CN112987006A - High-altitude parabolic monitoring method and device based on laser radar and computer equipment - Google Patents
High-altitude parabolic monitoring method and device based on laser radar and computer equipment Download PDFInfo
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Abstract
The application relates to a high-altitude parabolic monitoring method and device based on a laser radar, computer equipment and a storage medium. The method comprises the following steps: acquiring the distance between the roof of a building to be monitored and the ground as the height of the building; detecting the peripheral area of the building to be monitored in real time according to the laser radar, and judging whether the peripheral area of the building to be monitored is parabolic or not; if a peripheral area of a building to be monitored is parabolic, acquiring the distance between the parabola and the laser radar as a parabolic distance through the laser radar; and calculating the height between the parabola and the ground according to the building height and the parabola distance. By adopting the method, the accuracy of monitoring the high-altitude parabolic object can be improved.
Description
Technical Field
The application relates to the technical field of laser radars, in particular to a high-altitude parabolic monitoring method and device based on a laser radar, computer equipment and a storage medium.
Background
With the improvement of the quality of life of people and the progress of social technology, more and more intelligent technologies are rushed into the aspects of community life, and particularly, the population is concentrated and the size is increased due to the promotion of the current urbanization progress. However, as urbanization progresses, some problems are highlighted, such as high altitude throwing, becoming bombs hanging over cities. The serious consequences caused by some recent high-altitude parabolic events also arouse the attention of people on high-altitude parabolic, and more high-altitude parabolic technologies are produced. The image video processing method and the hardware induction equipment are adopted to carry out high-altitude parabolic early warning and intelligent video evidence obtaining, so that the inspection and elimination work of potential high-altitude parabolic dangerous goods of the building can be realized by increasing the strength.
In the prior art, a high-frequency camera is mainly used for capturing a parabola at multiple times, a velocimeter is used for calculating according to pictures shot at different times to obtain the speed corresponding to the shooting time, and then the throw height of the parabola is calculated and obtained by combining a formula. When the object throwing monitoring is carried out by the velocimeter according to pictures shot at different moments, the existing high-altitude object throwing monitoring method has the defect of high false alarm rate due to the fact that scenes at a building window body are various and complex, and light rays are unstable and other objective factors exist.
Disclosure of Invention
In view of the foregoing, there is a need to provide a high altitude parabolic monitoring method and apparatus based on lidar, a computer device and a storage medium, which can improve the high altitude parabolic monitoring accuracy.
A high altitude parabolic monitoring method based on a laser radar, the method comprising:
acquiring the distance between the roof of a building to be monitored and the ground as the height of the building;
detecting the peripheral area of the building to be monitored in real time according to the laser radar, and judging whether the peripheral area of the building to be monitored is parabolic or not;
if a peripheral area of a building to be monitored is parabolic, acquiring the distance between the parabola and the laser radar as a parabolic distance through the laser radar;
and calculating the height between the parabola and the ground according to the building height and the parabola distance.
In one embodiment, the method further comprises the following steps: and arranging a laser radar at the roof eave of the building to be monitored.
In one embodiment, the method further comprises the following steps: controlling at least one laser to emit a detection laser beam to the peripheral area of the building to be monitored and receiving an echo reflected by the detection laser beam;
and judging whether the peripheral area of the building to be monitored is parabolic or not based on the echo reflected by the detection laser beam.
In one embodiment, the method further comprises the following steps: and comparing the echo reflected by the detection laser beam with the echo reflected by the ground, and if the echo reflected by the detection laser beam is different from the echo reflected by the ground, judging that the peripheral area of the building to be monitored has parabola.
In one embodiment, the method further comprises the following steps: if the peripheral area of the building to be monitored is parabolic, controlling at least one laser to emit a detection laser beam to the peripheral area of the building to be monitored;
calculating the parabolic distance from the echo of the parabola at the point just thrown, based on the echo reflected by the probe laser beam.
In one embodiment, the method further comprises the following steps: and calculating the difference value between the building height and the parabolic distance as the height between the parabola and the ground.
In one embodiment, the method further comprises the following steps: acquiring the floor height of the building to be monitored;
and calculating the quotient of the height between the parabola and the ground and the floor height to obtain the floor thrown by the parabola.
A lidar-based high altitude parabolic monitoring apparatus, the apparatus comprising:
the building height acquisition module is used for acquiring the distance between the roof and the ground as the building height through a laser radar;
the system comprises a parabolic judging module, a data processing module and a data processing module, wherein the parabolic judging module is used for detecting the peripheral area of a building to be monitored in real time according to the laser radar and judging whether the peripheral area of the building to be monitored is parabolic or not;
the distance acquisition module is used for acquiring the distance between a parabola and the laser radar as a parabola distance through the laser radar if the parabola appears in the peripheral area of the building to be monitored;
and the height calculating module is used for calculating the height between the parabola and the ground according to the building height and the parabola distance.
A computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:
acquiring the distance between the roof and the ground as the height of the building;
detecting the peripheral area of the building to be monitored in real time according to the laser radar, and judging whether the peripheral area of the building to be monitored is parabolic or not;
if a peripheral area of a building to be monitored is parabolic, acquiring the distance between the parabola and the laser radar as a parabolic distance through the laser radar;
and calculating the height between the parabola and the ground according to the building height and the parabola distance.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
acquiring the distance between the roof and the ground as the height of the building;
detecting the peripheral area of the building to be monitored in real time according to the laser radar, and judging whether the peripheral area of the building to be monitored is parabolic or not;
if a peripheral area of a building to be monitored is parabolic, acquiring the distance between the parabola and the laser radar as a parabolic distance through the laser radar;
and calculating the height between the parabola and the ground according to the building height and the parabola distance.
According to the high-altitude parabolic monitoring method and device based on the laser radar, the distance between the roof and the ground is acquired as the height of the building, the peripheral area of the building to be monitored is detected in real time according to the laser radar, and whether the peripheral area of the building to be monitored is parabolic or not is judged; when a peripheral area of a building to be monitored is parabolic, acquiring the distance between the parabola and the laser radar as a parabolic distance through the laser radar; and finally, calculating the height between the parabola and the ground according to the building height and the parabola distance. The high-altitude parabolic monitoring method based on the laser radar is realized, the influence of uncertain factors for acquiring high-altitude parabolic information by image shooting on results is avoided, and the accuracy of high-altitude parabolic monitoring is improved.
Drawings
FIG. 1 is a diagram of an application environment of a high altitude parabolic monitoring method based on a lidar in an embodiment;
FIG. 2 is a schematic flow chart of a high altitude parabolic monitoring method based on a lidar in one embodiment;
FIG. 3 is a schematic diagram of a high altitude parabolic monitoring method based on a lidar in another embodiment;
FIG. 4 is a block diagram of an embodiment of a high altitude parabolic monitoring apparatus based on lidar;
FIG. 5 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The dimension reduction method for time series data provided by the application can be applied to the application environment shown in fig. 1. Wherein the terminal 102 communicates with the server 104 via a network. The terminal 102 and the server 104 may be respectively and independently used for executing the laser radar-based high altitude parabolic monitoring method provided by the present application. The terminal 102 and the server 104 may also be used to cooperatively perform the lidar-based high altitude parabolic monitoring method provided by the present application. For example, the server 104 is configured to obtain a distance between a roof and the ground as a floor height; detecting the peripheral area of the building to be monitored in real time according to the laser radar, and judging whether the peripheral area of the building to be monitored is parabolic or not; if a peripheral area of a building to be monitored is parabolic, acquiring the distance between the parabola and the laser radar as a parabolic distance through the laser radar; and calculating the height between the parabola and the ground according to the building height and the parabola distance.
The terminal 102 may be, but not limited to, a laser radar capable of performing laser detection, and the server 104 may be implemented by an independent server or a server cluster composed of a plurality of servers.
In one embodiment, as shown in fig. 2, there is provided a high altitude parabolic monitoring method based on lidar, which is illustrated by applying the method to the server 104 in fig. 1, and includes the following steps:
step 202, obtaining the distance between the roof of the building to be monitored and the ground as the height of the building.
Specifically, the distance between the roof and the ground is a height value of the roof in a direction perpendicular to the ground, and the method for specifically acquiring the distance between the roof and the ground is not particularly limited, and may be acquired by various measurement methods, such as querying building design data, laser radar measurement, and the like. For example, when the building height is measured by the laser radar, a detection signal is sent out by taking any ground object or ground as a reference object, and the building height of the laser radar system from the ground is obtained by receiving the reflected signal and calculating.
And 204, detecting the peripheral area of the building to be monitored in real time according to the laser radar, and judging whether the peripheral area of the building to be monitored is parabolic or not.
The laser radar is a radar system that detects a characteristic quantity such as a position and a velocity of a target by emitting a laser beam. The working principle is to transmit a detection signal (laser beam) to a target, then compare the received signal (target echo) reflected from the target with the transmitted signal, and after appropriate processing, obtain the relevant information of the target, such as target distance, azimuth, height, speed, attitude, shape and other parameters.
Specifically, a laser radar is installed on the top roof eaves of a high-rise building for monitoring in real time, and initialization is performed after installation is completed. After initialization is completed, detecting the peripheral area of the building to be monitored in real time, and judging whether the peripheral area of the building to be monitored is parabolic or not. The echo of the laser radar is greatly different when the peripheral area of the building to be monitored is parabolic and does not have parabolic, so that whether the peripheral area of the building to be monitored is parabolic or not can be judged according to the received echo of the laser radar.
For example, when a camera with a laser radar shoots, the distance from an object in the peripheral area of a building to be monitored to the laser radar can be acquired in real time, so that the distance from the object in the peripheral area of the building to be monitored to the laser radar can be continuously increased by judging, the object in the peripheral area is determined to be a parabolic object, and meanwhile, the height from the original ground object to the laser radar system is kept unchanged, so that the original ground object and the high altitude parabolic object can be well distinguished.
And step 206, if the peripheral area of the building to be monitored has a parabola, acquiring the distance between the parabola and the laser radar as the parabola distance through the laser radar.
Specifically, when a peripheral area of a building to be monitored is parabolic, the laser radar sends out a detection signal and receives an echo signal reflected by the parabolic, a certain time difference exists between the sent detection signal and the received echo signal, the time difference is multiplied by the propagation speed of the signal, correction of a correlation coefficient is assisted, and then the distance between the parabolic and the laser radar is obtained and used as the parabolic distance.
And 208, calculating the height between the parabola and the ground according to the building height and the parabola distance.
Specifically, after the building height between the roof and the ground and the distance between the parabola and the laser radar are obtained, the height of the distance value between the parabola and the ground when the parabola is thrown can be obtained by calculating the difference value between the building height and the parabola distance.
In the high-altitude parabolic monitoring method based on the laser radar, the distance between the roof and the ground is acquired as the height of a building, and the peripheral area of the building to be monitored is detected in real time according to the laser radar to judge whether the peripheral area of the building to be monitored is parabolic or not; when a peripheral area of a building to be monitored is parabolic, acquiring the distance between the parabola and the laser radar as a parabolic distance through the laser radar; and finally, calculating the height between the parabola and the ground according to the building height and the parabola distance. The high-altitude parabolic monitoring method based on the laser radar is realized, the influence of uncertain factors for acquiring high-altitude parabolic information by image shooting on results is avoided, and the accuracy of high-altitude parabolic monitoring is improved.
In one embodiment, the obtaining the distance between the roof and the ground as the building height further comprises:
and arranging a laser radar at the roof eave of the building to be monitored.
In particular, a lidar system needs to be installed on a building before real-time monitoring of the peripheral area of the building to be monitored. The laser radar is an important active remote sensing instrument, the photoelectric detection system is an important component of the laser radar, and the laser radar receives and processes an atmospheric echo signal through the photoelectric detection system. In this embodiment, the position that laser radar set up is the roof eave department of waiting to monitor the building, and laser radar's type does not do the restriction, can realize in this embodiment the detection function can.
In this embodiment, through setting up laser radar in the roof eave department of waiting to monitor the building to make can be through laser radar's range finding function, when the high altitude is thrown the thing appearing, can in time obtain the distance between thing and the radar of throwing, and then calculate the thing height of throwing, realized the accurate monitoring to the thing is thrown in the high altitude.
In one embodiment, the detecting, according to the lidar, the peripheral area of the building to be monitored in real time, and determining whether the peripheral area of the building to be monitored has a parabolic shape includes:
controlling at least one laser to emit a detection laser beam to the peripheral area of the building to be monitored and receiving an echo reflected by the detection laser beam;
and judging whether the peripheral area of the building to be monitored is parabolic or not based on the echo reflected by the detection laser beam.
Specifically, when the peripheral area of the building to be monitored is detected in real time according to the laser radar, at least one laser in the laser radar is controlled to emit a detection laser beam to the peripheral area of the building to be monitored, and an echo reflected by the detection laser beam is received. When the peripheral area of the building to be monitored is parabolic, the received echo of the parabolic reflection received by the laser radar can be changed continuously, and the laser radar can judge whether the peripheral area of the building to be monitored is parabolic according to the received echo condition.
In the embodiment, a laser is controlled to emit a detection laser beam to the peripheral area of the building to be monitored, and an echo reflected by the detection laser beam is received; whether the peripheral area of the building to be monitored is parabolic or not is judged based on the echo reflected by the detection laser beam, various uncertain factors when the parabolic is monitored by camera shooting are avoided, and accurate early warning that the parabolic occurs in the peripheral area of the building to be monitored is achieved.
In one embodiment, the determining whether the peripheral area of the building to be monitored is parabolic based on the echo reflected by the detection laser beam includes:
and comparing the echo reflected by the detection laser beam with the echo reflected by the ground, and if the echo reflected by the detection laser beam is different from the echo reflected by the ground, judging that the peripheral area of the building to be monitored has parabola.
Specifically, when a high-altitude parabola is projected, the parabola which appears at high altitude is taken as a reference object, a detection signal is sent out, if the parabola is projected obliquely upwards, the parabola distance between the laser radar and the parabola is firstly reduced and then increased under the detection of the laser radar, and the maximum value of the reduction stage can be taken as the distance from the projection point of the parabola to the laser radar system to be taken as the parabola distance; and if the laser radar system is horizontally thrown or obliquely downwards thrown, the parabolic distance between the laser radar and the parabola always shows an increasing trend, and the initial parabolic distance is the distance from the throwing point of the parabola to the laser radar system.
In the embodiment, by means of the ranging function of the laser radar, when a high-altitude parabolic object appears, the parabolic object appearing at high altitude is used as a reference object, a detection signal is sent out, calculation is carried out according to a received reflection signal, the parabolic object appearing at the peripheral area of the building to be monitored is judged, and the problem that a calculation result has large errors due to different parabolic throwing modes is solved.
In one embodiment, if a peripheral area of the building to be monitored has a parabola, the obtaining, by the lidar, a distance between the parabola and the lidar as a parabola distance includes:
if the peripheral area of the building to be monitored is parabolic, controlling at least one laser to emit a detection laser beam to the peripheral area of the building to be monitored;
calculating the parabolic distance from the echo of the parabola at the point just thrown, based on the echo reflected by the probe laser beam.
Specifically, after the fact that the periphery area of the building to be monitored is parabolic is determined, at least one laser is controlled to emit a detection laser beam to the periphery area of the building to be monitored, after the parabola is detected, an echo reflected by the detection laser beam is received, and the parabola distance is calculated according to the echo of the parabola at a point just thrown. If the parabola is thrown obliquely upwards, under the detection of the laser radar, the parabola distance between the laser radar and the parabola is firstly reduced and then increased, and the maximum value of the reduction stage can be taken as the distance from the throwing point of the parabola to a laser radar system to be taken as the parabola distance; and if the laser radar system is horizontally thrown or obliquely downwards thrown, the parabolic distance between the laser radar and the parabola always shows an increasing trend, and the initial parabolic distance is the distance from the throwing point of the parabola to the laser radar system. Therefore, no matter the parabola is thrown upwards, horizontally or downwards, the distance from the laser radar when the parabola is thrown can be accurately obtained only by calculating the parabola distance according to the echo of the parabola at the just thrown point.
In the embodiment, after the peripheral area of the building to be monitored is parabolic, at least one laser is controlled to emit a detection laser beam to the peripheral area of the building to be monitored, and the parabolic distance is calculated according to the echo of the parabolic at the point just thrown out based on the echo reflected by the detection laser beam, so that the distance from a laser radar when the parabolic is thrown out is accurately obtained, and the accuracy of predicting the parabolic point is improved.
In one embodiment, said calculating the height between said parabola and the ground according to said building height and said parabola distance comprises:
and calculating the difference value between the building height and the parabolic distance as the height between the parabola and the ground.
Specifically, after the building height and the parabolic distance are obtained, the parabolic distance is subtracted from the building height, a difference value between the building height and the parabolic distance is obtained, that is, the height of the parabolic throwing point from the ground is obtained, and the position of the parabolic householder can be judged according to the height of the parabolic throwing point from the ground.
In this embodiment, fig. 3 is a schematic diagram of a high altitude parabolic monitoring method based on a laser radar in another embodiment; firstly, installing a laser radar monitor on the top layer eave of a high-rise building for real-time monitoring, and initializing after the installation is finished. After initialization is completed, acquiring the distance between the roof of the building to be monitored and the ground as the height H of the building through a laser radar; further, by means of the ranging function of the laser radar, when a high-altitude parabola appears, the parabola appearing at high altitude is used as a reference object, a detection signal is sent out, calculation is carried out according to a received reflection signal, the fact that the parabola appears in the peripheral area of the building to be monitored is judged, after the parabola is detected, an echo reflected by a detection laser beam is received, and the parabola distance h1 is calculated according to the echo of the parabola at the just thrown point. And finally, the difference value between the building height and the parabolic distance, namely H-H1 is calculated to serve as the height between the parabola and the ground, so that the position of the parabola household is judged. The influence of uncertain factors for acquiring high-altitude parabolic information in image shooting on results is avoided, and the accuracy of high-altitude parabolic monitoring is improved.
In one embodiment, the calculating the height between the parabola and the ground according to the height of the building and the distance between the parabola further comprises:
acquiring the floor height of the building to be monitored;
and calculating the quotient of the height between the parabola and the ground and the floor height to obtain the floor thrown by the parabola.
Specifically, after calculating and obtaining a difference value between the building height and the parabolic distance as the height between the parabola and the ground, further obtaining the floor height of the building to be monitored; and calculating the quotient of the height between the parabola and the ground and the floor height of the building to be monitored, and obtaining the floor thrown by the parabola.
According to the high-altitude parabolic monitoring method based on the laser radar, the distance between the roof and the ground is acquired as the height of a building, and the peripheral area of the building to be monitored is detected in real time according to the laser radar, so that whether the peripheral area of the building to be monitored is parabolic or not is judged; when a peripheral area of a building to be monitored is parabolic, acquiring the distance between the parabola and the laser radar as a parabolic distance through the laser radar; and finally, calculating the height between the parabola and the ground according to the building height and the parabola distance. The high-altitude parabolic monitoring method based on the laser radar is realized, the influence of uncertain factors for acquiring high-altitude parabolic information by image shooting on results is avoided, and the accuracy of high-altitude parabolic monitoring is improved.
It should be understood that although the various steps in the flowcharts of fig. 2-3 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2-3 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed in turn or alternately with other steps or at least some of the other steps or stages.
In one embodiment, as shown in fig. 4, there is provided a lidar-based high altitude parabolic monitoring apparatus, comprising: a building height obtaining module 401, a parabola judging module 402, a distance obtaining module 403 and a height calculating module 404, wherein:
the building height acquisition module 401 is used for acquiring the distance between the roof of the building to be monitored and the ground as the building height;
a parabolic determining module 402, configured to perform real-time detection on the peripheral area of the building to be monitored according to the lidar, and determine whether a parabola appears in the peripheral area of the building to be monitored;
a distance obtaining module 403, configured to, if a peripheral area of a building to be monitored has a parabola, obtain, by the lidar, a distance between the parabola and the lidar as a parabola distance;
a height calculating module 404, configured to calculate a height between the parabola and the ground according to the building height and the parabola distance.
In one embodiment, the building height obtaining module 401 is further configured to: and arranging a laser radar at the roof eave of the building to be monitored.
In one embodiment, the parabola determination module 402 is further configured to: controlling at least one laser to emit a detection laser beam to the peripheral area of the building to be monitored and receiving an echo reflected by the detection laser beam; and judging whether the peripheral area of the building to be monitored is parabolic or not based on the echo reflected by the detection laser beam.
In one embodiment, the parabola determination module 402 is further configured to: and comparing the echo reflected by the detection laser beam with the echo reflected by the ground, and if the echo reflected by the detection laser beam is different from the echo reflected by the ground, judging that the peripheral area of the building to be monitored has parabola.
In an embodiment, the distance obtaining module 403 is further configured to: if the peripheral area of the building to be monitored is parabolic, controlling at least one laser to emit a detection laser beam to the peripheral area of the building to be monitored; calculating the parabolic distance from the echo of the parabola at the point just thrown, based on the echo reflected by the probe laser beam.
In one embodiment, the height calculating module 404 is further configured to: and calculating the difference value between the building height and the parabolic distance as the height between the parabola and the ground.
In one embodiment, the height calculating module 404 is further configured to: acquiring the floor height of the building to be monitored; and calculating the quotient of the height between the parabola and the ground and the floor height to obtain the floor thrown by the parabola.
According to the high-altitude parabolic monitoring device based on the laser radar, the distance between the roof and the ground is acquired as the height of the building, the peripheral area of the building to be monitored is detected in real time according to the laser radar, and whether the peripheral area of the building to be monitored is parabolic or not is judged; when a peripheral area of a building to be monitored is parabolic, acquiring the distance between the parabola and the laser radar as a parabolic distance through the laser radar; and finally, calculating the height between the parabola and the ground according to the building height and the parabola distance. The high-altitude parabolic monitoring method based on the laser radar is realized, the influence of uncertain factors for acquiring high-altitude parabolic information by image shooting on results is avoided, and the accuracy of high-altitude parabolic monitoring is improved.
For specific limitations of the lidar-based high altitude parabolic monitoring apparatus, reference may be made to the above limitations of the lidar-based high altitude parabolic monitoring method, which are not described herein again. The modules in the high altitude parabolic monitoring device based on the laser radar can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 5. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a lidar-based high altitude parabolic monitoring method.
Those skilled in the art will appreciate that the architecture shown in fig. 5 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:
acquiring the distance between the roof and the ground as the height of the building;
detecting the peripheral area of the building to be monitored in real time according to the laser radar, and judging whether the peripheral area of the building to be monitored is parabolic or not;
if a peripheral area of a building to be monitored is parabolic, acquiring the distance between the parabola and the laser radar as a parabolic distance through the laser radar;
and calculating the height between the parabola and the ground according to the building height and the parabola distance.
In one embodiment, the processor, when executing the computer program, further performs the steps of: and arranging a laser radar at the roof eave of the building to be monitored.
In one embodiment, the processor, when executing the computer program, further performs the steps of: controlling at least one laser to emit a detection laser beam to the peripheral area of the building to be monitored and receiving an echo reflected by the detection laser beam; and judging whether the peripheral area of the building to be monitored is parabolic or not based on the echo reflected by the detection laser beam.
In one embodiment, the processor, when executing the computer program, further performs the steps of: and comparing the echo reflected by the detection laser beam with the echo reflected by the ground, and if the echo reflected by the detection laser beam is different from the echo reflected by the ground, judging that the peripheral area of the building to be monitored has parabola.
In one embodiment, the processor, when executing the computer program, further performs the steps of: if the peripheral area of the building to be monitored is parabolic, controlling at least one laser to emit a detection laser beam to the peripheral area of the building to be monitored; calculating the parabolic distance from the echo of the parabola at the point just thrown, based on the echo reflected by the probe laser beam.
In one embodiment, the processor, when executing the computer program, further performs the steps of: and calculating the difference value between the building height and the parabolic distance as the height between the parabola and the ground.
In one embodiment, the processor, when executing the computer program, further performs the steps of: acquiring the floor height of the building to be monitored; and calculating the quotient of the height between the parabola and the ground and the floor height to obtain the floor thrown by the parabola.
The computer equipment judges whether the peripheral area of the building to be monitored is parabolic or not by acquiring the distance between the roof and the ground as the height of the building and detecting the peripheral area of the building to be monitored in real time according to the laser radar; when a peripheral area of a building to be monitored is parabolic, acquiring the distance between the parabola and the laser radar as a parabolic distance through the laser radar; and finally, calculating the height between the parabola and the ground according to the building height and the parabola distance. The high-altitude parabolic monitoring method based on the laser radar is realized, the influence of uncertain factors for acquiring high-altitude parabolic information by image shooting on results is avoided, and the accuracy of high-altitude parabolic monitoring is improved.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
acquiring the distance between the roof and the ground as the height of the building;
detecting the peripheral area of the building to be monitored in real time according to the laser radar, and judging whether the peripheral area of the building to be monitored is parabolic or not;
if a peripheral area of a building to be monitored is parabolic, acquiring the distance between the parabola and the laser radar as a parabolic distance through the laser radar;
and calculating the height between the parabola and the ground according to the building height and the parabola distance.
In one embodiment, the computer program when executed by the processor further performs the steps of: and arranging a laser radar at the roof eave of the building to be monitored.
In one embodiment, the computer program when executed by the processor further performs the steps of: controlling at least one laser to emit a detection laser beam to the peripheral area of the building to be monitored and receiving an echo reflected by the detection laser beam; and judging whether the peripheral area of the building to be monitored is parabolic or not based on the echo reflected by the detection laser beam.
In one embodiment, the computer program when executed by the processor further performs the steps of: and comparing the echo reflected by the detection laser beam with the echo reflected by the ground, and if the echo reflected by the detection laser beam is different from the echo reflected by the ground, judging that the peripheral area of the building to be monitored has parabola.
In one embodiment, the computer program when executed by the processor further performs the steps of: if the peripheral area of the building to be monitored is parabolic, controlling at least one laser to emit a detection laser beam to the peripheral area of the building to be monitored; calculating the parabolic distance from the echo of the parabola at the point just thrown, based on the echo reflected by the probe laser beam.
In one embodiment, the computer program when executed by the processor further performs the steps of: and calculating the difference value between the building height and the parabolic distance as the height between the parabola and the ground.
In one embodiment, the computer program when executed by the processor further performs the steps of: acquiring the floor height of the building to be monitored; and calculating the quotient of the height between the parabola and the ground and the floor height to obtain the floor thrown by the parabola.
The computer-readable storage medium is used for judging whether the peripheral area of the building to be monitored is parabolic or not by acquiring the distance between the roof and the ground as the height of the building and detecting the peripheral area of the building to be monitored in real time according to the laser radar; when a peripheral area of a building to be monitored is parabolic, acquiring the distance between the parabola and the laser radar as a parabolic distance through the laser radar; and finally, calculating the height between the parabola and the ground according to the building height and the parabola distance. The high-altitude parabolic monitoring method based on the laser radar is realized, the influence of uncertain factors for acquiring high-altitude parabolic information by image shooting on results is avoided, and the accuracy of high-altitude parabolic monitoring is improved.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A high altitude parabolic monitoring method based on a laser radar is characterized by comprising the following steps:
acquiring the distance between the roof and the ground of a building to be monitored as the height of the building;
detecting the peripheral area of the building to be monitored in real time according to the laser radar, and judging whether the peripheral area of the building to be monitored is parabolic or not;
if a peripheral area of a building to be monitored is parabolic, acquiring the distance between the parabola and the laser radar as a parabolic distance through the laser radar;
and calculating the height between the parabola and the ground according to the building height and the parabola distance.
2. The method of claim 1, wherein obtaining the distance between the roof and the ground as the floor height further comprises:
and arranging a laser radar at the roof eave of the building to be monitored.
3. The method according to claim 2, wherein the detecting the peripheral area of the building to be monitored in real time according to the lidar, and the determining whether the peripheral area of the building to be monitored is parabolic comprises:
controlling at least one laser to emit a detection laser beam to the peripheral area of the building to be monitored and receiving an echo reflected by the detection laser beam;
and judging whether the peripheral area of the building to be monitored is parabolic or not based on the echo reflected by the detection laser beam.
4. The method of claim 3, wherein said determining whether the peripheral region of the building to be monitored is parabolic based on the echo reflected by the probe laser beam comprises:
and comparing the echo reflected by the detection laser beam with the echo reflected by the ground, and if the echo reflected by the detection laser beam is different from the echo reflected by the ground, judging that the peripheral area of the building to be monitored has parabola.
5. The method of claim 1, wherein if a parabola appears in the peripheral area of the building to be monitored, the obtaining the distance between the parabola and the lidar as the parabolic distance by the lidar comprises:
if the peripheral area of the building to be monitored is parabolic, controlling at least one laser to emit a detection laser beam to the peripheral area of the building to be monitored;
calculating the parabolic distance from the echo of the parabola at the point just thrown, based on the echo reflected by the probe laser beam.
6. The method of claim 1, wherein said calculating a height between said parabola and the ground based on said building height and said parabola distance comprises:
and calculating the difference value between the building height and the parabolic distance as the height between the parabola and the ground.
7. The method of claim 1, wherein said calculating a height between said parabola and the ground based on said building height and said parabola distance, thereafter further comprises:
acquiring the floor height of the building to be monitored;
and calculating the quotient of the height between the parabola and the ground and the floor height to obtain the floor thrown by the parabola.
8. A high altitude parabolic monitoring device based on laser radar, characterized in that the device comprises:
the building height acquisition module is used for acquiring the distance between the roof of the building to be monitored and the ground as the building height;
the system comprises a parabolic judging module, a data processing module and a data processing module, wherein the parabolic judging module is used for detecting the peripheral area of a building to be monitored in real time according to the laser radar and judging whether the peripheral area of the building to be monitored is parabolic or not;
the distance acquisition module is used for acquiring the distance between a parabola and the laser radar as a parabola distance through the laser radar if the parabola appears in the peripheral area of the building to be monitored;
and the height calculating module is used for calculating the height between the parabola and the ground according to the building height and the parabola distance.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
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Application publication date: 20210618 |