Method, apparatus and device for electronic warning zone determination, and storage medium

Abstract

Embodiments of the present application disclose a method, device and equipment for determining an electronic security belt, and a storage medium. First, coordinates of a plurality of first interest points in a first preset range are obtained with the position of an image acquisition device as the origin. Then, a first image including the plurality of first interest points is acquired. Next, a first pixel point position of a preset target interest point in the first image is determined using a preset image recognition algorithm. Then, second pixel point positions of the plurality of first interest points in the first image are determined using a preset coordinate conversion relationship based on the first pixel point position, the coordinates of the preset target interest point, and the coordinates of other interest points in the plurality of first interest points except the preset target interest point. Finally, the electronic security belt is determined based on the second pixel point positions. Embodiments of the present application solve the problem of low precision in the process of generating an electronic security belt by traditional manual marking, and can accurately determine the electronic security belt.

Description

Technical Field

[0001] This invention relates to the field of security, and more particularly to a method, apparatus, device, and storage medium for determining electronic warning zones. Background Technology

[0002] Current electronic warning zones (electronic fences) are all created by manually adding lines to a map or in a generated video.

[0003] Manually drawing lines on a map is not very accurate and can only be used in scenarios where accuracy requirements are not high. For electronic warning tapes formed by cones, which have higher accuracy requirements and a larger placement area, the traditional method of manually drawing lines to generate electronic warning tapes cannot meet the accuracy requirements.

[0004] Therefore, the existing process for determining electronic warning tapes has the problem of not being able to accurately generate them. Summary of the Invention

[0005] This invention provides a method, apparatus, device, and storage medium for determining electronic warning zones, which solves the problem that existing methods for determining electronic warning zones cannot accurately generate them, and enables the accurate generation of electronic warning zones based on points of interest.

[0006] To solve the above-mentioned technical problems, the present invention:

[0007] Firstly, a method for determining an electronic warning strip is provided, the method comprising:

[0008] Using the location of the image acquisition device as the origin, obtain the coordinates of multiple first points of interest within a first preset range;

[0009] Acquire a first image that includes multiple first points of interest;

[0010] The first pixel position of the preset target interest point in the first image is determined using a preset image recognition algorithm;

[0011] Based on the coordinates of the first pixel point, the preset target interest point, and the coordinates of other interest points among the multiple first interest points besides the preset target interest point, the second pixel point of the multiple first interest points in the first image is determined by using a preset coordinate transformation relationship, and the second pixel point includes the first pixel point.

[0012] The electronic warning tape is determined based on the second pixel location.

[0013] In some implementations of the first aspect, the second pixel position of the multiple first interest points in the first image is determined using a preset coordinate transformation relationship based on the first pixel position, the coordinates of a preset target interest point, and the coordinates of other interest points among the multiple first interest points besides the preset target interest point, including:

[0014] Based on the coordinates of the first pixel and the preset target point of interest, the physical parameters of the image acquisition device are determined using a preset coordinate transformation relationship;

[0015] Based on physical parameters, the coordinates of a preset target point of interest, and the coordinates of other points of interest among multiple first points of interest besides the preset target point of interest, the second pixel position of multiple first points of interest in the first image is determined by using a preset coordinate transformation relationship.

[0016] In some implementations of the first aspect, the physical parameters include at least two of the following: installation height, pitch angle, yaw angle, rotation angle, and focal length; the method also includes:

[0017] When it is determined that the physical parameters of the image acquisition device have changed, the coordinates of multiple second points of interest within a second preset range are obtained with the position of the image acquisition device as the origin.

[0018] Acquire a second image that includes multiple second points of interest;

[0019] Based on the updated physical parameters and the coordinates of multiple second points of interest, the third pixel position of multiple second points of interest in the second image is determined by using a preset coordinate transformation relationship;

[0020] The updated electronic warning tape is determined based on the third pixel location.

[0021] In some implementations of the first aspect, the electronic warning strip is determined based on the second pixel location, including:

[0022] The order of multiple first points of interest is determined based on the coordinates of each first point of interest.

[0023] The electronic warning strip is determined based on the sequence and the second pixel location of each first point of interest in the first image.

[0024] In some implementations of the first aspect, the order of multiple first points of interest is determined based on the coordinates of each first point of interest, including:

[0025] The spatial coordinates of the image acquisition device and the coordinates of multiple primary points of interest are converted into two-dimensional coordinates.

[0026] The order of multiple first points of interest is determined based on the data of the first axis and the second axis in the two-dimensional coordinates of each first point of interest.

[0027] In some implementations of the first aspect, the order of multiple first points of interest is determined based on the data of the first axis and the second axis in the coordinates of each first point of interest, including:

[0028] Based on the data of the first axis and the second axis in the coordinates of each first point of interest, a fitted straight line for multiple first points of interest is determined based on a preset straight line expression;

[0029] The coordinates of the foot of the perpendicular from the fitted line to the coordinates of each first point of interest are determined.

[0030] The order of multiple first points of interest is determined based on the coordinates of the perpendicular foot.

[0031] In some implementations of the first aspect, determining the electronic warning tape based on the second pixel location also includes:

[0032] The electronic warning strip is determined based on the second pixel location in a preset order of multiple first points of interest.

[0033] Secondly, an electronic warning band determination device is provided, the device comprising:

[0034] The acquisition module is used to acquire the coordinates of multiple first points of interest within a first preset range, with the location of the image acquisition device as the origin.

[0035] The image acquisition module is used to acquire a first image including multiple first points of interest;

[0036] The processing module is used to determine the first pixel position of a preset target interest point in the first image among multiple first interest points using a preset image recognition algorithm;

[0037] The processing module is also used to determine the second pixel position of multiple first interest points in the first image based on the first pixel position, the coordinates of the preset target interest point, and the coordinates of other interest points among the multiple first interest points besides the preset target interest point, using a preset coordinate transformation relationship. The second pixel position includes the first pixel position.

[0038] The processing module is also used to determine the electronic warning tape based on the second pixel position.

[0039] In some implementations of the second aspect, the processing module is also used to determine the physical parameters of the image acquisition device by using a preset coordinate transformation relationship based on the coordinates of the first pixel point and the preset target interest point.

[0040] The processing module is also used to determine the second pixel position of multiple first interest points in the first image based on physical parameters, the coordinates of preset target interest points, and the coordinates of other interest points among multiple first interest points besides the preset target interest points, using a preset coordinate transformation relationship.

[0041] Thirdly, an electronic device is provided, the device comprising: a processor and a memory storing computer program instructions;

[0042] The processor implements the first aspect when executing computer program instructions, and the method for determining the electronic warning tape in some implementations of the first aspect.

[0043] Fourthly, a computer storage medium is provided, on which computer program instructions are stored, which, when executed by a processor, implement the first aspect, and a method for determining an electronic warning tape in some implementations of the first aspect.

[0044] This invention provides a method, apparatus, device, and storage medium for determining electronic warning tapes. First, the coordinates of multiple first points of interest (POIs) within a first preset range are acquired, with the location of an image acquisition device as the origin. Then, a first image including the multiple POIs is acquired. Next, a preset image recognition algorithm is used to determine the first pixel position of a preset target POI within the first image. Then, based on the first pixel position, the coordinates of the preset target POI, and the coordinates of other POIs besides the preset target POI, a preset coordinate transformation relationship is used to determine the second pixel position of the multiple POIs within the first image, where the second pixel position includes the first pixel position. Finally, the electronic warning tape is determined based on the second pixel position. Because the processor automatically calculates and generates the electronic warning tape based on the acquired coordinates of the multiple POIs and according to the preset image recognition algorithm and preset coordinate transformation relationship, the electronic warning tape can be accurately determined, thus overcoming the low accuracy problem in traditional manual line drawing for generating electronic warning tapes. Attached Figure Description

[0045] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments of the present invention will be briefly introduced below. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0046] Figure 1 This is a flowchart illustrating a method for determining an electronic warning tape according to an embodiment of the present invention;

[0047] Figure 2This invention provides a two-dimensional coordinate system established with the position of the image acquisition device as the origin.

[0048] Figure 3 This invention provides a device for determining an electronic warning tape.

[0049] Figure 4 This is a structural diagram of a computing device provided in an embodiment of the present invention. Detailed Implementation

[0050] The features and exemplary embodiments of various aspects of the present invention will now be described in detail. To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only configured to explain the present invention and are not configured to limit the present invention. For those skilled in the art, the present invention can be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present invention by illustrating examples of the invention.

[0051] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0052] Current electronic warning zones (electronic fences) are all created by manually adding lines to a map or in a generated video.

[0053] Manually drawing lines on a map is not very accurate and can only be used in scenarios where high precision is not required; while drawing lines on a video is limited to a single shot and is not suitable for large-scale, multi-shot continuous scenes.

[0054] For electronic warning tapes formed by cones, high precision is required, and the placement area is large. A single camera lens cannot cover the entire area, and the traditional method of manually drawing lines to generate electronic warning tapes cannot meet the precision requirements.

[0055] Therefore, the existing process for determining electronic warning tapes has the problem of not being able to accurately generate them.

[0056] To address the problem of inaccurate electronic warning tape generation in current methods, this invention provides a method, apparatus, device, and storage medium for determining electronic warning tapes. First, the coordinates of multiple first points of interest (POIs) within a first preset range are acquired, with the location of an image acquisition device as the origin. Then, a first image including the multiple POIs is acquired. Next, a preset image recognition algorithm is used to determine the first pixel position of a preset target POI within the first image. Then, based on the first pixel position, the coordinates of the preset target POI, and the coordinates of other POIs besides the preset target POI, a preset coordinate transformation relationship is used to determine the second pixel position of the multiple POIs within the first image. The second pixel position includes the first pixel position. Finally, the electronic warning tape is determined based on the second pixel position. Because the processor automatically calculates and generates the electronic warning tape based on the acquired coordinates of the multiple POIs and according to the preset image recognition algorithm and preset coordinate transformation relationship, the electronic warning tape can be accurately determined, thus overcoming the low accuracy problem in traditional manual line drawing for generating electronic warning tapes.

[0057] The technical solutions provided by the embodiments of the present invention will now be described with reference to the accompanying drawings.

[0058] Figure 1 This is a flowchart illustrating a method for determining an electronic warning tape according to an embodiment of the present invention. The subject executing this method can be a terminal device or an image acquisition device with local computing capabilities.

[0059] For ease of understanding, the method in this embodiment of the invention can be implemented using an image acquisition device with local computing capabilities. In addition, the image acquisition device also has a data receiving function to receive location information sent from a first point of interest.

[0060] like Figure 1 As shown, the method for determining the electronic warning zone may include S101-S105. The specific explanations of S101-S105 are as follows:

[0061] S101: Using the location of the image acquisition device as the origin, obtain the coordinates of multiple first points of interest within a first preset range.

[0062] It should be noted that, for ease of calculation and understanding, the embodiments of the present invention are illustrated using the example of multiple first points of interest being located on the same plane. However, the present invention is not limited to the case where multiple first points of interest are only located on the same plane. Multiple points of interest may also be non-coplanar. The calculation approach for non-coplanar points is the same as that for coplanar points, both of which determine the electronic warning strip based on the coordinates of the points of interest and their positions in the image. Therefore, no further explanation is provided.

[0063] In one embodiment, the image acquisition device can establish a system with the position o of the image acquisition device as the origin, such as... Figure 2 The two-dimensional coordinate system shown is used to obtain the coordinates of multiple first points of interest within a first preset range, where A, B, C… represent the coordinates of the first points of interest. These multiple first points of interest within the first preset range can refer to all first points of interest that can be acquired within the communication range of the image acquisition device, or they can refer to the first points of interest included within the field of view of one lens of the image acquisition device.

[0064] In the context of ground traffic security, the first point of interest (POI) refers to a traffic cone, which has self-location and data transmission capabilities to send its location to image acquisition equipment. In the context of aerial security, the first POI can refer to a building, which also has self-location and data transmission capabilities to send its location to image acquisition equipment. Therefore, this invention does not limit the specific security field or the specific type of the first POI; any electronic device with positioning and communication functions can serve as the first POI in this invention.

[0065] Furthermore, electronic devices with positioning and communication functions can be placed on cones or other objects to obtain the position of the cones or other objects through the position of the electronic devices, thereby executing the subsequent electronic warning tape generation process. In other words, the aforementioned electronic devices, or the objects on which such electronic devices are placed, can also be considered as the first point of interest in the embodiments of the present invention, and are not limited thereto.

[0066] Since the final electronic warning tape is generated based on the position of the first point of interest in the image acquired by the image acquisition device, it is necessary to acquire an image including the first point of interest, i.e., execute S102 to carry out the subsequent electronic warning tape generation process.

[0067] S102: Acquire a first image including multiple first points of interest.

[0068] In this process, for ease of understanding and calculation, we can take the first point of interest included in the field of view of an image acquisition device as an example. That is, the image including the first point of interest acquired using the field of view of the lens is used as the first image mentioned above.

[0069] After acquiring a first image containing multiple first points of interest, it is necessary to determine the position of a preset target point of interest among the first points of interest in the first image, i.e., to execute S103, so as to determine the position of all first points of interest in the first image based on the position, and then determine the electronic warning tape based on the position.

[0070] S103: Use a preset image recognition algorithm to determine the first pixel position of the preset target interest point in the first image among multiple first interest points.

[0071] Specifically, the determination process actually uses a preset image recognition algorithm to perform image recognition on the position of the preset target point of interest in the first image to determine the position of the first pixel.

[0072] After determining the position of the first pixel, S104 can be executed to further determine the position of the second pixel.

[0073] S104: Based on the first pixel position, the coordinates of the preset target interest point, and the coordinates of other interest points among the multiple first interest points besides the preset target interest point, the second pixel position of the multiple first interest points in the first image is determined by using a preset coordinate transformation relationship.

[0074] The second pixel position includes the first pixel position.

[0075] It should be noted that the preset coordinate transformation relationship was determined by the inventor based on the coordinates of the preset target interest point among the coordinates of multiple first interest points and the position of the first pixel of the preset target interest point in the first image.

[0076] Through deduction and analysis by the inventors, it was found that in the first image acquired by the image acquisition device, the correspondence between the pixel position of the preset target interest point in the first image and the coordinates of the preset target interest point is related to multiple physical factors (physical parameters). Among them, the physical factors include at least two of the following: the installation height h of the image acquisition device, the pitch angle α of the image acquisition device, the deflection angle β of the image acquisition device, the rotation angle θ of the image acquisition device, and the focal length d of the image acquisition device.

[0077] It should be further noted that the correspondence or mapping relationship between the pixel position of the preset target interest point in the first image and the coordinates of the preset target interest point is applicable to any specified physical object connection rule in the embodiments of the present invention.

[0078] To illustrate the preset coordinate transformation relationship in more detail, let's assume the coordinates of the preset target interest point are (x, y), and the position of the first pixel of the preset target interest point in the first image is (x', y'). The preset coordinate transformation relationship derived by the inventor is shown in formula (1):

[0079] x'=X cosθ+Y sinθ

[0080] y'=X sinθ+Y cosθ(1)

[0081] In formula (1),

[0082] After obtaining the preset coordinate transformation relationship as shown in formula (1), in one embodiment, the physical parameters h, α, β, θ and d of the image acquisition device can be calculated based on the coordinates of the first pixel point and the preset target interest point using the preset coordinate transformation relationship as shown in formula (1).

[0083] After obtaining the physical parameters, the coordinates of the preset target interest points and the coordinates of other interest points among the multiple first interest points, except for the preset target interest points, can be used to determine the second pixel position of the multiple first interest points in the first image using the preset coordinate transformation relationship shown in formula (1). The second pixel position includes the first pixel position.

[0084] In one embodiment, the number of physical factors in the calculation process can be reduced according to the actual situation, that is, the number of physical parameters involved in the calculation process can be reduced, thereby reducing the number of reference points and simplifying the calculation process. For example, if it is known that the installation height h of the image acquisition device has not changed relative to the first point of interest, the remaining four physical parameters can be reduced for calculation.

[0085] In addition, the physical parameters actually used in the calculation process can be adjusted according to the actual situation, such as the target calculation speed, to reduce the number of physical parameters involved in the calculation process, thereby reducing the number of reference points and simplifying the calculation process.

[0086] Therefore, the number of physical parameters used in this calculation process is not limited.

[0087] S105: Determine the electronic warning tape based on the second pixel location.

[0088] In determining the electronic warning strip, in one embodiment, an order can be determined based on the coordinates of each first point of interest, and then the second pixel points can be connected according to this order to determine the electronic warning strip.

[0089] Specifically, the order of multiple first points of interest can be determined based on the coordinates of each first point of interest, and then the second pixel position of each first point of interest in the first image can be connected according to this order to generate an electronic warning tape.

[0090] In one embodiment, during the process of determining the order of the plurality of first points of interest based on the coordinates of each first point of interest, the spatial coordinates of the image acquisition device and the coordinates of the plurality of first points of interest can be converted into two-dimensional coordinates; the order of the plurality of first points of interest is determined based on the data of the first axis and the data of the second axis in the two-dimensional coordinates of each first point of interest.

[0091] In this embodiment, coordinate transformation is performed when the coordinates of the first point of interest and the spatial coordinates of the image acquisition device are not coplanar. When they are not coplanar, the coordinates of each first point of interest and the spatial coordinates of the image acquisition device can be converted into coplanar two-dimensional coordinates firstly, and then the order of the plurality of first points of interest can be determined based on the data of the first axis and the data of the second axis in the two-dimensional coordinates of each first point of interest.

[0092] If the coordinates of the first point of interest and the spatial coordinates of the image acquisition device are coplanar, then no coordinate transformation is needed, and the order of multiple first points of interest can be determined directly based on the data of the first axis and the data of the second axis in the two-dimensional coordinates of each first point of interest.

[0093] In one embodiment, during the process of determining the order of the plurality of first points of interest based on the data of the first axis and the second axis in the coordinates of each first point of interest, a fitted line for the plurality of first points of interest can also be determined based on a preset linear expression, according to the data of the first axis and the second axis in the coordinates of each first point of interest; the coordinates of the foot of the perpendicular from the coordinates of each first point of interest to the fitted line can be determined based on the fitted line; and the order of the plurality of first points of interest can be determined based on the coordinates of the foot of the perpendicular.

[0094] In a specific example, we can assume that the two-dimensional coordinates of each of the multiple first points of interest are (x1, y1),...,(x i ,y i ),...,(x n ,y n ), where x1, x2, ..., x n The data for the first axis, i.e., the x-axis data, y1, y2, ..., y n For the data of the second axis, i.e. the data of the y-axis, the preset straight line expression is as shown in formula (2):

[0095] y = kx + b(2)

[0096] in,

[0097] Then, based on the preset linear expression in formula (2), the fitting lines for multiple first interest points are determined, and the coordinates (x, y) of each first interest point are determined based on these fitting lines. k ,y k The foot of the perpendicular P' to the fitted line k coordinates (x') k ,y' k ),in Then, based on the perpendicular P' of each first point of interest... k The value of the x-axis in the coordinate system, i.e., x' k Each primary point of interest is sorted to obtain the order of multiple primary points of interest.

[0098] Furthermore, in the process of sorting each first point of interest according to the x-axis value in the coordinates of each first point of interest to obtain the order of multiple first points of interest, the sorting can be done according to the x-axis value in ascending order. If the x-axis value of two points is calculated, i.e., x' k If they are equal, then the original coordinates (x) k ,y k ) in x k The smaller points are listed first, resulting in the point sequence Q1, Q2, ..., Qn.

[0099] In one embodiment, in addition to connecting the second pixel points according to the order determined above to determine the electronic warning strip, a preset order of multiple first points of interest can also be specified, and then the second pixel points can be connected according to the preset order of the multiple first points of interest to determine the electronic warning strip.

[0100] For example, the preset order can take into account the actual significance of the first point of interest, and regularly avoid or select certain sensitive first points of interest so that the electronic warning tape generated according to the preset order meets the actual needs; in addition, a preset order that meets the actual needs can be determined according to the actual needs so that the electronic warning tape generated according to the preset order meets the actual needs. Therefore, dynamic planning of electronic warning tape can be realized in the embodiments of the present invention.

[0101] In one embodiment, the coordinate changes of the first point of interest can also be sensed in real time by the image acquisition device, thereby determining a new electronic warning zone in real time.

[0102] In one embodiment, in order to enable the image acquisition device to generate electronic warning tape normally during the inspection process, when the physical parameters of the image acquisition device change during the inspection process, the coordinates of multiple second points of interest within a second preset range can be obtained with the position of the image acquisition device as the origin. The second preset range refers to the new range covered by the lens of the image acquisition device when the physical parameters change. Then, a second image including multiple second points of interest is acquired. Based on the updated physical parameters and the coordinates of multiple second points of interest, the third pixel position of multiple second points of interest in the second image is determined by the preset coordinate transformation relationship shown in formula (1). Finally, the updated electronic warning tape is determined based on the third pixel position.

[0103] Specifically, the physical parameters include at least two of the following: the installation height h of the image acquisition device, the pitch angle α of the image acquisition device, the deflection angle β of the image acquisition device, the rotation angle θ of the image acquisition device, and the focal length d of the image acquisition device.

[0104] In this process, as the coverage area of ​​the lens of the image acquisition device changes during the patrol, the coordinates of multiple second points of interest within the changed range are collected, and the updated electronic warning tape is determined based on the updated physical parameters and the coordinates of the multiple second points of interest. Therefore, it is possible to automatically regenerate the electronic warning tape as the posture and focus of the image acquisition device change during the patrol. In other words, the embodiments of the present invention can realize the automatic generation of electronic warning tape during the patrol.

[0105] The method for determining electronic warning tape provided in this invention first acquires the coordinates of multiple first points of interest (POIs) within a first preset range, using the location of the image acquisition device as the origin. Then, it acquires a first image including the multiple POIs. Next, it uses a preset image recognition algorithm to determine the first pixel position of a preset target POI within the first image. Then, based on the first pixel position, the coordinates of the preset target POI, and the coordinates of other POIs besides the preset target POI, it uses a preset coordinate transformation relationship to determine the second pixel position of the multiple POIs within the first image, where the second pixel position includes the first pixel position. Finally, it determines the electronic warning tape based on the second pixel position. Because the electronic warning tape is automatically calculated and generated by the processor of the image acquisition device based on the acquired coordinates of the multiple POIs and according to the preset image recognition algorithm and preset coordinate transformation relationship, it can accurately determine the electronic warning tape, thus overcoming the problem of low accuracy in the traditional manual line drawing process for generating electronic warning tapes.

[0106] and Figure 1Corresponding to the flowchart of the method for determining electronic warning tape, this embodiment of the invention also provides a device for determining electronic warning tape.

[0107] Figure 3 This is an electronic warning tape determination device also provided in an embodiment of the present invention. For example... Figure 3 As shown, the device may include:

[0108] The acquisition module 301 can be used to acquire the coordinates of multiple first points of interest within a first preset range, with the location of the image acquisition device as the origin.

[0109] The image acquisition module 302 can be used to acquire a first image including multiple first points of interest.

[0110] The processing module 303 can be used to determine the first pixel position of a preset target interest point in the first image among multiple first interest points using a preset image recognition algorithm.

[0111] The processing module 303 can also be used to determine the second pixel position of multiple first interest points in the first image based on the first pixel position, the coordinates of a preset target interest point, and the coordinates of other interest points among multiple first interest points besides the preset target interest point, using a preset coordinate transformation relationship, wherein the second pixel position includes the first pixel position; and to determine the electronic warning tape based on the second pixel position.

[0112] The processing module 303 can also be used to determine the physical parameters of the image acquisition device by using a preset coordinate transformation relationship based on the coordinates of the first pixel point and the preset target interest point; and to determine the second pixel point of the multiple first interest points in the first image by using a preset coordinate transformation relationship based on the physical parameters, the coordinates of the preset target interest point and the coordinates of other interest points among the multiple first interest points besides the preset target interest point.

[0113] In one embodiment, the physical parameters include at least two of the following: installation height, pitch angle, yaw angle, rotation angle, and focal length.

[0114] The processing module 303 can also be used to obtain the coordinates of multiple second points of interest within a second preset range, with the position of the image acquisition device as the origin, when it is determined that the physical parameters of the image acquisition device have changed.

[0115] The image acquisition module 302 can be used to acquire a second image including multiple second points of interest.

[0116] The processing module 303 can also be used to determine the third pixel position of multiple second points of interest in the second image based on the updated physical parameters and the coordinates of multiple second points of interest, using a preset coordinate transformation relationship; and to determine the updated electronic warning tape based on the third pixel position.

[0117] The processing module 303 can also be used to determine the order of multiple first points of interest based on the coordinates of each first point of interest; and to determine the electronic warning strip based on the order and the second pixel position of each first point of interest in the first image.

[0118] The processing module 303 can also be used to convert the spatial coordinates of the image acquisition device and the coordinates of multiple first points of interest into two-dimensional coordinates; and to determine the order of the multiple first points of interest based on the data of the first axis and the data of the second axis in the two-dimensional coordinates of each first point of interest.

[0119] The processing module 303 can also be used to determine a fitting line for multiple first points of interest based on a preset line expression, according to the data of the first axis and the second axis in the coordinates of each first point of interest; determine the coordinates of the foot of the perpendicular from the coordinates of each first point of interest to the fitting line based on the fitting line; and determine the order of the multiple first points of interest based on the coordinates of the foot of the perpendicular.

[0120] The processing module 303 can also be used to determine the electronic warning tape according to the second pixel position in a preset order of multiple first points of interest.

[0121] Understandable, Figure 3 The various modules in the device for determining the electronic warning strip shown have the ability to implement... Figure 1 The functions of each step in the process and their corresponding technical effects are described briefly and will not be elaborated here.

[0122] The electronic warning tape determination device provided in this embodiment of the invention first acquires the coordinates of multiple first points of interest (POIs) within a first preset range, using the location of the image acquisition device as the origin. Then, it acquires a first image including the multiple POIs. Next, it uses a preset image recognition algorithm to determine the first pixel position of a preset target POI among the multiple POIs in the first image. Then, based on the first pixel position, the coordinates of the preset target POI, and the coordinates of other POIs among the multiple POIs besides the preset target POI, it uses a preset coordinate transformation relationship to determine the second pixel position of the multiple POIs in the first image, where the second pixel position includes the first pixel position. Finally, it determines the electronic warning tape based on the second pixel position. Because the electronic warning tape is automatically calculated and generated by the processor of the image acquisition device based on the acquired coordinates of the multiple POIs and according to the preset image recognition algorithm and preset coordinate transformation relationship, it can accurately determine the electronic warning tape, thus overcoming the problem of low accuracy in the traditional manual line drawing process for generating electronic warning tapes.

[0123] Figure 4 Figure 4 is a structural diagram of the hardware architecture of a computing device provided in an embodiment of the present invention. As shown in Figure 4, the computing device 400 includes an input device 401, an input interface 402, a central processing unit 403, a memory 404, an output interface 405, and an output device 406. The input interface 402, the central processing unit 403, the memory 404, and the output interface 405 are interconnected via a bus 410. The input device 401 and the output device 406 are connected to the bus 410 via the input interface 402 and the output interface 405, respectively, and are thus connected to other components of the computing device 400.

[0124] Specifically, input device 401 receives input information from the outside and transmits the input information to central processing unit 403 through input interface 402; central processing unit 403 processes the input information based on computer-executable instructions stored in memory 404 to generate output information, temporarily or permanently stores the output information in memory 404, and then transmits the output information to output device 406 through output interface 405; output device 406 outputs the output information to the outside of computing device 400 for user use.

[0125] In other words, Figure 4 The computing device shown can also be implemented as an electronic warning tape determination device, which may include: a memory storing computer-executable instructions; and a processor that, when executing the computer-executable instructions, can implement the electronic warning tape determination method provided in the embodiments of the present invention.

[0126] This invention also provides a computer-readable storage medium storing computer program instructions; when executed by a processor, the computer program instructions implement the method for determining an electronic warning tape provided in this invention.

[0127] It should be clarified that the present invention is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present invention is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of the present invention.

[0128] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this invention are programs or code segments used to perform the required tasks. Programs or code segments can be stored on a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried in a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, read-only memory (ROM), flash memory, erasable read-only memory (EROM), floppy disks, compact disc read-only memory (CD-ROM), optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0129] It should also be noted that the exemplary embodiments mentioned in this invention describe methods or systems based on a series of steps or apparatus. However, this invention is not limited to the order of the steps described above; that is, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0130] The aspects of this disclosure have been described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It should be understood that each block in the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that these instructions, executable via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions / actions specified in one or more blocks of the flowchart illustrations and / or block diagrams. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field-programmable logic circuit. It is also understood that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by special-purpose hardware performing the specified functions or actions, or can be implemented by a combination of special-purpose hardware and computer instructions.

[0131] The above description is merely a specific embodiment of the present invention. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the protection scope of the present invention.

Claims

1. A method for determining an electronic warning zone, characterized in that, The method includes: Using the location of the image acquisition device as the origin, obtain the coordinates of multiple first points of interest within a first preset range; Acquire a first image including the plurality of first points of interest; The first pixel position of the preset target interest point in the first image is determined using a preset image recognition algorithm; Based on the coordinates of the first pixel point, the preset target interest point, and the coordinates of other interest points among the plurality of first interest points besides the preset target interest point, a preset coordinate transformation relationship is used to determine the second pixel point of the plurality of first interest points in the first image, wherein the second pixel point includes the first pixel point. The electronic warning tape is determined based on the second pixel location; The step of determining the second pixel position of the plurality of first interest points in the first image based on the first pixel position, the coordinates of the preset target interest point, and the coordinates of other interest points among the plurality of first interest points excluding the preset target interest point, using a preset coordinate transformation relationship, includes: Based on the coordinates of the first pixel and the preset target point of interest, the physical parameters of the image acquisition device are determined using a preset coordinate transformation relationship. Based on the physical parameters, the coordinates of the preset target interest point, and the coordinates of other interest points among the plurality of first interest points besides the preset target interest point, a preset coordinate transformation relationship is used to determine the second pixel position of the plurality of first interest points in the first image, wherein the preset coordinate transformation relationship is as follows: In formula (1): Where (x,y) are the coordinates of the preset target interest point, (x',y') are the first pixel position of the preset target interest point in the first image, h is the installation height of the image acquisition device, α is the pitch angle of the image acquisition device, β is the deflection angle of the image acquisition device, θ is the rotation angle of the image acquisition device, and d is the focal length of the image acquisition device.

2. The method according to claim 1, characterized in that, The physical parameters include at least two of the following: installation height, pitch angle, yaw angle, rotation angle, and focal length; the method further includes: When it is determined that the physical parameters of the image acquisition device have changed, the coordinates of multiple second points of interest within a second preset range are obtained with the position of the image acquisition device as the origin. Acquire a second image including the plurality of second points of interest; Based on the updated physical parameters and the coordinates of the plurality of second points of interest, the third pixel position of the plurality of second points of interest in the second image is determined by a preset coordinate transformation relationship. The updated electronic warning tape is determined based on the third pixel location.

3. The method according to claim 1, characterized in that, The step of determining the electronic warning strip based on the second pixel location includes: The order of the plurality of first points of interest is determined based on the coordinates of each first point of interest. The electronic warning strip is determined based on the order and the second pixel location of each first point of interest in the first image.

4. The method according to claim 3, characterized in that, Determining the order of the plurality of first points of interest based on the coordinates of each first point of interest includes: The spatial coordinates of the image acquisition device and the coordinates of the plurality of first points of interest are converted into two-dimensional coordinates; The order of the plurality of first points of interest is determined based on the data of the first axis and the data of the second axis in the two-dimensional coordinates of each first point of interest.

5. The method according to claim 4, characterized in that, Determining the order of the plurality of first points of interest based on the data of the first axis and the second axis in the coordinates of each first point of interest includes: Based on the data of the first axis and the second axis in the coordinates of each first point of interest, a fitted straight line for the plurality of first points of interest is determined based on a preset straight line expression; Based on the fitted line, determine the coordinates of the foot of the perpendicular from the coordinates of each first point of interest to the fitted line; The order of the plurality of first points of interest is determined based on the coordinates of the perpendicular foot.

6. The method according to claim 1, characterized in that, The step of determining the electronic warning strip based on the second pixel location also includes: The electronic warning strip is determined based on the second pixel location in a preset order of multiple first points of interest.

7. A device for determining an electronic warning zone, characterized in that, The device includes: The acquisition module is used to acquire the coordinates of multiple first points of interest within a first preset range, with the location of the image acquisition device as the origin. The image acquisition module is used to acquire a first image including the plurality of first points of interest; The processing module is used to determine the first pixel position of the preset target interest point in the first image among the plurality of first interest points using a preset image recognition algorithm; The processing module is further configured to determine the second pixel position of the plurality of first interest points in the first image based on the first pixel position, the coordinates of the preset target interest point, and the coordinates of other interest points among the plurality of first interest points excluding the preset target interest point, using a preset coordinate transformation relationship, wherein the second pixel position includes the first pixel position; The processing module is also used to determine the electronic warning tape based on the second pixel position; The processing module is further configured to determine the physical parameters of the image acquisition device based on the coordinates of the first pixel and the preset target point of interest using a preset coordinate transformation relationship; The processing module is further configured to determine the second pixel position of the plurality of first interest points in the first image based on the physical parameters, the coordinates of the preset target interest point, and the coordinates of other interest points among the plurality of first interest points besides the preset target interest point, using a preset coordinate transformation relationship, wherein the preset coordinate transformation relationship is as follows: In formula (1): Where (x,y) are the coordinates of the preset target interest point, (x',y') are the first pixel position of the preset target interest point in the first image, h is the installation height of the image acquisition device, α is the pitch angle of the image acquisition device, β is the deflection angle of the image acquisition device, θ is the rotation angle of the image acquisition device, and d is the focal length of the image acquisition device.

8. An electronic device, characterized in that, The device includes: a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, it implements the method for determining electronic warning tape as described in any one of claims 1-6.

9. A computer storage medium, characterized in that, The computer storage medium stores computer program instructions, which, when executed by a processor, implement the method for determining an electronic warning tape as described in any one of claims 1-6.

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