CN102045549A - Method and device for controlling linkage-tracking moving target of monitoring device - Google Patents
Method and device for controlling linkage-tracking moving target of monitoring device Download PDFInfo
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Abstract
The invention belongs to the field of video monitoring, and provides a method and device for controlling a linkage-tracking moving target of a monitoring device, wherein the method comprises the following steps: receiving the geographic information data of a moving target, wherein a satellite tracking/positioning device is mounted on the moving target, and the geographic information data is acquired by a satellite positioning/receiving system; according to the geographic information data of the moving target, selecting a monitoring device from a monitoring system camera archive; and tracking the moving target by the monitoring device. According to the invention, through mounting the satellite tracking/positioning device on the moving target, the GIS (geographic information system) data is transmitted in real time, then the monitoring system selects and commands an appropriate monitoring device to track the moving target, and when the moving target is out of the tracking range of the monitoring device, a monitoring system software platform selects another appropriate monitoring device to relay the tracking process according to the information of the moving target, so that the overall tracking on targets can be realized, and a plurality of monitoring devices in a ground monitoring system operates harmoniously, thereby realizing the tracking on the whole monitoring area with larger range and less blind spots.
Description
Technical field
The invention belongs to field of video monitoring, relate in particular to a kind of method and device of controlling watch-dog interlock pursuit movement target.
Background technology
TV monitor system is made up of headend equipment, transmission equipment, main control device and display device four major parts.Wherein headend equipment mainly is responsible for the collection and the signal processing of image and data.Headend equipment can roughly be divided into two classes, and a class is fixed a point, and promptly adopts the fixed point video camera as monitoring frontend, is used for monitoring the appointed area.Another kind of employing monopod video camera, monopod video camera can drive video camera and rotate towards different directions by the rotation of The Cloud Terrace, and can become doubly by adjusting video camera, observe target or scene in the different distance scope, thereby realize wider monitoring.Along with the lifting of people's security precautions, increasing watch-dog obtains people's approval and application.School, bank, market, hospital, government bodies, key area, important traffic reach public place such as crossing along the line and often adopt video monitoring equipment that monitoring is implemented in the zone of certain limit.Surveillance center is responsible for monitoring and controlling the operation of monitoring frontend as headquarter, can select, monitor and control monitoring frontend, and can record a video, function such as playback, retrieval.Modern interconnected monitoring system can be monitored each the branch center and realize networking, makes all video monitoring front end equipments form a huge monitor network in the city, can realize the monitoring to entire city under this monitor network.
The monitoring product that has intelligent behavior at present can help the people to finish some behaviors operations, can carry out from the behavior at tracing area of motion tracking and record object the target of rushing in illegal zone.Yet these intelligent behaviors can only be carried out the specific region on single equipment, and monitoring range is limited.If target is striden the guarded region motion, can adopt a plurality of smart machines to realize wider monitoring, but need complicated communication between the equipment, realize difficulty, the tracking accuracy rate is low and cost is high, needs artificial the appointment when a plurality of moving target occurring, has reduced automatization level.For example, in the interconnected monitoring system of city, when law-breaker and vehicle occurring and need follow the tracks of to specific objective, can check whether target occurs and target manual locking target and tracking when occurring by the video camera of dispatching each control point in Surveillance center, yet because target fast moving and orientation the unknown make this tracking mode be difficult to carry out, cause tracking target to be lost, the offender is escaped.
Summary of the invention
The invention provides a kind of method of controlling watch-dog interlock pursuit movement target, being intended to solve existing method can only carry out the specific region on single equipment, if monitoring range is limited and target is striden the guarded region motion, can adopt a plurality of smart machines to realize wider monitoring, but need complicated communication between the equipment, realize difficulty, the tracking accuracy rate is low and cost is high, when a plurality of moving target occurring, need artificial the appointment, reduced the problem of automatization level.
The embodiment of the invention is achieved in that a kind of method of controlling watch-dog interlock pursuit movement target, and described method comprises:
The geographic information data of the moving target of the carry hygienic trace positioning equipment that reception satellite fix receiving system is obtained;
According to described moving target geographic information data, from supervisory control system video camera file store, select watch-dog;
Utilize described watch-dog that described moving target is followed the tracks of.
Another purpose of the embodiment of the invention is to provide a kind of device of controlling watch-dog interlock pursuit movement target, and described device comprises:
Satellite fix tracing and positioning equipment is used for carry at described moving target, the geographic information data of the described moving target of uploading;
GPS receiving system, the geographic information data of the moving target of the described hygienic trace positioning equipment of the carry that is used to the obtain line output of going forward side by side;
Supervisory control system is used to receive the geographic information data of the moving target of described satellite fix receiving system output, and according to described moving target geographic information data, selects watch-dog from supervisory control system video camera file store,
Command described watch-dog that described moving target is followed the tracks of.
The present invention is by moving target carry hygienic trace positioning equipment, real-time Transmission GIS data, calculate orientation, movement velocity, the distance of moving target by the monitor system software platform, from the file store of ground monitoring system, select and command suitable watch-dog to follow the tracks of, when moving target exceeds its following range, the monitor system software platform carries out relay according to other suitable watch-dogs of moving target Information Selection, to realize the all-the-way tracking to target.In addition, the present invention can make a plurality of watch-dog co-ordinations in the ground monitoring system, realizes wider, the still less tracking of blind spot to whole guarded region, follows the tracks of rapidly, and is real-time, is one of following monitoring market developing trend.
Description of drawings
The realization flow figure of the method for the control watch-dog interlock pursuit movement target that Fig. 1 provides for the embodiment of the invention;
The structured flowchart of the device of the control watch-dog interlock pursuit movement target that Fig. 2 provides for the embodiment of the invention;
Fig. 3 is the visual range schematic diagram of fixed point video camera in the embodiment of the invention;
Fig. 4 is watch-dog azimuth and an azimuth of target schematic diagram in the embodiment of the invention;
Fig. 5 is the visual range schematic diagram of monopod video camera in the embodiment of the invention.
Embodiment
In order to make purpose of the present invention, technical scheme and advantage clearer,, the present invention is further elaborated below in conjunction with drawings and Examples.Should be appreciated that specific embodiment described herein only in order to explanation the present invention, and be not used in qualification the present invention.
Fig. 1 shows the realization flow figure of the method for the control watch-dog interlock pursuit movement target that the embodiment of the invention provides.
A kind of method of controlling watch-dog interlock pursuit movement target comprises:
In step S101, the geographic information data of the moving target of the carry hygienic trace positioning equipment that reception satellite fix receiving system is obtained;
In step S102,, from supervisory control system video camera file store, select watch-dog according to described moving target geographic information data;
In step S103, utilize described watch-dog that described moving target is followed the tracks of.
As a preferred version of the embodiment of the invention,, from supervisory control system video camera file store, select and command suitable watch-dog to carry out the Tracking Realization method to comprise according to described moving target geographic information data:
The longitude and the latitude information of the described moving target of uploading according to described GPS tracing and positioning equipment are calculated the azimuth and the distance of each watch-dog in described moving target and the described supervisory control system video camera file store;
Judge whether described moving target falls into the visual range of current watch-dog, select if target falls into its scope and command current watch-dog to follow the tracks of; Otherwise, just wait for that described satellite fix receiving system obtains new geographic information data.
As a preferred version of the embodiment of the invention, the method for utilizing described watch-dog that described moving target is followed the tracks of is that the geographical location information according to described moving target calculates described moving target and becomes a times parameter with respect to the horizontal movement speed of described watch-dog, the speed that moves both vertically and watch-dog and control watch-dog and follow the tracks of described moving target.
As a preferred version of the embodiment of the invention, supervisory control system video camera file store comprises that geographical location information, hoisting height information, the horizontal zero degree direction sign of all watch-dogs decide information, and visual range information.
Fig. 2 shows the structured flowchart of the device of the control watch-dog interlock pursuit movement target that the embodiment of the invention provides.Only show part related to the present invention for convenience of explanation.
A kind of device of controlling watch-dog interlock pursuit movement target comprises:
GPS tracing and positioning equipment 21 is used for carry at described moving target, the geographic information data of the described moving target of uploading;
Supervisory control system 23, be used to receive the geographic information data of the moving target of described GPS receiving system output, and, from supervisory control system video camera file store, select watch-dog according to described moving target geographic information data, command described watch-dog that described moving target is followed the tracks of.
As a preferred version of the embodiment of the invention, supervisory control system 23 comprises:
Moving target position determination module 231 is used for the longitude and the latitude information of the described moving target uploaded according to described GPS tracing and positioning equipment, calculates the azimuth and the distance of each watch-dog in described moving target and the described supervisory control system video camera file store;
Watch-dog is selected control module 232, is used to judge whether described moving target falls into the visual range of current watch-dog, selects if target falls into its scope and commands current watch-dog to follow the tracks of;
Moving target monitoring module 233 is used for geographical location information according to described moving target and calculates described moving target and become a times parameter with respect to the horizontal movement speed of described watch-dog, the speed that moves both vertically and monopod video camera and control watch-dog and follow the tracks of described moving target.
As a preferred version of the embodiment of the invention, described supervisory control system 23 also comprises:
Watch-dog information storage module 234, geographical location information, hoisting height information, the horizontal zero degree direction sign that is used to store all watch-dogs decided information, reached visual range information.
The method that the embodiment of the invention provided is that all watch-dogs have been networked and set up on the basis of watch-dog information storage module 234 information and realized in supervisory control system 23, and in time upload the positional information of moving target by target carry GPS tracing and positioning equipment 21 to be tracked, comprise information and state informations such as longitude, latitude, azimuth, speed, Surveillance center selects and commands suitable watch-dog pursuit movement target automatically from watch-dog information storage module 234 according to target geographic position information.Wherein watch-dog information storage module 234 information comprise the information of all watch-dogs in the supervisory control system, comprise fixed point video camera and monopod video camera.In the watch-dog information storage module 234 each watch-dog is numbered and writes down their positional information (longitude and latitude), hoisting height and visual range information.If adopt the fixed point video camera to comprise camera orientation as its visual range information of monitoring frontend, promptly video camera towards with angle, video camera luffing angle and the camera field of view angle of direct north; If adopt monopod video camera as its visual range information of monitoring frontend comprise the azimuth (angle of the horizontal zero degree of The Cloud Terrace and direct north) of the horizontal zero degree direction of The Cloud Terrace and monopod video camera visual range scope (promptly minimum and maximum video camera become doubly monopod video camera down farthest with nearest visual range).On the basis that possesses these watch-dog information storage module 234 information, adopt method provided by the invention.Below concrete steps are described in detail.
At first, receive the geographic information data of the moving target of carry GPS tracing and positioning equipment 21.21 meetings of GPS tracing and positioning equipment send to Surveillance center with the information such as position of moving target to be tracked by wireless network in real time.The information of the moving target to be tracked that GPS tracing and positioning equipment 21 is uploaded comprises information and state informations such as longitude, latitude, azimuth, speed, present embodiment has just utilized the longitude of target and latitude information to determine the orientation and the distance of target range watch-dog, and other information can be with reference to use.
The second, from supervisory control system video camera file store, select and command suitable watch-dog to follow the tracks of according to the moving target geographic information data.This step is the committed step that this method realizes, specifically describes its implementation below.
In embodiments of the present invention, we have utilized the longitude of the moving target that GPS tracing and positioning equipment 21 uploads and latitude information as a reference, calculate the azimuth and the distance of each watch-dog in moving target and the supervisory control system video camera file store, judge whether moving target falls into the visual range of current watch-dog, select if target falls into its scope and command current device to follow the tracks of.Because the longitude and the latitude information of moving target and watch-dog are known, thereby the angle of the line of moving target and watch-dog and direct north is that the azimuth of moving target and the distance between them can obtain.In supervisory control system video camera file store, we have set up the information of each watch-dog, not only comprise their positional information (longitude and latitude), also comprise hoisting height and visual range.For the fixed point video camera, its visual range is constant, can represent its visual range with its deflection (video camera towards with the angle of direct north) and camera field of view angle.For monopod video camera, because monopod video camera generally all has anamorphosis function, thereby can represent its visual range with the visual range of monopod video camera when the minimum and maximum change times, and think monopod video camera can level 360 degree, the accessible rotation of vertical 90 degree is if The Cloud Terrace will be done special marking when blocking in some angular range.
We mainly determine whether selecting it to follow the tracks of according to the visual range whether moving target falls into current watch-dog in embodiments of the present invention.For the fixed point video camera, the relativeness of target and watch-dog and the visual range of video camera are as shown in Figure 3.In the way Regional Representative that represents of dotted line the visual range of video camera, OA has represented the straight line by the optical axis of video camera.The video camera hoisting height is h, and luffing angle is β, and the camera field of view angle is 2 α, and the distance between watch-dog position and the target represents that with d the angle between the orientation of moving target and the orientation of video camera is represented with γ.The positional information of video camera, orientation, hoisting height, luffing angle, the angle of visual field all can be obtained from supervisory control system video camera file store, can obtain by the positional information and the target position information calculating of video camera apart from d between watch-dog and the target.The orientation of camera orientation and moving target as shown in Figure 4.The azimuth of moving target and video camera towards the azimuth represent with α 1 and α 2 respectively, they also can calculate by the positional information and the target position information of video camera, thereby the angle γ between the orientation of the orientation of moving target and video camera can obtain.After the positioning equipment 21 that tracks by satellite got access to the geographic information data of moving target, the longitude and latitude relation by moving target and watch-dog can obtain d and γ.Judge whether that by d and γ the visual range that falls into video camera determines whether selecting when the equipment of prefixed point video camera as the monitoring moving target.The determination methods that present embodiment adopts is to calculate the angle of moving target location point M and camera position point A line and the straight line OA that passes through camera optical axis, i.e. ∠ OAM is if ∠ OAM, thinks then that moving target falls into the visual range of video camera less than α.The size of ∠ OAM can obtain by the triangle relation of Δ OAM, in Δ OAM:
OA＝h/cosβ
The length of OM this edge can obtain by the triangle relation of Δ OBM, and is known by geometrical relationship:
OB＝h×tgβ
BM＝d
∠OBM＝γ
Three length of sides that obtained Δ OAM just can obtain the size of ∠ OAM, just can determine by the magnitude relationship of judging it and α whether moving target falls in the current video camera visual range.
For monopod video camera, as shown in Figure 5.The The Cloud Terrace spinfunction can drive the rotation of video camera level 360 degree, vertical direction 90 degree rotations, thereby the visual range of monopod video camera is to be area in certain circumference range in the center of circle with the The Cloud Terrace position under the situation of not blocking.From watch-dog information storage module 234, the hoisting height that we can obtain The Cloud Terrace is h, the visual range farthest of monopod video camera is d, The Cloud Terrace horizontal azimuth γ, can obtain azimuthal angle beta 1 and the β 2 apart from d1 and d2, moving target of moving target under two different t1, t2 constantly and between the control point by the positional information of The Cloud Terrace and moving target, can get by the geometrical relationship between them:
Thereby when the distance between moving target and the control point during less than R, target falls into the visual range of monopod video camera and can select current The Cloud Terrace to carry out target following.The angle α 1 that horizontally rotates of The Cloud Terrace also all obtains with α 2, vertical anglec of rotation β 1 and β 2.The angular speed of The Cloud Terrace level and vertical rotation also can calculate.
The Cloud Terrace horizontally rotates angular speed:
The Cloud Terrace vertical rotation angular speed:
By can selecting suitable video camera to become doubly apart from s1 and s2 between moving target and the monopod video camera, angle of rotating according to The Cloud Terrace and angular speed just can be controlled The Cloud Terrace and be rotated, thereby have reached the purpose of controlling the The Cloud Terrace automatically track target.
At last, judge whether to receive new geographic information data, repeat above step if receive new geographic information data, selection and commander's watch-dog carry out target monitoring and tracking from supervisory control system video camera file store again.
The beneficial effect of the method that the embodiment of the invention provides is:
1, uses global position system to carry out target localization and can improve the target following accuracy.
2, the watch-dog in the watch-dog information storage module 234 is linked, be formed on the relay of in the whole monitor network scope target being followed the tracks of, realize all-the-way tracking moving target.
3, utilize monitor network and hygienic trace positioning equipment to cooperate common monitoring frontend just can realize target following, method is simple, cost is low and following range is wide.
4, can utilize existing safety monitoring network to carry out target tracking, can improve the automatization level of monitor network, need not to change the front monitoring front-end product and just can make existing monitor network obtain upgrading.
The method of the automatically track target that 5, provides can improve the modernization level of city public security monitoring, improves the efficient of public security work, the supportability that tightens security, the effect of playing deterrence and fighting crime.
The above only is preferred embodiment of the present invention, not in order to restriction the present invention, all any modifications of being done within the spirit and principles in the present invention, is equal to and replaces and improvement etc., all should be included within protection scope of the present invention.
Claims (7)
1. method of controlling watch-dog interlock pursuit movement target is characterized in that described method comprises:
The geographic information data of the moving target of the carry hygienic trace positioning equipment that reception satellite fix receiving system is obtained;
According to described moving target geographic information data, from supervisory control system video camera file store, select watch-dog;
Utilize described watch-dog that described moving target is followed the tracks of.
2. the method for claim 1 is characterized in that, and is described according to described moving target geographic information data, selects and command suitable watch-dog to carry out the Tracking Realization method to comprise from supervisory control system video camera file store:
The longitude and the latitude information of the described moving target of uploading according to described hygienic trace positioning equipment are calculated the azimuth and the distance of each watch-dog in described moving target and the described supervisory control system video camera file store;
Judge whether described moving target falls into the visual range of current watch-dog, select if target falls into its scope and command current watch-dog to follow the tracks of; Otherwise, just wait for that described satellite fix receiving system obtains new geographic information data.
3. the method for claim 1, it is characterized in that the described method of utilizing described watch-dog that described moving target is followed the tracks of is that the geographical location information according to described moving target calculates described moving target and becomes a times parameter with respect to the horizontal movement speed of described watch-dog, the speed that moves both vertically and watch-dog and control watch-dog and follow the tracks of described moving target.
4. the method for claim 1 is characterized in that, described supervisory control system video camera file store comprises that geographical location information, hoisting height information, the horizontal zero degree direction sign of all watch-dogs decide information, and visual range information.
5. device of controlling watch-dog interlock pursuit movement target is characterized in that described device comprises:
The hygienic trace positioning equipment is used for carry at described moving target, the geographic information data of the described moving target of uploading;
Satellite fix receiving system, the geographic information data of the moving target of the described hygienic trace positioning equipment of the carry that is used to the obtain line output of going forward side by side;
Supervisory control system is used to receive the geographic information data of the moving target of described satellite fix receiving system output, and according to described moving target geographic information data, selects watch-dog from supervisory control system video camera file store,
Command described watch-dog that described moving target is followed the tracks of.
6. method as claimed in claim 5 is characterized in that, described supervisory control system comprises:
The moving target position determination module is used for the longitude and the latitude information of the described moving target uploaded according to described hygienic trace positioning equipment, calculates the azimuth and the distance of each watch-dog in described moving target and the described supervisory control system video camera file store;
Watch-dog is selected control module, is used to judge whether described moving target falls into the visual range of current watch-dog, selects if target falls into its scope and commands current watch-dog to follow the tracks of;
The moving target monitoring module is used for geographical location information according to described moving target and calculates described moving target and become a times parameter with respect to the horizontal movement speed of described watch-dog, the speed that moves both vertically and monopod video camera and control watch-dog and follow the tracks of described moving target.
7. method as claimed in claim 5, it is characterized in that, described supervisory control system also comprises: watch-dog information storage module, geographical location information, hoisting height information, the horizontal zero degree direction sign that is used to store all watch-dogs decided information, reached visual range information.
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