CN110176000B - Road quality detection method and device, storage medium and electronic equipment - Google Patents
Road quality detection method and device, storage medium and electronic equipment Download PDFInfo
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- CN110176000B CN110176000B CN201910477425.4A CN201910477425A CN110176000B CN 110176000 B CN110176000 B CN 110176000B CN 201910477425 A CN201910477425 A CN 201910477425A CN 110176000 B CN110176000 B CN 110176000B
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Abstract
The embodiment of the invention relates to a road quality detection method and device, a storage medium and electronic equipment, belonging to the technical field of road detection, wherein the method comprises the following steps: obtaining an original image obtained by scanning a road to be detected, and processing the original image to obtain a feature point to be processed; extracting a preset part of the feature points to be processed to obtain target feature points, and performing Hough transformation on the target feature points to obtain an identification result; and carrying out IPM conversion on the identification result to obtain a detection result of the original image, and judging the quality of the road to be detected according to the detection result. The method solves the problems that in the prior art, technicians are required to evaluate the quality of the road, so that the timeliness of the quality evaluation of the road is poor, and the accuracy of an evaluation result is poor due to subjective reasons.
Description
Technical Field
The embodiment of the invention relates to the technical field of road detection, in particular to a road quality detection method, a road quality detection device, a computer readable storage medium and electronic equipment.
Background
With the rapid development of the automobile industry, the number of automobiles is increasing, and the quality of roads attracts more and more attention, so that the detection of the road quality is more and more important.
In the existing road quality detection scheme, most of the conventional manual detection methods are adopted, and the method specifically comprises the following steps: the road is measured and recorded on the spot by the detector, then statistics and classification are carried out, and finally the quality of the road is evaluated by the technical personnel and a maintenance plan is made. However, the conventional detection method has the following defects: on one hand, because the detection personnel are required to measure and record the road on the spot, more manpower and material resources are required to be consumed, certain influence is caused on the traffic, and the personal safety of the detection personnel can not be completely guaranteed; on the other hand, data measured and recorded on the spot by a detector on a road may cause errors due to human factors, so that the accuracy of the data is low, and further the accuracy of a quality evaluation result on the road is low; on the other hand, because the detection personnel are required to count and classify the field measurement results, and finally, the technical personnel evaluate the quality of the road and make a maintenance plan, the timeliness of the quality evaluation of the road is poor, and the accuracy of the evaluation result is poor due to subjective reasons.
Therefore, it is necessary to provide a new road quality detection method.
It is to be noted that the information invented in the above background section is only for enhancing the understanding of the background of the present invention, and therefore, may include information that does not constitute prior art known to those of ordinary skill in the art.
Disclosure of Invention
An object of the present invention is to provide a road quality detection method, a road quality detection apparatus, a computer-readable storage medium, and an electronic device, which overcome, at least to some extent, the problem of low accuracy of detection results due to limitations and drawbacks of the related art.
According to an aspect of the present disclosure, there is provided a road quality detection method including:
obtaining an original image obtained by scanning a road to be detected, and processing the original image to obtain a feature point to be processed;
extracting a preset part of the feature points to be processed to obtain target feature points, and performing Hough transformation on the target feature points to obtain an identification result;
and carrying out IPM conversion on the identification result to obtain a detection result of the original image, and judging the quality of the road to be detected according to the detection result.
In an exemplary embodiment of the present disclosure, acquiring an original image obtained based on photographing a road to be detected includes:
acquiring an original image obtained by scanning a road to be detected by a projection terminal; and the original image comprises two straight lines corresponding to the road to be detected.
In an exemplary embodiment of the present disclosure, processing the original image to obtain feature points to be processed includes:
and carrying out graying processing on the original image, and carrying out binarization processing on the grayed original image to obtain the feature points to be processed.
In an exemplary embodiment of the present disclosure, extracting a preset portion of the feature points to be processed to obtain target feature points, and performing Hough transformation on the target feature points to obtain an identification result includes:
extracting a road surface near-field area part of the feature point to be processed, which is close to the road to be detected, as the target feature point;
carrying out Hough transformation on the target feature points to obtain the identification result; and the identification result is two straight line segments corresponding to the target characteristic point.
In an exemplary embodiment of the present disclosure, IPM converting the identification result to obtain a detection result of the original image, and determining the quality of the road to be detected according to the detection result includes:
carrying out IPM conversion on the two straight line segments corresponding to the target characteristic point to obtain a detection result of the original image; wherein the detection result is the position relation between the two straight line segments;
if the detection result is that the relation of the two straight line segments is a parallel relation, judging that the quality of the road to be detected is good;
and if the detection result shows that the relation between the two straight lines is non-parallel, calculating an included angle between the two straight line sections, and judging the bumping degree of the road to be detected according to the size of the included angle.
In an exemplary embodiment of the disclosure, after determining the degree of jolt of the road to be detected according to the size of the included angle, the road quality detection method further includes:
and if the bumping degree is larger than a preset threshold value, generating prompt information according to the position information of the road to be detected and the bumping degree, and sending the prompt information to a background server.
In an exemplary embodiment of the present disclosure, acquiring an original image obtained by a projection terminal based on scanning of a road to be detected includes:
selecting a preset virtual parallel line corresponding to the road to be detected according to the installation height of the projection terminal and a preset projection position;
and acquiring an original image obtained by scanning the road to be detected by the projection terminal based on the preset virtual parallel lines and the distance between the projection terminal and the road to be detected.
According to an aspect of the present disclosure, there is provided a road quality detection apparatus including:
the processing module is used for obtaining an original image obtained by scanning a road to be detected and processing the original image to obtain a feature point to be processed;
the characteristic point extraction module is used for extracting a preset part of the characteristic points to be processed to obtain target characteristic points, and carrying out Hough transformation on the target characteristic points to obtain an identification result;
and the road quality judging module is used for carrying out IPM conversion on the identification result to obtain a detection result of the original image and judging the quality of the road to be detected according to the detection result.
According to an aspect of the present disclosure, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the road quality detection method of any one of the above.
According to an aspect of the present disclosure, there is provided an electronic device including:
a processor; and
a memory for storing executable instructions of the processor;
wherein the processor is configured to perform any one of the above-described road quality detection methods via execution of the executable instructions.
The embodiment of the invention relates to a road quality detection method, which comprises the steps of obtaining an original image obtained by scanning a road to be detected, and processing the original image to obtain characteristic points to be processed; then extracting a preset part of the feature points to be processed to obtain target feature points, and carrying out Hough transformation on the target feature points to obtain an identification result; IPM conversion is carried out on the identification result to obtain the detection result of the original image, and the quality of the road to be detected is judged according to the detection result; on one hand, the original image is processed to obtain the feature points to be processed; then extracting a preset part of the feature points to be processed to obtain target feature points, and carrying out Hough transformation on the target feature points to obtain an identification result; the IPM conversion is carried out on the recognition result to obtain the detection result of the original image, the quality of the road to be detected is judged according to the detection result, the problems that in the prior art, due to errors caused by human reasons, the accuracy of data is low, and further the accuracy of the quality evaluation result of the road is low are solved, and the accuracy of the judgment on the quality of the road to be detected is improved; on the other hand, the problem that in the prior art, a lot of manpower and material resources are needed to be consumed due to the fact that detection personnel need to measure and record roads on site is solved, the manpower and material resources are saved, and meanwhile, the detection speed is improved; on the other hand, IPM conversion is carried out on the identification result to obtain the detection result of the original image, the quality of the road to be detected is judged according to the detection result, and the problems that in the prior art, technical personnel need to evaluate the quality of the road, the timeliness of the quality evaluation of the road is poor, and the accuracy of the evaluation result is poor due to subjective reasons are solved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
Fig. 1 schematically shows a flow chart of a road quality detection method according to an exemplary embodiment of the present invention.
Fig. 2 schematically illustrates an example of a method of projecting a virtual straight line according to an example embodiment of the present invention.
Fig. 3 schematically illustrates an example of a projection apparatus according to an example embodiment of the present invention.
FIG. 4 schematically illustrates an example diagram of a projection template according to an example embodiment of the invention.
Fig. 5 schematically illustrates an exemplary diagram of a projection system according to an exemplary embodiment of the present invention.
FIG. 6 schematically illustrates an exemplary view of an included projection angle according to an exemplary embodiment of the present invention.
Fig. 7 is a view schematically illustrating an example of a mounting position of a projection terminal according to an example embodiment of the present invention.
Fig. 8(a) schematically shows an example diagram of a flat road surface after IPM conversion according to an example embodiment of the present invention.
Fig. 8(b) schematically shows an example diagram of an uphill road surface after IPM conversion according to an example embodiment of the present invention.
Fig. 8(c) schematically shows an example diagram of a downhill road surface after IPM conversion according to an example embodiment of the present invention.
Fig. 9 schematically shows an example diagram of a road quality detection apparatus according to an example embodiment of the invention.
Fig. 10 schematically illustrates an electronic device for implementing the above-described road quality detection method according to an exemplary embodiment of the present invention.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to provide a thorough understanding of embodiments of the invention. One skilled in the relevant art will recognize, however, that the invention may be practiced without one or more of the specific details, or with other methods, components, devices, steps, and so forth. In other instances, well-known technical solutions have not been shown or described in detail to avoid obscuring aspects of the invention.
Furthermore, the drawings are merely schematic illustrations of the invention and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus their repetitive description will be omitted. Some of the block diagrams shown in the figures are functional entities and do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices.
In the present exemplary embodiment, a road quality detection method is first provided, where the road quality detection method may be operated in a server, a server cluster, a cloud server, or the like, or may be operated in an equipment terminal; of course, those skilled in the art may also operate the method of the present invention on other platforms as needed, and this is not particularly limited in this exemplary embodiment. Referring to fig. 1, the road quality detection method may include the steps of:
and S110, obtaining an original image obtained by scanning a road to be detected, and processing the original image to obtain the characteristic points to be processed.
And S120, extracting a preset part of the feature points to be processed to obtain target feature points, and performing Hough transformation on the target feature points to obtain an identification result.
And S130, carrying out IPM conversion on the identification result to obtain a detection result of the original image, and judging the quality of the road to be detected according to the detection result.
In the road quality detection method, on one hand, the feature points to be processed are obtained by processing the original image; then extracting a preset part of the feature points to be processed to obtain target feature points, and carrying out Hough transformation on the target feature points to obtain an identification result; the IPM conversion is carried out on the recognition result to obtain the detection result of the original image, the quality of the road to be detected is judged according to the detection result, the problems that in the prior art, due to errors caused by human reasons, the accuracy of data is low, and further the accuracy of the quality evaluation result of the road is low are solved, and the accuracy of the judgment on the quality of the road to be detected is improved; on the other hand, the problem that in the prior art, a lot of manpower and material resources are needed to be consumed due to the fact that detection personnel need to measure and record roads on site is solved, the manpower and material resources are saved, and meanwhile, the detection speed is improved; on the other hand, IPM conversion is carried out on the identification result to obtain the detection result of the original image, the quality of the road to be detected is judged according to the detection result, and the problems that in the prior art, technical personnel need to evaluate the quality of the road, the timeliness of the quality evaluation of the road is poor, and the accuracy of the evaluation result is poor due to subjective reasons are solved.
Hereinafter, each step in the above-described road quality detection method in the present exemplary embodiment will be explained and explained in detail with reference to the drawings.
In step S110, an original image obtained by scanning a road to be detected is acquired, and the original image is processed to obtain feature points to be processed.
In the present exemplary embodiment, first, an original image obtained by scanning the projection terminal based on the road to be detected may be obtained; and the original image comprises two straight lines corresponding to the road to be detected. Specifically, a preset virtual parallel line corresponding to the road to be detected can be selected according to the installation height of the projection terminal and a preset projection position; and then, acquiring an original image obtained by scanning the road to be detected by the projection terminal based on the preset virtual parallel lines and the distance between the projection terminal and the road to be detected, wherein the projection terminal can be an infrared structured light camera, for example. In detail:
first, referring to fig. 2, a preset virtual straight line may be projected on a front road surface of a road to be detected by infrared structured light to form parallel lines on the front road surface; then shooting through an infrared structure light camera to obtain two straight lines of the front road surface; wherein the infrared structured light camera may include an infrared filter; further, the projection mode of the virtual horizontal line can be calculated and determined through the projection position and the installation height of the infrared structured light camera and the relative distance between the infrared structured light camera and the road to be detected. The projection mode mainly refers to an arrangement mode among a light source, a convex lens, a light-transmitting frame and the like in the terminal, and the position relation among internal components can be obtained through calculation, so that the angle, the focal length, the distance and the like for projecting preset parallel lines on a horizontal road surface are determined. And the preset parallel lines are projected on the horizontal road surface while the projection mode is determined.
Further, in the present exemplary embodiment, after the original image is obtained, the original image may be processed to obtain feature points to be processed. Specifically, graying the original image, and performing binarization processing on the grayed original image to obtain the feature points to be processed; and then Canny edge detection is carried out on the characteristic points to be processed to obtain the characteristic points to be processed of the road to be detected.
In step S120, a preset portion of the feature points to be processed is extracted to obtain target feature points, and Hough transform is performed on the target feature points to obtain an identification result.
In the present exemplary embodiment, first, a road surface near-field area portion of the feature point to be processed, which is close to the road to be detected, is extracted as the target feature point; then, carrying out Hough transformation on the target feature points to obtain the identification result; and the identification result is two straight line segments corresponding to the target characteristic point.
In step S130, IPM conversion is performed on the recognition result to obtain a detection result of the original image, and the quality of the road to be detected is determined according to the detection result.
In the present exemplary embodiment, first, IPM conversion is performed on two straight line segments corresponding to the target feature point to obtain a detection result of the original image; wherein the detection result is the position relation between the two straight line segments; then, if the detection result is that the relation of the two straight line segments is parallel, judging that the quality of the road to be detected is good; and finally, if the detection result shows that the relation between the two straight lines is non-parallel, calculating an included angle between the two straight line segments, and judging the jolt degree of the road to be detected according to the size of the included angle.
Further, if the degree of jolt is greater than a preset threshold value, generating prompt information according to the position information of the road to be detected and the degree of jolt, and sending the prompt information to a background server. By the method, the road needing to be rested can be rested in time, and the user can be reminded through navigation, so that danger is avoided.
Further, embodiments of the present invention are further illustrated and described by the following examples.
Through the projection position, the installation height and the relative distance, the terminal can calculate and determine the projection mode of the virtual horizontal line. The projection mode mainly refers to an arrangement mode among a light source, a convex lens, a light-transmitting frame and the like in the terminal, and the position relation among internal components can be obtained through calculation, so that the angle, the focal length, the distance and the like for projecting preset parallel lines on a horizontal road surface are determined. And the preset parallel lines are projected on the horizontal road surface while the projection mode is determined.
Specifically, referring to fig. 3, a component 301 is an infrared LED point light source, a component 302 is an LED lens, a component 303 is a projection template (specifically, as shown in fig. 4), a component 304 is a projection lens, a component 305 is a control and communication circuit board, and a component 306 is a projection output window. The working process of the system is that an infrared LED point light source is used for irradiating an LED lens, divergent infrared light is shaped into parallel light, the parallel light irradiates a projection template, the projection template 303 is projected out through a projection lens 303, and the projection template 303 is imaged to a ground space. Further, fig. 5 is a view of installation of the lane line projection system, in which 501 is a fixing bar, 502 is a projection lamp, and 503 is a projection pattern.
In order to avoid obstructing the vehicle passage and simplify the algorithm program complexity, the lane line projection light spots are required to be equal in width and meet the urban or factory road requirements, a special lane line projection template is designed, and the template material can be glass or a glass-sandwiched film mode. The following are the projection system installation dimensions and the projection templates designed according to the installation dimensions, and the calculation method can be as follows:
the focal length of the projection lens of the parallel line projection lamp is selected to be between 50mm and 100mm, and is denoted by a symbol f, the optical axis is aligned with the center of the lane when the projection lamp is installed, the width DL of the parallel line is 200mm, w is the distance between horizontal lines (including the width of the horizontal lines), the installation height of the H infrared structured light camera, and d is the distance from the lens center to the leftmost lane line boundary.
As shown in fig. 6, the included angle between the optical axis of the central projection lamp and the horizontal plane is:
left ray of right horizontal line and horizontal line angle:
left ray and optic axis angle of right horizontal line:
βr1＝θ-αr1；
right ray of right horizontal line and horizontal line included angle:
right ray and optical axis included angle of right horizontal line:
βr2＝θ-αr2；
distance from the left and right boundaries of the opening light frame 1 of the projection template to the optical center of the projection template:
dr1＝f·tg(βr1)；
dr2＝f·tg(βr2)；
left ray of left horizontal line and horizontal line included angle:
left ray and optical axis angle of left side horizontal line:
βl2＝αl2-θ；
angle between right ray of left horizontal line and horizontal line:
the right ray and optical axis included angle of the left horizontal line:
βl1＝αl1-θ；
distance from the left and right boundaries of the opening light frame 2 of the projection template to the optical center of the projection template:
dl1＝f·tg(βl1)；
dl2＝f·tg(βl2)；
further, when the horizontal line width is 3.5 m, the installation height is 4 m, the distance from the lens center to the leftmost horizontal line boundary is 2m, and the focal length of the lens is 75mm, d11 is 19.2mm, d12 is 22.3mm, dr1 is 13.0mm, and dr2 is 14.3mm, the projection template can be adjusted according to the data. The template calculated by adopting projection optics can ensure that the widths projected to the two sides of the ground lane are approximately consistent, and the complexity of a processing algorithm is reduced.
Further, the principle of perspective imaging of the camera is to convert a real three-dimensional scene in a world coordinate system into a two-dimensional scene in an image coordinate system. The farther away from the camera the more distortion of the scene is due to the angle of view. The Inverse Perspective Mapping (IPM) method can eliminate this perspective effect, resulting in a top view of the scene (bird's eye view). At the same time, various information (color, brightness, etc.) of the original image is retained. The IPM conversion formula is as follows:
wherein:
wherein r and c are rows and columns where pixel points are located in the image plane respectively; the size of the captured image (original image) is n × m; h is the erection height of the camera; a is 1/2 from the camera view; θ is a depression angle of the camera mounting, and can be specifically referred to fig. 7.
Further, since the IPM is based on the road flatness, that is, if the road is horizontal, the horizontal line will become the horizontal line through the IPM conversion. The assumption that IPM is not satisfied during road pitching, i.e., a horizontal road surface is required, so that deformation occurs during IPM conversion, as shown in fig. 8(a) to 8 (c). Wherein, fig. 8(a) is a flat road, after IPM conversion, the two straight lines are parallel straight lines; fig. 8(b) is an uphill process in a bumping process, deformation is generated after conversion, an included angle is generated between two straight lines which should be parallel, and the farther away the road surface is, the wider the road surface is, the road surface is in an inverted trapezoid shape; FIG. 8(c) downhill straight run of the jounce processOn the road, the farther the distance between the two straight line surfaces is, the narrower the distance between the two straight line surfaces is, and the road surface is in a regular trapezoid shape. The bumpiness degree of the road surface can be judged by judging the change of the included angle of the two straight lines. Further, when the included angle is larger than the threshold value thetacAnd a duration greater than tcAnd judging that the current road surface is a damaged road surface.
The road surface jolt detection provided by the invention can be installed on any vehicle, can effectively detect the damaged road surface for the reference of a road maintenance department, and meanwhile, the vehicle can detect the jolt of the road surface in advance, so that the vehicle can actively absorb shock in advance, and the running stability of the vehicle is ensured. The infrared light source adopted by the invention can effectively avoid the influence on pedestrians on the road (infrared light is invisible light), and the infrared light is linear, so that convenience is brought to feature extraction, and the real-time performance and the accuracy of a road quality detection algorithm can be ensured.
The present disclosure also provides a road quality detection device. Referring to fig. 9, the road quality detecting apparatus may include a processing module 910, a feature point extracting module 620, and a road quality judging module 930. Wherein:
the processing module 910 may be configured to obtain an original image obtained by scanning a road to be detected, and process the original image to obtain feature points to be processed.
The feature point extraction module 920 may be configured to extract a preset portion of the feature points to be processed to obtain target feature points, and perform Hough transformation on the target feature points to obtain an identification result.
The road quality determining module 930 may be configured to perform IPM conversion on the recognition result to obtain a detection result of the original image, and determine the quality of the road to be detected according to the detection result.
In an example embodiment of the present disclosure, acquiring an original image obtained based on photographing a road to be detected includes:
acquiring an original image obtained by scanning a road to be detected by a projection terminal; and the original image comprises two straight lines corresponding to the road to be detected.
In an example embodiment of the present disclosure, processing the original image to obtain feature points to be processed includes:
and carrying out graying processing on the original image, and carrying out binarization processing on the grayed original image to obtain the feature points to be processed.
In an exemplary embodiment of the present disclosure, extracting a preset portion of the feature points to be processed to obtain target feature points, and performing Hough transformation on the target feature points to obtain an identification result includes:
extracting a road surface near-field area part of the feature point to be processed, which is close to the road to be detected, as the target feature point;
carrying out Hough transformation on the target feature points to obtain the identification result; and the identification result is two straight line segments corresponding to the target characteristic point.
In an example embodiment of the present disclosure, performing IPM conversion on the recognition result to obtain a detection result of the original image, and determining the quality of the road to be detected according to the detection result includes:
carrying out IPM conversion on the two straight line segments corresponding to the target characteristic point to obtain a detection result of the original image; wherein the detection result is the position relation between the two straight line segments;
if the detection result is that the relation of the two straight line segments is a parallel relation, judging that the quality of the road to be detected is good;
and if the detection result shows that the relation between the two straight lines is non-parallel, calculating an included angle between the two straight line sections, and judging the bumping degree of the road to be detected according to the size of the included angle.
In an example embodiment of the present disclosure, the road quality detection apparatus further includes:
and the prompt information generation module is used for generating prompt information according to the position information of the road to be detected and the degree of the jolt and sending the prompt information to a background server if the degree of the jolt is greater than a preset threshold value.
In an example embodiment of the present disclosure, acquiring an original image obtained by a projection terminal based on scanning of a road to be detected includes:
selecting a preset virtual parallel line corresponding to the road to be detected according to the installation height of the projection terminal and a preset projection position;
and acquiring an original image obtained by scanning the road to be detected by the projection terminal based on the preset virtual parallel lines and the distance between the projection terminal and the road to be detected.
The specific details of each module in the above-mentioned road quality detection device have been described in detail in the corresponding road quality detection method, and therefore are not described herein again.
It should be noted that although in the above detailed description several modules or units of the device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functionality of two or more modules or units described above may be embodied in one module or unit, according to embodiments of the invention. Conversely, the features and functions of one module or unit described above may be further divided into embodiments by a plurality of modules or units.
Moreover, although the steps of the methods of the present invention are depicted in the drawings in a particular order, this does not require or imply that the steps must be performed in this particular order, or that all of the depicted steps must be performed, to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step execution, and/or one step broken down into multiple step executions, etc.
Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solution according to the embodiment of the present invention can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a usb disk, a removable hard disk, etc.) or on a network, and includes several instructions to make a computing device (which can be a personal computer, a server, a mobile terminal, or a network device, etc.) execute the method according to the embodiment of the present invention.
In an exemplary embodiment of the present invention, there is also provided an electronic device capable of implementing the above method.
As will be appreciated by one skilled in the art, aspects of the present invention may be embodied as a system, method or program product. Thus, various aspects of the invention may be embodied in the form of: an entirely hardware embodiment, an entirely software embodiment (including firmware, microcode, etc.) or an embodiment combining hardware and software aspects that may all generally be referred to herein as a "circuit," module "or" system.
An electronic device 1000 according to this embodiment of the invention is described below with reference to fig. 10. The electronic device 1000 shown in fig. 10 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present invention.
As shown in fig. 10, the electronic device 1000 is embodied in the form of a general purpose computing device. The components of the electronic device 1000 may include, but are not limited to: the at least one processing unit 1010, the at least one memory unit 1020, and a bus 1030 that couples various system components including the memory unit 1020 and the processing unit 1010.
Wherein the storage unit stores program code that is executable by the processing unit 1010 to cause the processing unit 1010 to perform steps according to various exemplary embodiments of the present invention as described in the "exemplary methods" section above in this specification. For example, the processing unit 1010 may execute step S110 as shown in fig. 1: reading a transaction log from a source database and storing the transaction log into a plurality of first ring queues; s120: storing the transaction logs in the first ring queues into a second ring queue, and sending the transaction logs in the second ring queue to a thread which is connected with a target database; step S130: and the thread writes the transaction log into the target database and records the log code corresponding to the successfully written transaction log.
The storage unit 1020 may include readable media in the form of volatile memory units, such as a random access memory unit (RAM)10201 and/or a cache memory unit 10202, and may further include a read-only memory unit (ROM) 10203.
The memory unit 1020 may also include a program/utility 10204 having a set (at least one) of program modules 10205, such program modules 10205 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may comprise an implementation of a network environment.
The electronic device 1000 may also communicate with one or more external devices 1080 (e.g., keyboard, pointing device, bluetooth device, etc.), with one or more devices that enable a user to interact with the electronic device 1000, and/or with any devices (e.g., router, modem, etc.) that enable the electronic device 1000 to communicate with one or more other computing devices. Such communication may occur through input/output (I/O) interfaces 1050. Also, the electronic device 1000 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network such as the internet) via the network adapter 1060. As shown, the network adapter 1060 communicates with the other modules of the electronic device 1000 over the bus 1030. It should be appreciated that although not shown, other hardware and/or software modules may be used in conjunction with the electronic device 1000, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.
Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solution according to the embodiment of the present invention can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a usb disk, a removable hard disk, etc.) or on a network, and includes several instructions to make a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) execute the method according to the embodiment of the present invention.
In an exemplary embodiment of the present invention, there is also provided a computer-readable storage medium having stored thereon a program product capable of implementing the above-described method of the present specification. In some possible embodiments, aspects of the invention may also be implemented in the form of a program product comprising program code means for causing a terminal device to carry out the steps according to various exemplary embodiments of the invention described in the above section "exemplary methods" of the present description, when said program product is run on the terminal device.
According to the program product for realizing the method, the portable compact disc read only memory (CD-ROM) can be adopted, the program code is included, and the program product can be operated on terminal equipment, such as a personal computer. However, the program product of the present invention is not limited in this regard and, in the present document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
A computer readable signal medium may include a propagated data signal with readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A readable signal medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., through the internet using an internet service provider).
Furthermore, the above-described figures are merely schematic illustrations of processes involved in methods according to exemplary embodiments of the invention, and are not intended to be limiting. It will be readily understood that the processes shown in the above figures are not intended to indicate or limit the chronological order of the processes. In addition, it is also readily understood that these processes may be performed synchronously or asynchronously, e.g., in multiple modules.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
Claims (7)
1. A road quality detection method, comprising:
acquiring an original image obtained by scanning a road to be detected by a projection terminal, and processing the original image to obtain characteristic points to be processed; the original image comprises two straight lines corresponding to the road to be detected;
extracting a road surface near-field area part of the feature point to be processed, which is close to the road to be detected, as a target feature point, and performing Hough transformation on the target feature point to obtain an identification result; the identification result is two straight line segments corresponding to the target feature point;
carrying out IPM conversion on the two straight line segments corresponding to the target characteristic point to obtain a detection result of the original image; wherein the detection result is the position relation between the two straight line segments;
if the detection result is that the relation of the two straight line segments is a parallel relation, judging that the quality of the road to be detected is good;
and if the detection result shows that the relation between the two straight lines is non-parallel, calculating an included angle between the two straight line sections, and judging the bumping degree of the road to be detected according to the size of the included angle.
2. The road quality detection method according to claim 1, wherein processing the original image to obtain feature points to be processed comprises:
and carrying out graying processing on the original image, and carrying out binarization processing on the grayed original image to obtain the feature points to be processed.
3. The road quality detection method according to claim 1, wherein after the degree of jolt of the road to be detected is determined according to the size of the included angle, the road quality detection method further comprises:
and if the bumping degree is larger than a preset threshold value, generating prompt information according to the position information of the road to be detected and the bumping degree, and sending the prompt information to a background server.
4. The road quality detection method according to claim 1, wherein the obtaining of the original image obtained by the projection terminal based on the scanning of the road to be detected comprises:
selecting a preset virtual parallel line corresponding to the road to be detected according to the installation height of the projection terminal and a preset projection position;
and acquiring an original image obtained by scanning the road to be detected by the projection terminal based on the preset virtual parallel lines and the distance between the projection terminal and the road to be detected.
5. A road quality detection device, comprising:
the processing module is used for acquiring an original image obtained by scanning a road to be detected by the projection terminal and processing the original image to obtain a feature point to be processed; the original image comprises two straight lines corresponding to the road to be detected;
the characteristic point extraction module is used for extracting a part of a road surface near-field area, close to the road to be detected, of the characteristic point to be processed as a target characteristic point;
carrying out Hough transformation on the target feature points to obtain an identification result; the identification result is two straight line segments corresponding to the target feature point;
the road quality judgment module is used for carrying out IPM conversion on the two straight line segments corresponding to the target characteristic point to obtain a detection result of the original image; wherein the detection result is the position relation between the two straight line segments;
if the detection result is that the relation of the two straight line segments is a parallel relation, judging that the quality of the road to be detected is good;
and if the detection result shows that the relation between the two straight lines is non-parallel, calculating an included angle between the two straight line sections, and judging the bumping degree of the road to be detected according to the size of the included angle.
6. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the road quality detection method according to any one of claims 1 to 4.
7. An electronic device, comprising:
a processor; and
a memory for storing executable instructions of the processor;
wherein the processor is configured to perform the road quality detection method of any one of claims 1-4 via execution of the executable instructions.
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| CN111242223B (en) * | 2020-01-15 | 2020-11-13 | 中国科学院地理科学与资源研究所 | Street space quality evaluation method based on streetscape image multi-feature fusion |
| CN113780835A (en) * | 2021-09-15 | 2021-12-10 | 云途信息科技(杭州)有限公司 | Road quality evaluation management method based on variable color grids |
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