Roadside debris identification method and device, electronic equipment and storage medium

Abstract

This invention provides a method, device, electronic device, and storage medium for identifying road debris, belonging to the field of signal processing technology. The method includes: acquiring the original vibration signals corresponding to multiple grating measuring points in a grating array vibration sensing optical cable deployed on the road; determining a first energy for each grating measuring point within a first time window based on the original vibration signal; determining the occurrence time of a debris event within the first time window based on the first energy of each grating measuring point; determining a second energy for each grating measuring point within a second time window, wherein the occurrence time falls within the second time window; and determining the location of the debris on the road based on the second energy. Because the location of the debris is determined based on the energy distribution of multiple grating measuring points within a precise time window, the possibility of false alarms and missed alarms is reduced, improving the accuracy and efficiency of debris identification.

Description

Technical Field

[0001] This invention relates to the field of signal processing technology, specifically to a method, device, electronic device, and storage medium for identifying road debris. Background Technology

[0002] With the increasing mileage of highways both domestically and internationally, incidents involving debris on highways are also on the rise. Debris is a significant cause of traffic accidents and congestion. Due to the high speeds and heavy traffic on highways, debris not only poses a safety hazard but can also reduce traffic efficiency and cause congestion. Addressing debris presents challenges in timely detection, rapid cleanup, and early warning and prevention; therefore, accurate and timely identification of debris is crucial.

[0003] In related technologies, highway debris detection is mainly divided into two categories: indirect detection and direct detection. Indirect detection methods infer the likelihood of debris by analyzing abnormal changes in traffic flow parameters (such as sudden drops in vehicle speed or lane congestion), and have a certain real-time warning capability. However, this type of method usually cannot directly identify the specific features and accurate location of debris, resulting in a high false positive rate and insufficient accuracy. Direct detection uses video image processing technology, typically analyzing highway surveillance videos to identify abnormal objects in the footage. Because it relies on images taken by cameras along the route, direct detection methods can only achieve debris detection on localized sections of the road, and the algorithm's detection accuracy is affected by environmental factors, such as lack of lighting at night or in rainy, snowy, or foggy weather, leading to a lower recognition rate. Summary of the Invention

[0004] In view of this, it is necessary to provide a method, device, electronic device and storage medium for identifying road debris, so as to solve the technical problems of low accuracy and efficiency in identifying road debris in the prior art.

[0005] To address the aforementioned technical problems, in a first aspect, the present invention provides a method for identifying highway debris, comprising:

[0006] Acquire the original vibration signals corresponding to each of the multiple grating measuring points in the grating array vibration sensing optical cable deployed on the highway;

[0007] Based on the original vibration signal corresponding to each grating measurement point, the first energy of each grating measurement point in the first time window is determined.

[0008] Based on the first energy of each grating measurement point, the occurrence time of the remnant event is determined within the first time window;

[0009] Determine the second energy of each grating measurement point in the second time window, wherein the occurrence time is within the second time window;

[0010] The location of the debris on the highway is determined based on the second energy.

[0011] In one possible implementation, determining the first energy of each grating measuring point within a first time window based on the original vibration signal corresponding to each grating measuring point includes:

[0012] The original vibration signal at each grating measurement point is subjected to high-pass filtering to obtain the filtered vibration signal corresponding to each grating measurement point.

[0013] Within the first time window, the energy of the filtered vibration signal corresponding to each grating measurement point is integrated to obtain the first energy.

[0014] In one possible implementation, determining the occurrence time of the remnant event within the first time window based on the first energy at each grating measurement point includes:

[0015] The first energy of each grating measurement point is superimposed to obtain the superimposed energy of the region corresponding to the grating measurement point in the first time window;

[0016] The timing of the remnant event is determined based on the superimposed energy.

[0017] In one possible implementation, determining the occurrence time of the remnant event based on the superimposed energy includes:

[0018] The first peak point is identified from the energy waveform diagram corresponding to the superimposed energy;

[0019] The occurrence time of the abandoned object event is determined based on the time corresponding to the first peak point.

[0020] In one possible implementation, identifying the first peak point from the energy waveform corresponding to the superimposed energy includes:

[0021] Extract all peak points from the energy waveform;

[0022] The peak point that meets the preset valid conditions among all peak points is determined as the first peak point. The preset valid conditions include that each peak point is greater than or equal to a preset energy threshold, and the time interval between adjacent peak points is greater than or equal to a preset time interval threshold.

[0023] In one possible implementation, determining the occurrence time of the remnant event based on the time corresponding to the first peak point includes:

[0024] When the number of the first peak points is greater than 1, the occurrence time of the first peak point that is earlier in the first time window is selected as the occurrence time of the remnant event.

[0025] In one possible implementation, determining the location of the debris on the highway based on the second energy includes:

[0026] Identify the second peak point from the energy waveform diagram corresponding to the second energy of each grating point;

[0027] The location of the remnant is determined by the grating measurement point corresponding to the largest second peak point.

[0028] Secondly, the present invention also provides a highway debris identification device, comprising:

[0029] The acquisition unit is used to acquire the original vibration signals corresponding to each of the multiple grating measuring points in the grating array vibration sensing optical cable deployed on the highway.

[0030] The first determining unit is used to determine the first energy of each grating measuring point in the first time window based on the original vibration signal corresponding to each grating measuring point.

[0031] The second determining unit is used to determine the occurrence time of the remnant event within the first time window based on the first energy of each grating measurement point.

[0032] The third determining unit is used to determine the second energy of each grating measuring point in the second time window, wherein the occurrence time is within the second time window;

[0033] The fourth determining unit is used to determine the location of the debris on the highway based on the second energy.

[0034] Thirdly, the present invention also provides an electronic device, including a memory and a processor, wherein,

[0035] The memory is used to store programs;

[0036] The processor, coupled to the memory, is used to execute the program stored in the memory to implement the steps in the highway debris identification method described in any of the above implementations.

[0037] Fourthly, the present invention also provides a computer-readable storage medium for storing a computer-readable program or instructions, which, when executed by a processor, can implement the steps of the highway debris identification method described in any of the above implementations.

[0038] The beneficial effects of this invention are:

[0039] The highway debris identification method provided by this invention acquires the original vibration signals corresponding to multiple grating measuring points in a fiber optic vibration sensing cable deployed on the highway. Leveraging the advantage of the original vibration signals being unaffected by environmental factors and the high-speed response characteristics of fiber optic grating sensors, it can monitor and quickly identify debris events in real time, improving debris identification efficiency. Based on the original vibration signal corresponding to each grating measuring point, a first energy is determined for each grating measuring point within a first time window, enhancing the original vibration signal. This allows for the assessment of the intensity of the original vibration signal at each grating measuring point within the first time window. Based on this first energy, accurate and efficient analysis of the nature of the debris event is achieved, enhancing the original vibration signal and thus enabling the assessment of the intensity of the original vibration signal at each grating measuring point within the first time window. The intensity of the original vibration signal at each grating measuring point within a first time window is used to achieve accurate and efficient analysis of the nature of the debris event based on this first energy. Based on the first energy of each grating measuring point, the occurrence time of the debris event is determined within the first time window, enabling the judgment of whether a debris event has occurred. This ensures that highway management personnel can promptly identify and respond to debris events, and also allows for the selection of an accurate and reasonable original vibration signal within a specific time window based on the occurrence time of the debris event. The second energy of each grating measuring point is determined within a second time window, where the occurrence time falls within the second time window, thus enhancing the original vibration signal within that window. The location of the debris on the highway is determined based on the second energy. Because the location of the debris is determined based on the energy distribution of multiple grating measuring points within a precise time window, the possibility of false alarms and missed alarms is reduced, improving the accuracy and efficiency of debris identification. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 A schematic flowchart of an embodiment of the highway debris identification method provided by the present invention;

[0042] Figure 2 A schematic diagram of the highway debris detection system based on grating array vibration sensing provided by the present invention;

[0043] Figure 3 The original vibration signal waterfall diagram provided for this invention;

[0044] Figure 4 A schematic diagram of the filtered vibration signal provided by the present invention;

[0045] Figure 5 The waveform diagrams corresponding to the first energy at each grating measurement point provided by the present invention;

[0046] Figure 6 The waveform diagram corresponding to the superimposed energy of the grating measurement points provided by the present invention;

[0047] Figure 7 The waveform diagram corresponding to the normalized superposition energy provided by the present invention;

[0048] Figure 8 A schematic diagram of multiple first peak points provided by the present invention;

[0049] Figure 9 A schematic diagram of the second peak point of debris falling on a highway scene, provided by the present invention;

[0050] Figure 10 A schematic diagram of the second peak point of the residue in a highway surface scenario provided by the present invention;

[0051] Figure 11 A schematic diagram of an embodiment of the highway debris identification device provided by the present invention;

[0052] Figure 12 A schematic diagram of an embodiment of the electronic device provided by the present invention. Detailed Implementation

[0053] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0054] In the description of the embodiments of the present invention, unless otherwise stated, "a plurality of" means two or more.

[0055] The terms "first," "second," etc., used in the embodiments of this invention are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a technical feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature.

[0056] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0057] This invention provides a method, device, electronic device, and storage medium for identifying road debris, which will be described below.

[0058] The road debris identification method provided in this application can be applied to scenarios of detecting debris thrown off by high-speed vehicles or debris left on the road surface.

[0059] The execution subject of the highway debris identification method in this application embodiment can be the highway debris identification device provided in this application embodiment, or different types of electronic devices such as server equipment, physical host, or user equipment (UE) that integrate the highway debris identification device. The highway debris identification device can be implemented in hardware or software. The UE can be a terminal device such as a smartphone, tablet computer, laptop computer, handheld computer, desktop computer, or personal digital assistant (PDA).

[0060] Figure 1 A schematic flowchart of an embodiment of the highway debris identification method provided by the present invention is shown below. Figure 1 As shown, methods for identifying road debris include:

[0061] S101. Obtain the original vibration signals corresponding to each of the multiple grating measuring points in the grating array vibration sensing optical cable deployed on the highway.

[0062] The grating array vibration sensing optical cable is a sensing optical cable for a grating array, which consists of multiple fiber Bragg grating (FBG) sensing units connected in series. Each FBG sensing unit corresponds to one grating measurement point, and the spacing between adjacent grating measurement points is the same. The original vibration signal is the vibration response signal along the highway that is collected in real time through the grating array vibration sensing optical cable deployed on the highway, with each grating measurement point corresponding to one original vibration signal.

[0063] Specifically, by acquiring the original vibration signals corresponding to each of the multiple grating measurement points, the location and identification of debris on the highway can be carried out based on the original vibration signals. Taking advantage of the fact that the original vibration signals are not affected by environmental factors, as well as the high-speed response characteristics of the fiber optic grating sensor, the debris event can be monitored and identified in real time, thereby improving the efficiency of subsequent debris identification.

[0064] In a specific way, such as Figure 2 The diagram shows a highway debris detection system based on grating array vibration sensing. The system includes a grating array vibration sensor, a vibration demodulation instrument, a big data server, and a data processing platform. In this embodiment, the grating array consists of multiple FBG sensing units connected in series. Each sensing unit corresponds to one grating measurement point, and adjacent grating measurement points are spaced equidistantly, such as 5 meters. The signal sampling frequency is... The grating array vibration sensor is embedded under the asphalt layer along the entire length of the highway, using the centerline of the lanes as a reference. One sensing fiber optic cable is laid for each lane. The signal from each lane's sensing fiber optic cable is demodulated by a vibration demodulator and stored on a big data server. The data processing platform then performs debris detection to determine the time and location of debris events. For example... Figure 3 The image shows a waterfall plot of the original vibration signal. The original vibration signal can be acquired using a vibration demodulator. The figure shows the trajectory of the vehicle; the signal generated by debris falling onto the lane is not obvious. Further processing, such as preprocessing and signal enhancement, can be performed on the original vibration signal to improve its characteristics.

[0065] S102. Based on the original vibration signal corresponding to each grating measuring point, determine the first energy of each grating measuring point in the first time window.

[0066] The first time window is the time window that can fully cover the events of the leftover items, such as 5 seconds.

[0067] The first energy refers to the energy of the original vibration signal corresponding to each grating measurement point. Energy is an important characteristic of vibration signals, reflecting the intensity and duration of vibration. By calculating the first energy, key information can be extracted from the original vibration signal for subsequent analysis and processing.

[0068] Specifically, by determining the first energy of each grating measuring point in the first time window, the original vibration signal is enhanced, thereby enabling the assessment of the intensity of the original vibration signal of each grating measuring point within the first time window. Based on this first energy, accurate and efficient analysis of the nature of the remnant event (such as size, velocity, etc.) can be achieved.

[0069] S103. Based on the first energy of each grating measurement point, determine the occurrence time of the remnant event within the first time window.

[0070] The time of occurrence refers to the initial moment when the incident involving the leftover items occurred, such as the time when the items were thrown from the vehicle.

[0071] Specifically, the first energy at each grating measuring point can be statistically analyzed. For example, the first energies of each measuring point can be superimposed to obtain a superimposed waveform, from which the occurrence time of the debris event can be determined. Understandably, in this embodiment, by determining the occurrence time of the debris event, the determination of whether a debris event has occurred is achieved, ensuring that highway management personnel can promptly identify and respond to debris events. Simultaneously, it allows for the subsequent selection of original vibration signals within a precise and reasonable time window based on the occurrence time of the debris event, enabling accurate identification of the debris's location based on the selected original vibration signals.

[0072] S104. Determine the second energy of each grating measurement point in the second time window, wherein the occurrence time is within the second time window.

[0073] The second time window is a time window determined based on the occurrence time. The occurrence time is within the second time window, that is, the time window that extends before and after the occurrence time. The second time window can completely cover the occurrence time of the initial landing point of the remnant or the time when it was initially left on the road surface.

[0074] Specifically, by acquiring the original vibration signal of the second time window and calculating the second energy according to the method for determining the first energy in step 104, the original vibration signal of the second time window is enhanced, so that the location of the remnant can be accurately identified based on the second energy of each grating measuring point.

[0075] S105. Determine the location of the debris on the highway based on the second energy.

[0076] The location of the remnant is its initial location, such as the initial landing point of remnants thrown from a vehicle.

[0077] Specifically, the energy distribution of multiple grating measurement points can be determined based on the second energy of each grating measurement point, and the location of the debris can be determined based on the energy distribution. Since the location of the debris is determined based on the energy distribution of multiple grating measurement points within a precise time window, the possibility of false alarms and missed alarms is reduced, the accuracy and efficiency of debris identification are improved, and significant safety and economic benefits can also be brought about.

[0078] In summary, the highway debris identification method provided by this invention acquires the original vibration signals corresponding to multiple grating measuring points in a fiber optic vibration sensing cable deployed on the highway. Leveraging the advantage that the original vibration signals are unaffected by environmental factors and the high-speed response characteristics of fiber optic grating sensors, it can monitor and quickly identify debris events in real time, improving debris identification efficiency. Based on the original vibration signal corresponding to each grating measuring point, a first energy is determined for each grating measuring point within a first time window, enhancing the original vibration signal. This allows for the assessment of the intensity of the original vibration signal at each grating measuring point within the first time window. Based on this first energy, accurate and efficient analysis of the nature of the debris event (such as size and velocity) is achieved, further enhancing the original vibration signal. This allows for the assessment of the intensity of the original vibration signal at each grating measuring point within a first time window, enabling precise and efficient analysis of the nature of debris events based on this first energy. Based on the first energy of each grating measuring point, the occurrence time of the debris event is determined within the first time window, enabling the judgment of whether a debris event has occurred. This ensures that highway management personnel can promptly identify and respond to debris events, and also allows for the selection of a precise and reasonable time window for the original vibration signal based on the occurrence time of the debris event. The second energy of each grating measuring point is determined in a second time window, where the occurrence time falls within the second time window, thus enhancing the original vibration signal within that window. The location of the debris on the highway is determined based on the second energy. Because the location of the debris is determined based on the energy distribution of multiple grating measuring points within a precise time window, the possibility of false alarms and missed alarms is reduced, improving the accuracy and efficiency of debris identification.

[0079] In some embodiments of the present invention, step S102 includes:

[0080] S201. Perform high-pass filtering on the original vibration signal of each grating measuring point to obtain the filtered vibration signal corresponding to each grating measuring point;

[0081] S202. Within the first time window, the energy of the filtered vibration signal corresponding to each grating measurement point is integrated to obtain the first energy.

[0082] Specifically, the original vibration signal at each grating measurement point is subjected to high-pass filtering to remove low-frequency interference signals such as vehicle and environmental noise. Then, within the first time window, the filtered vibration signal corresponding to each grating measurement point is integrated to obtain the first energy corresponding to each grating measurement point. This reduces redundant processing of noise signals and improves the calculation efficiency of the first energy signal.

[0083] In one specific implementation, a suitable cutoff frequency can be selected, which typically needs to filter out low-frequency interference (such as vibrations caused by vehicles) and is below the high-frequency components of interest in the signal. Determining the cutoff frequency requires consideration of the actual application scenario and signal characteristics.

[0084] The original vibration signal I[n] of each grating measurement point within the first time window is divided into M frames according to the frame length L and frame shift H, and the number of original vibration signal sampling points is... , T For the first time window:

[0085] (1)

[0086] Power per frame P i for:

[0087] (2)

[0088] The first preset percentage α, sorted in ascending order by frame power, for example The frame is identified as a noisy frame, and its average power is the noise power. P noise The estimated value is that the total power of the entire original vibration signal is P total :

[0089] (3)

[0090] Based on total power P total The signal-to-noise ratio can be obtained. After performing high-pass filtering on the original vibration signal at different cutoff frequencies, the optimal high-pass filter cutoff frequency is selected based on the actual signal-to-noise ratio.

[0091] In a specific case of this embodiment, the signal-to-noise ratio (SNR) was calculated based on the grating measurement points corresponding to the actual drop locations of the spilled material. The results showed that the frequency range above 16.6 dB was suitable as the cutoff frequency for the high-pass filter, mainly concentrated between 100–130 Hz. After comprehensive consideration, 100 Hz was ultimately selected as the cutoff frequency of the high-pass filter for preprocessing the original vibration signal.

[0092] For example, cutting off the frequency of the original vibration signal. High-pass filtering processing. For example... Figure 4 The diagram shown is a schematic of a filtered vibration signal. It can be seen from the diagram that after passing the cutoff frequency... After high-pass filtering, the vehicle vibration signal is effectively filtered out, while the residual signal is retained, thus improving the accuracy of the filtered vibration signal.

[0093] In one specific implementation, the energy integral of the filtered vibration signal at each grating measurement point is calculated within a first time window, which can be described as follows:

[0094] (4)

[0095] in, E [ k,m [] represents the first energy at the m-th grating measurement point. It is a discrete filtered vibration signal, where k is the time index. m The grating number represents the filtered vibration signal at the m-th grating measurement point. For example... Figure 5 The figure shows the waveforms corresponding to the first energy at each grating measurement point. The typical characteristics of the residual signal can be clearly observed from the figure.

[0096] In some embodiments of the present invention, step S103 includes:

[0097] S301. The first energy of each grating measurement point is superimposed to obtain the superimposed energy of the region corresponding to the grating measurement point in the first time window;

[0098] S302. Determine the occurrence time of the remnant event based on the superimposed energy.

[0099] Specifically, the first energy of each grating measurement point in the first time window can be summed and superimposed to obtain the superimposed energy. Then, the occurrence time of the remnant event can be determined based on the superimposed energy. Since energy superposition can concentrate the energy of multiple grating measurement points, the energy change caused by the event is more obvious, and false alarms caused by accidental noise or small-amplitude vibrations of a single grating measurement point are reduced, greatly improving the accuracy of the occurrence time determination.

[0100] In one specific implementation, the first energies of each grating measurement point are superimposed to obtain the superimposed energy. It can be described as:

[0101] (5)

[0102] like Figure 6 The figure shown is a waveform diagram corresponding to the superimposed energy at the grating measurement points.

[0103] In some embodiments of the present invention, step S302 includes:

[0104] S401. Identify the first peak point from the energy waveform diagram corresponding to the superimposed energy;

[0105] S402. Determine the occurrence time of the remnant event based on the time corresponding to the first peak point.

[0106] The first peak point is the valid peak point extracted from the energy waveform corresponding to the superimposed energy. If the maximum peak point among multiple peak points is less than a set lower threshold, then... If the maximum peak value exceeds a set threshold, the superimposed energy is normalized, and the first peak value is determined based on the normalized superimposed energy. Figure 7 The figure shown is the waveform of the superimposed energy after normalization.

[0107] If the minimum peak among multiple peak points is greater than a set lower threshold, a peak point identification algorithm can be used to determine the first peak point. The expression for the peak point identification algorithm can be described as follows:

[0108] (6)

[0109] in, Sp Represents the set of peak points, where each element is a tuple. (k,S[k]) , S[k] It is the index in the first time window. k The superimposed energy at a given location, where d is the preset neighborhood width used to define the index in the first time window. k A small area nearby, used for comparison S[k] The values ​​of its adjacent points; in S[k] Value greater than its left neighbor S[k−d], And greater than the value of its right neighbor. S[k+d], It was confirmed to be a peak point, thus identifying a point in the waveform corresponding to the superimposed energy that is significantly higher than the surrounding values.

[0110] Specifically, the first peak point is identified from the energy waveform diagram corresponding to the superimposed energy. Since the first peak point is where the superimposed energy is significantly higher than that at other times, it can characterize the features of the remnant event. Therefore, determining the occurrence time of the remnant event based on the time corresponding to the first peak point is simple to calculate and can improve the accuracy of the occurrence time determination.

[0111] In some embodiments of the present invention, step S401 includes:

[0112] S501. Extract all peak points from the energy waveform diagram;

[0113] S502. Determine the peak point that meets the preset valid conditions among all peak points as the first peak point, wherein the preset valid conditions include that each peak point is greater than or equal to a preset energy threshold, and the time interval between adjacent peak points is greater than or equal to a preset time interval threshold.

[0114] Specifically, in order to suppress false peak points caused by small fluctuations and improve the accuracy of first peak point identification, preset effective conditions can be set. These preset effective conditions include that each peak point is greater than or equal to a preset energy threshold, and the time interval between adjacent peak points is greater than or equal to a preset time interval threshold.

[0115] In one specific implementation, the effective condition for each peak point to be greater than or equal to a preset energy threshold can be described as follows:

[0116] (7)

[0117] in, , which is the preset energy threshold, i.e., the minimum amplitude threshold.

[0118] Adjacent peak points and The valid condition for the time interval between them to be greater than or equal to the preset time interval threshold can be described as follows:

[0119] (8)

[0120] in, , which is a preset time interval threshold, i.e., the minimum time interval between adjacent peaks. If there exists Make If the peak value is larger, then the peak value with the larger value is retained.

[0121] In some embodiments of the present invention, step S402 includes:

[0122] S601. When the number of the first peak points is greater than 1, select the occurrence time of the first peak point that is earlier in the first time window as the occurrence time of the remnant event.

[0123] Specifically, when there are multiple first peak points, the occurrence time of the first peak point earlier in the first time window is taken as the occurrence time of the debris event. That is, the time corresponding to the first peak point in the first time window is taken as the occurrence time of the debris event. It can be understood that since the first peak point earlier in the first time window represents the most obvious sign of the start of the event, it can be used as a suitable reference point to determine the occurrence time of the debris event. This not only ensures the accuracy of the occurrence time determination, but also ensures timely identification and response to the event by selecting the time of the first peak point, thereby improving the safety of highway management.

[0124] The inventors discovered that objects falling on the road often bounce back, causing multiple vibration signals. Therefore, for scenarios where objects fall on the road, further effective conditions can be set, namely, only when three or more first peak points are detected consecutively can it be determined that an object event has occurred.

[0125] In one specific implementation, if the occurrence time is the time of the first peak point... Time of occurrence It can be described as:

[0126] (9)

[0127] in, For the first peak point The sampling frequency and the time index after sampling. For example... Figure 8 The diagram shows multiple first peak points. It can be seen from the diagram that the occurrence times are within the first time window of 32s-37s. =34.352s.

[0128] In some embodiments of the present invention, step 105 includes:

[0129] S701. Identify the second peak point from the energy waveform diagram corresponding to the second energy of each grating point;

[0130] S702, The grating measurement point corresponding to the largest second peak point is determined as the location of the remnant.

[0131] The method for determining the second peak point is the same as that for determining the first peak point.

[0132] Specifically, the second peak point of each grating measurement point is identified from the energy waveform diagram corresponding to the second energy of each grating point. The grating measurement point corresponding to the largest second peak point is determined as the location of the remnant. It can be understood that the largest peak point represents the most significant vibration signal of the corresponding grating measurement point, which is caused by the remnant. Therefore, determining the grating measurement point corresponding to the largest second peak point as the location of the remnant is reasonable and accurate, ensuring the accuracy of the location determination of the remnant.

[0133] In one specific implementation, it can be at the time of occurrence Expansions before and after A second time window is defined, and the corresponding second energy is determined based on the original vibration signal within this second time window. Based on the second peak point determined by this second energy, the grating measurement point corresponding to the largest second peak point is identified as the location of the remnant. For example... Figure 9 The image shown is a schematic diagram of the second peak point of the debris falling onto the highway scene. Figure 10 The image shows a schematic diagram of the second peak point of the debris on a highway surface, where the grating measurement point corresponds to the largest second peak point. This refers to the location of the remains.

[0134] To better implement the highway debris identification method in this embodiment of the invention, based on the highway debris identification method, correspondingly, as follows: Figure 11 As shown, this embodiment of the invention also provides a highway debris identification device, the highway debris identification device 1100 including:

[0135] The acquisition unit 1101 is used to acquire the original vibration signals corresponding to each of the multiple grating measuring points in the grating array vibration sensing optical cable deployed on the highway.

[0136] The first determining unit 1102 is used to determine the first energy of each grating measuring point in the first time window based on the original vibration signal corresponding to each grating measuring point.

[0137] The second determining unit 1103 is used to determine the occurrence time of the remnant event within the first time window based on the first energy of each grating measuring point;

[0138] The third determining unit 1104 is used to determine the second energy of each grating measuring point in the second time window, wherein the occurrence time is within the second time window;

[0139] The fourth determining unit 1105 is used to determine the location of the debris on the highway based on the second energy.

[0140] The highway debris identification device 1100 provided in the above embodiments can realize the technical solutions described in the above highway debris identification method embodiments. The specific implementation principles of each module or unit can be found in the corresponding content in the above highway debris identification method embodiments, and will not be repeated here.

[0141] like Figure 12 As shown, the present invention also provides an electronic device 1200. The electronic device 1200 includes a processor 1201, a memory 1202, and a display 1203. Figure 12 Only some components of the electronic device 1200 are shown, but it should be understood that it is not required to implement all the components shown, and more or fewer components may be implemented instead.

[0142] In some embodiments, processor 1201 may be a central processing unit (CPU), microprocessor, or other data processing chip for running program code stored in memory 1202 or processing data, such as the highway debris identification method of the present invention.

[0143] In some embodiments, processor 1201 may be a single server or a group of servers. The server group may be centralized or distributed. In some embodiments, processor 1201 may be local or remote. In some embodiments, processor 1201 may be implemented on a cloud platform. In one embodiment, the cloud platform may include a private cloud, public cloud, hybrid cloud, community cloud, distributed cloud, inter-cloud, multi-cloud, or any combination thereof.

[0144] In some embodiments, memory 1202 may be an internal storage unit of electronic device 1200, such as a hard disk or memory of electronic device 1200. In other embodiments, memory 1202 may also be an external storage device of electronic device 1200, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc. equipped on electronic device 1200.

[0145] Furthermore, the memory 1202 may include both internal storage units of the electronic device 1200 and external storage devices. The memory 1202 is used to store application software and various types of data installed on the electronic device 1200.

[0146] In some embodiments, display 1203 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, or an OLED (Organic Light-Emitting Diode) touchscreen. Display 1203 is used to display information from electronic device 1200 and to display a visual user interface. Components 1201-1203 of electronic device 1200 communicate with each other via a system bus.

[0147] In one embodiment, when the processor 1201 executes the highway debris identification program in the memory 1202, the following steps can be performed:

[0148] Acquire the original vibration signals corresponding to each of the multiple grating measuring points in the grating array vibration sensing optical cable deployed on the highway;

[0149] Based on the original vibration signal corresponding to each grating measurement point, the first energy of each grating measurement point in the first time window is determined.

[0150] Based on the first energy of each grating measurement point, the occurrence time of the remnant event is determined within the first time window;

[0151] Determine the second energy of each grating measurement point in the second time window, wherein the occurrence time is within the second time window;

[0152] The location of the debris on the highway is determined based on the second energy.

[0153] It should be understood that when the processor 1201 executes the highway debris identification program in the memory 1202, in addition to the functions mentioned above, it can also perform other functions, as can be found in the description of the corresponding method embodiments above.

[0154] Furthermore, the embodiments of the present invention do not specifically limit the type of the electronic device 1200 mentioned. The electronic device 1200 can be a mobile phone, tablet computer, personal digital assistant (PDA), wearable device, laptop computer, or other portable electronic device. Exemplary embodiments of portable electronic devices include, but are not limited to, portable electronic devices running iOS, Android, Microsoft, or other operating systems. The aforementioned portable electronic device can also be other portable electronic devices, such as a laptop computer with a touch-sensitive surface (e.g., a touch panel). It should also be understood that in some other embodiments of the present invention, the electronic device 1200 may not be a portable electronic device, but rather a desktop computer with a touch-sensitive surface (e.g., a touch panel).

[0155] Accordingly, this application also provides a computer-readable storage medium for storing a computer-readable program or instruction. When the program or instruction is executed by a processor, it can implement the steps or functions of the highway debris identification method provided in the above-described method embodiments.

[0156] Those skilled in the art will understand that all or part of the processes of the methods described in the above embodiments can be implemented by a computer program instructing related hardware (such as a processor, controller, etc.), and the computer program can be stored in a computer-readable storage medium. The computer-readable storage medium may be a disk, optical disk, read-only memory, or random access memory, etc.

[0157] The present invention has provided a detailed description of the highway debris identification method, device, electronic device, and storage medium. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A method for identifying road debris, characterized in that, include: Acquire the original vibration signals corresponding to each of the multiple grating measuring points in the grating array vibration sensing optical cable deployed on the highway; Based on the original vibration signal corresponding to each grating measurement point, the first energy of each grating measurement point in the first time window is determined. Based on the first energy of each grating measurement point, the occurrence time of the remnant event is determined within the first time window, including: superimposing the first energy of each grating measurement point to obtain the superimposed energy of the region corresponding to the grating measurement point within the first time window; and identifying the first peak point from the energy waveform diagram corresponding to the superimposed energy. Determining the occurrence time of a remnant event based on the time corresponding to the first peak point includes: determining the occurrence of a remnant event as three or more consecutively detected first peak points; when the number of first peak points is greater than one, selecting the occurrence time of the first peak point earlier in the first time window as the occurrence time of the remnant event. Determine the second energy of each grating measurement point in the second time window, wherein the occurrence time is within the second time window; The location of the debris on the highway is determined based on the second energy.

2. The method for identifying highway debris according to claim 1, characterized in that, The determination of the first energy of each grating measuring point within the first time window based on the original vibration signal corresponding to each grating measuring point includes: The original vibration signal at each grating measurement point is subjected to high-pass filtering to obtain the filtered vibration signal corresponding to each grating measurement point. Within the first time window, the energy of the filtered vibration signal corresponding to each grating measurement point is integrated to obtain the first energy.

3. The method for identifying highway debris according to claim 1, characterized in that, The step of identifying the first peak point from the energy waveform corresponding to the superimposed energy includes: Extract all peak points from the energy waveform; The peak point that meets the preset valid conditions among all peak points is determined as the first peak point. The preset valid conditions include that each peak point is greater than or equal to a preset energy threshold, and the time interval between adjacent peak points is greater than or equal to a preset time interval threshold.

4. The method for identifying highway debris according to claim 1, characterized in that, Determining the location of the debris on the highway based on the second energy includes: The second peak point is identified from the energy waveform diagram corresponding to the second energy of each grating point; The location of the remnant is determined by the grating measurement point corresponding to the largest second peak point.

5. A highway debris identification device, characterized in that, include: The acquisition unit is used to acquire the original vibration signals corresponding to each of the multiple grating measuring points in the grating array vibration sensing optical cable deployed on the highway. The first determining unit is used to determine the first energy of each grating measuring point in the first time window based on the original vibration signal corresponding to each grating measuring point. The second determining unit is used to determine the occurrence time of the remnant event within the first time window based on the first energy of each grating measuring point, including: superimposing the first energy of each grating measuring point to obtain the superimposed energy of the region corresponding to the grating measuring point within the first time window; and identifying the first peak point from the energy waveform diagram corresponding to the superimposed energy. Determining the occurrence time of a remnant event based on the time corresponding to the first peak point includes: determining the occurrence of a remnant event as three or more consecutively detected first peak points; when the number of first peak points is greater than one, selecting the occurrence time of the first peak point earlier in the first time window as the occurrence time of the remnant event. The third determining unit is used to determine the second energy of each grating measuring point in the second time window, wherein the occurrence time is within the second time window; The fourth determining unit is used to determine the location of the debris on the highway based on the second energy.

6. An electronic device, characterized in that, Includes a memory and a processor, wherein the memory is used to store programs; The processor, coupled to the memory, is used to execute the program stored in the memory to implement the steps in the highway debris identification method according to any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that, Used to store computer-readable programs or instructions, which, when executed by a processor, can implement the steps in the highway debris identification method according to any one of claims 1 to 4.

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