CN114838704A

CN114838704A - Height detection method and device and computer readable storage medium

Info

Publication number: CN114838704A
Application number: CN202210462769.XA
Authority: CN
Inventors: 余子君; 荆雪涵
Original assignee: Hangzhou Hikvision System Technology Co Ltd
Current assignee: Hangzhou Hikvision System Technology Co Ltd
Priority date: 2022-04-28
Filing date: 2022-04-28
Publication date: 2022-08-02

Abstract

The application provides a height detection method, a height detection device and a computer readable storage medium, relates to the technical field of intelligent monitoring, and can measure the height of an object in real time on the basis of saving manpower and financial resources. The method comprises the following steps: acquiring a target image, wherein the target image comprises a target object and one or more first mark points; acquiring the pixel coordinate of the highest position of a target object in a target image; the pixel coordinates are used to indicate the position of the target object that is highest on the pixel in the target image. Acquiring a first geographical coordinate corresponding to a pixel coordinate at the highest position of a target object in a coordinate corresponding relation; the geographic coordinates include height information indicating an altitude. And determining the current height of the target object according to the first geographic coordinate and the second geographic coordinate of the first mark point.

Description

Height detection method and device and computer readable storage medium

Technical Field

The present application relates to the field of intelligent monitoring technologies, and in particular, to a height detection method and apparatus, and a computer-readable storage medium.

Background

With the rapid development of economic construction in China, the change of various buildings in cities and vast rural areas in China is changing day by day. The height information of the building plays an important role in city planning, city construction and resource management, and meanwhile, the information such as the construction progress and the main body construction height of the built building in the administrative regions of all parts has important reference significance for analyzing the fixed asset investment and the economic activity of all parts of China.

The currently common building height monitoring methods can be divided into the following methods: the method is very mature in technology, is suitable for buildings which are built and put into use in urban areas, and has high measurement accuracy. However, instruments need to be arranged at building measuring points to carry out field work, the building heights can only be measured one by one, and meanwhile, the problems of long observation period, high observation cost and the like exist, so that rapid building height extraction in an area range cannot be realized, and the construction progress condition of the building in a construction site cannot be monitored in time. Secondly, an aviation measurement method is developed along with the unmanned aerial vehicle technology, and a Digital Surface Model (DSM) of a monitoring area is obtained through processing technologies such as stereopair and point cloud based on an aviation platform combined with an optical photogrammetry technology or a laser radar technology, so that the ground building height with higher precision is obtained. However, the problems of complex operation flow, complex data processing, low efficiency and the like also exist, especially many cities and core areas are limited by airspace control and the like, the updating frequency of monitoring data is limited, and the building condition cannot be monitored in time.

Therefore, how to measure the height of a building in real time on the basis of saving manpower and financial resources is an urgent problem to be solved in the industry.

Disclosure of Invention

The application provides a height detection method, a height detection device and a computer-readable storage medium, which can measure the height of an object in real time on the basis of saving manpower and financial resources.

In a first aspect, a height detection method is provided, including: acquiring a target image, wherein the target image comprises a target object and one or more first mark points; acquiring the pixel coordinate of the highest position of a target object in a target image; the pixel coordinates indicating a location of the target object that is highest on a pixel in the target image; acquiring a first geographical coordinate corresponding to a pixel coordinate at the highest position of a target object in a coordinate corresponding relation; the geographic coordinates include height information indicating an altitude; and determining the current height of the target object according to the first geographic coordinate and the second geographic coordinate of the first mark point. Wherein the pixel coordinate of the highest position of the target object is used for indicating the position of the highest position of the target object on the pixel in the target image; the coordinate corresponding relation comprises a geographical coordinate corresponding to the pixel coordinate of each pixel point in the target image; the geographic coordinates include height information indicating an altitude.

Based on the technical scheme provided by the application, the following beneficial effects can be generated at least: the current height of the target object is calculated according to the geographical coordinates of the highest position of the target object and the geographical coordinates of the mark points. The scheme of this application need not personnel and measures just can acquire the real-time height of target object to the job site, effectively reduces the manpower and the financial resources input to target object height detection when the construction progress supervises to and avoid survey crew's personal safety risk.

Optionally, determining the current height of the target object according to the first geographic coordinate and the second geographic coordinate of the first mark point, includes: and determining the difference between a first altitude indicated by the height information in the first geographic coordinate and a second altitude indicated by the height information in the second geographic coordinate as the current height of the target object. Since the first altitude represents a height from the highest of the target object to the sea level and is not a distance from the highest of the target object to the ground, the second altitude of the landmark point is subtracted from the first altitude to obtain an actual height of the target object.

Optionally, a reference image is obtained, and shooting parameters of the reference image are the same as those of the target image; and receiving one or more second mark points marked in the reference image by the user, and acquiring the pixel coordinates of the second mark points. Receiving the geographic coordinates of the second mark point input by a user; and establishing a coordinate corresponding relation according to the pixel coordinate and the geographic coordinate of the second mark point, wherein the coordinate corresponding relation comprises the geographic coordinate corresponding to the pixel coordinate of each pixel point in the image shot by adopting the shooting parameters. And pre-establishing a coordinate corresponding relation by marking the second mark point so as to obtain the geographic coordinate of the target object directly according to the coordinate corresponding relation subsequently.

The second mark point may be an obvious recognizable mark point in the reference image, for example, the second mark point may be a road, a manhole cover, a street lamp pole, or the like.

Optionally, the first mark point and the second mark point may be the same, or may be different.

Optionally, the method provided by the present application may further include: acquiring a pixel coordinate of a first mark point in a target image; and acquiring a second geographic coordinate corresponding to the pixel coordinate of the first mark point in the coordinate corresponding relation. And directly acquiring the second geographic coordinate of the first mark point based on the pre-established coordinate corresponding relation, thereby reducing the measurement time.

Optionally, the second geographic coordinate is input by the user to improve accuracy of the second geographic coordinate, thereby improving accuracy of the current height of the obtained target object.

Optionally, the method may further include: and determining a detection area of the target object in the target image, wherein the detection area is used for indicating the height area of the target object from the ground to the expected capping. It can be understood that, in the process from the beginning of building to the capping of the target object, the height of the target object can be detected in the detection area, so that the current height of the target object can be obtained by determining the monitoring object first.

Optionally, the method provided by the present application may further include: determining whether the detection data of the target object triggers an early warning condition; the detection data includes a current height of the target object; and if the detection data triggers the first early warning condition, outputting early warning information corresponding to the first early warning condition. The first early warning condition is any one of the early warning conditions. And when the detection data of the target object triggers the early warning condition, the early warning information is output, so that a user is reminded to check the actual construction condition of the target object in time, and the supervision efficiency is improved.

Optionally, the warning condition may include: the current height of the target object is greater than the design height of the target object; or the current height of the target object is equal to the design height, and the current height of the target object is not changed within a preset time period; or the current height of the target object is smaller than the design height of the target object, and the current height of the target object is not changed within a preset time period; or the current height of the target object is smaller than the design height of the target object, the current height of the target object changes within a preset time period, and the time for detecting the current height of the target object reaches the planned capping time of the target object. By setting the early warning condition, corresponding early warning information can be output when the early warning condition is met, so that a user can check the construction condition according to the early warning information.

Optionally, the construction progress of the target object is obtained according to the detection data, and the construction progress of the target object is used for indicating a ratio of the current height of the target object to the design height of the target object. The construction progress is obtained by detecting the data, so that a user can know the actual construction condition of the target object at a glance.

Optionally, the construction progress of the target object may be displayed in a list, a chart, or a three-dimensional scene. The construction progress of the target object is displayed in different modes, and the user can conveniently check the construction progress.

Optionally, capturing and acquiring a target image from a detection angle includes: periodically shooting from a detection angle to obtain a target image; or shooting and acquiring a target image from a detection angle at a preset time point so as to acquire the height of the target object in time.

In a second aspect, there is provided a height detecting device comprising: the device comprises an acquisition module, a determination module and a processing module. Wherein:

the device comprises an acquisition module, a display module and a display module, wherein the acquisition module is used for acquiring a target image, and the target image comprises a target object and one or more first mark points;

the acquisition module is also used for acquiring the pixel coordinate of the highest position of the target object in the target image; the pixel coordinates are used to indicate the position of the highest of the target object on the pixel in the target image;

the determining module is used for acquiring a first geographic coordinate corresponding to a pixel coordinate at the highest position of the target object in the coordinate corresponding relation; the coordinate corresponding relation comprises a geographical coordinate corresponding to the pixel coordinate of each pixel point in the target image; the geographic coordinates include height information indicating an altitude;

and the processing module is used for determining the current height of the target object according to the first geographic coordinate and the second geographic coordinate of the first mark point.

Optionally, the processing module is specifically configured to determine a difference between a first altitude indicated by the height information in the first geographic coordinate and a second altitude indicated by the height information in the second geographic coordinate as the current height of the target object.

Optionally, the obtaining module is further configured to obtain a reference image, and shooting parameters of the reference image are the same as the shooting parameters of the target image. The height detection device provided by the application can further comprise a receiving module for receiving one or more second mark points marked in the reference image by the user. And the acquisition module is also used for acquiring the pixel coordinates of the second mark point. And the receiving module is also used for receiving the geographic coordinates of the second mark point input by the user. And the processing module is further used for establishing a coordinate corresponding relation according to the pixel coordinate and the geographic coordinate of the second mark point, wherein the coordinate corresponding relation comprises the geographic coordinate corresponding to the pixel coordinate of each pixel point in the image shot by adopting the shooting parameters.

Optionally, the obtaining module is further configured to obtain a pixel coordinate of a first marker point in the target image. The obtaining module is further configured to obtain a second geographic coordinate corresponding to the pixel coordinate of the first mark point in the coordinate corresponding relationship.

Alternatively, the second geographic coordinates may be input by the user.

Optionally, the determining module is further configured to determine a detection area of the target object in the target image, where the detection area is used to indicate a height area from the ground to the expected capping of the target object.

Optionally, the processing module is further configured to determine whether the detection data of the target object triggers an early warning condition. The detection data includes a current height of the target object. If the detection data triggers a first early warning condition, outputting early warning information corresponding to the first early warning condition; the first early warning condition is any early warning condition.

Optionally, the warning condition may include: the current height of the target object is greater than the design height of the target object; or the current height of the target object is equal to the design height, and the current height of the target object is not changed within a preset time period; or the current height of the target object is smaller than the design height of the target object, and the current height of the target object is not changed within a preset time period; or the current height of the target object is smaller than the design height of the target object, the current height of the target object changes within a preset time period, and the time for detecting the current height of the target object reaches the planned capping time of the target object.

Optionally, the obtaining module is further configured to obtain a construction progress of the target object according to the detection data, where the construction progress of the target object is used to indicate a ratio of a current height of the target object to a design height of the target object.

Optionally, the construction progress of the target object is displayed in a list, a chart or a three-dimensional scene.

Optionally, the obtaining module is specifically configured to periodically shoot from a detection angle to obtain a target image; or shooting from a detection angle at a preset time point to acquire a target image.

It should be noted that, the apparatus provided in the second aspect of the present application is configured to execute the method provided by the first aspect or any possible implementation, and for a specific implementation, reference may be made to the method provided by the first aspect or any possible implementation, which is not described herein again.

In a third aspect, there is provided a height detecting apparatus comprising: one or more processors; one or more memories; wherein the one or more memories are for storing computer program code comprising computer instructions which, when executed by the one or more processors, cause the height detection apparatus to perform the above-described first aspect and optional methods thereof.

In a fourth aspect, there is provided a computer-readable storage medium comprising computer-executable instructions which, when executed on a computer, cause the computer to perform the first aspect and its optional method.

The beneficial effects described in the second aspect to the fourth aspect in the present application may refer to the beneficial effect analysis of the first aspect, and are not described herein again.

Drawings

Fig. 1 is a schematic structural diagram of a height detection system according to an embodiment of the present disclosure;

FIG. 2 is a schematic structural diagram of another height detection system provided in an embodiment of the present application;

FIG. 3 is a block diagram of a computing device according to an embodiment of the present disclosure;

fig. 4 is a schematic flowchart of a height detection method according to an embodiment of the present disclosure;

FIG. 5 is a schematic diagram of a target image according to an embodiment of the present disclosure;

FIG. 6 is a schematic diagram of a coordinate system of a target image according to an embodiment of the present disclosure;

FIG. 7 is a schematic flow chart illustrating another height detection method according to an embodiment of the present disclosure;

FIG. 8 is a schematic flow chart of another height detection method according to an embodiment of the present disclosure;

fig. 9 is a schematic flow chart of another height detection method according to an embodiment of the present disclosure;

fig. 10 is a schematic flow chart illustrating an early warning method for a height detection system according to an embodiment of the present disclosure;

fig. 11 is a schematic diagram of a construction progress of a target object according to an embodiment of the present application;

FIG. 12 is a schematic diagram of another construction progress of a target object according to an embodiment of the present disclosure;

fig. 13 is a schematic composition diagram of a height detection apparatus according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be 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 only a part of the embodiments of the present application, and not all of the embodiments. 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.

In the description of this application, "/" means "or" unless otherwise stated, for example, A/B may mean A or B. "and/or" herein is merely an association describing an associated object, and means that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. Further, "at least one" means one or more, "a plurality" means two or more. The terms "first", "second", and the like do not necessarily limit the number and execution order, and the terms "first", "second", and the like do not necessarily limit the difference.

It is noted that, in the present application, words such as "exemplary" or "for example" are used to mean exemplary, illustrative, or descriptive. Any embodiment or design described herein as "exemplary" or "e.g.," is not necessarily to be construed as preferred or advantageous over other embodiments or designs. Rather, use of the word "exemplary" or "such as" is intended to present concepts related in a concrete fashion.

The related art terms to which this application relates will be explained herein first.

The object can be a person or an object existing in the environment. In particular, it may be a building. The target object is an object for acquiring the height of the target object by adopting the scheme of the application.

The ellipsoid height: also called geodetic height, the distance from a point on the ground to a reference ellipsoid along the normal to the ellipsoid passing through the point. GPS measures ellipsoidal height.

High altitude: the vertical distance from a certain place on the ground to the sea level is the height difference between the certain place and the sea level, and is usually calculated by taking the average sea level as a standard.

Elevation anomaly: elevation anomalies are the height from the quasi-geoid to the earth's ellipsoid. The difference between the height of the ellipsoid and the height of the altitude is the elevation anomaly.

As described in the background art, the ground measurement method requires that an instrument is arranged at an object measurement point to perform field work, and only object heights can be measured one by one, and meanwhile, the problems of long observation period, high observation cost and the like exist, so that rapid object height extraction in an area range cannot be realized, and the construction progress of an object in a construction site cannot be monitored in time. The problems of complex operation flow, complex data processing, low efficiency and the like of an aeronautical measurement method, especially many cities and core areas are limited by airspace control and the like, the updating frequency of monitoring data is limited, and the object condition cannot be monitored in time.

Based on the above problems, an embodiment of the present application provides a height detection method, in which a correspondence between a pixel coordinate in a target image and a geographic coordinate is established, the pixel coordinate at the highest position of a target object is automatically identified in the target image, the pixel coordinate at the highest position of the target object is converted into the geographic coordinate according to the correspondence between the coordinates, and then the current height of the target object is calculated according to the geographic coordinate at the highest position of the target object and the geographic coordinate of a mark point. The scheme of this application need not personnel and measures just can acquire the real-time height of target object to the job site, effectively reduces the manpower and the financial resources input to target object height detection when the construction progress supervises to and avoid survey crew's personal safety risk.

As shown in fig. 1, an embodiment of the present application provides a schematic diagram of a height detection system. The height detection system includes: a server 10 and a camera 20. The server 10 and the imaging device 20 may be connected by wire or wirelessly.

The photographing device 20 may be disposed near the target object for photographing the reference image. For example, the camera may be installed on a street lamp, a traffic light, a tree, or other objects near the target object, and the installation position of the camera 20 is not limited in the present application. The embodiment of the present disclosure does not limit the specific installation manner and the specific installation position of the photographing device 20.

The server 10 is configured to acquire an image captured by the capturing device 20, and execute the scheme of the present application based on the image captured by the capturing device 20 to determine the height of the target object.

In some embodiments, the server 10 may be an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, or a cloud server providing basic cloud computing services such as a cloud service, a cloud database, cloud computing, cloud storage, a network service, cloud communication, a middleware service, a domain name service, a security service, a content distribution network, and a big data server.

Optionally, as shown in fig. 2, the height detection system may further include a terminal device 30. The connection between the terminal device 30 and the server 10 may be by wire or wireless.

The terminal device 30 is configured to obtain relevant information (current altitude, warning information or other information) of the altitude detection through the server 10, and may display the relevant information of the altitude detection to the user in a form of voice, text or the like.

In some embodiments, the terminal device 30 may be a cell phone, a tablet, a desktop, a laptop, a handheld computer, a notebook, an ultra-mobile personal computer (UMPC), a netbook, a cellular phone, a Personal Digital Assistant (PDA), an Augmented Reality (AR) \\ Virtual Reality (VR) device, and so on.

In some embodiments, the server 10 may be integrated with the camera 20. Alternatively, the server 10 may be integrated with the terminal device 30.

The basic hardware structures of the server 10 and the terminal device 30 are similar and both include elements included in the computing apparatus shown in fig. 3. The hardware configurations of the server 10 and the terminal device 30 will be described below by taking the computing apparatus shown in fig. 3 as an example.

As shown in fig. 3, the computing device may include a processor 41, a memory 42, a communication interface 43, and a bus 44. The processor 41, the memory 42 and the communication interface 43 may be connected by a bus 44.

The processor 41 is a control center of the computing device, and may be a single processor or a collective term for a plurality of processing elements. For example, the processor 41 may be a general-purpose CPU, or may be another general-purpose processor. Wherein the general purpose processor may be a microprocessor or any conventional processor or the like.

For one embodiment, processor 41 may include one or more CPUs, such as CPU 0 and CPU 1 shown in FIG. 3.

The memory 42 may be, but is not limited to, a read-only memory (ROM) or other type of static storage device that may store static information and instructions, a Random Access Memory (RAM) or other type of dynamic storage device that may store information and instructions, an electrically erasable programmable read-only memory (EEPROM), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer.

In one possible implementation, the memory 42 may exist separately from the processor 41, and the memory 42 may be connected to the processor 41 through a bus 44 for storing instructions or program codes. The height detection method provided by the following embodiments of the present disclosure can be implemented when the processor 41 calls and executes instructions or program code stored in the memory 42.

In the embodiment of the present disclosure, the software programs stored in the memory 42 are different for the server 10 and the terminal device 30, so the functions implemented by the server 10 and the terminal device 30 are different. The functions performed by the devices will be described in connection with the following flow charts.

In another possible implementation, the memory 42 may also be integrated with the processor 41.

A communication interface 43, configured to connect the computing apparatus and other devices through a communication network, where the communication network may be an ethernet, a Radio Access Network (RAN), a Wireless Local Area Network (WLAN), or the like. The communication interface 43 may comprise a receiving unit for receiving data and a transmitting unit for transmitting data.

The bus 44 may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 3, but this does not mean only one bus or one type of bus.

It should be noted that the configuration shown in fig. 3 does not constitute a limitation of the computing device, which may include more or less components than those shown in fig. 3, or some components may be combined, or a different arrangement of components than those shown in fig. 3.

The embodiments provided in the present application will be described in detail below with reference to the accompanying drawings.

The height detection method provided by the embodiment of the present application may be executed by a height detection device, which may be the server 10 in the height detection system shown in fig. 1, or a processor of the server 10. The height detection device is exemplified as a server hereinafter.

As shown in fig. 4, an embodiment of the present application provides a height detection method, including the following steps:

s101, the height detection device acquires a target image.

The target image comprises a target object and one or more first detection points.

The target object described in the present application may be a target building or other objects, and the specific type of the object is not limited in the embodiments of the present application. The first marker point is an identifiable marker point that is evident around the target object, for example, the first marker point may be a road route, a manhole cover, a street lamp pole, or the like.

Illustratively, the height detection means in S101 may acquire the target image by shooting according to the shooting parameters. The shooting parameters are used for indicating angles, lens focal lengths, exposure or other parameters during shooting. This is not particularly limited in the examples of the present application. The target image photographed by the photographing parameter may entirely include the target object. It should be understood that the shooting parameters are invariant for the same target object.

Alternatively, the target image may be captured by the camera and stored. The target image may be an original image captured by a camera, or the target image may be an image processed from the original image. For example, the processing may be based on brightness or contrast adjustment.

For example, when the photographing device is integrated with the height detecting device, the height detecting device may directly read the target image photographed by the photographing device. When the photographing device is independent of the height detection device, the height detection device may receive or request to acquire the target image photographed by the photographing device. The embodiment of the present application does not limit the specific manner in which the height detection device acquires the target image.

Illustratively, FIG. 5 illustrates a target image. As shown in fig. 5, the target image includes a target object and one or more first marker points a.

Wherein the target object is located in a detection area, the detection area representing a height area of the target object from the ground to the expected capping.

Correspondingly, as shown in fig. 8, the height detection method provided in the embodiment of the present application may further include S101 a.

S101a, the height detection device determines the detection area of the target object in the target image.

Alternatively, the target object may be a building that has not yet been constructed, or may be a building that is being constructed. The detection region may be rendered before the target image is acquired, or may be rendered each time the target image is acquired.

Optionally, one or more first mark points are located on the ground where the target object is located, and may be marked by the user in advance, or may be marked by the user after the target image is acquired, or may be identified by the height detection device from the target image.

In one possible implementation, S101 may be periodically executed to periodically acquire the target image.

In another possible implementation, the acquiring S101 of the target image may be performed at a preset time point.

Illustratively, the target image is taken every three days; alternatively, the target images are taken once every month of nos. 1, 10, 20, and 30.

S102, the height detection device obtains the pixel coordinate of the highest position of the target object in the target image.

Wherein the pixel coordinates are used to indicate the position of the target object that is highest on a pixel in the target image.

Alternatively, after acquiring the target image, the height detection means may identify the target object in the target image in S102. Or after the target image is acquired, the photographing device or other computing device may identify the pixel point of the target object in the target image, and further determine the pixel coordinate of the highest position of the target object, and then send the pixel coordinate to the height detecting device. In some embodiments, image segmentation techniques may be employed to identify a target object in a target image. Currently, the embodiment of the present application is not limited to a specific scheme for identifying and acquiring the target object in the target image.

Wherein the image segmentation technique comprises: a threshold-based segmentation method, a region-based segmentation method, an edge-based segmentation method, a particular theory-based segmentation method, and the like.

Taking a threshold-based segmentation method as an example, one or more thresholds are used to divide the gray level histogram of an image into several classes, and pixels in the image with gray level values in the same gray level class are regarded as the same object.

In one possible implementation, when determining the pixel coordinate of the highest point of the target object in the target image, the pixel coordinate of the highest point of the target object may be determined according to the pixel coordinate system of the target image and the respective pixel coordinates of the target object in the target image.

The pixel coordinate system of the target image may be established in advance, or may be established after the target image is acquired.

In some embodiments, the pixel coordinate system of the target image as shown in fig. 6 is established with the lower left corner of the target image as the origin, the lower boundary as the x-axis, and the left boundary as the y-axis.

Of course, the pixel coordinate system may have other establishing methods, and the embodiment of the present application is not limited herein.

Generally, the highest point of the target object is a point, i.e. a pixel coordinate.

For example, when the target image establishes a coordinate system with the lower left corner as the origin, the pixel coordinate of the highest position of the target object is the pixel with the largest y value in each pixel coordinate of the target object.

Of course, when the highest position of the target object is a plane (displayed as a line in the target image), all pixel coordinates occupied by the line can be obtained, and then the pixel coordinates of the highest position of the target object can be determined.

For example, the pixel coordinate at the highest position of the target object may be an average coordinate of the pixel coordinates occupied by the line.

It should be noted that, when the highest position of the target object occupies a plurality of pixel points in the target image, one pixel point can be selected as the highest position of the target object according to actual requirements. For example, the most middle pixel point, or the pixel point with the minimum x value or the maximum x value is selected, which is not limited in the embodiment of the present application.

S103, the height detection device obtains a first geographic coordinate corresponding to the pixel coordinate at the highest position of the target object in the coordinate corresponding relation.

The coordinate corresponding relation comprises a geographic coordinate corresponding to the pixel coordinate of each pixel point in the target image. The geographic coordinates include height information indicating an altitude.

For example, the geographic coordinates described herein may be Global Positioning System (GPS) coordinates, including longitude, latitude, and ellipsoidal height.

Optionally, the coordinate correspondence may be established in advance, or may be established when the target image is acquired for the first time.

Optionally, in practical applications, the coordinate correspondence may have different establishing methods, which is not specifically limited in the embodiments of the present application.

The following describes the establishment process of the coordinate correspondence relationship by way of example:

as shown in fig. 7, the coordinate correspondence may be established according to steps S201-S204:

s201, acquiring a reference image.

The shooting parameters of the reference image are the same as those of the target image.

Alternatively, the reference image may be an image captured by the camera 20 of the height detection system, or may be an image captured by another possible camera.

Optionally, the reference image may be an image obtained by shooting with the parameters when the height detection system is set up; alternatively, the reference image may be a target image photographed by using the photographing parameters for the first time after the height detection system is built.

S202, receiving one or more second mark points marked in the reference image by the user, and identifying and acquiring pixel coordinates of the second mark points.

Alternatively, the second landmark point may be a fixed and distinct landmark point on the ground of the reference image, such as a manhole cover, a street lamp, a tree, or the like. The second mark point may be the same as or different from the first mark point, which is not limited in this embodiment of the application.

Illustratively, a preview interface may be provided to the user in which the reference image is displayed. Marking the second marked point in the reference image by the user to realize receiving one or more second marked points marked in the reference image by the user in S202.

Alternatively, the number of the second marker points may be one or more.

It is understood that the accuracy of the determined first geographical coordinates is higher based on the determination of the coordinate correspondence relation based on the plurality of second marker points. In practical use, the number of the second marker points may be determined based on empirical values obtained during historical detection of the height monitoring device. For example, if the accuracy of the first geographical coordinates determined based on 10 second marker points is higher according to the historical detection process of the height monitoring device, the number of the second marker points may be set to 10.

S203, receiving the geographic coordinates of the second mark point input by the user.

Wherein the geographic coordinates of the second landmark point include a longitude, a latitude, and an ellipsoidal height of the second landmark point. The geographic coordinates of the second landmark point are known data to the user.

And S204, establishing a coordinate corresponding relation according to the pixel coordinate and the geographic coordinate of the second mark point.

The coordinate corresponding relation comprises a geographic coordinate corresponding to the pixel coordinate of each pixel point in the image shot by the shooting parameters.

Optionally, when the number of the second marker points is multiple, the coordinate correspondence may be determined according to one or more of the second marker points. It should be understood that if the coordinate correspondence determined according to one of the second marker points is different from the coordinate correspondence determined according to the other second marker points by a relatively large amount, the second marker point may be excluded to reduce the calculation error.

Alternatively, the change matrix between the pixel coordinates and the geographic coordinates of the second landmark point may be used as the homography transformation matrix in S204.

Homography (Homography) is a concept in projective geometry, also called projective transformation. Refers to the mapping of points on one projection plane onto another projection plane. Therefore, according to the homographic transformation matrix, the coordinate correspondence between the pixel coordinate of the second marker point and the geographic coordinate can be determined.

The number of the second mark points can be selected to be four, and the homography transformation matrix can be calculated as long as any three points are ensured not to be collinear. In practical use, more than four mark points can be selected for verification test and improvement of the accuracy of the homography transformation matrix.

Exemplarily, the homogeneous coordinate corresponding to the GPS coordinate of the second mark point is (x) ₁ ,y ₁ ,1) ^T Homogeneous coordinate (x) corresponding to pixel coordinate ₂ ,y ₂ ,1) ^T Then the form of the homographic transformation matrix is as follows:

since the point pairs adopt homogeneous coordinates which can be different by a constant, the entire homographic transformation matrix can be different by a constant, for example, h33 can be set to 1, so that the homographic transformation matrix has only 8 degrees of freedom, and four points satisfying the characteristic that any three points are not collinear can be selected to solve the homographic transformation matrix.

Specifically, in S103, based on the coordinate correspondence relationship, the geographic coordinate corresponding to the pixel coordinate at the highest position of the target object in the coordinate correspondence relationship is used as the first geographic coordinate at the highest position of the target object.

S104, the height detection device determines the current height of the target object according to the first geographic coordinate and the second geographic coordinate of the first mark point.

In one possible implementation manner, the first landmark may be the second landmark, and the second geographic coordinate of the first landmark is known data and may be used directly in S104.

In another possible implementation manner, the first marker point is a marker point recognized by the height detection device from the target image, and at this time, the current height of the target object can be determined only by determining the second geographic coordinate of the first marker point.

Accordingly, as shown in fig. 8, the height detection method provided by the present application further includes S104a and S104b to obtain the second geographic coordinates of the first landmark point.

S104a, the height detection device identifies and acquires the pixel coordinates of the first mark point in the target image.

S104b, the height detecting device obtains the second geographic coordinate corresponding to the pixel coordinate of the first mark point in the coordinate correspondence relationship.

It should be noted that, for specific implementations of S104a and S104b, reference may be made to the foregoing specific implementations of S102 and S103, and details are not described here.

In some embodiments, a difference between a first altitude indicated by the altitude information in the first geographic coordinate and a second altitude indicated by the altitude information in the second geographic coordinate may be determined as the current altitude of the target object in S104.

In one possible implementation, the height information in the geographic coordinates may represent an ellipsoid height, and the altitude indicated by that geographic indicator is the ellipsoid height + elevation anomaly in the geographic coordinates.

Wherein the elevation anomaly represents the height from the quasi-geoid to the earth ellipsoid.

In some embodiments, the elevation anomaly may be obtained by searching an elevation anomaly corresponding to the target object in a preset elevation anomaly mesh point lookup table according to longitude and latitude information of the target object, or by a plane fitting method or a curved surface fitting method. The embodiments of the present application are not limited herein.

Optionally, the current height of the target object is equal to the first altitude-the second altitude is equal to the first ellipsoid height + the elevation anomaly- (the second ellipsoid height + the elevation anomaly) — the first ellipsoid height-the second ellipsoid height.

In another possible implementation, the altitude information in the geographic coordinates may represent altitude. The altitude contained in the geographic coordinates may then be used directly in S104 to determine the current altitude of the target object.

According to the embodiment of the application, the corresponding relation between the pixel coordinate and the geographic coordinate in the target image is established, the pixel coordinate of the highest position of the target object is automatically identified through the target image, the pixel coordinate of the highest position of the target object is converted into the geographic coordinate according to the corresponding relation of the coordinates, and then the current height of the target object is calculated according to the geographic coordinate of the highest position of the target object and the geographic coordinate of the mark point. The scheme of this application need not personnel and measures just can acquire the real-time height of target object to the job site, effectively reduces the manpower and the financial resources input to target object height detection when the construction progress supervises to and avoid survey crew's personal safety risk.

Based on the embodiment shown in fig. 4, as shown in fig. 9, the height detection method provided by the present application, after step S104, may further include:

s105, the height detection device determines whether the detection data of the target object trigger an early warning condition.

Wherein the detection data comprises a current height of the target object.

Optionally, the early warning condition is a preset precondition for early warning. In practical application, specific contents of the early warning condition may be configured according to actual requirements, which is not specifically limited in the embodiment of the present application.

The early warning condition is described below by way of example. The pre-alarm condition may include, but is not limited to, one or more of the following conditions:

condition 1, the current height of the target object is greater than the design height of the target object.

And 2, the current height of the target object is equal to the design height, and the current height of the target object is not changed within a preset time period.

Wherein, the preset time period can be 1 day, 5 days or other reasonable time periods.

And 3, judging that the current height of the target object is smaller than the design height of the target object, and the current height of the target object is not changed within a preset time period.

And 4, detecting that the time of the current height of the target object reaches the planned capping time of the target object when the current height of the target object is smaller than the design height of the target object and the current height of the target object changes within a preset time period.

As one possible implementation, assuming that the warning condition includes the above-described conditions 1 to 4, it may be determined whether the detection data of the target object triggers the warning condition through steps S1 to S4 illustrated in fig. 10:

and S1, judging whether the current height of the target object is larger than the design height of the target object.

And if the current height of the target object is greater than the design height of the target object, triggering an early warning condition 1.

If the current height of the target object is not greater than the design height of the target object, step S2 is performed.

And S2, judging whether the current height of the target object changes within a preset time period.

If the current height of the target object has not changed within the preset time period, step S3 is executed.

If the current height of the target object has changed within the preset time period, step S4 is executed.

And S3, judging whether the current height of the target object reaches the design height.

And if the current height of the target object reaches the design height, triggering an early warning condition 2.

And if the current height of the target object does not reach the design height, triggering an early warning condition 3.

And S4, judging whether the time for detecting the current height of the target object reaches the planned capping time of the target object.

And if the time for detecting the current height of the target object reaches the planned capping time of the target object, triggering an early warning condition 4.

And if the time for detecting the current height of the target object does not reach the planned capping time of the target object, executing the next detection.

And S106, if the detection data triggers the first early warning condition, outputting early warning information corresponding to the first early warning condition.

The first early warning condition is any one of the early warning conditions.

Illustratively, if the detection data triggers the early warning condition 1, outputting first early warning information, where the first early warning information is used to prompt a user that the current height of the target object is greater than the design height of the target object.

And if the detection data trigger the early warning condition 2, outputting second early warning information, wherein the second early warning information is used for indicating a user to verify whether the target object is capped.

And if the detection data trigger an early warning condition 3, outputting third early warning information, wherein the third early warning information is used for indicating that the current height of the target object is smaller than the design height of the target object, but the current height of the target object does not change within a preset time period.

And if the detection data trigger an early warning condition 4, outputting fourth early warning information, wherein the fourth early warning information is used for indicating that the current height of the target object is smaller than the design height of the target object, the current height of the target object changes within a preset time period, and the time for detecting the current height of the target object reaches the planned capping time of the target object.

Optionally, after the second warning information is output, if a message that the target object is capped is received, the detection is stopped.

And S107, if the first early warning condition is not triggered by the detection data, continuing to detect at the next detection time point.

The next detection time point is determined by the period or the preset time point of acquiring the target image from the detection angle shooting in step S101.

And S108, acquiring the construction progress of the target object according to the detection data.

The construction progress of the target object is used for indicating the ratio of the current height of the target object to the design height of the target object.

Optionally, the construction progress of the target object may be displayed in a list, a chart, or a three-dimensional scene.

For example, if the current height of the target object is 50 meters and the design height of the target object is 100 meters, the construction progress of the target object is 50%, and reference may be made to a graph shown in fig. 11.

Of course, the construction progress of the target object may further include a ratio of the height of the previously detected target object to the design height of the target object.

Illustratively, as shown in fig. 12, the ratio of the height of the target object from the first detection to the current detection to the design height of the target object is shown on the graph.

Optionally, the construction progress of the target object may be generated after each detection, or may be generated at regular time.

According to the embodiment of the application, the construction condition of the target object can be judged according to the detection data of the target object, when the construction condition of the target object is found to be abnormal, the early warning condition is triggered, and the early warning information is output, so that a user can check the construction condition of the target object in time according to the early warning information. Meanwhile, the construction progress is generated by detecting the data, so that a user can conveniently and clearly obtain the construction condition of the target object.

It can be seen that the foregoing describes the solution provided by the embodiments of the present application primarily from a methodological perspective. To implement the above functions, it includes hardware structures and/or software modules for performing the respective functions. Those of skill in the art will readily appreciate that the various illustrative modules and algorithm steps described in connection with the embodiments disclosed herein may be implemented as hardware or combinations of hardware and computer software. Whether a function is performed as hardware or computer software drives hardware depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

In the embodiment of the present application, the control device may be divided into the functional modules according to the method example, for example, each functional module may be divided according to each function, or two or more functions may be integrated into one processing module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. Optionally, the division of the modules in the embodiment of the present application is schematic, and is only a logic function division, and there may be another division manner in actual implementation.

As shown in fig. 13, an embodiment of the present application provides a schematic structural diagram of a height detecting apparatus 1300, where the height detecting apparatus 1300 includes: an obtaining module 1301, a determining module 1302, a processing module 1303, and a receiving module 1304.

An obtaining module 1301 is configured to obtain a target image, where the target image includes a target object and one or more first mark points.

The obtaining module 1301 is further configured to obtain a pixel coordinate of a highest position of the target object in the target image; the pixel coordinates are used to indicate the position of the target object that is highest on the pixel in the target image.

The determining module 1302 is further configured to obtain a first geographic coordinate corresponding to a pixel coordinate at the highest position of the target object in the coordinate correspondence; the coordinate corresponding relation comprises a geographical coordinate corresponding to the pixel coordinate of each pixel point in the target image; the geographic coordinates include height information indicating an altitude.

And the processing module 1303 is configured to determine the current height of the target object according to the first geographic coordinate and the second geographic coordinate of the first mark point.

Optionally, the processing module 1303 is specifically configured to determine a difference between a first altitude indicated by the height information in the first geographic coordinate and a second altitude indicated by the height information in the second geographic coordinate as the current height of the target object.

Optionally, the obtaining module 1301 is further configured to obtain a reference image, where a shooting parameter of the reference image is the same as a shooting parameter of the target image; a receiving module 1304 for receiving one or more second landmark points marked in the reference image by the user; the obtaining module 1301 is further configured to obtain a pixel coordinate of the second mark point; the receiving module 1305 is further configured to receive the geographic coordinate of the second landmark point input by the user; the processing module 1304 is further configured to establish a coordinate correspondence relationship according to the pixel coordinate and the geographic coordinate of the second marker point; the coordinate correspondence includes a geographic coordinate corresponding to a pixel coordinate of each pixel point in the image using the shooting parameters.

Optionally, the obtaining module 1301 is further configured to obtain a pixel coordinate of a first marker point in the target image; the obtaining module 1301 is further configured to obtain a second geographic coordinate corresponding to the pixel coordinate of the first mark point in the coordinate correspondence relationship.

Optionally, the second geographic coordinates are input by the user.

Optionally, the determining module 1302 is further configured to determine a detection area of the target object in the target image, where the detection area is used to indicate a height area of the target object from the ground to the expected capping.

Optionally, the processing module 1304 is further configured to determine whether the detection data of the target object triggers an early warning condition; the detection data includes a current height of the target object; if the detection data triggers a first early warning condition, outputting early warning information corresponding to the first early warning condition; the first early warning condition is any early warning condition.

Optionally, the early warning condition includes: the current height of the target object is greater than the design height of the target object; or the current height of the target object is equal to the design height, and the current height of the target object changes within a preset time period; or the current height of the target object is smaller than the design height of the target object, and the current height of the target object is not changed within a preset time period; or the current height of the target object is smaller than the design height of the target object, the current height of the target object changes within a preset time period, and the time for detecting the current height of the target object reaches the planned capping time of the target object.

Optionally, the obtaining module 1301 is further configured to obtain a construction progress of the target object according to the detection data, where the construction progress of the target object is used to indicate a ratio of a current height of the target object to a design height of the target object.

Optionally, the obtaining module 1301 is specifically configured to periodically obtain a target image; alternatively, the target image is acquired at a preset time point.

The embodiment of the application provides a height detection device, includes: one or more processors; one or more memories. Wherein the one or more memories are configured to store computer program code comprising computer instructions that, when executed by the one or more processors, cause the height detection apparatus to perform any of the methods provided by the embodiments described above.

The embodiment of the present application further provides a computer-readable storage medium, which includes computer-executable instructions, and when the computer-executable instructions are executed on a computer, the computer is caused to execute any one of the methods provided by the above embodiments.

The embodiment of the present application further provides a computer program product, where the computer program product includes computer instructions, and when the computer instructions are executed on a computer, the computer can implement any one of the methods provided by the foregoing embodiments.

In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented using a software program, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer-executable instructions. The processes or functions according to the embodiments of the present application are generated in whole or in part when the computer-executable instructions are loaded and executed on a computer. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer executable instructions may be stored on a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, the computer executable instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wire (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). Computer-readable storage media can be any available media that can be accessed by a computer or can comprise one or more data storage devices, such as servers, data centers, and the like, that can be integrated with the media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.

While the present application has been described in connection with various embodiments, other variations to the disclosed embodiments can be understood and effected by those skilled in the art in practicing the claimed application, from a review of the drawings, the disclosure, and the appended claims. In the claims, the word "Comprising" does not exclude other elements or steps, and the word "a" or "an" does not exclude a plurality. A single processor or other unit may fulfill the functions of several items recited in the claims. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage.

Although the present application has been described in conjunction with specific features and embodiments thereof, it will be evident that various modifications and combinations can be made thereto without departing from the spirit and scope of the application. Accordingly, the specification and figures are merely exemplary of the present application as defined in the appended claims and are intended to cover any and all modifications, variations, combinations, or equivalents within the scope of the present 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.

The above description is only an embodiment of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions within the technical scope of the present disclosure should be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A height detection method, comprising:

acquiring a target image, wherein the target image comprises a target object and one or more first mark points;

acquiring the pixel coordinate of the highest position of the target object in the target image; the pixel coordinates are used to indicate a location of the target object that is highest on a pixel in the target image;

acquiring a first geographical coordinate corresponding to a pixel coordinate at the highest position of the target object in the coordinate corresponding relation; the geographic coordinates include height information indicating an altitude;

and determining the current height of the target object according to the first geographic coordinate and the second geographic coordinate of the first mark point.

2. The method of claim 1, further comprising:

acquiring a reference image, wherein the shooting parameters of the reference image are the same as those of the target image;

receiving one or more second mark points marked in the reference image by a user, and acquiring pixel coordinates of the second mark points;

receiving the geographic coordinates of the second mark point input by a user;

establishing the coordinate corresponding relation according to the pixel coordinate and the geographic coordinate of the second mark point; the coordinate correspondence includes a geographic coordinate corresponding to a pixel coordinate of each pixel point in the image shot by the shooting parameter.

3. The method of claim 2, further comprising:

acquiring pixel coordinates of the first mark point in the target image;

and acquiring the second geographic coordinate corresponding to the pixel coordinate of the first mark point in the coordinate corresponding relation.

4. The method of claim 1, further comprising:

determining a detection area of the target object in the target image, wherein the detection area is used for indicating a height area of the target object from the ground to the expected capping.

5. The method according to any one of claims 1 to 4, further comprising:

determining whether the detection data of the target object triggers an early warning condition; the detection data comprises a current height of the target object;

if the detection data triggers a first early warning condition, outputting early warning information corresponding to the first early warning condition; the first early warning condition is any early warning condition; the early warning condition comprises:

the current height of the target object is greater than the design height of the target object;

or,

the current height of the target object is equal to the design height, and the current height of the target object is not changed within a preset time period;

or,

the current height of the target object is smaller than the design height of the target object, and the current height of the target object is not changed within a preset time period;

or,

the current height of the target object is smaller than the design height of the target object, the current height of the target object changes within a preset time period, and the time that the current height of the target object reaches the planned capping time of the target object is detected.

6. The method according to any one of claims 1 to 4, further comprising:

and acquiring the construction progress of the target object according to the detection data of the target object, wherein the construction progress of the target object is used for indicating the ratio of the current height of the target object to the design height of the target object.

7. A height detection device is characterized in that,

the obtaining module is further configured to obtain a pixel coordinate of a highest position of the target object in the target image; the pixel coordinates are used to indicate a location of the target object that is highest on a pixel in the target image;

the determining module is used for acquiring a first geographic coordinate corresponding to a pixel coordinate at the highest position of the target object in the coordinate corresponding relation; the geographic coordinates include height information indicating an altitude;

8. The apparatus of claim 7, further comprising a receiving module;

the acquisition module is further used for acquiring a reference image, and the shooting parameters of the reference image are the same as those of the target image;

the receiving module is used for receiving one or more second mark points marked in the reference image by a user;

the acquisition module is further used for acquiring the pixel coordinates of the second mark point;

the receiving module is further configured to receive the geographic coordinate of the second landmark point input by the user;

the processing module is further configured to establish the coordinate corresponding relationship according to the pixel coordinate and the geographic coordinate of the second marker point; the coordinate corresponding relation comprises a geographical coordinate corresponding to the pixel coordinate of each pixel point in the image shot by adopting the shooting parameters;

the acquisition module is further configured to acquire a pixel coordinate of the first marker point in the target image;

the determining module is further configured to obtain the second geographic coordinate corresponding to the pixel coordinate of the first mark point in the coordinate corresponding relationship;

the determining module is further configured to determine a detection area of the target object in the target image, where the detection area is used to indicate a height area of the target object from the ground to an expected capping;

the processing module is further used for determining whether the detection data of the target object triggers an early warning condition; the detection data comprises a current height of the target object; if the detection data triggers a first early warning condition, outputting early warning information corresponding to the first early warning condition; the first early warning condition is any early warning condition; the early warning condition comprises:

or,

the current height of the target object is smaller than the design height of the target object, the current height of the target object changes within a preset time period, and the time that the current height of the target object reaches the planned capping time of the target object is detected;

the obtaining module is further configured to obtain a construction progress of the target object according to the detection data of the target object, where the construction progress of the target object is used to indicate a ratio of a current height of the target object to a design height of the target object.

9. A height detection device, comprising:

one or more processors;

one or more memories;

wherein the one or more memories are to store computer program code comprising computer instructions that, when executed by the one or more processors, cause the height detection apparatus to perform the method of any of claims 1-6.

10. A computer-readable storage medium comprising computer-executable instructions that, when executed on a computer, cause the computer to perform the method of any of claims 1 to 6.