Disaster monitoring video displacement measurement method, device and system

Abstract

The present application relates to the technical field of geological disaster monitoring, and in particular to a method, device and system for measuring the displacement of a disaster monitoring video; the method includes: collecting the original image of the slope; obtaining the three-dimensional information of the slope based on the original image; establishing a three-dimensional model for describing the slope based on the three-dimensional information; after placing a measurement target on the slope, regularly collecting real-time images including the measurement target according to a preset collection time interval; obtaining the three-dimensional coordinates of the measurement target in the three-dimensional model based on the real-time image; obtaining the spatial displacement information of the slope based on the three-dimensional coordinates. By adopting the disaster displacement video monitoring method, not only can the labor cost of carrying out slope monitoring work be reduced, but also the monitoring accuracy of slope monitoring work can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of geological disaster monitoring, and in particular to a disaster monitoring video displacement measurement method, equipment and system. Background Art

[0002] Landslide is one of the common geological disasters. It generally refers to the phenomenon that a part of rock and soil on the slope, under the combined action of gravity and other factors, produces shear displacement along a certain weak structural surface and moves as a whole downward on the slope.

[0003] In order to minimize the adverse effects of landslides, relevant technologies will dispatch monitoring personnel to conduct regular inspections of slopes with landslide risks, so as to achieve the purpose of long-term monitoring of slopes with landslide risks.

[0004] Since most slopes with landslide risks are located at the edge of residential areas, the workload of monitoring personnel is heavy, which leads to high labor costs for slope monitoring.

[0005] Furthermore, because the monitoring results obtained during the regular inspection process are greatly affected by the working experience and working status of the monitoring personnel, the monitoring accuracy of the slope monitoring work is relatively low. Summary of the invention

[0006] In view of the shortcomings of related technologies, the present invention provides a disaster monitoring video displacement measurement method, equipment and system, which can reduce the manpower cost of carrying out slope monitoring work and improve the monitoring accuracy of slope monitoring work.

[0007] The above-mentioned object of the present invention is achieved through the following technical solutions:

[0008] In a first aspect, an embodiment of the present invention provides a method for measuring displacement of a disaster monitoring video, the method comprising:

[0009] Collecting the original image of the slope;

[0010] Obtaining three-dimensional information of the slope according to the laser radar and the original image;

[0011] Establishing a three-dimensional model for describing the slope according to the three-dimensional information;

[0012] After placing the measurement target on the slope, regularly collecting real-time images including the measurement target according to a preset collection time interval;

[0013] According to the real-time image, obtaining the three-dimensional coordinates of the measurement target in the three-dimensional model;

[0014] According to the three-dimensional coordinates, spatial displacement information of the slope is obtained, where the spatial displacement information is used to describe the displacement change of the slope within the acquisition time interval;

[0015] The spatial displacement information is displayed according to the three-dimensional model.

[0016] According to the relevant technical method, each time the monitoring work is carried out, the monitoring personnel need to go to the slope location to conduct on-site monitoring of the slope; however, since most slopes are distributed on the edge of residential areas, the monitoring personnel will spend a lot of time and energy in the process of going to the slope location, which makes the manpower cost of carrying out slope monitoring work high;

[0017] According to the disaster displacement video monitoring method described in the present application, in the process of carrying out slope monitoring work, the monitoring personnel only need to go to the slope location once, which greatly reduces the workload of the monitoring personnel and reduces the manpower cost of carrying out slope monitoring work accordingly;

[0018] Moreover, in the related technologies, the monitoring results obtained each time the monitoring work is carried out are affected by the working experience and working status of the monitoring personnel. Because of the interference of human factors, the monitoring results obtained by the related technologies are less accurate.

[0019] However, the disaster displacement video monitoring method described in this application is not affected by the work experience and working status of the monitoring personnel in the real-time image acquisition, which will make the accuracy of the final monitoring results higher than before (the monitoring results obtained in accordance with the relevant technical methods).

[0020] Optionally, after the spatial displacement information is obtained, the method further includes:

[0021] Determine whether the spatial displacement information corresponding to the most recent collection time interval is greater than or equal to the disaster displacement threshold. If so, issue a warning message.

[0022] Optionally, obtaining the three-dimensional coordinates of the measurement target in the three-dimensional model according to the real-time image includes:

[0023] According to the real-time image and the feature extraction algorithm, the target coordinates are obtained, where the target coordinates are used to describe the position of the measurement target in the real-time image;

[0024] The target point coordinates are projected into the three-dimensional model to obtain the three-dimensional coordinates of the measurement target.

[0025] In a second aspect, a disaster monitoring video displacement measurement device is provided, the device comprising:

[0026] A modeling module, used to collect raw images of the slope;

[0027] The modeling module is also used to obtain three-dimensional information of the slope according to the laser radar and the original image;

[0028] The modeling module is also used to establish a three-dimensional model for describing the slope according to the three-dimensional information;

[0029] A collection module, used for periodically collecting real-time images including the measurement target after the measurement target is placed on the slope according to a preset collection time interval, wherein the collection time interval is used to indicate the time interval between two adjacent collection operations;

[0030] A processing module, used for obtaining the three-dimensional coordinates of the measurement target in the three-dimensional model established by the modeling module according to the real-time image;

[0031] A measuring module, used for obtaining spatial displacement information of the slope according to the three-dimensional coordinates obtained by the processing module, wherein the spatial displacement information is used for describing the displacement change of the slope within the acquisition time interval;

[0032] A display module is used to display the spatial displacement information obtained by the measurement module based on the three-dimensional model established by the modeling module.

[0033] Optionally, the device further includes:

[0034] The warning module is used to determine whether the spatial displacement information obtained by the measurement module is greater than the disaster displacement threshold, and if so, issue a warning message.

[0035] Optionally, the processing module is specifically used for:

[0036] Obtaining target coordinates according to a feature extraction algorithm and the real-time image obtained by the acquisition module, wherein the target coordinates are used to describe the position of the measurement target in the real-time image;

[0037] The target point coordinates are projected onto the three-dimensional model established by the modeling module to obtain the three-dimensional coordinates of the measurement target.

[0038] In a third aspect, a disaster monitoring video displacement measurement system is provided, the system comprising:

[0039] A modeling device for collecting original images of the slope;

[0040] The modeling device is also used to obtain three-dimensional information of the slope according to the laser radar and the original image;

[0041] The modeling device is also used to establish a three-dimensional model for describing the slope according to the three-dimensional information;

[0042] A collection device, used for periodically collecting real-time images including the measurement target after the measurement target is placed on the slope according to a preset collection time interval, wherein the collection time interval is used to indicate the time interval between two adjacent collection operations;

[0043] A processing device, for obtaining the three-dimensional coordinates of the measurement target in the three-dimensional model established by the modeling device according to the real-time image;

[0044] The measuring device is used to obtain the spatial displacement information of the slope according to the three-dimensional coordinates obtained by the processing device, and the spatial displacement information is used to describe the displacement change of the slope within the acquisition time interval.

[0045] A display device is used to display the spatial displacement information obtained by the measuring device based on the three-dimensional model established by the modeling device.

[0046] Optionally, the system further includes:

[0047] The warning device is used to determine whether the spatial displacement information obtained by the measuring device is greater than the disaster displacement threshold, and if so, issue a warning message.

[0048] Optionally, the processing device is specifically used for:

[0049] Obtaining target coordinates according to a feature extraction algorithm and the real-time image obtained by the acquisition device, wherein the target coordinates are used to describe the position of the measurement target in the real-time image;

[0050] The target point coordinates are projected onto the three-dimensional model established by the modeling device to obtain the three-dimensional coordinates of the measurement target.

[0051] In summary, the present application has the following beneficial technical effects: by using a shooting device to regularly collect real-time images, the data collection work of the slope by the monitoring personnel is replaced, thereby reducing the workload of the monitoring personnel and reducing the manpower cost of carrying out slope monitoring work accordingly;

[0052] Furthermore, because the process of collecting real-time images by the shooting equipment will not be affected by the working experience and working status of the monitoring personnel, the accuracy of the monitoring results will be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0054] Figure 1 This is a flow chart of a method for measuring the displacement of a disaster monitoring video provided in the first embodiment of the present invention;

[0055] Figure 2 It is a structural schematic diagram of a disaster monitoring video displacement measurement device provided by the second embodiment of the present invention;

[0056] Figure 3 It is a structural schematic diagram of a disaster monitoring video displacement measurement system provided in Embodiment 3 of the present invention. DETAILED DESCRIPTION

[0057] The present application is further described in detail below in conjunction with the accompanying drawings.

[0058] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0059] Embodiment 1:

[0060] Reference Figure 1 , is a method for measuring the displacement of a disaster monitoring video disclosed in this application, which specifically includes the following steps:

[0061] 101. Collect the original image of the slope.

[0062] 102. Obtain three-dimensional information of the slope according to the laser radar and the original image obtained in step 101.

[0063] 103. According to the three-dimensional information obtained in step 102, a three-dimensional model for describing the slope is established.

[0064] 104. After placing the measurement target on the slope, regularly collect real-time images including the measurement target according to a preset collection time interval.

[0065] Specifically, the above-mentioned collection time interval is used to indicate the time interval between two adjacent collection operations.

[0066] 105 . According to the real-time image acquired in step 104 , obtain the three-dimensional coordinates of the measurement target in the three-dimensional model established in step 103 .

[0067] Specifically, the process described in step 105 may be:

[0068] According to the feature extraction algorithm and the real-time image acquired in step 104, the target coordinates are obtained; the target coordinates are used to describe the position of the measurement target in the real-time image;

[0069] The above target point coordinates are projected into the three-dimensional model established in step 103 to obtain the three-dimensional coordinates of the measurement target.

[0070] 106. According to the three-dimensional coordinates obtained in step 105, obtain the spatial displacement information of the slope.

[0071] Specifically, the above-mentioned spatial displacement information is used to describe the displacement change of the slope within the acquisition time interval.

[0072] 107. Based on the three-dimensional model established in step 103, display the spatial displacement information obtained in step 106.

[0073] 108. Determine whether the spatial displacement information corresponding to the most recent acquisition time interval is greater than or equal to the disaster displacement threshold. If so, issue a warning message.

[0074] It should be noted that step 108 is an optional step, which is mainly used to promptly feed back abnormal spatial displacement information to monitoring personnel.

[0075] Optionally, in a preferred embodiment, the process described in step 101 may be:

[0076] 201. Collect the original image of the slope.

[0077] Specifically, after placing the photographing equipment at the photographing point, an original image of the slope is photographed;

[0078] The shooting point may be predetermined, and the process of determining the shooting point may be:

[0079] capturing a panoramic image of the slope, the panoramic image including an image of the slope and an image of flat land surrounding the slope;

[0080] According to the image recognition algorithm, an intersection line of the full image is identified, where the intersection line is the intersection between the slope and the flat land surrounding the slope;

[0081] Obtaining a midpoint of intersection according to the intersection line, wherein the distance between the midpoint of intersection and the two end points of the intersection line is the same;

[0082] According to the above-mentioned intersection midpoint, an observation ray perpendicular to the above-mentioned intersection line is obtained, the observation ray is located on the flat ground around the slope, and the above-mentioned intersection midpoint is the endpoint of the observation ray;

[0083] According to the above observation ray, determine the position of the shooting point; the shooting point is located on the above observation ray, and the interval between the shooting point and the above intersection midpoint is in the interval [200,1000], in meters (m);

[0084] Preferably, the optimal distance between the shooting point and the intersection midpoint may be 300 meters, 500 meters or 700 meters.

[0085] In practical applications, the above-mentioned shooting device can be an infrared gun camera, or a device equipped with a shooting function and an infrared fill light function. The embodiments of the present application do not limit the specific shooting device.

[0086] Optionally, in a preferred embodiment, the process described in step 102 may be:

[0087] 202. Obtain three-dimensional information of the slope according to the laser radar and the original image obtained in step 201.

[0088] Specifically, after the monitoring personnel obtain the bottom height and top height of the slope by laser radar, the height values ​​corresponding to all the pixel points in the original image are obtained by estimation;

[0089] According to the original image obtained in step 201 and the height values ​​corresponding to all the pixels in the original image, the three-dimensional information of the slope is obtained.

[0090] For example, assuming that the bottom height of the slope is H1, the top height of the slope is H2, and there are N lines extending in the horizontal direction in the original image;

[0091] Then we can find that, in the original image, the height difference between two adjacent lines extending in the horizontal direction is: ;

[0092] In the original image, the line extending horizontally at the bottom is called the bottom line, and the line extending horizontally at the top is called the top line; because the height of the bottom line is the bottom height H1 of the slope, the height of all pixels falling on the bottom line is also equal to the bottom height H1 of the slope;

[0093] Similarly, because the height of the top line is the top height H2 of the slope, the height of all pixels falling on the top line is also equal to the top height H2 of the slope;

[0094] When the height of the bottom line and the height difference between two adjacent lines are known, the height of all lines extending horizontally in the original image can be obtained, which also corresponds to the height values ​​of all pixels in the original image.

[0095] Optionally, in a preferred embodiment, the process described in step 103 may be:

[0096] 203. According to the three-dimensional information obtained in step 202, a three-dimensional model for describing the slope is established.

[0097] Specifically, according to the three-dimensional modeling algorithm and the three-dimensional information obtained in step 202, a three-dimensional model for describing the slope is established.

[0098] It should be noted that, in actual application, the above-mentioned 3D modeling algorithm may be a Crust algorithm or an AlphaShape algorithm, and the embodiments of the present application do not limit the specific 3D modeling algorithm.

[0099] Optionally, in a preferred embodiment, the process described in step 104 may be:

[0100] 204. After placing the measurement target on the slope, regularly collect real-time images including the measurement target according to a preset collection time interval.

[0101] Specifically, the above-mentioned collection time interval is used to indicate the time interval between two adjacent collection operations, and the execution process of step 204 can be;

[0102] Obtain the horizontal center line of the original image;

[0103] The horizontal center line is equally divided, and a plurality of equally divided points corresponding to a plurality of measurement targets are obtained;

[0104] Mark the above multiple equally divided points in the original image;

[0105] After the monitoring personnel place a plurality of measurement targets on the slope according to the positions of a plurality of equally divided points marked in the original image, real-time images including the measurement targets are regularly collected according to a preset collection time interval;

[0106] The process of setting the above collection time interval may be:

[0107] A1. Obtain the slope of the slope according to the three-dimensional model established in step 203;

[0108] A2. Determine whether the slope is less than 10 degrees. If so, set the above-mentioned collection time interval to 24 hours; otherwise, execute step A3;

[0109] A3, determine whether the slope is less than 20 degrees, if so, set the above collection time interval to 18 hours; otherwise, execute step A4;

[0110] A4, determine whether the slope is less than 30 degrees, if so, set the above collection time interval to 10 hours; otherwise, execute step A5;

[0111] A5. Set the above collection time interval to 4 hours.

[0112] As the slope gradient increases, the probability of landslides will increase accordingly, so the sampling time interval will be shortened to carry out relatively compact monitoring work on slopes with larger slopes, which can further improve the timeliness of monitoring work;

[0113] Optionally, in the process of executing step 204, the present application may also adjust the collection time interval by regularly measuring the air humidity at the location of the slope through a humidity measurement interval, wherein the value interval of the humidity measurement interval is [0,15], in seconds (s);

[0114] Preferably, the optimal humidity measurement interval is 10 minutes;

[0115] The above process of adjusting the collection time interval by air humidity can be:

[0116] B1. Determine whether the air humidity measured at the current time is greater than 65%. If so, set the current time as a rain time node and execute step B2; otherwise, set the current time as a dry time node and execute step B3;

[0117] B2. Reset the above collection time interval to 10 minutes and end this adjustment process;

[0118] B3, determine whether the time interval between the current time and the most recent rain time node is greater than 12 hours, if so, execute step B4; otherwise, execute step B5;

[0119] B4, determining whether the above-mentioned collection time interval is 10 minutes or 20 minutes. If so, resetting the above-mentioned collection time interval according to the above-mentioned steps A1-A4, and ending this adjustment process; otherwise, directly ending this adjustment process;

[0120] B5. Determine whether the above-mentioned collection time interval is 20 minutes. If so, directly end this adjustment process; otherwise, set the above-mentioned collection time interval to 20 minutes.

[0121] Because rainwater soaking and scouring are the main causes of slope landslides, during the rainy process and within 12 hours after the rain stops, the slope will be monitored at a high frequency by shortening the collection time interval of the measurement cycle. This can provide timely feedback on the slippage of the slope after being soaked and scour by rainwater, and improve the timeliness of the monitoring results, thereby further improving the reliability of the monitoring results and improving the monitoring efficiency.

[0122] It should be noted that, in actual application, the process of measuring the air humidity at the location of the slope can be completed by a humidity sensor or other humidity measuring equipment with humidity measurement function. The above humidity measuring equipment can be mounted on a shooting device or can be independently set on the slope or on the flat ground around the slope. The embodiment of the present application does not limit the type, model and installation location of the humidity measuring equipment.

[0123] It is worth noting that during each acquisition process, the camera will obtain multiple real-time images including the measurement target through continuous shooting;

[0124] At the same time, a digital number for uniquely identifying the measurement target is also provided at the center of the target surface of the measurement target, and the color of the target surface of the measurement target is a contrasting color to the color of the slope surface;

[0125] Among them, the setting of digital numbers is to distinguish multiple measurement targets in the real-time image, which can facilitate the processing of real-time images and improve the monitoring efficiency; and the setting of the target surface color of the measurement target is to increase the distinction between the measurement target and the slope, which can also facilitate the processing of real-time images and improve the monitoring efficiency;

[0126] Optionally, the edge and center of the target surface of the measurement target are provided with a reflective material for cooperating with the shooting device, and the reflective material is mainly used to reflect the infrared light emitted by the shooting device;

[0127] In poor light environments or dark environments, the reflective material set on the target surface can fully reflect the infrared light emitted by the shooting equipment. This can reduce the interference caused by poor light environments or dark environments to real-time image acquisition, and correspondingly improve the adaptability of monitoring work.

[0128] In practical applications, the shape of the measurement target may be a rectangle, a triangle, or a polygon with regular edges. The embodiment of the present application does not limit the specific shape of the measurement target.

[0129] Optionally, in a preferred embodiment, the process described in step 105 may be:

[0130] 205 . According to the real-time image obtained in step 204 , obtain the three-dimensional coordinates of the measurement target in the three-dimensional model established in step 204 .

[0131] Specifically, the process described in step 205 may be:

[0132] 2051. According to the grayscale algorithm, the multiple real-time images obtained in step 204 are grayscaled to obtain multiple real-time grayscale images corresponding to the multiple real-time images.

[0133] 2052. Screening the multiple real-time grayscale images obtained in step 2051 to obtain a screened grayscale image; the screened grayscale image is used to describe the real-time grayscale image after filtering the rain noise points. The above-mentioned screening process can be:

[0134] C1. Randomly select multiple real-time grayscale images from the multiple real-time grayscale images obtained in step 2051; to distinguish them from the aforementioned multiple real-time grayscale images, the randomly selected multiple real-time grayscale images are collectively referred to as filtered grayscale images;

[0135] The number of randomly selected real-time grayscale images is in the range [5,9], in units;

[0136] Preferably, the optimal number of randomly selected real-time grayscale images is 7;

[0137] C2, randomly selecting one filtered grayscale image for sampling from the seven filtered grayscale images;

[0138] C3, selecting a pixel sampling point from all the pixel points of the filtered grayscale image used for sampling;

[0139] C4, according to the pixel sampling point obtained in step C3, from the 5-9 filtered grayscale images obtained in step C1, obtaining the grayscale value of each filtered grayscale image at the location of the pixel sampling point;

[0140] C5, from the 5-9 gray values ​​obtained in step C4, respectively obtain the maximum gray value with the largest value and the minimum gray value with the smallest value;

[0141] C6, subtracting the minimum grayscale value obtained in step C5 from the maximum grayscale value obtained in step C5 to obtain a grayscale difference corresponding to the pixel sampling point selected in step C3;

[0142] C7, determining whether the grayscale difference obtained in step C6 is greater than or equal to the grayscale threshold, if so, executing step C8; otherwise, executing step C9;

[0143] C8, setting the grayscale value of the pixel sampling point selected in step C3 to the minimum grayscale value obtained in step C5, and executing step C10;

[0144] C9, according to the 5-9 gray values ​​obtained in step C4, obtain the average gray value of the above 5-9 gray values, and set the average gray value as the gray value of the pixel sampling point selected in step C3, and then execute step C10;

[0145] C10, repeating the process of steps C3-C9 until the grayscale values ​​of all pixels of the filtered grayscale image selected for sampling in step C2 have been filtered, and then executing step C11;

[0146] C11, setting the filtered grayscale image for sampling after filtering as the screening grayscale image;

[0147] In a rainy environment, due to the refraction of light by rain, multiple high-brightness rain noise points will appear in the real-time image collected by the shooting device, which will increase the difficulty of processing the real-time image and reduce the accuracy of the monitoring results. In order to minimize the adverse effects of the rainy environment on the collection work, the raindrop noise points in the real-time grayscale image will be filtered through step 2053, and the grayscale value of each pixel in the real-time grayscale image will be restored to the real situation;

[0148] 2053. Obtain a plurality of target images corresponding to the plurality of measurement targets one by one according to the edge detection algorithm and the screened grayscale image obtained in step 2052;

[0149] 2054. According to the feature extraction algorithm and one of the target images obtained in step 2053, a plurality of endpoint coordinates of the measurement target corresponding to the target image are obtained; the plurality of endpoint coordinates respectively correspond to a plurality of corners of the measurement target corresponding to the target image;

[0150] 2055. According to the multiple endpoint coordinates obtained in step 2054, the target point coordinates of the measurement target corresponding to the target image selected in step 2054 are obtained; the distances between the target point coordinates and the four endpoint coordinates are the same;

[0151] 2056. Project the target coordinates obtained in step 2055 to the three-dimensional model established in step 203 to obtain the three-dimensional coordinates corresponding to the target coordinates. The three-dimensional coordinates are used to describe the position of the measurement target corresponding to the target image selected in step 2054 in the three-dimensional model established in step 203.

[0152] 2057. According to the OCR algorithm and the target image selected in step 2054, obtain the digital number of the measurement target corresponding to the target image selected in step 2054;

[0153] 2058. Repeat steps 2054 to 2057 until the three-dimensional coordinates and digital numbers of each measurement target are obtained.

[0154] It should be noted that the grayscale processing method performed on the real-time image in step 2051 can be a component method, a maximum method and an average method, or a weighted average method or other algorithms with grayscale processing functions. The embodiment of the present application does not limit the specific implementation method of the grayscale algorithm.

[0155] Optionally, in a preferred embodiment, the process described in step 106 may be:

[0156] 206. According to the three-dimensional coordinates, obtain the spatial displacement information of the slope.

[0157] The spatial displacement information is used to describe the displacement change of the slope within the acquisition time interval; further, the spatial displacement information includes the horizontal offset of the slope and the vertical offset of the slope;

[0158] Specifically,

[0159] 2061. Select two real-time images corresponding to adjacent acquisition times, and obtain two sets of three-dimensional coordinates corresponding to the two real-time images; obtain multiple target displacement vectors corresponding to multiple measurement targets one by one according to the two sets of three-dimensional coordinates;

[0160] 2062. Perform vector decomposition processing on the multiple target displacement vectors obtained in step 2061 to obtain a horizontal displacement amount and a vertical displacement amount corresponding to each target displacement vector;

[0161] 2063. Screen out the horizontal displacement with the largest value from the multiple horizontal displacements obtained in step 2062, and use the horizontal displacement as the horizontal offset of the slope;

[0162] 2064. Screen out the vertical displacement with the largest value from the multiple vertical displacements obtained in step 2062, and use the vertical displacement as the vertical offset of the slope;

[0163] 2065. Repeat the process from step 2061 to step 2064 until the horizontal offset and vertical offset of the slope in each acquisition time interval are obtained.

[0164] Optionally, in a preferred embodiment, the process described in step 107 may be:

[0165] 207. Display the spatial displacement information obtained in step 206 according to the three-dimensional model established by the module in step 203.

[0166] 208. Obtain a disaster displacement threshold from the multiple spatial displacement information obtained in step 206, and determine whether the spatial displacement information obtained in the most recent measurement cycle is greater than or equal to the disaster displacement threshold. If so, issue a warning message.

[0167] Specifically,

[0168] 2081. Obtain a horizontal offset mean of the slope according to the multiple horizontal offsets obtained in step 206, where the horizontal offset mean is an arithmetic average of the multiple horizontal offsets.

[0169] 2082. Set twice the value of the mean horizontal offset obtained in step 2081 as the horizontal component of the disaster displacement threshold;

[0170] 2083. Obtain a vertical offset mean of the slope according to the multiple vertical offsets obtained in step 206, where the vertical offset mean is an arithmetic average of the multiple vertical offsets.

[0171] 2084. Set twice the value of the vertical offset mean obtained in step 2083 as the vertical component of the disaster displacement threshold;

[0172] 2085. According to the multiple spatial displacement information obtained in step 206, obtain the spatial displacement information between the two most recent measurement cycles; for the convenience of distinction, the horizontal offset corresponding to the spatial displacement information is called the real-time horizontal offset, and the vertical offset corresponding to the spatial displacement information is called the real-time vertical offset;

[0173] 2086. Determine whether the real-time horizontal offset obtained in step 2085 is greater than or equal to the horizontal component of the disaster displacement threshold set in step 2082. If so, execute step 2089; otherwise, execute step 2087;

[0174] 2087. Determine whether the real-time vertical offset obtained in step 2085 is greater than or equal to the vertical component of the disaster displacement threshold set in step 2084. If so, execute step 2089; otherwise, execute step 2088;

[0175] 2088. End this judgment process;

[0176] 2089. Issue a warning message according to the real-time horizontal offset and the real-time vertical offset obtained in step 2083; the warning message includes GNCC (Global Navigation Satellite System, Global Navigation Catellite CyCtem) positioning information of the slope.

[0177] Embodiment 2:

[0178] The embodiment of the present invention provides a disaster monitoring video displacement measurement device 3, referring to Figure 2 As shown, the device 3 includes:

[0179] A modeling module 301 is used to collect the original image of the slope;

[0180] The modeling module 301 is also used to obtain three-dimensional information of the slope based on the laser radar and the original image of the modeling module 301;

[0181] The modeling module 301 is also used to establish a three-dimensional model for describing the slope according to the three-dimensional information;

[0182] The acquisition module 302 is used to periodically acquire a real-time image including the measurement target after the measurement target is placed on the slope according to a preset acquisition time interval, wherein the acquisition time interval is used to indicate the time interval between two adjacent acquisition operations;

[0183] A processing module 303 is used to obtain the three-dimensional coordinates of the measurement target in the three-dimensional model established by the modeling module according to the real-time image;

[0184] A measuring module 304, configured to obtain spatial displacement information of the slope according to the three-dimensional coordinates obtained by the processing module 303, wherein the spatial displacement information is used to describe a displacement change of the slope within the acquisition time interval;

[0185] The display module 305 is used to display the spatial displacement information obtained by the measurement module 304 according to the three-dimensional model established by the modeling module 301 .

[0186] Optionally, the system further includes:

[0187] The warning module 306 is used to determine whether the spatial displacement information obtained by the measurement module 304 is greater than the disaster displacement threshold, and if so, issue a warning message.

[0188] Optionally, the processing module 303 is specifically used for:

[0189] Obtain target coordinates according to the feature extraction algorithm and the real-time image obtained by the acquisition module 302, wherein the target coordinates are used to describe the position of the measurement target in the real-time image;

[0190] The target point coordinates are projected into the three-dimensional model established by the modeling module 301 to obtain the three-dimensional coordinates of the measurement target.

[0191] Embodiment three:

[0192] The embodiment of the present invention provides a disaster monitoring video displacement measurement system, referring to Figure 3As shown, the system includes:

[0193] Modeling device 401, used for collecting original images of the slope;

[0194] The modeling device 401 is also used to obtain three-dimensional information of the slope based on the laser radar and the original image collected by the modeling device 401;

[0195] The modeling device 401 is also used to establish a three-dimensional model for describing the slope according to the three-dimensional information;

[0196] The acquisition device 402 is used for periodically acquiring real-time images including the measurement target after the measurement target is placed on the slope according to a preset acquisition time interval, wherein the acquisition time interval is used to indicate the time interval between two adjacent acquisition operations;

[0197] The processing device 403 is used to obtain the three-dimensional coordinates of the measurement target in the three-dimensional model established by the modeling device according to the real-time image;

[0198] The measuring device 404 is used to obtain spatial displacement information of the slope according to the three-dimensional coordinates obtained by the processing device 403, wherein the spatial displacement information is used to describe the displacement change of the slope within the acquisition time interval;

[0199] The display device 405 is used to display the spatial displacement information obtained by the measurement module 404 according to the three-dimensional model established by the modeling device 401.

[0200] Optionally, the system 4 further includes:

[0201] The warning device 406 is used to determine whether the spatial displacement information obtained by the measuring device 404 is greater than the disaster displacement threshold, and if so, issue a warning message.

[0202] Optionally, the processing device 403 is specifically configured to:

[0203] Obtaining target coordinates according to the feature extraction algorithm and the real-time image obtained by the acquisition device 402, wherein the target coordinates are used to describe the position of the measurement target in the real-time image;

[0204] The target point coordinates are projected into the three-dimensional model established by the modeling device 401 to obtain the three-dimensional coordinates of the measurement target.

[0205] Embodiment 4:

[0206] An embodiment of the present invention provides a computer-readable storage medium, which stores one or more preset programs. When the preset programs are executed by a processor, the steps of the disaster displacement video monitoring method of embodiment one or embodiment two are implemented.

[0207] An embodiment of the present invention provides a disaster displacement video monitoring method, system, device and readable storage medium, the method comprising: acquiring original images of a slope; obtaining three-dimensional information of the slope based on the acquired original images; establishing a three-dimensional model for describing the slope based on the three-dimensional information; after placing a measurement target on the slope, regularly acquiring real-time images including the measurement target according to a preset acquisition time interval; obtaining the three-dimensional coordinates of the measurement target in the three-dimensional model based on the real-time images; and obtaining spatial displacement information of the slope based on the three-dimensional coordinates.

[0208] According to the relevant technical method, each time the monitoring work is carried out, the monitoring personnel need to go to the slope location to conduct on-site monitoring of the slope; however, since most slopes are distributed on the edge of residential areas, the monitoring personnel will spend a lot of time and energy in the process of going to the slope location, which makes the manpower cost of carrying out slope monitoring work high;

[0209] According to the disaster displacement video monitoring method described in the present application, in the process of carrying out slope monitoring work, the monitoring personnel only need to go to the slope location once, which greatly reduces the workload of the monitoring personnel and reduces the manpower cost of carrying out slope monitoring work accordingly;

[0210] In addition, in the related technologies, the monitoring results obtained each time the monitoring work is carried out are affected by the working experience and working status of the monitoring personnel. Because of the interference of human factors, the monitoring results obtained by the related technologies are less accurate.

[0211] However, the disaster displacement video monitoring method described in this application is not affected by the work experience and working status of the monitoring personnel in the real-time image acquisition, which will make the accuracy of the final monitoring results higher than before (the monitoring results obtained in accordance with the relevant technical methods).

[0212] In summary, by adopting the disaster displacement video monitoring method described in this application, it can not only reduce the manpower cost of carrying out slope monitoring work, but also improve the monitoring accuracy of slope monitoring work.

[0213] All the above optional technical solutions can be arbitrarily combined to form optional embodiments of the present invention, which will not be described in detail here.

[0214] It should be noted that: the above-mentioned embodiments provide a disaster monitoring video displacement measurement device and system. When executing the disaster monitoring video displacement measurement method, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the device and the internal structure of the device are divided into different functional modules to complete all or part of the functions described above. In addition, the embodiments of the disaster displacement video monitoring method, device and system provided in the above-mentioned embodiments belong to the same concept. The specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0215] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0216] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for measuring the displacement of a disaster monitoring video, characterized in that: include: Collecting the original image of the slope; Obtaining three-dimensional information of the slope according to the laser radar and the original image; Establishing a three-dimensional model for describing the slope according to the three-dimensional information; After placing the measurement target on the slope, regularly collect real-time images including the measurement target according to a preset collection time interval, wherein the collection time interval is used to indicate the time interval between two adjacent collection operations; According to the real-time image, obtaining the three-dimensional coordinates of the measurement target in the three-dimensional model; According to the three-dimensional coordinates, spatial displacement information of the slope is obtained, where the spatial displacement information is used to describe the displacement change of the slope within the acquisition time interval; displaying the spatial displacement information according to the three-dimensional model; After placing the measurement target on the slope, regularly collecting real-time images including the measurement target according to a preset collection time interval includes: Get the horizontal center line of the original image; The horizontal center line is divided into equal parts, and a plurality of equal division points corresponding to a plurality of measurement targets are obtained; Mark multiple equally divided points in the original image; After the monitoring personnel place a plurality of measurement targets on the slope according to the positions of a plurality of equally divided points marked in the original image, the real-time images including the measurement targets are regularly collected according to the preset collection time interval.

2. The method according to claim 1, characterized in that After the spatial displacement information is obtained, the method further includes: Determine whether the spatial displacement information corresponding to the most recent collection time interval is greater than or equal to the disaster displacement threshold. If so, issue a warning message.

3. The method according to claim 2, characterized in that The obtaining, according to the real-time image, the three-dimensional coordinates of the measurement target in the three-dimensional model comprises: According to the real-time image and the feature extraction algorithm, the target coordinates are obtained, where the target coordinates are used to describe the position of the measurement target in the real-time image; The target point coordinates are projected into the three-dimensional model to obtain the three-dimensional coordinates of the measurement target.

4. A disaster monitoring video displacement measurement device, characterized in that: The device comprises: A modeling module, used to collect raw images of the slope; The modeling module is also used to obtain three-dimensional information of the slope according to the laser radar and the original image; The modeling module is also used to establish a three-dimensional model for describing the slope according to the three-dimensional information; An acquisition module is used to periodically acquire real-time images including the measurement target according to a preset acquisition time interval after the measurement target is placed on the slope; A processing module, used for obtaining the three-dimensional coordinates of the measurement target in the three-dimensional model established by the modeling module according to the real-time image; A measuring module, used for obtaining spatial displacement information of the slope according to the three-dimensional coordinates obtained by the processing module, wherein the spatial displacement information is used for describing the displacement change of the slope within the acquisition time interval; A display module, used to display the spatial displacement information obtained by the measurement module according to the three-dimensional model established by the modeling module; The acquisition module is specifically used for: Get the horizontal center line of the original image; The horizontal center line is divided into equal parts, and a plurality of equal division points corresponding to a plurality of measurement targets are obtained; Mark multiple equally divided points in the original image; After the monitoring personnel place a plurality of measurement targets on the slope according to the positions of a plurality of equally divided points marked in the original image, the real-time images including the measurement targets are regularly collected according to the preset collection time interval.

5. The device according to claim 4, characterized in that The device also includes: The warning module is used to determine whether the spatial displacement information obtained by the measurement module is greater than the disaster displacement threshold, and if so, issue a warning message.

6. The device according to claim 5, characterized in that The processing module is specifically used for: Obtaining target coordinates according to a feature extraction algorithm and the real-time image obtained by the acquisition module, wherein the target coordinates are used to describe the position of the measurement target in the real-time image; The target point coordinates are projected onto the three-dimensional model established by the modeling module to obtain the three-dimensional coordinates of the measurement target.

7. A disaster monitoring video displacement measurement system, characterized in that: The system comprises: A modeling device for collecting original images of the slope; The modeling device is also used to obtain three-dimensional information of the slope according to the laser radar and the original image; The modeling device is also used to establish a three-dimensional model for describing the slope according to the three-dimensional information; A collection device, used for periodically collecting real-time images including the measurement target after the measurement target is placed on the slope according to a preset collection time interval, wherein the collection time interval is used to indicate the time interval between two adjacent collection operations; A processing device, for obtaining the three-dimensional coordinates of the measurement target in the three-dimensional model established by the modeling device according to the real-time image; A measuring device, used for obtaining spatial displacement information of the slope according to the three-dimensional coordinates obtained by the processing device, wherein the spatial displacement information is used for describing the displacement change of the slope within the acquisition time interval; A display device, used to display the spatial displacement information obtained by the measuring device based on the three-dimensional model established by the modeling device; The collection device is specifically used for: Get the horizontal center line of the original image; The horizontal center line is divided into equal parts, and a plurality of equal division points corresponding to a plurality of measurement targets are obtained; Mark multiple equally divided points in the original image; After the monitoring personnel place a plurality of measurement targets on the slope according to the positions of a plurality of equally divided points marked in the original image, the real-time images including the measurement targets are regularly collected according to the preset collection time interval.

8. The system according to claim 7, characterized in that The system further comprises: The warning device is used to determine whether the spatial displacement information obtained by the measuring device is greater than the disaster displacement threshold, and if so, issue a warning message.

9. The system according to claim 8, characterized in that The processing device is specifically used for: Obtaining target coordinates according to a feature extraction algorithm and the real-time image obtained by the acquisition device, wherein the target coordinates are used to describe the position of the measurement target in the real-time image; The target point coordinates are projected onto the three-dimensional model established by the modeling device to obtain the three-dimensional coordinates of the measurement target.

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