Multi-equipment cascade vision monitoring method and device, electronic equipment and medium

Abstract

The invention discloses a multi-equipment cascaded visual monitoring method and device, electronic equipment and a medium. The method comprises the following steps: determining position information of each target in a monitored object image; performing circle fitting on the position information of each target, and determining a circle center position corresponding to each target; determining the offset of each target according to the circle center position corresponding to each target; wherein the offset comprises the offset in the horizontal direction and the offset in the vertical direction; and according to a predetermined multi-device cascade relationship and the offset of each target, correcting the deformation of each target so that the cascade device can perform visual monitoring. According to the technical scheme, long-range monitoring can be carried out based on the cascade equipment, and the monitoring efficiency can be improved.

Description

Technical Field

[0001] The present invention relates to the field of visual monitoring technology, and in particular to a multi-device cascade visual monitoring method, device, electronic equipment and medium. Background Art

[0002] In the fields of machine vision, visual monitoring, and deformation monitoring, deformation monitoring is a key technology that is widely used in other fields, including bridge health monitoring, building health monitoring, etc.

[0003] Traditional deformation monitoring methods have the demand for high precision and real-time performance, and current technologies still face some challenges in these aspects. For example, limited monitoring range: existing visual deformation monitoring technology is a fixed monitoring device, that is, the device end is fixed. This will result in a limited monitoring range and cannot effectively adapt to large-scale or dynamically changing environments. In applications that need to cover a wide area, this limitation may become a challenge; poor flexibility: traditional monitoring systems often use a single large-size target or multiple small-size targets to cover the entire monitoring range, which limits the flexibility and monitoring efficiency of the system. In some application scenarios, this may result in the inability to monitor important events or targets, thereby affecting the integrity and efficiency of the system. Summary of the invention

[0004] The present invention provides a multi-device cascade visual monitoring method, device, electronic equipment and medium, which can perform long-range monitoring based on cascade devices and improve monitoring efficiency.

[0005] According to one aspect of the present invention, a multi-device cascade visual monitoring method is provided, the method comprising:

[0006] Determine the position information of each target in the monitored object image;

[0007] Performing circle fitting on the position information of each target to determine the center position of the circle corresponding to each target;

[0008] Determine the offset of each target according to the center position of each target; wherein the offset includes a horizontal offset and a vertical offset;

[0009] According to the predetermined cascade relationship of multiple devices and the offset of each target, the deformation of each target is corrected for visual monitoring by the cascade device.

[0010] According to another aspect of the present invention, a multi-device cascade visual monitoring device is provided, the device comprising:

[0011] A position information determination module, used to determine the position information of each target in the monitored object image;

[0012] A circle center position determination module, used to perform circle fitting on the position information of each target to determine the circle center position corresponding to each target;

[0013] An offset determination module, used to determine the offset of each target according to the center position of each target; wherein the offset includes a horizontal offset and a vertical offset;

[0014] The deformation correction module is used to correct the deformation of each target according to the predetermined multi-device cascade relationship and the offset of each target, so as to provide visual monitoring for the cascade device.

[0015] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0016] At least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute a multi-device cascade visual monitoring method as described in any embodiment of the present invention.

[0017] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement a multi-device cascade visual monitoring method described in any embodiment of the present invention when executed.

[0018] The technical solution of the embodiment of the present invention determines the position information of each target in the monitored object image, then performs circle fitting on the position information of each target, determines the center position of each target, determines the offset of each target based on the center position of each target, and corrects the deformation of each target based on the predetermined multi-device cascade relationship and the offset of each target, so as to provide visual monitoring for the cascade device. This technical solution can perform long-range monitoring based on the cascade device and can improve monitoring efficiency.

[0019] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 is a flow chart of a multi-device cascade visual monitoring method provided according to Embodiment 1 of the present invention;

[0022] Figure 2 It is a deformation monitoring point layout diagram of the cascade equipment provided in Example 1 of the present application;

[0023] Figure 3 A schematic diagram of a multi-device cascade visual monitoring process provided in Embodiment 2 of the present invention;

[0024] Figure 4 This is a flow chart of visual deformation monitoring of a single small target provided in Example 2 of the present application;

[0025] Figure 5 A schematic diagram of the structure of a multi-device cascaded visual monitoring device provided in Embodiment 3 of the present invention;

[0026] Figure 6 It is a structural schematic diagram of an electronic device for implementing a multi-device cascade visual monitoring method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0028] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0029] Embodiment 1

[0030] Figure 1This is a flowchart of a multi-device cascade visual monitoring method provided according to the first embodiment of the present invention. This embodiment is applicable to the case of long-range monitoring in a cascade manner. The method can be executed by a multi-device cascade visual monitoring device. The multi-device cascade visual monitoring device can be implemented in the form of hardware and / or software. The multi-device cascade visual monitoring device can be configured in a device. For example, the device can be a background server or other device with communication and computing capabilities. Figure 1 As shown, the method includes:

[0031] S110: Determine the position information of each target in the monitored object image.

[0032] In this solution, multiple monitoring devices are installed at preset positions to monitor the monitored object. The monitoring devices can be cameras, cameras, etc. Multiple targets are installed at multiple key parts of each monitored object. When the monitored object is deformed, the target is deformed at the same time.

[0033] In this embodiment, the position information of each target in the monitored object image can be identified by using image processing technology. The position information of the target can be represented by coordinates. Image processing technology is a technology that uses computers, cameras and other digital processing technologies to perform certain operations and processes on images to extract various information from the images, thereby achieving a certain specific purpose.

[0034] S120, performing circle fitting on the position information of each target to determine the center position of the circle corresponding to each target.

[0035] In this solution, the position information of each target can be processed by circle fitting based on a circle fitting algorithm to determine the center position of each target. For example, the position information of each target can be processed by circle fitting based on the least squares method, algebraic fitting, Jacobian matrix, etc.

[0036] S130. Determine the offset of each target according to the center position of each target; wherein the offset includes a horizontal offset and a vertical offset.

[0037] In this solution, the offset of each target refers to the actual offset, including the horizontal offset and the vertical offset. The offset of the center position corresponding to each target can be analyzed based on the reference target and the reference center position, so as to determine the offset of each target. The reference center position can refer to the center position corresponding to each target in the reference image; the reference target is installed on a fixed object and will not move.

[0038] Optionally, determining the offset of each target according to the center position of each target includes steps A1-A2:

[0039] Step A1, determining a first offset of each target according to a circle center position corresponding to each target and a predetermined reference circle center position;

[0040] When the monitoring device is used to monitor the monitored object, a reference image is collected in advance, and the center position of each target in the reference image is determined, that is, the reference center position is determined.

[0041] In this solution, the first offset includes a first horizontal offset and a first vertical offset, and the first horizontal offset and the first vertical offset of each target can be determined based on the center position of each target and a predetermined reference center position. Specifically, the center position of each target and the predetermined reference center position can be subtracted to obtain the first horizontal offset and the first vertical offset of each target.

[0042] Step A2: determining the offset of each target according to the first offset of each target and the offset of a predetermined reference target.

[0043] In this embodiment, the reference target is pre-installed on the monitored object, and it is assumed that the reference target will not move.

[0044] Further, after determining the first horizontal offset and the first vertical offset of each target, vibration interference is removed from the first horizontal offset and the first vertical offset of each target. Specifically, the first offset of each target and the offset of a predetermined reference target may be subtracted to obtain the offset of each target after calibration.

[0045] Optionally, determining the offset of each target according to the first offset of each target and the offset of a predetermined reference target comprises steps B1-B2:

[0046] Step B1, subtracting the first offset of each target from the offset of a predetermined reference target to obtain a second offset of each target;

[0047] The second offset of each target refers to an offset at the pixel level, including a second horizontal offset and a second vertical offset.

[0048] Specifically, the first horizontal offset of each target can be subtracted from the horizontal offset of the reference target to obtain the second horizontal offset of each target, and the first vertical offset of each target can be subtracted from the vertical offset of the reference target to obtain the second vertical offset of each target.

[0049] Step B2: convert the second offset of each target according to a preset offset conversion relationship to obtain the offset of each target.

[0050] In this solution, the obtained second offset needs to be converted into an actual physical quantity, that is, converted into an offset of each target.

[0051] Specifically, assuming that the circle size of the target pattern is known, the ratio of the circle diameter to the number of pixels of the circle diameter in the reference image is the offset conversion coefficient, and the offset of each target can be obtained by multiplying the second offset of each target by the offset conversion coefficient.

[0052] Furthermore, after obtaining the offset of each target, the tilt or settlement or other deformation state of the monitored object can be obtained. That is, the corrected horizontal offset and vertical offset of each target characterize the deformation of the monitored object, wherein settlement is the deformation in the vertical direction, and tilt is the deformation in the horizontal and vertical directions.

[0053] By determining the offset of each target, each target can be corrected based on the offset of each target, thereby improving the monitoring accuracy.

[0054] S140, based on the predetermined cascade relationship of multiple devices and the offset of each target, the deformation of each target is corrected for visual monitoring by the cascade device.

[0055] In this program, Figure 2 is a deformation monitoring point layout diagram of the cascade equipment provided in the first embodiment of the present application, such as Figure 2 As shown, monitoring device J01 monitors: targets T11, T10, J02; monitoring device J02 monitors: targets T20, T21, J03; monitoring device J03 monitors: targets J04, T30, T31. Each monitoring device is equipped with a target, that is, the offset of the monitoring device can be characterized by the offset of the target.

[0056] Specifically, the correlation between each target can be determined according to the cascade relationship of the monitoring equipment, so as to determine the monitoring deformation of each target according to the correlation between each target and the offset of each target, and correct the monitoring deformation of each target.

[0057] Optionally, according to a predetermined multi-device cascade relationship and an offset of each target, the deformation of each target is corrected, including steps C1-C2:

[0058] Step C1, determining a target associated with the current target according to a predetermined multi-device cascade relationship;

[0059] In this solution, the correlation between each target can be determined based on the cascade relationship of the monitoring equipment. Figure 2 As shown, the monitoring device J02 monitors: targets T20 and T21. Taking targets T20 and T21 as current targets, the target associated with targets T20 and T21 is the monitoring device J02.

[0060] Step C2: determining a correction amount of the current target according to the offset amount of the current target and the offset amount of the target target, and correcting the deformation of the current target according to the correction amount of the current target.

[0061] In this embodiment, the offset of the current target and the offset of the target target may be subtracted to obtain the correction amount of the current target.

[0062] Optionally, determining a correction amount of the current target according to an offset of the current target and an offset of the target target includes:

[0063] The horizontal offset of the current target is subtracted from the horizontal offset of the target target to determine the horizontal correction of the current target, and the vertical offset of the current target is subtracted from the vertical offset of the target target to determine the vertical correction of the current target.

[0064] Specifically, the target associated with target T20 is monitoring device J02, and the calculation formulas for the horizontal direction correction amount and the vertical direction correction amount of target T20 are:

[0065] X T20_re =X T20 -X J02 ;

[0066] Y T20_re =Y T20 -Y J02 ;

[0067] Among them, X T20_re is the horizontal correction value of the current target, Y T20_re is the vertical correction value of the current target, X T20 is the horizontal offset of the current target, Y T20 is the vertical offset of the current target, X J02 is the horizontal offset of the target, Y J02 is the vertical offset of the target.

[0068] Furthermore, the target associated with target T21 is monitoring device J02, and the calculation formulas for the horizontal direction correction amount and the vertical direction correction amount of target T21 are:

[0069] X T21_re =XT21 -X J02 ;

[0070] Y T21_re =Y T21 -Y J02 ;

[0071] Among them, X T21_re is the horizontal correction value of the current target, Y T21_re is the vertical correction value of the current target, X T21 is the horizontal offset of the current target, Y T21 is the vertical offset of the current target, X J02 is the horizontal offset of the target, Y J02 is the vertical offset of the target.

[0072] In this scheme, the calculation formula for the horizontal and vertical corrections of the cascaded equipment is:

[0073] X T(i)_re =X T(i-1) -X J(i) ;

[0074] Y T(i)_re =Y T(i-1) -Y J(i) ;

[0075] Among them, X T(i)_re is the horizontal correction value of the current target, Y T(i)_re is the vertical correction value of the current target, X T(i-1) Y is the horizontal offset of the current target. T(i-1) is the vertical offset of the current target, X J(i) is the horizontal offset of the target, Y J(i) is the vertical offset of the target.

[0076] Each monitoring device works within the optimal monitoring range, ensuring high-precision monitoring. By utilizing the data from the front and rear monitoring devices for data calibration, high-precision monitoring over a long range can be achieved.

[0077] The technical solution of the embodiment of the present invention determines the position information of each target in the monitored object image, then performs circle fitting on the position information of each target, determines the center position of each target, determines the offset of each target according to the center position of each target, and corrects the deformation of each target according to the predetermined multi-device cascade relationship and the offset of each target, so as to provide visual monitoring for the cascade device. By executing this technical solution, long-range monitoring can be performed based on the cascade device, and the monitoring efficiency can be improved.

[0078] Embodiment 2

[0079] Figure 3 The schematic diagram of a multi-device cascade visual monitoring process provided by the second embodiment of the present invention is a detailed description of the process of determining the position information of each target. Figure 3 As shown, the method includes:

[0080] S310: Acquire an image of the monitored object.

[0081] In this embodiment, the monitoring device may be used to acquire the image of the monitored object.

[0082] S320: preprocess the monitored object image to obtain a preprocessed monitored object image.

[0083] Preprocessing is the process of manipulating raw image data into a usable and meaningful format. Preprocessing includes resizing, graying, noise reduction, normalization, etc. The quality of the monitored object image can be improved by preprocessing the monitored object image.

[0084] S330: Perform target detection on the preprocessed monitored object image to obtain position information of each target in the monitored object image.

[0085] In this solution, the target detection model can be used to perform target detection on the preprocessed monitoring object image to obtain the location information of each target in the monitoring object image. Among them, target detection is a task in the field of computer vision, and its goal is to identify and locate objects or targets of a specific category in an image or video. This task requires the system to be able to detect the presence of targets in the image and determine their locations, usually represented by bounding boxes. Optionally, the target detection model can be a neural network model, a machine learning model, etc.

[0086] S340: Determine the target image corresponding to the position information of each target.

[0087] In this solution, after the position information of each target is obtained, the target image corresponding to the position information of each target can be extracted from the monitored object image according to the position information of each target.

[0088] S350: Perform image enhancement processing on the target image to obtain an enhanced target image.

[0089] Furthermore, in order to suppress the influence of light changes on the target image, the target image may be enhanced by using image enhancement technology to obtain an enhanced target image.

[0090] S360: Process the enhanced target image using sub-pixel technology to obtain processed position information of each target.

[0091] Among them, sub-pixel technology is an image processing technology that is mainly used to improve image details and clarity on limited resolution display devices. This technology makes the image visually more detailed and sharp by interpolating or deriving further information at the sub-pixel level of the pixel. Sub-pixel technology includes a variety of methods and algorithms, mainly including: Sub-pixel interpolation: interpolating adjacent pixels to obtain sub-pixel level features. Common interpolation methods include bilinear interpolation, trilinear interpolation, etc.

[0092] Specifically, the enhanced target image can be processed by bilinear interpolation to obtain the position information of each target after processing. Among them, bilinear interpolation: This is a two-dimensional interpolation method, which performs linear interpolation in both directions. If there are four known points (x0, y0), (x1, y0), (x0, y1), (x1, y1), then the value of the point (x, y) can be calculated by the following formula:

[0093]

[0094] S370, performing circle fitting on the position information of each target to determine the center position of the circle corresponding to each target.

[0095] S380. Determine the offset of each target according to the center position of the circle corresponding to each target; wherein the offset includes a horizontal offset and a vertical offset.

[0096] S390, based on the predetermined multi-device cascade relationship and the offset of each target, the deformation of each target is corrected for visual monitoring by the cascade device.

[0097] The technical solution of the embodiment of the present invention obtains the image of the monitored object, pre-processes the image of the monitored object, obtains the pre-processed image of the monitored object, and then performs target detection on the pre-processed image of the monitored object to obtain the position information of each target in the image of the monitored object. Determine the target image corresponding to the position information of each target, perform image enhancement processing on the target image to obtain the enhanced target image, process the enhanced target image using sub-pixel technology to obtain the position information of each target after processing, and then perform circle fitting on the position information of each target to determine the center position of the circle corresponding to each target, determine the offset of each target based on the center position of the circle corresponding to each target, and correct the deformation of each target based on the predetermined multi-device cascade relationship and the offset of each target for visual monitoring by the cascade device. By executing this technical solution, data calibration is performed using the data of the front and rear monitoring devices to achieve high-precision monitoring over a long range.

[0098] In this program, Figure 4 This is a flow chart of visual deformation monitoring of a single small target provided in Example 2 of the present application. Figure 4 As shown, multiple monitoring devices are installed at preset positions, and multiple targets are deployed at multiple key positions of the monitored object; the monitored object image is preprocessed, and small target detection is performed on the preprocessed monitored object image based on the target detection model to determine the position information of each target in the monitored object image; the target image is enhanced to obtain an enhanced target image; the sub-pixel technology is used for the enhanced target image to obtain the position information of each processed target; circle fitting is performed on the position information of each target to determine the center position of each target; the sub-pixel offset of each target is determined according to the center position of each target and a predetermined reference center position; the actual offset of each target is determined according to the sub-pixel offset of each target and the offset of the predetermined reference target; the tilt, settlement or other deformation state of the monitored object is determined based on the actual offset of each target.

[0099] Embodiment 3

[0100] Figure 5 This is a schematic diagram of the structure of a multi-device cascade visual monitoring device provided in Embodiment 3 of the present invention. Figure 5 As shown, the device comprises:

[0101] A position information determination module 510 is used to determine the position information of each target in the monitored object image;

[0102] The circle center position determination module 520 is used to perform circle fitting on the position information of each target to determine the circle center position corresponding to each target;

[0103] An offset determination module 530, configured to determine the offset of each target according to the center position of each target; wherein the offset includes a horizontal offset and a vertical offset;

[0104] The deformation correction module 540 is used to correct the deformation of each target according to the predetermined multi-device cascade relationship and the offset of each target, so as to provide visual monitoring for the cascade device.

[0105] Optionally, the deformation correction module 540 includes:

[0106] A target determination unit, configured to determine a target associated with a current target according to a predetermined multi-device cascade relationship;

[0107] The deformation correction unit is used to determine the correction amount of the current target according to the offset of the current target and the offset of the target target, and to correct the deformation of the current target according to the correction amount of the current target.

[0108] Optional, deformation correction unit, specifically used for:

[0109] The horizontal offset of the current target is subtracted from the horizontal offset of the target target to determine the horizontal correction of the current target, and the vertical offset of the current target is subtracted from the vertical offset of the target target to determine the vertical correction of the current target.

[0110] Optionally, the location information determination module 510 is specifically configured to:

[0111] Acquire images of monitored objects;

[0112] Preprocessing the monitored object image to obtain a preprocessed monitored object image;

[0113] Target detection is performed on the preprocessed monitoring object image to obtain position information of each target in the monitoring object image.

[0114] Optionally, the location information determining module 510 is further configured to:

[0115] Determine the target image corresponding to the position information of each target;

[0116] Performing image enhancement processing on the target image to obtain an enhanced target image;

[0117] The enhanced target image is processed using sub-pixel technology to obtain the processed position information of each target.

[0118] Optionally, the offset determination module 530 includes:

[0119] A first offset determination unit, configured to determine a first offset of each target according to a circle center position corresponding to each target and a predetermined reference circle center position;

[0120] The offset determination unit is used to determine the offset of each target according to the first offset of each target and the offset of a predetermined reference target.

[0121] Optionally, the offset determination unit is specifically configured to:

[0122] Subtracting the first offset of each target from the offset of a predetermined reference target to obtain a second offset of each target;

[0123] According to the preset offset conversion relationship, the second offset of each target is converted to obtain the offset of each target.

[0124] A multi-device cascade visual monitoring apparatus provided in an embodiment of the present invention can execute a multi-device cascade visual monitoring method provided in any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method.

[0125] Embodiment 4

[0126] Figure 6 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0127] like Figure 6As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0128] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0129] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a multi-device cascaded visual monitoring method.

[0130] In some embodiments, a multi-device cascade visual monitoring method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the multi-device cascade visual monitoring method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute a multi-device cascade visual monitoring method in any other appropriate manner (e.g., by means of firmware).

[0131] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0132] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0133] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0134] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0135] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0136] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0137] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0138] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A multi-device cascade visual monitoring method, characterized in that: include: Determine the position information of each target in the monitored object image; Performing circle fitting on the position information of each target to determine the center position of the circle corresponding to each target; Determine the offset of each target according to the center position of each target; wherein the offset includes a horizontal offset and a vertical offset; According to the predetermined cascade relationship of multiple devices and the offset of each target, the deformation of each target is corrected for visual monitoring by the cascade device.

2. The method according to claim 1, characterized in that According to the predetermined multi-device cascade relationship and the offset of each target, the deformation of each target is corrected, including: Determining a target target associated with the current target based on a predetermined multi-device cascade relationship; According to the offset of the current target and the offset of the target target, the correction amount of the current target is determined, and the deformation of the current target is corrected according to the correction amount of the current target.

3. The method according to claim 2, characterized in that According to the offset of the current target and the offset of the target target, the correction amount of the current target is determined, including: The horizontal offset of the current target is subtracted from the horizontal offset of the target target to determine the horizontal correction of the current target, and the vertical offset of the current target is subtracted from the vertical offset of the target target to determine the vertical correction of the current target.

4. The method according to claim 1, characterized in that: Determine the location information of each target in the monitored object image, including: Acquire images of monitored objects; Preprocessing the monitored object image to obtain a preprocessed monitored object image; Target detection is performed on the preprocessed monitoring object image to obtain position information of each target in the monitoring object image.

5. The method according to claim 4, characterized in that After obtaining the position information of each target in the monitored object image, the method further includes: Determine the target image corresponding to the position information of each target; Performing image enhancement processing on the target image to obtain an enhanced target image; The enhanced target image is processed using sub-pixel technology to obtain the processed position information of each target.

6. The method according to claim 1, characterized in that Determining the offset of each target according to the center position of each target, including: Determining a first offset of each target according to the center position of each target and a predetermined reference center position; The offset of each target is determined according to the first offset of each target and the offset of a predetermined reference target.

7. The method according to claim 6, characterized in that Determining the offset of each target according to the first offset of each target and the offset of a predetermined reference target includes: Subtracting the first offset of each target from the offset of a predetermined reference target to obtain a second offset of each target; According to the preset offset conversion relationship, the second offset of each target is converted to obtain the offset of each target.

8. A multi-device cascade visual monitoring device, characterized in that: include: A position information determination module, used to determine the position information of each target in the monitored object image; A circle center position determination module, used to perform circle fitting on the position information of each target to determine the circle center position corresponding to each target; An offset determination module, used to determine the offset of each target according to the center position of each target; wherein the offset includes a horizontal offset and a vertical offset; The deformation correction module is used to correct the deformation of each target according to the predetermined multi-device cascade relationship and the offset of each target, so as to provide visual monitoring for the cascade device.

9. An electronic device, characterized in that: The electronic device comprises: At least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute a multi-device cascade visual monitoring method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement a multi-device cascade visual monitoring method according to any one of claims 1 to 7 when executed.

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