Ambient environment monitoring method, device, computer equipment and storage medium

Abstract

The present application discloses a method, apparatus, computer equipment, and storage medium for monitoring an ambient environment. The method comprises: calibrating a target object based on a binocular test principle; setting a monitoring distance based on performance parameters; determining whether the target object is within a monitoring distance range based on the monitoring distance; and outputting a monitoring signal if the target object is within the monitoring distance range. The method enables the server to more accurately obtain and analyze the distance of the target object through the binocular test principle, making it less likely to miss or report a false alarm. The monitoring distance is obtained by calculating performance parameters, and the distance to the target object is compared with the monitoring distance. When the distance to the target object is less than or equal to the monitoring distance, the client promptly displays a monitoring signal for the user to quickly detect and respond to.

Description

Technical Field

[0001] The present invention relates to the field of detection technology, and in particular to a method, device, computer equipment and storage medium for monitoring an ambient environment. Background Art

[0002] In people's daily lives, using transportation makes travel very convenient. While driving, people observe the surrounding environment with their own eyes, and also monitor the road through the surrounding environment monitoring system of the transportation tool, which reduces people's stress during driving.

[0003] Currently, there are two main types of environmental detection. One is based on radar sensors, which use scanning equipment to determine the presence of target objects within the driving range. However, these devices are expensive. The other is based on visual sensors, which use cameras installed outside the vehicle to identify pedestrians and other suspected targets using image algorithms. Monocular cameras, however, have limited ranging accuracy and are easily affected by strong light, leading to missed or false alarms. Summary of the Invention

[0004] The embodiments of the present invention provide a surrounding environment monitoring method, apparatus, computer equipment and storage medium to improve the problem that the ranging accuracy of a monocular camera is not stable enough and is prone to missed or false alarms.

[0005] A method for monitoring an ambient environment, comprising:

[0006] Based on the binocular test principle, calibrate the target object;

[0007] Set monitoring distance based on performance parameters;

[0008] Based on the monitoring distance, determine whether the target object is within the monitoring distance range;

[0009] If the target object is within the monitoring distance range, a monitoring signal is output.

[0010] A method for monitoring an ambient environment, based on binocular testing principles, to calibrate a target object, includes:

[0011] Scan the surrounding environment and acquire the target object;

[0012] Based on the target object, detect and analyze the target object category.

[0013] A method for monitoring an environment, scanning an environment and acquiring a target object, comprising:

[0014] Update the surrounding environment in real time and identify the target object;

[0015] Based on the target object, target object parameters are analyzed.

[0016] A method for monitoring an ambient environment, based on a target object, after detecting and analyzing parameters of the target object, further includes:

[0017] Determine the shortest distance based on target object parameters and performance parameters;

[0018] Determine the relationship between the shortest distance and the monitoring distance;

[0019] If the shortest distance is less than or equal to the monitoring distance, a monitoring signal is output;

[0020] If the shortest distance is greater than the monitoring distance, a pre-monitoring signal is output.

[0021] A method for monitoring an ambient environment, wherein if a target object is within a monitoring distance range, a monitoring signal is output, further comprising:

[0022] The monitoring distance is graded, including the first monitoring distance and the second monitoring distance.

[0023] If the target object is within the first monitoring distance range, a restriction instruction is activated and a monitoring signal is output;

[0024] If the target object is within the second monitoring distance range, a monitoring signal is output.

[0025] A method for monitoring surrounding environment, further comprising:

[0026] Set safety distance based on performance parameters;

[0027] Determine whether the target object is within a safe distance;

[0028] If the target object is outside the monitoring distance range and within the safety distance range, the target object is recorded in real time.

[0029] A method for monitoring an ambient environment, based on a monitoring distance, determining whether a target object is within a monitoring distance range, further comprising:

[0030] If the target object is outside the monitoring distance range, a pre-monitoring signal is output.

[0031] A surrounding environment monitoring device, comprising:

[0032] The target object calibration module is used to calibrate the target object based on the binocular test principle;

[0033] A monitoring distance setting module is used to set the monitoring distance based on performance parameters;

[0034] A distance range determination module is used to determine whether the target object is within the monitoring distance range based on the monitoring distance;

[0035] The output monitoring signal module is used to output a monitoring signal if the target object is within the monitoring distance range.

[0036] A computer device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the above-mentioned surrounding environment monitoring method is implemented.

[0037] A computer-readable storage medium stores a computer program, which implements the above-mentioned surrounding environment monitoring method when executed by a processor.

[0038] The above-mentioned surrounding environment monitoring method, device, computer equipment and storage medium, through the testing principle of binocular camera, can enable the server to more accurately obtain and analyze the distance of the target object, and is not prone to missing false alarms. The monitoring distance is obtained by calculating performance parameters, and the distance of the target object and the monitoring distance are compared. When the distance of the target object is less than or equal to the monitoring distance, the client will promptly display the monitoring signal for the user to quickly perceive and respond. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments of the present invention. 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 paying any creative labor.

[0040] Figure 1 A schematic diagram illustrating an application environment of a method for monitoring an ambient environment according to an embodiment of the present invention is shown;

[0041] Figure 2 A first flow chart of the surrounding environment monitoring method according to the first embodiment of the present invention is shown;

[0042] Figure 3 A second flow chart of the ambient environment monitoring method according to the second embodiment of the present invention is shown;

[0043] Figure 4 A third flow chart of the ambient environment monitoring method according to the third embodiment of the present invention is shown;

[0044] Figure 5 A fourth flow chart of the surrounding environment monitoring method according to the fourth embodiment of the present invention is shown;

[0045] Figure 6 A fifth flow chart of the ambient environment monitoring method according to the fifth embodiment of the present invention is shown;

[0046] Figure 7A sixth flow chart of the surrounding environment monitoring method according to the sixth embodiment of the present invention is shown;

[0047] Figure 8 A schematic diagram of an ambient environment monitoring device according to an embodiment of the present invention is shown;

[0048] Figure 9 A schematic diagram of a computer device according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0049] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0050] The surrounding environment monitoring method provided by the embodiment of the present invention can be applied in Figure 1 In the application environment, the surrounding environment monitoring method is applied in the surrounding environment monitoring system, which includes a client and a server, wherein the client communicates with the server through a network. The client, also known as the user end, refers to a program corresponding to the server that provides local services to the client. Furthermore, the client is a computer program, an APP program for a smart device, or a third-party applet embedded in other APPs. The client can be installed on, but is not limited to, various computer devices such as personal computers, laptops, smart phones, tablets, and portable wearable devices. The server can be implemented as an independent server or a server cluster consisting of multiple servers.

[0051] In one embodiment, if Figure 2 As shown, a method for monitoring the surrounding environment is provided, which is applied in Figure 1 The server in the example is used as an example. The specific steps include the following:

[0052] S10. Calibrate the target object based on the binocular testing principle.

[0053] Among them, the principle of binocular testing is to use two cameras to form images, calculate the parallax of the two images through the triangle similarity principle, correct the images using the homography correction matrix, and use the error square method to measure the distance to the front scene (the range captured by the image).

[0054] Specifically, the target object captured by the binocular camera is obtained, the distance of the target object is calculated based on the binocular test principle, and the target object is determined and tracked. The target object can be a scene, a human, an animal, or a plant.

[0055] The function of step S10 is to identify and track the target object through the binocular test principle.

[0056] S20. Set the monitoring distance based on the performance parameters.

[0057] Among them, the performance parameters include the focal length, baseline, algorithm, model, and internal component performance parameters of the binocular camera.

[0058] Specifically, the monitoring distance is obtained by using the performance parameters obtained from the binocular database and based on the binocular testing principle, the internal component performance affects the field of view and other parameters. The monitoring distance is fanned outward from the binocular camera as the starting point. The above values ​​can be reasonably adjusted according to the specific actual situation.

[0059] The function of step S20 is to obtain the corresponding monitoring distance through the performance parameters.

[0060] S30. Based on the monitoring distance, determine whether the target object is within the monitoring distance range.

[0061] Specifically, the distance of the target object is obtained through a binocular camera, the monitoring distance is obtained through performance parameters, and the distance of the target object and the monitoring distance are compared.

[0062] The function of step S30 is to compare the distance of the target object with the monitoring distance.

[0063] S40. If the target object is within the monitoring distance range, output a monitoring signal.

[0064] Specifically, if the server detects that the target object is within the monitoring distance range through a binocular camera and algorithm, that is, the distance of the target object is less than or equal to the monitoring distance, the client will display the monitoring signal in a timely manner for the user to quickly perceive and respond.

[0065] The function of step S40 is to display a monitoring signal when the distance of the target object is less than the monitoring distance, so that the user can quickly detect and respond.

[0066] The above-mentioned surrounding environment monitoring method uses the binocular test principle to enable the server to more accurately obtain and analyze the distance of the target object, and is not prone to missing false alarms. The monitoring distance is obtained by calculating performance parameters, and the distance of the target object and the monitoring distance are compared. When the distance of the target object is less than or equal to the monitoring distance, the client will display the monitoring signal in time for the user to quickly perceive and respond.

[0067] In one embodiment, if Figure 3 As shown, in S10, based on the binocular test principle, the target object is calibrated, which specifically includes the following steps:

[0068] S101. Scan the surrounding environment and obtain the target object.

[0069] S102. Based on the target object, detect and analyze target object parameters.

[0070] Specifically, the server scans the surrounding environment through a binocular camera, obtains and calibrates the target objects in the surrounding environment, and detects and analyzes the target object parameters. The target object parameters can be the size, length, age group, type, speed, movement direction, etc. of the target object.

[0071] The purpose of steps S101 and S102 is to scan the surrounding environment through the binocular camera and detect and analyze the parameters of the target object.

[0072] In one embodiment, if Figure 4 As shown, in S101, scanning the surrounding environment and acquiring the target object specifically includes the following steps:

[0073] S1011. Update the surrounding environment in real time and determine the target object.

[0074] S1012. Analyze the target object category based on the target object.

[0075] Specifically, the server acquires the surrounding environment through a binocular camera in real time, determines the real-time distance to the surrounding target objects, and analyzes the target object categories, which can be scenery, humans, animals, plants, etc. Different target object categories correspond to different target object parameters.

[0076] The purpose of steps S1011 and S1012 is to collect statistics of the image information of the binocular camera in real time and analyze the category of the target object.

[0077] In one embodiment, if Figure 5 As shown, after S102, that is, after detecting and analyzing the target object parameters based on the target object, the following steps are specifically included:

[0078] S1021. Determine the shortest distance based on target object parameters and performance parameters.

[0079] S1022. Determine the relationship between the shortest distance and the monitoring distance.

[0080] S1023. If the shortest distance is less than or equal to the monitoring distance, output a monitoring signal.

[0081] S1024. If the shortest distance is greater than the monitoring distance, output a pre-monitoring signal.

[0082] Among them, the shortest distance model is trained, the target object parameters and performance parameters are used as the input of the shortest distance model, and the shortest distance is used as the output of the shortest distance model.

[0083] Specifically, the position of the target object can change at any time, so by detecting and analyzing the target object parameters and performance parameters, such as the speed and moving direction of the target object parameters, the speed and moving direction of the performance parameters, etc., the distance between the two in the current stage and future time periods is predicted, and the target object parameters and performance parameters are used as the input of the model through the shortest distance model, and the shortest distance between the two is output. If the shortest distance is less than or equal to the monitoring distance, it means that within the predicted time period, the server can send a monitoring signal to the client earlier than or equal to the future shortest distance, so that the user can quickly perceive and respond, so that the user pays attention to the target object and completes the operation; if the shortest distance is greater than the monitoring distance, a pre-monitoring signal is output, which indicates that in the absence of special circumstances, it is relatively safe to be with the target object within this time period.

[0084] The purpose of steps S1021, S1022, S1023 and S1024 is to determine the shortest distance through the target object parameters and performance parameters, so that the server can send a monitoring signal to the client at a time earlier than or equal to the shortest distance in the future, so that the user can quickly detect and respond.

[0085] In one embodiment, if Figure 6 As shown, in S40, that is, if the target object is within the monitoring distance range, the monitoring signal is output, which specifically includes the following steps:

[0086] S401. Classify the monitoring distances, which include a first monitoring distance and a second monitoring distance.

[0087] S402. If the target object is within the first monitoring distance range, start the restriction instruction and output the monitoring signal;

[0088] S403: If the target object is within the second monitoring distance range, output a monitoring signal.

[0089] Among them, the first monitoring distance and the second monitoring distance are both located at the periphery, the first monitoring distance is close, and the second monitoring distance is farther than the first monitoring distance, and the distance ranges of the two are not included.

[0090] Specifically, the probability of an accident occurring at the first monitoring distance is much greater than the probability of an accident occurring at the second monitoring distance. Classifying the monitoring distances into the first and second monitoring distances can better differentiate the risks of accidents during the detection process. When the distance between the target object and the target object at a certain moment is within the first monitoring distance range, the server will automatically respond to the actual situation based on the collected surrounding environment, initiate a restriction instruction, issue an instruction to the object monitored and protected by the binocular camera, and output a monitoring signal. The monitored and protected object will take preventive actions according to the instruction. This situation mainly occurs when the target object suddenly appears within the first monitoring distance or moves at a relatively fast speed. If the target object is within the second monitoring distance range, a monitoring signal is output for the user to quickly detect and respond.

[0091] Steps S401, S402 and S403 are used to monitor distances in different levels.

[0092] In one embodiment, if Figure 7 As shown, a method for monitoring the surrounding environment is provided, which is applied in Figure 1 The server in the example is used as an example. The specific steps include the following:

[0093] S50. Set a safe distance based on performance parameters;

[0094] S60. Determine whether the target object is within a safe distance range;

[0095] S70. If the target object is outside the monitoring distance range and within the safety distance range, record the target object in real time.

[0096] Among them, the safety distance range is larger than the monitoring distance range.

[0097] Specifically, performance parameters are obtained, a safety distance is set, and the server analyzes the image information of the binocular camera. If certain target objects in the image information are outside the monitoring distance range and within the safety distance range, the target objects are counted and recorded, and the status of the target objects is monitored.

[0098] Steps S50 , S60 and S70 are used to count and record target objects that are outside the monitoring distance range and within the safety distance range.

[0099] In one embodiment, in S30, determining whether the target object is within the monitoring distance range based on the monitoring distance specifically includes the following steps:

[0100] S301. If the target object is outside the monitoring distance range, output a pre-monitoring signal.

[0101] Specifically, if the server detects that the target object is outside the monitoring distance range through binocular cameras and algorithms, that is, the distance of the target object is greater than the monitoring distance, the client will promptly display a pre-monitoring signal. The pre-monitoring signal is always prepared for the monitoring signal and is used for normal safety moments.

[0102] The function of step S301 is that when the distance of the target object is greater than the monitoring distance, the client displays a pre-monitoring signal for normal safety moments.

[0103] The above-mentioned surrounding environment monitoring method, through the binocular test principle, can enable the server to more accurately obtain and analyze the distance of the target object, and is not prone to missing false alarms. The monitoring distance is obtained by calculating the performance parameters, and the distance of the target object and the monitoring distance are compared. When the distance of the target object is less than or equal to the monitoring distance, the client will display the monitoring signal in time. At the same time, the monitoring distance is graded and a safe distance is set for users to quickly perceive and respond.

[0104] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0105] In one embodiment, a surrounding environment monitoring device is provided, which corresponds to the surrounding environment monitoring method in the above embodiment. Figure 8 As shown, the surrounding environment monitoring device includes a target object calibration module 10, a monitoring distance setting module 20, a distance range determination module 30 and a monitoring signal output module 40. The functional modules are described in detail as follows:

[0106] 10. Target object calibration module, used to calibrate target objects based on binocular testing principles.

[0107] 20. A monitoring distance setting module is used to set the monitoring distance based on performance parameters.

[0108] 30. A distance range determination module is used to determine whether the target object is within the monitoring distance range based on the monitoring distance.

[0109] 40. Output monitoring signal module, used to output a monitoring signal if the target object is within the monitoring distance range.

[0110] For the specific definition of the surrounding environment monitoring device, please refer to the definition of the surrounding environment monitoring method above, and will not be repeated here. Each module in the above-mentioned surrounding environment monitoring device can be implemented in whole or in part by software, hardware, or a combination thereof. Each of the above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to each of the above modules.

[0111] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as shown in FIG. Figure 9 As shown. The computer device includes a processor, a memory, a network interface and a database connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used for data related to the surrounding environment monitoring method. The network interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, a surrounding environment monitoring method is implemented.

[0112] In one embodiment, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the surrounding environment monitoring method of the above embodiment is implemented, for example Figure 2 Alternatively, when the processor executes the computer program, the functions of the modules / units of the surrounding environment monitoring device in the above embodiment are realized, for example Figure 8 The functions of modules 10 to 40 are shown in FIG. 1 and will not be described in detail here to avoid repetition.

[0113] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the surrounding environment monitoring method of the above embodiment is implemented, for example Figure 2 Alternatively, when the computer program is executed by the processor, the functions of each module / unit in the surrounding environment monitoring device in the above device embodiment are realized, for example Figure 8 The functions of modules 10 to 40 are shown in FIG. 1 and will not be described in detail here to avoid repetition.

[0114] Those skilled in the art will appreciate that all or part of the processes in the above-described method embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the above-described method embodiments. Any reference to memory, storage, database, or other media used in the various embodiments of this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct RAMbus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM).

[0115] Those skilled in the art will clearly understand that for the sake of convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0116] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention, and should all be included in the scope of protection of the present invention.

Claims

1. A method for monitoring an ambient environment, characterized in that: include: Based on the binocular test principle, the target objects are calibrated, including scenery, humans, animals and plants; Based on performance parameters, set the monitoring distance; Based on the monitoring distance, determining whether the target object is within the monitoring distance range; If the target object is within the monitoring distance range, output a monitoring signal; The target object calibration based on the binocular testing principle includes: Scan the surrounding environment with a binocular camera to obtain the target object; Based on the target object, detecting and analyzing the target object category; Determining a shortest distance based on the target object parameter and the performance parameter, where the shortest distance is the shortest distance between the binocular camera and the target object; Determining a relationship between the shortest distance and the monitoring distance; If the shortest distance is less than or equal to the monitoring distance, output a monitoring signal; If the shortest distance is greater than the monitoring distance, a pre-monitoring signal is output; Based on the performance parameters, a safety distance is set; Determining whether the target object is within the safety distance range; If the target object is outside the monitoring distance range and within the safety distance range, the target object is recorded in real time.

2. The ambient environment monitoring method according to claim 1, characterized in that: Scanning the surrounding environment to acquire the target object includes: Update the surrounding environment in real time to determine the target object; Based on the target object, the target object parameters are analyzed.

3. The ambient environment monitoring method according to claim 1, characterized in that: If the target object is within the monitoring distance range, outputting a monitoring signal further includes: The monitoring distance is classified into levels, wherein the monitoring distance includes a first monitoring distance and a second monitoring distance. If the target object is within the first monitoring distance range, a restriction instruction is activated and a monitoring signal is output; If the target object is within the second monitoring distance range, the monitoring signal is output.

4. The ambient environment monitoring method according to claim 1, characterized in that: The determining, based on the monitoring distance, whether the target object is within the monitoring distance range further includes: If the target object is outside the monitoring distance range, a pre-monitoring signal is output.

5. A surrounding environment monitoring device, characterized in that: include: A target object calibration module is used to calibrate target objects based on the binocular test principle. The target objects include scenery, humans, animals and plants; A monitoring distance setting module is used to set the monitoring distance based on performance parameters; a distance range determination module, configured to determine whether the target object is within the monitoring distance range based on the monitoring distance; An output monitoring signal module, configured to output a monitoring signal if the target object is within the monitoring distance range; The target object calibration module is specifically used for: Scan the surrounding environment with a binocular camera to obtain the target object; Based on the target object, detecting and analyzing the target object category; Determining a shortest distance based on the target object parameter and the performance parameter, where the shortest distance is the shortest distance between the binocular camera and the target object; The output monitoring signal module is further used to: Determining a relationship between the shortest distance and the monitoring distance; If the shortest distance is less than or equal to the monitoring distance, output a monitoring signal; If the shortest distance is greater than the monitoring distance, a pre-monitoring signal is output; The output detection signal module is further used to: Based on the performance parameters, a safety distance is set; Determining whether the target object is within the safety distance range; If the target object is outside the monitoring distance range and within the safety distance range, the target object is recorded in real time.

6. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the surrounding environment monitoring method according to any one of claims 1 to 4 is implemented.

7. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the surrounding environment monitoring method according to any one of claims 1 to 4 is implemented.

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