CN111723757A - Method and system for monitoring refuse landfill - Google Patents
Method and system for monitoring refuse landfill Download PDFInfo
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- CN111723757A CN111723757A CN202010597545.0A CN202010597545A CN111723757A CN 111723757 A CN111723757 A CN 111723757A CN 202010597545 A CN202010597545 A CN 202010597545A CN 111723757 A CN111723757 A CN 111723757A
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- G06V20/10—Terrestrial scenes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B09—DISPOSAL OF SOLID WASTE; RECLAMATION OF CONTAMINATED SOIL
- B09B—DISPOSAL OF SOLID WASTE
- B09B1/00—Dumping solid waste
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- G06V10/40—Extraction of image or video features
- G06V10/44—Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
Abstract
The application discloses a monitoring method and a system of a refuse landfill, wherein the monitoring method comprises the following steps: acquiring remote sensing images of the refuse landfill and remote sensing images of surrounding ground objects on a plurality of time nodes based on a remote sensing system; processing the remote sensing image of the refuse landfill and the remote sensing image of the surrounding ground object to obtain the contour of the refuse landfill and the contour of the surrounding ground object on a plurality of time nodes; comparing the profile of the refuse landfill with the design profile of the refuse landfill, and judging whether the profile of the refuse landfill exceeds the design profile; if yes, an alarm signal is sent out. According to the method and the device, the remote sensing image is subjected to data processing through the combination of the GIS and the RS system, the current state of the refuse landfill is obtained, and the overproof phenomenon of the refuse landfill can be found in time.
Description
Technical Field
The application relates to the technical field of environmental monitoring, in particular to a method and a system for monitoring a refuse landfill based on a GIS (geographic information system) and an RS (remote sensing) system.
Background
The change monitoring of the existing refuse landfill and the surrounding environment mostly adopts a manual survey method, the existing survey technology mainly adopts a borehole sampling exploration technology, and different drilling equipment is utilized to carry out drilling sampling to obtain required property parameters. Therefore, the existing monitoring method has low efficiency, high labor consumption and slow information updating, the management of the refuse landfill is influenced to a certain extent, and the hidden danger brought by the refuse landfill cannot be predicted in advance.
Disclosure of Invention
The application aims to provide a method and a system for monitoring a refuse landfill based on a GIS (geographic information system) and a RS (reference signal) system, so that the monitoring efficiency is improved, and the hidden danger of the refuse landfill is predicted in advance.
The application provides a monitoring method of a refuse landfill, which comprises the following steps: acquiring remote sensing images of the refuse landfill and remote sensing images of surrounding ground objects on a plurality of time nodes based on a remote sensing system; processing the remote sensing image of the refuse landfill and the remote sensing image of the surrounding ground object to obtain the contour of the refuse landfill and the contour of the surrounding ground object on a plurality of time nodes; comparing the profile of the refuse landfill with the design profile of the refuse landfill, and judging whether the profile of the refuse landfill exceeds the design profile; if yes, an alarm signal is sent out.
Preferably, the method further comprises the following steps: if the contour of the refuse landfill does not exceed the design contour, calculating the minimum distance between the refuse landfill and surrounding ground objects according to the contour of the refuse landfill on the nearest time node and the contour of the surrounding ground objects; judging whether the minimum distance between the refuse landfill and surrounding ground objects exceeds a standard or not; if yes, an alarm signal is sent out.
Preferably, the method further comprises the following steps: if the minimum distance between the refuse landfill and the surrounding ground objects does not exceed the standard, calculating the offset speed of the refuse landfill according to the refuse landfill outlines on different time nodes, and calculating the offset speed of the surrounding ground objects according to the surrounding ground object outlines on different time nodes; predicting a distance overproof time node according to the migration speed of the refuse landfill and the migration speed of surrounding ground objects; and sending the distance exceeding time node information to related management departments so as to adjust the extension planning of surrounding ground objects.
Preferably, judging whether the profile of the refuse landfill exceeds the design profile specifically comprises the following steps: determining a design outline of the refuse landfill, a central point of the design outline and a geographical position coordinate of the refuse landfill outline by combining a remote sensing image and a geographical information system; calculating a first maximum distance between a point on the refuse landfill outline and the origin point on the nearest time node by taking the central point of the design outline as the origin point, and calculating a second maximum distance between the point on the design outline and the origin point; comparing the first maximum distance with the second maximum distance; if the first maximum distance is greater than the second maximum distance, the profile of the landfill exceeds the design profile.
Preferably, the minimum distance of the landfill site from the surrounding ground objects is calculated based on the geographical position coordinates of the landfill site profile and the surrounding ground object profile determined by the geographical information system and the remote sensing image.
Preferably, the whole contour of the refuse landfill is traversed, the time required for shifting to the nearest contour of the refuse landfill is calculated according to the average shifting speed of the surrounding ground features in the latest specified time period to determine the distance exceeding time node of each point on the contour, and the shortest distance exceeding time node is used as the final distance exceeding time node.
Preferably, the processing of the remote sensing image of the refuse landfill and the remote sensing image of surrounding ground objects comprises filtering processing, space conversion, sliding strip creation, binaryzation, noise reduction and contour extraction; wherein the noise reduction processing comprises first noise reduction and second noise reduction;
first denoising using the following equation
dst1(x,y)＝max{q(x+x′,y+y′)},(x′,y′)∈B1
Second denoising using the following equation
dst2(x,y)＝min{dst1(x+x′,y+y′)},(x′,y′)∈B2
Wherein dst1(x, y) is an image subjected to first noise reduction, q (x + x ', y + y') is an image subjected to binarization, B1 is a structural element subjected to first noise reduction, dst2(x, y) is an image subjected to second noise reduction, dst1(x + x ', y + y') is an image subjected to first noise reduction, and B2 is a structural element subjected to second noise reduction.
The application also provides a monitoring system of the refuse landfill, which comprises a remote sensing image acquisition module, a contour acquisition module, a first judgment module and an alarm module; the remote sensing image acquisition module acquires remote sensing images of the refuse landfill site and remote sensing images of surrounding ground objects on a plurality of time nodes based on an RS system; the contour acquisition module processes the remote sensing images of the refuse landfill and the remote sensing images of surrounding ground objects to acquire refuse landfill contours and surrounding ground object contours on a plurality of time nodes; the first judging module compares the profile of the refuse landfill with the design profile of the refuse landfill and judges whether the profile of the refuse landfill exceeds the design profile; and if the contour of the refuse landfill exceeds the design contour, the alarm module sends out an alarm signal.
Preferably, the system further comprises a minimum distance calculation module and a second judgment module; if the contour of the refuse landfill does not exceed the design contour, the minimum distance calculation module calculates the minimum distance between the refuse landfill and surrounding ground objects according to the contour of the refuse landfill on the nearest time node and the contour of the surrounding ground objects; the second judgment module judges whether the minimum distance between the refuse landfill and surrounding ground objects exceeds the standard or not; and if the minimum distance between the refuse landfill and surrounding ground objects exceeds the standard, the alarm module sends out an alarm signal.
Preferably, the system also comprises an offset speed calculation module, a distance overproof time node prediction module and an information sending module; if the minimum distance between the refuse landfill and the surrounding ground objects does not exceed the standard, the offset speed calculation module calculates the offset speed of the refuse landfill according to the refuse landfill outlines on different time nodes and calculates the offset speed of the surrounding ground objects according to the surrounding ground object outlines on different time nodes; the distance exceeding time node prediction module predicts a distance exceeding time node according to the offset speed of the refuse landfill and the offset speed of surrounding ground objects; and the information sending module sends the distance exceeding time node information to the relevant management departments so as to adjust the expansion planning of the surrounding ground objects.
The beneficial effect of this application is as follows:
1. according to the method and the device, the remote sensing image is subjected to data processing through the combination of the GIS and the RS system, the current state of the refuse landfill is obtained, and the overproof phenomenon of the refuse landfill can be found in time.
2. The method and the device judge whether the expansion of the refuse landfill and the surrounding ground objects thereof meets the standard or not by calculating the migration speed of the refuse landfill and the surrounding ground objects thereof, and provide a data basis for rationalization judgment of urban development.
3. The application provides predictive data support for urban planning by predicting the expected overproof times of the landfill and its surrounding terrain.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art according to the drawings.
Fig. 1 is a flowchart of a method and a system for monitoring a landfill site based on a GIS and RS system according to an embodiment of the present disclosure;
fig. 2 is a structural diagram of a visual monitoring system of a landfill site based on a GIS and RS system according to an embodiment of the present application;
fig. 3 is a structural diagram of a contour acquisition module according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application are clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Example one
Fig. 1 is a flowchart of a method and a system for monitoring a landfill site based on a GIS and RS system according to an embodiment of the present disclosure. As shown in fig. 1, the monitoring method of the landfill site based on the GIS and RS system includes the following steps:
s110: and acquiring Remote Sensing images of the landfill site and surrounding ground objects on a plurality of time nodes based on a Remote Sensing (RS) system.
S120: and processing the remote sensing images of the refuse landfill and the remote sensing images of the surrounding ground objects to obtain the refuse landfill outlines and the surrounding ground object outlines on a plurality of time nodes.
The profile acquisition specifically comprises the following steps:
s1201: filtering the remote sensing image
Wherein, (x, y) is the pixel coordinate in the image, and f (x, y) is the image after the first filtering, which is the standard deviation of the pixel in the image.
g(x,y)＝med{f(x-k,y-l),(k,l∈W)} (2)
Wherein g (x, y) is the image after the second filtering, W is a two-dimensional template, k and l are values in the directions of an x axis and a y axis in the two-dimensional template respectively, and f (x-k, y-l) is the image after the first filtering.
S1202: RGB-HSV space conversion
v＝max (5)
Wherein h, s and v are values in HSV space, r, g and b are values in RGB space, and max and min are the maximum value and the minimum value of r, g and b.
S1203: creating slider bars to adjust contrast and brightness of images
d(x,y)＝a*p(x,y)+c (6)
Where d (x, y), p (x, y) are the images after and before adjustment, and a, c are the contrast stretch factor and the bias value of the luminance.
S1204: image binarization
Where q (x, y) is the binarized image and T is the threshold.
S1205: and denoising the binary image.
dst1(x,y)＝max{q(x+x′,y+y′)},(x′,y′)∈B1 (8)
Wherein dst1(x, y) is an image subjected to first noise reduction, q (x + x ', y + y') is an image subjected to binarization, and B1 is a structural element subjected to first noise reduction.
dst2(x,y)＝min{dst1(x+x′,y+y′)},(x′,y′)∈B2 (9)
Wherein dst2(x, y) is the image subjected to the second noise reduction, dst1(x + x ', y + y') is the image subjected to the first noise reduction, and B2 is the structural element subjected to the second noise reduction.
S1206: contour extraction
By solving equation (10) to extract the contour, the position of the curve where the energy is minimized is the position of the contour curve.
vi＝(xi,yi) Represents the ith point on the profile curve v, R is the area within the profile curve, (x)i,yi) Represents the coordinates of the ith pixel point on the contour curve,
respectively expressed at the ith pixel point (x)i,yi) The sum of the gray values of the pixels in the area enclosed by the contour curves in the x and y directions, fx(i),fy(i) Respectively representing the force in the x and y directions of the ith point on the profile curve, w1、w2、w3、w4Respectively representing the elastic weight coefficient, the rigidity curve coefficient, the external energy weight coefficient and the image area energy weight coefficient of the profile curve, EexIs the external energy of the profile curve, I is the gray scale function, GσIs a Gaussian function of standard deviation sigma, sigma is the standard deviation, sum of profile curves
Respectively convolution operator and gradient operator.
Preferably, after the image contour is obtained, visualization is performed using the "cvDrawContours ()" function of the OpenCV function.
S130: and comparing the contour of the refuse landfill with the design contour of the refuse landfill by combining a Geographic Information System (GIS) and a remote sensing image, and judging whether the contour of the refuse landfill exceeds the design contour. If yes, executing S180: sending out an alarm signal; otherwise, S140 is performed.
S1301: and determining the design outline, the central point of the design outline and the geographical position coordinates of the outline of the refuse landfill obtained in the step S120 by combining the remote sensing image and the GIS.
S1302: and calculating a first maximum distance between a point on the refuse landfill outline and the origin point on the nearest time node by taking the central point of the design outline as the origin point, and calculating a second maximum distance between the point on the design outline and the origin point.
S1303: comparing the first maximum distance with the second maximum distance; if the first maximum distance is greater than the second maximum distance, the landfill site is explained to have a landfill range exceeding the design range, and the profile of the landfill site exceeds the design profile.
S140: and determining the geographic position coordinates of the contour of the surrounding ground object by combining the GIS and the remote sensing image, calculating the minimum distance between the refuse landfill and the surrounding ground object according to the refuse landfill contour on the nearest time node and the geographic position coordinates of the contour of the surrounding ground object, and judging whether the minimum distance between the refuse landfill and the surrounding ground object exceeds the standard or not. If so, it is indicated that the distance between the landfill site and the surrounding land feature exceeds the design standard of the landfill site, and the surrounding land feature, especially the living zone, is polluted, then S180: and sending out an alarm signal to adjust the expansion plan of the surrounding ground objects. Otherwise, S150 is performed.
S150: and calculating the offset speed of the refuse landfill according to the refuse landfill outlines on different time nodes based on the determined geographic position coordinates, and calculating the offset speed of surrounding ground objects according to the surrounding ground object outlines on different time nodes. Specifically, the migration velocity is determined by the quotient of the change value of the geographic coordinate of the corresponding position on the landfill outline within a certain time period and the time interval.
S160: and predicting the distance exceeding time node according to the offset speed of the refuse landfill and the offset speed of surrounding ground objects. Specifically, the whole contour of the refuse landfill is traversed, the time required for shifting to the nearest contour of the refuse landfill is calculated according to the average shifting speed of surrounding ground features in the nearest specified time period to determine the distance exceeding time node of each point on the contour, and the shortest distance exceeding time node is used as the final distance exceeding time node.
S170: and sending the distance exceeding time node information to related management departments so as to adjust the extension planning of surrounding ground objects.
Example two
The application also provides a visual monitoring system matched with the first embodiment. Fig. 2 is a structural diagram of a visualization monitoring system provided in an embodiment of the present application.
As shown in fig. 2, the visual monitoring system of the landfill based on the GIS and RS system includes a remote sensing image obtaining module 210, a contour obtaining module 220, a first judging module 230, a minimum distance calculating module 240, a second judging module 250, an offset speed calculating module 260, a distance exceeding time node predicting module 270, an information sending module 280, and an alarm module 290.
The remote sensing image acquisition module 210 acquires remote sensing images of the landfill site and surrounding ground objects on a plurality of time nodes based on the RS system.
The contour acquisition module 220 processes the remote sensing images of the refuse landfill and the remote sensing images of the surrounding ground objects to acquire refuse landfill contours and surrounding ground object contours on a plurality of time nodes.
As shown in fig. 3, the contour acquisition module 220 includes a filter processing submodule 2201, a spatial conversion submodule 2202, a slider bar creation submodule 2203, a binarization submodule 2204, a noise reduction submodule 2205, and a contour extraction submodule 2206.
The filtering processing submodule 2201 performs filtering processing on the remote sensing image.
The space conversion sub-module 2202 performs RGB-HSV space conversion.
The slider creating sub-module 2203 creates sliders to adjust the contrast and brightness of the image.
The binarization submodule 2204 performs binarization processing on the image.
The noise reduction submodule 2205 performs noise reduction processing on the binary image.
The contour extraction submodule 2206 extracts a contour.
The first determining module 230 compares the landfill outline with the design outline of the landfill by combining the GIS and the remote sensing image, and determines whether the landfill outline exceeds the design outline.
The minimum distance calculation module 240 determines the geographical position coordinates of the contour of the surrounding ground object by combining the GIS and the remote sensing image, and calculates the minimum distance between the refuse landfill and the surrounding ground object according to the geographical position coordinates of the contour of the refuse landfill on the nearest time node and the contour of the surrounding ground object.
The second determination module 250 determines whether the minimum distance between the landfill and surrounding ground objects exceeds a standard.
The migration velocity calculation module 260 calculates migration velocities of the landfill site according to the landfill site contours at different time nodes and migration velocities of surrounding ground objects according to surrounding ground object contours at different time nodes based on the determined geographical position coordinates.
Specifically, the migration velocity is determined by the quotient of the change value of the geographic coordinate of the corresponding position on the landfill outline within a certain time period and the time interval.
The distance exceeding time node prediction module 270 predicts the distance exceeding time node according to the migration velocity of the landfill and the migration velocity of surrounding ground objects.
Specifically, the whole contour of the refuse landfill is traversed, the time required for shifting to the nearest contour of the refuse landfill is calculated according to the average shifting speed of surrounding ground features in the nearest specified time period to determine the distance exceeding time node of each point on the contour, and the shortest distance exceeding time node is used as the final distance exceeding time node.
The message sending module 280 sends the distance exceeding time node message to the relevant management department to adjust the extension plan of the surrounding ground features.
The alarm module 290 sends an alarm signal.
1. According to the method and the device, the remote sensing image is subjected to data processing through the combination of the GIS and the RS system, the current state of the refuse landfill is obtained, and the overproof phenomenon of the refuse landfill can be found in time.
2. The method and the device judge whether the expansion of the refuse landfill and the surrounding ground objects thereof meets the standard or not by calculating the migration speed of the refuse landfill and the surrounding ground objects thereof, and provide a data basis for rationalization judgment of urban development.
3. The application provides predictive data support for urban planning by predicting the expected overproof times of the landfill and its surrounding terrain.
While the preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all alterations and modifications as fall within the scope of the application. It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (10)
1. A method of monitoring a landfill site, comprising:
acquiring remote sensing images of the refuse landfill and remote sensing images of surrounding ground objects on a plurality of time nodes based on a remote sensing system;
processing the remote sensing image of the refuse landfill and the remote sensing image of the surrounding ground object to obtain the contour of the refuse landfill and the contour of the surrounding ground object on a plurality of time nodes;
comparing the profile of the refuse landfill with the design profile of the refuse landfill, and judging whether the profile of the refuse landfill exceeds the design profile;
if yes, an alarm signal is sent out.
2. The monitoring method of claim 1, further comprising:
if the contour of the refuse landfill does not exceed the design contour, calculating the minimum distance between the refuse landfill and surrounding ground objects according to the contour of the refuse landfill on the nearest time node and the contour of the surrounding ground objects;
judging whether the minimum distance between the refuse landfill and surrounding ground objects exceeds a standard or not;
if yes, an alarm signal is sent out.
3. The monitoring method of claim 2, further comprising:
if the minimum distance between the refuse landfill and the surrounding ground objects does not exceed the standard, calculating the offset speed of the refuse landfill according to the refuse landfill outlines on different time nodes, and calculating the offset speed of the surrounding ground objects according to the surrounding ground object outlines on different time nodes;
predicting a distance overproof time node according to the migration speed of the refuse landfill and the migration speed of surrounding ground objects;
and sending the distance exceeding time node information to related management departments so as to adjust the extension planning of surrounding ground objects.
4. The monitoring method of claim 1, wherein determining whether the profile of the landfill exceeds the design profile comprises the steps of:
determining a design outline, a central point of the design outline and a geographical position coordinate of the landfill outline by combining a remote sensing image and a geographical information system;
calculating a first maximum distance between a point on the refuse landfill outline on the nearest time node and the origin by taking the central point of the design outline as the origin, and calculating a second maximum distance between the point on the design outline and the origin;
comparing the first maximum distance with the second maximum distance;
if the first maximum distance is greater than the second maximum distance, the profile of the landfill exceeds the design profile.
5. A method of monitoring as claimed in claim 2, characterized in that the minimum distance of the landfill from the surrounding terrain is calculated on the basis of the geographical location coordinates of the landfill contour and the surrounding terrain contour determined by the geographical information system and the remote sensing image.
6. A method of monitoring as claimed in claim 3 wherein the distance-overproof time node for each point on the profile is determined by traversing the entire profile of the landfill, calculating the time required to shift to the nearest profile of the landfill at the average speed of shifting of the surrounding terrain over the nearest specified period of time, and using the shortest distance-overproof time node as the final distance-overproof time node.
7. The monitoring method according to claim 1, wherein the processing of the remote sensing images of the landfill and the surrounding ground objects comprises filtering processing, space conversion, slide bar creation, binarization, noise reduction and contour extraction;
wherein the noise reduction processing comprises first noise reduction and second noise reduction;
first denoising using the following equation
dst1(x,y)＝max{q(x+x′,y+y′)},(x′,y′)∈B1
Second denoising using the following equation
dst2(x,y)＝min{dst1(x+x′,y+y′)},(x′,y′)∈B2
Wherein dst1(x, y) is an image subjected to first noise reduction, q (x + x ', y + y') is an image subjected to binarization, B1 is a structural element subjected to first noise reduction, dst2(x, y) is an image subjected to second noise reduction, dst1(x + x ', y + y') is an image subjected to first noise reduction, and B2 is a structural element subjected to second noise reduction.
8. A monitoring system of a refuse landfill is characterized by comprising a remote sensing image acquisition module, a contour acquisition module, a first judgment module and an alarm module;
the remote sensing image acquisition module acquires remote sensing images of the refuse landfill site and remote sensing images of surrounding ground objects on a plurality of time nodes based on a remote sensing system;
the contour acquisition module processes the remote sensing images of the refuse landfill and the remote sensing images of surrounding ground objects to acquire refuse landfill contours and surrounding ground object contours on a plurality of time nodes;
the first judging module compares the profile of the refuse landfill with the design profile of the refuse landfill and judges whether the profile of the refuse landfill exceeds the design profile;
and if the contour of the refuse landfill exceeds the design contour, the alarm module sends out an alarm signal.
9. The monitoring system of claim 8, further comprising a minimum distance calculation module, a second determination module;
if the contour of the refuse landfill does not exceed the design contour, the minimum distance calculation module calculates the minimum distance between the refuse landfill and surrounding ground objects according to the contour of the refuse landfill on the nearest time node and the contour of the surrounding ground objects;
the second judgment module judges whether the minimum distance between the refuse landfill and surrounding ground objects exceeds the standard or not; and the number of the first and second electrodes,
and if the minimum distance between the refuse landfill and surrounding ground objects exceeds the standard, the alarm module sends out an alarm signal.
10. The monitoring system of claim 9, further comprising an offset speed calculation module, a distance excess time node prediction module, and an information transmission module;
if the minimum distance between the refuse landfill and the surrounding ground objects does not exceed the standard, the offset speed calculation module calculates the offset speed of the refuse landfill according to the refuse landfill outlines on different time nodes and calculates the offset speed of the surrounding ground objects according to the surrounding ground object outlines on different time nodes;
the distance exceeding time node prediction module predicts a distance exceeding time node according to the offset speed of the refuse landfill and the offset speed of surrounding ground objects;
and the information sending module sends the distance exceeding time node information to the relevant management departments so as to adjust the expansion planning of the surrounding ground objects.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113834451A (en) * | 2021-08-26 | 2021-12-24 | 贵阳市环境卫生管理服务中心 | Automatic garbage exposure area monitoring method for domestic garbage landfill operation area |
| CN117523404B (en) * | 2024-01-08 | 2024-03-22 | 深圳大学 | Method, device, terminal and storage medium for monitoring dynamic change of storage yard |
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