CN102866399B - Omnidirectional-array ultrasonic abnormally-moved target monitoring system and movement locus tracking method - Google Patents

Abstract

The invention discloses an omnidirectional-array ultrasonic abnormally-moved target monitoring system, which consists of a spherical support and a plurality of detectors, wherein the detectors are arranged on a spherical surface formed by the spherical support, each detector is a ultrasonic receiving-transmitting integrated sensor, the ultrasonic transmission direction of the detector is overlapped with the radial direction of the sphere, and the distance from each detector to the spherical center is identical. The invention also discloses a movement locus tracking method based on the system.The omnidirectional-array ultrasonic abnormally-moved target monitoring system and the movement locus tracking method have beneficial effects that by building the ultrasonic spherical array, all-round monitoring for abnormally-moved targets or structural deformation inside a closed space can be realized, the influence of the complicated environment factors is considered in the monitoring, and theabnormally-moved target can be automatically discovered, located and automatically tracked. Wide application range is realized, not only can the target with slow variation such as structural deformation be monitored, but also the target with rapid variation such as an illegal invade object can be monitored.

Description

Omnidirectional array ultrasound wave unusual fluctuation target monitoring system and movement locus method for tracing

Technical field

The present invention relates to a kind of ultrasound wave sensing technology, relate in particular to a kind of omnidirectional array ultrasound wave unusual fluctuation target monitoring system and movement locus method for tracing.

Background technology

From the angle of broad sense, the unusual moving target monitoring in the enclosure space has comprised slowly monitorings of variation targets such as structural deformations, and to monitorings of variation targets fast such as illegal invasion objects.The technological means that is used at present the unusual moving target monitoring of enclosure space has shooting, laser, infrared, distribution type fiber-optic etc.Above-mentioned technology can only be monitored at specific direction mostly, needs to rely on multiple spot networking or The Cloud Terrace bearing to rotate and could realize multi-faceted space surveillance, however, still has more monitoring blind area in the space.For illegal invasion, monitoring technology such as shooting, laser are difficult for hidden, are evaded easily or destroy; Infrared technique can be monitored the object of vital signs, and is then helpless to the structural deformation unusual fluctuation; And the distribution type fiber-optic technology bothers aspect safeguarding relatively in laying, influences the outward appearance of space structure.On the other hand, ultrasound wave is used for existing ripe application of security alarm, but present application model is fairly simple, most at single direction, and do not possess self-adoptive trace ability to the unusual fluctuation target.Ultrasonic technology does not also have ripe application for the safety monitoring of structural deformation at present, up-to-date technology is to utilize hyperacoustic field angle to have certain diversity effect, the spreadability monitoring (as " based on the hyperacoustic confined pressure space deformation spreadability monitoring method " of No. 201110147270.1 Chinese patent application propositions) of realization to having a few on the body structure surface in the field angle monitoring section scope, on this basis, set up distributed ultrasound wave deformation monitoring system, determine that further the deformation occurrence positions is at ultrasonic beam angle monitoring section scope where (" distributed ultrasound wave underground space structure deformation monitoring system and the area positioning method " that propose as No. 201210116341.6 Chinese patent application).But what the distributed ultrasound wave networking that above-mentioned technology relates to was adopted is closely linked chain networking layout, is fit to space structure (for example tunnel) deformation monitoring of long distance, does not possess the self-adoptive trace ability to the unusual fluctuation target.How to realize the comprehensive monitoring of unusual moving target to enclosure space, make monitoring have the wideer scope of application simultaneously, both can be used for slowly monitorings of variation targets such as structural deformations, can be used for also that the monitorings of variation targets fast such as illegal invasion object were not still had appropriate technical method so far.

Summary of the invention

At the problem in the background technology, the present invention proposes a kind of omnidirectional array ultrasound wave unusual fluctuation target monitoring system, it is made up of beaded support and a plurality of detector; A plurality of detectors are arranged on the formed spherome surface of beaded support, and described detector is the ultrasonic transmission/reception integral sensor, and detector is launched hyperacoustic direction and overlapped with the radial direction of spheroid, and each detector equates with distance between the centre of sphere.After adopting aforementioned structure, in conjunction with monitoring method of the present invention, can realize that the monitored area covers comprehensively, non-blind area to the structure deformation in the enclosure space and the monitoring of allotrylic omnidirectional, and ultrasound wave is invisible, can't be blocked, illegal invasion person is difficult to hide, and can effectively guarantee the safety in the scope of monitored area, than other monitoring equipments, that the present invention also possesses is simple in structure, with low cost, lay advantage easily.

On the basis of aforementioned structure, the present invention has also done following improvement: on the formed spherome surface of beaded support, by the equal angles difference many warps and parallel are set, detector is arranged at the intersection point place of warp and parallel, and detector quantity is corresponding one by one with the intersection point quantity of warp and parallel.It can be two-dimensional diagram (being detector two-dimensional position relation table) with the position of detector relationship map by behind the arrangement of, parallel distribution that detector adopts this, is convenient to the planning of scanning pattern and the enforcement of control method.

On the basis of aforementioned structure, the invention allows for the movement locus method for tracing based on omnidirectional array ultrasound wave unusual fluctuation target monitoring system that is used in combination with aforementioned structure, the steps include:

1) arranges a plurality of detectors at beaded support;

2) according to space vector and solid geometry knowledge, determine the monitored area of each detectors;

3) by each position of detector neighbouring relations, a plurality of position of detector on the sphere are mapped as a detector two-dimensional position relation table;

4) be starting point with a certain detector on the detector two-dimensional position relation table, another detector is terminal point, delineate the path of a connection source and terminal point at detector two-dimensional position relation table, this path string all detectors and path and each detector only intersect once (since spheroid on three dimensions each to being continuous, therefore can map out multiple detector two-dimensional position relation table, even selected the position of starting point and terminal point, they also may occupy diverse location on different detector two-dimensional position relation tables, so aforesaid path planning can be realized certainly; Wherein, the starting point in path both can be arranged at it middle part of detector two-dimensional position relation table, adopt spiral form to scan (as shown in Figure 3) towards periphery, also starting point can be arranged at the edge of detector two-dimensional position relation table, adopt line by line or scan by the mode that is listed as); Controlling each detector works successively by the path of delineating out and obtains the data that each detector collects; After all detectors are all finished once operation, namely finished a scan period, then from the off, carry out the operation of next scan period again;

5) in the operational process, if deformation appears in the structure in the scope of a certain monitored area, or there is object moving in the scope of a certain monitored area, then the data that collect of the detector of this monitored area correspondence will change, system determines to have in this monitored area scope the object of forcible entry accordingly, or deformation appears in structure.

After adopting aforementioned schemes, can in time know the real-time status in the monitored space, and can position the zone that abnormal conditions occur immediately, realize simple, stable and reliable operation.

On the basis of aforementioned monitoring method, the present invention has also proposed following improvement project to system's each detector operation duration in service:

In the step 4), before the first operation of detector, be each detector duration that shares out the work by the static priority of setting, the higher detector work duration of static priority is longer relatively, and the detector work duration that static priority is lower is shorter relatively;

In the step 5), if the data of a certain detector change, this detector is designated as the A detector, recomputates each detector operation duration by dynamic priority, for a plurality of detectors around the A detector on A detector and the detector two-dimensional position relation table distribute the more work duration;

After the detector data variation that the object by structure deformation and forcible entry causes is eliminated, each detector operation duration is reverted to the work duration of being determined by static priority.

After adopting this scheme, when usual no abnormal state, system controls each detector operation by static priority assignment duration, and this can carry out the emphasis monitoring to some key area in the monitored area, is conducive to obtain fast real-time monitoring information comprehensively; After abnormality occurring, system will monitor emphasis rapidly and be transferred to the zone that abnormal conditions occur, make the zone that abnormal conditions occur obtain more concern, guarantee the safety of monitored area.

The movement of object has continuity, generally be to move to another zone from a zone, therefore it is significant the detector of the detector periphery paid close attention to be kept certain concern, this not only can make system know detailed object running orbit, and can also assist the location to object space; But the detector quantity that keeps paying close attention to too much certainly will cause the complicated and bigger problem of time delay of computing, for this reason, the present invention proposes following preferred version: a plurality of detectors on the described detector two-dimensional position relation table around the A detector, get respectively A detector on the detector two-dimensional position relation table directly over, under, four detectors adjacent with the A detector on front-left and the front-right four direction, this had both guaranteed the high efficiency of system handles, had kept the attention rate to necessary data again.

Aforesaid static priority can be determined as follows:

1) field exploring, the quantity of the environmental factor of determine to need considering, the total quantity of establishing detector be s and with each detector by 1,2 ... the order of s is numbered in turn; If the quantity of the environmental factor of need considering be n and with various environmental factors by 1,2 ... the order of n is numbered in turn, and then available following matrix (also being the evaluation index matrix) is represented the evaluation index value b of each detector under various environmental factor effects _Ij, wherein, i=1,2,3 ... s, j=1,2,3 ... n:

$E=\left[\begin{array}{cccc}{b}_{11}& {\mathrm{<figure-callout\; id="12"\; label="b"\; filenames="120905141945.png,120905141948.png"\; state="\{\{state\}\}">b</figure-callout>}}_{12}& ...& b_{1n}\\ b_{21}& b_{22}& ...& b_{2n}\\ .& .& & .\\ .& .& & .\\ .& .& & .\\ b_{s1}& {\mathrm{<figure-callout\; id="2"\; label="b\; s"\; filenames="120905141931.png"\; state="\{\{state\}\}">b</figure-callout>}}_s& ...& b_{\mathrm{sn}}\end{array}\right]$

Wherein, b ₁₁Represent the evaluation index value of No. 1 detector under the 1st kind of environmental factor condition, b ₁₂Represent the evaluation index value of No. 1 detector under the 2nd kind of environmental factor condition ... b _1nRepresent the evaluation index value of No. 1 detector under n kind environmental factor condition; b ₂₁Represent the evaluation index value of No. 2 detector under the 1st kind of environmental factor condition ... b _S1Represent the evaluation index value of s detector under the 1st kind of environmental factor condition; b _SnRepresent the evaluation index value of s detector under n kind environmental factor condition;

2) each parameter in the matrix is carried out normalized, the dimension of unified each evaluation index value then can obtain following normal matrix, r _IjBe b _IjValue after normalized, wherein, i=1,2,3 ... s, j=1,2,3 ... n:

$R=\left[\begin{array}{cccc}{r}_{11}& {\mathrm{<figure-callout\; id="12"\; label="r"\; filenames="120905141945.png,120905141948.png"\; state="\{\{state\}\}">r</figure-callout>}}_{12}& ...& r_{1n}\\ r_{21}& r_{22}& ...& r_{2n}\\ .& .& & .\\ .& .& & .\\ .& .& & .\\ r_{s1}& {\mathrm{<figure-callout\; id="2"\; label="r\; s"\; filenames="120905141931.png"\; state="\{\{state\}\}">r</figure-callout>}}_s& ...& r_{\mathrm{sn}}\end{array}\right]$

Wherein, r ₁₁Be b ₁₁Value after normalized ... r _SnBe b _SnValue after normalized;

3) adopt clustering algorithm that normal matrix is handled, obtain a plurality of cluster classifications after clustering algorithm is handled, establishing the cluster categorical measure is m, and then s detector is respectively allocated in m the cluster classification;

4) importance according to the varying environment factor is that various environmental factors are set contribution degree numerical value, namely obtains n contribution degree numerical value u ₁, u ₂U _n, wherein, u ₁Be the contribution degree numerical value of the 1st kind of environmental factor, u ₂Be the contribution degree numerical value of the 2nd kind of environmental factor, u _nBe the contribution degree numerical value of n kind environmental factor; In order to simplify operand, generally the maximal value of contribution degree numerical value can be made as 10, the minimum value of contribution degree numerical value is made as 0; According to u ₁, u ₂U _nCalculate the contribution degree index of every kind of environmental factor:

$\mathrm{\&Delta;}{u}_j=u_j/\underset{j=1}{\overset{n}{\mathrm{\&Sigma;}}}{u}_j$

Wherein, j=1,2......n; After calculating, obtain the contribution degree index Δ u of n kind environmental factor ₁, Δ u ₂Δ u _n, Δ u ₁Be the contribution degree index of the 1st kind of environmental factor, Δ u ₂Be the contribution degree index of the 2nd kind of environmental factor, Δ u _nIt is the contribution degree index of n kind environmental factor;

5) calculate the overall target of each detectors:

$h_i(r_{\mathrm{ij}},\mathrm{\&Delta;}{u}_j)=\underset{j=1}{\overset{n}{\mathrm{\&Sigma;}}}{r}_{\mathrm{ij}}\mathrm{\&Delta;}{u}_j$

Wherein, i is the sequence number of detector, and j is the sequence number of environmental factor, j=1,2......n; h _i(r _Ij, Δ u _j) be the overall target of i detector under the effect of multiple contribution degree index; Through calculating, obtain the overall target h of s detector ₁(r _1j, Δ u _j), h ₂(r _2j, Δ u _j), h ₃(r _3j, Δ u _j) ... h _s(r _Sj, Δ u _j),

6) calculate the overall target average of the detector in each cluster classification respectively, if s=10, m=4, after the clustering algorithm processing, 10 detectors are respectively allocated in 4 cluster classifications, wherein, 1st, 3,5, No. 6 detectors are assigned in the 1st cluster classification, and No. 2 detector is assigned in the 2nd cluster classification, and the 4th, No. 7 detector is assigned in the 3rd cluster classification, 8th, 9, No. 10 detectors are assigned in the 4th cluster classification

Then the overall target average of the detector in the 1st cluster classification is:

$\mathrm{\&Delta;}{h}_1=\frac{h_1(r_{1j},\mathrm{\&Delta;}{u}_j)+h_3(r_{3j},\mathrm{\&Delta;}{u}_j)+h_5(r_{5j},\mathrm{\&Delta;}{u}_j)+h_6(r_{6j},\mathrm{\&Delta;}{u}_j)}{4}$

The overall target average of the detector (2) in the 2nd cluster classification is:

$\mathrm{\&Delta;}{\mathrm{<figure-callout\; id="2"\; label="h"\; filenames="120905141931.png"\; state="\{\{state\}\}">h</figure-callout>}}_2=\frac{h_2(r_{2j},\mathrm{\&Delta;}{u}_j)}{1}$

The overall target average of the detector (2) in the 3rd cluster classification is:

$\mathrm{\&Delta;}{\mathrm{<figure-callout\; id="3"\; label="h"\; filenames="120905141945.png"\; state="\{\{state\}\}">h</figure-callout>}}_3=\frac{h_4(r_{4j},\mathrm{\&Delta;}{u}_j)+h_7(r_{7j},\mathrm{\&Delta;}{u}_j)}{2}$

The overall target average of the detector (2) in the 4th cluster classification is:

$\mathrm{\&Delta;}{h}_4=\frac{h_8(r_{8j},\mathrm{\&Delta;}{u}_j)+h_9(r_{9j},\mathrm{\&Delta;}{u}_j)+h_{10}(r_{10j},\mathrm{\&Delta;}{u}_j)}{3}$

Detector quantity in the aforementioned computation process, cluster categorical measure and the detector sequence number that is assigned in each cluster classification are the sample calculation of arbitrarily enumerating for the explanation computing method, concrete detector quantity is as the criterion with the detector quantity that arranges on the real system, the cluster categorical measure that concrete cluster categorical measure obtains after handling with clustering algorithm is as the criterion, and the detector sequence number that is assigned in each cluster classification is as the criterion with the result of clustering algorithm;

In the actual treatment, then can obtain m overall target average Δ h ₁, Δ h ₂, Δ h ₃Δ h _m, the numerical value of overall target average is more big, and then the static priority of corresponding detector is more high, on the contrary then static priority is more low, and the numerical value of m is the progression of static priority;

7) according to overall target average Δ h ₁, Δ h ₂, Δ h ₃Δ h _m, calculate the cluster average scale-up factor k of each static priority correspondence _i:

$k_i=\frac{\mathrm{\&Delta;}{h}_i}{\underset{i=1}{\overset{m}{\mathrm{\&Sigma;}}}\mathrm{\&Delta;}{h}_i}$

According to k _iCalculate each detector operation duration:

$\underset{i=1}{\overset{m}{\mathrm{\&Sigma;}}}{a}_i{t}_{\mathrm{io}}=T$

$\frac{{\mathrm{<figure-callout\; id="10"\; label="t"\; filenames="120905141941.png,120905141945.png"\; state="\{\{state\}\}">t</figure-callout>}}_{10}}{{\mathrm{\&delta;}}_1{k}_1}=\frac{{\mathrm{<figure-callout\; id="20"\; label="t"\; filenames="120905141941.png"\; state="\{\{state\}\}">t</figure-callout>}}_{20}}{{\mathrm{\&delta;}}_2{\mathrm{<figure-callout\; id="2"\; label="k"\; filenames="120905141931.png"\; state="\{\{state\}\}">k</figure-callout>}}_2}\&CenterDot;\&CenterDot;\&CenterDot;=\frac{t_{m0}}{{\mathrm{\&delta;}}_m{k}_m}$

Wherein, T is the time span of the single scan period of setting; a _iBe the quantity of the detector of i level for static priority; t _IoBe the work duration of the single detector of i level for static priority; δ _iBe the resize ratio coefficient of setting, i=1,2,3......m, when not needing to apply manual intervention, δ ₁=δ ₂=...=δ _m=1, when needs apply manual intervention, δ _i(this mainly is to consider under some particular case, when the technician need call the measurement data in a certain zone, can adjust the priority of detector in real time, obtains a large amount of current real time data in the zone that needs observation by operating personnel's setting; Because some regional structural deformation may not can be reflected on the measurement data in time sometimes, confirm to guarantee its safety that and need that as human observer active is carried out in the key area at this moment, the operator just can adjust corresponding δ _iValue significantly prolongs the detector operation duration of this zone correspondence, collects lot of data, makes the technician can analyze the safe condition of corresponding region by data).

After adopting aforementioned schemes, under the condition that no abnormal situation occurs, system rule of thumb data adjusts the detector operation duration automatically, the key area is kept paying close attention to the situation that in time notes abnormalities, the real-time of raising safe early warning.In the calculating of static priority, the inventor has introduced this concept of environmental factor, environmental factor specifically refers to the distance of object material, target translational speed, detector and measured object and the multiple factors such as angle of detector and measured object, these all can only screen setting according to concrete applied environment and technician's empirical data, can't be exhaustive; As the object material, it mainly refers to the corresponding particular location in monitored area of detector, obviously, if the purpose of system monitoring is in order to prevent that foreign body intrusion is (as the warehouse, strong-room etc.), the importance of the detector that wall is monitored does not have opposite house certainly, the detector height that window is monitored, and for example (cross section is less to vent window, generally have only toy to pass in and out) (cross section is not bigger to big window certainly for the importance of the detector of monitoring, the people can pass through) the detector height of monitoring, for another example, if the purpose of system monitoring is in order to guarantee structural safety, the importance of the detector that bearing wall is monitored is compared the detector that general wall or door and window monitor certainly and is wanted high so; The target translational speed in the environmental factor and for example, under normal operation, structural deformation generally is progressive formation slowly, needing its deformation quantity to be accumulated to just can be found after a certain amount of, this accumulation may be several hours, several days, some months or even several years, and the moving process of unusual fluctuation object generally is in second, then obviously should give more concern to the monitored area that mobile object may occur; At the distance of detector and measured object and the angle problem of detector and measured object, if distance is far away, or the angle of detector and measured object is bigger, the real-time of data feedbacks and comprehensive just relatively low then, then should give more concern to this class zone, otherwise, then can suitably reduce attention rate; To sum up, environmental factor is varied, the environmental factor that specifically needs to consider needs artificially to determine, but concrete static priority, can aforementioned schemes according to the present invention calculate objectively, make system for each detector distributes reasonably work duration, avoid because of mean allocation work duration, and cause the attention rate of key area inadequately, or non-key area dropped into too much attention rate.

At aforesaid dynamic priority, the invention allows for following preferred version: describedly recomputate each detector operation duration by dynamic priority, comprising:

1) sets 3 grades of dynamic priorities, for every grade of dynamic priority is set a weights coefficient lambda respectively ₁, λ ₂, λ ₃, wherein, λ ₁Be the weights coefficient of the 1st grade of dynamic priority, λ ₂Be the weights coefficient of the 2nd grade of dynamic priority, λ ₃Weights coefficient for the 3rd level dynamic priority; Make the priority level of the 1st grade of dynamic priority the highest, the priority level of 3rd level dynamic priority is minimum, and λ is then arranged ₁＞λ ₂＞λ ₃

When 2) moving for the first time with system, the measurement data of each detector of record is raw data; In the follow-up operation, whenever finish a scan period, all automatically the measurement data of each detector changing value than separately raw data is calculated, the detector of changing value maximum is as current Surveillance center, and gives λ to the dynamic priority of current Surveillance center ₁, monitor node is assisted in a plurality of detectors conducts around the detector of changing value maximum, and gives λ to the dynamic priority of auxiliary monitor node ₂, simultaneously, give λ with the dynamic priority of all the other detectors ₃, then be calculated as follows each detector operation duration:

t ₁+I×t ₂+(s-I-1)×t ₃＝T

$\frac{t_1}{{\mathrm{\&lambda;}}_1}=\frac{{\mathrm{<figure-callout\; id="2"\; label="t"\; filenames="120905141931.png"\; state="\{\{state\}\}">t</figure-callout>}}_2}{{\mathrm{\&lambda;}}_2}=\frac{{\mathrm{<figure-callout\; id="3"\; label="t"\; filenames="120905141945.png"\; state="\{\{state\}\}">t</figure-callout>}}_3}{{\mathrm{\&lambda;}}_3}$

Wherein, t ₁Detector operation duration for current Surveillance center correspondence; t ₂Be each detector operation duration in a plurality of detectors of auxiliary monitor node correspondence; t ₃For neither also each detector operation duration in a plurality of detectors of non-auxiliary monitor node of current Surveillance center; I is the quantity as the detector of auxiliary monitor node; T is the time span of the single scan period of setting; S is the total quantity of detector.

After adopting aforementioned schemes, if changing appears in the measurement data of a certain detector, then system can focus on focal point on this detector rapidly, obtains Monitoring Data a large amount of on this detector, unusual target is carried out real-time follow-up, and the support technician works out countermeasure.

In concrete the application, also can come Monitoring Data is screened according to following scheme, avoid causing false alarm or frequent the warning because of interference: in the step 5), after the data that detector collects change, handle as follows:

The measurement data of each detector that collects when 1) system being moved for the first time is as raw data; A default unusual fluctuation secure threshold Δ S;

2) establish each detector measurement to raw data be respectively S ₁, S ₂S _s, wherein, S ₁Be the raw data of No. 1 detector, S ₂Be the raw data of No. 2 detector, S _sBe the raw data of s detector, s is the total quantity of detector;

After a certain scan period finished, the data of each detector measurement were respectively S ' ₁, S ' ₂... S ' _s, calculate respectively | S ₁-S ' ₁|, | S ₂-S ' ₂| ... | S _s-S ' _s| value, again will | S ₁-S ' ₁|, | S ₂-S ' ₂| ... | S _s-S ' _s| relatively big or small with Δ S respectively;

If | S _i-S ' _i|＜Δ S, then can judge the unusual fluctuation object not occur in the monitored area scope of i detector or deformation does not take place structure; If | S _i-S ' _i| 〉=Δ S, then can judge in the monitored area scope of i detector has unusual fluctuation object or structure that deformation has taken place.

The present invention also can adopt following scheme to come to position invading object: in a certain scan period, the measurement data appearance variation that causes one or more detectors because there being object to invade, after passing through one or more scan periods again, it is stable that the measurement data of detector keeps, illustrate that invading object stops to move, and then determines to invade the particular location that object stops according to following method:

1) with in last scan period, node centered by the detector of data variation value (being in last scan period, the absolute value of the difference between the measurement data of detector and the raw data of this detector) maximum, this detector is designated as the B detector; With directly over the B detector on the detector two-dimensional position relation table, under, 4 detectors adjacent with the B detector are auxiliary node on the front-left, front-right four direction;

2) raw data of establishing 4 detectors of auxiliary node correspondence is respectively S _On, S _Down, S _{A left side}, S _Right(S _OnRaw data, S for the detector directly over the B detector _DownRaw data, S for the detector under the B detector _{A left side}Raw data, S for the detector of B detector front-left _RightRaw data for the detector of B detector front-right); In last scan period, the measurement data of 4 detectors of auxiliary node correspondence is respectively S ' _On, S ' _Down, S ' _{A left side}, S ' _Right(S ' _OnBe measurement data, the S ' of the detector directly over the B detector in scan period in the end _DownBe measurement data, the S ' of the detector under the B detector in scan period in the end _{A left side}Be the detector of B detector front-left measurement data, the S ' in scan period in the end _RightBe the detector of the B detector front-right measurement data in scan period in the end), then calculate Δ 1=|S ' respectively _On-S _On|, Δ 2=|S ' _Down-S _Down|, Δ 3=|S ' _{A left side}-S _{A left side}| and Δ 4=|S ' _Right-S _Right| value, if the size of Δ 1, Δ 2, Δ 3 and Δ 4 relatively Δ 1 maximum, is then invaded object and is rested on position between B detector and the detector directly over it; If Δ 2 maximums, then invade object and rest on position between B detector and the detector under it; If Δ 3 maximums, then invade object and rest on position between the detector of B detector and its front-left; If Δ 4 maximums, then invade object and rest on position between the detector of B detector and its front-right; If aforementioned condition does not satisfy, then invade the center position that object rests on the B detector.

The present invention also can adopt following scheme to obtain the motion track of object: in the ultrasound wave omnidirectional array operational process, when in the search coverage of ultrasound wave omnidirectional array, moving the measurement data appearance variation that causes a plurality of detectors continuously because of the intrusion object, note in each scan period, the numbering of the detector at data variation maximal value place, the numbering of aforementioned detector is arranged chronologically, finally obtain invading the movement locus of object.

Useful technique effect of the present invention is: by setting up the spherical array of ultrasound wave, realization is to the comprehensive monitoring of the unusual moving target in the enclosure space or structural deformation, considered the influence of complex environment factor in the monitoring, can find, locate the unusual fluctuation target automatically and follow the trail of automatically.Monitoring has the wideer scope of application, both can be used for the slowly monitorings of variation targets such as structural deformation also be can be used for monitorings of variation targets fast such as illegal invasion objects.

Description of drawings

Fig. 1, structural representation of the present invention;

Fig. 2, working state schematic representation of the present invention;

Fig. 3, detector two-dimensional position relation table and when adopting helical scan path in path that detector two-dimensional position relation table is delineated out;

Fig. 4, formed detector two-dimensional position relation table when 38 detectors evenly are set on spheroid;

On Fig. 5, the detector two-dimensional position relation table shown in Figure 4, when being current Surveillance center with No. 14 detector, the position distribution synoptic diagram of current Surveillance center and auxiliary monitor node;

On Fig. 6, the detector two-dimensional position relation table shown in Figure 4, when being current Surveillance center with No. 3 detector, the position distribution synoptic diagram of current Surveillance center and auxiliary monitor node;

Embodiment

Addressed in the preamble, the position of a plurality of detectors 2 on the sphere can be mapped as a detector two-dimensional position relation table; In order to set forth the present invention program more intuitively, the inventor has also introduced the concept of south, north latitude and east, west longitude, namely so that the horizontal plane of the centre of sphere and the intersection of spherome surface are 0 degree parallel excessively, be 0 degree warp (also namely 180 spend warps) with the intersection of a certain perpendicular of crossing the centre of sphere and spherome surface, it is mapped on as shown in Figure 4 the detector two-dimensional position relation table; Wherein, 0 degree parallel of 0 degree on warp, 180 degree, west longitude 30 degree, west longitude 60 degree, west longitude 90 degree, west longitude 120 degree, west longitude 150 degree and east longitude 30 degree, east longitude 60 degree, east longitude 90 degree, east longitude 120 degree, 12 positions of east longitude 150 degree arranges 12 detectors 2; In aforementioned 12 warp positions at north latitude 45 degree places 12 detectors 2 are set then, in aforementioned 12 warp positions at south latitude 45 degree places 12 detectors 2 are set again, at south, arctic Dian Chu one detector 2 is set respectively at last; Amount to 38 detectors 2;

A plurality of detectors 2 that aforementioned manner arranges, 38 arabic numeral with 1 to 38 are numbered the corresponding relation of each longitude and latitude and numbering such as following table to it:

Wherein, E represents east longitude, and W represents west longitude, and N represents north latitude, and S represents south latitude, and for example (W120 S45), represents that then these detector 2 positions are west longitude 120 degree, south latitude 45 degree.From aforesaid detector 2 numberings as can be seen, the scanning sequency of these 38 detectors 2 does not concern to scan by position continuous on the space, but in scanning process, saltus step has appearred in the position of the detector 2 of sequential scanning; Wherein need to prove, spiral form described in the preamble, by row form, the form in form, planning starting point path to terminal line by line, and the saltus step form here, can be as embodiment of the present invention, as long as satisfy in each scan period each detector 2 all carried out single pass, concrete which kind of scanning form that adopts can be adjusted according to the actual needs of monitoring of environmental.

The technician is that each detector 2 has been set the evaluation index value under corresponding environmental factor (angle (being called for short angle in the following table) of the distance of object material (being called for short material in the following table), target translational speed (abbreviation speed in the following table), detector and measured object (being called for short distance in the following table), detector and the measured object) effect, and is as shown in the table:

Then can get following evaluation index matrix by last table

After above-mentioned matrix carried out normalized, can get following normal matrix:

As a kind of general routine techniques, cluster is that data object in the data space is classified, similarity between the data object in same class is bigger, and the data object diversity factor between inhomogeneity is bigger, and clustering result is exactly the classification information that obtains the data centralization data object.How many classes are the normally unknown result of cluster have, just according to some similarity condition data aggregate together.Clustering algorithm can fall into 5 types substantially, and the one, partitioning cluster, for example K-Means algorithm; The 2nd, stratification cluster, for example BIRCH algorithm; Three are based on the cluster of density method, for example the DBSCAN algorithm; Four are based on the cluster of grid method, for example the STRING algorithm; Four are based on the cluster of model method, for example the s self-organizing feature map net algorithm SOFM that uses of the present invention (self-organizing features map, SOFM).SOFM is a kind of neural network clustering method, and the function of its simulation cerebral nervous system s self-organizing feature map by the process of self-organization of network structure, is automatically carried out cluster to the data pattern of input.Consider that each element of standard battle array has characteristics such as number is huge, feature is complicated, capacity is uncertain in the practical application, the present invention selects for use the SOFM network that it is carried out feature clustering, this technology is a general routine techniques, the present invention does not refer in particular to used clustering algorithm must use the SOFM algorithm, select for use other clustering algorithm may be slightly on cluster result different, but do not influence the present invention further makes clustering processing to standard array element element technological thought.

Adopt clustering algorithm (s self-organizing feature map net algorithm SOFM) that normal matrix is handled, train 500 times after, the cluster classification of detector 2 is 4 classes (being that priority is 4 grades), the detector of assigning in each cluster classification 2 is as follows:

The 1st cluster classification: { 1,2,3,4,5,9,10,11,12, }

The 2nd cluster classification: { 6,7,8}

The 3rd cluster classification: { 13,14,15,16,17,18,19,20,21,22,23,24,25}

The 4th cluster classification: { 26,27,28,29,30,31,32,33,34,35,36,37,38}

Distribute contribution degree for each cluster classification, the contribution degree of 4 cluster classifications is followed successively by u ₁=8.0, u ₂=4.5, u ₃=6.5, u ₄=1.0, through calculating, the contribution degree index of each cluster classification is respectively Δ u ₁=0.40, Δ u ₂=0.225, Δ u ₃=0.325, Δ u ₄=0.05; The overall target that obtains 38 detectors 2 thus is respectively:

h _i=[0.5885;0.5648;0.4982;0.5182;0.4937;0.3646;0.4063;0.3660;0.4638;0.6565;0.6343;0.5672;0.5264;0.5311;0.5360;0.5359;0.5309;0.5410;0.5464;0.5567;0.5520;0.5522;0.5422;0.5367;0.6070;0.2723;0.2676;0.2669;0.2616;0.2563;0.2611;0.2607;0.2652;0.2648;0.2651;0.2709;0.2722;0.3126]；

i=1、2……38；

According to overall target, calculate following overall target average:

The overall target average of detector 2 is in the 1st cluster classification:

Δh ₁=(h ₁₃+h ₁₄+h ₁₅+h ₁₆+h ₁₇+h ₁₈+h ₁₉+h ₂₀+h ₂₁+h ₂₂+h ₂₃+h ₂₄+h ₂₅)/13≈0.54

The overall target average of detector 2 is in the 2nd cluster classification:

Δh ₂=(h ₂₆+h ₂₇+h ₂₈+h ₂₉+h ₃₀+h ₃₁+h ₃₂+h ₃₃+h ₃₄+h ₃₅+h ₃₆+h ₃₇+h ₃₈)/13≈0.27

The overall target average of detector 2 is in the 3rd cluster classification:

Δh ₃=(h ₁+h ₂+h ₃+h ₄+h ₅+h ₉+h ₁₀+h ₁₁+h ₁₂)/9≈0.56

The overall target average of detector 2 is in the 4th cluster classification:

Δh ₄=(h ₆+h ₇+h ₈)/3≈0.38

, can get: Δ h relatively after the size the overall target average ₃＞Δ h ₁＞Δ h ₄＞Δ h ₂, the priority of detector 2 that then belongs to the 3rd cluster classification is the highest, and the priority that belongs to the detector 2 of the 1st cluster classification is taken second place, and the priority that belongs to the detector 2 of the 4th cluster classification is taken second place again, and the priority of detector 2 that belongs to the 2nd cluster classification is minimum; Then, the cluster average scale-up factor k of each static priority correspondence _iBe respectively: k ₁≈ 0.31; k ₂≈ 0.15; k ₃≈ 0.32; k ₄≈ 0.22; Make δ ₁=δ ₂=δ ₃=δ ₄=1, the cycle of establishing total system is 180s, can get a according to cluster result ₁=13, a ₂=13, a ₃=9, a ₄=3: the work duration of the single detector 2 of a plurality of detectors 2 in each priority that finally obtains is respectively: t ₃₀=6.1s; t ₁₀=5.9s; t ₄₀=4.2s; t ₂₀=2.8s;

System is the initialization duration of each detector 2 distribution according to above operation result.

Each detector 2 scans one by one according to above assignment duration, and the primary data that obtains when scanned the first time stores away, as raw data.

If a certain detector 2(is designated as A detector 2) measurement data in a certain scan period satisfy condition | S _i-S ' _i| Δ S, system calls dynamic priority algorithm rapidly, makes λ ₁=0.6, λ ₂=0.3, λ ₃=0.1(λ ₁, λ ₂, λ ₃Value all set in advance in system), system is with λ ₁=0.6 dynamic priority as A detector 2 is simultaneously with λ ₂The dynamic priority of four adjacent detectors 2 on=0.3 the upper and lower, left and right direction as A detector 2 is with λ ₃=0.1 dynamic priority as all the other detectors 2, the work duration that can get single detector 2 under each dynamic priority thus is respectively t ₁≈ 21.2s, t ₂≈ 10.6s, t _n≈ 3.5s.At this moment, A detector 2 is current Surveillance center, and 4 detectors 2 around it on direction of upper and lower, left and right are auxiliary monitor node; If the corresponding detector 2 of current Surveillance center be numbered 14, current Surveillance center and the auxiliary monitor node distributing position on detector two-dimensional position relation table (figure acceptance of the bid black 5 detectors 2) as shown in Figure 5 then; If the corresponding detector 2 of current Surveillance center be numbered 3, current Surveillance center and the auxiliary monitor node distributing position on detector two-dimensional position relation table (figure acceptance of the bid black 5 detectors 2) as shown in Figure 6 then; What deserves to be explained is, when if the limit place of the negligible amounts of detector 2 and spheroid is provided with detector 2 again, because spherome surface is sealing continuously, the detector 2 that then is arranged at the limit place can regard as near the limit a plurality of detectors 2 directly over or under detector 2, as shown in Figure 4, be positioned at No. 25 detector 2 of the arctic, be be positioned at No. 13 detector 2 directly over, also be positioned at respectively directly over No. 20, No. 21, No. 22, No. 23, No. 24, No. 14, No. 15, No. 16, No. 17, No. 18, No. 19 detectors 2, vice versa; In like manner, be positioned at No. 38 detector 2 in the South Pole, be respectively be positioned at all detectors 2 on south latitude 45 degree under.

The processing mode in the orientation of this setting limit in front, relate to the problem that arranges of auxiliary monitor node and auxiliary node again, namely, when if current Surveillance center or Centroid just are the detector 2 at limit place, the problem how 4 auxiliary monitor nodes around it or auxiliary node are chosen, in theory, the data that the quantity of auxiliary monitor node or auxiliary node obtains more at most are just more accurate, but the quantity of auxiliary monitor node or auxiliary node is too many, can cause the computing complexity again, trouble, therefore, the aforesaid auxiliary monitor node of 4 detectors, 2 conducts or the auxiliary node of choosing on 4 positive dirctions, be under the prerequisite of considering the data processing complex degree, to propose, the several auxiliary monitor nodes of multiselect or auxiliary node do not influence enforcement of the present invention, therefore, when if current Surveillance center or Centroid just are the detector 2 at limit place, but multiselect is several, also can select auxiliary monitor node or the auxiliary node of 4 symmetries randomly, also can when being set, detector 2 solve this problem by avoiding at the limit place detector 2 being set;

System whenever executed after the scan period, all the changing value of automatically measurement data of each detector 2 being compared with separately raw data compares, obtain detector 2 numberings of maximum changing value, thereby realize the automatic adjustment to current Surveillance center, also just realized the dynamic tracking to mobile object.

If through after one or several scan periods, the movement of unusual fluctuation object has stopped, then detector 2 numberings of the current Surveillance center correspondence in each scan period being lined up chronologically, can obtain the motion track of unusual fluctuation object.

Claims (8)

1. the movement locus method for tracing based on omnidirectional array ultrasound wave unusual fluctuation target monitoring system is characterized in that: the steps include:

1) arranges a plurality of detectors (2) at beaded support (1);

2) according to space vector and solid geometry knowledge, determine the monitored area that each detector (2) is corresponding;

3) by the position neighbouring relations of each detector (2), the position of a plurality of detectors (2) on the sphere is mapped as a detector two-dimensional position relation table;

4) be starting point with a certain detector (2) on the detector two-dimensional position relation table, another detector (2) is terminal point, delineate the path of a connection source and terminal point at detector two-dimensional position relation table, this path strings all detectors (2) and path and each detector (2) and only intersects once; Controlling each detector (2) works successively by the path of delineating out and obtains the data that each detector (2) collects; After all detectors (2) are all finished once operation, namely finished a scan period, then from the off, carry out the operation of next scan period again;

5) in the operational process, if deformation appears in the structure in the scope of a certain monitored area, or there is object moving in the scope of a certain monitored area, then the data that collect of the detector of this monitored area correspondence (2) will change, system determines to have in this monitored area scope the object of forcible entry accordingly, or deformation appears in structure.

2. the movement locus method for tracing based on omnidirectional array ultrasound wave unusual fluctuation target monitoring system according to claim 1 is characterized in that:

In the step 4), before the first operation of detector (2), be each detector (2) duration that shares out the work by the static priority of setting, higher detector (2) the work duration of static priority is longer relatively, and the detector that static priority is lower (2) work duration is shorter relatively;

In the step 5), if the data of a certain detector (2) change, this detector (2) is designated as A detector (2), recomputate the work duration of each detector (2) by dynamic priority, for a plurality of detectors (2) on every side of A detector (2) on A detector (2) and the detector two-dimensional position relation table distribute the more work duration;

After detector (2) data variation that the object by structure deformation and forcible entry causes is eliminated, the work duration of each detector (2) is reverted to the work duration of being determined by static priority.

3. the movement locus method for tracing based on omnidirectional array ultrasound wave unusual fluctuation target monitoring system according to claim 2, it is characterized in that: A detector (2) a plurality of detectors (2) on every side on the described detector two-dimensional position relation table, get respectively A detector (2) on the detector two-dimensional position relation table directly over, under, four detectors (2) adjacent with A detector (2) on front-left and the front-right four direction.

4. the movement locus method for tracing based on omnidirectional array ultrasound wave unusual fluctuation target monitoring system according to claim 2 is characterized in that: the static priority of determining each detector (2) as follows:

1) field exploring, the quantity of the environmental factor of determine to need considering, the total quantity of establishing detector (2) be s and with each detector (2) by 1,2 ... the order of s is numbered in turn; If the quantity of the environmental factor of need considering be n and with various environmental factors by 1,2 ... the order of n is numbered in turn, then the evaluation index value b of available each detector of following matrix representation (2) under various environmental factor effects _Ij, wherein, i=1,2,3 ... s, j=1,2,3 ... n:

$\text{E=}\left[\begin{array}{cccccc}{b}_{11}& b_{12}& \&CenterDot;& \&CenterDot;& \&CenterDot;& b_{1n}\\ b_{21}& b_{22}& \&CenterDot;& \&CenterDot;& \&CenterDot;& b_{2n}\\ \&CenterDot;& \&CenterDot;& & & & \&CenterDot;\\ \&CenterDot;& \&CenterDot;& & & & \&CenterDot;\\ \&CenterDot;& \&CenterDot;& & & & \&CenterDot;\\ b_{s1}& b_{s2}& \&CenterDot;& \&CenterDot;& \&CenterDot;& b_{\mathrm{sn}}\end{array}\right]$

Wherein, b ₁₁Represent the evaluation index value of No. 1 detector (2) under the 1st kind of environmental factor condition, b ₁₂Represent the evaluation index value of No. 1 detector (2) under the 2nd kind of environmental factor condition ... b _1nRepresent the evaluation index value of No. 1 detector (2) under n kind environmental factor condition; b ₂₁Represent the evaluation index value of No. 2 detector (2) under the 1st kind of environmental factor condition ... b _S1Represent the evaluation index value of s detector (2) under the 1st kind of environmental factor condition; b _SnRepresent the evaluation index value of s detector (2) under n kind environmental factor condition;

2) each parameter in the matrix is carried out normalized, the dimension of unified each evaluation index value then can obtain following normal matrix, r _IjBe b _IjValue after normalized, wherein, i=1,2,3 ... s, j=1,2,3 ... n:

$\text{R=}\left[\begin{array}{cccccc}{r}_{11}& r_{12}& \&CenterDot;& \&CenterDot;& \&CenterDot;& r_{1n}\\ r_{21}& r_{22}& \&CenterDot;& \&CenterDot;& \&CenterDot;& r_{2n}\\ \&CenterDot;& \&CenterDot;& & & & \&CenterDot;\\ \&CenterDot;& \&CenterDot;& & & & \&CenterDot;\\ \&CenterDot;& \&CenterDot;& & & & \&CenterDot;\\ r_{s1}& r_{s2}& \&CenterDot;& \&CenterDot;& \&CenterDot;& r_{\mathrm{sn}}\end{array}\right]$

Wherein, r ₁₁Be b ₁₁Value after normalized ... r _SnBe b _SnValue after normalized;

3) adopt clustering algorithm that normal matrix is handled, obtain a plurality of cluster classifications after clustering algorithm is handled, establishing the cluster categorical measure is m, and then s detector (2) is respectively allocated in m the cluster classification;

4) importance according to the varying environment factor is that various environmental factors are set contribution degree numerical value, namely obtains n contribution degree numerical value u ₁, u ₂U _n, wherein, u ₁Be the contribution degree numerical value of the 1st kind of environmental factor, u ₂Be the contribution degree numerical value of the 2nd kind of environmental factor, u _nBe the contribution degree numerical value of n kind environmental factor;

According to u ₁, u ₂U _nCalculate the contribution degree index of every kind of environmental factor:

$\mathrm{\&Delta;}{u}_j=u_j/\underset{j=1}{\overset{n}{\mathrm{\&Sigma;}}}{u}_j$

Wherein, j=1,2......n; After calculating, obtain the contribution degree index Δ u of n kind environmental factor ₁, Δ u ₂Δ u _n, Δ u ₁Be the contribution degree index of the 1st kind of environmental factor, Δ u ₂Be the contribution degree index of the 2nd kind of environmental factor, Δ u _nIt is the contribution degree index of n kind environmental factor;

5) calculate the corresponding overall target of each detector (2):

$h_i(r_{\mathrm{ij}},\mathrm{\&Delta;}{u}_j)=\underset{j=1}{\overset{n}{\mathrm{\&Sigma;}}}{r}_{\mathrm{ij}}\mathrm{\&Delta;}{u}_j$

Wherein, i is the sequence number of detector (2), and j is the sequence number of environmental factor, j=1,2......n; h _i(r _Ij, Δ u _j) be the overall target of i detector (2) under the effect of multiple contribution degree index; Through calculating, obtain the overall target h of s detector (2) ₁(r _1j, Δ u _j), h ₂(r _2j, Δ u _j), h ₃(r _3j, Δ u _j) ... h _s(r _Sj, Δ u _j),

6) calculate the overall target average of the detector (2) in each cluster classification respectively, if s=10, m=4, after the clustering algorithm processing, 10 detectors (2) are respectively allocated in 4 cluster classifications, wherein, the 1st, 3,5, No. 6 detectors (2) are assigned in the 1st cluster classification, No. 2 detector (2) is assigned in the 2nd cluster classification, the 4th, No. 7 detectors (2) are assigned in the 3rd cluster classification, the 8th, 9, No. 10 detectors (2) are assigned in the 4th cluster classification

Then the overall target average of the detector (2) in the 1st cluster classification is:

${\mathrm{\&Delta;h}}_1=\frac{h_1(r_{1j},{\mathrm{\&Delta;u}}_j)+h_3(r_{3j},{\mathrm{\&Delta;u}}_j)+h_5(r_{5j},{\mathrm{\&Delta;u}}_j)+h_6(r_{6j},{\mathrm{\&Delta;u}}_j)}{4}$

The overall target average of the detector (2) in the 2nd cluster classification is:

${\mathrm{\&Delta;}h}_2=\frac{h_2(r_{2j},{\mathrm{\&Delta;u}}_j)}{1}$

The overall target average of the detector (2) in the 3rd cluster classification is:

${\mathrm{\&Delta;}h}_3=\frac{h_4(r_{4j},{\mathrm{\&Delta;u}}_j)+h_7(r_{7j},{\mathrm{\&Delta;u}}_j)}{2}$

The overall target average of the detector (2) in the 4th cluster classification is:

${\mathrm{\&Delta;h}}_4=\frac{h_8(r_{8j},{\mathrm{\&Delta;u}}_j)+h_9(r_{9j},{\mathrm{\&Delta;u}}_j)+h_{10}(r_{10j},{\mathrm{\&Delta;u}}_j)}{3}$

The numerical value of overall target average is more big, and then the static priority of corresponding detector (2) is more high, otherwise then static priority is more low, and the numerical value of m is the progression of static priority;

7) according to overall target average Δ h ₁, Δ h ₂, Δ h ₃Δ h _m, calculate the cluster average scale-up factor k of each static priority correspondence _i:

$k_i=\frac{{\mathrm{\&Delta;h}}_i}{\underset{i=1}{\overset{m}{\mathrm{\&Sigma;}}}{\mathrm{\&Delta;h}}_i}$

According to k _iCalculate the work duration of each detector (2):

$\underset{i=1}{\overset{m}{\mathrm{\&Sigma;}}}{a}_i{t}_{\mathrm{io}}=T$

$\frac{t_{10}}{{\mathrm{\&delta;}}_1{k}_1}=\frac{t_{20}}{{\mathrm{\&delta;}}_2{k}_2}\&CenterDot;\&CenterDot;\&CenterDot;=\frac{t_{m0}}{{\mathrm{\&delta;}}_m{k}_m}$

Wherein, T is the time span of the single scan period of setting; a _iBe the quantity of the detector (2) of i level for static priority; t _IoBe the work duration of the single detector (2) of i level for static priority; δ _iBe the resize ratio coefficient of setting, i=1,2,3......m, when not needing to apply manual intervention, δ ₁=δ ₂=...=δ _m=1, when needs apply manual intervention, δ _iSet by operating personnel.

5. the movement locus method for tracing based on omnidirectional array ultrasound wave unusual fluctuation target monitoring system according to claim 2 is characterized in that: describedly recomputate the work duration of each detector (2) by dynamic priority, comprising:

1) sets 3 grades of dynamic priorities, for every grade of dynamic priority is set a weights coefficient lambda respectively ₁, λ ₂, λ ₃, wherein, λ ₁Be the weights coefficient of the 1st grade of dynamic priority, λ ₂Be the weights coefficient of the 2nd grade of dynamic priority, λ ₃Weights coefficient for the 3rd level dynamic priority; Make the priority level of the 1st grade of dynamic priority the highest, the priority level of 3rd level dynamic priority is minimum, and λ is then arranged ₁＞λ ₂＞λ ₃

When 2) moving for the first time with system, the measurement data of each detector (2) of record is raw data; In the follow-up operation, whenever finish a scan period, all automatically the measurement data of each detector (2) changing value than separately raw data is calculated, the detector of changing value maximum (2) is as current Surveillance center, and gives λ to the dynamic priority of current Surveillance center ₁, monitor node is assisted in the detector of changing value maximum (2) a plurality of detectors (2) conduct on every side, and gives λ to the dynamic priority of auxiliary monitor node ₂, simultaneously, give λ with the dynamic priority of all the other detectors (2) ₃, then be calculated as follows the work duration of each detector (2):

t ₁+I×t ₂+(s-I-1)×t ₃＝T

$\frac{t_1}{{\mathrm{\&lambda;}}_1}=\frac{t_2}{{\mathrm{\&lambda;}}_2}=\frac{t_3}{{\mathrm{\&lambda;}}_3}$

Wherein, t ₁Work duration for the detector (2) of current Surveillance center correspondence; t ₂Work duration for each detector (2) in a plurality of detectors (2) of auxiliary monitor node correspondence; t ₃For neither the also work duration of each detector (2) in a plurality of detectors (2) of non-auxiliary monitor node of current Surveillance center; I is the quantity as the detector (2) of auxiliary monitor node; T is the time span of the single scan period of setting; S is the total quantity of detector (2).

6. the movement locus method for tracing based on omnidirectional array ultrasound wave unusual fluctuation target monitoring system according to claim 1 is characterized in that: in the step 5), after the data that detector (2) collects change, handle as follows:

The measurement data of each detector (2) that collects when 1) system being moved for the first time is as raw data; A default unusual fluctuation secure threshold Δ S;

2) establish the raw data that each detector (2) measures and be respectively S ₁, S ₂S _s, wherein, S ₁Be the raw data of No. 1 detector (2), S ₂Be the raw data of No. 2 detector (2), S _sBe the raw data of s detector (2), s is the total quantity of detector (2);

After a certain scan period finished, the data that each detector (2) is measured were respectively S ' ₁, S' ₂... S ' _s, calculate respectively | S ₁-S ' ₁|, | S ₂-S' ₂| ... | S _s-S ' _s| value, again will | S ₁-S ' ₁|, | S ₂-S' ₂| ... | S _s-S ' _s| relatively big or small with Δ S respectively;

If | S _i-S ' _i|＜Δ S, then can judge the unusual fluctuation object not occur in the monitored area scope of i detector (2) or deformation does not take place structure; If | S _i-S ' _i| 〉=Δ S, then can judge in the monitored area scope of i detector (2) has unusual fluctuation object or structure that deformation has taken place.

7. the movement locus method for tracing based on omnidirectional array ultrasound wave unusual fluctuation target monitoring system according to claim 6, it is characterized in that: in a certain scan period, the measurement data appearance variation that causes one or more detectors (2) because there being object to invade, after passing through one or more scan periods again, it is stable that the measurement data of detector (2) keeps, illustrate that invading object stops to move, and then determines to invade the particular location that object stops according to following method:

1) with in last scan period, node centered by the detector (2) of data variation value maximum, this detector (2) is designated as B detector (2); With directly over the B detector (2) on the detector two-dimensional position relation table, under, 4 detectors (2) adjacent with B detector (2) are auxiliary node on the front-left, front-right four direction;

2) raw data of establishing 4 detectors (2) of auxiliary node correspondence is respectively S _On, S _Down, S _{A left side}, S _RightIn last scan period, the measurement data of 4 detectors (2) of auxiliary node correspondence is respectively S' _On, S' _Down, S' _{A left side}, S' _Right, then calculate Δ 1=|S' respectively _On-S _On|, Δ 2=|S' _Down-S _Down|, Δ 3=|S' _{A left side}-S _{A left side}| and Δ 4=|S' _Right-S _Right| value, if the size of Δ 1, Δ 2, Δ 3 and Δ 4 relatively Δ 1 maximum, is then invaded object and is rested on position between B detector (2) and the detector directly over it (2); If Δ 2 maximums, then invade object and rest on position between B detector (2) and the detector under it (2); If Δ 3 maximums, then invade object and rest on position between the detector (2) of B detector (2) and its front-left; If Δ 4 maximums, then invade object and rest on position between the detector (2) of B detector (2) and its front-right; If aforementioned condition does not satisfy, then invade the center position that object rests on B detector (2).

8. the movement locus method for tracing based on omnidirectional array ultrasound wave unusual fluctuation target monitoring system according to claim 6, it is characterized in that: in the ultrasound wave omnidirectional array operational process, when in the search coverage of ultrasound wave omnidirectional array, moving the measurement data appearance variation that causes a plurality of detectors (2) continuously because of the intrusion object, note in each scan period, the numbering of the detector (2) at data variation maximal value place, the numbering of aforementioned detector (2) is arranged chronologically, finally obtain invading the movement locus of object.

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