A method, device and computer-readable storage medium for monitoring a clear area

Abstract

The present invention provides a method, apparatus, and computer-readable storage medium for monitoring a clear area. The method comprises: obtaining a current image corresponding to each monitoring point in the clear area; determining a change point based on an initial image and the current image of each monitoring point in the clear area; obtaining the coordinates of the change point; and determining whether an obstacle exceeds a height limit in the clear area based on the coordinates of the change point. This embodiment can accurately determine whether an obstacle exceeds a height limit in the clear area.

Description

Technical Field

[0001] The present application relates to the field of monitoring technology, and in particular to a method, device, and computer-readable storage medium for monitoring a clear area. Background Art

[0002] Aircraft fly at relatively low altitudes within airports, necessitating the designation of a clear zone above the airport. The ground and airspace within this zone must be controlled according to specific standards. The quality of airport clear zones is directly related to the safety of passengers and property. Violations of airport clear zones are often caused by excessively high obstacles within the clear zone, making it crucial to monitor obstacle heights within the airport's clear zone restriction surface.

[0003] Currently, there are two common monitoring methods: one is to use a manually operated total station for measurement, which is large and inconvenient to use and carry; the other is to use drones for measurement. However, using drones in airport clear areas requires airspace approval before taking off for measurement, which is inconvenient. In addition, using both of these methods to measure the airport clear area requires manual confirmation of the area to be measured, which carries the risk of missing measurement areas and resulting in inaccurate measurements. Summary of the Invention

[0004] The purpose of the embodiments of the present application is to provide a method, device and computer-readable storage medium for monitoring a clear area, which can accurately determine whether there are obstacles exceeding a restricted height in the clear area.

[0005] The present invention provides a method for monitoring a clear area, the method comprising:

[0006] Acquire a current image corresponding to each monitoring point in the clear area;

[0007] determining a change point according to an initial image and the current image of each monitoring point in the clearance area;

[0008] Obtaining the coordinates of the change point;

[0009] It is determined whether there is an obstacle exceeding a restricted height of the clearance area according to the coordinates of the change point.

[0010] In the above implementation, the current image corresponding to each monitoring point in the clear area is obtained, and the initial image of each monitoring point in the clear area is compared with the current image to obtain the change point within the current clear area. Furthermore, the coordinates of the change point are obtained, and the coordinates of the change point are used to determine whether there is an obstacle exceeding the height limit of the clear area. Compared with the existing technology, this implementation automatically determines the change area to be measured through image comparison and measures the coordinates of the change point, thus avoiding the omission problem that may result from manual confirmation of the measurement area and can more accurately determine whether there is an obstacle exceeding the height limit in the current clear area.

[0011] Furthermore, before the step of obtaining the current image corresponding to each monitoring point in the clear area, the method further includes:

[0012] Dividing the clear area into a plurality of monitoring intervals;

[0013] The multiple monitoring intervals are divided into multiple monitoring points according to angles, wherein each monitoring point is represented by a horizontal viewing angle and a vertical angle.

[0014] In this implementation, the cleared area is divided into multiple sections, each of which is then divided into multiple monitoring points. Each monitoring point is represented by the horizontal and vertical angles of the monitoring device's pan / tilt. The position of each monitoring point is represented by the monitoring device's parameters, enabling a single monitoring device to monitor a wide range of cleared areas and improving measurement accuracy.

[0015] Furthermore, the step of determining the change point based on the initial image and the current image of each monitoring point in the clearance area includes:

[0016] Matching the initial image and the current image using a feature point matching algorithm to obtain a matching result;

[0017] The change point is determined according to the matching result.

[0018] In the above implementation process, the initial image and the current image are matched using a feature point matching algorithm, and the obtained matching results can be used to calculate the differences between the current image and the initial image and quickly determine the change points.

[0019] Furthermore, the step of matching the initial image and the current image using a feature point matching algorithm and determining the change point according to the matching result includes:

[0020] Performing grayscale processing on the initial image and the current image respectively to obtain an initial grayscale image and a current grayscale image;

[0021] Acquire a transformation matrix between the current grayscale image and the initial grayscale image according to the feature point matching algorithm;

[0022] Performing matrix transformation on the current grayscale image using the transformation matrix to obtain a current grayscale transformed image;

[0023] Acquire a difference image according to the initial grayscale image and the current grayscale transformed image;

[0024] The change point is determined according to the difference image.

[0025] In the above implementation process, the transformation matrix between the current image and the initial image can be calculated through the feature point matching algorithm, so that the transformation matrix can be used to eliminate the camera translation, rotation and camera focal length differences that may exist between the current image and the initial image when shooting, making the obtained difference image more accurate.

[0026] Furthermore, the step of determining the change point according to the difference image includes:

[0027] performing binarization calculation on the difference image to obtain a black and white image;

[0028] Obtain an outer rectangular frame of the white area of ​​the black-and-white image, and divide the area surrounded by the outer rectangular frame into a plurality of sub-areas of equal area;

[0029] The center point of each sub-region is determined as the change point.

[0030] In the above implementation process, the difference image is binarized to obtain a black and white image. The black and white image can intuitively show the area where the change has occurred. The area surrounded by the outer rectangular frame of the white area is divided into multiple sub-areas of equal area, and the center point of the sub-area is determined as the change point. Based on the above implementation method, the change point can be accurately determined.

[0031] Furthermore, the step of obtaining the coordinates of the change point includes:

[0032] Obtaining the center pixel coordinates of each sub-area, the focal length of the camera, and the horizontal angle and vertical angle of the monitoring point;

[0033] Obtaining a pan / tilt rotation angle according to the central pixel coordinates of the sub-area, the focal length of the camera, and the horizontal angle and vertical angle of the monitoring point;

[0034] Controlling the pan-tilt platform to rotate according to the pan-tilt platform rotation angle so that the laser of the laser rangefinder is aligned with the center of the sub-area;

[0035] Obtaining a laser distance from the laser rangefinder to the center of the sub-area;

[0036] The device space coordinates of the change point are calculated according to the pan / tilt rotation angle and the laser distance, and the device space coordinates are the coordinates of the change point.

[0037] In the above implementation process, the pan-tilt rotation angle is calculated according to the central pixel coordinates of each sub-area, the focal length of the camera, the horizontal angle and the vertical angle of the monitoring point, and the pan-tilt rotation angle is controlled according to the pan-tilt rotation angle to align the laser of the laser rangefinder with the center of each sub-area, obtain the laser distance from the laser rangefinder to the center of the sub-area, and finally calculate the coordinates of the change point.

[0038] Furthermore, the step of determining whether there is an obstacle exceeding the restricted height of the airport clearance area based on the coordinates of the change point includes:

[0039] Determining whether the height of the change point exceeds the restricted height of the clearance area according to the device space coordinates of the change point;

[0040] If so, it is determined that there is an obstacle in the clearance area that exceeds the height limit of the clearance area.

[0041] In the above implementation process, it is determined by the coordinates whether the height of the change point exceeds the restricted height of the clearance area, thereby further determining whether there is an obstacle in the clearance area that exceeds the restricted height of the clearance area.

[0042] Furthermore, after the step of determining whether there is an obstacle exceeding the height limit of the clearance area according to the coordinates of the change point, the method further includes: issuing an alarm message.

[0043] In the above implementation process, issuing a warning message after detecting the presence of an obstacle with a restricted height can effectively improve the safety of the aircraft's takeoff process.

[0044] In the second aspect, the present application proposes a monitoring device for a clear area, comprising

[0045] An acquisition module, configured to acquire a current image corresponding to each monitoring point in the clear area;

[0046] a change point determination module, configured to determine a change point based on an initial image and the current image of each monitoring point in the clearance area;

[0047] A coordinate acquisition module, used to acquire the coordinates of the change point;

[0048] The judgment module is used to determine whether there is an obstacle that exceeds the height limit of the clearance area according to the coordinates of the change point.

[0049] In a third aspect, the present application provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the method for monitoring a clearance area as described in the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0051] Figure 1 A method for monitoring a clear area provided in an embodiment of the present application;

[0052] Figure 2 A monitoring device for a clearance area provided in an embodiment of the present application. DETAILED DESCRIPTION

[0053] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0054] It should be noted that similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and should not be understood as indicating or implying relative importance.

[0055] Example 1

[0056] An embodiment of the present application provides a monitoring device for a clear area, comprising: a camera, a laser rangefinder, a dual-axis tilt sensor, a dual-axis electric pan-tilt head, a global navigation satellite system (GNSS) positioning module, a controller, and a communication module. The dual-axis tilt sensor is mounted on the dual-axis electric pan-tilt head; the global navigation satellite system (GNSS) positioning module is used to obtain the GNSS coordinates of the device; and the controller can remotely control the operating status of the camera, dual-axis electric pan-tilt head, dual-axis tilt sensor, etc. via the communication module. The monitoring device is installed at an observation point near an airport; preferably, the observation point is equipped with a fixed observation pier to maintain the monitoring device's posture over a long period of time.

[0057] Example 2

[0058] This embodiment of the present application provides a method for monitoring a clear area, which is applied to the monitoring device in Example 1. The method includes:

[0059] S1: Obtain the current image corresponding to each monitoring point in the clear area;

[0060] S2: determining the change point based on the initial image and the current image of each monitoring point in the clear area;

[0061] S3: Get the coordinates of the change point;

[0062] S4: Determine whether there is an obstacle exceeding the height limit of the clearance area based on the coordinates of the change point.

[0063] The current image corresponding to each monitoring point in the clear area can be obtained by controlling the camera to shoot, or by capturing the video surveillance screen of the recent period in other monitoring devices connected to the device, and extracting a specific frame in the monitoring device as the current image.

[0064] In this embodiment, the current image corresponding to each monitoring point in the clear area is obtained. The initial image of each monitoring point in the clear area is compared with the current image to obtain the change points within the current clear area, and then the coordinates of the change points are obtained. Based on the coordinates of the change points, it is determined whether there are obstacles exceeding the height limit of the clear area. Compared with the existing technology, this embodiment automatically determines the change area to be measured through image comparison and measures the coordinates of the change points, thus avoiding the omissions that may result from manual confirmation of the measurement area and can more accurately determine whether there are obstacles exceeding the height limit in the current clear area.

[0065] In a possible implementation, S2, S3, and S4 are performed periodically.

[0066] For example, every hour / day / month, the current image is obtained at each monitoring point, the current image of the monitoring point is compared with the initial image of the monitoring point, the change point is determined based on the comparison result, the coordinates of the change point are obtained, and it is determined whether there is an obstacle exceeding the limit height based on the coordinates of each change point.

[0067] In a possible implementation manner, before S1, the method further includes:

[0068] Divide the clear area into multiple monitoring intervals;

[0069] The multiple monitoring intervals are divided into multiple monitoring points according to angles, wherein each monitoring point is represented by a horizontal viewing angle and a vertical angle.

[0070] In the above embodiment, the clear area is divided into multiple monitoring intervals, so that multiple monitoring devices can be used to monitor the multiple monitoring intervals respectively, thereby reducing the time required for each round of monitoring and improving monitoring efficiency. At the same time, monitoring blind spots caused by obstructions can be avoided.

[0071] Each monitoring interval is divided into multiple monitoring points, each represented by the horizontal and vertical angles of the monitoring device's pan / tilt. The location of each monitoring point is represented by the device's parameters, enabling a single device to monitor a wide range of cleared areas and improving measurement accuracy.

[0072] The horizontal and vertical angles here are based on a preset coordinate system.

[0073] For example, the monitoring range is divided into multiple monitoring points based on the camera's horizontal and vertical fields of view. Each monitoring point is represented by horizontal and vertical angles, with the horizontal angle difference between two horizontally adjacent monitoring points = camera's horizontal field of view * 0.9, and the vertical angle difference between two vertically adjacent monitoring points = camera's vertical field of view * 0.9. This ensures that the initial and current images corresponding to two adjacent monitoring points overlap, ensuring that images collected by all monitoring points fully cover the monitoring range without omissions.

[0074] When acquiring the initial and current images for each monitoring point, the monitoring device's dual-axis motorized pan / tilt head is controlled to rotate to the horizontal and vertical angles corresponding to each monitoring point. A video clip captured by the camera is captured and saved as the initial / current image. Simultaneously, the tilt data from the tilt sensor is acquired and used as either the initial or current data.

[0075] The initial image, initial laser distance, and initial inclination data are compared with the current image, current laser distance, and current inclination data to determine whether there are obstacles in the clear area that exceed the height limit of the clear area.

[0076] In a possible implementation, for each monitoring point, a corresponding relationship is established between the image and the unique identifier of the monitoring point when the image of each monitoring point is acquired, so that when the current image is subsequently acquired and judged, the initial image and the current image of the same monitoring point can be compared.

[0077] In a possible implementation, when the camera is a variable magnification camera, the magnification of the camera can be set as needed when acquiring the initial image and the current image.

[0078] In one possible implementation, the step of determining a change point based on an initial image and a current image of each monitoring point in the clearance area includes:

[0079] Match the initial image and the current image using a feature point matching algorithm to obtain a matching result;

[0080] A change point is determined according to the matching result.

[0081] In the above implementation process, the initial image and the current image are matched using a feature point matching algorithm, and the obtained matching results can be used to calculate the differences between the current image and the initial image and quickly determine the change points.

[0082] In one possible implementation, the steps of matching the initial image and the current image using a feature point matching algorithm and determining the change point based on the matching result include:

[0083] Perform grayscale processing on the initial image and the current image respectively to obtain an initial grayscale image and a current grayscale image;

[0084] Obtain the transformation matrix between the current grayscale image and the initial grayscale image according to the feature point matching algorithm;

[0085] Perform matrix transformation on the current grayscale image using the transformation matrix to obtain the current grayscale transformed image;

[0086] Obtain a difference image based on the initial grayscale image and the current grayscale transformation image;

[0087] Determine the change points based on the difference image.

[0088] In the above implementation process, the transformation matrix between the current image and the initial image can be calculated through the feature point matching algorithm, so that the transformation matrix can be used to eliminate the camera translation, rotation and camera focal length differences that may exist between the current image and the initial image when shooting, making the obtained difference image more accurate.

[0089] In a possible implementation, the step of determining the change point according to the difference image includes:

[0090] Perform binarization calculation on the difference image to obtain a black and white image;

[0091] Obtain an outer rectangular frame of the white area of ​​the black-and-white image, and divide the area surrounded by the outer rectangular frame into multiple sub-areas of equal area;

[0092] The center point of each sub-region is determined as the change point.

[0093] In this embodiment, the white area in the black and white image is the area where the current image has changed compared to the initial image. The outer rectangular frame of each white area can be calculated using an image processing algorithm.

[0094] The difference image is binarized to obtain a black and white image, which can intuitively show the area where changes have occurred. The area surrounded by the outer rectangular frame of the white area is divided into multiple sub-areas of equal area, and the center point of the sub-area is determined as the change point. Based on the above implementation, the change point can be accurately and quickly determined.

[0095] For example, the image processing algorithm is used to obtain that the size of the outer rectangular frame of one of the white areas is 8×16 units, and the area of ​​each sub-area is specified to be 4×4 units, then the outer rectangular frame can be divided into 8 sub-areas; the smaller the specified area, the higher the measurement accuracy, and the longer the measurement time.

[0096] In a possible implementation, the step of obtaining the coordinates of the change point includes:

[0097] Obtain the center pixel coordinates of each sub-area, the focal length of the camera, and the horizontal and vertical angles of the monitoring point;

[0098] Obtain the pan / tilt rotation angle based on the center pixel coordinates of the sub-area, the focal length of the camera, and the horizontal and vertical angles of the monitoring point;

[0099] Controlling the pan-tilt rotation according to the pan-tilt rotation angle so that the laser of the laser rangefinder is aligned with the center of the sub-area;

[0100] Get the laser distance from the laser rangefinder to the center of the sub-area;

[0101] According to the pan / tilt rotation angle and the laser distance, the device space coordinates of the change point are calculated using a spherical coordinate equation, wherein the device space coordinates are the coordinates of the change point.

[0102] In the above implementation process, the rotation angle of the pan-tilt head is calculated based on the central pixel coordinates of each sub-area, the focal length of the camera, and the horizontal and vertical angles of the monitoring point. Furthermore, the pan-tilt head is controlled to rotate according to the rotation angle of the pan-tilt head, so that the laser of the laser rangefinder is aligned with the center of each sub-area, and the laser distance from the laser rangefinder to the center of the sub-area is obtained, and finally the coordinates of the change point are calculated.

[0103] In one possible implementation, the step of determining whether there is an obstacle exceeding a height limit of the empty area based on the coordinates of the change point includes:

[0104] Determine whether the height of the change point exceeds the height limit of the clearance area based on the device space coordinates of the change point;

[0105] If so, it is determined that there is an obstacle in the clear area that exceeds the height limit of the clear area.

[0106] In one possible implementation, a GNSS-based target coordinate system can be established. After obtaining the coordinates in the device's spatial coordinate system, the coordinates are converted to the target coordinate system, and the determination is then made based on the coordinates of the change point in the target coordinate system. To facilitate this conversion, a monitoring device can be used to measure multiple control points to obtain the coordinates in the device coordinate system, and a GNSS measurement device can be used to obtain the GNSS coordinates of the multiple control points. The transformation relationship between the two coordinate systems can then be calculated. Using a GNSS-based target coordinate system makes it easy to calculate whether the change point exceeds the height limit of the clearance area.

[0107] In one possible implementation, the horizontal coordinate of the change point is used to determine whether the change point is located in the clearance area. If so, the vertical coordinate of the change point is used to determine whether the height of the change point exceeds the restricted height of the clearance area. If so, there is an obstacle in the clearance area that exceeds the restricted height.

[0108] In a possible implementation manner, after the step of determining that an obstacle exceeding a height limit of the clearance area exists in the clearance area, the method further includes: issuing an alarm message.

[0109] In the above implementation process, issuing a warning message after detecting the presence of an obstacle with a restricted height can effectively improve the safety of the aircraft's takeoff and landing process.

[0110] In one possible implementation, the longitude and latitude of the installation location of the monitoring device can be periodically obtained through a GNSS module installed on the monitoring device; when the longitude and latitude are significantly displaced, it indicates that the monitoring device has been displaced, and an alarm message needs to be issued.

[0111] In one possible embodiment, the tilt sensor is used to obtain the posture of the monitoring device. When the current image is obtained, when the pan / tilt of the monitoring device rotates to the horizontal angle and vertical angle corresponding to the monitoring point, the current tilt sensor data of this monitoring point is compared with the initial tilt sensor data. If the difference exceeds a preset threshold, it means that the monitoring device has undergone a large displacement, and an alarm message needs to be issued.

[0112] Example 3

[0113] An embodiment of the present application provides a device, comprising:

[0114] Acquisition module 1, used to obtain the current image corresponding to each monitoring point in the clear area;

[0115] a change point determination module 2, configured to determine a change point based on an initial image and a current image of each monitoring point in the clearance area;

[0116] Coordinate acquisition module 3, used to obtain the coordinates of the change point;

[0117] The judgment module 4 is used to determine whether there is an obstacle exceeding the height limit of the clearance area according to the coordinates of the change point.

[0118] In a possible implementation, the acquisition module 1 includes: a camera, which can be used to acquire a current image corresponding to each monitoring point in the clearance area.

[0119] In a possible embodiment, the device further includes a monitoring point division module for dividing the clearance area into multiple monitoring intervals; and dividing the multiple monitoring intervals into multiple monitoring points according to angles, wherein each monitoring point is represented by a horizontal viewing angle and a vertical angle.

[0120] In a possible implementation, the change point determination module 2 is further configured to match the initial image and the current image using a feature point matching algorithm to obtain a matching result; and determine the change point according to the matching result.

[0121] In a possible implementation, the change point determination module 2 is further configured to match the initial image and the current image using a feature point matching algorithm to obtain a matching result; and determine the change point according to the matching result.

[0122] In a possible implementation, the change point determination module 2 is further configured to perform grayscale processing on the initial image and the current image respectively to obtain an initial grayscale image and a current grayscale image;

[0123] The transformation matrix between the current grayscale image and the initial grayscale image is obtained according to the feature point matching algorithm; the current grayscale image is subjected to matrix transformation using the transformation matrix to obtain the current grayscale transformed image; a difference image is obtained according to the initial grayscale image and the current grayscale transformed image; and the change point is determined according to the difference image.

[0124] In one possible embodiment, the change point determination module 2 is also used to perform a binarization calculation on the difference image to obtain a black and white image; obtain an outer rectangular frame of the white area of ​​the black and white image, and divide the area surrounded by the outer rectangular frame into multiple sub-areas of the same area; and determine the center point of each sub-area as the change point.

[0125] In a possible embodiment, the coordinate acquisition module 3 is further used to obtain the center pixel coordinates of each sub-area, the focal length of the camera, the horizontal angle and the vertical angle of the monitoring point; obtain the pan-tilt rotation angle of the laser rangefinder when it is aligned with the center of the sub-area based on the center pixel coordinates of the sub-area, the focal length of the camera, the horizontal angle and the vertical angle of the monitoring point; control the pan-tilt rotation according to the pan-tilt rotation angle so that the laser of the laser rangefinder is aligned with the center of the sub-area; obtain the laser distance from the laser rangefinder to the center of the sub-area; and calculate the device space coordinates of the change point based on the pan-tilt rotation angle and the laser distance, wherein the device space coordinates are the coordinates of the change point.

[0126] In a possible implementation, the judgment module 4 is further configured to judge whether the height of the change point exceeds the restricted height of the clearance area according to the device space coordinates of the change point;

[0127] If so, it is determined that there is an obstacle in the clear area that exceeds the height limit of the clear area.

[0128] In a possible implementation, the device further includes an alarm module configured to issue an alarm message after determining that an obstacle exceeding a height limit of the clearance area exists in the clearance area.

[0129] In summary, the device obtains the current image corresponding to each monitoring point in the clear area, compares the initial image of each monitoring point in the clear area with the current image, obtains the change point within the current clear area, and then obtains the coordinates of the change point. Based on the coordinates of the change point, it determines whether there are obstacles exceeding the height limit of the clear area. Compared with the existing technology, this embodiment automatically determines the change area to be measured through image comparison and measures the coordinates of the change point, thus avoiding the omission problem that may result from manual confirmation of the measurement area, and can more accurately determine whether there are obstacles exceeding the height limit in the current clear area.

[0130] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architectures, functions and operations of the devices, methods and computer program products according to the multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of the code, and the module, program segment or a part of the code contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or can be implemented using a combination of dedicated hardware and computer instructions.

[0131] In addition, the functional modules in each embodiment of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0132] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0133] The foregoing is merely an embodiment of the present application and is not intended to limit the scope of protection of the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included within the scope of protection of the present application. It should be noted that similar reference numerals and letters represent similar items in the following figures. Therefore, once an item is defined in one figure, it does not need to be further defined or explained in subsequent figures.

[0134] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

[0135] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

Claims

1. A method for monitoring a clear area, characterized in that: include: Acquire a current image corresponding to each monitoring point in the clear area; determining a change point according to an initial image and the current image of each monitoring point in the clearance area; Obtaining the coordinates of the change point; determining whether there is an obstacle exceeding a height limit of the clearance area according to the coordinates of the change point; The step of determining the change point based on the initial image and the current image of each monitoring point in the clearance area includes: Performing grayscale processing on the initial image and the current image respectively to obtain an initial grayscale image and a current grayscale image; Acquire a transformation matrix between the current grayscale image and the initial grayscale image according to a feature point matching algorithm; Performing matrix transformation on the current grayscale image using the transformation matrix to obtain a current grayscale transformed image; Acquire a difference image according to the initial grayscale image and the current grayscale transformed image; performing binarization calculation on the difference image to obtain a black and white image; Obtain an outer rectangular frame of the white area of ​​the black-and-white image, and divide the area surrounded by the outer rectangular frame into a plurality of sub-areas of equal area; Determining the center point of each of the sub-regions as the change point; The step of obtaining the coordinates of the change point includes: Obtaining the center pixel coordinates of each sub-area, the focal length of the camera, and the horizontal angle and vertical angle of the monitoring point; Obtaining a pan / tilt rotation angle according to the central pixel coordinates of the sub-area, the focal length of the camera, and the horizontal angle and vertical angle of the monitoring point; Controlling the pan-tilt platform to rotate according to the pan-tilt platform rotation angle so that the laser of the laser rangefinder is aligned with the center of the sub-area; Obtaining a laser distance from the laser rangefinder to the center of the sub-area; The device space coordinates of the change point are calculated according to the pan / tilt rotation angle and the laser distance, and the device space coordinates are the coordinates of the change point.

2. The method for monitoring a clear area according to claim 1, wherein: Before the step of obtaining the current image corresponding to each monitoring point in the clearance area, the method further includes: Dividing the clear area into a plurality of monitoring intervals; The multiple monitoring intervals are divided into multiple monitoring points according to angles, wherein each monitoring point is represented by a horizontal viewing angle and a vertical angle.

3. The method for monitoring a clear area according to claim 1, wherein: The step of determining whether there is an obstacle exceeding the height limit of the clearance area according to the coordinates of the change point includes: Determining whether the height of the change point exceeds the restricted height of the clearance area according to the device space coordinates of the change point; If so, it is determined that there is an obstacle in the clearance area that exceeds the height limit of the clearance area.

4. The method for monitoring a clear area according to claim 1, wherein: After the step of determining whether there is an obstacle exceeding the height limit of the clearance area according to the coordinates of the change point, the method further includes: issuing an alarm message.

5. A monitoring device for a clear area, characterized in that: include: An acquisition module, configured to acquire a current image corresponding to each monitoring point in the clear area; a change point determination module, configured to determine a change point based on an initial image and the current image of each monitoring point in the clearance area; A coordinate acquisition module, used to acquire the coordinates of the change point; a judgment module, configured to determine whether there is an obstacle exceeding a height limit of the clearance area according to the coordinates of the change point; The change point determination module is specifically used to: Performing grayscale processing on the initial image and the current image respectively to obtain an initial grayscale image and a current grayscale image; Acquire a transformation matrix between the current grayscale image and the initial grayscale image according to a feature point matching algorithm; Performing matrix transformation on the current grayscale image using the transformation matrix to obtain a current grayscale transformed image; Acquire a difference image according to the initial grayscale image and the current grayscale transformed image; performing binarization calculation on the difference image to obtain a black and white image; Obtain an outer rectangular frame of the white area of ​​the black-and-white image, and divide the area surrounded by the outer rectangular frame into a plurality of sub-areas of equal area; Determining the center point of each of the sub-regions as the change point; The coordinate acquisition module is specifically used to: obtain the center pixel coordinates of each sub-area, the focal length of the camera, and the horizontal angle and vertical angle of the monitoring point; obtain the pan-tilt rotation angle based on the center pixel coordinates of the sub-area, the focal length of the camera, and the horizontal angle and vertical angle of the monitoring point; control the pan-tilt rotation according to the pan-tilt rotation angle so that the laser of the laser rangefinder is aligned with the center of the sub-area; obtain the laser distance from the laser rangefinder to the center of the sub-area; and calculate the device space coordinates of the change point based on the pan-tilt rotation angle and the laser distance, where the device space coordinates are the coordinates of the change point.

6. A computer-readable storage medium, characterized in that The device stores a computer program, which, when executed by a processor, implements the method for monitoring a clearance area according to any one of claims 1 to 4.

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