CN109506625A - Landslide dangerous situation monitoring method, system and its image data acquisition device - Google Patents
Landslide dangerous situation monitoring method, system and its image data acquisition device Download PDFInfo
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- CN109506625A CN109506625A CN201811598431.7A CN201811598431A CN109506625A CN 109506625 A CN109506625 A CN 109506625A CN 201811598431 A CN201811598431 A CN 201811598431A CN 109506625 A CN109506625 A CN 109506625A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
- G08B21/10—Alarms for ensuring the safety of persons responsive to calamitous events, e.g. tornados or earthquakes
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Abstract
This application provides a kind of landslide dangerous situation monitoring method, system and its image data acquisition device, the image data acquisition device includes camera module, holder and controlling terminal；The camera module is fixedly mounted on holder, and the holder is fixedly connected by the support frame of lower section with vehicle ceiling；The controlling terminal is fixedly mounted inside the vehicle, and is electrically connected respectively with the holder and camera module by conducting wire；The controlling terminal is provided with man-machine interactive interface, drives the camera module alignment of shooting massif image data to be monitored to be provided with the massif to be monitored of labels targets by the angle that man-machine interactive interface adjusts the holder.The application obtains coherent video data by the image data acquisition device being mounted on special-purpose vehicle and the fixation mark target being arranged on both sides of highway massif, and analyzes a possibility that disaster occurs according to the target center misalignment in image data.
Description
Technical field
This application involves equipment technical fields of preventing and reducing natural disasters, and particularly, are related to a kind of landslide dangerous situation monitoring method, are
System and its image data acquisition device.
Background technique
Landslide refers to that part ground is under the effect of the factors such as the dynamic and static pressures of gravity and underground water on massif slope, edge
The weak structural face of certain orientation (band) generate shear displacemant and cause whole to effect and phenomenon mobile below slope, be
Jeopardize the very big hidden danger of people's life and property safety.
Landslide dangerous situation monitoring technology is the variation characteristic of massif or surrounding enviroment before being occurred according to disaster to may go out
Existing the condition of a disaster is predicted, to take corresponding emergency measure in advance.It is applied to the routine of landslide disaster surveillance at present
Method includes simple campshed method observation, side slope bracing wire method, inclination Observation, surface cracks deformation observation etc., major technique
After means is adjustment notch object at the scene or sensors, in a manner of artificial observation or wireless transmission, read by related device
And evaluation of markers object variation characteristic or sensing data are predicted.
Such methods obtain data class it is more single, there are biggish rate of false alarms, and be difficult according to initial data into
One step confirms field condition, and due to the special circumstances in field environment, all kinds of unstable environment and human factor cause
This kind of monitoring system is difficult to permanently effective work.
Summary of the invention
The application provides a kind of landslide dangerous situation monitoring method, system and its image data acquisition device, can solve existing
The data class for having technology to obtain is more single, and there are biggish rate of false alarms, and is difficult to be further confirmed that according to initial data existing
The problem of field situation.
A kind of image data acquisition device for the monitoring of landslide dangerous situation provided by the present application, including camera mould
Group, holder and controlling terminal；The camera module is fixedly mounted on holder, and the holder passes through the support frame and vehicle of lower section
Ceiling is fixedly connected；The controlling terminal is fixedly mounted inside the vehicle, and by conducting wire respectively with the holder and camera shooting
Head mould group electrical connection；The controlling terminal is provided with man-machine interactive interface, adjusts the holder by the man-machine interactive interface
Angle drive the camera module for shooting massif image data to be monitored alignment to be provided with the massifs to be monitored of labels targets.
It preferably, further include locating module and/or posture sensing module；The locating module be fixedly mounted on holder or
It is fixedly mounted on above camera module, and is electrically connected by conducting wire with the controlling terminal；The posture sensing module is fixed
It is mounted on holder, and is electrically connected by conducting wire with the controlling terminal.
Preferably, the holder is provided with horizontal rotating shaft and pitching shaft, and the posture sensing module is located at the level
On the central point of shaft and pitching shaft；And/or the positioning accuracy of the locating module is Centimeter Level, specifically includes space bit
Set message recipient and antenna；And/or the posture sensing module specifically includes and is encapsulated in the intracorporal accelerometer of shell, compass
And magnetoresistive sensor；And/or resilient cushion is additionally provided between the locating module and holder；And/or the camera mould
Group includes multiple camera lens；And/or the controlling terminal is powered by Vehicular battery or solar panel.
A kind of landslide dangerous situation monitoring method provided by the present application, comprising: obtain above-mentioned image data acquisition device
The current image data of the massif to be monitored of acquisition；The current image data and pre-stored raw video data are carried out
Comparison, judges whether the labels targets position displacement situation of massif to be monitored is more than preset threshold range, if so, issuing massif
Come down dangerous situation warning message.
A kind of landslide dangerous situation monitoring method provided by the present application, comprising: obtain above-mentioned image data acquisition device
The current image data of the massif to be monitored of acquisition；The current image data and pre-stored raw video data are carried out
Comparison, judges whether the labels targets position displacement situation of massif to be monitored is more than preset threshold range, if so, issuing massif
Come down dangerous situation warning message；The labels targets include initial signal target, end signal target and are located at initial signal target and terminate to believe
Information target between number target；Image data acquisition device acquires the image data of massif to be monitored, specifically includes: judging vehicle
Whether region to be monitored is entered, if so, the direction where driving cloud platform rotation to the labels targets, finds initial signal target；Inspection
After measuring initial signal target, continue recording image, vehicle location information, posture information and cloud platform rotation angle information, until shadow
It only include end signal target as in.
Preferably, described to judge whether vehicle enters region to be monitored, it specifically includes: obtaining the current location of the vehicle
Information；According to the location information for the labels targets being locally stored, judge the vehicle at a distance from labels targets whether in preset area
Within the scope of domain, if so, assert that the vehicle enters region to be monitored；Where the driving cloud platform rotation to the labels targets
Direction specifically includes: according to the location information for the labels targets being locally stored, determining the direction relations of the vehicle and labels targets；
Cloud platform rotation is controlled, the direction where the camera towards labels targets on holder is made.
Preferably, the signal targeting includes 2 groups or 2, is separately positioned on starting position and the stop bits of massif to be monitored
It sets；The information target includes 6 groups or more or 6 or more, is arranged in massif region to be monitored by preset rules.
Preferably, it before comparing the current image data and pre-stored raw video data, also wraps
It includes: current image data being filtered according to parameter preset, excluding outlier；It is right according to the characteristics of image of information target
Filtered current image data are cut out, and form multiple images comprising information target image-region with serial number, and
Record the coordinate where clipping region；By the characteristics of image for the information target cut out in rear image and pre-stored information target image
It compares, calculates camera at a distance from each information target and angle；According to information target image characteristics extraction target center position, and
It reverts in the coordinate position of original image；According to shooting angle and distance, to the target center position for cutting out each information target in rear image
It sets and is corrected, restore the target center position of each information target in region to be monitored；
A kind of landslide dangerous situation provided by the present application monitors system, including be arranged on massif to be monitored labels targets, vehicle
And the above-mentioned image data acquisition device on the vehicle is set；The controlling terminal of the image data acquisition device is arranged
There is memory module；The memory module is stored with the computer program for executing above-mentioned landslide dangerous situation monitoring method.
A kind of landslide dangerous situation provided by the present application monitors system, including be arranged on massif to be monitored labels targets,
Vehicle and the above-mentioned image data acquisition device being arranged on the vehicle；The controlling terminal of the image data acquisition device
It is provided with memory module；The memory module is stored with the computer journey for executing above-mentioned landslide dangerous situation monitoring method
Sequence.
Compared with prior art, the application has the following advantages:
The application in view of the deficiencies of the prior art, is existed by the image data acquisition device and setting that are mounted on special-purpose vehicle
Fixation mark target (or marking pile) on both sides of highway massif obtains coherent video data, by moving-vision range measurement principle, root
A possibility that occurring according to target center Displacement Analysis disaster can effectively solve existing without installing electrical sensing equipment on massif
The data class that technology obtains is more single, there are biggish rate of false alarm, is difficult to further confirm that live feelings according to initial data
Condition, and due to the special circumstances in field environment, all kinds of unstable environment and human factor cause this kind of monitoring system difficult
The problems such as with permanently effective work.
The application has fully considered monitoring region many places in highway periphery, and monitoring personnel needs periodically to drive what traveling was maked an inspection tour
Feature, implementation cost is lower, using simplicity, operates without professional.
Detailed description of the invention
The drawings are only for the purpose of illustrating a preferred embodiment, and is not considered as the limitation to the application.And whole
In a attached drawing, the same reference numbers will be used to refer to the same parts.In the accompanying drawings:
Fig. 1 is structural schematic diagram of the application for one embodiment of image data acquisition device of landslide dangerous situation monitoring；
Fig. 2 is that the application landslide dangerous situation monitors the composed structure of one embodiment of system and image data shown in FIG. 1 obtains
Take the information transfering relation schematic diagram in Installation practice between each comprising modules；
Fig. 3 is the labels targets characteristics of image exemplary diagram being arranged on massif to be monitored；
Wherein, 1- camera module；2- locating module；3- posture sensing module；4- holder；5- support frame；6- controlling terminal；7-
Vehicle.
Specific embodiment
In order to make the above objects, features, and advantages of the present application more apparent, with reference to the accompanying drawing and it is specific real
Applying mode, the present application will be further described in detail.
In the description of the present application, it is to be understood that the instructions such as term " centre ", "top", "bottom", "inner", "outside"
Orientation or positional relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description the application and simplification is retouched
It states, rather than the device or element of indication or suggestion meaning must have a particular orientation, be constructed and operated in a specific orientation,
Therefore it should not be understood as the limitation to the application.In the description of the present application, the meaning of " plurality " is two or more, remove
It is non-separately to have clearly specific restriction.
In addition unless specifically defined or limited otherwise, the terms such as term " installation ", " connected ", " connection ", " fixation " are answered
It is interpreted broadly, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can also be two components indirectly connected through an intermediary
Internal connection.For the ordinary skill in the art, above-mentioned term can be understood in the application as the case may be
In concrete meaning.
In this application unless specifically defined or limited otherwise, fisrt feature second feature "upper" or "lower"
It may include that the first and second features directly contact, also may include that the first and second features are not direct contacts but pass through it
Between other characterisation contact.Moreover, fisrt feature includes the first spy above the second feature " above ", " above " and " above "
Sign is right above second feature and oblique upper, or is merely representative of first feature horizontal height higher than second feature.Fisrt feature exists
Second feature " under ", " lower section " and " following " include that fisrt feature is directly below and diagonally below the second feature, or is merely representative of
First feature horizontal height is less than second feature.
Image data acquisition device embodiment:
Referring to Fig.1 with 2, knot of the application for one embodiment of image data acquisition device of landslide dangerous situation monitoring is shown
Structure, including camera module 1, holder 4 and controlling terminal 6.
Camera module 1 is fixedly mounted on holder 4, and holder 4 is solid by the ceiling of support frame 5 and vehicle 7 below
Fixed connection；For convenience of monitoring personnel's control, controlling terminal 6 can be fixedly mounted on the inside of vehicle 7, and by conducting wire respectively with
Above-mentioned holder 4 and camera module 1 are electrically connected.
Controlling terminal 6 is provided with man-machine interactive interface, and monitoring personnel passes through the adjustable holder 4 of the man-machine interactive interface
Angle, so that the camera module 1 for shooting massif image data to be monitored be driven to be directed at the massif to be monitored for being provided with labels targets.
When it is implemented, the camera module 1 and holder 4 of controlling terminal 6 and its electrical connection can be powered by Vehicular battery, it can also be by
Solar panel power supply.To guarantee that angle lens adjust function, holder 4 at least needs to realize the angle in horizontal and pitch orientation
Degree variation, specifically can be set horizontal rotating shaft and pitching shaft.For the reliability for further increasing equipment, camera module 1 is needed
The panoramic video or image data in a direction are obtained, multiple camera lens specifically can be set, and can be to multiple
The different images data of camera lens shooting carry out automatic Mosaic.Above-mentioned image data in the application can be image,
It can be video.
In a further preferred embodiment, it can also be arranged in controlling terminal 6 and automatically analyze module and data storage mould
Block, in order to enable this to automatically analyze the mark that module utilizes the conventional images parsing module built in it to calculate region to be monitored automatically
Note target position misalignment (can select the functional module that labels targets displacement is calculated using mobile range measurement principle), and then analyze mountain
Body surface face situation of change, and according to preset indication range predict landslide a possibility that.
Above-mentioned image information acquisition device can also include: locating module 2 and/or posture sensing module 3.Wherein:
Locating module 2 can be fixedly mounted on holder 4, can also be fixedly mounted on above camera module, and pass through conducting wire
It is electrically connected with controlling terminal 6.When it is implemented, the locating module 2 of centimeter-level positioning precision can be selected, wherein locating module 2 can
To specifically include the antenna for being encapsulated in the intracorporal spatial positional information receiver of shell and being fixed on shell, GPS, north can be used
The existing positioning system data such as bucket.
Posture sensing module 3 can be fixedly mounted on holder 4, can also be fixedly mounted on other moulds of the carrying of holder 4
Above block (such as camera module 1), and it is electrically connected by conducting wire with controlling terminal 6.
For the precision for further increasing posture sensing module 3, can also be installed additional when posture sensing module 3 is fixedly mounted
Resilient cushion.When it is implemented, posture sensing module 3 may include be encapsulated in the intracorporal three axis directions accelerometer of shell, compass and
The components such as magnetoresistive sensor.When holder is provided with horizontal rotating shaft and pitching shaft simultaneously, the needs of posture sensing module 3 are mounted on
On above-mentioned horizontal rotating shaft and the central point of pitching shaft.
In addition, improving the degree of automation of equipment, above-mentioned fixed peace to further realize image data automatic shooting function
Labels targets on massif to be monitored need to have can be captured at a distance the mark for being used to indicate its spatial position by camera
Information, and the mark information distinguished by mark size, color or arrangement mode are remembered, to realize the different mark of two classes
Effect.
In a further preferred embodiment, the labels targets being arranged on massif to be monitored can be divided into signal targeting and information
Target.Signal targeting therein is used to identify starting position and the end position in massif region to be monitored, triggers the image data and obtains
The angle lens of device adjustment camera module 1 are taken to prepare to start filmed image data/end shooting process；The information target is used
In transmitting target center spatial position to the image data acquisition device, massif reptation situation is judged with comparison.
When it is implemented, the signal targeting in each monitoring region may include 2 groups (or 2), it is separately positioned on mountain to be monitored
The starting position of body region and end position；The information target in each monitoring region may include 6 or more (or 6 groups or more), press
Preset rules are arranged in massif region to be monitored.Above-mentioned signal targeting and information target are mounted on the massif in region to be monitored
On, its characteristic information and physical structure can be kept for a long time in the case where not influencing massif proper motion.
By taking labels targets shown in Fig. 3 as an example, labels targets are made of two kinds of squares of size, and target surface is in the same size, wherein root
It can determine whether the type of labels targets according to the position of big square and the quantity of square.Labels targets include initial signal target, terminate letter
Number target and information target, wherein the first two kind (i.e. initial signal target and end signal target) is the signal targeting for position monitor region,
Finally one is for calculating landslide risk information target or standard target (can according to need when specific implementation arrangement it is several
A, shown in Fig. 3 is 12).Controlling terminal can be identified according to the characteristics of image diversity judgement of three kinds of labels targets in image information
Arrived it is any, so that it is determined that subsequent operation.Above-mentioned characteristics of image is the example provided for convenience of description, art technology
Personnel can select all kinds of images that can satisfy requirement (can judge or calculate above- mentioned information) as needed in the specific implementation
The labels targets of feature.
The installation steps of the embodiment of the present application image data acquisition device can specifically include:
Step S11: camera module 1 is fixed on holder 4, keeps its camera lens horizontal line of sight parallel with PTZ level direction；
Step S12: locating module 2 is fixed on holder 4, or is steadily placed in the top of camera module 1；
Step S13: posture sensing module 3 is fixed on above holder 4 or its other mould group carried, and cushioning resilient cushion, together
When ensure that it is located on the central point of the twocouese shaft of holder 4, demarcate its horizontal and pitch angle；
Step S14: holder 4 being fixed on the ceiling of test vehicle 7, and the camera for carrying it is when holder 4 horizontally rotates
Vehicle body two sides can be covered；
Step S15: controlling terminal 6 is steadily fixed inside the vehicle；
Step S16: holder 4 and its each module carried are connected with controlling terminal 6；
Step S17: controlling terminal 6 is connected with automobile batteries or solar panel.
The fixed setting method of above-mentioned labels targets can specifically include:
Step S21: initial signal target and end signal target are fixed on the massif in region to be monitored；
Step S22: according to actual demand and device Built-in Image analytical algorithm between initial signal target and end signal target
It is required that fix information target；
The reason of step S23: ensuring that two class labels targets firmly install, and target center position is not with except massif reptation moves easily
Dynamic, sight is unobstructed in labels targets to side highway.
Landslide dangerous situation monitoring method first embodiment:
For the degree of automation for improving landslide dangerous situation monitoring process, above-mentioned image data is utilized disclosed herein as well is a kind of
Acquisition device acquires the image data of massif to be monitored, and is analyzed the image data to judge the massif to be monitored
With the presence or absence of the method for risk of landslip, the executing subject of this method embodiment is controlling terminal, is specifically included:
Step S31: the current image data of massif to be monitored are acquired using above-mentioned image data acquisition device；
Step S32: by the current image data, locally pre-stored raw video data are compared with controlling terminal, are sentenced
Whether the labels targets position displacement situation of massif to be monitored of breaking is more than preset threshold range, if so, issuing landslide danger
Feelings warning message.
Landslide dangerous situation monitors system first embodiment:
For the practical application for realizing above-mentioned first method embodiment, this application discloses one kind to obtain automatically to image data
The preference data that device obtains analyze and monitors system to the landslide dangerous situation for issuing dangerous situation report based on the analysis results,
Referring to Fig. 2, the composed structure of landslide dangerous situation monitoring system embodiment is shown, including vehicle, is arranged on vehicle
Image data acquisition device and the labels targets being arranged on massif to be monitored.Wherein:
Image data acquisition device includes camera module, holder and controlling terminal；Image number described above specifically can be used
According to acquisition device example scheme；
Controlling terminal is provided with processor and memory module；Memory module is stored with computer program；Processor executes the meter
Calculation machine program can realize above-mentioned first method embodiment process.
Landslide dangerous situation monitoring method second embodiment:
For the degree of automation for further increasing landslide dangerous situation monitoring process, locating module can be configured with using above-mentioned
And/or the image data acquisition device of posture sensing module acquires the image data of massif to be monitored, this method embodiment is held
Row main body is controlling terminal, is specifically included:
Step S41: the vehicle location information obtained according to vehicle-mounted control terminal judges the area whether vehicle closes on where labels targets
Initial signal target is found if so, control holder 4 automatically rotates to proper orientation in domain；
Step S41's is achieved in that the realization that integrally cooperates based on system, specifically: the storage mould of vehicle-mounted control terminal 6
Block is stored with the location information of labels targets site, in vehicle travel process, when detective distance vehicle a certain range memory
(300 ~ 800 meters are generally taken according to the actual situation) in labels targets, closed according to the direction of current vehicle position and label target position
System, real-time control holder 4 rotates so that camera is towards labels targets direction, this process lasts up to controlling terminal determination and looks for
To initial signal target or time-out (probably due to foreign matter, which such as blocks at the situations, has the case where not finding).Initial signal target and information target
Characteristics of image it is variant, determine find initial signal target foundation be controlling terminal extracted in dynamic image starting letter
The characteristic information of number target.
Step S42: after detecting initial signal target, image/video, location information, posture information, holder is persistently recorded and is turned
Dynamic angle information etc., until only including end signal target in image/video.
By taking labels targets characteristics of image shown in Fig. 3 as an example, when extracted from dynamic image be made of 4 squares, it is left
When upper angle is big square, the image that other 3 are small square, it can regard as finding initial signal target, start recording shadow
As data；When extracted from dynamic image be made of 4 squares, the lower right corner is big square, other 3 are small square
Image when, can regard as finding end signal target, terminate image data recording process.
Step S43: controlling terminal 6 calculates the displacement of the information target target center position in monitoring region according to mobile range measurement principle
A possibility that situation analyzes massif surface condition, and prediction landslide occurs, it is raw when possibility index is more than preset range
It reports and is reported to observer at detailed analysis.
In further preferred method embodiment, to avoid monitoring failure caused by because of reasons such as equipment faults, in step
Can also include following equipment testing procedure before rapid S41:
Step S40: the test macro of operation controlling terminal 6 checks whether each module is installed, normal operation, and whether heat transfer agent is quasi-
It is really errorless.
In another further preferred method embodiment, caused by solving because of reasons such as style of shooting, shooting environmentals
Image data cannot directly be compared, and need the problem of could using after manual amendment, improve the degree of automation of system, drop
Low rate of false alarm further includes optimizing as follows to the image data (image/video) currently acquired after above-mentioned steps S42
The process of processing:
S421: data prediction
Current image data are simply filtered according to parameter preset, reject possible exceptional value.
When it is implemented, above-mentioned parameter preset can be set according to the essential characteristic of image data and the experience of staff
It is fixed.
S422: target surface extracts
According to the characteristics of image on information target target surface, image obtained in collection process is cut out, formation has one by one
Serial number only includes the image-region of information target target surface information as far as possible, and records the coordinate where clipping region.
S423: shooting distance and angle extraction
According to the characteristics of image (black squares region side length as shown in Figure 3 and area) in information target target surface image, and deposit
The standard value of storage module storage compares, and position when calculating filming image where vehicle is at a distance from any information target and angle
Degree.
By taking labels targets characteristics of image shown in Fig. 3 as an example, vehicle is crossed from monitoring region, general perpendicular because of difference in height
Histogram to shooting angle be a relatively-stationary angle, horizontal direction can undergo from squinting to facing again to the mistake of strabismus
Journey works as horizontal direction in the shooting angle in horizontal and vertical direction when can determine whether to shoot according to the deformation of square in the picture
Shooting angle is positive apparent time, can be sentenced according to the side length (vertical direction side length may have deformation) of horizontal direction square in image
Break the situation of change of shooting distance between each target；So as in the next steps according to the geometric center of target surface in image
The central point of practical target can be calculated.
S424: target center extracts
According to the image characteristics extraction target center position in information target target surface image, and revert in the coordinate position of original image.
S425: target center aligning
According to shooting angle and distance, the position of all target centers is corrected, thus the target in the entire monitoring target region of reduction
Heart situation, is recorded with numeric form.
Later, it can be carried out in step S43 by the raw video data and/or historical data that are stored with memory module
Comparison judges a possibility that landslide occurs.Comparison deterministic process includes from temporal and raw video data and/or last time
The comparison of historical data and/or nearly historical data several times, the calculating of variance and extreme value data numerically, transverse and longitudinal on direction and
Displacement in depth calculates, and the region displacement that single target or multiple targets are formed calculates etc., and then can preferably realize this Shen
Please landslide dangerous situation monitoring system landslide monitoring warning function.
Landslide dangerous situation monitors system second embodiment:
For the practical application for realizing above-mentioned second method embodiment, the application is further correspondingly provided and above-mentioned second method embodiment
Corresponding landslide dangerous situation monitors system embodiment, and the difference of the system embodiment and above-mentioned the first system embodiment is:
The image data acquisition device for acquiring the image data of massif to be monitored is also configured with locating module and/or posture sensing module,
Correspondingly, the stream of above-mentioned second method embodiment may be implemented in the computer program of memory module storage when executing in the processor
Journey.
In addition, can be seen that the application in locating module 2 and full-view camera mould group 1 from the application above embodiments
Under support, it can be realized based on mobile range measurement principle from the full process automatization for finding monitoring objective to output monitoring result and be handled,
And it can be realized by the way that the monitoring device for being conventionally used to labels targets formula to be fixed on vehicle to more prisons on route or travel by vehicle
Survey the continuous processing in region.
It should be noted that above-described embodiment is preferred embodiment, related module or process step might not
It is necessary to the application.All the embodiments in this specification are described in a progressive manner, and each embodiment emphasis is said
Bright is the difference from other embodiments, and the same or similar parts between the embodiments can be referred to each other.
Specific examples are used herein to illustrate the principle and implementation manner of the present application, and above embodiments are said
It is bright to be merely used to help understand the present processes and its core concept；At the same time, for those skilled in the art, foundation
The thought of the application, there will be changes in the specific implementation manner and application range, in conclusion the content of the present specification is not
It is interpreted as the limitation to the application.
Claims (10)
1. a kind of image data acquisition device is monitored for landslide dangerous situation, which is characterized in that including camera module, cloud
Platform and controlling terminal；
The camera module is fixedly mounted on holder, the fixed company of support frame and vehicle ceiling that the holder passes through lower section
It connects；The controlling terminal is fixedly mounted inside the vehicle, and is electrically connected respectively with the holder and camera module by conducting wire；
The controlling terminal is provided with man-machine interactive interface, is driven by the angle that the man-machine interactive interface adjusts the holder
The camera module alignment for shooting massif image data to be monitored is provided with the massif to be monitored of labels targets.
2. image data acquisition device according to claim 1, which is characterized in that further include locating module and/or posture
Sensing module；
The locating module is fixedly mounted on holder or is fixedly mounted on above camera module, and passes through conducting wire and the control
Terminal electrical connection processed；
The posture sensing module is fixedly mounted on holder, and is electrically connected by conducting wire with the controlling terminal.
3. image data acquisition device according to claim 2, which is characterized in that
The holder is provided with horizontal rotating shaft and pitching shaft, and the posture sensing module is located at the horizontal rotating shaft and pitching turns
On the central point of axis；And/or
The positioning accuracy of the locating module is Centimeter Level, specifically includes spatial positional information receiver and antenna；And/or
The posture sensing module, which specifically includes, is encapsulated in the intracorporal accelerometer of shell, compass and magnetoresistive sensor；And/or
Resilient cushion is additionally provided between the locating module and holder；And/or
The camera module includes multiple camera lens；And/or
The controlling terminal is powered by Vehicular battery or solar panel.
4. a kind of landslide dangerous situation monitoring method characterized by comprising
Obtain the current image data of the massif to be monitored of image data acquisition device acquisition described in claim 1；
The current image data and pre-stored raw video data are compared, judge the labels targets of massif to be monitored
Whether position displacement situation is more than preset threshold range, if so, issuing landslide dangerous situation warning message.
5. a kind of landslide dangerous situation monitoring method characterized by comprising
Obtain the current image data of the massif to be monitored of image data acquisition device acquisition described in claim 2 or 3；
The current image data and pre-stored raw video data are compared, judge the labels targets of massif to be monitored
Whether position displacement situation is more than preset threshold range, if so, issuing landslide dangerous situation warning message；
The labels targets include initial signal target, end signal target and the information between initial signal target and end signal target
Target；
Image data acquisition device acquires the image data of massif to be monitored, specifically includes: it is to be monitored to judge whether vehicle enters
Region, if so, the direction where driving cloud platform rotation to the labels targets, finds initial signal target；Detect initial signal target
Afterwards, continue recording image, vehicle location information, posture information and cloud platform rotation angle information, until only comprising terminating in image
Signal targeting.
6. according to the method described in claim 5, it is characterized in that,
It is described to judge whether vehicle enters region to be monitored, it specifically includes: obtaining the current location information of the vehicle；According to this
Ground storage labels targets location information, judge the vehicle at a distance from labels targets whether in preset regional scope, if
It is then to assert that the vehicle enters region to be monitored；
Direction where the driving cloud platform rotation to the labels targets, specifically includes: according to the position for the labels targets being locally stored
Confidence breath, determines the direction relations of the vehicle and labels targets；Cloud platform rotation is controlled, makes camera on holder towards labels targets
The direction at place.
7. according to the method described in claim 5, it is characterized in that, the signal targeting include 2 groups or 2, be separately positioned on to
Monitor starting position and the end position of massif；The information target includes 6 groups or more or 6 or more, is existed by preset rules setting
In massif region to be monitored.
8. the method according to the description of claim 7 is characterized in that by the current image data with it is pre-stored original
Before image data compares, further includes:
Current image data are filtered according to parameter preset, excluding outlier；
According to the characteristics of image of information target, filtered current image data are cut out, form multiple with serial number
Image comprising information target image-region, and record the coordinate where clipping region；
The characteristics of image for the information target cut out in rear image and pre-stored information target image are compared, camera is calculated
With at a distance from each information target and angle；
According to information target image characteristics extraction target center position, and revert in the coordinate position of original image；
According to shooting angle and distance, the target center position for cutting out each information target in rear image is corrected, area to be monitored is restored
The target center position of each information target in domain.
9. a kind of landslide dangerous situation monitors system, which is characterized in that including be arranged on massif to be monitored labels targets, vehicle
And the image data acquisition device described in claim 1 on the vehicle is set；
The controlling terminal of the image data acquisition device is provided with memory module；
The memory module is stored with the computer program for method described in perform claim requirement 4.
10. a kind of landslide dangerous situation monitors system, which is characterized in that including be arranged on massif to be monitored labels targets, vehicle
And the image data acquisition device described in claim 2 or 3 that is arranged on the vehicle；
The controlling terminal of the image data acquisition device is provided with memory module；
The memory module is stored with the computer program that 5 ~ 8 any methods are required for perform claim.
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