CN102646316A - Comprehensive security monitoring method and comprehensive security monitoring system based on sentry - Google Patents

Abstract

The invention discloses a comprehensive security monitoring method and a comprehensive security monitoring system based on a sentry. The comprehensive security monitoring method includes the following implementation steps: 1) setting a sleep pulse critical value, a life weak pulse critical value and a human movement sign critical value; and 2) collecting pulse and human movement signs of sentry security personnel in real time. Security monitoring alarm is achieved according to three factors of the pulse, the human movement signs and manually triggered alarm, a sentry site video is collected through a camera during the triggered alarm, and alarm and the site video collected by the camera are sent to a monitoring center. The comprehensive security monitoring system comprise the monitoring center and at least one sentry unit, the sentry unit comprises a video monitoring unit, a sentry base station and at least one security personnel terminal, the video monitoring unit comprises the camera with a rotary platform, and the security personnel terminal comprises a pulse sensor, an attitude sensor, an alarm button, a terminal controller and a terminal wireless module. The comprehensive security monitoring method and the comprehensive security monitoring system based on the sentry have the advantages of being good in security, high in reliability, accurate in video monitoring and simple and convenient to use.

Description

Comprehensive security-protecting and monitoring method and system based on the post

Technical field

The present invention relates to safety-security area, be specifically related to a kind of comprehensive security-protecting and monitoring method and system that is used to ensure the security protection region security based on the post.

Background technology

It is a primary institution of security protection that the security protection personnel stand guard on duty, is the important defence line together that ensures the security protection region security.At ordinary times, this system can effectively be contained infringement, prevented accident, and maintenance safe is stable, promotes security protection zone harmonious development; In the urgent moment, this system can effectively be prevented infringement, ensure the people's in the security protection zone personal safety as well as the property safety.The security protection personnel three aspects function of mainly having on duty of standing guard: 1) deterrence; 2) verify and control the entering personnel; 3) special feelings are disposed.Deterrence: require the security protection personnel full-time on the throne, be alert at all times, do not give the offender with opportunity; Verify and control turnover personnel: require the security protection personnel accurately to examine the discrepancy personnel; The unrelated person No Admittance; The internal staff guarantees the relatively independent environment of security protection intra-zone with perfect instrument turnover security protection zone, guarantees operate as normal, training, the life order in security protection zone; Special feelings are disposed: require the security protection personnel can find the post accident timely and accurately, and in time report, guard personnel for the security protection zone and find and dispose special feelings important evidence is provided.

Constantly urgent, the security protection zone faces severe safety guarantee challenge, because the utilization of speciality tool and hi-tech instrument, the offender shoots its moment dead possibly to the surprise attack of security protection personnel, and it can't be reported the special feelings in post.The offender will appear at the security protection intra-zone suddenly like this, forces hastily Passive Defence of security protection zone, has weakened the security protection ability in security protection zone greatly, causes the security protection zone to sustain a great loss.Especially the utilization of special means makes the performance of post effect be faced with more acid test.Therefore, the security protection personnel can in time circulate a notice of situation just become the security protection zone whether can rapid reaction, ensure the key factor of security protection region security.

At ordinary times, on the one hand because China period at peace always over nearly 30 years, people's lives are stable; Do not live through war for a long time, so minority security protection personnel lack crisis awareness, do not recognize the importance of standing guard; Oneself is lost vigilance, and behavior occurs leaving the post privately to wait.This safe preservation for the security protection zone has been buried major hidden danger.On the other hand, offender and minority lawless person wait for a chance to cause trouble, and the security protection zone possibly become the important goal that they attack, and this not only requires the security protection personnel full-time on the throne, vigilant constantly, also requires the security protection personnel to notify at once accident.Yet some accident also possibly directly cause security protection personnel stupor or dead, and post information just can not in time report like this, and the security protection zone is suffered heavy losses.In recent years, a lot of security protection personnel attacks occurred, and cause relevant security protection area loss serious, and social influence had been abominable.In addition, the security protection personnel generally adopt the mode of standing guard to guard, and are often powerless when meeting with unexpected pernicious attack, can not in time report to the police, and stayed opportunity to the offender, and safety case causes anxiety.

Summary of the invention

The technical matters that the present invention will solve provides comprehensive security-protecting and monitoring method and the system based on the post that a kind of security is good, reliability is high, the video monitoring is accurate, easy to use.

In order to solve the problems of the technologies described above, the technical scheme that the present invention adopts is:

A kind of comprehensive security-protecting and monitoring method based on the post, implementation step is following:

1) sets sleep pulse critical value, the faint pulse critical value of life and human motion sign critical value;

2) gather post security protection personnel's pulse and human motion sign in real time; When the pulse that detects the security protection personnel is lower than sleep pulse critical value; Through camera collection post live video, export sleepy warning and send live video through camera collection to Surveillance center to the security protection personnel; When the human motion sign that is lower than faint pulse critical value of life or security protection personnel when the pulse that detects the security protection personnel is lower than human motion sign critical value; Through camera collection post live video, send the live video of alarm and said camera collection to Surveillance center; When detecting the warning of security protection personnel manual activation,, send the live video of alarm and said camera collection to Surveillance center through camera collection post live video.

Further improvement as the comprehensive security-protecting and monitoring method that the present invention is based on the post:

Said human motion sign is body obliquity or human motion acceleration.

Said step 2) detailed step through camera collection post live video in comprises:

2.1) in the space, post, arrange four groups of sonic transducers in advance, and said four groups of sonic transducers are arranged at four angles of corresponding positive tetrahedron respectively;

2.2) intensity of sound be set trigger critical value, gather sound through sonic transducer in real time, when the intensity of sound of any sonic transducer output surpasses said intensity of sound and triggers critical value through said sonic transducer localization of sound source position;

2.3) the adjusting camera is towards said sound source position and gather video, in the camera collection video, regulates the moving target in the camera real-time follow-up video frame image.

Said step 2.2) detailed step of localization of sound source position comprises in:

2.2.1) sound that obtains sound source arrives the time τ of four groups of sonic transducers successively ₁, τ ₂, τ ₃, τ ₄

2.2.2) with τ ₂, τ ₃, τ ₄Respectively and τ ₁Carry out the difference computing and obtain time τ ₂₁, τ ₃₁, τ ₄₁

2.2.3) sonic transducer that will detect sound at first sets up the spherical coordinates system as the coordinate center of circle, according to

$\mathrm{\θ}=\arccos [-\frac{({3\mathrm{\τ}}_{41}-{\mathrm{\τ}}_{31}-{\mathrm{\τ}}_{21})\·c}{\sqrt{6}R}]$

Obtain said sound source position in position angle of said spherical coordinates system

and pitching angle theta, wherein R is that the length of side, the c of said positive tetrahedron are the velocity of sound.

Said step 2.3) regulate in moving target in the camera real-time follow-up video frame image specifically be meant through

$C(x,y)=\frac{\∫\∫r(u,v)r(u+x,v+y)\mathrm{dudv}}{\∫\∫r{(u,v)}^2\mathrm{dudv}}$

Obtain the immediate movement amount of adjacent video picture frame in real time; C (x wherein; Y) be that horizontal ordinate displacement, y are that ordinate displacement, u are that any point horizontal ordinate on the image, v are any point ordinate on the image, r (u for normalization related function, the x of front and back two two field pictures; V) be (u, the v) brightness at coordinate place on the image; Then said immediate movement amount is come the moving target in the Position Tracking video frame image of real-time regulated camera as error signal.

Said step 2) also comprise the step that security protection personnel and security protection apparatus are left the post to detect in: in advance on security protection personnel health additional security protection personnel terminal, security protection apparatus terminal is set on the security protection apparatus; Be provided for transmitting the base station, post of data and control command at the post; With said security protection personnel terminal, security protection apparatus terminal respectively through wireless network and linking to each other with the base station, post, the respectively mutual timed sending information of surviving between said control security protection personnel terminal and the base station, post, between said security protection apparatus terminal and the base station, post; The real-time respectively survival information that detects from the base station, post in said security protection personnel terminal, security protection apparatus terminal, if security protection personnel terminal or security protection apparatus terminal surpass the survival information that setting-up time does not receive that the base station, post is sent, then output leaves the post to warn; Base station, said post is detected the survival information from security protection personnel terminal and security protection apparatus terminal in real time; If surpassing setting-up time, the base station, post do not receive the survival information at security protection personnel terminal or security protection apparatus terminal; Then base stations control camera in post comes the on-the-spot and collection site video in flyback retrace post, sends the live video of alarm and said camera collection then to Surveillance center.

Said step 2) also comprise in and detect the step that the security protection personnel relieve a sentry and operate:

A1) relieve a sentry time period and the longest relieving a sentry the time are set in advance, for post security protection personnel the password of relieving a sentry are set in advance;

A2) detect the security protection personnel in real time and whether import the password of relieving a sentry, jump execution in step A3 when detecting to change when password is relieved a sentry in security protection personnel input), otherwise continue execution in step A2);

A3) judge whether the current time mate the time period and whether correctly enter password of relieving a sentry, time of relieving a sentry or the mistake then give the alarm to Surveillance center of entering password are not jumped execution in step A4 otherwise change if the current time matches);

A4) pick up counting; Stop said step 2) in to the processing of pulse and human motion sign; If timing time surpasses the longest time and new security protection personnel input password or the input password mistake of relieving a sentry of relieving a sentry as yet of relieving a sentry, then being judged to be and relieving a sentry unusual and gives the alarm to Surveillance center; If the security protection personnel after relieving a sentry import the password of correctly relieving a sentry, then stop timing and recover said step 2) in to the processing of pulse and human motion sign.

The present invention also provides a kind of comprehensive safety defense monitoring system based on the post; Comprise Surveillance center and at least one unit, post; Unit, said post comprises video monitoring unit, base station, post and at least one security protection personnel terminal; Said video monitoring unit comprises the camera that has turntable, and base station, said post links to each other with Surveillance center, camera, turntable, security protection personnel terminal respectively; Said security protection personnel terminal comprises pulse transducer, attitude sensor, alarm button, terminal control unit and terminal wireless module; Said attitude sensor is obliquity sensor or acceleration transducer; The input end of said terminal control unit links to each other with pulse transducer, attitude sensor, alarm button respectively, and said terminal control unit links to each other with the base station, post through the terminal wireless module; Base station, said post is gathered post security protection personnel's pulse and human motion sign in real time through pulse transducer, attitude sensor; When the pulse that detects the security protection personnel was lower than sleep pulse critical value, base station, said post was through camera collection post live video, export sleepy warning and send the live video through camera collection to Surveillance center to the security protection personnel through first reminiscences at security protection personnel terminal; When the human motion sign that is lower than faint pulse critical value of life or security protection personnel when the pulse that detects the security protection personnel was lower than human motion sign critical value, the live video of alarm and said camera collection was sent in base station, said post through camera collection post live video, to Surveillance center; When detecting the warning of security protection personnel manual activation alarm button, the live video of alarm and said camera collection is sent in base station, said post through camera collection post live video, to Surveillance center.

Further improvement as the comprehensive safety defense monitoring system that the present invention is based on the post:

Said video monitoring unit also comprises acoustic sensor array; Said acoustic sensor array comprises four groups of sonic transducers; Said four groups of sonic transducers are located in the space, post; And said four groups of sonic transducers four angles of corresponding positive tetrahedron are respectively arranged; The output terminal of said sonic transducer links to each other with the base station, post respectively, and when the intensity of sound of any one group of sonic transducer output surpassed intensity of sound triggering critical value, base station, said post arrived the mistiming localization of sound source position of three groups of sonic transducers of residue successively through sound; And through regulate turntable with camera towards sound source position and gather video, and base station, said post is regulated turntable through the target bit in-migration of analyzing camera output adjacent video picture frame and is made the moving target in the said video frame image of camera real-time follow-up in the camera collection video.

Said security protection personnel terminal also comprises first reminiscences, and the output terminal of said terminal control unit links to each other with first reminiscences; Unit, said post also comprises and is used for security protection apparatus terminal that the security protection apparatus is left the post to detect; Said security protection apparatus terminal comprises apparatus controller, apparatus wireless module and second alarm; The output terminal of said apparatus controller links to each other with second alarm, and said apparatus controller links to each other with the base station, post through the apparatus wireless module; Said terminal control unit, apparatus controller are regularly sent out alive message through wireless network and Surveillance center respectively mutually, do not judge the security protection personnel if the alive message of terminal control unit or the transmission of apparatus controller is received by Surveillance center in Preset Time or the security protection apparatus is left the post and given the alarm; If terminal control unit is not received the alive message of Surveillance center then through first reminiscences output warning, is not passed through second alarm output warning if the apparatus controller is received the alive message of Surveillance center in Preset Time in Preset Time; Base station, said post comprises base station controller, relieve a sentry password load module, display screen and wireless communication unit; The input end of said base station controller links to each other with camera, sonic transducer, the password load module of relieving a sentry respectively; The output terminal of said base station controller links to each other with turntable, display screen respectively; Said wireless communication unit comprises two first wireless module and second wireless modules that channel is different; Said base station controller links to each other with said security protection personnel terminal, security protection apparatus terminal respectively through first wireless module successively, and said base station controller links to each other with said Surveillance center through second wireless module.

The comprehensive security-protecting and monitoring method that the present invention is based on the post has following advantage:

1, the present invention is directed to prior art existing leak and deficiency when handling special feelings; Can be when realizing the artificial warning of security protection personnel; Being implemented in the security protection personnel in conjunction with security protection personnel's pulse and human motion sign reminds, occurs when unusual from the output alarm of trend Surveillance center in security protection personnel's pulse or human motion sign security protection personnel drowsiness when sleepy; Call camera collection post live video and send to Surveillance center; Can be fast, in time, reliably alarm is transferred to Surveillance center; So that rapid reaction is made by Surveillance center, the present invention utilizes the vital signs of human body and posture feature to carry out post safety case monitoring, and the information truth that obtains is reliable; Even when the security protection personnel can't report to the police, also can the special feelings very first time of post be sent to Surveillance center; Can effectively guarantee the safety in security protection zone, also win the time simultaneously, have the advantage that security is good, reliability is high, video is monitored accurately, security is good, easy to use for rescuing injured security protection personnel.

2, the present invention further detects sound source position through four groups of sonic transducers; The adjusting camera is towards said sound source position and gather video; In the camera collection video, regulate the moving target in the camera real-time follow-up video frame image,, be convenient to observe dangerous situation through the control that the auditory localization technology is realized camera is pointed to; Can attack take place at the post locate the offender position rapidly; And utilize video monitoring system that the offender is followed the trail of, and at length writing down field condition, the offender provides important clue for investigation.

3, the present invention also further leaves the post to detect, relieving a sentry of security protection personnel detected to security protection personnel and security protection apparatus, detects and the detection of relieving a sentry through leaving the post, can be from the security and the reliability of the comprehensive security-protecting and monitoring method of multi-faceted raising.

The comprehensive safety defense monitoring system that the present invention is based on the post has and the aforementioned corresponding hardware configuration of comprehensive security-protecting and monitoring method based on the post, equally also has with above-mentioned based on the corresponding technique effect of the comprehensive security-protecting and monitoring method at post.

Description of drawings

Fig. 1 is the basic procedure synoptic diagram of embodiment of the invention method.

Fig. 2 is the installation site synoptic diagram of sonic transducer in the embodiment of the invention.

Fig. 3 is the synoptic diagram of the spherical coordinates system set up in the embodiment of the invention.

Fig. 4 is system's basic frame structure synoptic diagram of the embodiment of the invention.

Fig. 5 is the basic topological structure synoptic diagram of the system of the embodiment of the invention.

Fig. 6 is the framed structure synoptic diagram at security protection personnel terminal in the embodiment of the invention.

Fig. 7 is the control principle synoptic diagram of embodiment of the invention intermediate station.

Fig. 8 is the framed structure synoptic diagram of base station, post and video monitoring unit in the embodiment of the invention.

Fig. 9 is the structural representation of acoustic sensor array in the embodiment of the invention.

Figure 10 is the data self check schematic flow sheet of monitoring unit in the embodiment of the invention.

Figure 11 is the framed structure synoptic diagram at security protection apparatus terminal in the embodiment of the invention.

Figure 12 is the treatment scheme synoptic diagram of monitoring unit in the embodiment of the invention to the alarm of leaving the post.

Figure 13 is the circuit theory synoptic diagram at security protection personnel terminal in the embodiment of the invention.

Figure 14 is the waveform synoptic diagram of pulse transducer output voltage in the embodiment of the invention.

Figure 15 is the circuit theory synoptic diagram at security protection apparatus terminal in the embodiment of the invention.

Figure 16 is the network hierarchy principle schematic of the embodiment of the invention.

Marginal data: 1, Surveillance center; 2, unit, post; 21, video monitoring unit; 211, camera; 212, turntable; 213, acoustic sensor array; 214, sonic transducer; 22, base station, post; 221, base station controller; 222, the password load module of relieving a sentry; 223, display screen; 224, wireless communication unit; 225, first wireless module; 226, second wireless module; 23, security protection personnel terminal; 231, pulse transducer; 232, attitude sensor; 233, alarm button; 234, terminal control unit; 235, terminal wireless module; 236, first reminiscences; 24, security protection apparatus terminal; 241, apparatus controller; 242, apparatus wireless module; 243, second alarm.

Embodiment

As shown in Figure 1, present embodiment is following based on the implementation step of the comprehensive security-protecting and monitoring method at post:

1) sets sleep pulse critical value, the faint pulse critical value of life and human motion sign critical value;

2) gather post security protection personnel's pulse and human motion sign in real time; When the pulse that detects the security protection personnel is lower than sleep pulse critical value; Through camera collection post live video, export sleepy warning and send live video through camera collection to Surveillance center to the security protection personnel; When the human motion sign that is lower than faint pulse critical value of life or security protection personnel when the pulse that detects the security protection personnel is lower than human motion sign critical value; Through camera collection post live video, send the live video of alarm and camera collection to Surveillance center; When detecting the warning of security protection personnel manual activation,, send the live video of alarm and camera collection to Surveillance center through camera collection post live video.

Human pulse has reflected people's vital sign, and pulse can slow down in the time of like sleep, and pulse can sharply rise in the fight process.In addition, since the security protection personnel fall down to the ground, the inclination angle can change in the process such as fight, therefore through gathering security protection personnel's body obliquity, can understand security protection personnel's state; Because the security protection personnel through gathering security protection personnel's acceleration, can understand security protection personnel's state falling down to the ground, having obvious and swift and violent acceleration in the process such as fight; Therefore the human motion sign is optional with body obliquity or human motion acceleration, can adopt other detectable human motion sign in addition.When the human motion sign was selected body obliquity for use, then human motion sign critical value was an angle of inclination value; When the human motion sign was selected the human motion acceleration for use, then human motion sign critical value was an accekeration; When detecting angle of inclination value or accekeration above threshold value, then decidable security protection personnel cause danger, thereby send the live video of alarm and camera collection to Surveillance center.In the present embodiment; The human motion sign is selected the human motion acceleration for use; Human motion sign critical value is an accekeration, and human motion sign critical value is specially 0.32g in the present embodiment, when security protection personnel's acceleration change surpasses threshold value 0.32g, exports alarm to Surveillance center.In the present embodiment pulse data is carried out smoothing processing, be output as the pulse mean value of last minute duration each time, adopt 40 times as sleep pulse critical value, 20 times as the faint pulse critical value of life.

Step 2) detailed step through camera collection post live video in comprises:

2.1) in the space, post, arrange four groups of sonic transducers in advance, and four groups of sonic transducers are arranged at four angles of corresponding positive tetrahedron respectively;

2.2) intensity of sound triggering critical value is set, pass through sonic transducer in real time and gather sound,, the intensity of sound of any sonic transducer output passes through sonic transducer localization of sound source position when surpassing intensity of sound triggering critical value;

2.3) the adjusting camera is towards sound source position and gather video, in the camera collection video, regulates the moving target in the camera real-time follow-up video frame image.

Sonic transducer is being spaced to the array of certain geometrical shape,, is confirming the position of target through the time delay that detects or calculate the measured signal of each sonic transducer with the sound field information of receiving target.For non-directional sonic transducer, each sonic transducer receives the signal priority of same sound source, and promptly time delay has reflected that sound source belongs to the direction and the distance of microphone line.By the array that N sonic transducer formed, can obtain the individual independently time delay of N-1 at least, position target, need the sonic transducer of four dispersed placement at least.In the present embodiment, the arrangement of sonic transducer adopts the form of solid array, the mode of promptly on four angles of positive tetrahedron, placing one group of sonic transducer respectively.As shown in Figure 2, each group sonic transducer only uses a sonic transducer in the present embodiment, and four sonic transducers (S1～S4) arrange respectively by four angles of corresponding positive tetrahedron.In addition, also can adopt other dispersed placement form, its principle of work is identical with present embodiment.

As shown in Figure 3; If the spherical coordinates of sound source is a sound source for

to the distance of true origin is r, the position angle is θ for

angle of pitch.When sound source to basic matrix be far longer than array element (sonic transducer) spacing R apart from S the time, can suppose that the signal that basic matrix receives is a plane wave.With array element is reference array element, establishes sound-source signal and arrives array element S ₁Time be τ ₁, arrive array element S ₂, S ₃, S ₄With respect to arriving array element S ₁Time delay (hereinafter to be referred as time delay) be respectively τ ₂₁, τ ₃₁, τ ₄₁, then sound-source signal propagates into S ₂, S ₃, S ₄With propagate into S ₁Path difference be respectively d ₂₁, d ₃₁, d ₄₁, its expression formula is:

$\left\{\begin{array}{c}{\mathrm{<figure-callout\; id="21"\; label="d"\; filenames="HDA0000158902330000022.png,HDA0000158902330000042.png"\; state="\{\{state\}\}">d</figure-callout>}}_{21}={\mathrm{\&tau;}}_{21}\&CenterDot;c\\ d_{31}={\mathrm{\&tau;}}_{31}\&CenterDot;c\\ d_{41}={\mathrm{\&tau;}}_{41}\&CenterDot;c\end{array}\right.---\left(1\right)$

Wherein: c is the velocity of sound.

If the sound source coordinate then has for

with respect to the vector of basic matrix true origin:

Array element S ₂, S ₃, S ₄With respect to array element S ₁Vector be expressed as respectively

$\stackrel{\&RightArrow;}{{\mathrm{<figure-callout\; id="21"\; label="l"\; filenames="HDA0000158902330000022.png,HDA0000158902330000042.png"\; state="\{\{state\}\}">l</figure-callout>}}_{21}}=-\frac{\mathrm{<figure-callout\; id="2"\; label="R"\; filenames="HDA0000158902330000022.png,HDA0000158902330000071.png"\; state="\{\{state\}\}">R</figure-callout>}}{2}\&CenterDot;\stackrel{\&RightArrow;}{i}-\frac{\sqrt{3}}{2}\&CenterDot;\stackrel{\&RightArrow;}{j}$

$\stackrel{\&RightArrow;}{l_{31}}=\frac{\mathrm{<figure-callout\; id="2"\; label="R"\; filenames="HDA0000158902330000022.png,HDA0000158902330000071.png"\; state="\{\{state\}\}">R</figure-callout>}}{2}\&CenterDot;\stackrel{\&RightArrow;}{i}-\frac{\sqrt{3}}{2}\&CenterDot;\stackrel{\&RightArrow;}{j}$

$\stackrel{\&RightArrow;}{l_{41}}=-\frac{\sqrt{3}}{3}\&CenterDot;\stackrel{\&RightArrow;}{j}+\frac{\sqrt{6}}{3}R\&CenterDot;\stackrel{\&RightArrow;}{k}$

Owing to adopted the far field plane wave approximation, with array element S ₁Be reference array element, sound source is to array element S ₂, S ₃, S ₄Path difference do

Can get by following formula

$\cos \mathrm{\&theta;}=-\frac{{3d}_{41}-d_{31}-{\mathrm{<figure-callout\; id="21"\; label="d"\; filenames="HDA0000158902330000022.png,HDA0000158902330000042.png"\; state="\{\{state\}\}">d</figure-callout>}}_{21}}{\sqrt{6}R}---\left(3\right)$

With formula (1) substitution formula (2), formula (3), the relation that can get between the target direction angle and the angle of pitch and the time delay is:

$\mathrm{\&theta;}=\arccos [-\frac{({3\mathrm{\&tau;}}_{41}-{\mathrm{\&tau;}}_{31}-{\mathrm{\&tau;}}_{21})\&CenterDot;c}{\sqrt{6}R}]$

Like this, know that time delay just can analyze the positional information of target, and time delay can obtain through analyzing voice signal.

Step 2.2) detailed step of localization of sound source position comprises in:

2.2.1) sound that obtains sound source arrives the time τ of four groups of sonic transducers successively ₁, τ ₂, τ ₃, τ ₄

2.2.2) with τ ₂, τ ₃, τ ₄Respectively and τ ₁Carry out the difference computing and obtain mistiming τ ₂₁, τ ₃₁, τ ₄₁

2.2.3) sonic transducer that will detect sound at first sets up the spherical coordinates system as the coordinate center of circle, according to

$\mathrm{\&theta;}=\arccos [-\frac{({3\mathrm{\&tau;}}_{41}-{\mathrm{\&tau;}}_{31}-{\mathrm{\&tau;}}_{21})\&CenterDot;c}{\sqrt{6}R}]$

Obtain sound source position in position angle of spherical coordinates system

and pitching angle theta, wherein R is that the length of side, the c of positive tetrahedron are the velocity of sound.

Since camera collection to adjacent two width of cloth video frame images be that same moving target different time is taken, so they at aspects such as brightness of image and picture positions existing relation, but have any different.Therefore can the immediate movement amount of obtaining between the moving target be described through the degree of correlation between two width of cloth video frame images.In the present embodiment, step 2.3) regulate in moving target in the camera real-time follow-up video frame image specifically be meant through

$C(x,y)=\frac{\&Integral;\&Integral;r(u,v)r(u+x,v+y)\mathrm{dudv}}{\&Integral;\&Integral;r{(u,v)}^2\mathrm{dudv}}$

Obtain the immediate movement amount of adjacent video picture frame in real time; C (x wherein; Y) be that horizontal ordinate displacement, y are that ordinate displacement, u are the horizontal ordinate of any point on the image, ordinate, the r (u that v is any point on the image for normalization related function, the x of front and back two two field pictures; V) be (u, the v) brightness at coordinate place on the image; Then the immediate movement amount is come the moving target in the Position Tracking video frame image of real-time regulated camera as error signal.

Step 2) also comprise the step that security protection personnel and security protection apparatus are left the post to detect in: in advance on security protection personnel health additional security protection personnel terminal, security protection apparatus terminal is set on the security protection apparatus; Be provided for transmitting the base station, post of data and control command at the post; With security protection personnel terminal, security protection apparatus terminal respectively through wireless network and linking to each other with the base station, post, the respectively mutual timed sending information of surviving between control security protection personnel terminal and the base station, post, between security protection apparatus terminal and the base station, post; The real-time respectively survival information that detects from the base station, post in security protection personnel terminal, security protection apparatus terminal, if security protection personnel terminal or security protection apparatus terminal surpass the survival information that setting-up time does not receive that the base station, post is sent, then output leaves the post to warn; The base station, post is detected the survival information from security protection personnel terminal and security protection apparatus terminal in real time; If surpassing setting-up time, the base station, post do not receive the survival information at security protection personnel terminal or security protection apparatus terminal; Then base stations control camera in post comes the on-the-spot and collection site video in flyback retrace post, sends the live video of alarm and camera collection then to Surveillance center.

Step 2) also comprise in and detect the step that the security protection personnel relieve a sentry and operate:

A1) relieve a sentry time period and the longest relieving a sentry the time are set in advance, for post security protection personnel the password of relieving a sentry are set in advance;

A2) detect the security protection personnel in real time and whether import the password of relieving a sentry, jump execution in step A3 when detecting to change when password is relieved a sentry in security protection personnel input), otherwise continue execution in step A2);

A3) judge whether the current time mate the time period and whether correctly enter password of relieving a sentry, time of relieving a sentry or the mistake then give the alarm to Surveillance center of entering password are not jumped execution in step A4 otherwise change if the current time matches);

A4) pick up counting; Stop step 2) in to the processing of pulse and human motion sign; If timing time surpasses the longest time and new security protection personnel input password or the input password mistake of relieving a sentry of relieving a sentry as yet of relieving a sentry, then being judged to be and relieving a sentry unusual and gives the alarm to Surveillance center; If the security protection personnel after relieving a sentry import the password of correctly relieving a sentry, then stop timing and recovering step 2) in to the processing of pulse and human motion sign.

Like Fig. 4 and shown in Figure 5; The comprehensive safety defense monitoring system based on the post of present embodiment; Comprise Surveillance center 1 and at least one unit, post 2; Unit, post 2 comprises video monitoring unit 21, base station, post 22 and at least one security protection personnel terminal 23, and video monitoring unit 21 comprises the camera 211 that has turntable 212, and base station, post 22 links to each other with Surveillance center 1, camera 211, turntable 212, security protection personnel terminal 23 respectively.

As shown in Figure 6; Security protection personnel terminal 23 comprises pulse transducer 231, attitude sensor 232, alarm button 233, terminal control unit 234 and terminal wireless module 235; The input end of terminal control unit 234 links to each other with pulse transducer 231, attitude sensor 232, alarm button 233 respectively, and terminal control unit 234 links to each other with base station, post 22 through terminal wireless module 235; Base station, post 22 is gathered post security protection personnel's pulse and human motion sign (present embodiment is the human body acceleration of motion) in real time through pulse transducer 231, attitude sensor 232; When the pulse that detects the security protection personnel is lower than sleep pulse critical value when (present embodiment is 40 times/minute), base station, post 22 is exported sleepy warning and is sent the live video of gathering through camera 211 to Surveillance center 1 to the security protection personnel through camera 211 collection post live videos, first reminiscences 236 through security protection personnel terminal 23; When the human motion sign that is lower than faint pulse critical value of life (present embodiment is 20 times/minute) or security protection personnel when the pulse that detects the security protection personnel was lower than human motion sign critical value (present embodiment is that acceleration change is greater than 0.32g), base station, post 22 was through camera 211 collection post live videos, send the live video that alarm and camera 211 are gathered to Surveillance center 1; When detecting 233 warnings of security protection personnel manual activation alarm button, the live video of alarm and camera 211 collections is sent in base station, post 22 through camera 211 collection post live videos, to Surveillance center 1.Present embodiment is realized automatic warning through pulse transducer 231, attitude sensor 232; Also can manually report to the police when simultaneously the security protection personnel find urgent dangerous situation through the alarm button 233 that is provided with on the security protection personnel terminal 23; Combine through multiple type of alarm, have the advantage that security is good, reliability is high, the video monitoring is accurate, security is good, easy to use.

Attitude sensor 232 can adopt obliquity sensor or acceleration transducer, but can adopt the sensor of other human body motion signs in addition.In the present embodiment, attitude sensor 232 is an acceleration transducer.Security protection personnel oneself state mainly detects through pulse transducer 231 and attitude sensor 232.Wherein, the vital sign of pulse transducer 231 main human body, when the security protection personnel are attacked (especially injures and deaths) or are in doze state, pulse will produce regular the variation, can detect through this change information that the security protection personnel are attacked or sleepy situation; The main human body attitude of attitude sensor 232 (acceleration transducer); The condition that falls down to the ground after the security protection personnel are attacked changes; Cause that sensor output signal changes; Can judge the security protection personnel situation that is attacked through detecting this information, both effectively combine through pulse transducer 231 and attitude sensor 232, can reduce False Rate.In the present embodiment, warning (sleepy warning) is sent at security protection personnel terminal 23 when pulse is lower than 40, and system gets into the warning treatment scheme, and 22 control cameras, 211 monitoring of base station, post are on-the-spot, and prompting security protection personnel.High-risk warning is sent at the terminal when acceleration change surpasses threshold value 0.32g or pulse to be lower than 20, and system gets into the high level alarm treatment scheme, and 22 control cameras, 211 monitoring of base station, post are on-the-spot, and send overall alarm to Surveillance center 1.

Make turntable 212 can accurately control camera 211 tracking targets; The stable control of turntable 212 is particularly crucial; It is determining the mobility of total system, realize the stable control to camera 211, and needing angular transducer is that control system provides the angular displacement feedback signal.The turntable 212 of present embodiment comprises DSP, power amplifier module, torque motor, camera rotating mechanism and optical fibre gyro; Present embodiment is that control system provides the angular displacement feedback signal through optical fibre gyro; Optical fibre gyro is based on the optical gyroscope of Sagnac effect; It utilizes optical fiber looping light path to detect the phase differential that positive and negative two-beam causes because of rotation, calculates the velocity of rotation of inertial space thus.As shown in Figure 7; DSP receives the echo signal from base station, post 22; Optical fibre gyro detects the speed of turntable 212 in real time and sends to DSP; Through the inner automatic disturbance rejection controller of input after integration and the filtering, the feedback quantity that automatic disturbance rejection controller can be eliminated the zero drift of gyro and obtain the loop is the physical location of camera rotating mechanism to DSP with speed, and automatic disturbance rejection controller forms controlled quentity controlled variable output with target location and physical location and pass through the dutycycle that controlled quentity controlled variable adjusting PWM exports big or small through comparing after; Amplify back control moment rotating speed of motor and turn to through power amplifier module, make torque motor drive the camera rotating mechanism and forward the target location to.Sound source position is imported automatic disturbance rejection controller at position angle of spherical coordinates system

and pitching angle theta as target; Optical fibre gyro gather turntable 212 the angular displacement feedback signal and through behind the integral filtering as the feedback signal of automatic disturbance rejection controller; Automatic disturbance rejection controller combines the echo signal of input to combine feedback signal to generate control signal; Control signal forms pwm control signal; The pwm control signal of output is again through power amplification rear drive torque motor; In spherical coordinate system, make corresponding motion by torque motor control camera rotating mechanism, thus with camera 211 towards sound source position.The camera rotating mechanism is used to control camera 211 and in the spherical coordinates system, makes corresponding motion to position angle and pitching angle theta; The camera rotating mechanism is the mature structure of prior art, so its concrete structure repeats no more at this.

Like Fig. 8 and shown in Figure 9; The video monitoring unit 21 of present embodiment also comprises acoustic sensor array 213; Acoustic sensor array 213 comprises that 214, four groups of sonic transducers 214 of four groups of sonic transducers are located in the space, post, and four groups of sonic transducers 214 are arranged at four angles of corresponding positive tetrahedrons respectively.The output terminal of sonic transducer 214 links to each other with base station, post 22 respectively; When the intensity of sound of any one group of sonic transducer, 214 outputs surpasses intensity of sound triggering critical value; Base station, post 22 arrives the mistiming localization of sound source position of its excess-three group sonic transducer 214 successively through sound; And through regulate turntable 212 with camera 211 towards sound source position and gather video, and base station, post 22 is regulated turntable 212 through the target bit in-migration of analyzing camera 211 output adjacent video picture frames and is made the moving target in the camera 211 real-time follow-up video frame images when camera 211 is gathered videos.Present embodiment is followed the trail of with camera 211 through the dangerous situation detection of acoustic sensor array 213 and can be applicable to bigger incidents of generation sound such as gunslinging, blast, avalanches.So that gunslinging to take place is example; Details when understanding the scene, present embodiment can utilize the field process of for example gunslinging person's action camera 211 to catch and note, and utilizes the mode of auditory localization can detect the orientation of sound source; Utilize base station, post 22 control cameras 211 to turn to this orientation; Thereby catch and the record gunslinging implementation information and the direction of running away, can eliminate the video monitoring dead angle through the control that the auditory localization technology is realized camera 211 is pointed to; Be convenient to observe dangerous situation, have the advantage that auditory localization is accurate, the video monitoring is accurate, security is good, reliability is high.

As shown in Figure 8; Base station, post 22 comprises base station controller 221, the password load module 222 of relieving a sentry, display screen 223 and wireless communication unit 224; The input end of base station controller 221 links to each other with camera 211, sonic transducer 214, the password load module 222 of relieving a sentry respectively; The output terminal of base station controller 221 links to each other with turntable 212, display screen 223 respectively; Wireless communication unit 224 comprises two first wireless module 225 and second wireless modules 226 that channel is different, and base station controller 221 links to each other with security protection personnel terminal 23, security protection apparatus terminal 24 respectively through first wireless module 225 successively, and base station controller 221 links to each other with Surveillance center 1 through second wireless module 226; Can avoid the interference of interchannel, the signal transmission more stable is reliable.Base station, post 22 is used to realize tracking, the security protection personnel of sound source position location and the camera 211 of the communicating by letter of base station, post 22 and security protection personnel terminal 23, security protection apparatus terminal 24 and 1 of Surveillance center, acoustic sensor array 213 functions such as control of relieving a sentry.After starting working, base station, post 22 is connected into system automatically; And regularly send survival information to Surveillance center 1; If Surveillance center 1 does not at the appointed time receive the survival information of certain base station, post 22 at interval, Surveillance center will produce warning message, notify personnel to carry out emergency processing.The password load module 222 of relieving a sentry of present embodiment adopts keyboard, also can adopt touch-screen or other input equipment in addition as required.The information transmission is base station, post 22 topmost functions.For fear of interference, utilize two first different wireless modules 225 of channel to realize communicating by letter respectively to terminating layer (security protection personnel terminal 23 and security protection apparatus terminal 24) and central core (Surveillance center 1) with second wireless module 226 in base station, post 22.First wireless module 225 is collected security protection personnel terminal 23 and is transferred to base station controller 221 (single-chip microcomputer) processing with the information that security protection apparatus terminal 24 is passed back; Information reporting after 226 of second wireless modules are handled base station controller 221 is to Surveillance center 1; The information that Surveillance center 1 passes back according to each base station is made handled to different situations, realizes comprehensive safety monitoring.

Shown in figure 10, present embodiment comprises that also base station, 1 pair of post of Surveillance center 22 sends the step whether data normally carry out wrong self-check: between Surveillance center 1, security protection personnel terminal 23 and the security protection apparatus terminal 24 according to the protocol transmission data designated of appointment; Surveillance center 1 opens after the monitoring; Surveillance center 1 is given through base station, post 22 Data transmission in terminal (security protection personnel terminal 23 and security protection apparatus terminal 24); Surveillance center 1 detect returned data whether the regulation of protocol compliant come the correctness of judgment data transmission; If data transmission is correct, normal display data then; If data transmission is incorrect, then alarm sound and display communication interruption or mistake are opened by Surveillance center 1, and disposing through the mode of manual reset simultaneously should the alarm of spy's feelings.Whether Surveillance center 1 normally carries out wrong self-check through data are sent in base station, post 22, can check fortuitous events such as finding data transmission interruption, discontinuous transmission, can in time find system mistake on the one hand, prevent thrashing; Effectively the delinquency prevention molecule attacks and pretends to be the security protection personnel to cause damage on the other hand.In the present embodiment, the host-host protocol that the data transmission employing system of Surveillance center 1 makes by oneself, frame data comprise the order of six bytes altogether.The command definition of each byte is following.

Byte location	Data	Data type	Explanation
					1	0xff	Byte	Frame head
2	0x05	Byte	All the other byte lengths except that frame head
				3	god_sgn	Byte	Whether pulse data normally indicates
4	addr_src	Byte	The wireless signals source address
				5	addr_dst	Byte	Wireless communication signals reception sources address
6	T	Byte	Pulse data

Whether Surveillance center 1 receives frame data and just can transmit correctly according to this agreement judgment data, and sensor information is effectively shown.

Like Fig. 4, Fig. 5, Fig. 6 and shown in Figure 11, security protection personnel terminal 23 also comprises first reminiscences 236, and the output terminal of terminal control unit 234 links to each other with first reminiscences 236; Unit, post 2 also comprises and is used for security protection apparatus terminal 24 that the security protection apparatus is left the post to detect; Security protection apparatus terminal 24 comprises apparatus controller 241, apparatus wireless module 242 and second alarm 243; The output terminal of apparatus controller 241 links to each other with second alarm 243, and apparatus controller 241 links to each other with base station, post 22 through apparatus wireless module 242; Terminal control unit 234, apparatus controller 241 are regularly sent out alive message through wireless network and Surveillance center 1 respectively mutually, do not judge the security protection personnel if the alive message of terminal control unit 234 or 241 transmissions of apparatus controller is received by Surveillance center 1 in Preset Time or the security protection apparatus is left the post and given the alarm; If terminal control unit 234 is not received the alive message of Surveillance center 1 then through the 236 output warnings of first reminiscences, is passed through the 243 output warnings of second alarm if apparatus controller 241 is not received the alive message of Surveillance center 1 in Preset Time in Preset Time.Security protection personnel terminal 23 is used to realize the detection of leaving the post to the security protection personnel; Security protection apparatus terminal 24 is used to realize the detection of leaving the post to the security protection apparatus; The leaving the post of security protection apparatus detect with the security protection personnel leave the post that to detect principle consistent, all be to utilize the communication distance of survival information and wireless module to limit to reach the security protection apparatus state of leaving the post that detects.Security protection personnel terminal 23, security protection apparatus terminal 24 are connected into base station, post 22 after starting working automatically; And regularly send survival information mutually with base station, post 22; Can come the limiting telecommunication distance through the wireless module emissive power of control base station, post 22; Can set security protection personnel's scope of activities in view of the above; When security protection personnel terminal 23, security protection apparatus terminal 24 leave the post to cause between wireless module communication disruption away from base station, post 22, security protection personnel terminal 23 will be automatically through the security protection personnel that 236 couples of security protection personnel of first reminiscences leave the post to warn, the security protection apparatus will be automatically held through 243 pairs of second alarms in security protection apparatus terminal 24 warning of leaving the post.

Shown in figure 12; When not receiving the survival information that send at security protection personnel terminal 23 or security protection apparatus terminal 24; Base station, post 22 is after Surveillance center 1 sends the warning of leaving the post; Surveillance center's 1 system implementation treatment scheme of reporting to the police of leaving the post: recording events information at once, on-the-spot through 22 control cameras, 211 scanning posts, base station, post then, the managerial personnel of the notice Surveillance center 1 that gives the alarm simultaneously.Pretend with security protection apparatus terminal 24 for the delinquency prevention molecule steals security protection personnel terminal 23 after attacking the security protection personnel, relieve a sentry time and mode are all wanted strict control.Relieve a sentry at the appointed time or the time of relieving a sentry overtime, all can be judged as illegally, base station, post 22 can report the post abnormal information to Surveillance center 1.The security protection personnel are only at official hour; Import the correct password of relieving a sentry; And accomplish at certain hour and to relieve a sentry that (the security protection personnel are relieving a sentry and joining security protection personnel terminal 23 during this period of time at interval; Therefore even pulse transducer 231 and attitude sensor 232 meet the condition that the security protection personnel are attacked and also can be ignored by security protection personnel terminal 23), it is unusual just can not report the post to occur.On the one hand can avoid the offender to pretend through the password controls of relieving a sentry, on the other hand also in time standard security protection personnel handoff.When password was relieved a sentry in checking, present embodiment had been abandoned traditional clear-text way checking password, and adopts the higher challenge handshake mode of confidentiality to carry out the validation verification of password, has avoided enemy's the spy of smelling, and has guaranteed the secret transmission of password.

Shown in figure 13, the terminal control unit 234 at security protection personnel terminal 23 adopts the STC12LE2052AD chip to realize.Pulse transducer 231 adopts the miniature pulse transducer of SC0073, and the output terminal of the miniature pulse transducer of SC0073 links to each other with No. 15 pins of STC12LE2052AD chip; Attitude sensor 232 adopts the MMA7260Q acceleration transducer, and the 3-axis acceleration data output of acceleration transducer links to each other with 12,13, No. 14 pins of STC12LE2052AD chip respectively.Alarm button 233 is the switch S 2 among the figure, and switch S 2 links to each other with No. 6 pins of STC12LE2052AD chip.Terminal wireless module 235 adopts EWRF308 series 1AU wireless communication module; Main and the STC12LE2052AD chip realization serial communication of wireless communication module; Therefore its TXD links to each other with 2, No. 3 pins respectively with the RXD pin, and its VCC links to each other with GND with the VCC of STC12LE2052AD chip respectively with GND.First reminiscences 236 is the auditory tone cues device FMQ1 among Figure 13, and the output signal of No. 17 pins of STC12LE2052AD chip amplifies rear drive auditory tone cues device FMQ1 sounding through triode Q1.Pulse transducer SC0073 is carried out performance test.Through experimental verification; The miniature pulse transducer of SC0073 can effectively be surveyed the pulse of human body; Signal to noise ratio (S/N ratio) is higher; And the pulse signal obvious difference that under different conditions, obtains, curve plotting is shown in figure 14 on computers to gather pulse data through the serial ports at security protection personnel terminal 23 in the present embodiment.

Shown in figure 15, apparatus controller 241 adopts the STC12LE2052AD chip to realize.Apparatus wireless module 242 adopts EWRF308 series 1AU wireless communication module, and it is the same with the connection of security protection personnel terminal that the pin of this wireless module connects.Present embodiment also comprises the Hall element that is used to detect the bonding state between the separable components on the security protection apparatus; The hall sensing implement body adopts ATS276; 2,3 pins are the signal output pin; Link to each other with 14,15 pin of STC12LE2052AD chip respectively, and its VCC links to each other with GND with the VCC of STC12LE2052AD chip respectively with GND.Second alarm 243 is the auditory tone cues device FMQ2 among Figure 15, and the output signal of No. 17 pins of STC12LE2052AD chip amplifies rear drive auditory tone cues device FMQ2 sounding through triode Q2.

In the present embodiment, consider various possible situation, it is as shown in the table to design corresponding type of alarm:

The structure of present embodiment mainly is made up of modules such as video monitoring unit 21, base station, post 22, security protection personnel terminal 23, security protection apparatus terminal 24 and Surveillance center 1; Global design is tight, has adopted good modular design, and each functions of modules is clear and definite; Cooperatively interact; The system that can guarantee can carry out flexible combination according to user's request easily, to satisfy the demand of different occasions, makes that demand realization and system maintenance are more efficient.In the present embodiment in the Surveillance center 1 function of required realization write the C# window writing routine; Can conveniently confirm the fault and the position that is attacked through interface display, send second alarm 243 on first reminiscences 236 and the security protection apparatus terminal 24 on instruction, the control security protection personnel terminal 23, rotate to base station, post 22 and terminal (security protection personnel terminal 23 and security protection apparatus terminal 24) simultaneously through turntable 212 control cameras 211.

Shown in figure 16; The flow direction of the network based monitor message of present embodiment can be divided into three levels: terminating layer, base station layer and central core; The corresponding security protection personnel of terminating layer terminal 23 and security protection apparatus terminal 24, base station, the corresponding post of base station layer 22, the corresponding Surveillance center 1 of central core.Wireless network adopts hierarchical Design, can realize the message high-efficiency reliable transmission between security protection personnel terminal 23 and security protection apparatus terminal 24, base station, post 22, Surveillance center's 1 this three-level network.Surveillance center 1 can communicate through Radio Link (also can adopt wired) and all base stations, post 22, and security protection personnel terminal 23 and security protection apparatus terminal 24 that each base station, post 22 all security protection personnel through Radio Link and this post carry communicate.So just, formed a tree-shaped communication network that covers all posts, security protection personnel, can guarantee that the special feelings in all posts can both send to Surveillance center 1 accurately and efficiently.Present embodiment requires to confirm sentry post number and position according to alert request in advance when mounted, distributes according to the post and confirms base station, post 22 numbers and position; Cloth is put base station, post 22 well then, sets the wireless module messaging parameter, distributes mailing address for each security protection personnel terminal 23, security protection apparatus terminal 24, has debugged the program of Surveillance center 1, and the guarantee information transmission is normal.Before the security protection personnel were on duty, it was on duty after password is relieved a sentry in base station, post 22 input, can to join security protection personnel terminal 23, in regulation is stood guard the time, does not allow to relieve a sentry privately, and handing-over must be imported the password of relieving a sentry during the hilllock.

The wireless module communication protocol of present embodiment comprises authentication protocol and host-host protocol DESALOHA, realizes point-to-point, multi-point; Wherein authentication protocol adopts existing C HAP challenge handshake agreement; Improve based on advantages of simplicity and high efficiency ALOHA, concrete being improved to uses the predefine password that the transmission content is encrypted, and AES has adopted existing DES algorithm.Present embodiment guarantees effective transmission of data through wireless communication parameters is set.Adopt the 2.4GHZ frequency range to transmit in the present embodiment, different levels adopt different channels to transmit, and reduce the possibility of disturbing, and improve transmission performance.

Present embodiment uses the auditory localization technology, can attack take place at the post and locate the offender position rapidly, and utilize video monitoring system that the offender is followed the trail of, and at length writes down field condition, and the offender provides important clue for investigation; Present embodiment utilizes the vital signs of human body and posture feature to carry out post safety case monitoring; The information truth that obtains is reliable; Even when the security protection personnel can't report to the police, also can the special feelings very first time of post be sent to Surveillance center 1; Can effectively guarantee the safety in security protection zone, also win the time simultaneously for rescuing the security protection personnel; The system of present embodiment uses the uniform communication agreement, adopts modular design, can be neatly according to the quick constructing system of different occasion demand utilization modules.Especially, this cover system both can be applied to post, post at ordinary times, also can be applied to urgent security protection constantly zone and stand guard.Present embodiment provides the Radio Link of two kinds of channels to base station, post 22, has strong interference immunity, damage resistance is good, viability is strong characteristics; Since present embodiment have strict authentication embodiment and with clear and definite authorization flow, so personation that present embodiment can well the crime prevention molecule and internal staff and offender's collusion; Because present embodiment has logout mechanism flexibly, to ex-post analysis strong support is provided, and for trace afterwards strong support can be provided.The present embodiment complete function is convenient to Installation and Debugging.And each module is small and exquisite portable, and is elegant in appearance, with low cost, can play a role in different occasions, so present embodiment has the value that popularizes.This embodiment to the security protection zone at ordinary times, various application occasions such as urgent moment designs and develops, and can not only satisfy security protection zone the stand guard demand of Security alert of security protection personnel at ordinary times, can also realize special feelings monitoring in post and warning.Present embodiment has stronger adaptive capacity to environment, can better satisfy the demand that the security protection personnel stand guard under the complex environment, ensures the safety in security protection zone.In addition, present embodiment also can be applicable to the Security alert at army sentry post.

The above only is a preferred implementation of the present invention, and protection scope of the present invention also not only is confined to the foregoing description, and all technical schemes that belongs under the thinking of the present invention all belong to protection scope of the present invention.Should be pointed out that for those skilled in the art in the some improvement and the retouching that do not break away under the principle of the invention prerequisite, these improvement and retouching also should be regarded as protection scope of the present invention.

Claims (10)

1. comprehensive security-protecting and monitoring method based on the post is characterized in that implementation step is following:

1) sets sleep pulse critical value, the faint pulse critical value of life and human motion sign critical value;

2) gather post security protection personnel's pulse and human motion sign in real time; When the pulse that detects the security protection personnel is lower than sleep pulse critical value; Through camera collection post live video, export sleepy warning and send live video through camera collection to Surveillance center to the security protection personnel; When the human motion sign that is lower than faint pulse critical value of life or security protection personnel when the pulse that detects the security protection personnel is lower than human motion sign critical value; Through camera collection post live video, send the live video of alarm and said camera collection to Surveillance center; When detecting the warning of security protection personnel manual activation,, send the live video of alarm and said camera collection to Surveillance center through camera collection post live video.

2. the comprehensive security-protecting and monitoring method based on the post according to claim 1 is characterized in that: said human motion sign is body obliquity or human motion acceleration.

3. the comprehensive security-protecting and monitoring method based on the post according to claim 2 is characterized in that said step 2) in detailed step through camera collection post live video comprise:

2.1) in the space, post, arrange four groups of sonic transducers in advance, and said four groups of sonic transducers are arranged at four angles of corresponding positive tetrahedron respectively;

2.2) intensity of sound be set trigger critical value, gather sound through sonic transducer in real time, when the intensity of sound of any sonic transducer output surpasses said intensity of sound and triggers critical value through said sonic transducer localization of sound source position;

2.3) the adjusting camera is towards said sound source position and gather video, in the camera collection video, regulates the moving target in the camera real-time follow-up video frame image.

4. the comprehensive security-protecting and monitoring method based on the post according to claim 3 is characterized in that said step 2.2) in the detailed step of localization of sound source position comprise:

2.2.1) sound that obtains sound source arrives the time τ of four groups of sonic transducers successively ₁, τ ₂, τ ₃, τ ₄

2.2.2) with τ ₂, τ ₃, τ ₄Respectively and τ ₁Carry out the difference computing and obtain mistiming τ ₂₁, τ ₃₁, τ ₄₁

2.2.3) sonic transducer that will detect sound at first sets up the spherical coordinates system as the coordinate center of circle, according to

$\mathrm{\&theta;}=\arccos [-\frac{({3\mathrm{\&tau;}}_{41}-{\mathrm{\&tau;}}_{31}-{\mathrm{\&tau;}}_{21})\&CenterDot;c}{\sqrt{6}R}]$

Obtain said sound source position in position angle of said spherical coordinates system

and pitching angle theta, wherein R is that the length of side, the c of said positive tetrahedron are the velocity of sound.

5. the comprehensive security-protecting and monitoring method based on the post according to claim 4 is characterized in that: regulate said step 2.3) moving target in the camera real-time follow-up video frame image specifically be meant through

$C(x,y)=\frac{\&Integral;\&Integral;r(u,v)r(u+x,v+y)\mathrm{dudv}}{\&Integral;\&Integral;r{(u,v)}^2\mathrm{dudv}}$

Obtain the immediate movement amount of adjacent video picture frame in real time; C (x wherein; Y) be that horizontal ordinate displacement, y are that ordinate displacement, u are that any point horizontal ordinate on the image, v are any point ordinate on the image, r (u for normalization related function, the x of front and back two two field pictures; V) be (u, the v) brightness at coordinate place on the image; Then said immediate movement amount is come the moving target in the Position Tracking video frame image of real-time regulated camera as error signal.

6. according to claim 1 or 2 or 3 or 4 or 5 described comprehensive security-protecting and monitoring methods based on the post; It is characterized in that; Said step 2) also comprise the step that security protection personnel and security protection apparatus are left the post to detect in: in advance on security protection personnel health additional security protection personnel terminal, security protection apparatus terminal is set on the security protection apparatus; Be provided for transmitting the base station, post of data and control command at the post; With said security protection personnel terminal, security protection apparatus terminal respectively through wireless network and linking to each other with the base station, post, the respectively mutual timed sending information of surviving between said control security protection personnel terminal and the base station, post, between said security protection apparatus terminal and the base station, post; The real-time respectively survival information that detects from the base station, post in said security protection personnel terminal, security protection apparatus terminal, if security protection personnel terminal or security protection apparatus terminal surpass the survival information that setting-up time does not receive that the base station, post is sent, then output leaves the post to warn; Base station, said post is detected the survival information from security protection personnel terminal and security protection apparatus terminal in real time; If surpassing setting-up time, the base station, post do not receive the survival information at security protection personnel terminal or security protection apparatus terminal; Then base stations control camera in post comes the on-the-spot and collection site video in flyback retrace post, sends the live video of alarm and said camera collection then to Surveillance center.

7. the comprehensive security-protecting and monitoring method based on the post according to claim 6 is characterized in that said step 2) in also comprise and detect the relieve a sentry step of operation of security protection personnel:

A1) relieve a sentry time period and the longest relieving a sentry the time are set in advance, for post security protection personnel the password of relieving a sentry are set in advance;

A2) detect the security protection personnel in real time and whether import the password of relieving a sentry, jump execution in step A3 when detecting to change when password is relieved a sentry in security protection personnel input), otherwise continue execution in step A2);

A3) judge whether the current time mate the time period and whether correctly enter password of relieving a sentry, time of relieving a sentry or the mistake then give the alarm to Surveillance center of entering password are not jumped execution in step A4 otherwise change if the current time matches);

A4) pick up counting; Stop said step 2) in to the processing of pulse and human motion sign; If timing time surpasses the longest time and new security protection personnel input password or the input password mistake of relieving a sentry of relieving a sentry as yet of relieving a sentry, then being judged to be and relieving a sentry unusual and gives the alarm to Surveillance center; If the security protection personnel after relieving a sentry import the password of correctly relieving a sentry, then stop timing and recover said step 2) in to the processing of pulse and human motion sign.

8. comprehensive safety defense monitoring system based on the post; It is characterized in that: comprise Surveillance center (1) and at least one unit, post (2); Unit, said post (2) comprises video monitoring unit (21), base station, post (22) and at least one security protection personnel terminal (23); Said video monitoring unit (21) comprises the camera (211) that has turntable (212), and base station, said post (22) links to each other with Surveillance center (1), camera (211), turntable (212), security protection personnel terminal (23) respectively; Said security protection personnel terminals (23) comprise pulse transducer (231), attitude sensor (232), alarm button (233), terminal control unit (234) and terminal wireless module (235); Said attitude sensor (232) is obliquity sensor or acceleration transducer; The input end of said terminal control unit (234) links to each other with pulse transducer (231), attitude sensor (232), alarm button (233) respectively, and said terminal control unit (234) links to each other with base station, post (22) through terminal wireless module (235); Base station, said post (22) is gathered post security protection personnel's pulse and human motion sign in real time through pulse transducer (231), attitude sensor (232); When the pulse that detects the security protection personnel is lower than sleep pulse critical value, base station, said post (22) through camera (211) gather the post live video, first reminiscences (236) through security protection personnel terminal (23) is exported sleepy warning and is sent the live video that passes through camera (211) collection to Surveillance center (1) to the security protection personnel; When the human motion sign that is lower than faint pulse critical value of life or security protection personnel when the pulse that detects the security protection personnel was lower than human motion sign critical value, base station, said post (22) was gathered the post live video, is sent the live video that alarm and said camera (211) are gathered to Surveillance center (1) through camera (211); When detecting security protection personnel manual activation alarm button (233) warning, base station, said post (22) is gathered the post live video, is sent the live video of alarm and said camera (211) collection to Surveillance center (1) through camera (211).

9. the comprehensive safety defense monitoring system based on the post according to claim 8; It is characterized in that: said video monitoring unit (21) also comprises acoustic sensor array (213); Said acoustic sensor array (213) comprises four groups of sonic transducers (214); Said four groups of sonic transducers (214) are located in the space, post; And said four groups of sonic transducers (214) four angles of corresponding positive tetrahedron are respectively arranged; The output terminal of said sonic transducer (214) links to each other with base station, post (22) respectively; When the intensity of sound of any one group of sonic transducer (214) output surpasses intensity of sound triggering critical value; Base station, said post (22) arrives the mistiming localization of sound source position of three groups of sonic transducers of residue (214) successively through sound, and through regulate turntable (212) with camera (211) towards sound source position and gather video, and base station, said post (22) is exported the target bit in-migration adjusting turntable (212) of adjacent video picture frame and is made the moving target in the said video frame image of camera (211) real-time follow-up through analyzing camera (211) when camera (211) is gathered video.

10. the comprehensive safety defense monitoring system based on the post according to claim 9 is characterized in that: said security protection personnel terminals (23) also comprise first reminiscences (236), and the output terminal of said terminal control unit (234) links to each other with first reminiscences (236); Unit, said post (2) also comprises and is used for security protection apparatus terminal (24) that the security protection apparatus is left the post to detect; Said security protection apparatus terminal (24) comprises apparatus controller (241), apparatus wireless module (242) and second alarm (243); The output terminal of said apparatus controller (241) links to each other with second alarm (243), and said apparatus controller (241) links to each other with base station, post (22) through apparatus wireless module (242); Said terminal control unit (234), apparatus controller (241) are regularly sent out alive message through wireless network and Surveillance center (1) respectively mutually, do not judge the security protection personnel if the alive message of terminal control unit (234) or apparatus controller (241) transmission is received by Surveillance center (1) in Preset Time or the security protection apparatus is left the post and given the alarm; If terminal control unit (234) is not received the alive message of Surveillance center (1) then through first reminiscences (236) output warning, is not passed through second alarm (243) output warning if apparatus controller (241) is received the alive message of Surveillance center (1) in Preset Time in Preset Time; Base station, said post (22) comprises base station controller (221), the password load module (222) of relieving a sentry, display screen (223) and wireless communication unit (224); The input end of said base station controller (221) links to each other with camera (211), sonic transducer (214), the password load module (222) of relieving a sentry respectively; The output terminal of said base station controller (221) links to each other with turntable (212), display screen (223) respectively; Said wireless communication unit (224) comprises two first wireless module (225) and second wireless modules (226) that channel is different; Said base station controller (221) links to each other with said security protection personnel terminals (23), security protection apparatus terminal (24) respectively through first wireless module (225) successively, and said base station controller (221) links to each other with said Surveillance center (1) through second wireless module (226).

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