so that the detection rate of the detection module can be improved compared with a single sensor, and the condition that detection omission occurs when a target appears due to environmental reasons of a certain sensor is prevented.
According to the pedestrian and animal detection method, whether pedestrians and/or animals pass through a detection road or not is detected through the plurality of sensors, the problem that detection omission of a single sensor is reduced, the node where the sensor detection signal received firstly is located serves as the first node, the pedestrian and/or animal is judged according to the sensor detection signal sent by the first node, the result of judging the pedestrian and/or animal according to the sensor detection signal sent by the next adjacent node of the first node in the set time is combined, the moving speed of the pedestrians and/or animals is calculated through the timestamp of sending the sensor detection signal by the two nodes, and detection accuracy and reliability are improved.
Fig. 6 is a schematic flow chart of a pedestrian and animal detection method according to another embodiment of the present invention. As shown in fig. 6, the pedestrian and animal detection method of the present embodiment includes steps S210 to S310. Steps S220 to S310 are similar to steps S110 to S200 in the above embodiments, and are not described herein again. The added step S210 in the present embodiment is explained in detail below.
S210, arranging a plurality of sensors at intervals according to an arrangement mode that the lower lines of the sensors form a certain included angle with the edge lines of the road of the detection road.
The detection method with the cooperation of the sensors can not only reliably detect pedestrians, but also detect the intrusion of other animals, and can provide enough reaction time for the vehicle terminal through the accurate detection and early warning, so that the realization of automatic driving is safer and more reliable, and the intelligent construction of road traffic is facilitated.
As long as some dangerous information is collected, the dangerous information is broadcasted, so that other nodes and the vehicle-mounted terminal within the communication range can receive the early warning information, sufficient reaction time is provided for the terminal side, and the probability of traffic accidents is greatly reduced.
Fig. 7 is a flowchart illustrating a pedestrian and animal detection method according to another embodiment of the present invention. As shown in fig. 7, the pedestrian and animal detection method of the present embodiment includes steps S410 to S520. Steps S410 to S500 are similar to steps S110 to S200 in the above embodiments, and are not described herein again. The added steps S510 to S520 in the present embodiment will be described in detail below.
S510, acquiring a data request;
and S520, sending the moving speed of the pedestrians and/or the animals, the first time stamp and the second time stamp to a designated data management center according to the data request.
If the system has a request to use the moving speed of the pedestrian and/or the animal, the server immediately takes the moving speed of the pedestrian and/or the animal, the first time stamp and the second time stamp out of the memory and sends the moving speed, the first time stamp and the second time stamp to a designated data management center according to the received data request. .
Fig. 8 is a schematic block diagram of a pedestrian and animal detection apparatus 300 according to an embodiment of the present invention. As shown in fig. 8, the present invention also provides a pedestrian and animal detection device 300 corresponding to the above pedestrian and animal detection method. The pedestrian and animal detection apparatus 300 includes a unit for performing the above-described pedestrian and animal detection method, and the apparatus may be configured in a server.
Specifically, referring to fig. 8, the pedestrian and animal detecting device 300 includes:
a first signal acquisition unit 302 for acquiring sensor detection signals for detecting a plurality of nodes on a road surface;
a screening unit 303, configured to screen sensor detection signals of multiple nodes to obtain a sensor detection signal of a first node;
a first judging unit 304, configured to judge whether there is a pedestrian and/or an animal passing through the detection road according to the sensor detection signal of the first node;
a first timestamp obtaining unit 305, configured to, if yes, process the current time to obtain a first timestamp;
an accumulation unit 306, configured to accumulate the storage time of the first timestamp to obtain an accumulated time;
a time judging unit 307, configured to judge whether the accumulated time is not greater than a preset threshold;
a clearing unit 308, configured to clear the first timestamp if no;
a second signal obtaining unit 309, configured to obtain a sensor detection signal of a next adjacent node to the first node if the first node is a node of the second node;
a second judging unit 310, configured to judge whether there is a pedestrian and/or an animal passing through the detection road according to the sensor detection signal of the next adjacent node;
a moving speed obtaining unit 311, configured to calculate a moving speed of the pedestrian and/or the animal if yes.
In one embodiment, the first timestamp obtaining unit 305 includes:
a current time obtaining subunit, configured to obtain a current time;
the first packaging subunit is used for packaging the current time to form a timestamp;
and the temporary storage subunit is used for temporarily storing the time stamp so as to form a first time stamp.
In one embodiment, the moving speed obtaining unit 311 includes:
a reception time acquisition subunit configured to acquire a reception time of a sensor detection signal of a node next adjacent to the first node;
the second packaging subunit is used for packaging the receiving time of the sensor detection signal of the next adjacent node of the first node into a timestamp to obtain a second timestamp;
a time difference acquiring subunit, configured to acquire a time difference between the first time stamp and the second time stamp;
the distance acquisition subunit is used for acquiring the distance between the first node and the next adjacent node of the first node;
and the operation subunit is used for acquiring the quotient of the distance and the time difference so as to form the moving speed of the pedestrian and/or the animal.
Fig. 9 is a schematic block diagram of a pedestrian and animal detection apparatus 300 according to another embodiment of the present invention. As shown in fig. 9, the pedestrian and animal detecting apparatus 300 of the present embodiment is the above-described embodiment, and a deployment unit 301 is added.
The deployment unit 301 is configured to deploy a plurality of sensors at intervals in a manner that the lower lines of the sensors form a certain included angle with the road edge line of the detection road.
Fig. 10 is a schematic block diagram of a pedestrian and animal detection apparatus 300 according to another embodiment of the present invention. As shown in fig. 10, the pedestrian and animal detection apparatus 300 of the present embodiment is the above-described embodiment, and a request acquisition unit 312 and a data transmission unit 313 are added.
A request obtaining unit 312, configured to obtain a data request;
and a data transmitting unit 313 for transmitting the moving speed of the pedestrian and/or the animal, the first time stamp, and the second time stamp to a designated data management center according to the data request.
It should be noted that, as can be clearly understood by those skilled in the art, the detailed implementation process of the pedestrian and animal detection apparatus 300 and each unit may refer to the corresponding description in the foregoing method embodiment, and for convenience and brevity of description, no further description is provided herein.
The pedestrian and animal detection apparatus 300 may be implemented in the form of a computer program that can be run on a computer device as shown in fig. 11.
Referring to fig. 11, fig. 11 is a schematic block diagram of a computer device according to an embodiment of the present application. The computer device 500 may be a server, wherein the server may be an independent server or a server cluster composed of a plurality of servers.
Referring to fig. 11, the computer device 500 includes a processor 502, memory, and a network interface 505 connected by a system bus 501, where the memory may include a non-volatile storage medium 503 and an internal memory 504.
The non-volatile storage medium 503 may store an operating system 5031 and a computer program 5032. The computer program 5032 comprises program instructions that, when executed, cause the processor 502 to perform a pedestrian and animal detection method.
The processor 502 is used to provide computing and control capabilities to support the operation of the overall computer device 500.
The internal memory 504 provides an environment for the operation of the computer program 5032 in the non-volatile storage medium 503, and when the computer program 5032 is executed by the processor 502, the processor 502 can execute a pedestrian and animal detection method.
The network interface 505 is used for network communication with other devices. Those skilled in the art will appreciate that the configuration shown in fig. 11 is a block diagram of only a portion of the configuration associated with the present application and does not constitute a limitation of the computer device 500 to which the present application may be applied, and that a particular computer device 500 may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
Wherein the processor 502 is configured to run the computer program 5032 stored in the memory to implement the following steps:
acquiring sensor detection signals for detecting a plurality of nodes on the surface of a road;
screening the sensor detection signals of the plurality of nodes to obtain a sensor detection signal of a first node;
judging whether pedestrians and/or animals pass through a detection road according to the sensor detection signal of the first node;
if so, processing the current moment to obtain a first time stamp;
accumulating the storage time of the first timestamp to obtain accumulated time;
judging whether the accumulated time is not greater than a preset threshold value;
if not, clearing the first time stamp;
if so, acquiring a sensor detection signal of a next adjacent node of the first node;
judging whether pedestrians and/or animals pass through the detection road according to the sensor detection signal of the next adjacent node;
if yes, calculating the moving speed of the pedestrians and/or the animals;
if not, returning to the clearing of the first time stamp.
In one embodiment, the processor 502 further performs the following steps before performing the step of acquiring sensor detection signals for detecting a plurality of nodes on the road surface:
and arranging a plurality of sensors at intervals according to an arrangement mode that the lower lines of the sensors form a certain included angle with the edge lines of the roads to be detected.
In an embodiment, when the processor 502 implements the step of screening the sensor detection signals of the plurality of nodes to obtain the sensor detection signal of the first node, the following steps are specifically implemented:
and acquiring the sensor detection signal of the node with the first sensor detection signal receiving time to obtain the sensor detection signal of the first node.
In an embodiment, when the processor 502 implements the step of processing the current time to obtain the first timestamp, the following steps are specifically implemented:
acquiring the current moment;
packaging the current time to form a timestamp;
the time stamp is temporarily stored to form a first time stamp.
In one embodiment, the processor 502 when implementing the step of calculating the moving speed of the pedestrian and/or the animal specifically implements the following steps:
acquiring the receiving time of a sensor detection signal of a next adjacent node of the first node;
packaging the receiving time of the sensor detection signal of the next adjacent node of the first node into a timestamp to obtain a second timestamp;
acquiring the time difference of the first time stamp and the second time stamp;
according to the distance between the first node and the next adjacent node of the first node;
the quotient of the distance and the time difference is obtained to form the moving speed of the pedestrian and/or the animal.
In one embodiment, the processor 502, after implementing the step of calculating the moving speed of the pedestrian and/or animal, further implements the steps of:
acquiring a data request;
and sending the moving speed of the pedestrians and/or the animals, the first time stamp and the second time stamp to a designated data management center according to the data request.
It should be understood that, in the embodiment of the present Application, the Processor 502 may be a Central Processing Unit (CPU), and the Processor 502 may also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, and the like. Wherein a general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
It will be understood by those skilled in the art that all or part of the flow of the method implementing the above embodiments may be implemented by a computer program instructing associated hardware. The computer program includes program instructions, and the computer program may be stored in a storage medium, which is a computer-readable storage medium. The program instructions are executed by at least one processor in the computer system to implement the flow steps of the embodiments of the method described above.
Accordingly, the present invention also provides a storage medium. The storage medium may be a computer-readable storage medium. The storage medium stores a computer program, wherein the computer program, when executed by a processor, causes the processor to perform the steps of:
acquiring sensor detection signals for detecting a plurality of nodes on the surface of a road;
screening the sensor detection signals of the plurality of nodes to obtain a sensor detection signal of a first node;
judging whether pedestrians and/or animals pass through a detection road according to the sensor detection signal of the first node;
if so, processing the current moment to obtain a first time stamp;
accumulating the storage time of the first timestamp to obtain accumulated time;
judging whether the accumulated time is not greater than a preset threshold value;
if not, clearing the first time stamp;
if so, acquiring a sensor detection signal of a next adjacent node of the first node;
judging whether pedestrians and/or animals pass through the detection road according to the sensor detection signal of the next adjacent node;
if yes, calculating the moving speed of the pedestrians and/or the animals;
if not, returning to the clearing of the first time stamp.
In one embodiment, the processor, before executing the computer program to perform the step of acquiring sensor detection signals for detecting a plurality of nodes on the road surface, further performs the steps of:
and arranging a plurality of sensors at intervals according to an arrangement mode that the lower lines of the sensors form a certain included angle with the edge lines of the roads to be detected.
In an embodiment, when the processor executes the computer program to implement the step of screening the sensor detection signals of the plurality of nodes to obtain the sensor detection signal of the first node, the following steps are specifically implemented:
and acquiring the sensor detection signal of the node with the first sensor detection signal receiving time to obtain the sensor detection signal of the first node.
In an embodiment, when the processor executes the computer program to implement the step of processing the current time to obtain the first timestamp, the following steps are specifically implemented:
acquiring the current moment;
packaging the current time to form a timestamp;
the time stamp is temporarily stored to form a first time stamp.
In an embodiment, when the step of calculating the moving speed of the pedestrian and/or the animal is implemented by the processor executing the computer program, the following steps are implemented:
acquiring the receiving time of a sensor detection signal of a next adjacent node of the first node;
packaging the receiving time of the sensor detection signal of the next adjacent node of the first node into a timestamp to obtain a second timestamp;
acquiring the time difference of the first time stamp and the second time stamp;
according to the distance between the first node and the next adjacent node of the first node;
the quotient of the distance and the time difference is obtained to form the moving speed of the pedestrian and/or the animal.
In an embodiment, after the step of calculating the moving speed of the pedestrian and/or animal is implemented by the processor executing the computer program, the following steps are further implemented:
acquiring a data request;
and sending the moving speed of the pedestrians and/or the animals, the first time stamp and the second time stamp to a designated data management center according to the data request.
The storage medium may be a usb disk, a removable hard disk, a Read-Only Memory (ROM), a magnetic disk, or an optical disk, which can store various computer readable storage media.
Those of ordinary skill in the art will appreciate that the elements and algorithm steps of the examples described in connection with the embodiments disclosed herein may be embodied in electronic hardware, computer software, or combinations of both, and that the components and steps of the examples have been described in a functional general in the foregoing description for the purpose of illustrating clearly the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative. For example, the division of each unit is only one logic function division, and there may be another division manner in actual implementation. For example, various elements or components may be combined or may be integrated into another system, or some features may be omitted, or not implemented.
The steps in the method of the embodiment of the invention can be sequentially adjusted, combined and deleted according to actual needs. The units in the device of the embodiment of the invention can be merged, divided and deleted according to actual needs. In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a storage medium. Based on such understanding, the technical solution of the present invention essentially or partially contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a terminal, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. Pedestrian and animal detection method can acquire the sensor detected signal of surveying a plurality of nodes on the road surface, its characterized in that still includes:
screening the sensor detection signals of the plurality of nodes to obtain a sensor detection signal of a first node;
judging whether pedestrians and/or animals pass through a detection road according to the sensor detection signal of the first node;
if so, processing the current moment to obtain a first time stamp;
accumulating the storage time of the first timestamp to obtain accumulated time;
judging whether the accumulated time is not greater than a preset threshold value;
if not, clearing the first time stamp;
if so, acquiring a sensor detection signal of a next adjacent node of the first node;
judging whether pedestrians and/or animals pass through the detection road according to the sensor detection signal of the next adjacent node;
if yes, calculating the moving speed of the pedestrians and/or the animals;
if not, returning to the clearing of the first time stamp.
2. The pedestrian and animal detection method of claim 1, wherein prior to acquiring the sensor detection signals that detect the plurality of nodes on the road surface, further comprising:
and arranging a plurality of sensors at intervals according to an arrangement mode that the lower lines of the sensors form a certain included angle with the edge lines of the roads to be detected.
3. The pedestrian and animal detection method of claim 1, wherein the screening the sensor detection signals of the plurality of nodes to obtain the sensor detection signal of the first node comprises:
and acquiring the sensor detection signal of the node with the first sensor detection signal receiving time to obtain the sensor detection signal of the first node.
4. The pedestrian and animal detection method of claim 3, wherein the processing the current time to obtain the first timestamp comprises:
acquiring the current moment;
packaging the current time to form a timestamp;
the time stamp is temporarily stored to form a first time stamp.
5. The pedestrian and animal detection method of claim 4, wherein the calculating of the moving speed of the pedestrian and/or animal comprises:
acquiring the receiving time of a sensor detection signal of a next adjacent node of the first node;
packaging the receiving time of the sensor detection signal of the next adjacent node of the first node into a timestamp to obtain a second timestamp;
acquiring the time difference of the first time stamp and the second time stamp;
according to the distance between the first node and the next adjacent node of the first node;
the quotient of the distance and the time difference is obtained to form the moving speed of the pedestrian and/or the animal.
6. The pedestrian and animal detection method according to claim 1, further comprising, after the calculating the moving speed of the pedestrian and/or the animal:
acquiring a data request;
and sending the moving speed of the pedestrians and/or the animals, the first time stamp and the second time stamp to a designated data management center according to the data request.
7. Pedestrian and animal detection device, including first signal acquisition unit for acquire the sensor detected signal who surveys a plurality of nodes on the road surface, its characterized in that still includes:
the screening unit is used for screening the sensor detection signals of the plurality of nodes to obtain the sensor detection signal of the first node;
the first judgment unit is used for judging whether pedestrians and/or animals pass through the detection road or not according to the sensor detection signal of the first node;
the first timestamp obtaining unit is used for processing the current moment to obtain a first timestamp if the current moment is the first timestamp;
the accumulation unit is used for accumulating the storage time of the first timestamp to obtain accumulated time;
the time judging unit is used for judging whether the accumulated time is not greater than a preset threshold value or not;
a clearing unit, configured to clear the first timestamp if the first timestamp is not the same as the first timestamp;
the second signal acquisition unit is used for acquiring a sensor detection signal of a next adjacent node of the first node if the first node is detected to be the next adjacent node of the first node;
the second judgment unit is used for judging whether pedestrians and/or animals pass through the detection road or not according to the sensor detection signal of the next adjacent node;
and the moving speed acquisition unit is used for calculating the moving speed of the pedestrians and/or the animals if the moving speed is positive.
8. The pedestrian and animal detection apparatus of claim 7, further comprising:
and the deployment unit is used for deploying a plurality of sensors at intervals according to a deployment mode that the lower lines of the sensors form a certain included angle with the edge line of the road of the detection road.
9. A computer device, characterized in that the computer device comprises a memory, on which a computer program is stored, and a processor, which when executing the computer program implements the method according to any of claims 1 to 6.
10. A storage medium, characterized in that the storage medium stores a computer program which, when executed by a processor, implements the method according to any one of claims 1 to 6.
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| CN111239720B (en) * | 2020-01-17 | 2022-04-22 | 深圳市戴升智能科技有限公司 | Vehicle speed measuring method and device, computer equipment and storage medium |
| CN113609987A (en) * | 2021-08-06 | 2021-11-05 | 福建工程学院 | Substation video surveillance system and method based on Boost pedestrian misjudgment prevention |
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