Landslide monitoring method and device

Abstract

The application discloses a landslide monitoring method, which comprises the following steps: periodically collecting images of a graphic board arranged on a landslide monitoring point; identifying pixel coordinates of the graphic board corresponding to image collection time of the images of the graphic board; calculating displacement and / or displacement speed of the landslide monitoring point according to changes of the pixel coordinates of the graphic board between adjacent frames of images; and judging whether a landslide disaster occurs according to the displacement and the displacement speed of the landslide monitoring point. The method and device can effectively improve existing landslide disaster monitoring and early warning capability, reduce losses caused by landslide disasters, and better ensure safety of people's lives and property in landslide disaster areas.

Description

Technical Field

[0001] This invention relates to the field of computer vision. More specifically, it relates to a landslide monitoring method and apparatus. Background Technology

[0002] Landslides refer to the undesirable geological phenomenon in which soil or rock masses on a slope slide downhill, either as a whole or in scattered sections, under the influence of factors such as river erosion, groundwater activity, rainwater soaking, earthquakes, and artificial slope cutting, under the action of gravity, along a certain weak surface or weak zone. As a serious global mountain hazard, landslides are characterized by their wide distribution, sudden collapse and instability, rapid movement, and high destructive potential. Furthermore, pre-disaster signs are often unclear, making prevention and control extremely difficult. Landslides frequently cause enormous losses to industrial and agricultural production, as well as to people's lives and property, sometimes even resulting in catastrophic disasters. Therefore, monitoring and early warning of landslide hazards are particularly important for effectively reducing economic losses and casualties.

[0003] Currently, the main solutions for landslide monitoring include geodetic methods (using theodolites, levels, distance measuring instruments, etc.), satellite positioning methods (using GNSS and RTK receivers), joint measurement methods (using steel tape measures, vernier calipers, automatic telescoping instruments, joint measuring instruments, displacement gauges, etc.), inclinometer methods (using borehole inclinometers, multi-point inverted hammer meters, inclinometers, etc.), settlement methods (using subsidence meters, convergence meters, static levels, water pipe inclinometers, etc.), and strain measurement methods (using tubular strain gauges, multi-point displacement gauges, sliding micrometers, etc.).

[0004] However, in practical applications, many current methods still have significant drawbacks. For example, while geodetic surveying is highly accurate, the equipment is generally expensive, making large-scale deployment difficult. Satellite positioning is one of the most widely used landslide monitoring methods; however, GNSS receivers, which rely on high-precision differential correction, are easily obstructed by objects such as trees and leaves, affecting monitoring accuracy or causing false alarms. Other methods, such as crack measurement and strain measurement, are cumbersome to install and require extensive deployment work. Summary of the Invention

[0005] To address, or at least partially address, the aforementioned technical problems, this disclosure provides a landslide monitoring method and apparatus for efficient and accurate landslide detection and early warning while reducing costs.

[0006] This invention provides a landslide monitoring method, which includes: periodically acquiring images of a graphic board set at a landslide monitoring point; identifying the pixel coordinates of the graphic board at the image acquisition time corresponding to the image of the graphic board; calculating the displacement and / or displacement velocity of the landslide monitoring point based on the change in the pixel coordinates of the graphic board between adjacent frames; and determining whether a landslide disaster has occurred based on the displacement and displacement velocity of the landslide monitoring point.

[0007] Preferably, determining whether a landslide disaster has occurred based on the displacement and displacement velocity of the landslide monitoring point includes: if the displacement of the landslide monitoring point exceeds a preset displacement threshold and / or the displacement velocity exceeds a preset displacement velocity threshold, then it is determined that a landslide disaster has occurred.

[0008] Preferably, when a landslide disaster is detected, a landslide hazard warning signal can be issued to the outside world, thereby providing timely and effective early warning of the landslide disaster.

[0009] Preferably, the displacement and / or displacement velocity of the landslide monitoring point are calculated using the following method: The pixel coordinates of feature point Q in the graphics board are observed at all times. The corresponding world coordinates are , The pixel coordinates of the feature point O observed at any given time are: The corresponding world coordinate system is ; , The normalized coordinates are , The constraints between them satisfy the formula regarding the homography matrix H. The homography matrix H is solved using the direct linear transformation method. The solved homography matrix is ​​then decomposed to obtain... Time's up The transformation matrix (R, T) of the time-lapse QR code, wherein the camera coordinate system is used as the reference coordinate system, where R is the rotation matrix composed of direction cosines, and T is the translation vector, according to the formula... Calculate the displacement of the feature point Q in the reference coordinate system as follows: According to the formula Calculate the displacement velocity in the reference coordinate system where feature point Q is located. .

[0010] On the other hand, embodiments of the present invention also provide a landslide monitoring device, wherein the device includes: an image acquisition device for periodically acquiring images of a graphic board set on a landslide monitoring point; a processor for identifying the pixel coordinates of the graphic board at the image acquisition time corresponding to the image of the graphic board; calculating the displacement and / or displacement velocity of the landslide monitoring point based on the change in the pixel coordinates of the graphic board between adjacent frame images; and determining whether a landslide disaster has occurred based on the displacement and displacement velocity of the landslide monitoring point.

[0011] Preferably, the landslide monitoring device also includes a graphic board, which is set at the landslide monitoring point.

[0012] Preferably, determining whether a landslide disaster has occurred based on the displacement and displacement velocity of the landslide monitoring point includes: if the displacement of the landslide monitoring point exceeds a preset displacement threshold and / or the displacement velocity exceeds a preset displacement velocity threshold, then it is determined that a landslide disaster has occurred.

[0013] Preferably, the processor is further configured to calculate the displacement and / or displacement velocity of the landslide monitoring point using the following methods: The pixel coordinates of feature point Q in the graphics board are observed at all times. The corresponding world coordinates are , The pixel coordinates of the feature point Q observed at each time point are: The corresponding world coordinate system is , The normalized coordinates are , The constraints between them satisfy the formula regarding the homography matrix H. The homography matrix H is solved using the direct linear transformation method. The solved homography matrix is ​​then decomposed to obtain... The transformation matrix (R, T) of the time-lapse QR code, wherein the camera coordinate system is used as the reference coordinate system, where R is the rotation matrix composed of direction cosines, and T is the translation vector, according to the formula... Calculate the displacement of the feature point Q in the reference coordinate system as follows: According to the formula Calculate the displacement velocity in the reference coordinate system where feature point Q is located. .

[0014] Preferably, the graphic board is a QR code.

[0015] Preferably, the landslide monitoring device further includes a light-transmitting film, which is disposed between the image acquisition device and the graphics panel and encloses and connects the image acquisition device and the graphics panel.

[0016] Compared with the prior art, the technical solution provided in this disclosure has the following advantages: This disclosure, through an image acquisition device and a graphics board, and based on the simple multi-view geometric principle, can calculate the displacement and displacement velocity of the landslide monitoring point while detecting the landslide. It has the advantages of simple installation, high accuracy, and low cost. As a new type of landslide monitoring method, it can effectively improve the existing landslide disaster monitoring and early warning capabilities, reduce the losses caused by landslide disasters, and better ensure the safety of people's lives and property in landslide disaster areas.

[0017] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0018] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0019] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a deployment diagram of a landslide monitoring device according to an embodiment of this disclosure;

[0021] Figure 2 This is a flowchart of a landslide monitoring method according to an embodiment of the present disclosure. Detailed Implementation

[0022] To enable those skilled in the art to better understand the technical solutions of this disclosure, the disclosure will be described in detail below with reference to the accompanying drawings and specific embodiments. The embodiments of this disclosure will be further described in detail below with reference to the accompanying drawings and specific examples, but these are not intended to limit the scope of this disclosure.

[0023] like Figure 1 As shown, a landslide monitoring device according to the present invention is installed at a landslide monitoring point. The landslide monitoring device may include an image acquisition device, a graphics panel, and a processor.

[0024] like Figure 2 As shown, the present invention provides a landslide monitoring method, which may include:

[0025] S101, periodically collect images from the graphic panels set up at the landslide monitoring points;

[0026] S102, Identify the pixel coordinates of the graphics board corresponding to the image acquisition time of the image on the graphics board;

[0027] S103, Calculate the displacement and / or displacement velocity of the landslide monitoring point based on the change in pixel coordinates of the graphics panel between adjacent frame images;

[0028] S104. Determine whether a landslide disaster has occurred based on the displacement and displacement velocity of the landslide monitoring points.

[0029] According to this embodiment, the graphic board is preferably inserted into the shallow surface of the slope at the landslide monitoring point, and the relative position of the image acquisition device and the graphic board is adjusted so that the graphic board is within the field of view of the image acquisition device. Images of the graphic board are periodically exposed and acquired by the image acquisition device. The image acquisition device can be a camera, camcorder, webcam, or other device with photographic capabilities (mobile phone, tablet computer, etc.).

[0030] After the image acquisition device acquires the image of the graphics board, it transmits the image to the processor. The processor identifies the pixel coordinates of the graphics board in the image and calculates the displacement and displacement velocity of the landslide monitoring point based on the changes in the pixel coordinates between adjacent frames.

[0031] Compared with the prior art, the technical solution provided in this disclosure has the following advantages: This disclosure, through an image acquisition device and a graphics board, and based on the simple multi-view geometric principle, can calculate the displacement and displacement velocity of the landslide monitoring point while detecting the landslide. It has the advantages of simple installation, high accuracy, and low cost. As a new type of landslide monitoring method, it can effectively improve the existing landslide disaster monitoring and early warning capabilities, reduce the losses caused by landslide disasters, and better ensure the safety of people's lives and property in landslide disaster areas.

[0032] In a preferred embodiment, a displacement threshold and / or a displacement velocity threshold are preset. If the displacement of the landslide monitoring point exceeds the preset displacement threshold and / or the displacement velocity exceeds the preset displacement velocity threshold, a landslide disaster is determined to have occurred.

[0033] When a landslide is detected, a landslide hazard warning signal can be issued to the outside world, thereby providing timely and effective early warning of the landslide disaster.

[0034] To quickly and accurately determine whether a landslide has occurred at a current geological monitoring point, the following methods can be used to calculate the displacement and / or displacement velocity of the landslide monitoring point.

[0035] remember The pixel coordinates of feature point Q in the graphics board are observed at all times. The corresponding world coordinates are , The pixel coordinates of the feature point Q observed at each time point are: The corresponding world coordinate system is .remember The normalized coordinates are , The normalized coordinates are Since the graphics board is flat, therefore There are planar constraints between the images at time t, at which point The homography matrix H is satisfied between them, as shown in formula (1):

[0036] (1)

[0038] The homography matrix H is solved directly using the Direct Linear Transformation (DLT) method. The solved homography matrix is ​​then decomposed to obtain... The transformation matrix (R, T) of the QR code at that moment. This transformation matrix (R, T) uses the camera coordinate system as the reference coordinate system, where R is a rotation matrix composed of direction cosines, and T is a translation vector. Therefore, the displacement of the feature point Q in the reference coordinate system can be calculated as follows: :

[0039] (2)

[0041] The displacement velocity of the feature point Q in the reference coordinate system for:

[0042] (3)

[0044] Preferably, the graphic board can be a QR code or other shapes with identifiable features.

[0045] To prevent objects from obstructing the image acquisition device and the graphics board, a light-transmitting film can be used to wrap the image acquisition device and the graphics board together.

[0046] To ensure normal exposure and operation of the image acquisition device at night, a periodic pulsed light can be installed on the image acquisition device and illuminated periodically at night.

[0047] On the other hand, embodiments of the present invention also provide a landslide monitoring device, such as... Figure 1 As shown, the device includes:

[0048] Image acquisition device, used to periodically acquire images of graphic panels set up at landslide monitoring points;

[0049] A processor is used to identify the pixel coordinates of the graphics board at the image acquisition time corresponding to the image of the graphics board;

[0050] The displacement and velocity of the landslide monitoring point are calculated based on the changes in pixel coordinates of the graphics panel between adjacent frame images; the displacement and velocity of the landslide monitoring point are then used to determine whether a landslide disaster has occurred.

[0051] Preferably, the landslide monitoring device may further include a graphic panel, which is set at the landslide monitoring point.

[0052] Preferably, the graphic board is inserted into the shallow surface of the slope at the landslide monitoring point, and the relative position of the image acquisition device and the graphic board is adjusted so that the graphic board is within the field of view of the image acquisition device. Images of the graphic board are periodically exposed and acquired by the image acquisition device. The image acquisition device can be a camera, video camera, webcam, or other device with photographic capabilities (mobile phone, tablet computer, etc.).

[0053] After the image acquisition device acquires the image of the graphics board, it transmits the image to the processor. The processor identifies the pixel coordinates of the graphics board in the image and calculates the displacement and displacement velocity of the landslide monitoring point based on the changes in the pixel coordinates between adjacent frames.

[0054] Compared with the prior art, the technical solution provided in this disclosure has the following advantages: This disclosure, through an image acquisition device and a graphics board, and based on the simple multi-view geometric principle, can calculate the displacement and displacement velocity of the landslide monitoring point while detecting the landslide. It has the advantages of simple installation, high accuracy, and low cost. As a new type of landslide monitoring method, it can effectively improve the existing landslide disaster monitoring and early warning capabilities, reduce the losses caused by landslide disasters, and better ensure the safety of people's lives and property in landslide disaster areas.

[0055] In a preferred embodiment, a displacement threshold and / or a displacement velocity threshold are preset. If the displacement of the landslide monitoring point exceeds the preset displacement threshold and / or the displacement velocity exceeds the preset displacement velocity threshold, the processor determines that a landslide disaster has occurred.

[0056] When the processor determines that a landslide disaster has occurred, it can send out a landslide danger alarm signal through the alarm device, thereby providing timely and effective early warning of the landslide disaster.

[0057] To quickly and accurately determine whether a landslide has occurred at a current geological monitoring point, the following methods can be used to calculate the displacement and / or displacement velocity of the landslide monitoring point.

[0058] remember The pixel coordinates of feature point Q in the graphics board are observed at all times. The corresponding world coordinates are , The pixel coordinates of the feature point Q observed at each time point are: The corresponding world coordinate system is .remember The normalized coordinates are , The normalized coordinates are Since the graphics board is flat, therefore There are planar constraints between the images at time t, at which point The homography matrix H is satisfied between them, as shown in formula (1):

[0059] (1)

[0060] The homography matrix H is solved directly using the Direct Linear Transformation (DLT) method. The solved homography matrix is ​​then decomposed to obtain... Time's up The transformation matrix (R, T) of the QR code at that moment. This transformation matrix (R, T) uses the camera coordinate system as the reference coordinate system, where R is a rotation matrix composed of direction cosines, and T is a translation vector. Therefore, the displacement of the feature point Q in the reference coordinate system can be calculated as follows: :

[0061] (2)

[0063] The displacement velocity of the feature point Q in the reference coordinate system for:

[0064] (3)

[0066] Preferably, the graphic board can be a QR code or other shapes with identifiable features.

[0067] To prevent objects from obstructing the image acquisition device and the graphic panel, the landslide monitoring device may also include a light-transmitting film, which is placed between the image acquisition device and the graphic panel and wraps around them.

[0068] To ensure normal exposure and operation of the image acquisition device at night, the landslide monitoring device may also include a periodic pulsed light, which is installed on the image acquisition device and is used to periodically illuminate at night.

[0069] All terms used in this disclosure (including technical or scientific terms) have the same meaning as understood by one of ordinary skill in the art to which this disclosure pertains, unless otherwise specifically defined. It should also be understood that terms defined in a general dictionary, such as a dictionary, should be interpreted as having a meaning consistent with their meaning in the context of the relevant art, and not as having an idealized or highly formalized meaning, unless expressly defined herein.

[0070] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

Claims

1. A landslide monitoring method, wherein, The method includes: Images of graphic panels set up at landslide monitoring points are periodically collected; the graphic panels are QR codes. Identify the pixel coordinates of the graphics board corresponding to the image acquisition time of the image on the graphics board; The displacement and / or velocity of the landslide monitoring points are calculated based on the changes in pixel coordinates of the graphics panel between adjacent image frames; wherein the displacement and / or velocity of the landslide monitoring points are calculated using the following method: The pixel coordinates of feature point Q in the graphics board are observed at all times. The corresponding world coordinates are , The pixel coordinates of the feature point Q observed at each time point are: The corresponding world coordinates are ; The normalized coordinates are , The normalized coordinates are , The constraints between them satisfy the formula regarding the homography matrix H. ; The homography matrix H is solved using the direct linear transformation method. The solved homography matrix is ​​then decomposed to obtain... Time's up Transformation matrix of the QR code at time The transformation matrix Using the camera coordinate system as the reference coordinate system, where, It is a rotation matrix composed of direction cosines. For translation vectors, according to the formula Calculate the displacement of the feature point Q in the reference coordinate system as follows: ; According to the formula Calculate the displacement velocity in the reference coordinate system where feature point Q is located. ; Whether a landslide disaster has occurred is determined based on the displacement and displacement velocity of the landslide monitoring points. The image acquisition device and the graphics board are connected and wrapped together by a light-transmitting film; Determining whether a landslide disaster has occurred based on the displacement and displacement velocity of the landslide monitoring points includes: If the displacement of the landslide monitoring point exceeds a preset displacement threshold and / or the displacement velocity exceeds a preset displacement velocity threshold, then a landslide disaster is determined to have occurred. When a landslide is detected, a landslide hazard warning signal can be issued to the outside world, thereby providing timely and effective early warning of the landslide disaster.

2. A landslide monitoring device, wherein, The device includes: Image acquisition device, used to periodically acquire images of graphic panels set up at landslide monitoring points; The processor is used to identify the pixel coordinates of the graphics board corresponding to the image acquisition time of the image on the graphics board; calculate the displacement and / or displacement velocity of the landslide monitoring point based on the change in the pixel coordinates of the graphics board between adjacent frame images; and determine whether a landslide disaster has occurred based on the displacement and displacement velocity of the landslide monitoring point. A light-transmitting film is disposed between the image acquisition device and the graphics board, and encapsulates and connects the image acquisition device and the graphics board. The graphic board is a QR code; The processor is also used to calculate the displacement and / or displacement velocity of landslide monitoring points using the following methods: The pixel coordinates of feature point Q in the graphics board are observed at all times. The corresponding world coordinates are , The pixel coordinates of the feature point Q observed at each time point are: The corresponding world coordinates are ; The normalized coordinates are , The normalized coordinates are , The constraints between them satisfy the formula regarding the homography matrix H. ; The homography matrix H is solved using the direct linear transformation method. The solved homography matrix is ​​then decomposed to obtain... Time's up Transformation matrix of the QR code at time The transformation matrix Using the camera coordinate system as the reference coordinate system, where, It is a rotation matrix composed of direction cosines. For translation vectors, according to the formula Calculate the displacement of the feature point Q in the reference coordinate system. ; According to the formula Calculate the displacement velocity in the reference coordinate system where feature point Q is located. ; Determining whether a landslide disaster has occurred based on the displacement and displacement velocity of the landslide monitoring points includes: If the displacement of the landslide monitoring point exceeds a preset displacement threshold and / or the displacement velocity exceeds a preset displacement velocity threshold, then a landslide disaster is determined to have occurred.

3. The landslide monitoring device according to claim 2, wherein, The landslide monitoring device also includes a graphic panel, which is placed at the landslide monitoring point.

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