Method and system for monitoring safe transportation of transportation vehicle

Abstract

The invention relates to the technical field of safe transportation of vehicles, in particular to a safe transportation monitoring method and system for a transportation vehicle. The method comprises the steps that after an initial binary image of a carriage is collected, a camera standby state is started, and a speed value and an inclination angle corresponding to each data point in a vehicle driving data time sequence are obtained; obtaining an early warning degree of the data point based on a speed difference and an inclination angle difference between the data point and a preset length adjacent sequence; in response to an ascending order of Euclidean distances between the data points and other data points, constructing a target sequence of the data points; calculating the alarm degree of the data point; in response to the situation that the alarm degree of the data point is greater than a preset threshold value, starting a camera to shoot a carriage alarm binary image corresponding to the data point; through the XOR result of the initial binary image and the alarm binary image of the carriage, the safe transportation monitoring of the transport vehicle is realized, and the safe transportation monitoring efficiency of the transport vehicle can be effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle safe transportation, and particularly relates to a method and system for monitoring the safe transportation of a transportation vehicle. Background Art

[0002] Goods such as electronic products, precision instruments, and fresh products are prone to being affected by factors such as sudden braking, severe jolting, or tilting during transportation, resulting in the goods shifting or even toppling over, damaging the product quality, and even possibly causing traffic accidents and endangering road safety. Therefore, during the transportation of goods by a transportation vehicle, it is necessary to monitor the goods in the carriage in real time so as to timely give an early warning of abnormal tilting during the goods transportation process and improve the transportation safety.

[0003] The conventional method realizes the monitoring and early warning of goods by collecting the monitoring images of the cargo box in real time through a camera. However, when processing the camera video stream, a large amount of computing resources are required, and during the normal driving process of the vehicle, most of the collected monitoring images are in a normal state, and the goods do not show tilting or shifting phenomena. Continuously collecting and uploading the monitoring video stream in real time will instead increase the burden on the vehicle-mounted power supply and the bandwidth cost, affecting the efficiency of vehicle transportation monitoring.

[0004] The tilting of goods is not only reflected in the tilting degree of the vehicle but also in the change of the vehicle speed. The change of the vehicle speed can reflect the possibility of the goods tilting or shifting. When monitoring the goods of the vehicle, the change of the vehicle speed and the tilting degree can be simultaneously concerned, so that potential abnormalities can be accurately identified and accurate early warning can be realized.

[0005] Based on this, how to accurately realize vehicle abnormal early warning based on the change of vehicle speed and tilting degree is an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0006] In order to solve the technical problem of how to accurately realize vehicle abnormal early warning based on the change of vehicle speed and tilting degree, the present invention provides a method and system for monitoring the safe transportation of a transportation vehicle.

[0007] In the first aspect, the present invention provides a method for monitoring the safe transportation of a transportation vehicle, adopting the following technical solution: A method for monitoring the safe transportation of a transportation vehicle includes the steps: After collecting the initial binary image of the carriage, start the standby state of the camera, and obtain the speed value and tilt angle corresponding to each data point in the time series of vehicle driving data; based on the speed difference and tilt angle difference between the data point and the preset-length adjacent sequence, obtain the warning level of the data point; in response to the ascending order of the Euclidean distances between the data point and other data points, construct the target sequence of the data point; according to the warning level difference and acquisition time difference between the data point and the data points in its target sequence, calculate the alarm level of the data point: ; 、 、 are the alarm level, warning level, and acquisition time of the i-th data point respectively, is the average warning level of the target sequence of the i-th data point, is the length of the target sequence, is the acquisition time of the -th data point in the target sequence of the i-th data point, is the exponential function with base e, is the absolute value symbol; in response to the alarm level of the data point being greater than the preset threshold, start the camera to capture the alarm binary image of the carriage corresponding to the data point; through the exclusive OR result of the initial binary image of the carriage and the alarm binary image, realize the safety transportation monitoring of the transport vehicle.

[0008] The present invention can realize the safety transportation monitoring and warning of the transport vehicle by collecting the monitoring images of the goods in the carriage for anomaly detection. In this process, the present invention considers that if the monitoring images at all times are collected and transmitted, it may cause waste of resources, and the data processing volume is large and the efficiency is low; based on this, after collecting the initial image of the carriage, start the standby state of the camera, and by monitoring the changes in the speed data and the body tilt angle during the vehicle driving process, obtain the moment when the goods may tilt or shift, collect the monitoring image at this moment and compare it with the initial image, and through secondary confirmation, the safety transportation monitoring and warning result of the transport vehicle can be accurately obtained, improving the efficiency of the safety transportation monitoring and warning of the transport vehicle.

[0009] According to a safety transportation monitoring method for a transport vehicle provided by the present invention, before obtaining the speed value and tilt angle corresponding to each data point in the time series of vehicle driving data, it further includes: taking the speed data and tilt angle data of the vehicle obtained at each acquisition time as a data point, and obtaining the time series of vehicle driving data after preprocessing.

[0010] The present invention considers that the originally collected speed data and tilt angle data may be missing, etc., so the overall quality of the data is improved through preprocessing, which is convenient for subsequent data processing.

[0011] A method for monitoring the safe transportation of a transportation vehicle provided by the present invention, obtaining the warning level of a data point based on the speed difference and tilt angle difference between the data point and a preset-length neighboring sequence, includes: obtaining the absolute value mean of the speed difference between the speed value of the data point and the speeds in the neighboring sequence, normalizing the ratio of the absolute value mean of the speed difference to the speed standard deviation of the neighboring sequence of this data point to obtain the speed mutability of this data point; obtaining the tilt angle mutability of this data point; recording the sum of the product of the preset speed weight and the speed mutability of the data point and the product of the preset tilt angle weight and the tilt angle mutability of this data point as the warning level of this data point.

[0012] The present invention takes into account that the tilt or offset of the goods is closely related to the speed of the transportation vehicle and the tilt angle of the vehicle body. Therefore, a precise calculation method for the warning level of data points is provided. By analyzing the speed data and tilt angle data differences between the current data point and the neighboring data, the warning moments with prominent speed data and tilt angle data can be accurately obtained.

[0013] A method for monitoring the safe transportation of a transportation vehicle provided by the present invention, constructing the target sequence of this data point in response to the ascending order of the Euclidean distances between the data point and other data points, includes: taking the other data points corresponding to the Euclidean distances of a preset number starting from the minimum Euclidean distance between the data point and other data points in the ascending order as the target sequence of this data point.

[0014] A method for monitoring the safe transportation of a transportation vehicle provided by the present invention, when the warning level of the data point is greater than a preset threshold, starting the camera to capture the binary warning image of the carriage corresponding to this data point, further includes: when the warning level of the data point is not greater than the preset threshold, continuing to keep the camera in the standby state.

[0015] A method for monitoring the safe transportation of a transportation vehicle provided by the present invention, the method for obtaining the initial binary image and the warning binary image of the carriage, includes: processing the initial monitoring image and the warning monitoring image collected by the camera through an edge detection algorithm to obtain the initial binary image and the warning binary image.

[0016] A method for monitoring the safe transportation of a transportation vehicle provided by the present invention, the exclusive OR result of the initial binary image and the warning binary image of the carriage, includes: if the gray values of the pixel points in the initial binary image of the carriage and the corresponding pixel points in the warning binary image are different, then this pixel point is an abnormal pixel point; otherwise, this pixel point is a normal pixel point.

[0017] A method for monitoring the safe transportation of a transport vehicle provided by the present invention realizes the monitoring of the safe transportation of the transport vehicle through the exclusive OR result of the initial binary image of the carriage and the warning binary image, including: if the proportion of the number of abnormal pixel points in the exclusive OR result of the initial binary image of the carriage and the warning binary image is greater than a preset abnormal threshold, the monitoring result of the safe transportation of the transport vehicle is obtained as abnormal; otherwise, the monitoring result of the safe transportation of the transport vehicle is normal; in response to the monitoring result of the safe transportation of the transport vehicle being abnormal, an abnormal voice warning is issued outward.

[0018] The present invention takes into account that during the driving of the transport vehicle, the staff may not be able to view the monitoring results in time. Therefore, after obtaining that the monitoring result of the safe transportation of the transport vehicle is abnormal, the present invention promptly issues an abnormal voice warning outward to prompt the staff to process it as soon as possible, thereby reducing the risk of cargo damage and improving the transportation quality.

[0019] A method for monitoring the safe transportation of a transport vehicle provided by the present invention, after realizing the monitoring of the safe transportation of the transport vehicle, further includes: associatively storing the data points with the monitoring result of the safe transportation of the transport vehicle being abnormal and the corresponding warning binary image in a database.

[0020] The present invention takes into account that the offset of the cargo in the carriage may damage the quality of the cargo. Therefore, the time of the offset and the warning image are associatively stored to facilitate the subsequent analysis of the work effect of the staff and standardize the operation behavior of the staff.

[0021] In a second aspect, the present invention provides a system for monitoring the safe transportation of a transport vehicle, adopting the following technical solution: A system for monitoring the safe transportation of a transport vehicle includes: a processor and a memory, and the memory stores computer program instructions, and when the computer program instructions are executed by the processor, the above-mentioned method for monitoring the safe transportation of a transport vehicle is realized.

[0022] By adopting the above technical solution, the above-mentioned method for monitoring the safe transportation of a transport vehicle is generated into a computer program and stored in the memory to be loaded and executed by the processor, so as to manufacture a terminal device according to the memory and the processor, which is convenient to use.

[0023] The present invention has the following technical effects: Based on the above technical solution, a method and system for monitoring the safe transportation of a transport vehicle provided by the present invention can achieve the monitoring and early warning of the safe transportation of the transport vehicle by collecting monitoring images of the goods in the carriage for abnormal monitoring. In this process, the present invention considers that collecting and transmitting monitoring images at all times may cause waste of resources, large data processing volume, and low efficiency; based on this, after the initial image of the carriage is collected, the camera is started in the standby state, and by monitoring the speed data and the change of the body tilt angle during the vehicle driving process, the moment when the goods may tilt or shift is obtained, and the monitoring image at this moment is collected and compared with the initial image. Through secondary confirmation, the monitoring and early warning result of the safe transportation of the transport vehicle can be accurately obtained, and the efficiency of the monitoring and early warning of the safe transportation of the transport vehicle is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic flowchart of a method for monitoring the safe transportation of a transport vehicle provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0025] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments.

[0026] In order to achieve the monitoring and early warning of the safe transportation of a transport vehicle, an embodiment of the present invention discloses a method for monitoring the safe transportation of a transport vehicle. After collecting the initial monitoring image of the carriage by a camera, the camera is kept in the standby state, and the vehicle driving data is analyzed to accurately obtain the possibility that the goods in the carriage are tilted or shifted. When it is obtained from the vehicle driving data that the goods may be tilted or shifted, the camera is started again to collect the real-time warning monitoring image of the carriage, and the abnormal monitoring result of the vehicle operation can be accurately obtained, effectively improving the efficiency of the monitoring and early warning of the safe transportation of the transport vehicle.

[0027] Specifically, please refer to Figure 1 as shown in Figure 1 It is a schematic flowchart of a method for monitoring the safe transportation of a transport vehicle provided by an embodiment of the present invention, and the method specifically includes the following steps.

[0028] S1: After collecting the initial binary image of the carriage, start the standby state of the camera.

[0029] Exemplarily, in the embodiment of the present invention, the method for obtaining the initial binary image of the carriage includes: processing the initial monitoring image collected by the camera through an edge detection algorithm to obtain the initial binary image.

[0030] Among them, the edge detection algorithm can be the Canny edge detection algorithm, the Sobel edge detection algorithm, etc., and can be specifically set according to actual needs.

[0031] Specifically, after the transport vehicle finishes loading, an initial monitoring image is collected by a high-definition camera.

[0032] Exemplarily, before collecting the initial binary image of the carriage, the initial monitoring image can also be preprocessed for denoising, image enhancement, etc., which can be specifically set according to actual needs, and the embodiments of the present invention do not limit this too much here.

[0033] It should be noted that when the monitoring screen of the cargo box is collected in real time by the camera, the state of the goods in most monitoring images may remain unchanged. If all monitoring images are monitored and transmitted, it may cause waste of resources.

[0034] Based on this, after the initial monitoring image of the carriage is collected in the embodiments of the present invention, the camera is controlled to be in a standby state, thereby reducing resource consumption.

[0035] It can be understood that the standby state of the camera refers to the low-power mode in which the camera is in when it is not performing operations such as shooting or recording. In the standby state, the camera usually turns off or reduces the power consumption of the image sensor, etc., while maintaining the state of receiving instructions or signals.

[0036] It should be further noted that after controlling the camera to be in the standby state, it is necessary to continue to monitor and give early warnings about the goods in the carriage. And the inclination or deviation of the goods in the carriage is directly related to the speed and inclination angle of the vehicle.

[0037] Based on this, the embodiments of the present invention obtain the possibility of the goods in the carriage being inclined or deviated by analyzing the changes in the speed data and inclination angle data during the transportation process of the transport vehicle, so as to accurately realize the monitoring and early warning of vehicle safe transportation, that is, the following steps are executed.

[0038] S2: Obtain the speed value and inclination angle corresponding to each data point in the time series of vehicle driving data; based on the speed difference and inclination angle difference between the data point and the neighboring sequence with a preset length, obtain the early warning degree of the data point.

[0039] Among them, the preset length of the neighboring sequence can be set to 20, and can be specifically set according to actual needs, and the embodiments of the present invention do not limit this too much here.

[0040] It can be understood that the neighboring sequence of the current data point does not include the current data point itself; the preset length of the neighboring sequence is the number of data points included in the neighboring sequence.

[0041] Exemplarily, when obtaining the neighboring sequence of the current data point, the left adjacent data point of the current data point can be used as the starting point to obtain a data point, construct a neighboring sequence of the current data point, and the length of the neighboring sequence is .

[0042] It should be noted that the inclination angle of the transport vehicle body can intuitively reflect the possibility of the goods in the carriage being inclined or offset. The greater the inclination angle, the greater the possibility of the goods being inclined or offset. However, when it is detected that the inclination angle of the vehicle body changes greatly, the goods in the carriage may have been severely inclined or even collapsed. Moreover, the inclination of the vehicle body can usually be reflected by the speed of the transport vehicle. When the speed of the vehicle changes greatly or the instantaneous speed of the vehicle is large, the inertia of the goods may cause the vehicle body to incline, and the goods in the carriage may be inclined or offset.

[0043] Based on this, the embodiments of the present invention obtain the possibility of the goods in the carriage being inclined or offset by acquiring the speed data and the change of the inclination angle data of the transport vehicle, so as to timely and accurately identify potential anomalies and improve the accuracy of early warning.

[0044] Exemplarily, in the embodiments of the present invention, before obtaining the speed value and the inclination angle corresponding to each data point in the time series of vehicle driving data, it further includes: taking the speed data and the inclination angle data of the vehicle obtained at each acquisition moment as a data point, and obtaining the time series of vehicle driving data after preprocessing.

[0045] Among them, the preprocessing can be data normalization processing, missing data interpolation, etc., which can be specifically set according to actual needs, and the embodiments of the present invention do not limit too much here.

[0046] Specifically, when collecting the speed data and the inclination angle data of the vehicle, the collection frequency can be preset. The speed data of the vehicle is obtained through the positioning system, and the inclination angle sensor is arranged on the frame of the transport vehicle or the center of the vehicle chassis to collect the inclination angle data of the transport vehicle.

[0047] Among them, the collection frequency can be set to 10Hz, which can be specifically set according to actual needs, and the embodiments of the present invention do not limit too much here.

[0048] Exemplarily, in the embodiments of the present invention, based on the speed difference and the inclination angle difference between the data point and the neighboring sequence with a preset length, the early warning degree of the data point is obtained, including: obtaining the absolute value mean of the speed difference between the speed value of the data point and the neighboring sequence, normalizing the ratio of the absolute value mean of the speed difference to the speed standard deviation of the neighboring sequence of the data point to obtain the speed mutation of the data point; obtaining the inclination angle mutation of the data point; and recording the sum of the product of the preset speed weight and the speed mutation of the data point and the product of the preset inclination angle weight and the inclination angle mutation of the data point as the early warning degree of the data point.

[0049] Among them, the preset speed weight can be set to 0.3, the preset tilt angle weight can be set to 0.7, and the sum of the preset speed weight and the preset tilt angle weight is 1; specifically, it can be set according to actual needs, and the embodiments of the present invention do not limit this too much here.

[0050] It can be understood that the vehicle body tilt angle data directly reflects the tilt state of the vehicle body and is closely related to the stability of the goods. If the vehicle body tilt angle is large, the goods are more likely to shift or tip over due to gravity, while the driving speed data has a relatively small impact on the stability of the goods. Therefore, in the embodiments of the present invention when setting the corresponding weights, the weight of the vehicle body tilt angle data can be made greater than the weight of the driving speed data.

[0051] For the convenience of understanding, hereinafter, the embodiments of the present invention will take the calculation of the speed mutation of data points as an example for illustration, but it does not mean that the embodiments of the present invention are only limited to this.

[0052] Exemplarily, in the embodiments of the present invention, to calculate the speed mutation of data points, the following relational expression can be specifically referred to: ; is the speed mutation of the i-th data point, is the length of the adjacent sequence of data points, is the speed value of the i-th data point, is the th data point speed value in the adjacent sequence of the i-th data point, is the speed standard deviation of the adjacent sequence of the i-th data point, is the absolute value symbol, is the standard normalization function.

[0053] In the above formula, the speed mutation of the i-th data point is used to characterize the degree of speed mutation during the driving of the transport vehicle, represents the speed difference between the i-th data point and the adjacent sequence. The greater the difference, it indicates that the speed data of the transport vehicle at the acquisition moment corresponding to the i-th data point has a large change difference from the recent speed data, and there is a greater possibility of offset or tilt of the goods in the carriage at the current moment.

[0054] It can be understood that the driving conditions of the transport vehicle are different on different road sections. For example, the vehicle speed will be continuously high on the highway section, and the vehicle speed changes greatly but the speed value is small in the traffic jam section. Therefore, through comparing the speed data points that change at different time periods with a unified standard, it is convenient for data processing.

[0055] Similarly, the tilt angle mutation of each data point can be obtained.

[0056] By way of example, in an embodiment of the present invention, obtaining the sudden change in the tilt angle of the data point includes: obtaining the absolute mean of the tilt angle value of the data point and the tilt angle difference in an adjacent sequence, normalizing the ratio of the absolute mean of the tilt angle difference to the standard deviation of the tilt angle of the adjacent sequence of the data point, and obtaining the sudden change in the tilt angle of the data point.

[0057] After obtaining the speed mutation and the tilt angle mutation of the data point based on the above steps, the warning degree of the data point can be obtained based on the speed mutation and the tilt angle mutation of the data point, and then continue to perform the following steps.

[0058] S3: In response to the ascending order of the Euclidean distances between the data point and other data points, a target sequence for the data point is constructed, and the alarm level of the data point is calculated.

[0059] It should be noted that the above steps can obtain the warning degree of the data point by analyzing the speed difference and tilt angle difference between the data point and the adjacent sequence. The higher the warning degree, the higher the possibility that the cargo is tilted or offset at the collection moment corresponding to the current data point.

[0060] However, during the driving of the truck, the process of cargo deviation or tilting is usually time-series. The above steps only judge whether a warning is needed based on the warning level obtained at a single collection moment, which is easily affected by instantaneous noise data and may lead to false warnings.

[0061] Based on this, the embodiment of the present invention can obtain some data points with a close Euclidean distance to the data point as the target sequence of the data point. The smaller the Euclidean distance between the data points, the higher the similarity between the data points. By analyzing the difference in warning degree and collection time between the data point and the data point in the target sequence, the possibility that the current data point is noise data can be accurately obtained, thereby accurately obtaining the possibility that the goods are offset or tilted.

[0062] By way of example, in an embodiment of the present invention, in response to the ascending arrangement of the Euclidean distances between a data point and other data points, a target sequence of the data point is constructed, including: taking the minimum value of the Euclidean distance between the data point and other data points in the ascending arrangement as a starting point to obtain a preset number of other data points corresponding to the Euclidean distances as the target sequence of the data point.

[0063] Among them, the preset number can be set to 10, which can be set according to actual needs. The embodiment of the present invention does not impose too many restrictions on this.

[0064] It can be understood that the data points in the target sequence of the current data point are several data points that are ranked high in ascending order, that is, several data points that are close to the current data point in Euclidean distance.

[0065] Exemplarily, in the embodiments of the present invention, to calculate the alarm level of a data point, the following relational expression can be specifically referred to: ; is the alarm level of the i-th data point, is the early warning level of the i-th data point, is the average value of the early warning levels of the target sequence of the i-th data point, is the length of the target sequence, is the acquisition time of the i-th data point, is the -th data point in the target sequence of the i-th data point, is the exponential function with base e, where e is the natural constant, is the absolute value symbol.

[0066] In the above formula, represents the difference between the early warning level of the i-th data point and the average value of the early warning levels of the target sequence of the i-th data point. The larger this value is, the greater the possibility that the i-th data point is noise data. To reduce the interference of noise data, it is necessary to reduce the alarm level of this data point. Therefore, the corresponding alarm level of the i-th data point is lower.

[0067] represents the difference between the acquisition time of the i-th data point and the acquisition times of each data point in the target sequence of the i-th data point. The smaller this value is, the closer the acquisition time of the i-th data point is to the acquisition time of the -th data point in its target sequence, and the higher the credibility of the alarm level of the obtained data point.

[0068] After obtaining the alarm levels of each data point based on the above steps, it is possible to obtain the possibility of whether there is inclination or deviation of the goods in the carriage based on the comparison result between the alarm level of the data point and a preset threshold.

[0069] S4: In response to the alarm level of the data point being greater than the preset threshold, start the camera to capture the binary alarm image of the carriage corresponding to this data point.

[0070] Among them, the preset threshold can be set to 0.7; the preset threshold can be specifically set according to actual needs, and the embodiments of the present invention do not limit this too much here.

[0071] It should be noted that the carriage warning binary image corresponding to the data point captured by the camera startup is the carriage monitoring image corresponding to the data point where the current goods may be tilted or offset. When it is detected that the goods may be tilted or offset, the camera is started to capture the current monitoring image, and based on the difference between the current monitoring image and the initial monitoring image, the warning of the data point is reconfirmed, so that the warning result of the current data point can be accurately obtained, and the possibility of false warning can be reduced.

[0072] Exemplarily, in the embodiment of the present invention, the method for obtaining the carriage warning binary image includes: processing the warning monitoring image collected by the camera through an edge detection algorithm to obtain a warning binary image.

[0073] Exemplarily, when the initial binary image and the warning binary image are obtained by processing the initial monitoring image and the warning monitoring image collected by the camera through an edge detection algorithm, the edge detection algorithm obtains the edge detection results in the initial monitoring image and the warning monitoring image to obtain the initial binary image and the warning binary image.

[0074] Among them, the specific steps for the edge detection algorithm to obtain the edge detection results in the initial monitoring image and the warning monitoring image to obtain the initial binary image and the warning binary image can be implemented by the prior art, and the embodiments of the present invention will not be elaborated herein.

[0075] It can be understood that if the warning degree of the current data point is not greater than the preset threshold, it means that there is no abnormality or the abnormality is small in the transportation process of the transport vehicle at the acquisition moment corresponding to the current data point, and the possibility of the goods in the carriage being offset or tilted is small. In this case, the standby state of the camera can be continued.

[0076] Exemplarily, in the embodiment of the present invention, in response to the warning degree of the data point being greater than the preset threshold, starting the camera to capture the carriage warning binary image corresponding to the data point further includes: in response to the warning degree of the data point not being greater than the preset threshold, continuing to keep the camera in the standby state.

[0077] After obtaining the carriage warning binary image based on the above steps, the following steps are continued to be executed.

[0078] S5: Realize the safe transportation monitoring of the transport vehicle through the exclusive OR result of the carriage initial binary image and the warning binary image.

[0079] It should be noted that each pixel on the binary image has only two possible gray values. By comparing the gray values of the pixel points at the same position in the two binary images, the exclusive OR result of each pixel point can be obtained.

[0080] Exemplarily, when obtaining the exclusive OR result of each pixel point by comparing the gray values of the pixel points at the same position in the initial binary image of the carriage and the warning binary image, if the gray values of the pixel points at the same position are the same, the output is 0; if the gray values of the pixel points at the same position are different, the output is 1.

[0081] It can be understood that the position of the camera remains unchanged, so each pixel point in the initial binary image of the carriage and the warning binary image obtained by acquisition corresponds one by one. If the output of a pixel point is 0, it means that the pixel point has not changed in the initial binary image of the carriage and the warning binary image, so the pixel point is a normal pixel point; conversely, if the output of the pixel point is 1, it means that the pixel point has changed in the initial binary image of the carriage and the warning binary image, so the pixel point is an abnormal pixel point.

[0082] Exemplarily, in the embodiment of the present invention, the exclusive OR result of the initial binary image of the carriage and the warning binary image includes: if the gray value of the pixel point in the initial binary image of the carriage is different from the gray value of the corresponding pixel point in the warning binary image, the pixel point is an abnormal pixel point; otherwise, the pixel point is a normal pixel point.

[0083] After obtaining the exclusive OR result of each pixel point in the initial binary image of the carriage and the warning binary image based on the above steps, the monitoring result of whether the goods are tilted or offset can be obtained based on the exclusive OR result of the pixel points.

[0084] Exemplarily, in the embodiment of the present invention, the safe transportation monitoring of the transport vehicle is realized through the exclusive OR result of the initial binary image of the carriage and the warning binary image, including: if the proportion of the number of abnormal pixel points in the exclusive OR result of the initial binary image of the carriage and the warning binary image is greater than the preset abnormal threshold, the safe transportation monitoring result of the transport vehicle is abnormal; otherwise, the safe transportation monitoring result of the transport vehicle is normal; in response to the safe transportation monitoring result of the transport vehicle being abnormal, an abnormal voice warning is issued outward.

[0085] Among them, the preset abnormal threshold can be set to 0.3; the preset abnormal threshold can be specifically set according to actual needs, and the embodiment of the present invention does not limit it too much here.

[0086] It can be understood that the proportion of the number of abnormal pixel points is the ratio of the number of abnormal pixel points to the total number of pixel points in the initial binary image of the carriage or the warning binary image. The higher the ratio, the greater the proportion.

[0087] Exemplarily, in the embodiment of the present invention, after realizing the safe transportation monitoring of the transport vehicle, it further includes: associating and storing the data points with the safe transportation monitoring result of the transport vehicle being abnormal and the corresponding warning binary image in the database.

[0088] In this way, in the embodiment of the present invention, by associatively storing the abnormal monitoring results of the safe transportation of the transport vehicle and the corresponding images, subsequent accurate abnormal analysis can be carried out based on this, thereby standardizing the behavior of the staff.

[0089] It can be seen that in the embodiment of the present invention, when implementing the safe transportation monitoring of the transport vehicle, the initial binary image of the carriage can be collected and then the camera is put into the standby state, and the speed value and tilt angle corresponding to each data point in the time series sequence of the vehicle driving data are obtained; based on the speed difference and tilt angle difference between the data point and the neighboring sequence with a preset length, the warning level of the data point is obtained; in response to the ascending order of the Euclidean distances between the data point and other data points, a target sequence of the data point is constructed; ; 、 、 are respectively the warning level, the pre-warning level, and the acquisition time of the i-th data point, is the average value of the pre-warning levels of the target sequence of the i-th data point, is the length of the target sequence, is the acquisition time of the -th data point in the target sequence of the i-th data point, is the exponential function with e as the base, is the absolute value symbol; in response to the warning level of the data point being greater than the preset threshold, the camera is started to capture the warning binary image of the carriage corresponding to the data point; through the exclusive OR result of the initial binary image of the carriage and the warning binary image, the safe transportation monitoring of the transport vehicle is realized, which can effectively improve the efficiency of the safe transportation monitoring of the transport vehicle.

[0090] The embodiment of the present invention also discloses a safe transportation monitoring system for a transport vehicle, including a processor and a memory. The memory stores computer program instructions, and when the computer program instructions are executed by the processor, a safe transportation monitoring method provided by the present invention is implemented.

[0091] The above system also includes other components well known to those skilled in the art such as a communication bus and a communication interface, and their settings and functions are known in the art, so they will not be elaborated here.

[0092] In the present invention, the aforementioned memory can be any tangible medium that contains or stores a program, and the program can be used by or in combination with an instruction execution system, apparatus, or device.

[0093] The above are all the preferred embodiments of the present invention. The protection scope of the present invention is not limited accordingly. Therefore, all equivalent changes made according to the structure, shape, and principle of the present invention should be covered within the protection scope of the present invention.

Claims

1. A method for monitoring safe transportation of transport vehicles, characterized in that: include: After collecting the initial binary image of the carriage, the camera is started in standby mode to obtain the speed value and tilt angle corresponding to each data point in the time series of vehicle driving data; Based on the speed difference and tilt angle difference between the data point and the adjacent sequence of preset length, the warning degree of the data point is obtained; In response to the ascending order of the Euclidean distance between the data point and other data points, a target sequence of the data point is constructed; according to the difference in warning degree and the difference in collection time between the data point and the data points in the target sequence, the alarm degree of the data point is calculated: ； , , are the alarm level, warning level, and collection time of the i-th data point, respectively. is the mean value of the warning degree of the target sequence of the i-th data point, is the target sequence length, is the first data point in the target sequence The collection time of data points, is an exponential function with base e, is the absolute value symbol; In response to the alarm level of a data point being greater than a preset threshold, the camera is activated to capture the carriage alarm binary image corresponding to the data point; the safe transportation monitoring of the transport vehicle is achieved through the XOR result of the carriage initial binary image and the alarm binary image.

2. A method for monitoring safe transportation of transport vehicles according to claim 1, characterized in that: The method of obtaining the speed value and the tilt angle corresponding to each data point in the vehicle driving data time series sequence also includes: The speed data and tilt angle data of the vehicle acquired at each acquisition moment are taken as a data point, and the vehicle driving data time series is obtained after preprocessing.

3. A method for monitoring safe transportation of transport vehicles according to claim 1, characterized in that: The step of obtaining the warning degree of the data point based on the speed difference and the tilt angle difference between the data point and the adjacent sequence of preset length includes: Obtain the absolute mean of the speed value of the data point and the speed difference in the adjacent sequence, normalize the ratio of the absolute mean of the speed difference to the standard deviation of the speed of the adjacent sequence of the data point, and obtain the speed mutation of the data point; obtain the inclination angle mutation of the data point; The sum of the product of the preset speed weight and the speed mutation of the data point and the product of the preset tilt angle weight and the tilt angle mutation of the data point is recorded as the warning level of the data point.

4. A method for monitoring safe transportation of transport vehicles according to claim 1, characterized in that: The step of constructing a target sequence of the data point in response to the ascending order of the Euclidean distances between the data point and other data points comprises: Taking the minimum Euclidean distance between a data point in ascending order and other data points as a starting point, obtain other data points corresponding to a preset number of Euclidean distances as the target sequence of the data point.

5. A method for monitoring safe transportation of transport vehicles according to claim 1, characterized in that: In response to the alarm level of the data point being greater than a preset threshold, the camera is started to capture the carriage alarm binary image corresponding to the data point, and further includes: In response to the alarm level of the data point being no greater than a preset threshold, the camera continues to be in standby mode.

6. A method for monitoring safe transportation of transport vehicles according to claim 1, characterized in that: The method for obtaining the carriage initial binary image and the warning binary image includes: The initial monitoring image and the alarm monitoring image collected by the camera are processed by an edge detection algorithm to obtain an initial binary image and an alarm binary image.

7. A method for monitoring safe transportation of transport vehicles according to claim 1, characterized in that: The XOR result of the initial binary image of the carriage and the binary image of the warning includes: If the grayscale value of a pixel in the initial binary image of the carriage is different from the grayscale value of the corresponding pixel in the warning binary image, the pixel is an abnormal pixel; otherwise, the pixel is a normal pixel.

8. A method for monitoring safe transportation of transport vehicles according to claim 7, characterized in that: The method realizes safe transportation monitoring of the transport vehicle by performing an XOR operation on the initial binary image of the carriage and the binary image of the warning, including: If the proportion of abnormal pixel points in the XOR result of the initial binary image of the carriage and the alarm binary image is greater than the preset abnormal threshold, the safe transportation monitoring result of the transport vehicle is abnormal; otherwise, the safe transportation monitoring result of the transport vehicle is normal; In response to abnormal results of the transport safety monitoring of the transport vehicle, an abnormal voice warning is issued externally.

9. A method for monitoring safe transportation of transport vehicles according to claim 1, characterized in that: The method of realizing safe transportation monitoring of transport vehicles further includes: The data points with abnormal transport safety monitoring results for transport vehicles and the warning binary images corresponding to the data points are associated and stored in the database.

10. A transport vehicle safety monitoring system, characterized in that: include: A processor and a memory, wherein the memory stores computer program instructions, and when the computer program instructions are executed by the processor, a method for monitoring safe transportation of a transport vehicle according to any one of claims 1 to 9 is implemented.

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