CN110097726A - A kind of prevention regional aim monitoring method and system - Google Patents
A kind of prevention regional aim monitoring method and system Download PDFInfo
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- CN110097726A CN110097726A CN201810086845.5A CN201810086845A CN110097726A CN 110097726 A CN110097726 A CN 110097726A CN 201810086845 A CN201810086845 A CN 201810086845A CN 110097726 A CN110097726 A CN 110097726A
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B13/00—Burglar, theft or intruder alarms
- G08B13/22—Electrical actuation
- G08B13/24—Electrical actuation by interference with electromagnetic field distribution
- G08B13/2491—Intrusion detection systems, i.e. where the body of an intruder causes the interference with the electromagnetic field
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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Abstract
The application provides a kind of prevention regional aim monitoring method and system, in practical applications, first passes through the target that radar equipment scanning discovery enters prevention region, obtains location information, and obtains the label information of labeled targets by radio frequency positioning device；Target is matched further according to location information and label information, determines whether measured target and labeled targets are the same target；If two targets are not the same targets, determine that measured target is illegitimate target, and start corresponding alarm mechanism, illegitimate target is tracked, and prompt security personnel carry out target investigation.Method provided by the present application passes through radar equipment and radio frequency positioning device, rapidly the target in prevention region can be identified, and legal staff and illegal invasion target in prevention region are distinguished with label information, to avoid false-positive detection result, solve the problem of that traditional monitoring method can not identify that target is easy false-positive detection result in prevention region.
Description
Technical field
This application involves region security monitoring technology field more particularly to a kind of prevention regional aim monitoring method and it is
System.
Background technique
Prevention regional aim monitoring refers to the prevention area by the monitoring device with target acquisition function, entered to limitation
Target is monitored in domain, when determining target is illegal invasion, issues alarm signal.It is existing according to the difference of monitoring device
Specifically include that video image monitoring, infrared emission monitoring and microwave are supervised for taking precautions against the monitoring method of regional aim in technology
Control etc..Wherein, video image monitoring claps target by camera i.e. by the way that multiple cameras are arranged in prevention region
It takes the photograph, obtains the real-time pictures in prevention region.Video image monitoring is difficult to automatically determine whether target is non-by monitored picture
Method invasion, needs to take precautions against human attendance, the poor in timeliness of target monitoring.In order to improve the timeliness of area monitoring, the prior art
Middle application infrared emission monitoring method.
As shown in Figure 1, being a kind of typical infrared emission monitoring system.Infrared emission monitoring is by multiple infrared facilitys
H1, H2 ... ... composition are located at " fence " on prevention zone boundary.It is used cooperatively in pairs in infrared facility, i.e., one as hair
Machine is penetrated, infrared signal is actively emitted；Another passively receives infrared signal as receiver.When between two infrared facilitys go out
When existing target, the infrared signal that the infrared facility H1 as transmitter is issued is blocked, and leads to the infrared facility as receiver
H2 can not receive infrared signal, to detect the target by taking precautions against edges of regions.But infrared emission monitoring method can only be visited
It measures, has target by the edge in prevention region, the position of target can not be accurately positioned.Therefore, in the prior art also
Use a kind of microwave supervisory method that can judge target position.
Microwave supervisory method carries out Detection location, such as Fig. 2 to the target in monitoring area in real time by microwave detector
Shown, microwave supervisory is that installation microwave detector M, microwave detector M are sent out to monitoring area on the specific position of monitoring area
Microwave signal is penetrated, when occurring target in monitoring area, part microwave signal can be reflected back to position locating for microwave detector M
It sets, microwave detector is after receiving the microwave signal being reflected back, and signal determines target position based on the received, reaches detection mesh
's.But microwave supervisory method cannot identify the target detected, be easy to be influenced by object in environment, such as positioned at
When target in prevention region is staff, it also can be considered as intrusion target, generate the wrong report of detection result.
Summary of the invention
This application provides a kind of prevention regional aim monitoring method and systems, can not be identified with solving traditional monitoring method
The problem of taking precautions against target in region, being easy false-positive detection result.
On the one hand, a kind of prevention regional aim monitoring method of the application, comprising:
The location information of measured target in prevention region is obtained by radar equipment, and is obtained by radio frequency positioning device
Take precautions against the label information that labeled targets are had in region；
According to the positional information with the label information, the measured target and the labeled targets are matched；
If the measured target and the labeled targets are not the same targets, determine that the measured target is illegal mesh
Mark, marks the illegitimate target；
Persistently obtain the location information of the illegitimate target by the radar equipment, and by the position of the illegitimate target
Confidence breath reports to monitoring device；
Location information of the monitoring device according to the illegitimate target, the adjustment shooting direction tracking illegitimate target.
Optionally, the radar equipment and the radio frequency positioning device are in same position；According to the positional information and
The label information matches the measured target and the labeled targets, comprising:
It extracts in the location information, the first distance between the measured target and the radar equipment；
According to the label information, the second distance between the labeled targets and the radio frequency positioning device is determined；
Judge whether the difference of the first distance and the second distance is greater than pre-determined distance matching threshold；
If the first distance and the difference of the second distance are greater than pre-determined distance matching threshold, the tested mesh is determined
Mark and the labeled targets are not the same targets.
Optionally, the label information includes the emission time of radiofrequency signal and the time of reception of the radiofrequency signal；Root
According to the label information, the second distance between the labeled targets and the radio frequency positioning device is determined, comprising:
The information transmitting apparatus carried by labeled targets, it includes the label information that Xiang Suoshu radio frequency positioning device, which is sent,
Radiofrequency signal；
After the radio frequency positioning device receives the radiofrequency signal, emission time and the institute of the radiofrequency signal are extracted
State the time of reception of radiofrequency signal；
According to the time of reception and the radiofrequency signal of the emission time of the radiofrequency signal and the radiofrequency signal
Transmission speed determines the distance between the labeled targets and the radio frequency positioning device.
Optionally, the radar equipment and the radio frequency positioning device are in same position；According to the positional information and
The label information matches the measured target and the labeled targets, comprising:
It extracts in the location information, position coordinates of the measured target relative to the radar equipment；
Centered on the position coordinates of the measured target, generation is effectively matched region；
According to the label information, position coordinates of the labeled targets relative to the radio frequency positioning device are determined；
Judge whether the position coordinates of the labeled targets are in described and are effectively matched in region；
If the position coordinates of the labeled targets be not at it is described be effectively matched in region, determine the measured target with
The labeled targets are not the same targets.
Optionally, the measured target and the labeled targets are matched with the label information according to the positional information,
Include:
It extracts in the location information, position coordinates of the measured target relative to the radar equipment；
World coordinates is converted by the position coordinates of the measured target, and in global coordinate system, with described tested
Centered on the world coordinates of target, generation is effectively matched region；
According to the label information, position coordinates of the labeled targets relative to the radio frequency positioning device are determined；
World coordinates is converted by the position coordinates of the labeled targets；
Judge whether the world coordinates of the labeled targets is in described and is effectively matched in region；
If the world coordinates of the labeled targets be not at it is described be effectively matched in region, determine the measured target with
The labeled targets are not the same targets.
Optionally, the measured target and the labeled targets are matched with the label information according to the positional information,
Further include:
If the measured target and the labeled targets are the same targets, determine that the measured target is legal mesh
Mark；
The legitimate targets are marked according to the label information, send the corresponding label information of the legitimate targets to described
Monitoring device；
In the display screen of the monitoring device, the corresponding position of the legitimate targets and the legitimate targets pair are shown
The label information answered.
Optionally, multiple radar equipments are equipped in the prevention region, the method also includes:
According to installation site of multiple radar equipments in the prevention region, each radar equipment is determined
Default defence area, the default defence area are the convex polygon in the radar equipment scanning range；
The position coordinates of the measured target are determined by the radar equipment；
According to the position coordinates of the measured target, determine whether the measured target is located at the default of current radar equipment
In defence area；
If the measured target is located in the default defence area of the current radar equipment, the current radar is obtained
The measured target position coordinates are determined as the location information.
Optionally, the monitoring device includes spherical camera, and the monitoring device is according to the position of the illegitimate target
Information, adjustment shooting direction track the illegitimate target, comprising:
The identical object of reference of at least three shapes is arranged in different location in the prevention region, by the spherical shooting
The shooting central point of machine is respectively aligned to the bottom end and top of each object of reference, generates initial p TZ data；
The position coordinates of the illegitimate target are determined according to the location information of the illegitimate target；
According to the position coordinates of the illegitimate target and the initial p TZ data, the corresponding reality of the illegitimate target is generated
When PTZ data；
Track up is carried out with spherical camera described in the real-time PTZ data-driven.
Optionally, the method also includes:
Obtain the multi frame detection data of the radar equipment in preset time period；
The detection data according to multiframe identifies the fixed object target in the prevention region, and determining described solid
Determine the position coordinates of object target；
Non- zone of alarm delimited centered on the position coordinates of the fixed object target；
If the measured target is located in the non-zone of alarm, stop the location information for obtaining the measured target.
On the other hand, the application also provides a kind of prevention regional aim monitoring system, including the positioning of radar equipment, radio frequency is set
Standby, monitoring device and data processing equipment；Wherein, the radar equipment, the radio frequency positioning device and the monitoring are set
Standby establish with the data processing equipment communicates to connect, and the data processing equipment is configured as executing following procedure step:
The location information of measured target in prevention region is obtained by radar equipment, and is obtained by radio frequency positioning device
Take precautions against the label information that labeled targets are had in region；
According to the positional information with the label information, the measured target and the labeled targets are matched；
If the measured target and the labeled targets are not the same targets, determine that the measured target is illegal mesh
Mark, marks the illegitimate target；
Persistently obtain the location information of the illegitimate target by the radar equipment, and by the position of the illegitimate target
Confidence breath reports to monitoring device；
Location information of the monitoring device according to the illegitimate target, the adjustment shooting direction tracking illegitimate target.
From the above technical scheme, the application provides a kind of prevention regional aim monitoring method and system, is actually answering
In, the location information that radar equipment obtains measured target is first passed through, and obtains the mark of labeled targets by radio frequency positioning device
Sign information；Target is matched further according to location information and label information, determines whether measured target and labeled targets are same
One target；If two targets are not the same targets, determine that measured target is illegitimate target, and start corresponding alarming machine
System, and illegitimate target is tracked, prompt security personnel to carry out target investigation.
Method provided by the present application, can be rapidly to the mesh in prevention region by radar equipment and radio frequency positioning device
Mark is identified, and distinguishes legal staff and illegal invasion target in prevention region with label information, to avoid missing
The case where reporting detection result, target in prevention region can not be identified by solving traditional monitoring method, be easy asking for false-positive detection result
Topic.
Detailed description of the invention
In order to illustrate more clearly of the technical solution of the application, letter will be made to attached drawing needed in the embodiment below
Singly introduce, it should be apparent that, for those of ordinary skills, without creative efforts, also
Other drawings may be obtained according to these drawings without any creative labor.
Fig. 1 is a kind of structural schematic diagram of typical infrared emission monitoring system；
Fig. 2 is a kind of structural schematic diagram based on microwave monitoring system；
Fig. 3 is a kind of flow diagram for taking precautions against regional aim monitoring method；
Fig. 4 is the flow diagram that single radar equipment presets defence area judgement in the embodiment of the present application；
Fig. 5 is arrangement schematic diagram of multiple radars in prevention region in the embodiment of the present application；
Fig. 6 is the structural schematic diagram that single radar equipment presets defence area judgement in the embodiment of the present application；
Fig. 7 is the flow diagram that labeled targets are matched in the embodiment of the present application one；
Fig. 8 is the flow diagram that second distance is calculated in the embodiment of the present application one；
Fig. 9 is the flow diagram that legitimate targets are shown in the embodiment of the present application one；
Figure 10 is the flow diagram that illegitimate target is tracked in the embodiment of the present application one；
Figure 11 is the flow diagram that labeled targets are matched in the embodiment of the present application two；
Figure 12 is the flow diagram that labeled targets are matched in the embodiment of the present application three；
Figure 13 is the flow diagram that non-zone of alarm is arranged in the embodiment of the present application four；
Figure 14 is a kind of structural schematic diagram for taking precautions against regional aim monitoring system.
Specific embodiment
Embodiment will be illustrated in detail below, the example is illustrated in the accompanying drawings.In the following description when referring to the accompanying drawings,
Unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Implement described in following embodiment
Mode does not represent all embodiments consistent with the application.It is only and be described in detail in claims, the application
The example of the consistent system and method for some aspects.
In the application, prevention region refers to the region that limitation personnel enter, since in practical applications, prevention region may
It is the different shapes and sizes of presentation according to lineament, therefore in technical solution provided by the present application, for detecting target
The radar equipment of position may be containing multiple, to cover entire prevention region.It should be noted that in practical applications, preventing
It model region may be very big.In order to reduce equipment investment, during general monitoring, it is not necessary to each position in entire prevention region
All progress target acquisitions are set, and illegitimate target can be determined whether by only detecting to the surrounding borderline region in prevention region
Into prevention region, i.e., in this case, the prevention region as object judgement is known as perimeter region.For ease of description,
In technical solution provided by the present application, the region of target acquisition either entirely takes precautions against region or perimeter region is collectively referred to as
Take precautions against region.
Radar equipment described in the embodiment of the present application is to refer to be scanned specific target areas, is swept with obtaining
The equipment for retouching target position in region, such as laser radar etc..In technical solution provided by the present application, radar be may be mounted at
On the boss of certain height, the scanning surface of radar is made to be parallel to ground, that is, forms the protection face with certain height.Radar
Mounting height should be related with specific prevention region scene feature, for example, facing on subaerial position in prevention region has
More barrier or greenbelt plant should install radar higher in order to not influence object judgement is arrived；But the installation of radar
Height is unsuitable excessively high, because excessively high scanning surface possibly can not detect the personnel in intrusion defense region.It is exemplary, in this Shen
Please in, the mounting height of radar can be set to be less than or equal to 1m.
Radio frequency positioning device described in the embodiment of the present application is to refer to send and receive radiofrequency signal, and when recording
Between equipment, such as ultra-wide band radio-frequency positioning device.Including base station end and tab end, wherein tab end is by the work in prevention region
Personnel carry, and are used to send radiofrequency signal to base station, can be the accessory echoed on work clothes, can also be built in work people
In the operational instrument of member, base station end be fixed on the mutually level position of radar equipment, penetrated for receive that tab end sends
Frequency signal, and radiofrequency signal is parsed, generate corresponding accessible data.
In technical solution provided by the present application, by radar equipment and radio frequency positioning device to the target in prevention region into
Row detection, to find illegitimate target, alarms, specifically includes following implementation.
Embodiment one
Referring to Fig. 3, for a kind of flow diagram for taking precautions against regional aim monitoring method.The described method includes:
S11: the location information of measured target in prevention region is obtained by radar equipment, and passes through radio frequency positioning device
Obtain the label information that labeled targets are had in prevention region.
In the present embodiment, measured target can position target complete by radar scanning, and labeled targets are then to carry
There is the target of radio frequency positioning device tab end.Since measured target and labeled targets are primarily referred to as the human body in generation prevention region,
Influence of the shape to detection result relative to entire prevention regional aim is little, therefore the application can regard the target monitored
For particle.Radar equipment starts after mounting, by emitting scanning signal into prevention region, when scanning surface is by region
When people or object, corresponding reflection signal is generated, then receive by signal of the radar equipment to reflection, can be obtained target
Position.
By taking laser radar as an example, laser radar is using " light velocity-time " flight theory, by high-velocity scanning, to two dimension
Scene (plane) is reappeared.In practical application, pulse laser is emitted to different directions and receives reflection by laser radar apparatus
Signal calculates the distance of object by the time difference；Calculating process constantly repeats during the scanning process, to obtain one group of group
Object range data under different angle realizes the reproduction to two-dimensional scene, and is constantly updated.Have when in the scene
When any object position, angle change, by radar contact and it can all position.Usual laser radar is according to 270 degree of sector
Region is scanned, and forms biggish sectoring region.
While region is taken precautions against in radar scanning, the present embodiment also passes through radio frequency positioning device and obtains label information, it may be assumed that
The work clothes of tool or dress that staff carries has tab end, and after entering prevention region, tab end is according to setting
Frequency emits radiofrequency signal to base station end, and base station end records corresponding label information after receiving radiofrequency signal.
Further, when prevention region area is larger, when single radar equipment cannot cover entire prevention region, this implementation
Multiple radar equipments can be installed in prevention region, and before obtaining location information and label information in example, such as Fig. 4 institute
Show, the method also includes following steps:
S101: according to installation site of multiple radar equipments in the prevention region, each radar is determined
The default defence area of equipment, the default defence area are the convex polygon in the radar equipment scanning range；
S102: the position coordinates of the measured target are determined by the radar equipment；
S103: according to the position coordinates of the measured target, determine whether the measured target is located at current radar equipment
Default defence area in；
S104: if the measured target is located in the default defence area of the current radar equipment, by the current radar
The measured target position coordinates obtained are determined as the location information.
In the present embodiment, first it is arranged according to the shape and area in practical prevention region for each radar equipment corresponding
Default defence area, i.e., each radar are responsible for the region of scanning.Since the shape in practical prevention region is different, each radar is corresponding
Default defence area size and shape there is also diversified forms.For example, as shown in figure 5, prevention region is quadrangle, in progress reality
When the division in default defence area, the corresponding default defence area radar equipment R1, R3, R4, R6 in quadrangle apex is greater than place
In the corresponding default defence area radar equipment R2, R5 on four sides.For the ease of scanning the judgement of target, the default defence area can be set
It is set to convex polygon.In technical solution provided by the present application, the division methods in the default defence area of each radar equipment without
It limits, should be divided according to practical radar equipment quantity and prevention regional characteristics.But in practical applications, all radar equipments is pre-
The area that sets up defences should be enough to cover every place's boundary position in prevention region.And in order to make the target position obtained between adjacent radar equipment
Confidence manner of breathing does not generate interference mutually, and the default defence area of the adjacent radar equipment of every two can successively be bordered, and Landfill covering is entire
Take precautions against the marginal position in region.
After determining the default defence area of each radar equipment, in the present embodiment, need to determine the target detected,
Determine which default defence area it belongs to.For example, as shown in fig. 6, the default defence area of single radar equipment is quadrangle, by 4 tops
Point is constituted, it may be assumed that A (x1, y1), B (x2, y2), C (x3, y3) and D (x4, y4), when by radar equipment determine monitoring objective be P (x,
When y), determine whether P in default defence area can first calculate separately out the area S of triangle ABCABCWith triangle ACD area SACD,
And the area S1 of quadrangle ABCD, i.e. S1=SABC+SACD；
Successively calculate again triangle ABP, triangle BCP, triangle CDP and triangle ADP area and this four
Triangle area and S2=SABP+SBCP+SCDP+SADP；
Judge S1And S2It is whether equal, if S1With S2It is equal, illustrate P point in the default defence area of current radar equipment；Such as
Fruit S1Not equal to S2, illustrate P point not in the default defence area of current radar equipment.
Finally, if measured target is located in the default defence area of current radar equipment, by the tested mesh of current radar acquisition
Cursor position coordinate is determined as location information.
S12: according to the positional information with the label information, the measured target and the labeled targets are matched.
In the present embodiment, after obtaining the label information of location information and labeled targets of measured target, to measured target
Matched with labeled targets, thus judge by radar scanning to measured target whether be to be detected by radio frequency positioning device
The labeled targets arrived for ease of calculation and judge, in practical applications, can be mounted on radar equipment and radio frequency positioning device
Same position, as shown in fig. 7, specific matching step is as follows:
S121: extracting in the location information, the first distance between the measured target and the radar equipment；
S122: according to the label information, determine between the labeled targets and the radio frequency positioning device second away from
From；
S123: judge whether the difference of the first distance and the second distance is greater than pre-determined distance matching threshold；
S124: if the difference of the first distance and the second distance is greater than pre-determined distance matching threshold, determine described in
Measured target and the labeled targets are not the same targets.
By above step it is found that the detection data that the present embodiment first passes through radar equipment obtains setting with radar for measured target
It is the distance between standby, as first distance, since radar equipment is positioned at a distance from equipment by target,
In the present embodiment, the first distance is extracted directly from the data of detections of radar.
After being extracted first distance, the present embodiment is determined between labeled targets and radio frequency positioning device by label information
Distance, i.e. second distance.Further, the label information includes the emission time and the radiofrequency signal of radiofrequency signal
The time of reception, as shown in figure 8, the second distance can be determined by following steps:
S1221: the information transmitting apparatus carried by labeled targets, it includes the mark that Xiang Suoshu radio frequency positioning device, which is sent,
Sign the radiofrequency signal of information；
S1222: after the radio frequency positioning device receives the radiofrequency signal, when extracting the transmitting of the radiofrequency signal
Carve the time of reception with the radiofrequency signal；
S1223: according to the time of reception and the radio frequency of the emission time of the radiofrequency signal and the radiofrequency signal
The transmission speed of signal determines the distance between the labeled targets and the radio frequency positioning device.
By above step it is found that since radiofrequency signal cannot directly extract the distance between target and equipment,
In actual use, need to calculate by the label information of radio signal transmission, such as:
The information transmitting apparatus that labeled targets carry, i.e. tab end, to radio frequency positioning device, the i.e. radio frequency of base station end transmission
In signal, the timestamp comprising sending instant, base station end after receiving corresponding radiofrequency signal, record receive signal when
It carves, further according to the timestamp for including in radiofrequency signal, the time t that signal is transferred to base station end from tab end is calculated, in conjunction with letter
Number transmission speed c calculate distance d, i.e. d=c × t between the two.
In addition, due to radiofrequency signal transmission speed quickly, in practical applications, can also be received in base station end
After radiofrequency signal, return signal is sent to tab end, tab end sends a sub-band to base station end again after receiving return signal
There is the radiofrequency signal of emission time timestamp, base station end is extracted in radiofrequency signal twice after receiving second of radiofrequency signal
Timestamp determines the time interval Δ t that radiofrequency signal is sent twice, that is, at this time between labeled targets and radio frequency positioning device
Distance d=c × Δ t/2.Time interval not only can be increased, calculate second distance convenient for accurate, and avoid tab end
Accurately time synchronization is needed between base station end, is reduced time synchronization and is brought corresponding calculating error.
After calculating first distance and second distance, the present embodiment is by judging between first distance and second distance
Difference is compared with pre-determined distance judgment threshold, i.e., second distance is in reasonable range relative to the fluctuation of first distance
It regards as measured target and labeled targets is the same target.
For example, the distance between measured target and radar equipment are ρ, the distance between labeled targets and radio frequency positioning device
For d, pre-determined distance judgment threshold is dt, then when abs (ρ-d) < dt, determines the measured target and labeled targets are same
Target.
S13: if the measured target and the labeled targets are not the same targets, determine that the measured target is non-
Method target marks the illegitimate target.
In the present embodiment, if measured target and labeled targets are not the same targets, i.e. the corresponding object of measured target
Or personage is not legal staff, that is, determines that measured target is illegal invasion, at this time, it may be necessary to will be determined as illegitimate target
Target is marked, to carry out tracking and positioning to illegitimate target in subsequent probe, and it is related convenient for security personnel's progress
Investigation.If measured target and labeled targets are the same target, it is determined that measured target is legitimate targets, further, such as
Shown in Fig. 9, according to the positional information with the label information, the measured target and the labeled targets are matched, further includes:
S131: if the measured target and the labeled targets are the same targets, the measured target is determined to close
Method target；
S132: the legitimate targets are marked according to the label information, send the corresponding label information of the legitimate targets
To the monitoring device；
S133: in the display screen of the monitoring device, the corresponding position of the legitimate targets and described legal is shown
The corresponding label information of target.
In the present embodiment, legitimate targets are shown, the work people in prevention region can be understood in order to security personnel
Member position, so that scheduling in time carries out safe investigation apart from nearest staff, clear in time when there is illegitimate target invasion
Except illegitimate target.
S14: persistently obtaining the location information of the illegitimate target by the radar equipment, and by the illegitimate target
Location information report to monitoring device.
In technical solution provided by the present application, after judging measured target for illegitimate target, by persistently to illegitimate target
Location information obtained, track illegitimate target, meanwhile, the location information in object tracking process is reported into monitoring device
In.On the one hand the present embodiment can run away after triggering alarm to avoid illegitimate target, make security personnel that can not remove intrusion target,
On the other hand, it is also convenient for carrying out artificial judgment to target by monitoring device, to dispose corresponding investigation scheme, remove in time
Intrusion target.
S15: location information of the monitoring device according to the illegitimate target, the adjustment shooting direction tracking illegal mesh
Mark.
In practical application, after finding illegitimate target, according to the location information of illegitimate target, the shooting of monitoring device is adjusted
Direction makes illegitimate target be constantly in the medium position of shooting picture.Since in practical applications, prevention region is bigger, prevent
Multiple monitoring devices are installed in model region, therefore in such a case, it is possible to are determined according to the location information of illegitimate target illegal
Target is in the setting defence area of which radar equipment, finds optimum monitoring device implementation further according to the position of radar equipment
Track up can also enable other monitoring and set in the same way in addition after illegitimate target is moved to other positions
It is standby.
Further, the monitoring device includes spherical camera, and as shown in Figure 10, the monitoring device is according to described non-
The location information of method target, adjustment shooting direction track the illegitimate target, comprising:
S151: the identical object of reference of at least three shapes is arranged in the different location in the prevention region, by the ball
The shooting central point of shape video camera is respectively aligned to the bottom end and top of each object of reference, generates initial p TZ data；
S152: the position coordinates of the illegitimate target are determined according to the location information of the illegitimate target；
S153: according to the position coordinates of the illegitimate target and the initial p TZ data, it is corresponding to generate the illegitimate target
Real-time PTZ data；
S154: track up is carried out with spherical camera described in the real-time PTZ data-driven.
In the present embodiment, PTZ data refer to that Pan/Tilt/Zoom, i.e., comprehensive (left and right/upper and lower) mobile and camera lens become
Again, Zoom control.Spherical camera is in practical applications by adjusting corresponding PTZ data, to obtain different shooting postures,
Target is set to be in the suitable position of shooting picture.
From the above technical scheme, prevention regional aim monitoring method provided in this embodiment, in practical applications, first
The location information of measured target is obtained by radar equipment, and the label information of labeled targets is obtained by radio frequency positioning device；
Target is matched further according to location information and label information, determines whether measured target and labeled targets are the same mesh
Mark；If two targets are not the same targets, determine that measured target is illegitimate target, and start corresponding alarm mechanism, with
And illegitimate target is tracked, prompt security personnel to carry out target investigation.
Method provided in this embodiment, can be rapidly in prevention region by radar equipment and radio frequency positioning device
Target is identified, and distinguishes legal staff and illegal invasion target in prevention region with label information, to avoid
The case where false-positive detection result, target in prevention region can not be identified by solving traditional monitoring method, be easy false-positive detection result
Problem.
Embodiment two
The difference between this embodiment and the first embodiment lies in matching the measured target and the mark when executing step S12
The mode for signing target is different.As shown in figure 11, in the present embodiment, the radar equipment and the radio frequency positioning device are during installation
In the same installation site；Also, according to the positional information with the label information, match the measured target with it is described
Labeled targets, comprising:
S221: extracting in the location information, position coordinates of the measured target relative to the radar equipment；
S222: centered on the position coordinates of the measured target, generation is effectively matched region；
S223: according to the label information, determine that the labeled targets are sat relative to the position of the radio frequency positioning device
Mark；
S224: judge whether the position coordinates of the labeled targets are in described and are effectively matched in region；
S225: if the position coordinates of the labeled targets be not at it is described be effectively matched in region, determine described tested
Target and the labeled targets are not the same targets.
It, can be with relative to embodiment one since the present embodiment is the position for determining measured target by position coordinates
It avoids in special circumstances, the installation site of measured target and labeled targets apart from radar equipment is equidistant situation and causes target
Erroneous judgement.For example, when measured target is in radar equipment due south direction, and the distance between measured target and radar equipment are 150m
When, while there are a staff in direct north, and the distance between staff and radar equipment are also 150m, then lead to
The mode for crossing embodiment one, which may be missed, regards as the upward illegitimate target of Due South, and the staff of direct north will not
Triggering alarm.And pass through the method for embodiment two, then it is possible to prevente effectively from corresponding the occurrence of judging by accident.
It should be noted that due to judging that the position of labeled targets often has certain position according to radio frequency positioning device
Deviation, in order to avoid this deviation has an impact object matching, in practical applications, the tab end that labeled targets carry may be used also
To further comprise the location information of labeled targets, the location information of labeled targets can pass through other positioning methods by tab end
It obtains, to directly obtain the position of labeled targets.
It in the present embodiment, generates and is effectively matched region and can be set according to actual detection situation, for example, when prevention
Region is more spacious, between the object in region distance farther out when, in order to avoid the influence of signal detection deviation, can will be effectively matched
Region is arranged larger；And when prevention region is more crowded, it, can be in order to avoid erroneous judgement when being closer between the object in region
The smaller of region setting will be effectively matched.
Embodiment three
The difference of the present embodiment and above-described embodiment is, executes step S12, as shown in figure 12, in the present embodiment, according to
The location information and the label information, match the measured target and the labeled targets, comprising:
S321: extracting in the location information, position coordinates of the measured target relative to the radar equipment；
S322: world coordinates is converted by the position coordinates of the measured target, and in global coordinate system, with described
Centered on the world coordinates of measured target, generation is effectively matched region；
S323: according to the label information, determine that the labeled targets are sat relative to the position of the radio frequency positioning device
Mark；
S324: world coordinates is converted by the position coordinates of the labeled targets；
S325: judge whether the world coordinates of the labeled targets is in described and is effectively matched in region；
S326: if the world coordinates of the labeled targets be not at it is described be effectively matched in region, determine described tested
Target and the labeled targets are not the same targets.
In the present embodiment, first position coordinates are converted after the position coordinates for obtaining measured target relative to embodiment two
For world coordinates.World coordinates is the global coordinate system of foundation on the basis of practical prevention region, corresponding entire prevention region
All correspond to a point in global coordinate system.The present embodiment is by carrying out measured target and labeled targets in global coordinate system
Matching, when can detect the same measured target to avoid multiple radar equipments, judges multiple targets, to cause mistake
Matching result further increases the accuracy of identification of measured target in prevention region.
Example IV
The difference of the present embodiment and above-described embodiment is, before execution step S11, it is also necessary to delimit non-zone of alarm.By
In in actual application environment, prevention region usually contains the object that can be much detected by radar equipment, such as trees, rubbish
Rubbish bucket and working equipment etc., these objects are generally fixed in prevention region and height is higher, it is easy to be visited by radar equipment
It measures, and tab end can not be set for each object in actually prevention region, to distinguish the target detected.Cause
This, in order to avoid these fixed objects are to detection result is influenced, as shown in figure 13, target monitoring method provided by the present application is also
The following steps are included:
S401: the multi frame detection data of the radar equipment in preset time period are obtained；
S402: the detection data according to multiframe identifies the fixed object target in the prevention region, and determines institute
State the position coordinates of fixed object target；
S403: non-zone of alarm delimited centered on the position coordinates of the fixed object target；
S404: if the measured target is located in the non-zone of alarm, stop the position letter for obtaining the measured target
Breath.
In the present embodiment, in the case where there is no illegitimate target in determining prevention region, by judging the more of radar equipment
All targets in frame detection are detected, and determine the fixed object target in detection data.For example, in multi frame detection data
In, the target position detected does not change, or the target position detected is within the scope of reasonable fluctuating error, then really
It sets the goal as fixed object target.For fixed object target, normally sweeping for radar equipment should not interfere in actual detection
It retouches, therefore in the present embodiment, corresponding non-alarm can be delimited centered on the position being determined as where fixed object target
Area, the size setting of non-zone of alarm not only will be in view of placing object in the size of object and prevention region in prevention region
Concentration, and to consider to take precautions against whether object in region is be easily moved.For example, for fixed objects such as trees, position
It will not have greatly changed, non-zone of alarm to be arranged smaller accordingly, to avoid illegal invasion gtoal setting fixed object
When, it is determined as legitimate targets；And for dustbin etc. often by mobile object, corresponding non-alarm region to be arranged compared with
Greatly, after to avoid the position movement of object, it is judged as illegitimate target.
In technical solution provided by the present application, if placed in prevention region it is more can be by mobile object, such as
Dustbin etc., then after non-zone of alarm is arranged, the non-zone of alarm area that will lead in prevention region is excessive, can occupy radar in this way
The default defence area of equipment, so that can not accurately find the illegitimate target of invasion on rare occasion.In such a case, it is possible to will
It is be easily moved the smaller of the non-zone of alarm setting of target, and carries out mnemonic learning by the multi frame detection data of radar, to adjust
The position of whole corresponding non-zone of alarm.
It is specifically as follows, after radar equipment detects target in the default defence area other than non-zone of alarm, with previous frame
Detection data compares, if there is the fixed object target in non-zone of alarm in the detection data of previous frame, and works as
In the detection data of previous frame, the fixed object target in non-zone of alarm disappears, it is determined that the target and upper one that present frame detects
Fixed object target in frame detection data is the same target.In order to increase the accuracy of judgement, can also calculate in two frames
The distance between target, if the distance between target is less than the reasonable value of setting, it is determined that the two is the same target.Due to
The scan frequency of radar equipment is higher, therefore can the accurate shifting for judging fixed object target by the method for mnemonic learning
Dynamic state.It should be noted that after obtaining the new position of fixed object target by mnemonic learning, it can be by corresponding non-alarm
Area is also adjusted on the position centered on new position.
Based on above embodiments, as shown in figure 14, the application also provides a kind of prevention regional aim monitoring system, including thunder
Up to equipment 1, radio frequency positioning device 2, monitoring device 3 and data processing equipment 4；Wherein, the radar equipment 1, the radio frequency
Positioning device 2 and the monitoring device 3, which are established with the data processing equipment 4, to be communicated to connect, the data processing equipment 4
It is configured as executing following procedure step:
The location information of measured target in prevention region is obtained by radar equipment 1, and is obtained by radio frequency positioning device 2
Take the label information that labeled targets are had in prevention region；
According to the positional information with the label information, the measured target and the labeled targets are matched；
If the measured target and the labeled targets are not the same targets, determine that the measured target is illegal mesh
Mark, marks the illegitimate target；
Persistently obtain the location information of the illegitimate target by the radar equipment, and by the position of the illegitimate target
Confidence breath reports to monitoring device 3；
Location information of the monitoring device 3 according to the illegitimate target, the adjustment shooting direction tracking illegitimate target.
Similar portion cross-reference between embodiment provided by the present application, specific embodiment provided above is only
It is several examples under the total design of the application, does not constitute the restriction of the application protection scope.For those skilled in the art
For member, any other embodiment expanded without creative efforts according to application scheme all belongs to
In the protection scope of the application.
Claims (10)
1. a kind of prevention regional aim monitoring method characterized by comprising
The location information of measured target in prevention region is obtained by radar equipment, and prevention is obtained by radio frequency positioning device
The label information of labeled targets is had in region；
According to the positional information with the label information, the measured target and the labeled targets are matched；
If the measured target and the labeled targets are not the same targets, determine that the measured target is illegitimate target,
Mark the illegitimate target；
The location information of the illegitimate target is persistently obtained by the radar equipment, and the position of the illegitimate target is believed
Breath reports to monitoring device；
Location information of the monitoring device according to the illegitimate target, the adjustment shooting direction tracking illegitimate target.
2. target monitoring method according to claim 1, which is characterized in that the radar equipment is set with radio frequency positioning
It is standby to be in same position；According to the positional information with the label information, the measured target and the labeled targets are matched,
Include:
It extracts in the location information, the first distance between the measured target and the radar equipment；
According to the label information, the second distance between the labeled targets and the radio frequency positioning device is determined；
Judge whether the difference of the first distance and the second distance is greater than pre-determined distance matching threshold；
If the difference of the first distance and the second distance is greater than pre-determined distance matching threshold, determine the measured target with
The labeled targets are not the same targets.
3. target monitoring method according to claim 2, which is characterized in that the label information includes the hair of radiofrequency signal
Penetrate the time of reception at moment and the radiofrequency signal；According to the label information, determine that the labeled targets and the radio frequency are fixed
Second distance between the equipment of position, comprising:
The information transmitting apparatus carried by labeled targets, Xiang Suoshu radio frequency positioning device send penetrating comprising the label information
Frequency signal；
After the radio frequency positioning device receives the radiofrequency signal, extracts the emission time of the radiofrequency signal and described penetrate
The time of reception of frequency signal；
According to the transmission of the time of reception and the radiofrequency signal of the emission time of the radiofrequency signal and the radiofrequency signal
Speed determines the distance between the labeled targets and the radio frequency positioning device.
4. target monitoring method according to claim 1, which is characterized in that the radar equipment is set with radio frequency positioning
It is standby to be in same position；According to the positional information with the label information, the measured target and the labeled targets are matched,
Include:
It extracts in the location information, position coordinates of the measured target relative to the radar equipment；
Centered on the position coordinates of the measured target, generation is effectively matched region；
According to the label information, position coordinates of the labeled targets relative to the radio frequency positioning device are determined；
Judge whether the position coordinates of the labeled targets are in described and are effectively matched in region；
If the position coordinates of the labeled targets be not at it is described be effectively matched in region, determine the measured target with it is described
Labeled targets are not the same targets.
5. target monitoring method according to claim 1, which is characterized in that believe according to the positional information with the label
Breath, matches the measured target and the labeled targets, comprising:
It extracts in the location information, position coordinates of the measured target relative to the radar equipment；
World coordinates is converted by the position coordinates of the measured target, and in global coordinate system, with the measured target
World coordinates centered on, generation be effectively matched region；
According to the label information, position coordinates of the labeled targets relative to the radio frequency positioning device are determined；
World coordinates is converted by the position coordinates of the labeled targets；
Judge whether the world coordinates of the labeled targets is in described and is effectively matched in region；
If the world coordinates of the labeled targets be not at it is described be effectively matched in region, determine the measured target with it is described
Labeled targets are not the same targets.
6. target monitoring method according to claim 1, which is characterized in that believe according to the positional information with the label
Breath, matches the measured target and the labeled targets, further includes:
If the measured target and the labeled targets are the same targets, determine that the measured target is legitimate targets；
The legitimate targets are marked according to the label information, send the corresponding label information of the legitimate targets to the monitoring
Equipment；
In the display screen of the monitoring device, show that the corresponding position of the legitimate targets and the legitimate targets are corresponding
Label information.
7. target monitoring method according to claim 1, which is characterized in that be equipped with multiple thunders in the prevention region
Up to equipment, the method also includes:
According to installation site of multiple radar equipments in the prevention region, the default of each radar equipment is determined
Defence area, the default defence area are the convex polygon in the radar equipment scanning range；
The position coordinates of the measured target are determined by the radar equipment；
According to the position coordinates of the measured target, determine whether the measured target is located at the default defence area of current radar equipment
It is interior；
If the measured target is located in the default defence area of the current radar equipment, the current radar is obtained described in
Measured target position coordinates are determined as the location information.
8. target monitoring method according to claim 1, which is characterized in that the monitoring device includes spherical camera,
Location information of the monitoring device according to the illegitimate target, the adjustment shooting direction tracking illegitimate target, comprising:
The identical object of reference of at least three shapes is arranged in different location in the prevention region, by the spherical camera
Shooting central point is respectively aligned to the bottom end and top of each object of reference, generates initial p TZ data；
The position coordinates of the illegitimate target are determined according to the location information of the illegitimate target；
According to the position coordinates of the illegitimate target and the initial p TZ data, the corresponding real-time PTZ of the illegitimate target is generated
Data；
Track up is carried out with spherical camera described in the real-time PTZ data-driven.
9. target monitoring method according to claim 1, which is characterized in that the method also includes:
Obtain the multi frame detection data of the radar equipment in preset time period；
The detection data according to multiframe identifies the fixed object target in the prevention region, and determines the fixture
The position coordinates of body target；
Non- zone of alarm delimited centered on the position coordinates of the fixed object target；
If the measured target is located in the non-zone of alarm, stop the location information for obtaining the measured target.
10. a kind of prevention regional aim monitoring system, which is characterized in that including radar equipment, radio frequency positioning device, monitoring device
And data processing equipment；Wherein, the radar equipment, the radio frequency positioning device and the monitoring device with the number
It establishes and communicates to connect according to processing equipment, the data processing equipment is configured as executing following procedure step:
The location information of measured target in prevention region is obtained by radar equipment, and prevention is obtained by radio frequency positioning device
The label information of labeled targets is had in region；
According to the positional information with the label information, the measured target and the labeled targets are matched；
If the measured target and the labeled targets are not the same targets, determine that the measured target is illegitimate target,
Mark the illegitimate target；
The location information of the illegitimate target is persistently obtained by the radar equipment, and the position of the illegitimate target is believed
Breath reports to monitoring device；
Location information of the monitoring device according to the illegitimate target, the adjustment shooting direction tracking illegitimate target.
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| CN201810086845.5A CN110097726B (en) | 2018-01-30 | 2018-01-30 | Method and system for monitoring target in precautionary area |
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| CN201810086845.5A CN110097726B (en) | 2018-01-30 | 2018-01-30 | Method and system for monitoring target in precautionary area |
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| CN112738394A (en) * | 2020-12-25 | 2021-04-30 | 浙江大华技术股份有限公司 | Linkage method and device of radar and camera equipment and storage medium |
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