CN110719442A - Security monitoring system - Google Patents
Security monitoring system Download PDFInfo
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- CN110719442A CN110719442A CN201910967758.5A CN201910967758A CN110719442A CN 110719442 A CN110719442 A CN 110719442A CN 201910967758 A CN201910967758 A CN 201910967758A CN 110719442 A CN110719442 A CN 110719442A
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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
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B13/00—Burglar, theft or intruder alarms
- G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
- G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
- G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
- G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
- G08B13/19602—Image analysis to detect motion of the intruder, e.g. by frame subtraction
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B13/00—Burglar, theft or intruder alarms
- G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
- G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
- G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
- G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
- G08B13/19697—Arrangements wherein non-video detectors generate an alarm themselves
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- General Physics & Mathematics (AREA)
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- Computer Vision & Pattern Recognition (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a security monitoring system which comprises at least one laser radar, a control module and at least one camera module. Each laser radar is provided with a preset target detection area; the laser radar is used for obtaining first point cloud data based on a laser radar coordinate system; the control module is connected with at least one laser radar and used for converting the first point cloud data into second point cloud data under a space coordinate system and identifying obstacles according to the second point cloud data; when the obstacle is identified, determining the coordinate of the obstacle in the space coordinate system according to the third point cloud data of the obstacle in the space coordinate system; the control module is also connected with at least one camera module and used for controlling the camera module to acquire the image of the obstacle according to the coordinates of the obstacle in the space coordinate system. The security monitoring system provided by the invention realizes accurate illegal intrusion monitoring on the perimeter of a large-scale area.
Description
Technical Field
The embodiment of the invention relates to the technical field of security and protection, in particular to a security and protection monitoring system.
Background
With the development of society and the gradual improvement of safety awareness of people, public safety and boundary security are important. For example, airport safety protection is generally established in a suburb far away from an urban area, and the airport is large in perimeter and difficult to prevent, people around the airport and small animals such as rabbits and hedgehogs easily enter the airport, and thus aviation safety is threatened. Therefore, it is urgent that airports serve as important infrastructures for air transportation and cities to deepen the construction of airports and their perimeter security management systems and strengthen the "technical defense" work of the airports. In addition, with further deepening of the open to the outside in China, the flow of the entry and exit people is continuously increased, criminal activities such as sneak ferry are increasingly serious, and the frontier defense management department is required to have longer and longer task execution distance and faster response speed. In addition, border monitoring key areas such as border areas with complex geographic positions, long border lines, border monitoring points such as border sentry posts, unattended border station sites, entry and exit port sites and the like are widely distributed and far away from a monitoring center, so that the requirement that video management cannot be realized at all in traditional short-distance monitoring is caused.
Disclosure of Invention
The invention provides a security monitoring system, which is used for accurately monitoring illegal intrusion on the perimeter of a large-range area.
The embodiment of the invention provides a security monitoring system which is characterized by comprising the following components:
the system comprises at least one laser radar, a control module and at least one camera module;
each laser radar is provided with a preset target detection area; the laser radar is used for emitting laser to the target detection area and receiving an echo laser beam reflected by an object in the target detection area and then calculating to obtain first point cloud data based on a laser radar coordinate system;
the control module is connected with at least one laser radar and is used for converting the first point cloud data into second point cloud data under a space coordinate system and identifying obstacles according to the second point cloud data; when the obstacle is identified, determining the coordinate of the obstacle in the space coordinate system according to the third point cloud data of the obstacle in the space coordinate system;
the control module is further connected with at least one camera module and used for controlling the camera module to acquire the image of the obstacle according to the coordinates of the obstacle in the space coordinate system.
Optionally, the laser radar and the camera module are independently arranged;
the control module controls the camera module to acquire the image of the obstacle according to the coordinates of the obstacle in the space coordinate system, and specifically includes:
determining the camera module closest to the obstacle as a detection camera module according to the coordinates of the obstacle in the space coordinate system;
and adjusting the lens direction of the detection camera module according to the coordinates of the detection camera module in the space coordinate system and the coordinates of the obstacle in the space coordinate system.
Optionally, the laser radar and the camera module are arranged in a linkage manner;
the control module controls the camera module to acquire the image of the obstacle according to the coordinates of the obstacle in the space coordinate system, and specifically includes:
determining the laser radar which acquires the third point cloud data;
and acquiring the image of the obstacle by adopting the camera module which is in linkage with the laser radar.
Optionally, the control module is further configured to acquire coordinates of a positioning identification tag in the space coordinate system, and match the coordinates of the positioning identification tag in the space coordinate system with coordinates of the obstacle in the space coordinate system; and if the coordinates of the positioning identification tag in the space coordinate system are the same as the coordinates of the obstacle in the space coordinate system, the obstacle is determined to be a non-obstacle.
Optionally, the control module is further configured to determine and store non-obstacle calibration information;
and when the control module identifies the obstacle, the control module firstly eliminates the object area corresponding to the calibration information and then identifies the obstacle.
Optionally, the controlling module controls the camera module to acquire the image of the obstacle according to the coordinates of the obstacle in the space coordinate system, and specifically includes:
predicting the travel track of the obstacle according to the coordinates of the obstacle in the space coordinate system to obtain the moving coordinates of the obstacle at the next moment;
and controlling the camera module to acquire the image of the obstacle according to the moving coordinate.
Optionally, the control module is further configured to determine a type of the obstacle according to third point cloud data of the obstacle in the space coordinate system and the image of the obstacle acquired by the camera module;
the types of obstacles include intruders, intruder vehicles, and non-obstacles.
Optionally, the system further comprises an alarm module, wherein the alarm module is connected with the control module;
the control module is also used for sending early warning information to the alarm module when an obstacle is identified;
and the alarm module is used for sending alarm information according to the early warning information.
Optionally, the system further comprises a human-computer interaction module;
the human-computer interaction module is respectively connected with the control module and the camera module and is used for displaying the point cloud data map under the space coordinate system and/or the image acquired by the camera module.
Optionally, the lidar comprises a multiline lidar and/or a single line lidar;
the camera module comprises a gun camera and/or a dome camera.
According to the technical scheme provided by the embodiment of the invention, the laser radar is used as a core sensor to realize the detection scanning function of the target detection area, and the information such as the direction, distance, speed and the like of the obstacle is further acquired, so that the parameters such as the detection distance, the scanning range, the scanning frequency, the angle resolution, the measurement distance precision and the like are effectively improved. By adopting the laser radar and the high-definition video monitoring technology, the laser radar and the camera module are combined, the laser radar is utilized to realize the active detection of the illegal invasion of the barrier at the boundary of the warning area, and the camera module is linked in real time to acquire the high-definition video image of the barrier invasion area, so that the judgment on the type of the barrier is more accurate.
Drawings
Fig. 1 is a schematic structural diagram of a security monitoring system according to an embodiment of the present invention;
fig. 2 is a schematic deployment diagram of a security monitoring system according to an embodiment of the present invention;
fig. 3 is a schematic deployment diagram of another security monitoring system according to an embodiment of the present invention;
fig. 4 is a schematic view of a workflow of a security system according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
At present, a monitoring system on the market mostly adopts a millimeter wave radar, an elliptical warning space monitoring area with the length of 100 meters, the height of 6 meters and the included angle of 5 degrees is formed by installing a millimeter wave radar in a warning line of a monitoring wall, when suspicious personnel enter the warning area or pass through the warning line, the millimeter wave radar detects the suspicious personnel, relevant information of the suspicious personnel is sent to a background control center through a communication network, the distance between the suspicious personnel and the radar, the movement speed and the movement direction are calculated by the control center, and the alarm is given. However, the detection distance of the millimeter wave radar is directly limited by the loss of the frequency band, and the high frequency band radar is required to be used when the detection is required to be far, so that pedestrians cannot be sensed, and all surrounding obstacles cannot be accurately modeled.
Based on this, an embodiment of the present invention provides a security monitoring system, which includes at least one laser radar, a control module, and at least one camera module. Each laser radar is provided with a preset target detection area, the laser radars emit laser to the target detection area and receive echo laser beams reflected by objects in the target detection area, then first point cloud data based on a laser radar coordinate system are obtained through calculation, the control module is connected with at least one laser radar, the first point cloud data are converted into second point cloud data based on a space coordinate system, obstacle identification is conducted according to the second point cloud data, and when an obstacle is identified, the coordinates of the obstacle in the space coordinate system are determined according to third point cloud data of the obstacle in the space coordinate system. The control module is also connected with at least one camera module and used for controlling the camera module to acquire the image of the obstacle according to the coordinates of the obstacle in the space coordinate system. By adopting the technical scheme, the laser radar is used as a core sensor to realize the detection scanning function of the target detection area, and further obtain the information such as the direction, distance, speed and the like of the barrier, so that the parameters such as the detection distance, the scanning range, the scanning frequency, the angular resolution, the measurement distance precision and the like are effectively improved. By adopting the laser radar and the high-definition video monitoring technology, the laser radar and the camera module are combined, the laser radar is utilized to realize the active detection of the illegal invasion of the barrier at the boundary of the warning area, and the camera module is linked in real time to acquire the high-definition video image of the barrier invasion area, so that the judgment on the type of the barrier is more accurate.
The above is the core idea of the present invention, and the technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the drawings in the embodiment of the present invention. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without any creative work belong to the protection scope of the present invention. Fig. 1 is a schematic structural diagram of a security monitoring system provided in an embodiment of the present invention, and as shown in fig. 1, the security monitoring system provided in the embodiment of the present invention includes: at least one laser radar 11, a control module 12 and at least one camera module 13. Each laser radar 11 is provided with a preset target detection area, and the laser radar 11 is used for emitting laser to the target detection area and receiving an echo laser beam reflected by an object in the target detection area, and then calculating to obtain first point cloud data based on a laser radar coordinate system. The control module 12 is connected with at least one laser radar 11 and is used for converting the first point cloud data into second point cloud data under a space coordinate system and identifying obstacles according to the second point cloud data; and when the obstacle is identified, determining the coordinates of the obstacle in the space coordinate system according to the third point cloud data of the obstacle in the space coordinate system. The control module 12 is further connected to at least one camera module 13, and is configured to control the camera module 13 to obtain an image of the obstacle according to coordinates of the obstacle in the spatial coordinate system.
Exemplarily, fig. 2 is a deployment schematic diagram of a security monitoring system according to an embodiment of the present invention, as shown in fig. 2, a plurality of laser radars 11 and a plurality of camera modules 13 are installed near a boundary of an alert area 21, each laser radar 11 has a preset target detection area 22, the laser radar 11 scans and detects the target detection area 22 to obtain first point cloud data of the target detection area 22 based on a laser radar coordinate system, and sends the first point cloud data to the control module 12 through a communication network, and the control module 12 converts the first point cloud data into second point cloud data of a spatial coordinate system, and performs obstacle identification according to the second point cloud data. Specifically, the control module 12 obtains information such as a distance, a movement speed, and a direction of the first point cloud with respect to the laser radar 11 according to the first point cloud data, and converts the first point cloud data based on the laser radar coordinate system into second point cloud data based on the space coordinate system by combining the coordinates of the laser radar 11 in the space coordinate system. When a suspicious obstacle enters the target detection area 22 or passes through the target detection area 22, the control module 12 identifies the obstacle, calculates coordinates of the obstacle in the space coordinate system according to the third point cloud data of the obstacle in the space coordinate system, and controls the camera module 13 to know the condition of the area where the obstacle is found according to the coordinates of the obstacle in the space coordinate system, so that the type of the obstacle can be further determined. It should be noted that the shape of the surveillance area 21 is not limited to the shape shown in the drawings, and the target detection area 22 of the lidar 11 is not limited to the area shown in the drawings, and those skilled in the art can freely set the surveillance area 21 and the target detection area 22 according to actual conditions, so that all the target detection areas 22 of the lidar 11 can cover the boundary of the surveillance area 21, and monitor obstacles intruding into the surveillance area 21, or all the target detection areas 22 of the lidar 11 can cover the whole surveillance area 21, so as to achieve the effect of omnidirectional monitoring. The laser radar 11 has high angular resolution and scanning frequency, and is not easily affected by illumination change, the laser radar 11 can realize 360-degree all-dimensional environment scanning detection within a 500m range, position information such as the position, distance and speed of the obstacle relative to the laser radar 11 is obtained, and the system is high in precision, high in scanning frequency, high in data real-time updating and high in reliability.
According to the technical scheme provided by the embodiment of the invention, the laser radar 11 is used as a core sensor to realize the detection scanning function of the target detection area 22, and further to acquire information such as the direction, distance, speed and the like of the obstacle, so that parameters such as the detection distance, the scanning range, the scanning frequency, the angle resolution, the measurement distance precision and the like are effectively improved. By adopting the laser radar 11 and the high-definition video monitoring technology, the laser radar 11 and the camera module 13 are combined, the active detection of the illegal invasion of the obstacle in the warning area 21 is realized by utilizing the laser radar 11, and the camera module 13 is linked in real time to acquire a high-definition video image of the obstacle invasion area, so that the judgment on the type of the obstacle is more accurate.
With continued reference to fig. 2, the lidar 11 and the camera module 13 may be mounted at the boundary of the surveillance zone 21. Fig. 3 is a schematic deployment view of another security monitoring system according to an embodiment of the present invention, and as shown in fig. 3, the laser radar 11 and the camera module 13 may also be installed within a boundary of the warning area 21, so as to avoid damage to the two devices by human beings. Those skilled in the art can deploy the laser radar 11 and the camera module 13 according to actual situations, and only the target detection area 22 of the laser radar 11 covers the boundary of the warning area 21, so as to detect the obstacle in the warning area 21.
Optionally, the control module 12 is a server, an industrial personal computer, or any microprocessor, and client software may be installed on the control module 12, and the target detection region 22 and the warning region 21 are freely set by the client software. When the control module 12 identifies an obstacle, only the point cloud data in the surveillance area 21 is subjected to obstacle identification determination, instead of being judged based on all the point cloud data detected by the laser radar 11, so that the data processing amount is reduced, and the obstacle identification speed is increased.
The security monitoring system provided by the embodiment of the invention has the advantages of simple assembly, strong practicability and real-time performance and convenient use, and the laser radar 11 is used as a core sensor for detecting the target detection area 22 to comprehensively and actively detect the invader in the warning area 21, so that the detection accuracy is improved.
Alternatively, the laser radar 11 and the camera module 13 are provided separately. The control module 12 controls the camera module 13 to acquire the image of the obstacle according to the coordinates of the obstacle in the space coordinate system, and specifically includes: determining the camera module 13 closest to the obstacle as a detection camera module according to the coordinates of the obstacle in the space coordinate system; and adjusting the lens direction of the detection camera module according to the coordinates of the detection camera module in the space coordinate system and the coordinates of the obstacle in the space coordinate system.
Wherein, the laser radar 11 and the camera module 13 are deployed in advance, the coordinates of the laser radar 11 and the camera module 13 under the space coordinate system can be stored in the control module 12, in the process that the laser radar 11 detects the target detection area 22, the first point cloud data based on the laser radar coordinate system acquired by all the laser radars 11 is sent to the control module 12, the control module 12 can judge whether there is an obstacle or an invader at present according to the first point cloud data received in real time, and determine the coordinates of the obstacle under the space coordinate system when the obstacle is identified, then acquire the coordinates of the camera module 13 nearest to the obstacle according to the coordinates of the obstacle under the space coordinate system, and finally determine the lens direction of the camera module 13 according to the obstacle under the space coordinate system and the two coordinates of the camera module 13 nearest to the obstacle, and the lens of the camera module 13 is controlled to rotate from the original direction to the lens direction according to the lens direction, so as to obtain the video image of the area where the obstacle is located, so as to assist in judging the shape and type of the obstacle.
Alternatively, as shown in fig. 2 and 3, the laser radar 11 and the camera module 13 are separately and independently arranged. In addition, the laser radar 11 and the camera module 13 can be integrally fixed, for example, the laser radar 11 and the camera module 13 are fixed under the same coordinate by a fixing device, thereby further reducing the data processing amount. The technical personnel in the field can arrange the laser radar 11 and the camera module 13 according to actual conditions, as long as the installation coordinates of the camera module 13 and the laser radar 11 are unified under the same coordinate system, so that point cloud data acquired by all the laser radars 11 form a network, and corresponding cameras can be allocated according to the coordinates of obstacles.
According to the security monitoring system provided by the embodiment of the invention, all the camera modules 13 do not need to be started before the obstacle is not identified, and compared with the scheme that the laser radar 11 and the camera modules 13 are started simultaneously in the prior art, when the obstacle is not identified, the video image of the camera modules 13 does not need to be processed, so that the data processing amount of the system is reduced; in the linkage process of the laser radar 11 and the camera module 13, the camera module 13 in the adjacent area is positioned according to the coordinates of the obstacle in the space coordinate system, and not all the camera modules 13 are started, so that the data processing amount is further reduced.
Optionally, the laser radar 11 and the camera module 13 are linked. The control module 12 controls the camera module 13 to acquire the image of the obstacle according to the coordinates of the obstacle in the space coordinate system, and specifically includes: determining a laser radar 11 for acquiring third point cloud data; the image of the obstacle is acquired using a camera module 13 provided in association with the laser radar 11.
Because the positions of the laser radar 11 and the camera module 13 are fixed, the camera module 13 which needs to be linked correspondingly can be determined according to the coordinates of the laser radar which detects the obstacle. Therefore, the laser radar 11 and the camera module 13 can be paired in advance, and the linkage relationship between the laser radar 11 and the camera module 13 is defined, so that when any laser radar 11 detects an obstacle, the camera module 13 paired with the laser radar 11 can be directly started according to a camera pan-tilt protocol to acquire an image of the obstacle, and the data calculation amount is further reduced.
Optionally, one laser radar 11 may be paired with one or more camera modules 13, and one camera module 13 may also be paired with a plurality of radars, that is, one-to-many, many-to-one, and many-to-many linkage relationships may be implemented between the laser radar 11 and the camera module 13.
Optionally, the control module 12 is further configured to acquire coordinates of the positioning identification tag in the space coordinate system, and match the coordinates of the positioning identification tag in the space coordinate system with coordinates of the obstacle in the space coordinate system. If the coordinates of the positioning identification tag in the space coordinate system are the same as the coordinates of the obstacle in the space coordinate system, the obstacle is marked as a non-obstacle; the positioning identification label is a marker worn by the staff.
After the control module 12 identifies the obstacle, it is necessary to determine whether the obstacle is an intruder or a legal entering person such as a worker, so that the worker may be provided with a positioning identification tag, the control module 12 may accurately acquire coordinates of the positioning identification tag in a spatial coordinate system, and if the coordinates of the positioning identification tag in the spatial coordinate system coincide with the coordinates of the identified obstacle in the spatial coordinate system, the obstacle may be designated as a non-intruder or a worker, and the worker may be prevented from being identified as an intruding obstacle.
In other embodiments, the identifier may also adopt other forms of identifiers, and the feature data of the identifier of the worker is stored in the database in advance, for example, the feature data is a certain specific pattern, so that the worker wears the identifier with the specific pattern, and after the image of the obstacle is acquired by the linkage camera module 13, the acquired image of the obstacle is identified, and the identification of the worker may also be implemented, thereby determining whether the obstacle is the worker. In addition, the face recognition can be carried out on the acquired image of the obstacle, and the face data recognized in the image is matched with the face data of the staff stored in the database, so that whether the image is the staff is judged.
Optionally, the control module 12 is further configured to determine and store non-obstacle calibration information. When the control module 12 identifies the obstacle, the object area corresponding to the calibration information is removed first, and then the obstacle is identified.
In the initialization stage, for some irregular area areas needing security monitoring, the laser radar 11 can be used for scanning surrounding scenes to establish an original area map, then the area map is corrected through a client, a warning area 21 of the protection area is set, areas outside the warning area 21 and fixed objects in the warning area 21 are calibrated, and when the control module 12 identifies obstacles, the object area corresponding to calibration information is removed firstly, and then the obstacles are identified, so that the data processing amount is reduced.
Optionally, the controlling module 12 controls the camera module 13 to obtain the image of the obstacle according to the coordinates of the obstacle in the space coordinate system, which specifically includes: predicting the traveling track of the obstacle according to the coordinates of the obstacle in a space coordinate system to obtain the moving coordinates of the obstacle at the next moment; and controlling the camera module 13 to acquire the image of the obstacle according to the moving coordinate.
The control module 12 obtains first point cloud data transmitted by the laser radar 11 in real time, and obtains third point cloud data of an obstacle according to the first point cloud data, so that a movement track of the obstacle can be obtained, a possible movement direction of the obstacle can be predicted according to the movement track of the obstacle, the speed of the obstacle can be judged according to the movement speed of the third point cloud data, a movement coordinate of the obstacle at the next moment is obtained, and the control module 12 controls the camera module 13 to track the moving obstacle according to the movement coordinate, so that an image of the moving obstacle is obtained in real time.
Optionally, the control module 12 is further configured to determine the type of the obstacle according to the third point cloud data of the obstacle in the space coordinate system and the image of the obstacle acquired by the camera module 13. Types of obstacles include intruders, intruding vehicles, and non-obstacles.
The type of the obstacle can be judged manually through the image of the obstacle, and can also be judged through a point cloud clustering algorithm in combination with visual identification of the image of the obstacle, so that the labor is saved.
With reference to fig. 1, optionally, the security monitoring system provided in the embodiment of the present invention further includes an alarm module 14, where the alarm module 14 is connected to the control module 12. The control module 12 is further configured to send early warning information to the alarm module 14 when an obstacle is identified, and the alarm module 14 is configured to send alarm information according to the early warning information.
The alarm module 14 may be disposed near the boundary of the warning area 21 or at a location of a security worker, when the control module 12 identifies an obstacle, the control module 12 sends an early warning message to the alarm module 14, and the alarm module 14 sends an alarm message according to the early warning message to warn an intrusion target or notify the security worker.
Illustratively, as shown in fig. 1, the alarm module 14 includes an alarm host 141 and a plurality of alarms 142, each of the plurality of alarms 142 is connected to the alarm host 141, and the alarm host 141 is connected to the control module 12. The plurality of warning devices 142 may be disposed near the boundary of the warning region 21, and the coordinates of the warning devices 142 in the space coordinate system are stored, when the control module 12 identifies an obstacle, the control module 12 obtains the coordinate of the warning device 142 closest to the obstacle according to the coordinate of the obstacle in the space coordinate system, and sends the warning information to the warning host 141, and the warning host 141 controls the warning device 142 closest to the obstacle to send warning information according to the warning information, so as to drive away intruders.
With reference to fig. 1, optionally, the security monitoring system provided in the embodiment of the present invention further includes a human-computer interaction module 15. The human-computer interaction module 15 is connected to the control module 12 and the camera module 13, and is configured to display a point cloud data map in a spatial coordinate system and/or an image obtained by the camera module 13.
Wherein, the man-machine interaction module 15 comprises a display screen, a laser radar interface display application program can be installed on the man-machine interaction module 15, the control module 12 is connected with the man-machine interaction module 15, so as to send first point cloud data obtained by the laser radar 11 and/or second point cloud data obtained by the calculation of the control module 12 to the man-machine interaction module 15, the camera module 13 is connected with the man-machine interaction module 15, so as to send an image of an obstacle obtained by the camera module 13 to the man-machine interaction module 15, so that the display screen of the man-machine interaction module 15 can display the point cloud data and a video image, illustratively, when the control module 12 identifies the obstacle, the alarm can be given, and the camera module 13 is controlled to obtain a video picture of an alarm position, the control module 12 sends related point cloud data of the obstacle to the man-machine interaction module 15, the camera module 13 sends the obtained video picture to the man-machine interaction module 15, the display screen of the human-computer interaction module 15 automatically pops up an alarm electronic map and a video picture of an alarm position so as to assist workers in judging the shape and type of the obstacle and acquiring the specific azimuth and distance information of the obstacle. In addition, relevant client software can be installed on the human-computer interaction module 15, and the human-computer interaction module 15 assists workers to freely set the target detection area 22 and the warning area 21. With continued reference to fig. 1, the security monitoring system may further include an encoding module 16, the encoding module 16 may be a video recorder or an encoder, the encoding module 16 is connected to the camera module 13 and the human-computer interaction module 15, the camera module 13 transmits the acquired image of the obstacle to the encoding module 16, and the encoding module 16 transmits the encoded image data to the human-computer interaction module 15 after performing operations such as encoding and storing on the image, so as to improve compatibility of the camera module 13.
Optionally, the laser radar 11 includes a multi-line laser radar and/or a single-line laser radar, and the camera module 13 includes a gun camera and/or a dome camera.
The single-line laser radar can realize 360-degree scanning, the detection distance can reach 500m, the precision is high, two-dimensional distance and azimuth information within the range of 500m can be measured, the multi-line laser radar can measure three-dimensional information within the range of 500m, the measurement frequency is high, and the data updating speed is high. Laser radar 11 adopts single line laser radar can reduce system cost, and laser radar 11 adopts multi-line laser radar can improve the detection efficiency of system, also can adopt single line laser radar and multi-line laser radar mixed installation, and the field of technical staff can select laser radar 11 according to actual demand.
The camera module 13 may be a gun camera or a ball camera. The camera of the gun camera only monitors a fixed angle, generally used as a fixed point monitor, if the camera module 13 adopts the camera of the gun camera, one laser radar 11 can be paired with a plurality of cameras of the gun camera, and when an intruding obstacle enters a region controlled by which camera of the gun camera, the control module 12 starts the camera of the gun camera to acquire an image of the obstacle; the dome camera can monitor a plurality of angles, if camera module 13 adopts the dome camera, can make a laser radar 11 pair with a dome camera, perhaps many laser radar 11 pair with a dome camera, and according to the region that the barrier of invasion got into, control module 12 adjusts the shooting region of dome camera. More specifically, the camera module 13 can be an intelligent high-speed dome, an infrared all-in-one machine, a high-light long-illumination camera, an explosion-proof infrared camera, and the like, and can be selected by a person skilled in the art according to actual needs. The camera module 13 may also adopt a motorized zoom lens, and the control module 12 calculates a distance between the camera module 13 and an obstacle according to coordinates of the camera module 13 in a spatial coordinate system and coordinates of the obstacle in the spatial coordinate system, so as to adjust a focal length of the camera module 13 according to the distance, thereby obtaining a clear image of the obstacle.
Optionally, the laser radar 11 is a TOF laser radar, and the Time of Flight (TOF) principle is used for ranging, that is, the distance information of the object to be measured is obtained by calculating the Time difference between the emission and the return of the modulated laser to obtain the optical path. Specifically, the measuring part further comprises a time-to-digital converter (TDC) chip, and the TDC chip is configured to obtain an optical path according to a time difference between transmission and reception of the laser signal, and calculate the optical path to obtain a distance value of the object. The TOF laser radar can realize 360-degree environment scanning detection in the range of more than 200 meters, is high in precision, high in scanning frequency, real-time in data updating and high in reliability, and can detect detailed information (direction, distance and speed information) of obstacles. Other types of lidar, such as those based on the principle of triangulation, may also be employed for lidar 11 to achieve the same technical effect.
Optionally, the security monitoring system provided in the embodiment of the present invention further includes a power module, where the power module is electrically connected to the laser radar 11, the camera module 13, and the control module 12, and is used to supply power to the laser radar 11 and the control module 12, so as to ensure normal operation of the system in case of power failure.
Optionally, the control module 12 includes a signal acquisition unit, a data processing unit, a voice processing unit, and the like, where the signal acquisition unit is configured to receive the first point cloud data sent by the laser radar 11, the data processing unit is configured to process the first point cloud data so as to perform obstacle recognition, the voice processing unit may implement functions such as voice control, and each module or unit may be connected by using a network interface.
Optionally, the laser radar 11 includes a measuring part, a structural part, a wireless power transmission element, and a wireless signal transmission module. The measuring part comprises a laser transmitter, a transmitting lens group, a laser receiver and a receiving lens group, the measuring part adopts the TOF principle, the laser transmitter transmits and modulates pulse laser signals, the laser signals are emitted after being collimated by the transmitting lens group, and laser echo signals reflected by a target scanning area are focused on the laser receiver through the receiving lens group. The structure is used for assembling the measuring part, the wireless power transmission element and the wireless signal transmission module together, and the structure adopts an internal rotation mode to reduce the external abrasion of the measuring part and prolong the service life of the laser radar 11. The wireless power transmission element and the wireless signal transmission element can adopt a coil assembly, and carry out power and signal transmission on the measuring part by utilizing the electromagnetic induction principle, so that the limitation of carrying out power and signal transmission on the rotating angle of the measuring part by adopting a wire harness in the prior art can be avoided, and the arbitrary rotation of the measuring part is realized. The signal transmission can adopt a Frequency Shift Keying (FSK) coding and decoding mode, the realization is easy, and the anti-noise and anti-attenuation performance is better.
Fig. 4 is a schematic diagram of a work flow of a security system according to an embodiment of the present invention, as shown in fig. 4, a laser radar 11 performs reciprocating scanning detection on a target detection area, first point cloud data obtained by scanning of the laser radar 11 based on a laser radar coordinate system is transmitted to a control module 12, the control module 12 processes the first point cloud data and performs obstacle identification according to a preset warning area 21, and obtains information such as a distance, an angle, and a speed of an obstacle after the obstacle is identified, and determines coordinate position information, an obstacle type, and the like of the obstacle. The subsequent control module 12 may send control information to the camera module 13 to control the camera module 13 to obtain an image of the obstacle, and in other embodiments, the control module 12 may also send early warning information to the alarm module 14 to control the alarm module 14 to send alarm information.
According to the security monitoring system provided by the embodiment of the invention, the laser radar 11 is used as a core sensor, the actually set warning area 21, the camera module 13 and the alarm module 14 are controlled in a linkage manner, and the barrier is identified through algorithm processing, so that the active detection of the illegal intrusion of the barrier in the warning area 21 is realized. According to the security monitoring system provided by the embodiment of the invention, parameters such as detection distance, scanning range, scanning frequency, angular resolution, measurement distance precision and the like are effectively improved, and the camera module 13 is linked in real time to acquire high-definition video images of the barrier invasion area, so that the barrier type is judged more accurately.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A security monitoring system, comprising:
the system comprises at least one laser radar, a control module and at least one camera module;
each laser radar is provided with a preset target detection area; the laser radar is used for emitting laser to the target detection area and receiving an echo laser beam reflected by an object in the target detection area and then calculating to obtain first point cloud data based on a laser radar coordinate system;
the control module is connected with at least one laser radar and is used for converting the first point cloud data into second point cloud data under a space coordinate system and identifying obstacles according to the second point cloud data; when the obstacle is identified, determining the coordinate of the obstacle in the space coordinate system according to the third point cloud data of the obstacle in the space coordinate system;
the control module is further connected with at least one camera module and used for controlling the camera module to acquire the image of the obstacle according to the coordinates of the obstacle in the space coordinate system.
2. The security monitoring system according to claim 1, wherein the laser radar is independent of the camera module;
the control module controls the camera module to acquire the image of the obstacle according to the coordinates of the obstacle in the space coordinate system, and specifically includes:
determining the camera module closest to the obstacle as a detection camera module according to the coordinates of the obstacle in the space coordinate system;
and adjusting the lens direction of the detection camera module according to the coordinates of the detection camera module in the space coordinate system and the coordinates of the obstacle in the space coordinate system.
3. The security monitoring system according to claim 1, wherein the laser radar and the camera module are arranged in a linkage manner;
the control module controls the camera module to acquire the image of the obstacle according to the coordinates of the obstacle in the space coordinate system, and specifically includes:
determining the laser radar which acquires the third point cloud data;
and acquiring the image of the obstacle by adopting the camera module which is in linkage with the laser radar.
4. The security monitoring system according to claim 1, wherein the control module is further configured to obtain coordinates of a positioning identification tag in the spatial coordinate system, and match the coordinates of the positioning identification tag in the spatial coordinate system with coordinates of the obstacle in the spatial coordinate system; and if the coordinates of the positioning identification tag in the space coordinate system are the same as the coordinates of the obstacle in the space coordinate system, the obstacle is determined to be a non-obstacle.
5. The security monitoring system of claim 1, wherein the control module is further configured to determine and store non-obstacle calibration information;
and when the control module identifies the obstacle, the control module firstly eliminates the object area corresponding to the calibration information and then identifies the obstacle.
6. The security monitoring system according to claim 1, wherein the control module controls the camera module to acquire the image of the obstacle according to the coordinates of the obstacle in the spatial coordinate system, specifically comprising:
predicting the travel track of the obstacle according to the coordinates of the obstacle in the space coordinate system to obtain the moving coordinates of the obstacle at the next moment;
and controlling the camera module to acquire the image of the obstacle according to the moving coordinate.
7. The security monitoring system according to claim 1, wherein the control module is further configured to determine a type of an obstacle according to third point cloud data of the obstacle in the spatial coordinate system and the image of the obstacle acquired by the camera module;
the types of obstacles include intruders, intruder vehicles, and non-obstacles.
8. The security monitoring system according to claim 1, further comprising an alarm module, wherein the alarm module is connected to the control module;
the control module is also used for sending early warning information to the alarm module when an obstacle is identified;
and the alarm module is used for sending alarm information according to the early warning information.
9. The security monitoring system of claim 1, further comprising a human-computer interaction module;
the human-computer interaction module is respectively connected with the control module and the camera module and is used for displaying the point cloud data map under the space coordinate system and/or the image acquired by the camera module.
10. The security monitoring system of claim 1, wherein the lidar comprises a multiline lidar and/or a single line lidar;
the camera module comprises a gun camera and/or a dome camera.
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