A slope monitoring method, device, electronic equipment and storage medium

Abstract

Embodiments of the present application provide a kind of side slope monitoring method, device, electronic equipment and storage medium, wherein, method is applied to side slope monitoring device, side slope monitoring device includes: holder, camera is arranged on it, method includes: control holder rotates, make the video picture of camera contain risk area of side slope;Risk area is obtained by the multiple video pictures of camera continuous shooting;According to multiple change areas, determine multiple change areas in the change of the relative position of multiple video pictures;According to multiple change areas, determine dangerous event according to the change of the relative position of multiple video pictures.The implementation of the above embodiment can avoid the use of contact type measurement means by manual, without installation operation on the side slope, reduce the risk, without manual field operation during the operation period of side slope.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of risk detection, in particular to a slope monitoring method and device, an electronic device and a storage medium. BACKGROUND

[0002] In China, some important infrastructures such as highways and railways, and densely populated and commercial areas are built along rock or soil mountain slopes. Landslides, collapses, mudslides and rockfalls seriously endanger the safety of people's lives and property. During the open-pit mining process, mountain blasting operations are required, which poses a risk of landslides and collapses. Therefore, both natural slopes and slopes formed by mining and excavation need to be continuously monitored for stability during operation.

[0003] Traditional slope monitoring involves collecting various monitoring data on the surface and inside the slope, including using traditional monitoring equipment such as ground meteorological stations, inclinometers, soil pressure cells, crack meters, etc. to obtain various monitoring data. Most existing monitoring methods use contact measurement methods, which require installation work on the slope. However, for some slopes with exposed rock or a risk of landslides and collapses at any time, the above installation work poses a high risk. In addition, the above methods lack image and video acquisition functions, and manual field work is still required during the operation of the slope. SUMMARY

[0004] The purpose of the embodiments of the present application is to provide a slope monitoring method, device, electronic device and storage medium, which can avoid using contact measurement methods, do not require installation work on the slope, reduce the risk, and do not require manual field work during the operation of the slope.

[0005] The embodiments of the present application provide a slope monitoring method applied to a slope monitoring device, the slope monitoring device comprising a holder on which a camera is arranged, and the method comprising:

[0006] controlling the holder to rotate so that the video image of the camera contains a risk area of the slope;

[0007] obtaining multiple video images of the risk area continuously captured by the camera;

[0008] determining multiple change areas according to the multiple video images;

[0009] determining a dangerous event according to the change in the relative positions of the multiple change areas in the multiple video images.

[0010] In the implementation process, the gimbal is controlled to rotate, so that the picture of the camera includes the risk area of the slope, and the monitoring of the risk area of the slope can be completed by analyzing the picture of the camera, avoiding manual installation and reducing danger, and manual on-site operation is not required during the operation period of the slope. Specifically, the slope area is usually stable when no dangerous event occurs, and when a dangerous event occurs, the structure and surface visual features of the slope will change, so a plurality of video pictures of the risk area are first acquired; a plurality of change areas can be determined according to the plurality of video pictures, and whether a dangerous event occurs can be quickly determined according to the change of the relative positions of the plurality of change areas in the plurality of video pictures. Based on the above embodiment, the monitoring of the slope area can be realized without using a contact type measuring means, the danger is reduced, and manual on-site operation is not required during the operation period of the slope.

[0011] Further, the step of determining a dangerous event according to the change of the relative positions of the plurality of change areas in the plurality of video pictures comprises:

[0012] If the position change and the falling trajectory of the plurality of change areas in the video picture match, it is determined that the risk area has a rockfall event.

[0013] In the implementation process, when a rockfall event occurs, the rockfall will fall from the slope, so the position change of the change area in the plurality of video pictures will match the falling trajectory. Based on the above embodiment, whether the rockfall event occurs in the slope area can be quickly determined.

[0014] Further, the step of determining a dangerous event according to the change of the relative positions of the plurality of change areas in the plurality of video pictures comprises:

[0015] It is determined whether the plurality of change areas are located at the same position of the video picture;

[0016] If yes, it is preliminarily determined that a landslide event or a collapse event occurs, and the landslide event or the collapse event is verified.

[0017] In the implementation process, the slope is in a stable state under normal circumstances, and the video picture will not change, and when a landslide or collapse event occurs, the sand and stones at the same place will continuously fall, so the video picture corresponding to the area will continuously change. Based on this, if the plurality of change areas are located at the same position of the video picture, it can be preliminarily determined that the area has a landslide event or a collapse event, and the landslide event or the collapse event is verified.

[0018] Further, the step of determining whether the plurality of change areas are located at the same position of the video picture comprises:

[0019] calculating a total area and an overlapping area of the plurality of changed regions;

[0020] determining whether a proportion of the overlapping area to the total area is higher than a first preset threshold value;

[0021] if yes, determining that the plurality of changed regions are located at the same position of the video frame.

[0022] In the above implementation process, the side slope in a stable state will also have a slight change in the corresponding video frame under normal circumstances. Therefore, in order to verify whether the plurality of changed regions are located at the same position, the total area and the overlapping area of the plurality of changed regions are calculated respectively. If it is found that the proportion of the overlapping area to the total area exceeds the first threshold value, it can be determined that the plurality of changed regions are located at the same position of the video frame.

[0023] Further, a laser radar is arranged on the pan-tilt head.

[0024] The step of verifying the landslide event or the collapse event comprises:

[0025] acquiring current laser point cloud data of the changed region through the laser radar;

[0026] calculating a change difference value between the current laser point cloud data and historical point cloud data of the changed region stored in advance;

[0027] determining whether the change difference value exceeds a second preset threshold value;

[0028] if yes, determining that the changed region has a landslide event or a collapse event.

[0029] In the above implementation process, the side slope has stability, and the fluctuation of the laser distance of the changed region is not large under normal circumstances. In order to verify whether the side slope region has a landslide event or a collapse event, the current laser point cloud data of the changed region is acquired; the change difference value between the current laser point cloud data and the historical point cloud data of the changed region stored in advance is calculated; and it is determined whether the change difference value exceeds the second preset threshold value. Laser ranging has higher quantifiable precision than monitoring video images, and based on the above embodiment, the changed region can be accurately verified to have a landslide event or a collapse event.

[0030] Further, after the step of determining that the changed region has a landslide event or a collapse event, the method further comprises:

[0031] acquiring a start time and an end time of the landslide event or the collapse event;

[0032] adjusting the start time and the end time;

[0033] According to the adjusted start time and the end time, the video is intercepted.

[0034] In the implementation process, in order to facilitate subsequent analysis of the cause and result of the entire event, the start time and the end time of the landslide event or collapse event are acquired; the start time and the end time are adjusted; and according to the adjusted start time and the end time, the video is intercepted.

[0035] Further, the step of determining a plurality of change regions according to the plurality of video frames comprises:

[0036] Acquiring two continuous video frames;

[0037] Converting the two continuous video frames into grayscale images;

[0038] Using a Gaussian filter to process the grayscale images to obtain filtered grayscale images of the two continuous video frames;

[0039] Calculating the grayscale difference of each pixel of the filtered grayscale images of the two continuous video frames to obtain a frame difference image;

[0040] Performing binaryzation processing on the frame difference image to obtain a black-and-white image;

[0041] Using a morphological algorithm to perform open-close operation on the black-and-white image to obtain a change image;

[0042] Determining the white region in the change image as the change region.

[0043] In the implementation process, the change region can be quickly and accurately determined.

[0044] In a second aspect, an embodiment of the present application provides a slope monitoring device, comprising:

[0045] A control module is configured to control the rotation of the holder, so that the video image of the camera contains a risk region of the slope;

[0046] An acquisition module is configured to acquire a plurality of video frames of the risk region continuously captured by the camera;

[0047] A change region determination module is configured to determine a plurality of change regions according to the plurality of video frames;

[0048] A dangerous event determination module is configured to determine a dangerous event according to the change in the relative position of the plurality of change regions in the plurality of video frames.

[0049] In the implementation process, the control module controls the rotation of the holder, so that the picture of the camera includes the risk area of the slope, and the monitoring of the risk area of the slope can be completed by analyzing the picture of the camera, avoiding manual installation and reducing the risk, and no manual on-site operation is needed during the operation period of the slope. Specifically, the slope area is usually stable when there is no dangerous event, and the structure of the slope will change when a dangerous event occurs. Therefore, the acquisition module first acquires multiple video pictures of the risk area; the change area determination module can determine multiple change areas according to the multiple video pictures; and the dangerous time determination module can quickly determine whether a dangerous event occurs according to the change of the relative positions of the multiple change areas in the multiple video pictures. Based on the above embodiment, the monitoring of the slope area can be realized without using contact measurement means, the risk is reduced, and no manual on-site operation is needed during the operation period of the slope.

[0050] In a third aspect, an electronic device provided by the embodiments of the present application includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the method of any one of the first aspect when executing the computer program.

[0051] In a fourth aspect, a computer readable storage medium provided by the embodiments of the present application has instructions stored thereon, and when the instructions are executed on a computer, the computer executes the method of any one of the first aspect.

[0052] Other features and advantages of the present application will be described in the following description, or can be known or determined from the description without doubt, or can be known by implementing the above-mentioned technologies disclosed in the present application.

[0053] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the following preferred embodiments are described in detail below, and the accompanying drawings are described as follows. BRIEF DESCRIPTION OF DRAWINGS

[0054] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments of the present application. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0055] Figure 1 The flowchart of the slope monitoring method provided by the embodiments of the present application is shown in the figure;

[0056] Figure 2 The flowchart of the slope monitoring method provided by the embodiments of the present application is shown in the figure;

[0057] Figure 3 An internal structure diagram of a slope monitoring device provided by an embodiment of the present application is shown in the figure.

[0058] Figure 4 A structure diagram of an electronic device provided by an embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0059] The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings.

[0060] 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 and explained in the subsequent drawings. Meanwhile, in the description of the present application, the terms “first”, “second” and the like are only used for distinguishing description, and cannot be understood as indicating or implying relative importance.

[0061] Embodiment 1

[0062] Referring to Figure 1 , the embodiments of the present application provide a slope monitoring operation, applied to a slope monitoring device, the slope monitoring device comprising: a holder, a camera is arranged on the holder, the method comprising:

[0063] S1: controlling the holder to rotate, so that the video picture of the camera contains a risk area of the slope;

[0064] S2: acquiring a plurality of video pictures of the risk area continuously shot by the camera;

[0065] S3: determining a plurality of change areas according to the plurality of video pictures;

[0066] S4: determining a dangerous event according to the change of the relative positions of the plurality of change areas in the plurality of video pictures.

[0067] Exemplarily, the device further comprises an independent power supply module, which is composed of a storage battery and a solar panel.

[0068] In the implementation process, the gimbal is controlled to rotate, so that the picture of the camera includes the risk area of the slope, and the monitoring of the risk area of the slope can be completed through the analysis of the camera picture, thereby avoiding manual installation, reducing danger, and not needing manual on-site operation during the operation period of the slope. Specifically, the slope area is usually stable when no dangerous event occurs, and when a dangerous event occurs, the structure and surface visual features of the slope will change. Therefore, a plurality of video pictures of the risk area are first acquired; a plurality of change areas can be determined according to the plurality of video pictures, and whether a dangerous event occurs can be quickly determined according to the change of the relative positions of the plurality of change areas in the plurality of video pictures. Based on the above embodiment, the monitoring of the slope area can be implemented without using a contact type measuring means, the danger is reduced, and manual on-site operation is not needed during the operation period of the slope.

[0069] In a possible implementation, S2 includes the following sub-steps: if the position change of the plurality of change areas in the video picture and the falling trajectory match, it is determined that a rockfall event occurs in the risk area.

[0070] Specifically, if the change areas of a plurality of continuous frames can form a falling trajectory in series, it is preliminarily determined that a rockfall event occurs.

[0071] In the implementation process, when a rockfall event occurs, the rockfall will fall from the slope, and therefore the position change of the change areas in the plurality of video pictures will match the falling trajectory. Based on the above embodiment, whether a rockfall event occurs in the slope area can be quickly determined.

[0072] In a possible implementation, S2 further includes the following sub-steps:

[0073] It is determined whether the plurality of change areas are located at the same position of the video picture.

[0074] If yes, it is preliminarily determined that a landslide event or a collapse event occurs, and the landslide event or the collapse event is verified.

[0075] In the implementation process, the slope is in a stable state under normal circumstances, and the video picture will not change. When a landslide or a collapse event occurs, the sand and stones at the same place will continuously fall, and therefore the video picture corresponding to the area will continuously change. Based on this, if the plurality of change areas are located at the same position of the video picture, it is preliminarily determined that the area has a landslide event or a collapse event, and the landslide event or the collapse event is verified.

[0076] In a possible implementation, the step of determining whether the plurality of change areas are located at the same position of the video picture includes:

[0077] The total area and the overlapping area of the plurality of change areas are calculated.

[0078] determining whether the proportion of the overlapping area to the total area is higher than a first preset threshold value;

[0079] If yes, it is determined that the plurality of change regions are located at the same position of the video image.

[0080] Exemplarily, the first threshold value is (N-1)÷2, wherein N is the number of frames of the plurality of video images.

[0081] In the above implementation process, the video image corresponding to the slope in a stable state also has a slight change under normal circumstances. Therefore, in order to verify whether the plurality of change regions are located at the same position, the total area and the overlapping area of the plurality of change regions are calculated respectively. If it is found that the proportion of the overlapping area to the total area exceeds the first threshold value, it is determined that the plurality of change regions are located at the same position of the video image. The total area of the plurality of change regions is added to obtain a cumulative area. The plurality of change regions are drawn on the same black and white image according to their respective pixel coordinates, and the total area of the change regions that do not overlap is calculated. The cumulative area minus the total area of the change regions that do not overlap is recorded as the overlapping area. Therefore, the higher the proportion of the overlapping area to the total area, the higher the degree of overlap of the plurality of change regions. When the proportion exceeds a second preset threshold value, it is considered that the plurality of change regions are at the same position.

[0082] In a possible implementation, a laser radar is arranged on the holder;

[0083] The step of verifying the landslide event or the collapse event includes:

[0084] The current laser point cloud data of the change region is obtained by the laser radar;

[0085] The change difference between the current laser point cloud data and the historical point cloud data of the change region stored in advance is calculated;

[0086] It is determined whether the change difference exceeds a second preset threshold value;

[0087] If yes, it is determined that the change region has a landslide event or a collapse event.

[0088] In the above implementation process, the slope has stability, and the fluctuation of the laser distance of the change region is not large under normal circumstances. In order to verify whether the slope region has a landslide event or a collapse event, the current laser point cloud data of the change region is obtained. The change difference between the current laser point cloud data and the historical point cloud data of the change region stored in advance is calculated, and it is determined whether the change difference exceeds a second preset threshold value. Laser ranging has higher quantifiable accuracy than monitoring video images. Based on the above implementation, the change region can be accurately verified to have a landslide event or a collapse event.

[0089] Exemplarily, the change difference between the current laser point cloud data and the historical point cloud data of the change region pre-stored is calculated to obtain the volume difference before and after the change region, and when the volume difference is greater than a second preset threshold, it is determined that the change region has a landslide event or a collapse event.

[0090] Exemplarily, the change difference between the current laser point cloud data and the historical point cloud data of the change region pre-stored is calculated, and the current point cloud data and the historical point cloud data are respectively gridded and the average distance of each grid from the slope monitoring device is calculated, and when the difference of the average distance is greater than a second preset threshold, it is determined that the change region has a landslide event or a collapse event.

[0091] In a possible implementation, after the step of determining that the change region has a landslide event or a collapse event, the method further includes:

[0092] obtaining a start time and an end time of the landslide event or the collapse event;

[0093] adjusting the start time and the end time;

[0094] cutting a video according to the adjusted start time and the end time.

[0095] In the implementation process, in order to facilitate subsequent analysis of the cause and result of the entire event, the start time and the end time of the landslide event or the collapse event are obtained, the start time and the end time are adjusted, and a video is cut according to the adjusted start time and the end time.

[0096] In a possible implementation, the device further includes a computing unit and a communication unit, and the communication unit can send the video to a background for a staff to watch, and the communication can also send a real-time picture to the background.

[0097] After the video is cut, the point cloud data with a large change in laser distance can also be marked. For example, the point cloud of an unchanged region is marked with white, and the point cloud with a change is marked with red.

[0098] Referring to Figure 2 In a possible implementation, S3 includes the following sub-steps:

[0099] S31: obtaining two continuous video frames;

[0100] S32: converting the two continuous video frames into grayscale images;

[0101] S33: processing the grayscale images using Gaussian filtering to obtain filtered grayscale images of the two continuous video frames;

[0102] S34: Calculate the gray scale difference of each pixel of the filtered gray scale image of the two continuous video pictures, to obtain a frame difference image;

[0103] S35: Perform binaryzation processing on the frame difference image, to obtain a black and white image;

[0104] S36: Perform open-close operation on the black and white image by using a morphological algorithm, to obtain a change image;

[0105] S37: Determine the white region in the change image as a change region.

[0106] In the above implementation process, the change region can be quickly and accurately determined.

[0107] Embodiment 2

[0108] Referring to Figure 3 , the embodiment of the present application provides a slope monitoring device, comprising:

[0109] a control module 1 configured to control a pan-tilt to rotate, so that a video picture of a camera contains a risk region of a slope;

[0110] an acquisition module 2 configured to acquire a plurality of video pictures of the risk region continuously shot by the camera;

[0111] a change region determination module 3 configured to determine a plurality of change regions according to the plurality of video pictures;

[0112] a dangerous event determination module 4 configured to determine a dangerous event according to a change in relative positions of the plurality of change regions in the plurality of video pictures.

[0113] In the above implementation process, the control module controls the pan-tilt to rotate, so that the picture of the camera contains the risk region of the slope. The monitoring of the risk region of the slope can be completed by analyzing the picture of the camera, avoiding manual installation and reducing danger. No manual on-site operation is needed during the operation period of the slope. Specifically, the slope region is usually stable when no dangerous event occurs. When a dangerous event occurs, the structure of the slope will change. Therefore, the acquisition module first acquires a plurality of video pictures of the risk region. The change region determination module can determine a plurality of change regions according to the plurality of video pictures. The dangerous event determination module can quickly determine whether a dangerous event occurs according to the change in relative positions of the plurality of change regions in the plurality of video pictures. Based on the above embodiment, the monitoring of the slope region can be realized without using a contact type measuring means, reducing danger and no manual on-site operation is needed during the operation period of the slope.

[0114] In a possible implementation, the dangerous event determination module 4 is further configured to determine that a rockfall event occurs in the risk region if the position change and falling track of the plurality of change regions in the video picture match.

[0115] In a possible implementation, the dangerous event determination module 4 is further configured to determine whether the plurality of change regions are located at the same position of the video frame;

[0116] If yes, it is preliminarily determined that a landslide event or a collapse event occurs, and the landslide event or the collapse event is verified.

[0117] In a possible implementation, the dangerous event determination module 4 is further configured to slide the horizontal coordinate and the vertical coordinate of the video frame in a window with a preset size;

[0118] It is determined whether the accumulated value of the area of the change region in the window is higher than a first preset threshold value;

[0119] If yes, it is determined that the plurality of change regions are located at the same position of the video frame.

[0120] In a possible implementation, the dangerous event determination module 4 is further configured to acquire current laser point cloud data of the current change region by using a laser radar;

[0121] It is determined whether a change difference of the laser distance of the change region exceeds a second preset threshold value by using the current laser point cloud data and the pre-stored point cloud data of the change region;

[0122] If yes, it is determined that the change region has a landslide event or a collapse event.

[0123] In a possible implementation, the device further comprises a clipping module configured to acquire a start time and an end time of the landslide event;

[0124] The start time and the end time are adjusted;

[0125] The video is clipped according to the adjusted start time and the end time.

[0126] In a possible implementation, the change region determination module 3 is configured to acquire two continuous video frames;

[0127] The two continuous video frames are converted into gray-scale images;

[0128] The gray-scale images are processed by using a Gaussian filter to obtain filtered gray-scale images of the two continuous video frames;

[0129] The gray-scale difference of each pixel of the filtered gray-scale images of the two continuous video frames is calculated to obtain a frame difference image;

[0130] The frame difference image is binarized to obtain a black-and-white image;

[0131] An open-close operation is performed on the black-and-white image by using a morphological algorithm to obtain a change image;

[0132] The white region table in the changed image is determined as a changed region.

[0133] The application also provides an electronic device, which refers to Figure 4 , Figure 4 A structural block diagram of a robot for closing an electrical appliance is provided in the application. The electronic device can include a processor 41, a communication interface 42, a memory 43, and at least one communication bus 44. The communication bus 44 is used to realize direct connection communication of the components. The communication interface 42 of the electronic device in the application is used to communicate signaling or data with other node devices. The processor 41 can be an integrated circuit chip with signal processing capability.

[0134] The processor 41 described above can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc. It can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a ready-to-use programmable gate array (FPGA), or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The general-purpose processor can be a microprocessor or the processor 510 can also be any conventional processor.

[0135] The memory 43 can be, but is not limited to, a random access memory (RAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), etc. The memory 43 stores computer readable instructions. When the computer readable instructions are executed by the processor 41, the electronic device can perform each step involved in the above method embodiments.

[0136] Optionally, the electronic device can also include a storage controller, an input / output unit.

[0137] The memory 43, the storage controller, the processor 41, the peripheral interface, and the input / output unit are electrically connected to each other directly or indirectly to realize data transmission or interaction. For example, the components can be electrically connected to each other through one or more communication buses 44. The processor 41 is configured to execute executable modules, such as software function modules or computer programs, stored in the memory 43.

[0138] The input / output unit is configured to provide a user with a creation task and create an optional period or a preset execution time for starting the task to realize interaction between the user and the server. The input / output unit can be, but is not limited to, a mouse, a keyboard, and the like.

[0139] It can be understood that, Figure 4 The structure shown in the figure is only schematic, and the electronic device can further include more or fewer components than those shown in the figure, or have a different configuration from that shown in the figure. Figure 4 The components shown in the figure can be implemented in hardware, software, or a combination thereof. Figure 4 Figure 4 The components shown in the figure can be implemented in hardware, software, or a combination thereof.

[0140] The embodiment of the present application further provides a computer readable storage medium, and the computer readable storage medium stores instructions. When the instructions run on a computer, the computer program is executed by a processor to implement the method of the method embodiment. To avoid repetition, details are not described here.

[0141] In several embodiments provided in the present application, it should be understood that the disclosed apparatus and method can also be implemented by other manners. The apparatus embodiment described above is only schematic, for example, the flowchart and block diagram in the drawings show the possible implementation architecture, function and operation of the apparatus, method and computer program product according to the embodiments of the present application. In this regard, each block in the flowchart or block diagram can represent a module, a program segment or a part of code, which contains one or more executable instructions for implementing the specified logic function. It should also be noted that in some alternative implementations, the functions noted in the block can occur in different order from that shown in the drawings. For example, two consecutive blocks can actually be executed substantially in parallel, and sometimes they can be executed in reverse order, depending on the function involved. It should also be noted that each block in the block diagram and / or flowchart, and the combination of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for executing the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0142] ​In addition, each functional module 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.

[0143] 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 solutions of the present application can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for causing 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 methods of the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various other media that can store program codes.

[0144] The above is only an embodiment of the present application and does not limit the protection scope of the present application. For those skilled in the art, the present application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0145] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed by the present application, which shall be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

[0146] It is to be noted that, as used in this specification and the appended claims, the singular forms "a," "an," and "the" include plural referents unless the context clearly dictates otherwise. Thus, for example, reference to "a component" can include a combination of two or more components. Additionally, the terms "comprise," "comprises," and "comprising," or any variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements is not necessarily limited to those elements, but can include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Claims

1. A slope monitoring method, characterized in that, Applied to a slope monitoring device, the slope monitoring device includes: a pan-tilt unit with a camera mounted thereon; the method includes: Control the pan-tilt unit to rotate so that the camera's video feed includes the risk area of ​​the slope; Acquire multiple frames of video footage of the risk area continuously captured by the camera; Multiple change areas are determined based on the multi-frame video footage; The dangerous event is determined based on the changes in the relative positions of the multiple changing regions in the multiple video frames; The step of determining the dangerous event based on the changes in the relative positions of the multiple changing regions in the multiple video frames includes: Determine whether the multiple changing areas are located at the same position in the video frame; If so, it is preliminarily determined that a landslide or collapse event has occurred, and the landslide or collapse event is then verified. The platform is equipped with a lidar; the step of verifying the landslide event or the collapse event includes: The current laser point cloud data of the changing area is obtained through the lidar. Calculate the difference between the current laser point cloud data and the pre-stored historical point cloud data of the changed area; Determine whether the difference in change exceeds a second preset threshold; If so, it is determined that a landslide or collapse event has occurred in the changed area.

2. The slope monitoring method according to claim 1, characterized in that, The step of determining the dangerous event based on the changes in the relative positions of the multiple changing regions in the multiple video frames includes: If the positional changes of the multiple changing areas in the video frame match the falling trajectory, then it is determined that a rockfall event has occurred in the risk area.

3. The slope monitoring method according to claim 1, characterized in that, The step of determining whether the multiple changing regions are located at the same position in the video frame includes: Calculate the total area and overlapping area of ​​the multiple changing regions; Determine whether the ratio of the overlapping area to the total area is higher than a first preset threshold. If so, then it is determined that the multiple changing areas are located at the same position in the video frame.

4. The slope monitoring method according to claim 1, characterized in that, After the step of determining that a landslide or collapse event has occurred in the changed area, the method further includes: Obtain the start and end times of the landslide or collapse event; Adjust the start time and the end time; The video is captured based on the adjusted start and end times.

5. The slope monitoring method according to claim 1, characterized in that, The step of determining multiple changing regions based on the multiple video frames includes: Capture two consecutive video frames; Convert the two consecutive video frames into grayscale images; The grayscale image is processed using Gaussian filtering to obtain the filtered grayscale image of the two consecutive video frames; Calculate the grayscale difference of each pixel in the grayscale image after filtering the two consecutive video frames to obtain the frame difference image; The frame difference image is binarized to obtain a black and white image; The black and white image is subjected to opening and closing operations using morphological algorithms to obtain the transformed image; The white area in the changed image is identified as the changed area.

6. A slope monitoring device, characterized in that, The device is applied to a slope monitoring system, which includes a pan-tilt unit with a camera mounted on it. The system also includes: The control module is used to control the pan-tilt unit to rotate so that the camera's video feed includes the risk area of ​​the slope. The acquisition module is used to acquire multiple frames of video footage of the risk area continuously captured by the camera; The change region determination module is used to determine multiple change regions based on the multi-frame video images; A dangerous event determination module is used to determine dangerous events based on the changes in the relative positions of the multiple changing regions in the multiple video frames. The hazardous event determination module is also used to: determine whether the multiple changing areas are located at the same position in the video frame; if so, preliminarily determine that a landslide event or a collapse event has occurred, and verify the landslide event or the collapse event; The gimbal is equipped with a lidar; the hazardous event determination module is also used to: acquire the current lidar point cloud data of the changed area through the lidar; calculate the difference between the current lidar point cloud data and the pre-stored historical point cloud data of the changed area; determine whether the difference exceeds a second preset threshold; if so, determine that a landslide or collapse event has occurred in the changed area.

7. An electronic device, characterized in that, include: The memory, the processor, and the computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the steps of the slope monitoring method as described in any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores instructions that, when executed on a computer, cause the computer to perform the steps of the slope monitoring method as described in any one of claims 1-5.

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