Multiple detection area fusion display method and electronic device

Abstract

The application relates to the technical field of area display, and discloses a multi-detection area fusion display method, an electronic device and a computer readable storage medium. The method comprises the following steps: acquiring a detection area set, judging whether there are overlapping detection areas in the detection area set, and when there are overlapping detection areas, randomly determining a first detection area and a second detection area which overlap in the detection area set, determining a target fusion area according to a center point of the first detection area, a radius of the first detection area, a center point of the second detection area and a radius of the second detection area, updating the detection area set, jumping to the step of judging whether there are overlapping detection areas in the detection area set, and generating a target fusion area set after all detection areas in the detection area set are traversed, and the target fusion area in the target fusion area set is highlighted on a map. In the above manner, the interface displayed on the map is more simple and intuitive.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of area display, and in particular to a multi-detection area fusion display method, an electronic device, and a computer readable storage medium. BACKGROUND

[0002] In recent years, unmanned aerial vehicles (UAVs) have been widely used in military, logistics, agriculture, and other fields. However, the wide application of UAVs has also brought problems such as airspace safety, privacy invasion, and illegal activities. Therefore, it is necessary to detect UAVs flying in a specific area (especially UAVs flying near key areas such as government-implemented or military areas) and obtain the motion trajectory of the UAVs, so as to take countermeasures against illegal flying UAVs in a timely manner.

[0003] Due to the limitations of a single detection device, it is usually difficult to comprehensively and accurately grasp the flight state of the UAV, and multiple detection devices are usually needed to jointly detect the UAV. However, the detection areas of multiple detection devices may overlap when displayed on a map, which can cause the content displayed on the map to be too chaotic, and it is difficult for a user to obtain accurate information of the UAV from the map. SUMMARY

[0004] In view of the above problems, embodiments of the present application provide a multi-detection area fusion display method, an electronic device, and a computer readable storage medium, to solve the problem that the content displayed on the map is too chaotic in the prior art, and it is difficult for a user to obtain accurate information of the UAV from the map.

[0005] According to an aspect of an embodiment of the present application, a multi-detection area fusion display method is provided, the method comprising: obtaining a detection area set, the detection area set comprising detection areas corresponding to multiple detection devices; determining whether there are overlapping detection areas in the detection area set; if there are overlapping detection areas, randomly determining a first detection area and a second detection area that overlap from the detection area set; determining a target fusion area according to a center point of the first detection area, a radius of the first detection area, a center point of the second detection area, and a radius of the second detection area; updating the detection area set according to the target fusion area, and jumping to the step of determining whether there are overlapping detection areas in the detection area set, until all detection areas in the detection area set are traversed, a target fusion area set is generated; and highlighting the target fusion area in the target fusion area set on a map.

[0006] In an optional manner, before judging whether there is an overlapping detection region in the detection region set, the method further comprises: searching a preset database according to the detection region set, wherein the preset database pre-stores a plurality of detection region sets and corresponding target fusion region sets; if at least part of the detection regions in the detection region set are the same as all the detection regions in the detection region set pre-stored in the preset database, obtaining the target fusion region set corresponding to the detection region set from the preset database; and updating the detection region set according to the target fusion region in the target fusion region set.

[0007] In an optional manner, the target fusion region is determined according to the center point of the first detection region, the radius of the first detection region, the center point of the second detection region and the radius of the second detection region, and specifically comprises: obtaining a midpoint between the center point of the first detection region and the center point of the second detection region to obtain the center point of the target fusion region; calculating a distance between the center point of the first detection region and the center point of the second detection region to obtain a first distance; if the radius of the first detection region is greater than or equal to the radius of the second detection region, determining the radius of the target fusion region according to the radius of the first detection region and the first distance; and if the radius of the first detection region is less than the radius of the second detection region, determining the radius of the target fusion region according to the radius of the second detection region and the first distance.

[0008] In an optional manner, the target fusion region is determined according to the center point of the first detection region, the radius of the first detection region, the center point of the second detection region and the radius of the second detection region, and specifically comprises: calculating a distance between the center point of the first detection region and the center point of the second detection region to obtain a first distance; determining the radius of the target fusion region according to the sum of the radius of the first detection region, the radius of the second detection region and the first distance; calculating a distance between the center point of the target fusion region and the center point of the first detection region according to the radius of the target fusion region and the radius of the first detection region to obtain a second distance; and determining the center point of the target fusion region according to the center point of the first detection region, the center point of the second detection region, the first distance and the second distance.

[0009] In an optional manner, the detection region set is updated according to the target fusion region, and specifically comprises: judging whether each detection region in the detection region set is within the target fusion region; if the detection region is within the target fusion region, deleting the detection region from the detection region set; and updating the target fusion region to the detection region set.

[0010] In an optional manner, the target fusion region in the target fusion region set is highlighted on the map, specifically including: setting a first foreground color on the map, the first foreground color being used to reduce the brightness of the map; deleting the first foreground color in the target fusion region in the target fusion region set on the map to increase the brightness in the detection region in the updated detection region set.

[0011] In an optional manner, after the first foreground color in the target fusion region in the target fusion region set on the map is deleted to increase the brightness in the detection region in the updated detection region set, the method further includes: setting a second foreground color on the target fusion region in the target fusion region set on the map; judging whether the brightness of each pixel point in the detection region in the updated detection region set on the map is greater than a preset brightness; if the brightness corresponding to the pixel point is less than or equal to the preset brightness, reducing the brightness of the pixel point on the map according to the second foreground color; if the brightness of the pixel point is greater than the preset brightness, increasing the brightness of the pixel point on the map according to the second foreground color.

[0012] In an optional manner, the brightness of the pixel point on the map is reduced according to the second foreground color, specifically including: obtaining the color value corresponding to the pixel point on the map to obtain a first color value; obtaining the color value corresponding to the pixel point on the second foreground color to obtain a second color value; updating the color value of the pixel point on the map according to the product of the first color value and the second color value, the brightness of the updated color value being less than the brightness of the first color value; increasing the brightness of the pixel point on the map according to the second foreground color, specifically including: obtaining the color value corresponding to the pixel point on the map to obtain a third color value; obtaining the color value corresponding to the pixel point on the second foreground color to obtain a fourth color value; determining a fifth color value according to the product of the third color value and the fourth color value; updating the color value of the pixel point on the map to the color value of the fifth color value, the brightness of the updated color value being greater than the brightness of the third color value.

[0013] According to another aspect of the embodiments of the present application, an electronic device is provided, including a memory, a processor and a computer program stored in the memory, the processor executes the computer program to implement the multiple detection region fusion display method of any one of the above.

[0014] According to still another aspect of the embodiments of the present application, a computer readable storage medium is provided, having a computer program stored thereon, the computer program being executed by a processor to implement the multiple detection region fusion display method of any one of the above.

[0015] The embodiment of the present application judges whether there is an overlapping detection area in the detection area set, fuses the overlapping detection areas, generates a target fusion area set, and finally highlights the target fusion area in the target fusion area set on the map, so as to highlight the detection areas of the multiple detection devices on the map, and make the interface displayed on the map more simple and intuitive, and the user can quickly check the flight track and state of the unmanned aerial vehicle on the map.

[0016] The above description is only a summary of the technical solutions of the embodiments of the present application, in order to more clearly understand the technical means of the embodiments of the present application, and can be implemented according to the content of the specification, and in order to make the above and other purposes, characteristics and advantages of the embodiments of the present application more obvious and easy to understand, the following specific embodiments of the present application are described. BRIEF DESCRIPTION OF DRAWINGS

[0017] The accompanying drawings are included to provide a further understanding of the embodiments of the present application, and are incorporated herein and constitute a part of the detailed description. In the drawings:

[0018] Figure 1 A flowchart of a multiple detection area fusion display method provided by the first embodiment of the present application is shown;

[0019] Figure 2 A flowchart of a multiple detection area fusion display method provided by the second embodiment of the present application is shown;

[0020] Figure 3 A flowchart of a multiple detection area fusion display method provided by the third embodiment of the present application is shown;

[0021] Figure 4 A flowchart of a multiple detection area fusion display method provided by the fourth embodiment of the present application is shown;

[0022] Figure 5 A structure diagram of a multiple detection area fusion display device provided by the embodiments of the present application is shown;

[0023] Figure 6 A structure diagram of an electronic device provided by the embodiments of the present application is shown. DETAILED DESCRIPTION

[0024] The exemplary embodiments of the present application will be described in detail with reference to the accompanying drawings. Although the exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein.

[0025] Current detection devices mainly include radars, infrared sensors, radio receivers, etc., which can provide the position information, flight height, speed, etc. of the UAV, but single detection device has limitations such as small detection range, small detection accuracy and poor environmental adaptability, and it is difficult to comprehensively and accurately grasp the flight state of the UAV. Therefore, usually multiple detection devices are needed to cooperate to detect the flight trajectory of the UAV, and then the detection areas of multiple detection devices are displayed on the map to enable the user to accurately obtain the flight data of the UAV from the map.

[0026] However, the detection areas of multiple detection devices may overlap, which will cause the content displayed on the map to be too chaotic, especially in a complex environment, the content displayed on the map is already complex, and the overlapping and covering display of the detection areas will cause the content displayed on the map to be very chaotic, and the user will have difficulty obtaining the flight data of the UAV from the map.

[0027] Based on this, the present application provides a multiple detection area fusion display method. After obtaining the detection area set composed of the detection areas corresponding to multiple detection devices, it is first determined whether there are overlapping detection areas in the detection area set. As long as there are overlapping detection areas, two overlapping detection areas are randomly determined, then a fusion area is determined according to the center and radius of the two detection areas, and the detection area set is updated according to the fusion area. The above steps are repeatedly executed until only one detection area or no overlapping detection area is left in the detection area set, and a fusion area set is obtained. Finally, the fusion areas in the fusion area set are highlighted on the map.

[0028] In this way, the overlapping detection areas can be fused into a large fusion area for display, making the content displayed on the map more concise and intuitive, and the user can quickly obtain the required UAV flight data from the content displayed on the map. Especially in a complex environment, the content displayed on the map can be clearer and more understandable.

[0029] Figure 1 A flowchart of a multiple detection area fusion display method provided by an embodiment of the present application is shown. The method is executed by an electronic device. The electronic device can be a mobile phone, a tablet, a computer, etc. After multiple detection devices are turned on, their detection areas are automatically sent to the electronic device. The electronic device receives the detection areas of the multiple detection devices and fuses these detection areas. Finally, the fused areas are highlighted on the map, which can be displayed directly through the display screen of the electronic device (such as the display screen of a mobile phone or a tablet), or the display data can be sent to a display device (such as a liquid crystal display or a projector) connected to the electronic device to highlight the fused areas on the map through the display device.

[0030] Specifically, such as Figure 1 As shown, the method includes the following steps:

[0031] Step S110: Obtain the set of detection areas.

[0032] The detection area set includes the detection area corresponding to the detection device. The detection area can be determined by its center and radius. The location of the detection device is the center point of the detection area, and the detection radius of the detection device is the radius of the detection area.

[0033] Step S120: Determine whether there are multiple detection regions in the detection region set.

[0034] If there are multiple detection regions in the detection region set, it means that there may be detection regions in the detection region set that need to be merged and displayed. It is necessary to further determine whether there are overlapping detection regions in the detection region set, so as to merge and display the overlapping detection regions in the detection region set, and jump to step S130.

[0035] If there is only one detection area in the detection area set, it means that there is no need to merge and display the detection areas in the detection area set. Instead, the detection area in the detection area set is highlighted on the map, and the process jumps to step S190.

[0036] Step S130: Determine whether there are overlapping detection regions in the detection region set.

[0037] If there are overlapping detection areas in the detection area set, it means that there are detection areas in the detection area set that need to be merged and displayed. These detection areas need to be merged and displayed, and the process jumps to step S140.

[0038] If the detected regions in the detection region set do not overlap, it means that there is no need to merge the detected regions in the detection region set. The detected regions in the detection region set can be directly highlighted on the map, and the process jumps to step S190.

[0039] Specifically, whether there are overlapping detection regions can be determined according to the center points and the radii of the detection regions in the detection region set, any two detection regions in the detection region set are taken as a group, and the distance between the center points of the two detection regions in each group is calculated. Finally, the distance between the center points of the two detection regions in the same group is compared with the sum of the radii of the two detection regions in the same group to determine whether the two detection regions in the same group overlap. If the distance between the center points of the two detection regions in the same group is greater than or equal to the sum of the radii of the two detection regions in the same group, it indicates that the two detection regions in the same group do not overlap, and if the distance between the center points of the two detection regions in the same group is less than the sum of the radii of the two detection regions in the same group, it indicates that the two detection regions in the same group overlap.

[0040] Step S140: If there are overlapping detection regions, randomly determine the first detection region and the second detection region that overlap from the detection region set.

[0041] If there are two overlapping detection regions in the detection region set, the two detection regions are determined as the first detection region and the second detection region respectively, so as to display the two detection regions in fusion. If there are more than two detection regions that overlap in the detection region set, two detection regions are randomly obtained from the more than two detection regions, and the two detection regions are determined as the first detection region and the second detection region respectively, and the two detection regions overlap.

[0042] Step S150: Determine a target fusion region according to the center point of the first detection region, the radius of the first detection region, the center point of the second detection region, and the radius of the second detection region.

[0043] The target fusion region is a region in which the first detection region and the second detection region are displayed in fusion, and the first detection region and the second detection region are both located in the target fusion region. Specifically, the center point and the radius of the target fusion region can be determined according to the center point and the radius of the first detection region, and the center point and the radius of the second detection region, and then the target fusion region is obtained.

[0044] In order to quickly obtain the target fusion region, step S150 can include the following steps (step S151a to step S154a):

[0045] Step S151a: Obtain the midpoint between the center point of the first detection region and the center point of the second detection region to obtain the center point of the target fusion region.

[0046] Step S152a: Calculate the distance between the center point of the first detection region and the center point of the second detection region to obtain a first distance.

[0047] Step S153a: If the radius of the first detection area is greater than or equal to the radius of the second detection area, the radius of the target fusion area is determined according to the radius of the first detection area and the first distance.

[0048] Step S154a: If the radius of the first detection area is less than the radius of the second detection area, the radius of the target fusion area is determined according to the radius of the second detection area and the first distance.

[0049] wherein the midpoint between the center point of the first detection area and the center point of the second detection area, i.e. the point on the line segment with the center point of the first detection area and the center point of the second detection area as end points and equal distance to the end points, is calculated as the center point of the target fusion area. The distance from the center point of the target fusion area to the position farthest from the edge of the first detection area is the sum of the distance from the center point of the target fusion area to the center point of the first detection area and the radius of the first detection area. Similarly, the distance from the center point of the target fusion area to the position farthest from the edge of the second detection area is the sum of the distance from the center point of the target fusion area to the center point of the second detection area and the radius of the second detection area.

[0050] Therefore, as long as the radius of the target fusion area is greater than or equal to the distance from the center point of the target fusion area to the position farthest from the edge of the first detection area and the distance from the center point of the target fusion area to the position farthest from the edge of the second detection area, the first detection area and the second detection area will be located within the target fusion area, i.e. the radius of the target fusion area needs to be greater than or equal to the larger value of the distance from the center point of the target fusion area to the position farthest from the edge of the first detection area and the distance from the center point of the target fusion area to the position farthest from the edge of the second detection area.

[0051] Since the distance from the center point of the target fusion area to the center point of the first detection area and the distance from the center point of the target fusion area to the center point of the second detection area are equal, i.e. both the distance from the center point of the target fusion area to the center point of the first detection area and the distance from the center point of the target fusion area to the center point of the second detection area are equal to half of the first distance, the size relationship between the radius of the first detection area and the radius of the second detection area directly determines the size relationship between the distance from the center point of the target fusion area to the position farthest from the edge of the first detection area and the distance from the center point of the target fusion area to the position farthest from the edge of the second detection area.

[0052] If the radius of the first detection area is greater than or equal to the radius of the second detection area, the distance from the center point of the target fusion area to the edge position of the first detection area farthest away is greater than or equal to the distance from the center point of the target fusion area to the edge position of the second detection area farthest away, and the distance from the center point of the target fusion area to the edge position of the first detection area farthest away can be taken as the radius of the target fusion area, that is, the radius of the target fusion area is determined according to the radius of the first detection area and the first distance. If the radius of the first detection area is less than the radius of the second detection area, the distance from the center point of the target fusion area to the edge position of the first detection area farthest away is less than the distance from the center point of the target fusion area to the edge position of the second detection area farthest away, and the distance from the center point of the target fusion area to the edge position of the second detection area farthest away can be taken as the radius of the target fusion area, that is, the radius of the target fusion area is determined according to the radius of the second detection area and the first distance.

[0053] Steps S151a to S154a can obtain the center point of the target fusion area by obtaining the midpoint between the center point of the first detection area and the center point of the second detection area, and can quickly determine the radius of the target fusion area by calculating the distance between the center point of the first detection area and the center point of the second detection area and combining the radius of the first detection area and the radius of the second detection area, and then quickly determine the target fusion area after the first detection area and the second detection area are fused.

[0054] In order to make the target fusion area more consistent with the first detection area and the second detection area, step S150 can include the following steps (steps S151b to S154b):

[0055] Step S151b: Calculate the distance between the center point of the first detection area and the center point of the second detection area to obtain the first distance.

[0056] Step S152b: Determine the radius of the target fusion area according to the sum of the radius of the first detection area, the radius of the second detection area and the first distance.

[0057] If the target fusion area is to be more consistent with the first detection area and the second detection area, the first detection area and the second detection area can be inscribed in the target fusion area, and at this time the target fusion area can just fuse the first detection area and the second detection area together. Therefore, the distance from the edge position of the first detection area to the edge position of the second detection area farthest away needs to be less than or equal to the diameter of the target fusion area, that is, the distance between the center point of the first detection area and the center point of the second detection area, the radius of the second detection area and the sum of the radius of the second detection area needs to be less than or equal to the diameter of the target fusion area.

[0058] In addition, when the distance between the edge position of the first detection area and the edge position of the second detection area farthest from each other is equal to the diameter of the target fusion area, the target fusion area can most closely display the first detection area and the second detection area, that is, the sum of the radius of the first detection area, the radius of the second detection area and the first distance is less than or equal to the diameter of the target fusion area.

[0059] Step S153b: calculating the distance between the center point of the target fusion area and the center point of the first detection area according to the radius of the target fusion area and the radius of the first detection area, to obtain a second distance.

[0060] Step S154b: determining the center point of the target fusion area according to the center point of the first detection area, the center point of the second detection area, the first distance and the second distance.

[0061] When the sum of the radius of the first detection area, the radius of the second detection area and the first distance is less than or equal to the diameter of the target fusion area, the center point of the first detection area and the center point of the second detection area will be on the same diameter of the target fusion area, and the center point of the target fusion area will be between the center point of the first detection area and the center point of the second detection area. Therefore, the distance between the center point of the target fusion area and the center point of the first detection area can be calculated according to the radius of the target fusion area and the radius of the first detection area, the distance between the center point of the target fusion area and the center point of the first detection area can be determined by combining the first distance, and finally the center point of the target fusion area can be determined by combining the center point of the first detection area and the center point of the second detection area, so as to determine the target fusion area.

[0062] Steps S151b to S154b first determine the radius of the target fusion area by the radius of the first detection area, the radius of the second detection area and the first distance, and then determine the center point of the target fusion area by combining the center of the first detection area and the center of the second detection area, so that the target fusion area obtained is more closely matched with the first detection area and the second detection area, and the target fusion area set finally highlighted on the map is more closely matched with the actual detection area of the detection device, so that the user can more quickly obtain the required data from the map.

[0063] After step S150, step S160 is performed: updating the detection area set according to the target fusion area

[0064] After the target fusion area that fuses and displays the first detection area and the second detection area is determined, since other detection areas in the detection area set may overlap with the target fusion area, the target fusion area needs to be updated to the detection area set. When updating the detection area set, the target fusion area can directly replace the first detection area and the second detection area.

[0065] Further, in order to accelerate the speed of obtaining the target fusion region set, step S160 can include the following steps (step S161 to step S163):

[0066] Step S161: judging whether each detection region in the detection region set is within the target fusion region.

[0067] If the detection region is within the target fusion region, it means that the detection region can be displayed by the target fusion region, and there is no need to further fuse the detection region with other detection regions, and the process jumps to step S162.

[0068] If the detection region is not within the target fusion region, it means that the target fusion region cannot display the detection region, and the detection region needs to be further fused with other detection regions. When updating the detection region set, no operation needs to be performed on the detection region.

[0069] Specifically, it can be judged whether the radius of the detection region in the detection region set is smaller than the radius of the target fusion region, and when the radius of the detection region is smaller than the radius of the target fusion region, the distance between the center point of the detection region and the center point of the target fusion region is calculated. If the distance between the center points is smaller than the difference between the radius of the target fusion region and the radius of the detection region, it means that the detection region is within the target fusion region.

[0070] Step S162: if the detection region is within the target fusion region, the detection region is deleted from the detection region set.

[0071] Step S163: updating the target fusion region to the detection region set.

[0072] In which, the detection region within the target fusion region in the detection region set is deleted from the detection region set, and the target fusion region is updated to the detection region set.

[0073] Steps S161 to S163 judge whether the detection region in the detection region set is within the target fusion region, and delete the detection region within the target fusion region in the detection region set from the detection region set, and update the target fusion region to the detection region set, so that the fusion speed of the detection region in the detection region set is faster.

[0074] After step S160, step S170 is performed: judging whether all detection regions in the detection region set are traversed.

[0075] If yes, it means that all overlapping detection regions in the detection region set have completed fusion, and there is no need to fuse the detection region set, and the process jumps to step S180.

[0076] If no, it indicates that there may still be overlapping detection areas in the detection area set, and it is still necessary to continue to determine whether there are overlapping detection areas in the detection area set, and jump to step S130.

[0077] Step S180: If all detection areas in the detection area set have been traversed, a target fusion area set is generated.

[0078] Among them, after all the overlapping detection areas in the detection area set have been fused, the target fusion area set can be generated according to the finally obtained detection area set. At this time, there may be a target fusion area in the target fusion area set that fuses and displays all the detection areas in the detection area set, or there may be multiple non-overlapping target fusion areas.

[0079] Step S190: Highlighting the target fusion area in the target fusion area set on the map.

[0080] Among them, the target fusion area is highlighted on the map, and the target fusion area on the map is set to be highlighted, and other positions are set to be lower than the brightness of the target fusion area. In this way, the target fusion area can be highlighted, that is, the detection area of the detection device is highlighted on the map.

[0081] In the above embodiment, by judging whether there are overlapping detection areas in the detection area set, and fusing the overlapping detection areas, a target fusion area set is generated, and finally the target fusion area in the target fusion area set is highlighted on the map, so as to highlight the detection areas of multiple detection devices on the map, so that the interface displayed on the map is more simple and intuitive, and the user can quickly view the flight trajectory and state of the unmanned aerial vehicle from the map.

[0082] In addition, the electronic device is also used for receiving real-time data from the detection device, which includes but is not limited to the position information (such as longitude, latitude, height, etc.) of the unmanned aerial vehicle, flight speed, heading angle, etc. Because the data of different detection devices may be different formats and resolutions, the electronic device can also preprocess the obtained data to convert the format of the data and denoise the data. Because there may be data deviation between different detection devices, the electronic device can also set a data calibration module to correct the data of each detection device using a calibration algorithm, eliminate the offset or error caused by the difference between devices, and ensure the consistency and accuracy of the data, such as deleting the data of the unmanned aerial vehicle that is obviously outside the detection area of the detection device.

[0083] Further, an abnormality detection module and an alarm system can also be set on the electronic device. The abnormality detection module monitors the flight state of the drone in real time, and judges according to the preset abnormal conditions, such as entering a no-fly zone, exceeding the flight height limit, flying too fast, or appearing irregular flight path, etc. When an abnormality is detected, the alarm system is automatically triggered to issue an alarm, including audible and visual alarms, message push, SMS or email notification, etc., to ensure that the monitoring personnel can timely discover and handle abnormal situations. In this way, the electronic device has the functions of abnormality detection and alarm, can timely warn potential threats, and improves the efficiency of airspace safety management.

[0084] Further, for the fixed detection device, the position of the detection device is usually fixedly set at a position. Therefore, in order to more quickly generate the target fusion region set according to the detection region set, before step S130, the method further includes the following steps:

[0085] Step S121: searching a preset database according to the detection region set, wherein the preset database pre-stores a plurality of detection region sets and their corresponding target fusion region sets.

[0086] After the detection region set and the target fusion region set corresponding to the detection region set are obtained, the detection region set and the target fusion region set corresponding to the detection region set can be stored in the preset database. When the detection region set is obtained subsequently, the preset database is searched according to the detection region set first. If the detection region set is the same as the detection region set in the preset database, the target fusion region set corresponding to the detection region set can be directly obtained.

[0087] Step S122: if at least part of the detection regions in the detection region set are the same as all the detection regions in the detection region set pre-stored in the preset database, the target fusion region set corresponding to the detection region set is obtained from the preset database.

[0088] When at least part of the detection regions in the detection region set A are the same as all the detection regions in the detection region set B pre-stored in the preset database, that is, the detection region set B is a subset of the detection region set A (in other words, the detection region set A includes all the detection regions in the detection region set B), the target fusion region set corresponding to the detection region set B can be determined as the target fusion region set corresponding to the detection region set A. In addition, when there are multiple subsets of the detection region set A in the preset database, the target fusion region set corresponding to the detection region set with the most detection regions in the subsets can be determined as the target fusion region set corresponding to the detection region set A.

[0089] Specifically, assume that detection region set A includes five detection regions: a, b, c, d, and e. A pre-defined database contains detection region sets B, C, and D. Detection region set B includes three detection regions: a, b, and c; detection region set C includes four detection regions: a, b, c, and d; and detection region set D includes four detection regions: a, b, c, and f. Detection region sets B and C are subsets of detection region set A, and detection region set C contains fewer detection regions than detection region set B. Therefore, the target fusion region set corresponding to detection region set C can be used as the target fusion region set for detection region set A. The target fusion region set corresponding to detection region set C is then retrieved from the pre-defined database to update detection region set A based on the target fusion regions in the target fusion region set.

[0090] Step S123: Update the detection region set based on the target fusion region in the target fusion region set.

[0091] Specifically, it is determined whether each detected region in the detected region set is within each target fusion region in the target fusion region set. If the detected region is within the target fusion region, the detected region is deleted from the detected region set. Finally, the target fusion regions in the target fusion region set are updated to the detected region set.

[0092] In the above embodiments, before determining whether there are overlapping detection regions in the detection region set, a preset database is first searched based on the detection region set. When a subset of the detection region set exists in the preset database, the target fusion region set corresponding to the subset is obtained from the preset database. Then, the detection region set is updated based on the target fusion region set. Finally, it is determined whether there are overlapping detection regions in the updated detection region set, and the overlapping detection regions are then fused. This can effectively speed up the detection region fusion display and improve the real-time performance of the multiple detection region fusion display method.

[0093] Furthermore, in order to better highlight the target fusion area on the map, such as... Figure 3 As shown, Figure 3 This diagram illustrates a flowchart of a method for fusion and display of multiple detection regions provided in the third embodiment of this application. Step S190 includes the following steps:

[0094] Step S191: Set a first foreground color on the map. The first foreground color is used to reduce the brightness of the map.

[0095] Step S192: Delete the first foreground color within the target fusion region in the target fusion region set on the map to increase the brightness of the detection region in the updated detection region set.

[0096] The first foreground color is used to reduce the brightness of the interface displayed by the map. The first foreground color can be a color with a certain transparency, such as gray, black, and the like. The first foreground color can also be other dark colors, such as dark blue, dark green, dark red, and the like. The first foreground color is first overlaid on the map, and then the first foreground color in the target fusion region is removed from the map, so that the brightness of other positions on the map except the target fusion region is reduced, and the target fusion region is highlighted.

[0097] In the above embodiment, by setting the first foreground color on the map and removing the first foreground color in the target fusion region on the map, the brightness of other regions except the target fusion region can be reduced, and the target fusion region is highlighted, so that the user can quickly obtain the UAV track and state in the target fusion region from the map.

[0098] Further, in order to make the target fusion region more prominent, as shown in Figure 4 , a second foreground color is set on the target fusion region on the map. Figure 4 A flowchart of a multi-detection region fusion display method provided by a fourth embodiment of the present application is shown. After step S192, the method includes the following steps:

[0099] Step S193: A second foreground color is set on a target fusion region in the target fusion region set on the map.

[0100] The second foreground color is set on the target fusion region on the map. The second foreground color can be a gradient color. A black second foreground color is set on a 90% region outside the center point in the target fusion region, and the remaining region gradually changes to a 40% transparent black color to the edge position. The second foreground color is used to dynamically apply different blending operations according to the brightness of the background color to achieve the effect of brightness superposition and highlighting.

[0101] Step S194: It is judged whether the brightness of each pixel point in the detection region in the updated detection region set on the map is greater than a preset brightness.

[0102] Step S195: If the brightness corresponding to the pixel point is less than or equal to the preset brightness, the brightness of the pixel point on the map is reduced according to the second foreground color.

[0103] When the brightness of the pixel point on the map is less than or equal to the preset brightness, for example, when the average value of the RGB of the pixel point is less than or equal to 128, it means that the pixel point is relatively dark, and the brightness of the pixel point can be reduced according to the second foreground color.

[0104] In order to more quickly adjust the brightness of each pixel point on the map, specifically, step S195 includes the following steps (step S195a to step S195c):

[0105] Step S195a: obtaining a color value corresponding to the pixel point on the map, to obtain a first color value.

[0106] Step S195b: obtaining a color value corresponding to the pixel point on the second foreground color, to obtain a second color value.

[0107] Step S195c: updating the color value of the pixel point on the map according to the product of the first color value and the second color value, and the luminance of the updated color value is less than the luminance of the first color value.

[0108] Wherein, the RGB components of the source pixel (i.e. the second foreground color) and the background pixel (i.e. the pixel on the map) are multiplied, that is, the first color value and the second color value are multiplied to obtain the corresponding product, and the product of the first color value and the second color value is used to update the color value of the pixel point on the map, so that the updated color value is darker than the original color value. Specifically, the updated color value can be calculated by the following formula:

[0109] Result = Source × Background

[0110] Wherein, Source is the color value of the pixel point on the second foreground color, Background is the color value of the pixel point on the map, and Result is the updated color value of the pixel point on the map.

[0111] After step S195, step S196 is executed: if the luminance of the pixel point is greater than the preset luminance, the luminance of the pixel point on the map is increased according to the second foreground color.

[0112] Wherein, when the luminance of the pixel point on the map is greater than the preset luminance, for example, when the average value of the RGB of the pixel point is greater than 128, it means that the pixel point is relatively bright, and the luminance of the pixel point can be increased according to the second foreground color.

[0113] In order to adjust the luminance of each pixel point on the map more quickly, specifically, step S196 includes the following steps (step S196a to step S196d):

[0114] Step S196a: obtaining the complementary color of the color value corresponding to the pixel point on the map, to obtain a third color value.

[0115] Wherein, the color of the pixel point on the map is inverted, that is, the complementary color of the color value corresponding to the pixel point (the sum of the color value corresponding to the pixel point and its complementary color is equal to 255), to obtain the third color value.

[0116] Step S196b: obtaining the complementary color of the color value corresponding to the pixel point on the second foreground color, to obtain a fourth color value.

[0117] In this process, the second foreground color is inverted, which is the complementary color of the color value corresponding to the pixel on the second foreground color, to obtain the fourth color value.

[0118] Step S196c: Determine the fifth color value based on the product of the third and fourth color values.

[0119] Step S196d: Update the complementary color of the fifth color value to the color value of the pixel on the map. The brightness of the updated color value is greater than the brightness of the complementary color of the third color value.

[0120] The process involves multiplying the third and fourth color values ​​to obtain the fifth color value. This fifth color value is then inverted to obtain its complementary color, which is used to update the color value of the pixels on the map. This updated color value is brighter than the original color value. Specifically, the updated color value can be calculated using the following formula:

[0121] Result=255-(255-Scource)×(255-Background)

[0122] Steps S195a to S195c make darker pixels on the map darker, and steps S196a to S196d make brighter pixels on the map brighter. This increases the contrast, making the target fusion area on the map more obvious compared to other areas, and making the content on the map clearer, especially for maps with complex environments.

[0123] In the above embodiments, the brightness of each pixel on the map is adjusted by using the second foreground color, making the brighter parts of the pixels on the map brighter and the darker parts of the pixels on the map darker, thereby enhancing the contrast and making the contrast between the target fusion area and other areas on the map more obvious and clearer, and achieving a visual effect of overlapping light and shadow and rich layers.

[0124] According to another aspect of the embodiments of this application, a multi-detection area fusion display device is also provided, such as... Figure 5 As shown, Figure 5 A schematic diagram of the structure of a multi-detection area fusion display device provided in an embodiment of this application is shown. The multi-detection area fusion display device 1 includes: an acquisition module 11, a judgment module 12, a first determination module 13, a second determination module 14, an update module 15, and a display module 16.

[0125] The acquisition module 11 is configured to acquire a detection region set, the detection region set including detection regions corresponding to a plurality of detection devices. The determination module 12 is configured to determine whether there are overlapping detection regions in the detection region set. The first determination module 13 is configured to randomly determine a first detection region and a second detection region that overlap from the detection region set when there are overlapping detection regions. The second determination module 14 is configured to determine a target fusion region according to a center point of the first detection region, a radius of the first detection region, a center point of the second detection region, and a radius of the second detection region. The update module 15 is configured to update the detection region set according to the target fusion region, and jump to the determination module 12 until all detection regions in the detection region set are traversed, and a target fusion region set is generated. The display module 16 is configured to highlight the target fusion region in the target fusion region set on a map.

[0126] In the above embodiments, by determining whether there are overlapping detection regions in the detection region set, and fusing the overlapping detection regions, a target fusion region set is generated, and finally the target fusion region in the target fusion region set is highlighted on a map, so as to highlight the detection regions of a plurality of detection devices on the map, and make the interface displayed on the map simpler and more intuitive, and a user can quickly check the flight track and state of a UAV from the map.

[0127] Figure 6 A structure schematic diagram of an electronic device provided by an embodiment of the present application is shown, and embodiments of the present application do not limit the specific implementation of the electronic device.

[0128] As shown in Figure 6 , the electronic device 2 can include a processor 21 and a memory 22.

[0129] The memory 22 is configured to store a computer program 23. The memory 22 can include a high-speed RAM memory, and can also include a non-volatile memory such as at least one disk memory. The computer program 23 can include computer executable instructions.

[0130] The processor 21 is configured to execute the computer program 23 to implement the above-mentioned plurality of detection region fusion display method embodiments.

[0131] The processor 21 can be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement one or more embodiments of the application. The one or more processors of the electronic device 2 can be of the same type, such as one or more CPUs, or of different types, such as one or more CPUs and one or more ASICs.

[0132] The embodiments of the application provide a computer readable storage medium, the storage medium stores a computer program, and the computer program is executed by a processor to implement the plurality of detection area fusion display method embodiments.

[0133] The embodiments of the application provide a computer program, and the computer program can be executed by a processor to implement the plurality of detection area fusion display method embodiments.

[0134] The embodiments of the application provide a computer program product, and the computer program product includes a computer program, and the computer program is executed by a processor to implement the plurality of detection area fusion display method embodiments.

[0135] In several embodiments provided in the application, any function realized in the form of a software function module / unit and sold or used as an independent product can be stored in a computer readable storage medium. Based on this understanding, part or all of the technical solutions of the application can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions to make a computer device (which can be a personal computer, a server, or an electronic device) execute all or part of the steps of the methods described in the embodiments of the 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 media that can store computer program codes.

[0136] The algorithms and displays provided herein are not inherently related to any particular computer, virtual system, or other apparatus. Various general purpose systems can be used with these teachings, based on the description as provided herein. In addition, the embodiments of the application are not necessarily limited to any particular programming language. It will be appreciated that a variety of programming languages can be used to implement the teachings of the application as described herein, and any references below to specific languages are provided for disclosure of enablement only.

[0137] It should be noted that the above-mentioned embodiments illustrate rather than limit the application, and that one skilled in the art will be able to design many alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word 'comprising' does not exclude the presence of elements or steps other than those listed in a claim. The word 'a' or 'an' preceding an element does not exclude the presence of a plurality of such elements. The application can be implemented by means of both hardware and software, and any combination thereof. In a claim enumerating several means, several of these means can be embodied by one and the same item of hardware. The mere fact that certain measures are recited in mutually different claims does not indicate that a combination of these measures cannot be used to advantage. The use of relative terms such as 'about','substantially', 'approximately' and the like is intended to broadly describe variations that can exist in the embodiments described herein. The steps of the above-described embodiments should not be interpreted as limiting the order of execution. The above-described embodiments are merely illustrative of the application and do not limit the scope of the application. Any variation of the embodiments, which do not depart from the spirit of the application, are intended to be within the scope of the application. The scope of the application is defined by the appended claims.

[0138] The above-described embodiments are merely illustrative of the application and do not limit the scope of the application. Any variation of the embodiments, which do not depart from the spirit of the application, are intended to be within the scope of the application. The scope of the application is defined by the appended claims.

Claims

1. A method for fusion display of multiple detection areas, characterized in that, The method comprises: acquiring a detection region set, the detection region set comprising detection regions corresponding to a plurality of detection devices; judging whether there are overlapping detection regions in the detection region set; if there are overlapping detection regions, randomly determining a first detection region and a second detection region that overlap from the detection region set; determining a center point and a radius of a target fusion region according to a center point of the first detection region, a radius of the first detection region, a center point of the second detection region and a radius of the second detection region, to obtain the target fusion region, wherein the first detection region and the second detection region are both located in the target fusion region; updating the detection region set according to the target fusion region, and jumping to the step of judging whether there are overlapping detection regions in the detection region set, until all detection regions in the detection region set are traversed, to generate a target fusion region set; highlighting the target fusion region in the target fusion region set on a map.

2. The method of claim 1, wherein the plurality of detection regions are displayed in a fusion manner. Before the step of judging whether there are overlapping detection regions in the detection region set, the method further comprises: searching a preset database according to the detection region set, the preset database pre-storing a plurality of detection region sets and target fusion region sets corresponding thereto; if at least part of the detection regions in the detection region set are the same as all detection regions in a detection region set pre-stored in the preset database, obtaining a target fusion region set corresponding to the detection region set from the preset database; updating the detection region set according to the target fusion region in the target fusion region set.

3. The method of claim 1, wherein the plurality of detection regions are displayed in a fusion manner. The step of determining a center point and a radius of a target fusion region according to a center point of the first detection region, a radius of the first detection region, a center point of the second detection region and a radius of the second detection region specifically comprises: obtaining a midpoint between the center point of the first detection region and the center point of the second detection region, to obtain the center point of the target fusion region; calculating a distance between the center point of the first detection region and the center point of the second detection region, to obtain a first distance; if the radius of the first detection region is greater than or equal to the radius of the second detection region, determining the radius of the target fusion region according to the radius of the first detection region and the first distance; if the radius of the first detection region is less than the radius of the second detection region, determining the radius of the target fusion region according to the radius of the second detection region and the first distance.

4. The method of claim 1, wherein the plurality of detection regions are displayed in a fusion manner. The step of determining a center point and a radius of a target fusion region according to a center point of the first detection region, a radius of the first detection region, a center point of the second detection region and a radius of the second detection region specifically comprises: calculating a distance between the center point of the first detection region and the center point of the second detection region, to obtain a first distance; determining the radius of the target fusion region according to a sum of the radius of the first detection region, the radius of the second detection region and the first distance; calculating a distance between the center point of the target fusion region and the center point of the first detection region according to a radius of the target fusion region and a radius of the first detection region, to obtain a second distance; determining the center point of the target fusion region according to the center point of the first detection region, the center point of the second detection region, the first distance and the second distance.

5. The method of claim 1, wherein the plurality of detection regions are displayed in a fusion manner. updating the set of detection regions according to the target fusion region, specifically comprising: judging whether each detection region in the set of detection regions is within the target fusion region; if the detection region is within the target fusion region, deleting the detection region from the set of detection regions; updating the target fusion region to the set of detection regions.

6. The method of claim 1-5, wherein highlighting the target fusion region in the set of target fusion regions on the map, specifically comprising: setting a first foreground color on the map, the first foreground color being used to reduce the brightness of the map; deleting the first foreground color in the target fusion region in the set of target fusion regions on the map to increase the brightness of the detection region in the updated set of detection regions.

7. The method of claim 6, wherein the plurality of detection regions are displayed in a fusion manner. after deleting the first foreground color in the target fusion region in the set of target fusion regions on the map to increase the brightness of the detection region in the updated set of detection regions, the method further comprises: setting a second foreground color on the target fusion region in the set of target fusion regions on the map; judging whether the brightness of each pixel point in the detection region in the updated set of detection regions on the map is greater than a preset brightness; if the brightness corresponding to the pixel point is less than or equal to the preset brightness, reducing the brightness of the pixel point on the map according to the second foreground color; if the brightness of the pixel point is greater than the preset brightness, increasing the brightness of the pixel point on the map according to the second foreground color.

8. The method of claim 7, wherein the plurality of detection regions are displayed in a fusion manner. the method of reducing the brightness of the pixel point on the map according to the second foreground color, specifically comprising: obtaining the color value corresponding to the pixel point on the map to obtain a first color value; obtaining the color value corresponding to the pixel point on the second foreground color to obtain a second color value; updating the color value of the pixel point on the map according to the product of the first color value and the second color value, the brightness of the updated color value being less than the brightness of the first color value; the method of increasing the brightness of the pixel point on the map according to the second foreground color, specifically comprising: obtaining the complementary color of the color value corresponding to the pixel point on the map to obtain a third color value; obtaining the complementary color of the color value corresponding to the pixel point on the second foreground color to obtain a fourth color value; determining a fifth color value according to the product of the third color value and the fourth color value; updating the complementary color of the fifth color value as the color value of the pixel point on the map, the brightness of the updated color value being greater than the brightness of the complementary color of the third color value.

9. An electronic device comprising a memory, a processor, and a computer program stored on the memory, wherein the computer program comprises instructions that, when executed by the processor, cause the electronic device to perform the method of any one of claims 1-8. the processor executes the computer program to implement the multiple detection region fusion display method of any one of claims 1-8.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the multi-detection area fusion display method of any one of claims 1-8.

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