CN115567687B - Monitoring system, method and computer device thereof - Google Patents

The application discloses a monitoring system, a monitoring method and a computer device thereof, wherein the monitoring method comprises the steps of collecting monitoring data formed in a preset range of a wall body, judging whether a moving object exists at the top of the wall body according to constraint conditions, collecting infrared characteristics of the detected moving object when the moving object exists at the top of the wall body, determining whether a moving person exists at the top of the wall body, collecting images of the moving object obtained through collection when the moving object is the moving person, and outputting the images of the moving object.

Monitoring system, method and computer device thereof

Technical Field

The present invention relates to the field of monitoring, and in particular, to a monitoring system, a monitoring method, and a computer device thereof.

Background

Regional wall class boundary management is an important component of infrastructure management. The zone boundaries are typically the peripheral boundaries of a zone of interest, whose primary management includes, but is not limited to, boundary infrastructure integrity management, continuity and integrity management of zone boundaries, intruder prevention and security management. The technology is widely applied to campus area wall boundary management, company area infrastructure management, residential community security management, hospital designated area management and the like.

Traditional regional wall body class boundary management adopts the mode of physical prevention and control mostly, like promotion wall height, wall setting wire netting, garrulous glass etc. mode. High construction cost, poor aesthetic property and no relevant feedback and management for intrusion behavior.

Along with the mature application of the high-definition camera, the wall body boundary management is gradually changed into a responsibility-pursuing mode of the high-definition camera monitoring from the past physical prevention and control. Namely, the boundary condition of the area is recorded in real time through 24-hour dead-angle-free boundary monitoring. The application of this technique greatly reduces the cost of infrastructure construction, but suffers from a number of drawbacks.

First, the operating costs of area management are increased at the same time. For example, a delegated full-time regional wall boundary manager is required to pay attention to video conditions for 24 hours, not only is the monitoring mode easy to generate omission, but also delay operation exists for prevention and control of some safety problems.

Disclosure of Invention

An advantage of the present invention is to provide a monitoring system, method, and computer apparatus thereof, by which a region boundary can be automatically managed.

Another advantage of the present invention is to provide a monitoring system, method, and computer apparatus thereof, by which erroneous monitoring when managing a region boundary can be effectively reduced.

Another advantage of the present invention is to provide a monitoring system, method, and computer apparatus thereof, by which the problem of incompatibility of devices utilized in performing the monitoring method can be effectively solved.

To achieve at least one of the above advantages, the present invention provides a monitoring method comprising:

collecting monitoring data formed in a preset range of the wall body, and judging whether a moving object exists at the top of the wall body according to constraint conditions;

when detecting that a moving object exists on the top of the wall body, collecting the infrared characteristics of the detected moving object, and determining whether a moving person exists on the top of the wall body;

when the moving object is a moving person, acquiring an image of the moving object acquired via the acquisition, and

And outputting the image of the moving object.

According to an embodiment of the invention, monitoring data formed in a predetermined range of a wall is collected, and whether a moving object exists at the top of the wall is judged according to constraint conditions, including:

The method comprises the steps of using an installation shaft for installing the radar as a common physical system dot, establishing a relation between a spherical coordinate system of radar waves and a wall surface Cartesian coordinate system, and using:

80°≤θ≤90°;

z is less than or equal to H, and is used as the constraint condition, whether a moving object exists at the top of the wall body or not is monitored, wherein

Θ is the included angle between the projection of the coordinate dot connecting line of the movable object and the radar spherical coordinate system on the X-Y plane and the X axis in the X-Y-Z coordinate system;

Wherein Z is the height of the monitored object on the Z axis in an X-Y-Z coordinate system;

wherein H is the height of the wall body on the Z axis in an X-Y-Z coordinate system;

Wherein the coordinates of the movable object detected by the radar in an X-Y-Z coordinate system are as follows:

wherein r is the distance between the circle point of the spherical coordinate system where the radar is located and the movable object, wherein And the included angle of the connecting line of the coordinate round points in the Z-axis positive direction in the spherical coordinate system of the movable object and the radar.

According to the embodiment of the invention, the millimeter wave radar is used for determining whether a moving object exists on the top of the wall body.

According to one embodiment of the invention, the image of the moving object is acquired by a camera.

According to one embodiment of the invention, the infrared monitoring device arranged above the top of the wall body is driven to rotate towards the moving object, and the infrared characteristics of the moving object are acquired through the infrared monitoring device.

To achieve the above advantages and in accordance with another aspect of the present invention, there is provided a monitoring system including:

The system comprises an acquisition module, a detection module and a control module, wherein the acquisition module is arranged to acquire monitoring data formed in a preset range of a wall body, and acquire infrared characteristics of a movable object when detecting that the movable object exists on the top of the wall body;

The analysis module is communicatively connected with the acquisition module, and the acquisition module judges whether a moving object exists at the top of the wall body according to constraint conditions; and according to the infrared characteristics of the movable object, determining whether a moving person exists on the top of the wall, wherein when the moving person exists on the top of the wall, an image of the moving object is acquired;

An output module, wherein the output module is communicatively coupled to the analysis module, wherein the output module is configured to output an image of the moving object.

To achieve the above advantages and in accordance with another aspect of the present invention, a computer apparatus, one or more processors, a memory, and one or more computer programs stored in the memory, the one or more computer programs including instructions which, when executed by the device, cause the device to perform any of the monitoring methods described above.

Drawings

Fig. 1 shows a flow chart of the monitoring method according to the invention.

Fig. 2 shows a first schematic diagram of an example of the monitoring method according to the invention.

Fig. 3 shows a second schematic diagram of an example of the monitoring method according to the invention.

Fig. 4 shows a block diagram of the monitoring system according to the invention.

Fig. 5 shows a block diagram of a computer device according to the invention.

Detailed Description

The following description is presented to enable one of ordinary skill in the art to make and use the invention. The preferred embodiments in the following description are by way of example only and other obvious variations will occur to those skilled in the art. The basic principles of the invention defined in the following description may be applied to other embodiments, variations, modifications, equivalents, and other technical solutions without departing from the spirit and scope of the invention.

It will be appreciated by those skilled in the art that in the present disclosure, the terms "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," etc. refer to an orientation or positional relationship based on that shown in the drawings, which is merely for convenience of description and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore the above terms should not be construed as limiting the present invention.

It will be understood that the terms "a" and "an" should be interpreted as referring to "at least one" or "one or more," i.e., in one embodiment, the number of elements may be one, while in another embodiment, the number of elements may be plural, and the term "a" should not be interpreted as limiting the number.

Referring to fig. 1, a monitoring method according to a preferred embodiment of the present invention, which can be used for automatically managing wall-type boundary areas, thereby reducing the management cost and the delay of the existing management method, will be described in detail below.

Specifically, the monitoring method comprises the following steps:

s1001, monitoring data formed in a preset range of the wall are collected, and whether a moving object exists at the top of the wall is judged according to constraint conditions.

Specifically, in the step S1001, the monitoring data formed in the predetermined range of the wall body may be collected by a radar, preferably a millimeter wave radar, to determine whether a moving object exists on the top of the wall body. It will be appreciated that the radar is able to acquire monitoring data of objects in a further region than the image acquisition device, and thus, in an area of the same size, if full range monitoring is to be achieved, the number of installations of existing image acquisition devices can be effectively reduced, thereby reducing costs.

Specifically, the step S1001 includes the steps of establishing a relationship between a spherical coordinate system of a radar wave and a cartesian coordinate system of the wall surface with a mounting axis on which the radar is mounted as a common physical system dot, and:

80°≤θ≤90°;

z is less than or equal to H, and is used as the constraint condition, whether a moving object exists at the top of the wall body or not is monitored, wherein

Θ is the included angle between the projection of the coordinate dot connecting line of the movable object and the radar spherical coordinate system on the X-Y plane and the X axis in the X-Y-Z coordinate system;

Wherein Z is the height of the monitored object on the Z axis in an X-Y-Z coordinate system;

wherein H is the height of the wall body on the Z axis in an X-Y-Z coordinate system;

in addition, the coordinates of the movable object in the X-Y-Z coordinate system detected by the radar are:

wherein r is the distance between the circle point of the spherical coordinate system where the radar is located and the movable object, wherein And the included angle of the connecting line of the coordinate round points in the Z-axis positive direction in the spherical coordinate system of the movable object and the radar.

By the mode, people walking near the wall surface can be effectively prevented from being misjudged to be climb over the walls, and misjudgment is effectively prevented.

S1002, when detecting that a moving object exists on the top of the wall body, collecting the detected infrared characteristics of the moving object, and determining whether a moving person exists on the top of the wall body, and when detecting that no moving object exists on the top of the wall body, continuing the step S1001.

Preferably, in the step S1002, when it is detected that a moving object exists on the top of the wall, the infrared monitoring device disposed above the top of the wall may be driven to rotate toward the moving object, and the infrared characteristics of the moving object may be collected by the infrared monitoring device, so as to determine whether a person is moving on the top of the wall.

And S1003, continuing the step S1001 when the movable object is determined not to be a moving person, and acquiring an image of the movable object acquired through acquisition when the movable object is determined to be a moving person on the top of the wall.

S1004 outputting an image of the moving object.

As will be appreciated by those skilled in the art, images of the moving object may be acquired by a camera.

Referring to fig. 2 and 3, for example, using radar (24 GHz, ranging range 60 meters, sensitive ranging angle ±60°), the wall 800 has a height of 5m as an example. Since the radar monitoring range is a radiation range, misjudgment is easily caused by the existence of moving people under the wall surface. But may be achieved by:

θ=90°;

z is less than or equal to H, and is the constraint condition, whether a moving object exists at the top of the wall 800 is monitored, namely:

x=0, i.e. cos θ=0, i.e. θ=90°

Z is less than or equal to 5, i.eI.e.

It will be appreciated that when a pedestrian passes under the wall in the vicinity of the millimeter wave radar (within 20 m), the feedback signal corresponds to θ other than 90 °, soThe feedback signal coordinates do not satisfy the "constraint condition", at which point the step S1001 is continued.

When the millimeter wave radar passes through a pedestrian under the wall at a distance (beyond 20 m), the feedback signal corresponds to an angle theta of approximately 90 degrees, and the signal coordinate of the feedback signal is very small in difference with the feedback coordinate of an intruder when turning over the wall. The millimeter wave radar cannot pass the angle judgment, and a certain false alarm condition exists. At this time, it is necessary to monitor whether a moving person is present in the area above the wall 800 by an infrared monitoring device such as an infrared imager, and further determine pedestrians and intruders. In the following fig. 3, the point a and the point B have a signal coordinate confusion false alarm condition because the angle θ is not clearly distinguished. The B-spot height needs to be distinguished by an infrared imaging review procedure.

The general operation flow is to set 80 deg. to 90 deg. according to the field distance, and execute the step S1002 when θ is greater than the calibration value (80 deg.).

Referring to fig. 4, according to another aspect of the present invention, there is also provided a monitoring system, wherein the monitoring system includes an acquisition module 100, an analysis module 200, and an output module 300, wherein the acquisition module is configured to acquire monitoring data formed within a predetermined range of a wall, and to acquire infrared characteristics of a moving object when detecting the presence of the moving object on top of the wall.

The analysis module is communicably connected to the acquisition module, wherein the acquisition module determines whether a moving object exists at the top of the wall based on the constraint condition, and determines whether a moving person exists at the top of the wall based on the infrared characteristics of the moving object, wherein an image of the moving object is acquired when the moving person exists at the top of the wall.

The output module is communicatively coupled to the analysis module, wherein the output module is configured to output an image of the moving object.

FIG. 4 is a schematic diagram of an embodiment of a computer apparatus according to the present application, as shown in FIG. 4, which may include one or more processors, memory, and one or more computer programs.

The computer device may be a computer, a server, a mobile terminal (mobile phone), a cashing device, a computer, an intelligent screen, an unmanned aerial vehicle, an intelligent network vehicle (INTELLIGENT CONNECTED VEHICLE; hereinafter abbreviated as ICV), an intelligent (automobile) vehicle (smart/INTELLIGENT CAR) or a vehicle-mounted device.

Wherein the one or more computer programs are stored in the memory, the one or more computer programs comprising instructions that, when executed by the device, cause the device to perform the steps of:

collecting monitoring data formed in a preset range of the wall body, and judging whether a moving object exists at the top of the wall body according to constraint conditions;

when detecting that a moving object exists on the top of the wall body, collecting the infrared characteristics of the detected moving object, and determining whether a moving person exists on the top of the wall body;

when the moving object is a moving person, acquiring an image of the moving object acquired via the acquisition, and

And outputting the image of the moving object.

The method comprises the steps of using an installation shaft for installing the radar as a common physical system dot, establishing a relation between a spherical coordinate system of radar waves and a wall surface Cartesian coordinate system, and using:

80°≤θ≤90°;

z is less than or equal to H, and is used as the constraint condition, whether a moving object exists at the top of the wall body or not is monitored, wherein

Θ is the included angle between the projection of the coordinate dot connecting line of the movable object and the radar spherical coordinate system on the X-Y plane and the X axis in the X-Y-Z coordinate system;

Wherein Z is the height of the monitored object on the Z axis in an X-Y-Z coordinate system;

wherein H is the height of the wall body on the Z axis in an X-Y-Z coordinate system;

Wherein the coordinates of the movable object detected by the radar in an X-Y-Z coordinate system are as follows:

wherein r is the distance between the circle point of the spherical coordinate system where the radar is located and the movable object, wherein And the included angle of the connecting line of the coordinate round points in the Z-axis positive direction in the spherical coordinate system of the movable object and the radar.

The computer apparatus shown in fig. 4 may be a terminal device or a server, or may be a circuit device incorporated in the terminal device or the server. The device may be used to perform the monitoring method provided by the embodiment of the application shown in fig. 1.

As shown in fig. 4, computer device 900 includes a processor 910 and a memory 920. Wherein the processor 910 and the memory 920 may communicate with each other via an internal connection, and transfer control and/or data signals, the memory 920 is configured to store a computer program, and the processor 910 is configured to call and run the computer program from the memory 920.

The memory 920 may be a read-only memory (ROM), other type of static storage device that can store static information and instructions, a random access memory (random access memory, RAM) or other type of dynamic storage device that can store information and instructions, an electrically erasable programmable read-only memory (ELECTRICALLY ERASABLE PROGRAMMABLE READ-only memory, EEPROM), a compact disc read-only memory (compact disc read-only memory) or other optical disk storage, a compact disc storage (including compact disc, laser disc, optical disc, digital versatile disc, blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, etc.

The processor 910 and the memory 920 may be combined into a single processing device, more commonly referred to as separate components, and the processor 910 is configured to execute program code stored in the memory 920 to perform the functions described above. In particular, the memory 920 may also be integrated into the processor 910 or may be separate from the processor 910.

It should be appreciated that the computer device 900 shown in fig. 4 is capable of implementing the various processes of the method provided by the embodiment of fig. 1 of the present application. The operations and/or functions of the respective modules in the computer apparatus 900 are respectively for implementing the respective flows in the above-described method embodiments. Reference is made in particular to the description of the embodiment of the method according to the application shown in fig. 1, and a detailed description is omitted here as appropriate for avoiding repetition.

In addition, in order to further improve the functionality of the computer device 900, the computer device 900 may further include one or more of a power supply 940, an input unit 950, and the like.

Optionally, a power supply 950 is used to provide power to various devices or circuits in the computer apparatus.

It should be appreciated that the processor 910 in the computer apparatus 900 shown in fig. 3 may be a system on a chip SOC, and the processor 910 may include a central processing unit (Central Processing Unit; hereinafter referred to as a CPU), and may further include other types of processors.

In general, portions of the processors or processing units within the processor 910 may cooperate to implement the preceding method flows, and corresponding software programs for the portions of the processors or processing units may be stored in the memory 920.

The present application also provides a computer apparatus, which includes a storage medium, which may be a nonvolatile storage medium, in which a computer executable program is stored, and a central processor connected to the nonvolatile storage medium and executing the computer executable program to implement the method provided by the embodiment shown in fig. 1 of the present application.

In the above embodiments, the processor may include, for example, a CPU, DSP, microcontroller, or digital signal processor, and may further include a GPU, an embedded neural network processor (Neural-network Process Units), and the processor may further include a necessary hardware accelerator or logic processing hardware circuit, such as an ASIC, or one or more integrated circuits for controlling the execution of the program according to the technical solution of the present application. Further, the processor may have a function of operating one or more software programs, which may be stored in a storage medium.

Embodiments of the present application also provide a computer readable storage medium having a computer program stored therein, which when run on a computer causes the computer to perform the method provided by the embodiment of the present application shown in fig. 1.

Embodiments of the present application also provide a computer program product comprising a computer program which, when run on a computer, causes the computer to perform the method provided by the embodiment of the present application shown in fig. 1.

Those of ordinary skill in the art will appreciate that the various elements and algorithm steps described in the embodiments disclosed herein can be implemented as a combination of electronic hardware, computer software, and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, and are not repeated herein.

In several embodiments provided by the present application, any of the functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. The storage medium includes various media capable of storing program codes, such as a U disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk.

The foregoing is merely exemplary embodiments of the present application, and any person skilled in the art may easily conceive of changes or substitutions within the technical scope of the present application, which should be covered by the present application. The protection scope of the present application shall be subject to the protection scope of the claims.

It will be appreciated by persons skilled in the art that the embodiments of the invention described above and shown in the drawings are by way of example only and are not limiting. The advantages of the present invention have been fully and effectively realized. The functional and structural principles of the present invention have been shown and described in the examples and embodiments of the invention may be modified or practiced without departing from the principles described.

It will be appreciated by persons skilled in the art that the embodiments of the invention described above and shown in the drawings are by way of example only and are not limiting. The advantages of the present invention have been fully and effectively realized. The functional and structural principles of the present invention have been shown and described in the examples and embodiments of the invention may be modified or practiced without departing from the principles described.