Human body distance measurement positioning method based on infrared thermal imaging and safety detection system

Abstract

The invention discloses a human body distance measurement positioning method based on infrared thermal imaging and a safety detection system, and relates to the technical field of driving safety, and the system comprises a controller, a visible light image acquisition module and an infrared thermal imaging acquisition module. Through the combination of the visible light image and the infrared thermal imaging image, when the visible light image judges that the target on the vehicle is not correctly fastened with the safety belt, further confirmation is carried out through infrared thermal imaging, so that whether the target on the vehicle is a person on the vehicle or not is further confirmed; therefore, the situation that the person in the vehicle is misjudged to fasten the safety belt is effectively reduced, and the monitoring detection result is more accurate.

Description

Technical Field

[0001] The present invention relates to the technical field of driving safety, and in particular to a human body ranging and positioning method based on infrared thermal imaging and a safety detection system. Background Art

[0002] According to traffic laws, when a motor vehicle is in motion, the driver and passengers must wear seat belts as required. Therefore, the monitoring system captures and identifies whether the passengers in the car are not wearing seat belts, which is not only a technical realization, but also a legal requirement.

[0003] Identifying whether a person in the car is not wearing a seat belt is mainly used in two identification fields: one is urban traffic monitoring, and the other is vehicle interior monitoring. Vehicle interior monitoring mainly monitors the use of seat belts by the weight of the seat and the plug-in detection of the seat belt plug interface in real time, and issues a warning when the seat belt is not fastened.

[0004] Urban traffic monitoring mainly uses high-definition cameras and corresponding image recognition technology. The high-definition cameras installed on the road can capture images of people in the car, including drivers and passengers, when the vehicle passes by. The captured images are transmitted to the processing equipment, and the image processing algorithm is used to identify the shape, color and movement characteristics of the human body, as well as the shape, color and movement characteristics of the seat belt; in the processed image, the system can identify whether the seat belt is correctly fastened. If it is detected that the seat belt is not properly fastened, the system will record it and may trigger a corresponding warning or penalty mechanism.

[0005] In actual use, the recognition results of the above-mentioned urban traffic monitoring may misidentify humanoid objects in the car. For example, after people buy a large rag doll or a rag doll that imitates a human, they usually place the rag doll in the relatively clean back seat of the car, and try not to place it in the trunk. After the rag doll is placed in the back seat of the car, it is usually not fastened with a seat belt. At this time, when the driver drives the vehicle through the seat belt shooting section (i.e. the above-mentioned traffic monitoring section), it is easy to be misidentified as the person in the car (actually the above-mentioned rag doll that imitates a human) not fastening the seat belt. Summary of the invention

[0006] In order to overcome the above-mentioned shortcomings, the present invention aims to provide a technical solution that can solve the above-mentioned problems.

[0007] To achieve the above object, the present invention provides the following technical solution: a method for measuring the distance and positioning of a person on a vehicle based on infrared thermal imaging, the method comprising: The visible light image acquisition module is used to acquire visible light images of vehicles entering the detection area, and the infrared thermal image acquisition module is used to acquire infrared thermal images of the vehicle; Locating the target area where the front windshield of the vehicle is located from the visible light image, and locating the infrared radiation target detection area corresponding to the target area from the infrared thermal image; Confirm the infrared radiation target from the infrared radiation target detection area of ​​the infrared thermal image, and determine the distance between the infrared radiation target and the infrared thermal imaging acquisition module; Based on the determined distance, confirm that the infrared radiation target is located inside the vehicle.

[0008] As a further solution of the present invention: after locating the target area where the front windshield of the vehicle is located from the visible light image, confirming the position of the main driver's seat in the target area; After determining the distance between the infrared radiation target and the infrared thermal imaging acquisition module, the infrared radiation target corresponding to the determined position of the main driver's seat is identified as the driver; Taking the driver as the target object, the positions of other infrared radiation targets in the car are determined according to the distances of other infrared radiation targets detected.

[0009] As a further solution of the present invention: the determination of the in-vehicle positions of other infrared radiation targets at least includes the determination of the front passenger seat occupants and the determination of the rear seat occupants.

[0010] The present invention also provides the following technical solution: a safety detection system, comprising a controller, a visible light image acquisition module and an infrared thermal imaging acquisition module, wherein the controller is configured as follows: The visible light image acquisition module is used to acquire visible light images of vehicles entering the detection area, and the infrared thermal image acquisition module is used to acquire infrared thermal images of the vehicle; Locating the target area where the front windshield of the vehicle is located from the visible light image, and locating the infrared radiation target detection area corresponding to the target area from the infrared thermal image; Confirm the infrared radiation target from the infrared radiation target detection area of ​​the infrared thermal image, and determine the distance between the infrared radiation target and the infrared thermal imaging acquisition module; According to the determined distance, confirm the position of the infrared radiation target in the vehicle; in, After locating the target area where the front windshield of the vehicle is located from the visible light image, the human body contour of the person in the vehicle is recognized in the target area of ​​the visible light image, and the seat belt of the person in the vehicle is confirmed after being recognized as a human body; When it is confirmed that a target person is not wearing a seat belt, the position coordinates of the confirmed target person who is not wearing a seat belt in the target area where the front windshield of the vehicle is located are compared with the coordinates of the infrared radiation target obtained in the infrared thermal image to determine whether the positions match; When the position matching degree reaches the specified threshold, it is identified and output as the person in the car not wearing a seat belt.

[0011] As a further solution of the present invention: after locating the target area where the front windshield of the vehicle is located from the visible light image, confirming the position of the main driver's seat in the target area; After determining the distance between the infrared radiation target and the infrared thermal imaging acquisition module, the infrared radiation target corresponding to the determined position of the main driver's seat is identified as the driver; Taking the driver as the target object, the positions of other infrared radiation targets in the car are determined according to the distances of other infrared radiation targets detected.

[0012] As a further solution of the present invention: after the position matching degree reaches a specified threshold, it is identified and outputted that the driver is not wearing the seat belt and / or the front passenger is not wearing the seat belt and / or the rear passenger is not wearing the seat belt.

[0013] Compared with the prior art, the beneficial effect of the present technical solution is as follows: when detecting whether the occupants of a moving vehicle are wearing seat belts, by combining visible light images and infrared thermal imaging images, when it is determined through visible light images that the target on the vehicle has not correctly fastened its seat belts, further confirmation is performed through infrared thermal imaging to further confirm whether the target on the vehicle is the occupant, thereby effectively reducing the situation of misjudging that the occupants have not correctly fastened their seat belts, making the monitoring and detection results more accurate.

[0014] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0016] Figure 1 is a circuit block diagram of the safety detection system of the present invention; Figure 2 It is a flow chart of the method for measuring the distance and positioning the personnel on the vehicle of the present invention; Figure 3 It is a flow chart for confirming the position of an infrared radiation target in a vehicle in the vehicle personnel ranging and positioning method of the present invention. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0018] See also Figure 1-3 , a safety detection system 100 includes a controller 200, a visible light image acquisition module 300 and an infrared thermal imaging acquisition module 400.

[0019] The controller 200 is configured to collect visible light images of vehicles entering the detection area through the visible light image acquisition module 300, and to collect infrared thermal images of the vehicle through the infrared thermal imaging acquisition module 400; locate the target area where the front windshield of the vehicle is located from the visible light image, and locate the infrared radiation target detection area corresponding to the target area from the infrared thermal image; confirm the infrared radiation target in the infrared radiation target detection area of ​​the infrared thermal image, and determine the distance between the infrared radiation target and the infrared thermal imaging acquisition module; confirm the infrared radiation target according to the determined distance. The target is located in the vehicle; wherein, after locating the target area where the front windshield of the vehicle is located from the visible light image, the human body contour of the person in the vehicle is recognized in the target area of ​​the visible light image, and the seat belt of the person in the vehicle is confirmed after being recognized as a human body; when it is confirmed that a person target is not fastened with a seat belt, the position coordinates of the confirmed person target who is not fastened with a seat belt in the target area where the front windshield of the vehicle is located are compared with the coordinates of the infrared radiation target obtained in the infrared thermal image to determine whether the positions match; after the position matching degree reaches the specified threshold, it is identified and output as the person in the vehicle not fastening his seat belt.

[0020] The visible light image acquisition module 300 and the infrared thermal imaging acquisition module 400 may be used in scenarios such as: acquiring visible light images and infrared thermal images of vehicles in a designated lane, or acquiring visible light images and infrared thermal images of vehicles on a designated road section.

[0021] The designated lane may be the first lane and / or the second lane and / or the third lane of multiple lanes in the same direction, and the designated road section may be a road section with complex driving conditions, such as a road section where vehicles can use the lane to drive in the opposite direction.

[0022] When detecting whether the occupants of a moving vehicle are wearing seat belts, through the combination of visible light images and infrared thermal imaging images, when it is determined through visible light images that the target on the vehicle has not correctly fastened its seat belt, further confirmation is performed through infrared thermal imaging to further confirm whether the target on the vehicle is a occupant, thereby effectively reducing the situation of misjudging that the occupants have not correctly fastened their seat belts, making the monitoring detection results more accurate.

[0023] In some embodiments, the safety detection system 100 can be used for urban traffic monitoring and for driving safety control. For example, after detecting that the occupants of the vehicle are not wearing their seat belts correctly, penalty information is generated in the management system based on the additional vehicle information (such as license plate information) obtained.

[0024] In some embodiments, the visible light image acquisition module 300 includes a visible light camera capable of acquiring visible light images, and the infrared thermal imaging acquisition module 400 includes an infrared thermal imager capable of acquiring infrared thermal images.

[0025] In some embodiments, the method of "locating the infrared radiation target detection area corresponding to the target area position from the infrared thermal image" is: performing horizontal and vertical coordinate comparison and positioning of the visible light image and the infrared thermal image acquired at the same time, that is, after locating the target area position where the vehicle's front windshield is located from the visible light image, the horizontal and vertical coordinate sets of the target area boundary are obtained and converted into horizontal and vertical coordinate sets suitable for infrared thermal images, and the infrared radiation target detection area corresponding to the target area position is located in the infrared thermal image according to the converted horizontal and vertical coordinate sets.

[0026] In some embodiments, after locating the target area where the front windshield of the vehicle is located from the visible light image, the position of the main driver's seat in the target area is confirmed; after determining the distance between the infrared radiation target and the infrared thermal imaging acquisition module, the infrared radiation target corresponding to the determined position of the main driver's seat is identified as the driver; with the driver as the target object, the positions of other infrared radiation targets in the vehicle are determined based on the distances of other detected infrared radiation targets.

[0027] The method of confirming the main driver's seat includes but is not limited to grabbing the contour features of the steering wheel and confirming the main driver's seat based on the contour features of the steering wheel.

[0028] In some embodiments, the method of "determining the distance between the infrared radiation target and the infrared thermal imaging acquisition module" is: calculating the gradient vector of each pixel point according to the temperature value of each pixel point in the infrared thermal image, the gradient vector includes a horizontal gradient value and a vertical gradient value; based on the gradient vector of each pixel point, determining at least one infrared radiation target bounding box including the driver; according to the human head bounding box, calculating its corresponding feature set; inputting the feature set into a pre-built human-machine ranging model to predict the distance between each infrared radiation target in the infrared thermal image and the infrared thermal imaging acquisition module.

[0029] In the case of having multiple infrared radiation target boundary boxes and confirming the driver's boundary box: calculate the coordinate difference between the horizontal coordinate and the vertical coordinate of each pixel point corresponding to the boundary box of other infrared radiation targets and the horizontal coordinate and the vertical coordinate of each pixel point corresponding to the boundary box of the driver, and calculate the distance difference between "the distance Ln between other infrared radiation targets and the infrared thermal imaging acquisition module" and "the distance Ld between the driver and the infrared thermal imaging acquisition module"; confirm that the other infrared radiation target is in the same row as the driver according to the coordinate difference and the distance difference, or confirm that the other infrared radiation target is in a different row from the driver; when it is confirmed to be in the same row, identify the infrared radiation target boundary box as the boundary box of the passenger in the front passenger seat; when it is confirmed to be in a different row, identify the infrared radiation target boundary box as the boundary box of the passenger in the back row. Through the above recognition process, when monitoring and detecting whether the seat belts of the occupants in the car are correctly fastened, the occupants in the car can be located more accurately, thereby outputting more accurate parking-level seat belt detection results. The parking space-level detection results include whether the front passenger seat passenger is wearing the seat belt correctly and whether the rear seat passengers are wearing the seat belt correctly.

[0030] In some embodiments, after the position matching degree reaches a specified threshold, it is identified and outputted that the driver is not wearing a seat belt and / or the front passenger is not wearing a seat belt and / or the rear passenger is not wearing a seat belt. Corresponding subsequent processing can be performed according to different output results. For example, when the output is that the driver is not wearing a seat belt and / or the front passenger is not wearing a seat belt, the output result is used to generate penalty information; when the output is that the rear passenger is not wearing a seat belt, no penalty information is generated.

[0031] In some embodiments, when it is confirmed that the passengers are in different rows, the specific rear seat corresponding to the boundary box of the rear passenger is also confirmed based on the difference. The parking space-level detection result can further accurately determine whether the rear passenger is wearing the seat belt correctly: whether the rear left passenger is wearing the seat belt correctly, whether the rear middle passenger is wearing the seat belt correctly, and whether the rear right passenger is wearing the seat belt correctly.

[0032] According to the above embodiments, this embodiment also proposes a method for measuring the distance and positioning of a person on a vehicle based on infrared thermal imaging, the method comprising the following steps: S101, collecting visible light images of vehicles entering the detection area through a visible light image collection module, and collecting infrared thermal images of the vehicle through an infrared thermal imaging collection module; S102, locating a target area where the front windshield of the vehicle is located from the visible light image, and locating an infrared radiation target detection area corresponding to the target area from the infrared thermal image; S103, confirming an infrared radiation target in the infrared radiation target detection area of ​​the infrared thermal image, and determining the distance between the infrared radiation target and the infrared thermal imaging acquisition module; S104: Confirm the position of the infrared radiation target in the vehicle according to the determined distance.

[0033] Before confirming the position of the infrared radiation target in the vehicle, the following steps are also included: S201. After locating the target area where the front windshield of the vehicle is located from the visible light image, confirm the position of the main driver's seat within the target area.

[0034] The process of confirming the location of the infrared radiation target in the vehicle includes the following steps: S1041, after determining the distance between the infrared radiation target and the infrared thermal imaging acquisition module, identifying the infrared radiation target corresponding to the determined position of the main driver's seat as the driver; S1042: Taking the driver as the target object, determine the positions of other infrared radiation targets in the vehicle according to the distances of other infrared radiation targets detected.

[0035] In some embodiments, the determination of the in-vehicle positions of other infrared radiation targets includes at least the determination of the front passenger seat occupants and the determination of the rear seat occupants.

[0036] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A method for measuring the distance and positioning of people on a vehicle based on infrared thermal imaging, characterized in that: Methods include: The visible light image acquisition module is used to acquire visible light images of vehicles entering the detection area, and the infrared thermal image acquisition module is used to acquire infrared thermal images of the vehicle; Locating the target area where the front windshield of the vehicle is located from the visible light image, and locating the infrared radiation target detection area corresponding to the target area from the infrared thermal image; Confirm the infrared radiation target from the infrared radiation target detection area of ​​the infrared thermal image, and determine the distance between the infrared radiation target and the infrared thermal imaging acquisition module; Based on the determined distance, confirm that the infrared radiation target is located inside the vehicle.

2. The method for measuring distance and positioning a person on a vehicle based on infrared thermal imaging according to claim 1, characterized in that: After locating the target area where the front windshield of the vehicle is located from the visible light image, confirming the position of the main driver's seat within the target area; After determining the distance between the infrared radiation target and the infrared thermal imaging acquisition module, the infrared radiation target corresponding to the determined position of the main driver's seat is identified as the driver; Taking the driver as the target object, the positions of other infrared radiation targets in the car are determined according to the distances of other infrared radiation targets detected.

3. The method for measuring distance and locating persons on a vehicle based on infrared thermal imaging according to claim 2, characterized in that: The determination of the in-vehicle positions of other infrared radiation targets at least includes the determination of the front passenger seat occupant and the rear seat occupant.

4. A safety detection system, characterized in that: It includes a controller, a visible light image acquisition module and an infrared thermal imaging acquisition module. The controller is configured as The visible light image acquisition module is used to acquire visible light images of vehicles entering the detection area, and the infrared thermal image acquisition module is used to acquire infrared thermal images of the vehicle; Locating the target area where the front windshield of the vehicle is located from the visible light image, and locating the infrared radiation target detection area corresponding to the target area from the infrared thermal image; Confirm the infrared radiation target from the infrared radiation target detection area of ​​the infrared thermal image, and determine the distance between the infrared radiation target and the infrared thermal imaging acquisition module; According to the determined distance, confirm the position of the infrared radiation target in the vehicle; in, After locating the target area where the front windshield of the vehicle is located from the visible light image, the human body contour of the person in the vehicle is recognized in the target area of ​​the visible light image, and the seat belt of the person in the vehicle is confirmed after being recognized as a human body; When it is confirmed that a target person is not wearing a seat belt, the position coordinates of the confirmed target person who is not wearing a seat belt in the target area where the front windshield of the vehicle is located are compared with the coordinates of the infrared radiation target obtained in the infrared thermal image to determine whether the positions match; When the position matching degree reaches the specified threshold, it is identified and output as the person in the car not wearing a seat belt.

5. The safety detection system according to claim 4, characterized in that: After locating the target area where the front windshield of the vehicle is located from the visible light image, confirming the position of the main driver's seat within the target area; After determining the distance between the infrared radiation target and the infrared thermal imaging acquisition module, the infrared radiation target corresponding to the determined position of the main driver's seat is identified as the driver; Taking the driver as the target object, the positions of other infrared radiation targets in the car are determined according to the distances of other infrared radiation targets detected.

6. The safety detection system according to claim 5, characterized in that: After the position matching degree reaches a specified threshold, it is identified and outputted as the driver not wearing the seat belt and / or the front passenger not wearing the seat belt and / or the rear passenger not wearing the seat belt.

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