Landslide hazard monitoring method, system and image data acquisition device

Abstract

The present application provides a landslide hazard monitoring method, system and image data acquisition device thereof, the image data acquisition device comprising a camera module, a pan-tilt head and a control terminal; the camera module is fixedly mounted on the pan-tilt head, and the pan-tilt head is fixedly connected to the vehicle roof via a support frame below; the control terminal is fixedly mounted inside the vehicle and electrically connected to the pan-tilt head and the camera module via wires; the control terminal is provided with a human-machine interaction interface, and the angle of the pan-tilt head is adjusted through the human-machine interaction interface to drive the camera module that shoots the image data of the mountain to be monitored to align with the mountain to be monitored with a marking target. The present application obtains relevant image data through an image data acquisition device installed on a special vehicle and fixed marking targets set on the mountains on both sides of the highway, and analyzes the possibility of disaster occurrence based on the displacement of the center of the target in the image data.

Description

Technical Field

[0001] The present application relates to the technical field of disaster prevention and mitigation equipment, and in particular, to a landslide hazard monitoring method, system and image data acquisition device thereof. Background Art

[0002] A landslide refers to the phenomenon that part of the rock and soil on a mountain slope, under the influence of factors such as gravity and the dynamic and static pressure of groundwater, produces shear displacement along a weak structural surface (belt) in a certain direction, causing the entire rock and soil to move downward on the slope. It is a huge hidden danger that endangers people's lives and property safety.

[0003] Landslide hazard monitoring technology is to predict possible disasters based on the changing characteristics of the mountain or surrounding environment before the disaster occurs, so as to take corresponding emergency measures in advance. The conventional methods currently used for landslide disaster monitoring include simple pile observation, slope wire method, building tilt observation, surface crack deformation observation, etc. The main technical means is to install markers or sensors on site, and then read and analyze the marker change characteristics or sensor data through corresponding devices through manual observation or wireless transmission to make predictions.

[0004] The data obtained by this type of method is relatively single in type, with a high false alarm rate, and it is difficult to further confirm the on-site situation based on the original data. In addition, due to the special conditions in the field environment, various unstable environments and human factors make it difficult for this type of monitoring system to work effectively in the long term. Summary of the invention

[0005] The present application provides a landslide hazard monitoring method, system and image data acquisition device, which can solve the problems that the data types acquired by the prior art are relatively single, there is a large false alarm rate, and it is difficult to further confirm the on-site situation based on the original data.

[0006] The present application provides an image data acquisition device for landslide hazard monitoring, comprising a camera module, a pan-tilt head and a control terminal; the camera module is fixedly mounted on the pan-tilt head, and the pan-tilt head is fixedly connected to a vehicle ceiling via a support frame below; the control terminal is fixedly mounted inside the vehicle, and is electrically connected to the pan-tilt head and the camera module via wires, respectively; the control terminal is provided with a human-machine interaction interface, and the angle of the pan-tilt head is adjusted via the human-machine interaction interface to drive the camera module that captures the image data of the mountain to be monitored to align with the mountain to be monitored with a marking target.

[0007] Preferably, it also includes a positioning module and / or a posture sensing module; the positioning module is fixedly mounted on the pan-tilt head or fixedly mounted above the camera module, and is electrically connected to the control terminal through a wire; the posture sensing module is fixedly mounted on the pan-tilt head, and is electrically connected to the control terminal through a wire.

[0008] Preferably, the gimbal is provided with a horizontal rotation axis and a pitch rotation axis, and the attitude sensing module is located at the center points of the horizontal rotation axis and the pitch rotation axis; and / or, the positioning accuracy of the positioning module is at the centimeter level, and specifically includes a spatial position information receiver and an antenna; and / or, the attitude sensing module specifically includes an accelerometer, a compass and a magnetoresistive sensor encapsulated in a shell; and / or, a shock-absorbing pad is also provided between the positioning module and the gimbal; and / or, the camera module includes multiple camera lenses; and / or, the control terminal is powered by a vehicle battery or a solar panel.

[0009] The present application provides a method for monitoring landslide hazards, comprising: obtaining current image data of a mountain to be monitored collected by the above-mentioned image data acquisition device; comparing the current image data with pre-stored original image data to determine whether the displacement of a marked target position of the mountain to be monitored exceeds a preset threshold range, and if so, issuing a landslide hazard alarm message.

[0010] The present application provides a method for monitoring landslide hazards, comprising: obtaining current image data of a mountain to be monitored collected by the above-mentioned image data acquisition device; comparing the current image data with the pre-stored original image data to determine whether the displacement of a mark target position of the mountain to be monitored exceeds a preset threshold range, and if so, issuing a landslide hazard alarm message; the mark target comprises a start signal target, an end signal target and an information target located between the start signal target and the end signal target; the image data acquisition device acquires image data of the mountain to be monitored, specifically comprising: determining whether a vehicle enters the area to be monitored, and if so, driving the pan-tilt head to rotate to the direction of the mark target to search for the start signal target; after detecting the start signal target, continuously recording the image, vehicle positioning information, posture information and pan-tilt head rotation angle information until the image contains only the end signal target.

[0011] Preferably, the determining whether the vehicle has entered the area to be monitored specifically includes: obtaining the current position information of the vehicle; determining whether the distance between the vehicle and the marking target is within a preset area range based on the position information of the marking target stored locally, and if so, determining that the vehicle has entered the area to be monitored; the driving the gimbal to rotate to the direction where the marking target is located specifically includes: determining the directional relationship between the vehicle and the marking target based on the position information of the marking target stored locally; and controlling the gimbal to rotate so that the camera on the gimbal faces the direction where the marking target is located.

[0012] Preferably, the signal targets include 2 groups or 2, which are respectively arranged at the starting position and the ending position of the mountain to be monitored; the information targets include more than 6 groups or more than 6, which are arranged in the area of ​​the mountain to be monitored according to preset rules.

[0013] Preferably, before comparing the current image data with the pre-stored original image data, the method further includes: filtering the current image data according to preset parameters to remove abnormal values; cropping the filtered current image data according to the image features of the information target to form a plurality of images with serial numbers that only contain the information target image area, and recording the coordinates of the cropped area; comparing the image features of the information target in the cropped image with the pre-stored information target image, and calculating the distance and angle between the camera and each information target; extracting the bull's eye position according to the information target image features, and restoring it to the coordinate position of the original image; correcting the bull's eye position of each information target in the cropped image according to the shooting angle and distance, and restoring the bull's eye position of each information target in the monitored area;

[0014] The present application provides a landslide hazard monitoring system, comprising a marking target arranged on a mountain to be monitored, a vehicle, and the above-mentioned image data acquisition device arranged on the vehicle; the control terminal of the image data acquisition device is provided with a storage module; the storage module stores a computer program for executing the above-mentioned landslide hazard monitoring method.

[0015] The present application provides a landslide hazard monitoring system, comprising a marking target arranged on a mountain to be monitored, a vehicle, and the above-mentioned image data acquisition device arranged on the vehicle; the control terminal of the image data acquisition device is provided with a storage module; the storage module stores a computer program for executing the above-mentioned landslide hazard monitoring method.

[0016] Compared with the prior art, this application has the following advantages:

[0017] In response to the deficiencies in the prior art, the present application obtains relevant image data through an image data acquisition device installed on a special vehicle and fixed marking targets (or marking piles) set on the mountains on both sides of the highway. With the help of the mobile visual ranging principle, the possibility of disaster occurrence is analyzed according to the displacement of the center of the target. There is no need to install electrical sensing equipment on the mountain. This can effectively solve the problems that the data types obtained by the prior art are relatively single, there is a large false alarm rate, it is difficult to further confirm the on-site situation based on the original data, and due to the special circumstances in the field environment, various unstable environments and human factors make it difficult for such monitoring systems to work effectively for a long time.

[0018] This application fully considers the fact that the monitoring areas are mostly located around highways and monitoring personnel need to drive and patrol regularly. It has low implementation cost, is easy to use, and does not require professional operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings are only used for the purpose of illustrating preferred embodiments and are not to be considered as limiting the present application. In addition, the same reference symbols are used to represent the same components throughout the accompanying drawings. In the accompanying drawings:

[0020] Figure 1 This is a structural schematic diagram of an embodiment of an image data acquisition device for landslide hazard monitoring in the present application;

[0021] Figure 2 The composition structure of an embodiment of the landslide hazard monitoring system of the present application and Figure 1 A schematic diagram of the information transmission relationship between the various components of the image data acquisition device embodiment shown;

[0022] Figure 3 This is an example diagram of the image features of the marking target set on the mountain to be monitored;

[0023] Among them, 1-camera module; 2-positioning module; 3-attitude sensor module; 4-pan head; 5-support frame; 6-control terminal; 7-vehicle. DETAILED DESCRIPTION

[0024] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0025] In the description of this application, it should be understood that the terms "middle", "top", "bottom", "inside", "outside", etc., indicating positions or positional relationships, are based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on this application. In the description of this application, "multiple" means two or more, unless otherwise clearly and specifically defined.

[0026] In addition, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, an indirect connection through an intermediate medium, or the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0027] In the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0028] Embodiment of the image data acquisition device:

[0029] Reference Figure 1 and 2 , shows the structure of an embodiment of an image data acquisition device for landslide hazard monitoring of the present application, including a camera module 1, a pan / tilt head 4 and a control terminal 6.

[0030] The camera module 1 is fixedly mounted on the pan-tilt head 4, and the pan-tilt head 4 is fixedly connected to the ceiling of the vehicle 7 through the support frame 5 below it; to facilitate the control of the monitoring personnel, the control terminal 6 can be fixedly mounted inside the vehicle 7 and electrically connected to the above-mentioned pan-tilt head 4 and the camera module 1 through wires.

[0031] The control terminal 6 is provided with a human-machine interaction interface, through which the monitoring personnel can adjust the angle of the pan-tilt head 4, thereby driving the camera module 1 that captures the image data of the mountain to be monitored to align with the mountain to be monitored with a marking target. In specific implementation, the control terminal 6 and the camera module 1 and pan-tilt head 4 electrically connected thereto can be powered by a vehicle battery or by a solar panel. In order to ensure the lens angle adjustment function, the pan-tilt head 4 needs to achieve at least angle changes in the horizontal and pitch directions, and specifically, a horizontal rotation axis and a pitch rotation axis can be set. In order to further improve the reliability of the equipment, the camera module 1 needs to obtain panoramic video or image data in a certain direction, and specifically, multiple camera lenses can be set, and different image data captured by multiple camera lenses can be automatically spliced. The above-mentioned image data in the present application can be images or videos.

[0032] In a further preferred embodiment, an automatic analysis module and a data storage module may also be provided in the control terminal 6, so that the automatic analysis module can utilize its built-in existing image analysis module to automatically calculate the displacement of the marking target position in the monitored area (a functional module that utilizes the mobile ranging principle to calculate the displacement of the marking target may be selected), and then analyze the changes in the mountain surface, and predict the possibility of landslides according to a preset indicator range.

[0033] The above-mentioned image information acquisition device may further include: a positioning module 2 and / or a posture sensing module 3. Wherein:

[0034] The positioning module 2 can be fixedly mounted on the pan / tilt 4, or fixedly mounted above the camera module, and electrically connected to the control terminal 6 via a wire. In specific implementation, a positioning module 2 with centimeter-level positioning accuracy can be selected, wherein the positioning module 2 can specifically include a spatial position information receiver encapsulated in a housing and an antenna fixed on the housing, and can use existing positioning system data such as GPS and Beidou.

[0035] The posture sensor module 3 can be fixedly installed on the pan-tilt head 4, or can be fixedly installed above other modules (such as the camera module 1) carried by the pan-tilt head 4, and is electrically connected to the control terminal 6 through a wire.

[0036] In order to further improve the accuracy of the attitude sensor module 3, a shock-absorbing pad can be installed when the attitude sensor module 3 is fixed. In specific implementation, the attitude sensor module 3 can include components such as a three-axis accelerometer, a compass, and a magnetoresistive sensor encapsulated in a housing. When the gimbal is provided with a horizontal axis and a pitch axis at the same time, the attitude sensor module 3 needs to be installed at the center point of the horizontal axis and the pitch axis.

[0037] In addition, in order to further realize the automatic shooting function of image data and improve the degree of automation of the equipment, the above-mentioned marking target fixedly installed on the mountain to be monitored needs to have marking information that can be captured by the camera at a long distance to indicate its spatial position, as well as marking information that can be distinguished by the size, color or arrangement of the mark, so as to realize two different types of identification functions.

[0038] In a further preferred embodiment, the marking targets set on the mountain to be monitored can be divided into signal targets and information targets. The signal targets are used to mark the starting position and the ending position of the mountain area to be monitored, triggering the image data acquisition device to adjust the lens angle of the camera module 1 to prepare to start shooting image data / end the shooting process; the information targets are used to transmit the spatial position of the bull's eye to the image data acquisition device to compare and judge the creeping situation of the mountain surface.

[0039] In specific implementation, the signal targets in each monitoring area may include 2 groups (or 2), which are respectively set at the start and end positions of the mountain area to be monitored; the information targets in each monitoring area may include more than 6 (or more than 6 groups), which are set in the mountain area to be monitored according to preset rules. The above signal targets and information targets are installed and fixed on the mountain in the area to be monitored, and can maintain their characteristic information and physical structure for a long time without affecting the natural movement of the mountain.

[0040] by Figure 3Taking the marking target shown in the figure as an example, the marking target is composed of two large and small squares, and the target surface size is the same. The type of marking target can be determined according to the position of the large square and the number of squares. The marking target includes the starting signal target, the ending signal target and the information target. The first two types (i.e., the starting signal target and the ending signal target) are signal targets used to locate the monitoring area, and the last type is an information target or standard target used to calculate the risk of landslides (several targets can be arranged as needed during specific implementation). Figure 3 The control terminal can determine which one is recognized based on the difference in image features of the three marking targets in the image information, thereby determining subsequent operations. The above image features are an example provided for the convenience of description. Those skilled in the art can select marking targets with various image features that can meet the requirements (capable of determining or calculating the above information) as needed during specific implementation.

[0041] The steps of installing the image data acquisition device in the embodiment of the present application may specifically include:

[0042] Step S11: Fix the camera module 1 on the pan / tilt platform 4 so that the horizontal sight line of the lens is parallel to the horizontal direction of the pan / tilt platform;

[0043] Step S12: Fix the positioning module 2 on the pan / tilt platform 4, or stably place it above the camera module 1;

[0044] Step S13: fix the attitude sensor module 3 on the top of the gimbal 4 or other modules carried by it, and add a shock-absorbing pad, while ensuring that it is located at the center point of the bidirectional rotation axis of the gimbal 4, and calibrate its horizontal and pitch angles;

[0045] Step S14: Fix the pan / tilt platform 4 on the roof of the test vehicle 7 so that the camera carried by the pan / tilt platform 4 can cover both sides of the vehicle body when the pan / tilt platform 4 rotates horizontally;

[0046] Step S15: stably fix the control terminal 6 inside the vehicle;

[0047] Step S16: connecting the PTZ 4 and the modules mounted thereon to the control terminal 6;

[0048] Step S17: Connect the control terminal 6 to the car battery or solar panel.

[0049] The fixing and installation method of the above-mentioned marking target may specifically include:

[0050] Step S21: Fixing a start signal target and an end signal target on the mountain in the area to be monitored;

[0051] Step S22: fixing the information target between the start signal target and the end signal target according to the actual demand and the requirements of the built-in image analysis algorithm of the device;

[0052] Step S23: Ensure that the two types of marking targets are firmly installed, the center of the target does not move easily due to reasons other than the creeping of the mountain surface, and the sight of the marking targets to the side road is unobstructed.

[0053] The first embodiment of the landslide hazard monitoring method:

[0054] In order to improve the automation level of the landslide risk monitoring process, the present application also discloses a method for collecting image data of a mountain to be monitored using the above-mentioned image data acquisition device, and analyzing the image data to determine whether the mountain to be monitored has a landslide risk. The execution subject of the embodiment of the method is a control terminal, and specifically includes:

[0055] Step S31: using the above-mentioned image data acquisition device to collect current image data of the mountain to be monitored;

[0056] Step S32: Compare the current image data with the original image data pre-stored locally in the control terminal to determine whether the displacement of the marked target position of the monitored mountain exceeds a preset threshold range. If so, issue a landslide hazard alarm message.

[0057] The first embodiment of the landslide hazard monitoring system:

[0058] In order to realize the practical application of the first method embodiment described above, the present application discloses a landslide hazard monitoring system that can automatically analyze the preferred data acquired by the image data acquisition device and issue a hazard report based on the analysis results, referring to Figure 2 , shows the composition structure of the landslide hazard monitoring system embodiment, including a vehicle, an image data acquisition device arranged on the vehicle, and a marking target arranged on the mountain to be monitored. Among them:

[0059] The image data acquisition device includes a camera module, a pan / tilt head and a control terminal; specifically, the image data acquisition device embodiment scheme described above can be adopted;

[0060] The control terminal is provided with a processor and a storage module; the storage module stores a computer program; the processor executes the computer program to implement the above-mentioned first method embodiment process.

[0061] Second embodiment of the landslide hazard monitoring method:

[0062] In order to further improve the automation level of the landslide hazard monitoring process, the image data acquisition device equipped with the positioning module and / or the attitude sensing module can be used to collect the image data of the mountain to be monitored. The execution subject of the embodiment of the method is a control terminal, which specifically includes:

[0063] Step S41: judging whether the vehicle is close to the area where the marked target is located according to the vehicle positioning information obtained by the vehicle control terminal, and if so, controlling the pan / tilt 4 to automatically rotate to a suitable direction to find the starting signal target;

[0064] The implementation method of step S41 is based on the overall collaboration of the system, specifically: the storage module of the vehicle-mounted control terminal 6 stores the location information of the marked target. During the driving process of the vehicle, when a marked target is found within a certain range from the vehicle (generally 300 to 800 meters according to actual conditions), the pan / tilt 4 is controlled to rotate in real time according to the directional relationship between the current position of the vehicle and the position of the marked target so that the camera faces the direction of the marked target. This process continues until the control terminal determines that the starting signal target is found or times out (it may not be found due to foreign objects, etc.). The image features of the starting signal target and the information target are different. The basis for determining that the starting signal target is found is that the control terminal extracts the feature information of the starting signal target in the dynamic image.

[0065] Step S42: After the start signal target is detected, the image / video, positioning information, attitude information, pan / tilt rotation angle information, etc. are continuously recorded until the image / video contains only the end signal target.

[0066] by Figure 3 Taking the marking target image feature shown as an example, when an image consisting of 4 squares, with a large square in the upper left corner and the other 3 small squares, is extracted from the dynamic image, it can be determined that the starting signal target is found and the image data recording begins; when an image consisting of 4 squares, with a large square in the lower right corner and the other 3 small squares, is extracted from the dynamic image, it can be determined that the ending signal target is found and the image data recording process ends.

[0067] Step S43: The control terminal 6 calculates the displacement of the center position of the information target in the monitoring area according to the mobile ranging principle, analyzes the surface conditions of the mountain, and predicts the possibility of landslides. When the possibility index exceeds the preset range, a detailed analysis report is generated and reported to the monitor.

[0068] In a further preferred method embodiment, in order to avoid monitoring failure due to equipment failure and the like, before step S41, the following equipment testing step may also be included:

[0069] Step S40: The test system of the operating control terminal 6 is operated to check whether each module is installed and operates normally, and whether the sensing information is accurate.

[0070] In another further preferred method embodiment, in order to solve the problem that the image data cannot be directly compared due to shooting methods, shooting environments, etc., and needs to be manually modified before use, improve the automation level of the system, and reduce the false alarm rate, after the above step S42, the following process of optimizing the currently collected image data (image / video) is also included:

[0071] S421: Data Preprocessing

[0072] Perform simple filtering on the current image data according to preset parameters to eliminate possible outliers.

[0073] During specific implementation, the above preset parameters can be set according to the basic characteristics of the image data and the experience of the staff.

[0074] S422: Target surface extraction

[0075] According to the image features on the information target surface, the image obtained in the acquisition process is cropped to form image areas with serial numbers that contain only information on the information target surface as much as possible, and the coordinates of the cropped areas are recorded.

[0076] S423: Shooting distance and angle extraction

[0077] According to the image features in the information target surface image (such as Figure 3 The side length and area of ​​the black square area shown in the figure are compared with the standard values ​​stored in the storage module to calculate the distance and angle between the vehicle's position at the time of image capture and any information target.

[0078] by Figure 3 Taking the marked target image features shown as an example, when a vehicle passes through the monitoring area, due to the height difference, the vertical shooting angle is generally a relatively fixed angle, and the horizontal direction will experience a process from squint to straight view and then to squint. The shooting angles in the horizontal and vertical directions during shooting can be determined based on the deformation of the square in the image. When the horizontal shooting angle is straight view, the change in the shooting distance between each target can be determined based on the horizontal side length of the square in the image (the vertical side length may be deformed); thus, the center point of the actual target can be calculated in the subsequent steps based on the geometric center of the target surface in the image.

[0079] S424: Bullseye Extraction

[0080] The bull's-eye position is extracted according to the image features in the information target surface image and restored to the coordinate position of the original image.

[0081] S425: Bull's-eye position correction

[0082] According to the shooting angle and distance, the positions of all bull's eyes are corrected to restore the positions of the bull's eyes in the entire monitoring target area and record them in numerical form.

[0083] After that, the possibility of landslide can be judged by comparing with the original image data and / or historical data stored in the storage module in step S43. The comparison and judgment process includes the comparison with the original image data and / or the previous historical data and / or the recent historical data in terms of time, the calculation of the variance and extreme value data in terms of value, the calculation of the horizontal and vertical displacement in terms of direction and depth, the calculation of the regional displacement formed by a single target or multiple targets, etc., so as to better realize the landslide monitoring and early warning function of the landslide hazard monitoring system of the present application.

[0084] The second embodiment of the landslide hazard monitoring system:

[0085] In order to realize the practical application of the above-mentioned second method embodiment, the present application also provides a landslide hazard monitoring system embodiment corresponding to the above-mentioned second method embodiment. The difference between this system embodiment and the above-mentioned first system embodiment is that the image data acquisition device for collecting image data of the mountain to be monitored is also configured with a positioning module and / or an attitude sensing module. Accordingly, the computer program stored in the storage module can implement the process of the above-mentioned second method embodiment when executed in the processor.

[0086] In addition, it can be seen from the above embodiments of the present application that, with the support of the positioning module 2 and the panoramic camera module 1, the present application can realize the automation of the entire process from finding the monitoring target to outputting the monitoring results based on the principle of mobile ranging, and can realize continuous processing of multiple monitoring areas on the vehicle's driving route by fixing the traditional target-marking monitoring equipment on the vehicle.

[0087] It should be noted that the above embodiments are all preferred embodiments, and the modules or process steps involved are not necessarily required by this application. Each embodiment in this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the embodiments can be referred to each other.

[0088] Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. An image data acquisition device for landslide hazard monitoring, characterized in that: Including camera module, PTZ and control terminal; The camera module is fixedly mounted on the pan-tilt, and the pan-tilt is fixedly connected to the vehicle ceiling via a support frame below; the control terminal is fixedly mounted inside the vehicle and is electrically connected to the pan-tilt and the camera module respectively via wires; The control terminal is provided with a human-machine interaction interface, and the angle of the pan-tilt is adjusted through the human-machine interaction interface to drive the camera module shooting the image data of the mountain to be monitored to aim at the mountain to be monitored with the marking target; The marking target has marking information that can be captured by a camera at a long distance to indicate its spatial position, as well as marking information that can be distinguished by the size, color or arrangement of the mark; the marking target includes a starting signal target, an ending signal target and an information target located between the starting signal target and the ending signal target; the starting signal target and the ending signal target are respectively set at the starting position and the ending position of the mountain to be monitored; the information target is set in the area of ​​the mountain to be monitored according to a preset rule; Also includes a positioning module and / or a posture sensing module; The positioning module is fixedly mounted on the pan head or fixedly mounted above the camera module, and is electrically connected to the control terminal via a wire; The posture sensor module is fixedly mounted on the pan-tilt platform and is electrically connected to the control terminal via a wire; The control terminal is also used to determine whether the vehicle is close to the area where the marked target is located based on the vehicle positioning information it obtains. If so, the gimbal is controlled to automatically rotate to an appropriate direction to find the starting signal target; after detecting the starting signal target, the image or video, positioning information, posture information, gimbal rotation angle information, etc. are continuously recorded until the image or video only contains the ending signal target.

2. The image data acquisition device according to claim 1, characterized in that: The gimbal is provided with a horizontal rotation axis and a pitch rotation axis, and the attitude sensing module is located at the center point of the horizontal rotation axis and the pitch rotation axis; and / or, The positioning module has a positioning accuracy of centimeters, and specifically includes a spatial position information receiver and an antenna; and / or, The attitude sensing module specifically includes an accelerometer, a compass and a magnetoresistive sensor encapsulated in a housing; and / or, A shock-absorbing pad is also provided between the positioning module and the pan / tilt head; and / or, The camera module includes a plurality of camera lenses; and / or, The control terminal is powered by a vehicle battery or a solar panel.

3. A landslide hazard monitoring method, characterized in that: include: Acquire current image data of the mountain to be monitored collected by the image data acquisition device described in claim 1; The current image data is compared with the pre-stored original image data to determine whether the displacement of the marked target position of the monitored mountain exceeds a preset threshold range. If so, a landslide danger alarm information is issued.

4. A landslide hazard monitoring method, characterized in that: include: Acquire current image data of the mountain to be monitored collected by the image data acquisition device described in claim 1 or 2; Compare the current image data with the pre-stored original image data to determine whether the displacement of the marker target position of the monitored mountain exceeds a preset threshold range, and if so, issue a landslide danger alarm; The marking target includes a start signal target, an end signal target and an information target located between the start signal target and the end signal target; The image data acquisition device collects image data of the mountain to be monitored, specifically including: judging whether the vehicle enters the area to be monitored, and if so, driving the pan-tilt head to rotate to the direction of the marking target to find the starting signal target; after detecting the starting signal target, continuously recording the image, vehicle positioning information, posture information and pan-tilt head rotation angle information until the image only contains the ending signal target.

5. The method according to claim 4, characterized in that The determining whether the vehicle has entered the area to be monitored specifically includes: obtaining the current position information of the vehicle; determining whether the distance between the vehicle and the marking target is within a preset area according to the position information of the marking target stored locally, and if so, determining that the vehicle has entered the area to be monitored; The driving the pan-tilt head to rotate to the direction where the marking target is located specifically includes: determining the directional relationship between the vehicle and the marking target according to the position information of the marking target stored locally; and controlling the pan-tilt head to rotate so that the camera on the pan-tilt head faces the direction where the marking target is located.

6. The method according to claim 4, characterized in that The signal targets include 2 groups or 2, which are respectively arranged at the starting position and the ending position of the mountain to be monitored; the information targets include more than 6 groups or more than 6, which are arranged in the area of ​​the mountain to be monitored according to preset rules.

7. The method according to claim 6, characterized in that Before comparing the current image data with the pre-stored original image data, the method further includes: Filter the current image data according to preset parameters to remove abnormal values; According to the image features of the information target, the filtered current image data is clipped to form a plurality of images with serial numbers that only contain the information target image area, and the coordinates of the clipped area are recorded; Compare the image features of the information targets in the cropped image with the pre-stored information target images, and calculate the distance and angle between the camera and each information target; Extract the bull's-eye position according to the information target image features and restore it to the coordinate position of the original image; According to the shooting angle and distance, the bull's-eye position of each information target in the cropped image is corrected to restore the bull's-eye position of each information target in the area to be monitored.

8. A landslide hazard monitoring system, characterized in that: It comprises a marking target arranged on a mountain to be monitored, a vehicle, and the image data acquisition device according to claim 1 arranged on the vehicle; The control terminal of the image data acquisition device is provided with a storage module; The storage module stores a computer program for executing the method according to claim 3.

9. A landslide hazard monitoring system, characterized in that: It comprises a marking target arranged on a mountain to be monitored, a vehicle, and the image data acquisition device according to claim 1 or 2 arranged on the vehicle; The control terminal of the image data acquisition device is provided with a storage module; The storage module stores a computer program for executing the method according to any one of claims 4 to 7.

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