CN-115393567-B - Landslide monitoring method and device

CN115393567BCN 115393567 BCN115393567 BCN 115393567BCN-115393567-B

Abstract

The invention discloses a landslide monitoring method which comprises the steps of periodically collecting images of a graphic plate arranged on landslide monitoring points, identifying pixel coordinates of the graphic plate at image collecting time corresponding to the images of the graphic plate, calculating displacement and/or displacement speed of the landslide monitoring points according to changes of the pixel coordinates of the graphic plate between adjacent frame images, and judging whether landslide disasters occur according to the displacement and the displacement speed of the landslide monitoring points. The method and the device can effectively improve the monitoring and early warning capability of the existing landslide hazard, reduce the loss caused by the landslide hazard and better ensure the life and property safety of people in the landslide hazard section.

Inventors

LIU CHENG
HE XING
Ning Yongke
WANG FAN
ZHANG HUAN
WANG TAOSHENG
ZHANG JIE
LI FANG

Assignees

北京眸星科技有限公司

Dates

Publication Date: 20260508
Application Date: 20220608

Claims (3)

1. A landslide monitoring method, wherein the method comprises: Periodically collecting images of graphic plates arranged on landslide monitoring points, wherein the graphic plates are two-dimensional codes; Identifying pixel coordinates of the graphic plate at an image acquisition time corresponding to the image of the graphic plate; Calculating the displacement amount and/or displacement speed of the landslide monitoring point according to the change of the pixel coordinates of the pattern plate between the adjacent frame images, wherein the displacement amount and/or displacement speed of the landslide monitoring point is calculated by the following method: The pixel coordinates of the feature point Q in the graphic plate observed at the moment are as follows The corresponding world coordinates are , The pixel coordinates of the feature point Q observed at the moment are as follows The corresponding world coordinates are ; Normalized coordinates of (a) are as follows , Normalized coordinates of (a) are as follows , Satisfy constraint formula about homography matrix H between ; Solving the homography matrix H by adopting a direct linear transformation method, and decomposing the solved homography matrix to obtain From moment to moment Transformation matrix of moment two-dimensional code The transformation matrix Taking a camera coordinate system as a reference coordinate system, wherein, For a rotation matrix consisting of directional cosine, For translation vector, according to the formula Calculating the displacement of the characteristic point Q under the reference coordinate system as follows ; According to the formula Calculating displacement speed of characteristic point Q in reference coordinate system ; Judging whether landslide disasters occur according to the displacement amount and the displacement speed of the landslide monitoring points; The image acquisition device and the graphic board are communicated and wrapped by adopting a light-transmitting film; judging whether landslide hazard occurs according to the displacement amount and the displacement speed of the landslide monitoring point comprises the following steps: If the displacement of the landslide monitoring point exceeds a preset displacement threshold value and/or the displacement speed exceeds a preset displacement speed threshold value, judging that landslide disasters occur; when landslide disasters are judged to occur, landslide hazard alarm signals can be sent out outwards, so that timely and effective early warning is carried out on the landslide disasters.
2. A landslide monitoring device, wherein the device comprises: the image acquisition device is used for periodically acquiring images of the graphic plates arranged on the landslide monitoring points; the processor is used for identifying pixel coordinates of the graphic plate at the image acquisition time corresponding to the image of the graphic plate, calculating the displacement amount and/or the displacement speed of the landslide monitoring point according to the change of the pixel coordinates of the graphic plate between the adjacent frame images, and judging whether landslide disasters occur according to the displacement amount and the displacement speed of the landslide monitoring point; The light-transmitting film is arranged between the image acquisition device and the graphic board and is used for communicating and wrapping the image acquisition device and the graphic board; The graphic board is a two-dimensional code; the processor is also used for calculating the displacement and/or displacement speed of the landslide monitoring point by the following method: The pixel coordinates of the feature point Q in the graphic plate observed at the moment are as follows The corresponding world coordinates are , The pixel coordinates of the feature point Q observed at the moment are as follows The corresponding world coordinates are ; Normalized coordinates of (a) are as follows , Normalized coordinates of (a) are as follows , Satisfy constraint formula about homography matrix H between ; Solving the homography matrix H by adopting a direct linear transformation method, and decomposing the solved homography matrix to obtain From moment to moment Transformation matrix of moment two-dimensional code The transformation matrix Taking a camera coordinate system as a reference coordinate system, wherein, For a rotation matrix consisting of directional cosine, For translation vector, according to the formula Calculating the displacement of the characteristic point Q under the reference coordinate system ; According to the formula Calculating displacement speed of characteristic point Q in reference coordinate system ; Judging whether landslide hazard occurs according to the displacement amount and the displacement speed of the landslide monitoring point comprises the following steps: And if the displacement of the landslide monitoring point exceeds a preset displacement threshold value and/or the displacement speed exceeds a preset displacement speed threshold value, judging that landslide disasters occur.
3. The landslide monitoring device of claim 2 further comprising a graphic plate disposed on the landslide monitoring point.

Description

Landslide monitoring method and device Technical Field The present invention relates to the field of computer vision. And more particularly to a landslide monitoring method and apparatus. Background Landslide refers to soil or rock mass on a slope, is influenced by factors such as river scouring, groundwater movement, rainwater soaking, earthquake, manual slope cutting and the like, and is integrally or dispersedly slid along a certain weak surface or a weak zone under the action of gravity to serve as a serious global mountain disaster problem, and has the characteristics of wide distribution, collapse instability burst, rapid movement, strong disaster reaching and the like, and the pre-disaster sign is generally not obvious and the prevention and control difficulty is great. Landslide often results in a significant loss of life and property, and sometimes even a devastating disaster, to industrial and agricultural production and people. Therefore, the landslide hazard monitoring and early warning are particularly important for effectively reducing economic loss and casualties. Currently, solutions for landslide monitoring mainly include geodetic methods (using theodolites, levels, rangefinders, etc.), satellite positioning methods (using GNSS and RTK receivers), seam methods (using steel tape, vernier calipers, telescopic automatons, seam gauges, displacement meters, etc.), inclinometry (using borehole inclinometers, multipoint down-hammers, inclinometers, etc.), sedimentation methods (using sinkers, convergence meters, static levels, water pipe inclinometers, etc.), strain measurement methods, etc. (using tube strain gauges, multipoint displacement meters, sliding micrometers, etc.). However, in practical applications, many of the current approaches still have significant drawbacks. For example, the geodetic method can be very accurate, but the equipment cost is generally high and is difficult to be deployed on a large scale, the satellite positioning method is one of the most widely used landslide monitoring means at present, however, a GNSS receiver relying on high-precision differential correction is quite easy to be shielded by objects such as trees, leaves and the like, so that the monitoring precision is influenced or monitoring false alarms are caused, and for example, the seam measurement method, the strain measurement method and the like are complicated in equipment installation and require a large amount of layout work. Disclosure of Invention In order to solve the technical problems or at least partially solve the technical problems, the disclosure provides a landslide monitoring method and device for efficiently and accurately detecting and early warning landslide on the premise of reducing cost. The embodiment of the invention provides a landslide monitoring method, which comprises the steps of periodically collecting images of a graphic plate arranged on landslide monitoring points, identifying pixel coordinates of the graphic plate at image collecting time corresponding to the images of the graphic plate, calculating displacement amount and/or displacement speed of the landslide monitoring points according to the change of the pixel coordinates of the graphic plate between adjacent frame images, and judging whether landslide disasters occur according to the displacement amount and the displacement speed of the landslide monitoring points. Preferably, judging whether the landslide disaster occurs according to the displacement amount and the displacement speed of the landslide monitoring point comprises judging that the landslide disaster occurs if the displacement amount of the landslide monitoring point exceeds a preset displacement amount threshold value and/or the displacement speed exceeds a preset displacement speed threshold value. Preferably, when the landslide disaster is judged to occur, a landslide hazard alarm signal can be sent out outwards, so that timely and effective early warning is carried out on the landslide disaster. Preferably, the displacement amount and/or displacement speed of the landslide monitoring point are calculated by the following method: The pixel coordinates of the feature point Q in the graphic plate observed at the moment are as follows The corresponding world coordinates are,The pixel coordinates of the feature point O observed at the moment are as followsThe corresponding world coordinate system is;,Normalized coordinates of (a) are as follows,Satisfy constraint formula about homography matrix H betweenSolving the homography matrix H by adopting a direct linear transformation method, and decomposing the solved homography matrix to obtainFrom moment to momentA transformation matrix (R, T) of the moment two-dimensional code, wherein the transformation matrix (R, T) takes a camera coordinate system as a reference coordinate system, R is a rotation matrix formed by directional cosine, T is a translation vector, and the transformation matrix (R, T) is a rota