CN116309824A - Ground water track identification method, device, computer equipment and storage medium - Google Patents
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Abstract
The application relates to a ground water track identification method, a ground water track identification device, computer equipment and a storage medium. The method comprises the following steps: acquiring infrared heat map data to be identified and reference heat map data; marking in the base heat map data to obtain a base reference area, a first temperature reference point and a plurality of characteristic marking points; determining a region to be identified in the infrared heat map data and a position conversion relation between the infrared heat map data and the reference heat map data according to each characteristic mark point and the reference region; determining a second temperature reference point corresponding to the first temperature reference point in the infrared heat map data according to the position conversion relation and the first temperature reference point; determining a temperature correction value according to the first temperature reference point and the second temperature reference point; calculating to obtain a temperature image according to the temperature value of each point in the infrared heat map data, the temperature value of each point in the reference heat map data and the temperature correction value; and performing water trace identification according to the temperature image to obtain an identification result. By adopting the method, the accuracy of water mark identification can be improved.
Description
Technical Field
The present disclosure relates to the field of image processing technologies, and in particular, to a ground water track recognition method, a device, a computer device, and a storage medium.
Background
With the rapid development of nuclear power technology, in order to ensure the safe operation of a nuclear power plant, a pipeline of the nuclear power plant needs to be monitored.
In the related art, whether water tracks exist on the ground or not is monitored through a high-definition camera so as to judge whether leakage exists in a pipeline or not. However, when the ground is smooth, transparent water is not found by the high-definition camera, so that whether water is present on the ground cannot be recognized. That is, the monitoring method in the related art has defects, which easily cause inaccurate water trace identification, so how to improve the accuracy of water trace identification is a technical problem that needs to be solved by those skilled in the art.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a ground water mark recognition method, apparatus, computer device, and storage medium that can improve the accuracy of water mark recognition.
In a first aspect, the present application provides a method for identifying a water trace on a ground. The method comprises the following steps: acquiring infrared heat map data to be identified and reference heat map data corresponding to the infrared heat map data;
Marking in the base heat map data to obtain a base reference area, a first temperature reference point and a plurality of characteristic marking points;
determining a region to be identified in the infrared heat map data and a position conversion relation between the infrared heat map data and the reference heat map data according to the characteristic mark points and the reference region;
determining a second temperature reference point corresponding to the first temperature reference point in the infrared heat map data according to the position conversion relation and the first temperature reference point;
determining a temperature correction value according to the first temperature reference point and the second temperature reference point;
calculating to obtain a temperature image according to the temperature value of each point in the infrared heat map data, the temperature value of each point in the reference heat map data and the temperature correction value;
and performing water trace identification according to the temperature image to obtain an identification result corresponding to the area to be identified.
In one embodiment, the acquiring infrared heat map data to be identified and reference heat map data corresponding to the infrared heat map data includes:
shooting on each preset inspection point to obtain corresponding reference heat map data;
And acquiring infrared heat map data to be identified, and obtaining the reference heat map data according to the infrared heat map data in a matching way.
In one embodiment, the determining, according to each of the feature mark points and the base reference area, a location conversion relationship between an area to be identified in the infrared heat map data and the base heat map data includes:
selecting one characteristic mark point at will from each characteristic mark point as a center, and selecting an infrared data block of a first area from the reference heat map data;
searching a second area with highest similarity with the infrared data block in the infrared heat map data;
acquiring a coordinate position of a maximum value in a second area, and marking the coordinate position as a matching position point corresponding to the characteristic marking point;
the steps are circularly executed until the matching position points corresponding to all the characteristic mark points are obtained;
calculating the distance between each feature mark point to obtain a feature distance, and calculating the distance between each matching position point to obtain a matching distance;
if the difference value between the characteristic distance and the matching distance is smaller than a first threshold value, determining the characteristic mark point as a matching standard point;
And determining the position conversion relation between the region to be identified and the infrared heat map data and the reference heat map data according to the matched reference points and the corresponding matched position points.
In one embodiment, the determining the temperature correction value according to the first temperature reference point and the second temperature reference point includes:
a third area is determined by taking the first temperature reference point as a center, and a temperature average value of the third area is obtained;
a fourth area is determined by taking the second temperature reference point as a center, and a temperature average value of the fourth area is obtained;
and calculating the temperature correction value according to the temperature average value of the third area and the temperature average value of the fourth area.
In one embodiment, the calculating to obtain a temperature image according to the temperature value of each point in the infrared heat map data, the temperature value of each point in the reference heat map data, and the temperature correction value includes:
acquiring temperature values of each point in the infrared heat map data and temperature values of the reference heat map data at corresponding positions;
calculating to obtain a temperature data matrix according to the temperature value of each point in the infrared heat map data, the temperature value of the reference heat map data at the corresponding position and the temperature correction value;
And constructing and obtaining the temperature image according to the temperature data matrix.
In one embodiment, the performing water trace recognition according to the temperature image to obtain a recognition result corresponding to the region to be recognized includes:
acquiring pixel values of all pixel points in the temperature image;
calculating a pixel mean value according to the pixel value of each pixel point;
acquiring the number of pixel points deviating from the preset value of the pixel mean value;
if the number of the pixel points is larger than a second threshold value, the identification result corresponding to the area to be identified is that water tracks exist;
and if the number of the pixel points is smaller than or equal to a second threshold value, the identification result corresponding to the area to be identified is that water marks do not exist.
In one embodiment, the method further comprises:
acquiring a plurality of water trace heat map data of the position where the infrared heat map data belong under the condition that the identification result is that water traces exist;
and superposing the plurality of water trace heat map data on the infrared heat map data to obtain a target water trace map.
In a second aspect, the application also provides a ground water track recognition device. The device comprises:
the data acquisition module is used for acquiring infrared heat map data to be identified and reference heat map data corresponding to the infrared heat map data;
The marking module is used for marking the datum reference area, the first temperature reference point and a plurality of characteristic marking points in the datum heat map data;
the first calculation module is used for determining a region to be identified in the infrared heat map data and a position conversion relation between the infrared heat map data and the reference heat map data according to the characteristic mark points and the base reference region;
the second calculation module is used for determining a second temperature reference point corresponding to the first temperature reference point in the infrared heat map data according to the position conversion relation and the first temperature reference point;
the temperature correction value determining module is used for determining a temperature correction value according to the first temperature reference point and the second temperature reference point;
the temperature image calculation module is used for calculating a temperature image according to the temperature values of each point in the infrared heat map data, the temperature values of each point in the reference heat map data and the temperature correction value;
and the water trace identification module is used for carrying out water trace identification according to the temperature image to obtain an identification result corresponding to the area to be identified.
In a third aspect, the present application also provides a computer device. The computer device comprises a memory and a processor, wherein the memory stores a computer program, and the processor realizes the ground water track identification method when executing the computer program.
In a fourth aspect, the present application also provides a computer-readable storage medium. The computer readable storage medium has stored thereon a computer program which when executed by a processor implements the above-described ground water track identification method.
In a fifth aspect, the present application also provides a computer program product. The computer program product comprises a computer program which, when executed by a processor, implements the above-described ground water track identification method.
According to the ground water mark recognition method, the ground water mark recognition device, the computer equipment and the storage medium, the temperature image is obtained through calculation according to the temperature values of the points in the infrared heat map data, the temperature values of the points in the reference heat map data and the temperature correction values, so that the region to be recognized is separated from the background object in the infrared heat map data, the temperature of the region to be recognized is obtained accurately, the interference of the temperature of the background object to the region to be recognized can be avoided, and the accuracy of water mark recognition is improved.
Drawings
FIG. 1 is a diagram of an application environment for a ground water trace identification method in one embodiment;
FIG. 2 is a flow chart of a method for identifying water trace on the ground in one embodiment;
FIG. 3 is a schematic diagram of baseline heat map data after reference region marking in one embodiment;
FIG. 4 is a schematic diagram of reference heat map data after feature point marking in one embodiment;
FIG. 5 is a schematic diagram of baseline heat map data after first temperature reference point marking, in one embodiment;
FIG. 6 is a flowchart illustrating a step of determining a region to be identified and a position transformation relationship in one embodiment;
FIG. 7 is a schematic diagram of a temperature image in one embodiment;
FIG. 8 is a schematic diagram of a target water trace in one embodiment;
FIG. 9 is a block diagram of a ground water track recognition device in one embodiment;
fig. 10 is an internal structural view of a computer device in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
The ground water track identification method provided by the embodiment of the application can be applied to an application environment shown in fig. 1. Wherein the terminal 102 communicates with the server 104 via a network. The data storage system may store data that the server 104 needs to process, such as reference heat map data. The data storage system may be integrated on the server 104 or may be located on a cloud or other network server. The ground water track recognition method provided in the embodiment of the present application may be executed by the server 104 or the terminal 102, and this embodiment is described by taking the ground water track recognition method executed by the terminal 102 as an example. The terminal 102 obtains infrared heat map data of the amount to be identified and reference heat map data corresponding to the infrared heat map data, marks the reference heat map data to obtain a reference area, a first temperature reference point and a plurality of characteristic mark points, and determines the position conversion relation between the infrared heat map data and between the infrared heat map data according to the characteristic mark points and the reference area; determining a second temperature reference point corresponding to the first temperature reference point in the infrared heat map data according to the position conversion relation and the first temperature reference point; determining a temperature correction value according to the first temperature reference point and the second temperature reference point; calculating to obtain a temperature image according to the temperature value of each point in the infrared heat map data, the temperature value of each point in the reference heat map data and the temperature correction value; and performing water trace identification according to the temperature image to obtain an identification result corresponding to the area to be identified. The terminal 102 may be, but is not limited to, various personal computers, notebook computers, smart phones, tablet computers. The portable wearable device may be a smart watch, smart bracelet, headset, or the like. The server 104 may be implemented as a stand-alone server or as a server cluster of multiple servers.
In one embodiment, as shown in fig. 2, a ground water track recognition method is provided, and the method is applied to the terminal 102 in fig. 1 for illustration, and includes the following steps:
The infrared heat map data may refer to infrared image data of water tracks to be identified for characterizing the inspection points. The infrared heat map data can be image data obtained by real-time shooting of an infrared camera or a thermal infrared imager at a patrol point.
The reference heat map data may refer to infrared standard image data used to characterize the inspection point. The reference heat map data can be obtained by shooting and storing the reference heat map data in each inspection point position through an infrared camera or a thermal infrared imager in advance. The reference heat map data may be stored in a storage unit on the terminal or may be stored in a data storage system of the server.
For example, infrared heat map data obtained by shooting at the inspection point position can be obtained through a network, and then the infrared heat map data is matched in a server to obtain reference heat map data corresponding to the infrared heat map data.
For example, infrared heat map data can be obtained by shooting the inspection robot at each inspection point, then the terminal receives the infrared heat map data sent by the inspection robot, determines the corresponding inspection point, and then obtains the reference heat map data of the inspection point in the server.
And step 204, marking the obtained datum reference area, the first temperature reference point and a plurality of characteristic marking points in the datum heat map data.
The baseline reference area may refer to a position area in the baseline heat map data, where water trace monitoring is required.
The first temperature reference point may refer to a position point in the base heat map data, which is substantially identical to the ambient temperature except for the base reference region, and which does not leak a water trace position. The first temperature reference point is a baseline temperature reference point for the ambient temperature in the baseline heat map data. The first temperature reference point may be a fixed bracket of the pipe or a wall beside or the like, as when identifying the water trace of the leaking water of the pipe in the nuclear power plant.
The signature points may refer to location reference points in the baseline heat map data. The feature-marker points typically need to be marked more than 4, i.e. the feature-marker points typically are at least 4.
For example, referring to fig. 3, 4 and 5, a polygon marking is adopted to mark a base reference area on base heat map data (fig. 3), then 4 feature mark points are marked on the base heat map data (fig. 4), and a first temperature reference point is marked on a fixed support of a pipeline displayed by the base heat map data (fig. 5).
And 206, determining the region to be identified in the infrared heat map data and the position conversion relation between the infrared heat map data and the reference heat map data according to the feature mark points and the reference region.
The region to be identified may refer to a region to be identified, which is used for representing the water trace to be identified, in the infrared heat map data.
The positional conversion relationship may refer to a conversion relationship between the coordinate position in the infrared heat map data and the coordinate position in the reference heat map data.
For example, the matching position points corresponding to the feature mark points on the infrared heat map data can be determined according to 4 feature mark points in the reference heat map data, and then the position conversion relation is calculated according to the coordinate positions of the matching position points on the infrared heat map data and the coordinate positions of the feature mark points on the reference heat map data.
And step 208, determining a second temperature reference point corresponding to the first temperature reference point in the infrared heat map data according to the position conversion relation and the first temperature reference point.
The second temperature reference point may refer to a position point in the infrared heat map data, except for the region to be identified, where the temperature is substantially consistent with the ambient temperature and the water trace position is not leaked. The second temperature reference point may be a position point corresponding to the first temperature reference point in the infrared heat map data.
For example, a second temperature reference point corresponding to the first temperature reference point in the infrared heat map data may be calculated according to the position conversion relationship and the first temperature reference point calculated in the foregoing steps.
The temperature correction value may be a value for correcting the temperature reference data. The temperature correction value is used for correcting the temperature reference data so as to ensure that the ambient temperature of the reference heat map data is basically consistent with the background temperature of the infrared heat map data to be identified.
For example, a temperature value corresponding to the first temperature reference point and a temperature value corresponding to the second temperature reference point may be acquired, and then the corresponding temperature correction value may be determined according to the temperature value of the first temperature reference point and the temperature value of the second temperature reference point.
And 212, calculating to obtain a temperature image according to the temperature values of each point in the infrared heat map data, the temperature values of each point in the reference heat map data and the temperature correction value.
The temperature image may be an image that is obtained by removing a background object in the infrared heat map data and that represents only the temperature data in the infrared heat map data. The background object may refer to a pipeline, a fixed bracket, a wall and other background elements in the infrared heat map data. The temperature image can show whether the infrared heat map data includes water trace.
The temperature image is calculated according to the temperature value of each point in the infrared heat map data, the temperature value of each point in the reference heat map data, the temperature correction value and the position conversion relation.
For example, firstly, determining temperature difference values corresponding to each point according to the position conversion relation, the temperature values of each point in the infrared heat map data and the temperature values of each point in the reference heat map data, then calculating according to the temperature difference values and the temperature correction values to obtain a temperature data matrix, and then determining corresponding temperature images according to the temperature data matrix.
When the water trace on the ground exists for a certain time, the temperature of the water trace approaches to the ambient temperature (background temperature), and the infrared images of the water trace at the same temperature in different backgrounds also differ. Therefore, due to the interference of the ambient temperature, the water mark can not be identified directly through the infrared heat map data corresponding to the inspection point position, and the interference of the ambient temperature corresponding to the background object on the water mark identification can be removed through removing the background object in the infrared heat map data, so that the accuracy of the water mark identification is improved.
And step 214, performing water trace identification according to the temperature image to obtain an identification result corresponding to the area to be identified.
The recognition result may refer to a result of water trace recognition. The identification result is the result that the water mark exists in the area to be identified or the result that the water mark does not exist in the area to be identified.
For example, a temperature abnormal point can be found in the temperature image, so as to realize water trace identification according to the temperature abnormal point, and an identification result corresponding to the area to be identified is obtained.
According to the ground water mark recognition method, the temperature image is obtained through calculation according to the temperature values of the points in the infrared heat map data and the temperature values and the temperature correction values of the points in the reference heat map data, so that the region to be recognized is separated from the background object in the infrared heat map data, the temperature of the region to be recognized is obtained accurately, the interference of the temperature of the background object to the region to be recognized can be avoided, and the accuracy of water mark recognition is improved.
In some embodiments, the step of "obtaining infrared heat map data to be identified and reference heat map data corresponding to the infrared heat map data" includes, but is not limited to, the steps of: shooting on each preset inspection point to obtain corresponding reference heat map data; and acquiring infrared heat map data to be identified, and obtaining reference heat map data according to the infrared heat map data matching.
The inspection point location may refer to a preset location point for performing water trace identification.
The method includes the steps that a routing inspection point position can be set at each position point to be subjected to water mark identification, a routing inspection line is built according to each routing inspection point position, a preset program is written in a robot carrying an infrared camera or an infrared thermal imager, the robot is enabled to conduct routing inspection according to the routing inspection line, infrared heat map data corresponding to each routing inspection point position are obtained through shooting, and after the infrared heat map data are obtained through shooting, the infrared heat map data are sent to a server or a terminal through a network. The terminal receives the infrared heat map data and matches the infrared heat map data from the server or a storage unit of the terminal to obtain corresponding reference heat map data (for example, when the infrared heat map data is sent to the server, the terminal can obtain the infrared heat map data and the corresponding reference heat map data from the server).
As shown in fig. 6, in some embodiments, step 206 includes, but is not limited to, the steps of:
The first region may refer to a region constructed by pre-selecting a preset length and a preset width. The center of the first region is a feature marker point. If the length and width of the first region are both M. M may take 21 pixels.
For example, if the feature mark points are respectively named as S1, S2, S3 and S4, for the feature mark point S1, an area with a length and a width of 21 pixels may be selected with S1 as the center, to obtain a first area, and then data of the first area in the reference heat map data is acquired, to obtain an infrared data block, where the infrared data block may be denoted by T.
It should be noted that the acquisition of the infrared data block of the other mark points may be similar to the characteristic mark point S1.
The second region may refer to a region of the infrared heat map data having the highest similarity with the data in the infrared data block.
For example, a global search may be performed in the infrared heat map data to search for a second region with the highest similarity to the infrared database.
For example, the similarity may be calculated by the following formula (1), where formula (1) is specifically:
wherein S is ij The method can refer to an infrared data block with the length and the width of M taking a coordinate (i, j) as a center in infrared heat map data, wherein the value range of i is M/2 to (W-M/2), the value range of j is (M/2) to (H-M/2), W is the width of the infrared heat map data, H is the length of the infrared heat map data, and T is the infrared heat map data in reference heat map data.
In step 606, the coordinate position of the maximum value in the second area is obtained, and the coordinate position is marked as a matching position point corresponding to the feature marking point.
Wherein the coordinate position may refer to the position of the coordinates of the maximum value in R (i, j).
The matching location points may refer to location points in the infrared heat map data that match the feature tag points.
If the searching method of step 604 is used, a second area of the infrared data block with the maximum similarity of the feature mark point S1 is searched in the infrared heat map data, then the center position of the second area is obtained, a corresponding coordinate position is obtained, and the coordinate position is marked as a matching position point T1 of the feature mark point S1.
Illustratively, steps 602 to 606 are circularly performed until the matching location points corresponding to the respective feature-label points are obtained, that is, the matching location points T1 to T4 corresponding to the feature-label points S1 to S4 need to be obtained.
Wherein the feature distance may refer to a distance between feature marker points.
The matching distance may refer to a distance between matching location points.
As for the feature-marker point S1, euclidean distances between the feature-marker point S1 and the feature-marker points S2, S3, S4 can be calculated, resulting in a feature distance between S1 to S2, a feature distance between S1 to S3, a feature distance between S1 to S4. And calculating Euclidean distances between the corresponding matching position point T1 and each matching position point T2, T3 and T4 to obtain matching distances between T1 and T2, between T1 and T3 and between T1 and T4.
In step 612, if the difference between the feature distance and the matching distance is smaller than the first threshold, the feature mark point is determined to be the matching alignment point.
Wherein the first threshold is a preset threshold.
The matching reference points may refer to location points where the reference heat map data and the infrared heat map data match.
Illustratively, the feature marker point S1 is set as the matching alignment point when the difference between the feature distance between S1 to S2 and the matching distance between T1 to T2 is less than a first threshold, the difference between the feature distance between S1 to S3 and the matching distance between T1 to T3 is less than a first threshold, and the difference between the feature distance between S1 to S4 and the matching distance between T1 to T4 is less than a first threshold.
And step 614, determining the position conversion relation between the region to be identified and the infrared heat map data and the reference heat map data according to the matched reference points and the corresponding matched position points.
For example, a position conversion relationship may be calculated according to the coordinate positions of the matching position points T1 to T4 and the coordinate positions of the matching reference points, and then the corresponding region to be identified may be determined according to the position conversion relationship and the base reference region.
According to the technical scheme, the matching position points corresponding to the characteristic mark points can be determined through the global searching method, and then the position conversion relation is determined according to the matching position points and the characteristic mark points, so that the calculation of the temperature reference points is convenient to realize subsequently, and the accuracy of water trace identification is improved.
In some embodiments, step 210 includes, but is not limited to, the steps of: a third area is determined by taking the first temperature reference point as a center, and the temperature average value of the third area is obtained; determining a fourth area by taking the second temperature reference point as a center, and acquiring a temperature average value of the fourth area; and calculating to obtain a temperature correction value according to the temperature average value of the third area and the temperature average value of the fourth area.
The third region may refer to a region surrounded by K in the base heat map data with the first temperature reference point as the center and the length and width of the region being K. For example, K may be 5.
The fourth region may refer to a region surrounded by the second temperature reference point as a center and the length and width of the second temperature reference point and K in the infrared heat map data.
For example, the temperature value of each point in the third area may be obtained, then the temperature average value of the third area may be calculated, the temperature value of each point in the fourth area may be obtained, then the temperature average value of the fourth area may be calculated, and then the temperature correction value may be obtained through the temperature average value of the third area and the temperature average value of the fourth area.
For example, the temperature correction value may be a difference obtained by subtracting the temperature average value of the fourth region from the temperature average value of the third region.
According to the technical scheme, the temperature correction value is obtained through the calculation of the temperature value of the third area and the temperature value of the fourth area, so that the temperature correction is conveniently realized, the background temperature of the infrared heat map data is ensured to be basically consistent with the background temperature of the reference heat map data, the interference of temperature difference on water mark recognition is avoided, and the accuracy of water mark recognition is improved.
As shown in fig. 7, in some embodiments, step 212 includes, but is not limited to, the steps of: acquiring temperature values of each point in the infrared heat map data and temperature values of reference heat map data at corresponding positions; calculating to obtain a temperature data matrix according to the temperature value of each point in the infrared heat map data, the temperature value and the temperature correction value of the reference heat map data at the corresponding position; and constructing a temperature image according to the temperature data matrix.
Wherein the temperature data matrix may refer to a matrix used to characterize the temperature data of each point.
Illustratively, the temperature data matrix may be calculated by the following formula (2), where formula (2) is specifically:
V(i,j)＝V0(i,j)-V1(i,j)-Vd (2)
wherein V0 (i, j) is a temperature value corresponding to the coordinate position (i, j) in the reference heat map data, V1 (i, j) is a temperature value corresponding to the coordinate position (i, j) in the infrared heat map data, and Vd is a temperature correction value.
After the temperature data matrix is calculated according to the above formula (2), a temperature image is constructed according to the temperature data matrix, and the temperature image may be as shown in fig. 7.
According to the technical scheme, the temperature image is obtained through construction, so that interference of a background object on water trace identification is avoided, and accuracy of water trace identification is improved.
In some embodiments, step 212 includes, but is not limited to, the steps of: acquiring pixel values of all pixel points in the temperature image; calculating according to the pixel value of each pixel point to obtain a pixel mean value; acquiring the number of pixel points deviating from a preset value of a pixel mean value; if the number of the pixel points is larger than a second threshold value, the identification result corresponding to the area to be identified is that water tracks exist; if the number of the pixel points is smaller than or equal to the second threshold value, the identification result corresponding to the area to be identified is that water marks do not exist.
The average value preset value may refer to a preset percentage of the average value of the pixels. The preset value of the average value may be 10% of the average value of the pixels. The offset average preset value may refer to being greater than or less than the average preset value. Shifting the pixel mean by 10% means that the pixel value is less than 90% and greater than 110% of the pixel mean.
The second threshold may refer to a preset threshold. The second threshold may be 60, for example.
For example, the pixel value of each pixel in the temperature image may be obtained, then the pixel mean value is calculated, and the number of pixels corresponding to the pixel value which deviates by 10% from the pixel mean value is obtained, if the number of pixels is greater than a second threshold (e.g. 60), it is determined that the ground has a trace of water leakage, that is, the recognition result is that there is a water trace; if the number of the pixel points is smaller than or equal to the second threshold value, judging that the ground is free of water leakage traces, namely, the recognition result is that no water trace exists.
In some embodiments, as shown in fig. 8, in some embodiments, the ground water track identification method further includes, but is not limited to, the steps of: acquiring a plurality of water trace heat map data of the position where the infrared heat map data belong under the condition that the identification result is that water traces exist; and superposing the plurality of water trace heat map data on the infrared heat map data to obtain a target water trace map.
The position to which the infrared heat map data belongs may refer to a patrol point corresponding to the infrared heat map data.
The water trace heat map data may refer to infrared image data collected at the inspection point location.
The superposition of the plurality of water trace heat map data can be that the water trace heat map data according to the corresponding position points is directly accumulated.
The target water trace map may refer to infrared image data obtained by superimposing water trace heat map data and infrared heat map data.
When it is determined that the trace point has a water trace, a plurality of infrared images may be continuously collected at the trace point at preset time intervals to obtain a plurality of water trace heat map data, and then the water trace heat map data is superimposed on the infrared heat map data according to the matching alignment point and the position conversion relationship obtained in the foregoing steps to obtain a corresponding target water trace map.
If it is determined that the water trace exists at the inspection point, the robot continuously collects 10 pieces of infrared image data at intervals of 1 minute for the inspection point to obtain 10 pieces of water trace heat map data, and then superimposes the water trace heat map data on the infrared heat map data according to the matching alignment points and the position conversion relation obtained in the previous step to obtain a corresponding target water trace map, wherein the target water trace map is shown in fig. 8.
According to the technical scheme, under the condition that the water mark exists as the identification result, a plurality of water mark heat map data of the position where the infrared heat map data belong are obtained, the plurality of water mark heat map data are overlapped on the infrared heat map data, a target water mark map is obtained, the display effect of the water mark can be increased, and therefore management staff or operation and maintenance staff can observe the water mark effect of the ground manually.
It should be understood that, although the steps in the flowcharts related to the above embodiments are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described in the above embodiments may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily performed sequentially, but may be performed alternately or alternately with at least some of the other steps or stages.
Based on the same inventive concept, the embodiment of the application also provides a ground water track recognition device for realizing the ground water track recognition method. The implementation of the solution provided by the device is similar to the implementation described in the method above.
In one embodiment, as shown in fig. 9, there is provided a ground water track recognition device, including:
the data acquisition module 902 is configured to acquire infrared heat map data to be identified and reference heat map data corresponding to the infrared heat map data.
The marking module 904 is configured to mark the obtained baseline reference area, the first temperature reference point and the plurality of feature mark points in the baseline heat map data.
And a first calculation module 906, configured to determine, according to each feature mark point and the base reference area, a region to be identified in the infrared heat map data and a positional conversion relationship between the infrared heat map data and the base heat map data.
The second calculation module 908 is configured to determine, according to the position conversion relationship and the first temperature reference point, a second temperature reference point corresponding to the first temperature reference point in the infrared heat map data.
The temperature correction value determining module 910 is configured to determine a temperature correction value according to the first temperature reference point and the second temperature reference point.
The temperature image calculation module 912 is configured to calculate a temperature image according to the temperature values of the points in the infrared heat map data, the temperature values of the points in the reference heat map data, and the temperature correction values.
The water trace recognition module 914 is configured to perform water trace recognition according to the temperature image, and obtain a recognition result corresponding to the region to be recognized.
In some embodiments, the data acquisition module is further configured to shoot at each preset inspection point to obtain corresponding reference heat map data; and acquiring infrared heat map data to be identified, and obtaining reference heat map data according to the infrared heat map data matching.
In some embodiments, the first calculation module is further configured to arbitrarily select one feature marker point from the feature marker points as a center, and select an infrared data block of the first area from the reference heat map data; searching a second area with highest similarity with the infrared data block in the infrared heat map data; acquiring the coordinate position of the maximum value in the second area, and marking the coordinate position as a matching position point corresponding to the feature mark point; the steps are circularly executed until the matching position points corresponding to all the characteristic mark points are obtained; calculating the distance between each feature mark point to obtain a feature distance, and calculating the distance between each matching position point to obtain a matching distance; if the difference value between the characteristic distance and the matching distance is smaller than a first threshold value, determining the characteristic mark point as a matching alignment point; and determining the position conversion relation between the region to be identified and the infrared heat map data and the reference heat map data according to the matched reference points and the corresponding matched position points.
In some embodiments, the temperature correction value determining module is further configured to determine a third area with the first temperature reference point as a center, and obtain a temperature average value of the third area; determining a fourth area by taking the second temperature reference point as a center, and acquiring a temperature average value of the fourth area; and calculating to obtain a temperature correction value according to the temperature average value of the third area and the temperature average value of the fourth area.
In some embodiments, the temperature image calculation module is further configured to obtain a temperature value of each point in the infrared heat map data, and a temperature value of the reference heat map data at a corresponding position; calculating to obtain a temperature data matrix according to the temperature value of each point in the infrared heat map data, the temperature value and the temperature correction value of the reference heat map data at the corresponding position; and constructing a temperature image according to the temperature data matrix.
In some embodiments, the water trace identification module is further configured to obtain a pixel value of each pixel point in the temperature image; calculating according to the pixel value of each pixel point to obtain a pixel mean value; acquiring the number of pixel points deviating from a preset value of a pixel mean value; if the number of the pixel points is larger than a second threshold value, the identification result corresponding to the area to be identified is that water tracks exist; if the number of the pixel points is smaller than or equal to the second threshold value, the identification result corresponding to the area to be identified is that water marks do not exist.
In some embodiments, the ground water track identification device further includes, but is not limited to:
and the water trace heat map data acquisition module is used for acquiring a plurality of water trace heat map data of the position where the infrared heat map data belong when the identification result is that the water trace exists.
And the superposition module is used for superposing the plurality of water trace heat map data on the infrared heat map data to obtain a target water trace map.
The above-mentioned various modules in the ground water track recognition device may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, a computer device is provided, which may be a terminal, and an internal structure diagram thereof may be as shown in fig. 10. The computer device includes a processor, a memory, an input/output interface, a communication interface, a display unit, and an input means. The processor, the memory and the input/output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input/output interface. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input/output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless mode can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a ground water track identification method. The display unit of the computer device is used for forming a visual picture, and can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, can also be a key, a track ball or a touch pad arranged on the shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.
It will be appreciated by those skilled in the art that the structure shown in fig. 10 is merely a block diagram of some of the structures associated with the present application and is not limiting of the computer device to which the present application may be applied, and that a particular computer device may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, including a memory and a processor, the memory storing a computer program, the processor implementing the above-described ground water trace identification method when executing the computer program.
In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, which when executed by a processor implements the above-described ground water mark recognition method.
In one embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the above-described ground water track identification method.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, database, or other medium used in the various embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high density embedded nonvolatile Memory, resistive random access Memory (ReRAM), magnetic random access Memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (Phase Change Memory, PCM), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in the form of a variety of forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), and the like. The databases referred to in the various embodiments provided herein may include at least one of relational databases and non-relational databases. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processors referred to in the embodiments provided herein may be general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic units, quantum computing-based data processing logic units, etc., without being limited thereto.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples only represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the present application. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application shall be subject to the appended claims.
Claims (10)
1. A method of ground water mark identification, the method comprising:
acquiring infrared heat map data to be identified and reference heat map data corresponding to the infrared heat map data;
marking in the base heat map data to obtain a base reference area, a first temperature reference point and a plurality of characteristic marking points;
determining a region to be identified in the infrared heat map data and a position conversion relation between the infrared heat map data and the reference heat map data according to the characteristic mark points and the reference region;
Determining a second temperature reference point corresponding to the first temperature reference point in the infrared heat map data according to the position conversion relation and the first temperature reference point;
determining a temperature correction value according to the first temperature reference point and the second temperature reference point;
calculating to obtain a temperature image according to the temperature value of each point in the infrared heat map data, the temperature value of each point in the reference heat map data and the temperature correction value;
and performing water trace identification according to the temperature image to obtain an identification result corresponding to the area to be identified.
2. The method of claim 1, wherein the acquiring infrared heat map data to be identified and reference heat map data corresponding to the infrared heat map data comprises:
shooting on each preset inspection point to obtain corresponding reference heat map data;
and acquiring infrared heat map data to be identified, and obtaining the reference heat map data according to the infrared heat map data in a matching way.
3. The method according to claim 1, wherein determining the region to be identified in the infrared heat map data and the positional conversion relationship between the infrared heat map data and the reference heat map data based on each of the feature mark points and the base reference region includes:
Selecting one characteristic mark point at will from each characteristic mark point as a center, and selecting an infrared data block of a first area from the reference heat map data;
searching a second area with highest similarity with the infrared data block in the infrared heat map data;
acquiring a coordinate position of a maximum value in a second area, and marking the coordinate position as a matching position point corresponding to the characteristic marking point;
the steps are circularly executed until the matching position points corresponding to all the characteristic mark points are obtained;
calculating the distance between each feature mark point to obtain a feature distance, and calculating the distance between each matching position point to obtain a matching distance;
if the difference value between the characteristic distance and the matching distance is smaller than a first threshold value, determining the characteristic mark point as a matching standard point;
and determining the position conversion relation between the region to be identified and the infrared heat map data and the reference heat map data according to the matched reference points and the corresponding matched position points.
4. The method of claim 1, wherein said determining a temperature correction value based on said first temperature reference point and said second temperature reference point comprises:
A third area is determined by taking the first temperature reference point as a center, and a temperature average value of the third area is obtained;
a fourth area is determined by taking the second temperature reference point as a center, and a temperature average value of the fourth area is obtained;
and calculating the temperature correction value according to the temperature average value of the third area and the temperature average value of the fourth area.
5. The method according to claim 1, wherein calculating a temperature image from the temperature values of the points in the infrared heat map data, the temperature values of the points in the reference heat map data, and the temperature correction values comprises:
acquiring temperature values of each point in the infrared heat map data and temperature values of the reference heat map data at corresponding positions;
calculating to obtain a temperature data matrix according to the temperature value of each point in the infrared heat map data, the temperature value of the reference heat map data at the corresponding position and the temperature correction value;
and constructing and obtaining the temperature image according to the temperature data matrix.
6. The method according to any one of claims 1 to 5, wherein the performing water trace recognition according to the temperature image to obtain a recognition result corresponding to the region to be recognized includes:
Acquiring pixel values of all pixel points in the temperature image;
calculating a pixel mean value according to the pixel value of each pixel point;
acquiring the number of pixel points deviating from the preset value of the pixel mean value;
if the number of the pixel points is larger than a second threshold value, the identification result corresponding to the area to be identified is that water tracks exist;
and if the number of the pixel points is smaller than or equal to a second threshold value, the identification result corresponding to the area to be identified is that water marks do not exist.
7. The method according to any one of claims 1 to 5, further comprising:
acquiring a plurality of water trace heat map data of the position where the infrared heat map data belong under the condition that the identification result is that water traces exist;
and superposing the plurality of water trace heat map data on the infrared heat map data to obtain a target water trace map.
8. A ground water track identification device, the device comprising:
the data acquisition module is used for acquiring infrared heat map data to be identified and reference heat map data corresponding to the infrared heat map data;
the marking module is used for marking the datum reference area, the first temperature reference point and a plurality of characteristic marking points in the datum heat map data;
The first calculation module is used for determining a region to be identified in the infrared heat map data and a position conversion relation between the infrared heat map data and the reference heat map data according to the characteristic mark points and the base reference region;
the second calculation module is used for determining a second temperature reference point corresponding to the first temperature reference point in the infrared heat map data according to the position conversion relation and the first temperature reference point;
the temperature correction value determining module is used for determining a temperature correction value according to the first temperature reference point and the second temperature reference point;
the temperature image calculation module is used for calculating a temperature image according to the temperature values of each point in the infrared heat map data, the temperature values of each point in the reference heat map data and the temperature correction value;
and the water trace identification module is used for carrying out water trace identification according to the temperature image to obtain an identification result corresponding to the area to be identified.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1 to 7 when the computer program is executed.
10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 7.
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