CN102868875A - Multidirectional early-warning positioning and automatic tracking and monitoring device for monitoring area - Google Patents
Multidirectional early-warning positioning and automatic tracking and monitoring device for monitoring area Download PDFInfo
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Abstract
The invention relates to a multidirectional early-warning positioning and automatic tracking and monitoring device for a monitoring area, which still can monitor a panorama area with a large range even under the condition of low illumination. The monitoring device comprises an early-warning positioning mechanism and a tracking warning mechanism, wherein an early-warning positioning module is arranged inside the early-warning positioning mechanism, and a tracking warning module is arranged inside the tracking warning mechanism. According to the monitoring device, a plurality of directions are subjected to early-warning video collection so as to directly detect the trends of the inside of a plurality of early-warning video images to determine the position information of a monitored moving object, and therefore, the moving object is subjected to tracking video collection, voice frequency collection, illumination warning and sound warning. Meanwhile, an alarm signal is added in a corresponding video image, master control equipment is controlled by passing an instruction back to generate an alarm action, and finally, a plurality of early-warning videos and tracking videos are stored and transmitted to display equipment. The monitoring device has a multidirectional monitoring area regulation function, and the applicability and the flexibility of the monitoring device are obviously improved.
Description
Technical field
The present invention relates to technical field of video monitoring, particularly a kind of multi-direction guarded region early warning positioning automatic tracking supervising device.
Background technology
At present, in technical field of video monitoring, existing video monitoring system generally includes the equipment such as video monitoring front end equipment, transmission equipment, main control device and display device.Wherein video monitoring front end equipment mainly is responsible for the acquisition process of data and vision signal; Transmission equipment with the data of above-mentioned collection and video signal transmission to main control device and display device; Main control device produces to data analysis with after processing or directly sends control command by main control unit, and transfers to video monitoring front end equipment by transmission equipment, and display device is presented on the display unit after vision signal is processed.
At present, the video monitoring front end equipment of video monitoring system mainly is divided into following three classes:
The first kind is the fixed point video acquisition device, namely adopts the fixed point video camera as video monitoring front end equipment, is used for monitoring the appointed area, and such video monitoring front end equipment can only be monitored fixed-direction, has the monitoring blind area.
Equations of The Second Kind is the rotating video harvester, namely adopt the device that can be in the horizontal direction rotates up with Vertical Square to drive video camera and carry out multi-direction monitoring, such as the combination (hereinafter referred " monopod video camera ") of cradle head device and video camera as video monitoring front end equipment, though such video monitoring front end equipment has solved the nonadjustable problem of monitoring direction, but synchronization can not be monitored a plurality of directions, therefore still has the monitoring blind area.
The 3rd class is to adopt the fixed point video acquisition device to cooperate with the rotating video harvester, the intelligence monitoring and controlling device that proposes such as public announcement of a patent application CN102342099A and the image monitoring that adopts this device, it for example mainly adopts, and wide-angle imaging machine (combination of wide-angle lens and analog video camera/digital camera) carries out the wide area video acquisition to guarded region, and for example adopt that monopod video camera carries out the concentration of local video acquisition to certain guarded region in the wide area video, above-mentioned video monitoring front end equipment is usually used in the tracing and monitoring to moving target, but there is distortion in above-mentioned supervising device by the video image that for example fish-eye wide-angle imaging machine collection is installed, the phenomenon of distortion, cause the moving target of video image marginal position to be difficult to be identified, therefore limited monitoring range.
And because above-mentioned supervising device wide area video capture device is fixing non-adjustable, so the guarded region of wide area video acquisition can not change on direction, affected adaptability and the flexibility of above-mentioned supervising device.
Because above-mentioned supervising device does not adopt servicing lighting, make it in night or low-light (level) situation, position tracking to the moving target in the guarded region simultaneously.
In addition, above three class video monitoring front end equipments all can't be warned to moving target.
Summary of the invention
The present invention proposes for addressing the above problem, its purpose is, a kind of multi-direction guarded region early warning positioning automatic tracking supervising device is provided, even the panorama zone that this supervising device is still can monitoring range in the low-light (level) situation larger, this supervising device is by carrying out the early warning video acquisition to a plurality of directions, in a plurality of early warning video images of direct-detection dynamically, thereby determine the positional information of moving target, and then moving target followed the tracks of video acquisition, audio collection, illumination is warned and sound is warned, simultaneously, also in the corresponding video image, add alarm signal, and passing through passback instruction control main control device generation actuation of an alarm, the display device of video monitoring system is stored and transferred to the most a plurality of early warning videos and tracking video.
Its purpose also is, makes early warning positioning automatic tracking supervising device of the present invention have multi-direction guarded region regulatory function, effectively enlarges video monitoring regional, remedies the peripheral defective of twisting, distorting of video image that existing wide-angle imaging machine gathers; The supporting Design of Mechanical Structure of corresponding optimization further improves its applicability and flexibility to realize the adjustability of multi-direction guarded region.
The technical solution adopted in the present invention is for achieving the above object: a kind of multi-direction guarded region early warning positioning automatic tracking supervising device is the video monitoring front end equipment of video monitoring system; This supervising device comprises early warning detent mechanism and the tracking mechanism of warning; Described early warning detent mechanism is connected with the support that this supervising device is provided with, and the described tracking mechanism's correspondence of warning is arranged at early warning detent mechanism top;
Described early warning detent mechanism comprises vertical early warning part and horizontal early warning part, and vertical early warning partly is used for gathering the video image of this supervising device below, and horizontal early warning partly is used for gathering the video image of this supervising device side direction; Establish the early warning locating module in the described early warning detent mechanism, in order to realizing the early warning detent mechanism to the early warning of institute's monitoring moving target location, and control is followed the tracks of the mechanism of warning and moving target is followed the tracks of is warned;
The described tracking mechanism of warning comprises and follows the tracks of video acquisition part and the part of warning, and follows the tracks of video acquisition and partly is used for following the tracks of the video image that gathers moving target, and the part of warning is used for to the moving target warning of warning; Described tracking is warned to establish in the mechanism and is followed the tracks of the module of warning, in order to realize that following the tracks of the mechanism of warning warns to the tracking of institute's monitoring moving target.
Described early warning locating module comprises vertical early warning video acquisition unit, horizontal early warning video acquisition unit, intensity of illumination detecting unit, floor light unit, the first video converting unit, video storage unit, detection of dynamic unit, video synthesis unit, the second video converting unit, the first control unit, the first communication unit and the second communication unit.
The early warning video (hereinafter referred " vertical early warning video ") of described vertical early warning video acquisition unit acquisition monitoring device below guarded region, and with above-mentioned vertical early warning transmission of video to the first video converting unit.
Described horizontal early warning video acquisition unit acquisition monitoring device side is to the early warning video (hereinafter referred " horizontal early warning video ") of guarded region, and with above-mentioned horizontal early warning transmission of video to the first video converting unit.
Described the first video converting unit receives vertical early warning video acquisition unit, horizontal early warning video acquisition unit and tracking and warns and follow the tracks of the analog video signal of video acquisition unit output in the module, and above-mentioned analog video signal is converted to digital video signal.
Described intensity of illumination detecting unit detects the intensity of illumination of guarded region, and detected value is transferred to the first control unit, by the first control unit control floor light unit guarded region is carried out floor light.
Described video storage unit is stored vertical early warning video, the horizontal early warning video after the digitlization of the first video converting unit output and is followed the tracks of video; And under the control of the first control unit, video storage unit can be with the digital signal transmission of its storage inside to the video synthesis unit.
In vertical early warning video after the digitlization of described detection of dynamic unit inspection the first video converting unit output and the horizontal early warning video dynamically, and the positional information of moving target is converted to the warn control command of module of tracking, above-mentioned control command transfers to the second communication unit by the first control unit, by the second communication unit control command is transferred to and follows the tracks of the module of warning.
Described video synthesis unit after selecting to receive digitlization from the first video converting unit or video storage unit under the control of the first control unit vertical early warning video, horizontal early warning video and follow the tracks of video, and above-mentioned all videos are synthesized the panoramic video digital signal; When detecting moving target, the video synthesis unit superposes such as alarm signals such as frame flickers at corresponding early warning video image under the control of the first control unit.
Described the second video converting unit is responsible for the panoramic video digital signal is converted to analog composite video signal, and transfers to display device.
Described the first control unit receive that the detection of dynamic unit provides to the warn control command of module of tracking, and by the second communication unit and the tracking module communication of warning; The first control unit also receives the intensity of illumination detecting unit to the detected value of guarded region intensity of illumination, and the floor light unit is opened in control; The first control unit is also controlled the video synthesis unit and is received from the digital video signal of the first video converting unit or receive digital video signal from video storage unit, and sets the compound mode of synthetic panoramic video digital signal; When detecting moving target, the first control unit is also controlled the video synthesis unit in the corresponding early warning video image alarm signal that superposes; The first control unit is also controlled the digital video signal whether video storage unit exports its storage inside; The first control unit is also by the first communication unit and main control device communication.
Described the first communication unit is responsible for the communication of the first control unit and main control device; The second communication unit is responsible for the first control unit and is carried out communication with the 3rd communication unit of following the tracks of in the module of warning.
Described tracking warn module comprise follow the tracks of video acquisition unit, audio collection unit, illumination warn unit, sound warn the unit, horizontally rotate electric-motor drive unit, vertical rotary electric-motor drive unit, lens zoom electric-motor drive unit, the second control unit and the 3rd communication unit.
Described tracking video acquisition unit gathers the tracking video (hereinafter referred " tracking video ") of moving target region, and with the first video converting unit of above-mentioned tracking transmission of video to the early warning locating module.
Described audio collection unit receives the control signal of the second control unit, and audio collection is carried out in the moving target region, and with the audio transmission that gathers to main control device.
The described illumination unit of warning receives the control signal of the second control unit, illumination is carried out in the moving target region warn.
The described sound unit of warning receives the control signal of the second control unit, sound is carried out in the moving target region warn.
Describedly horizontally rotate the control signal that electric-motor drive unit receives the second control unit, drive and horizontally rotate the motor rotation.
Described vertical rotary electric-motor drive unit receives the control signal of the second control unit, drives the rotation of vertical rotary motor.
Described lens zoom electric-motor drive unit receives the control signal of the second control unit, drives the rotation of lens zoom motor.
Described the 3rd communication unit is responsible for the second control unit and is carried out communication with the second communication unit in the early warning locating module, the second control unit by the reception of the 3rd communication unit to the warn control command of module of tracking; And the second control unit sends state information by the 3rd communication unit to the second communication unit in the early warning locating module, and the second communication unit is with above-mentioned status information transmission to the first control unit.
To the warn control command of module of tracking, control horizontally rotates electric-motor drive unit, vertical rotary electric-motor drive unit and lens zoom electric-motor drive unit to described the second control unit according to above-mentioned; Described the second control unit controlled light unit of warning carries out illumination to institute monitoring moving target region and warns; Described the second control unit control sound unit of warning carries out sound to institute monitoring moving target region and warns, and the source of the sound of selecting to warn; Described the second control unit is also controlled the audio collection unit audio collection is carried out in institute monitoring moving target region.
Described vertical early warning partly comprises vertical early warning video camera and floor light parts; Described vertical early warning video camera adopts wide-angle imaging machine (combination of wide-angle lens and analog video camera/digital camera); The floor light unit established in the described floor light parts adopts infrared lamp, laser, visible illumination equipment one of them or two or more combinations.
Described horizontal early warning partly comprises horizontal early warning video camera, horizontal slip parts, vertical adjusting parts and floor light parts.
Described horizontal early warning video camera adopts long focus video camera (combination of telephoto lens and analog video camera/digital camera) or/and Zoom camera (combination of zoom lens and analog video camera/digital camera); Adopting quantity is more than one group.
Described horizontal slip parts comprise slip guard shield, upper backup pad and lower supporting plate; Described slip guard shield is provided with slide rail in two ends up and down; Described upper backup pad and lower supporting plate are provided with the chute that matches with the guard shield upper/lower terminal slide rail that slides with slip guard shield contact surface.
Described vertical adjusting parts comprise camera mount and camera mount mounting panel; Described camera mount both sides are provided with two rotation axiss and two sliding axles, camera mount mounting panel both sides correspondence is provided with two location holes and two arcuate sockets, two rotation axiss of camera mount one end are placed on two location holes of camera mount mounting panel both sides and are rotationally connected, two sliding axles of the other end and two arcuate socket matched in clearance of camera mount mounting panel.
Described horizontal early warning video camera is arranged on the interior camera mount of vertical adjusting parts, and by the vertical corner that be rotationally connected adjusting horizontal early warning video camera of camera mount with the camera mount mounting panel; Camera mount mounting panel in the vertical adjusting parts is fixedly placed in the slip guard shield of horizontal slip parts, and the level angle of the horizontal early warning video camera of the adjusting that is slidingly connected by slip guard shield and upper backup pad and lower supporting plate.
Described tracking video acquisition partly comprises tracking camera, horizontal rotary mechanism and vertical rotary mechanism, and the described part of warning comprises audio collection device, alarm and warning light.
Described tracking camera adopts the combination of zoom lens and analog video camera/digital camera.Described tracking camera adopts Zoom camera, by lens zoom motor-driven lens zoom, it is the driving signal that the lens zoom motor receives the lens zoom electric-motor drive unit, under the control that drives signal, lens zoom driven by motor varifocal mirror head mirror group is rotated, and area occupied and image definition reach optimum state on the video following the tracks of finally to make moving target.
Described horizontal rotary mechanism is by horizontally rotating motor and synchronous belt mechanism forms; Vertical rotary mechanism is comprised of vertical rotary motor and synchronous belt mechanism; The described motor that horizontally rotates receives the driving signal that horizontally rotates electric-motor drive unit, under the control that drives signal, horizontally rotates driven by motor and follows the tracks of the mechanism's rotation of warning, and finally makes and follows the tracks of the mechanism in the horizontal direction orientation movements target region of warning; Described vertical rotary motor receives the driving signal of vertical rotary electric-motor drive unit, and under the control that drives signal, the vertical rotary driven by motor is followed the tracks of the mechanism of warning and rotated, and finally makes and follows the tracks of the mechanism in vertical direction orientation movements target region of warning.
Mechanical structure of the present invention realizes part:
Early warning detent mechanism of the present invention comprises vertical early warning part and horizontal early warning part, wherein vertical early warning part is made of vertical early warning video camera and floor light parts, wherein horizontal early warning part is made of horizontal early warning video camera, horizontal slip parts, vertical adjusting parts and floor light parts, wherein the horizontal slip parts comprise the slip guard shield, upper backup pad and lower supporting plate, vertical adjusting parts comprise camera mount and camera mount mounting panel.
Each parts annexation in the early warning detent mechanism:
Vertical early warning partly is placed in the below of whole supervising device, and vertical early warning camera lens vertically points to the below, and the floor light parts are fixedly placed in around the vertical early warning camera lens.
Horizontal early warning partly is placed in the top of vertical early warning part, mainly is made of horizontal early warning video camera, horizontal slip parts, vertical adjusting parts and floor light parts.Wherein horizontal early warning video camera is placed in the slip guard shield and is positioned at the form rear side, the horizontal slip parts are provided with the slip guard shield of slide rail and are provided with the upper of chute with slip guard shield contact surface by two ends up and down, lower supporting plate consists of, on, lower supporting plate is fixed on the connecting axle, connecting axle plays a supportive role in the vertical central position of whole supervising device, make the slip guard shield upper by being slidingly connected of slide rail and chute, slide between the lower supporting plate, thereby regulate the level angle that is placed in horizontal early warning video camera in the slip guard shield, the slip guard shield is fixedly connected with lower supporting plate on slip guard shield location hole by screw after the slip shield adjustment is complete; Wherein the vertical adjusting parts are made of the camera mount that is provided with rotation axis and sliding axle and the camera mount mounting panel that is provided with location hole and arcuate socket, wherein the camera mount both sides are arranged with respectively two rotation axiss and two sliding axles, camera mount mounting panel both sides correspondence is provided with two location holes and two arcuate sockets that match with camera mount, two rotation axiss of camera mount one end are placed on two location holes of camera mount mounting panel corresponding end both sides and are rotationally connected, two sliding axles of the camera mount other end and two arcuate socket matched in clearance of camera mount mounting panel corresponding end, purpose can be rotated around location hole camera mount on the camera mount mounting panel, thereby regulates the vertical corner that is installed in horizontal early warning video camera on the camera mount.
The tracking of the present invention mechanism of warning comprises and follows the tracks of video acquisition part and the part of warning, wherein following the tracks of the video acquisition part is comprised of tracking camera, horizontal rotary mechanism and vertical rotary mechanism, wherein horizontal rotary mechanism is by horizontally rotating motor and synchronous belt mechanism b forms, vertical rotary mechanism is comprised of vertical rotary motor and synchronous belt mechanism a, and the part of warning is comprised of audio collection device, alarm and warning light.
Tracking is warned, and each parts annexation is in the mechanism:
Tracking video acquisition part and the part of warning are placed in respectively the top of early warning detent mechanism, tracking camera is placed in and drives on the cabinet, horizontal rotary mechanism and vertical rotary mechanism are placed in and drive in the cabinet, audio collection device and alarm are placed in the sound warn device, warning light is placed in the illumination warn device, and sound warn device and illumination warn device also are fixed on and drive on the cabinet.Tracking video acquisition part and the part of warning are carried out the horizontal/vertical rotation by horizontal rotary mechanism and vertical rotary mechanism, thereby monitoring objective is carried out tracing and monitoring and warns.
The automatically controlled realization part of the present invention:
Vertical early warning video acquisition unit of the present invention adopts vertical early warning video camera, is responsible for the early warning video of acquisition monitoring device below guarded region, and will above-mentioned vertical early warning transmission of video connected the first video converting unit extremely.
Horizontal early warning video acquisition unit adopts horizontal early warning video camera, is responsible for the acquisition monitoring device side to the early warning video of guarded region, and with above-mentioned horizontal early warning transmission of video to connected the first video converting unit.
Follow the tracks of video acquisition unit and adopt tracking camera, be responsible in the acquisition monitoring zone tracking video to moving target, and with above-mentioned tracking transmission of video connected the first video converting unit extremely.
The intensity of illumination detecting unit is responsible for detecting the intensity of illumination of guarded region.The intensity of illumination detecting unit is connected with the first control unit, and the intensity of illumination detected value is transferred to the first control unit.
The floor light unit is responsible for guarded region is carried out floor light.The floor light unit is connected with the first control unit, the first control unit is judged the detected value of intensity of illumination according to the intensity of illumination detecting unit, when above-mentioned detected value was lower than set point, the first control unit control floor light unit carried out floor light to guarded region.
The first video converting unit is responsible for above-mentioned vertical early warning video, horizontal early warning video and follows the tracks of video being converted to digital video signal.The first video converting unit is connected with vertical early warning video acquisition unit, horizontal early warning video acquisition unit and tracking video acquisition unit, from above-mentioned each unit, receive vertical early warning video, horizontal early warning video and follow the tracks of video, and transfer to video storage unit and the video synthesis unit that is connected with the first video converting unit after above-mentioned each vision signal is converted to digital video signal, and, the first video converting unit also with the vertical early warning video after the digitlization and horizontal early warning transmission of video to coupled detection of dynamic unit.
Video storage unit is responsible for storing the vertical early warning video after the digitlization, horizontal early warning video and is followed the tracks of video, and under the control of the first control unit, video storage unit can and be followed the tracks of transmission of video to the video synthesis unit with the vertical early warning video after the digitlization of its storage inside, horizontal early warning video.Video storage unit is connected with the first video converting unit, receive vertical early warning video, the horizontal early warning video after the digitlization and follow the tracks of video from the first video converting unit, and above-mentioned digital video signal is stored in the storage medium in the video storage unit.Video storage unit also is connected with the video synthesis unit with the first control unit, under the control of the first control unit, video storage unit also can and be followed the tracks of transmission of video to the video synthesis unit with the vertical early warning video after the digitlization of its storage inside, horizontal early warning video.
The detection of dynamic unit be responsible for detecting in vertical early warning video after the digitlization and the horizontal early warning video dynamically, calculate the positional information of moving target and described positional information be converted to the warn control command of module of tracking.The detection of dynamic unit is connected with the first video converting unit, receives vertical early warning video and horizontal early warning video after the digitlization from the first video converting unit.In vertical early warning video after the above-mentioned digitlization of detection of dynamic unit inspection and the horizontal early warning video dynamically, calculate the positional information of moving target and described positional information be converted to the warn control command of module of tracking.The detection of dynamic unit also is connected with the first control unit, with above-mentioned the warn control command of module of tracking is transferred to the first control unit.
The video synthesis unit is responsible for the vertical early warning video after the digitlization, horizontal early warning video and follows the tracks of video synthesizing the panoramic video digital signal.The video synthesis unit is connected with the first control unit with the first video converting unit, receive vertical early warning video, the horizontal early warning video after the digitlization and follow the tracks of video from the first video converting unit, and under the control of the first control unit according to the constituted mode of setting after with above-mentioned digitlization vertical early warning video, horizontal early warning video and follow the tracks of video and synthesize the panoramic video digital signal.When detecting moving target, the video synthesis unit superposes such as alarm signals such as frame flickers at corresponding early warning video image under the control of the first control unit.The video synthesis unit also is connected with video storage unit, under the control of the first control unit, the video synthesis unit can change by receiving vertical early warning video, the horizontal early warning video after the digitlization from video storage unit and follow the tracks of video, and the first control unit control this moment video synthesis unit no longer receives vertical early warning video, the horizontal early warning video after the digitlization of the first video converting unit output and follows the tracks of video.The video synthesis unit receives the vertical early warning video after the digitlization that comes from video storage unit, horizontal early warning video and follows the tracks of the video recording that video is storage in the video storage unit.
The second video converting unit is responsible for the panoramic video digital signal is converted to analog composite video signal, and transfers to display device.The second video converting unit is connected with the video synthesis unit, receives panoramic video digital signal after synthetic from the video synthesis unit, and transfers to display device after above-mentioned panoramic video digital signal is converted to analog composite video signal.
The first communication unit is responsible for the communication of the first control unit and main control device.The first communication unit is connected with main control device with the first control unit, and the first communication unit receives the control command that main control device sends, and above-mentioned control command is transferred to the first control unit.The first communication unit also receives the state information that the first control unit sends, and with above-mentioned status information transmission to main control device.When detecting moving target, the first communication unit transfers to main control device with the alarm command that the first control unit sends.
The first control unit is responsible for receiving that the detection of dynamic unit provides to the warn control command of module of tracking, and by the second communication unit and the tracking module communication of warning.The first control unit also is responsible for receiving the intensity of illumination detecting unit to the detected value of guarded region intensity of illumination, and the floor light unit is opened in control.The first control unit also is responsible for control video synthesis unit and is received from the digital video signal of the first video converting unit or receive digital video signal from video storage unit, and sets the compound mode of synthetic panoramic video digital signal.When detecting moving target, the first control unit also is responsible for control video synthesis unit in the corresponding early warning video image alarm signal that superposes.The first control unit also is responsible for the digital video signal whether the control video storage unit exports its storage inside.The first control unit also is responsible for by the first communication unit and main control device communication.The first control unit is connected with the detection of dynamic unit, receive the warn control command of module of tracking from dynamic detecting unit, and the warn control command of module of tracking is transferred to and follows the tracks of the module of warning with above-mentioned by the second communication unit, simultaneously, the first control unit also by the second communication unit from the tracking module receiving status information of warning.The first control unit also is connected with the floor light unit with the intensity of illumination detecting unit, the first control unit is from the detected value of intensity of illumination detecting unit reception to the guarded region intensity of illumination, when above-mentioned detected value was lower than set point, the control of the first control unit was opened the floor light unit guarded region is carried out floor light.The first control unit also is connected with the video synthesis unit, the first control unit control video synthesis unit receives vertical early warning video, the horizontal early warning video after the digitlization and follows the tracks of video from the first video converting unit or from video storage unit, the first control unit also control the video synthesis unit according to the constituted mode of setting after with above-mentioned digitlization vertical early warning video, horizontal early warning video and follow the tracks of video and synthesize the panoramic video digital signal.When detecting moving target, the first control unit control video synthesis unit superposes such as alarm signals such as frame flickers at corresponding early warning video image.The first control unit also is connected with video storage unit, the first control unit control video storage unit can and be followed the tracks of transmission of video to the video synthesis unit with the vertical early warning video after the digitlization of its storage inside, horizontal early warning video, and the first control unit control this moment video synthesis unit no longer receives vertical early warning video, the horizontal early warning video after the digitlization of the first video converting unit output and follows the tracks of video.The first control unit also is connected with the first communication unit, and the first control unit receives the control command that main control device sends by the first communication unit, and simultaneously, the first control unit also sends state information by the first communication unit to main control device.When detecting moving target, the first control unit also sends alarm command by the first communication unit to main control device, is used for triggering the actuation of an alarm of main control device.
The second communication unit is responsible for the first control unit and the communication of following the tracks of the module of warning.The second communication unit and the first control unit and the 3rd communication unit of following the tracks of in the module of warning are connected, and the second communication unit receives the control command that the first control unit sends, and above-mentioned control command is transferred to the 3rd communication unit.The tracking that the second communication unit also receives the 3rd communication unit transmission module status information of warning, and with above-mentioned status information transmission to the first control unit.
The communication of the second control unit and early warning locating module is responsible in the 3rd communication unit.The 3rd communication unit and the second control unit are connected with the second communication unit in the early warning locating module, and the 3rd communication unit receives the control command of the early warning locating module of the second communication unit transmission, and above-mentioned control command is transferred to the second control unit.The 3rd communication unit also receives the state information that the second control unit sends, and with above-mentioned status information transmission to the second communication unit.
The second control unit is responsible for by the 3rd communication unit and the communication of early warning locating module; The second control unit also is responsible for the control command according to module that tracking is warned, and control horizontally rotates electric-motor drive unit, vertical rotary electric-motor drive unit and lens zoom electric-motor drive unit; The second control unit also is responsible for the controlled light unit of warning and illumination is carried out in the moving target region is warned; The second control unit also is responsible for the control sound unit of warning and sound is carried out in the moving target region is warned, and the source of the sound of selecting to warn; The second control unit also is responsible for control audio collection unit audio collection is carried out in the moving target region.The second control unit is connected with the 3rd communication unit, and the second control single-pass is crossed the reception of the 3rd communication unit from the control command of early warning locating module, and simultaneously, the second control unit also sends state information by the 3rd communication unit to the early warning locating module.The second control unit also with horizontally rotate electric-motor drive unit, vertical rotary electric-motor drive unit and lens zoom electric-motor drive unit and be connected, the second control unit produces horizontally rotating the control signal of electric-motor drive unit, vertical rotary electric-motor drive unit and lens zoom electric-motor drive unit according to the warn control command of module of tracking.The second control unit also is connected with the illumination unit of warning, and the second control unit controlled light unit of warning carries out illumination to the moving target region and warns.The second control unit also is connected with the sound unit of warning, and the second control unit control sound unit of warning carries out sound to the moving target region and warns, the second control unit select to warn source of sound.The second control unit also is connected with the audio collection unit, and the second control unit control audio collection unit carries out audio collection to the moving target region.
Horizontally rotating electric-motor drive unit is responsible for driving and horizontally rotates motor.Horizontally rotate electric-motor drive unit and the second control unit and horizontally rotate motor and be connected, horizontally rotate the control signal that electric-motor drive unit receives the second control unit, drive and horizontally rotate the motor rotation.
The vertical rotary electric-motor drive unit is responsible for driving the vertical rotary motor.The vertical rotary electric-motor drive unit is connected with the vertical rotary motor with the second control unit, and the vertical rotary electric-motor drive unit receives the control signal of the second control unit, drives the rotation of vertical rotary motor.
The lens zoom electric-motor drive unit is responsible for driving the lens zoom motor.The lens zoom electric-motor drive unit is connected with the lens zoom motor with the second control unit, and the lens zoom electric-motor drive unit receives the control signal of the second control unit, drives the rotation of lens zoom motor.
Horizontally rotating motor is responsible for being with the motion tracking mechanism of warning to rotate in the horizontal direction.Horizontally rotate motor and horizontally rotate electric-motor drive unit and the tracking mechanism of warning and be connected, horizontally rotate motor and receive the driving signal that horizontally rotates electric-motor drive unit, the band motion tracking mechanism of warning rotates in the horizontal direction.
The vertical rotary motor is responsible for being with the motion tracking mechanism of warning to rotate in vertical direction.Vertical rotary motor and vertical rotary electric-motor drive unit and the tracking mechanism of warning is connected, and the vertical rotary motor receives the driving signal of vertical rotary electric-motor drive unit, and the band motion tracking mechanism of warning rotates in vertical direction.
The lens zoom motor is responsible for adjusting lens focus, makes moving target follow the tracks of area occupied and definition the best on the video.The lens zoom motor is connected with varifocal mirror head mirror group with the lens zoom electric-motor drive unit, the lens zoom motor receives the driving signal of lens zoom electric-motor drive unit, rotate and change lens focus thereby drive varifocal mirror head mirror group, area occupied and image definition reach optimum state on the video following the tracks of finally to make moving target.
The illumination unit of warning is responsible for that illumination is carried out in the moving target region and is warned.The illumination unit of warning is connected with the second control unit, and the illumination unit of warning carries out illumination to the moving target region and warns under the control of the second control unit.
The sound unit of warning is responsible for that sound is carried out in the moving target region and is warned.The sound unit of warning is connected with the second control unit, and the sound unit of warning carries out sound to the moving target region and warns under the control of the second control unit, and the sound source of warning that is used for warning can be selected by the second control unit.
The audio collection unit is responsible for audio collection is carried out in the moving target region.The audio collection unit is connected with the second control unit, and the audio collection unit carries out audio collection to the moving target region under the control of the second control unit.
The vertical early warning video camera of above mechanical part, horizontal early warning video camera and tracking camera be vertical early warning video acquisition unit, horizontal early warning video acquisition unit and the tracking video acquisition unit of corresponding automatically controlled part respectively.
Early warning positioning automatic tracking algorithm steps:
The early warning video image carries out the image intelligent Algorithm Analysis in the step 1 pair guarded region;
Moving target in the step 2 pair multiple-camera guarded region carries out motion analysis;
Step 5 is processed tracking control signal.
The invention has the beneficial effects as follows:
(1) the present invention adopts the video image of adjustable horizontal this supervising device of the early warning camera acquisition side direction of horizontal direction and vertical direction, with the video image that adopts vertical this supervising device of early warning camera acquisition below, on two parts video image, carry out respectively early warning location, and follow the tracks of the mechanism of warning by control and moving target is followed the tracks of warned; Thus, can remedy the wide-angle imaging machine that usually only adopts and carry out overall view monitoring, because video image distortion and distortion cause the little problem of overall view monitoring effective range.
(2) because position and the quantity of horizontal early warning partial video harvester (horizontal early warning video camera) are adjustable, and the supporting Design of Mechanical Structure of corresponding optimization is to realize the adjustability of multi-direction guarded region, its applicability and flexibility have further been improved, therefore and realized the multi-direction adjusting of guarded region, adopted the system of this supervising device can be widely used in the demand in varying environment and place; Compare the tracing and monitoring device that the fixed point video acquisition device cooperates with the rotating video harvester, have the effect that enlarges guarded region, namely realized the monitoring of multi-direction guarded region, the early warning location that the scope that especially realized is larger and automatic tracing and monitoring.
Therefore (3) because the present invention has adopted the secondary light source parts, solved the problem that tracing and monitoring device that the fixed point video acquisition device cooperates with the rotating video harvester can not use in night or low-light (level) situation; Even in night or low-light (level) situation, this supervising device still can carry out accurately and reliably early warning location to the moving target in the guarded region to be followed the tracks of.
(4) because the acousto-optic warn device that employing of the present invention and tracking acquisition device are synchronized with the movement, in the pursuit movement target, this device mode of warning of taking the initiative is carried out acousto-optic to moving target and is warned; Thereby compare the passive recording method of the tracing and monitoring device pursuit movement target that cooperates with the rotating video harvester of fixed point video acquisition device, the method for warning of taking the initiative is done effecting reaction to the behavior of moving target.
(5) because the present invention is early warning location and the tracking integrated apparatus of warning, have simple in structurely, fitting operation is convenient, has especially solved the expensive problem of being finished the monitoring purpose by a plurality of watch-dogs combinations, has good economy, the effect highly significant.
Description of drawings
Fig. 1 is an embodiment principle schematic of the multi-direction guarded region early warning of the present invention positioning automatic tracking supervising device.
Fig. 2 is the stereogram of the multi-direction guarded region early warning of Fig. 1 positioning automatic tracking supervising device embodiment.
Fig. 3 is the early warning detent mechanism stereogram of the multi-direction guarded region early warning of Fig. 1 positioning automatic tracking supervising device embodiment.
Fig. 4 is the horizontal slip modular construction figure of the multi-direction guarded region early warning of Fig. 1 positioning automatic tracking supervising device embodiment.
Fig. 5 is the slip shield structure figure of the multi-direction guarded region early warning of Fig. 1 positioning automatic tracking supervising device embodiment.
Fig. 6 is the vertical adjusting modular construction figure of the multi-direction guarded region early warning of Fig. 1 positioning automatic tracking supervising device embodiment.
Fig. 7 is the tracking of the multi-direction guarded region early warning of Fig. 1 positioning automatic tracking supervising device embodiment mechanism's stereogram of warning.
Fig. 8 is level, the vertical rotary mechanism map of the multi-direction guarded region early warning of Fig. 1 positioning automatic tracking supervising device embodiment.
Fig. 9 is the detailed diagram of the multi-direction guarded region early warning of Fig. 1 positioning automatic tracking supervising device embodiment.
Figure 10 is the configuration example schematic diagram of the panoramic video digital signal after synthesizing.
Figure 11 is detection of dynamic unit realization flow figure.
Figure 12 is image intelligent Algorithm Analysis flow chart.
Figure 13 is the perspective view of wide-angle lens.
Figure 14 is the projection model schematic diagram of wide-angle imaging machine.
Figure 15 is video camera projection model (a) schematic diagram.
Figure 16 is video camera projection model (b) schematic diagram.
Figure 17 is a variant embodiment schematic diagram of the multi-direction guarded region early warning of Fig. 1 positioning automatic tracking supervising device.
Figure 18 is a variant embodiment detailed diagram of the multi-direction guarded region early warning of Fig. 9 positioning automatic tracking supervising device.
Figure 19 is a variant embodiment detailed diagram of the multi-direction guarded region early warning of Figure 18 positioning automatic tracking supervising device.
Figure 20 is another variant embodiment schematic diagram of the multi-direction guarded region early warning of Fig. 1 positioning automatic tracking supervising device.
Figure 21 is another variant embodiment schematic diagram of the multi-direction guarded region early warning of Fig. 1 positioning automatic tracking supervising device.
Figure 22 is the block diagram of the multi-direction guarded region early warning of Figure 21 positioning automatic tracking supervising device embodiment.
Figure 23 is another variant embodiment schematic diagram of the multi-direction guarded region early warning of Fig. 1 positioning automatic tracking supervising device.
Figure 24 is another variant embodiment schematic diagram of the multi-direction guarded region early warning of Fig. 1 positioning automatic tracking supervising device.
Figure 25 is another variant embodiment detailed diagram of the multi-direction guarded region early warning of Fig. 9 positioning automatic tracking supervising device.
Among the figure: 1 support; 2 early warning detent mechanisms; 3 follow the tracks of the mechanism of warning; 201 control cabinets; 202 forms; 203 vertical early warning video cameras; 204 slip guard shields; 205 connecting axles; 206 lower supporting plates; 207 chutes; 208 upper backup pads; 209 slide rails; 210 slip guard shield location holes; 211 camera mount mounting panels; 212 horizontal early warning video cameras; 213 arcuate sockets; 214 location holes; 215 sliding axles; 216 rotation axiss; 217 camera mounts; 218 horizontal early warning parts; 219 vertical early warning parts; 301 tracking cameras; 302 drive cabinet; 303 sound warn devices; 304 illumination warn devices; 305 vertical rotary motors; 306 synchronous belt mechanism a; 307 synchronous belt mechanism b; 308 horizontally rotate motor; 4 spherical pan head video cameras.
Embodiment
In order to make purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples to according to embodiment provided by the invention, structure, details are as follows for feature:
As shown in Figure 1, embodiment principle schematic for multi-direction guarded region early warning positioning automatic tracking supervising device, follow the tracks of the top that the mechanism 3 of warning is placed in whole supervising device among (when conventional state is installed) figure, tracking mechanism 3 belows of warning are followed successively by horizontal early warning part 218 and vertical early warning part 219, two horizontal early warning video cameras 212 (shown in Figure 6) that adopt long focus video camera have been laid in the horizontal early warning part 218, the angle of two horizontal early warning video cameras 212 can be regulated (concrete Adjustment operation hereinafter illustrates), can change the direction in horizontal early warning monitoring zone by the adjusting of two horizontal early warning video camera angles.
Vertical early warning part 219 is laid a vertical early warning video camera 203 that adopts the wide-angle imaging machine, border circular areas is the guarded region of vertical early warning part 219 interior vertical early warning video cameras 203 among Fig. 1, because vertical early warning video camera 203 adopts the wide-angle imaging machine, therefore the video image periphery can produce distortion and distortion phenomenon, cause the effective range of guarded region less, the both sides delta-shaped region is the guarded region of horizontal early warning part 218 interior horizontal early warning video cameras 212, this supervising device adopts the composite video monitor mode of vertical early warning part 219 and horizontal early warning part 218, enlarged the effective range of vertical early warning part 219 interior vertical early warning video camera 203 video monitoring regionals, and horizontal early warning part 218 overlaps with the video monitoring regional of vertical early warning part 219, therefore behind synthetic two parts video image, can remedy the impact that vertical early warning part 219 interior vertical early warning video camera 203 video images periphery distortions and distortion cause monitoring range.
In sum, compare that public announcement of a patent application number is adopted for the intelligence monitoring and controlling device of CN102342099A only comprises as the concentrated video acquisition device of The Cloud Terrace video camera and employing such as the wide area video acquisition device of wide-angle imaging machine, supervising device of the present invention has not only enlarged video monitoring regional, and the impact that has remedied the distortion of wide-angle imaging machine video image periphery and distorted monitoring range is caused, especially realized the adjustable of multi-direction guarded region.
As shown in Figure 2, the embodiment stereogram of presentation graphs 1 multi-direction guarded region early warning positioning automatic tracking supervising device, comprise support 1, early warning detent mechanism 2 and the tracking mechanism 3 of warning, wherein follow the tracks of the top that the mechanism 3 of warning is placed in early warning detent mechanism 2, support 1 fills for side.
Shown in Fig. 3～6, the early warning detent mechanism of presentation graphs 1 multi-direction guarded region early warning positioning automatic tracking supervising device embodiment.This supervising device early warning detent mechanism comprises vertical early warning part 219 and horizontal early warning part 218.
Described vertical early warning part 219 comprises vertical early warning video camera 203 and floor light parts (not marking among the figure), vertical early warning part 219 is placed in the below of whole supervising device, the camera lens of vertical early warning video camera 203 vertically points to the below, and floor light parts fixed in position is around the camera lens of vertical early warning video camera.
Described horizontal early warning part 218 comprises horizontal early warning video camera 212, horizontal slip parts, vertical adjusting parts and floor light parts; Described horizontal early warning video camera 212 adopts long focus video cameras or/and Zoom camera more than; Be the combination that horizontal early warning video camera 212 adopts telephoto lens/zoom lens and analog video camera/digital camera, adopting quantity is more than one group.
Horizontal early warning video camera 212 is placed in the slip guard shield 204 and is positioned at the back of form 202, the horizontal slip parts are provided with the slip guard shield 204 of slide rail 209 by two ends up and down and consist of with upper backup pad 208 and lower supporting plate 206 that slip guard shield 204 contact surfaces are provided with chute 207, upper backup pad 208 and lower supporting plate 206 are fixed on the connecting axle 205, the vertical central position that connecting axle 205 is positioned at whole supervising device plays a supportive role, therefore by being slidingly connected of slide rail 209 and chute 207 slip guard shield 204 can be slided between upper backup pad 208 and lower supporting plate 206, thereby regulate the level angle that is placed in slip guard shield 204 interior horizontal early warning video cameras 212, slip guard shield 204 is fixedly connected with lower supporting plate 206 on slip guard shield location hole 210 by screw after slip guard shield 204 has been regulated.
Wherein the vertical adjusting parts are made of the camera mount 217 that is provided with rotation axis 216 and sliding axle 215 and the camera mount mounting panel 211 that is provided with location hole 214 and arcuate socket 213, wherein camera mount 217 both sides are arranged with respectively two rotation axiss 216 and two sliding axles 215, camera mount mounting panel 211 both sides correspondences are provided with two location holes 214 and two arcuate sockets 213 that match with camera mount, two rotation axiss 216 of camera mount 217 1 ends are placed on two location holes 214 of camera mount mounting panel 211 corresponding end both sides and are rotationally connected, two sliding axles 215 of camera mount 217 other ends and two arcuate socket 213 matched in clearance of camera mount mounting panel 211 corresponding end, purpose can be rotated around location hole 214 camera mount 217 on camera mount mounting panel 211, thereby regulates the vertical corner that is installed in horizontal early warning video camera 212 on the camera mount 217.Floor light parts (not indicating among the figure) are placed in around horizontal early warning video camera 212 camera lenses, and circuit element is placed in the control cabinet 201.
The floor light unit of establishing in the floor light parts in described vertical early warning part 219 and the horizontal early warning part 218 all can adopt infrared lamp, laser, visible illumination equipment one of them or two or more combinations; Can be placed in respectively around the horizontal early warning camera lens with vertical early warning camera lens around.
Such as Fig. 7, shown in Figure 8, the tracking of the presentation graphs 1 multi-direction guarded region early warning positioning automatic tracking supervising device embodiment mechanism of warning; The described tracking mechanism of warning comprises and follows the tracks of video acquisition part and the part of warning:
Described tracking video acquisition part is comprised of tracking camera 301, horizontal rotary mechanism and vertical rotary mechanism, wherein tracking camera 301 fixed placement are driving cabinet 302 1 sides, horizontal rotary mechanism is by horizontally rotating motor 308 and synchronous belt mechanism b307 forms, vertical rotary mechanism is comprised of vertical rotary motor 305 and synchronous belt mechanism a306, and horizontal rotary mechanism and vertical rotary mechanism are placed on and drive in the cabinet 302;
The described part of warning is comprised of audio collection device, alarm and warning light (not indicating among the figure).Audio collection device and alarm are placed in the sound warn device 303, and warning light is placed in the illumination warn device 304, and sound warn device and illumination warn device are fixedly mounted on and drive cabinet 302 opposite sides.
Follow the tracks of the video acquisition part and carry out the horizontal/vertical rotation with the part of warning by horizontal rotary mechanism and vertical rotary mechanism, thereby moving target is carried out tracing and monitoring and the warning of warning.
As shown in Figure 9, the detailed diagram of presentation graphs 1 multi-direction guarded region early warning positioning automatic tracking supervising device embodiment.Vertical early warning video acquisition unit is comprised of wide-angle lens and analog video camera.Wide-angle lens is as with the optical structure that constitutes of lens or speculum, and the light of injecting in the guarded region under the supervising device of the present invention is carried out light harvesting and images on the imageing sensor of analog video camera.Analog video camera converts the light of wide-angle lens light harvesting the signal of telecommunication to and finally transfers to the first video converting unit with the analog composite video signal form.
Horizontal early warning video acquisition unit is comprised of telephoto lens and analog video camera.Telephoto lens is as the optical structure that constitutes with lens or speculum, and the light of injecting in the guarded region to a certain side direction of supervising device of the present invention carries out light harvesting and images on the imageing sensor of analog video camera.Analog video camera converts the light of telephoto lens light harvesting the signal of telecommunication to and finally transfers to the first video converting unit with the analog composite video signal form.Horizontal early warning part can comprise one or more horizontal early warning video acquisition unit, comprises two horizontal early warning video acquisition unit in the present embodiment.
Because wide-angle imaging machine coverage is wide, torsional deformation around the shooting picture, but so that vertical early warning video possesses the characteristics of the large effective monitoring near distance of area coverage.Because long focus video camera coverage is narrow, shooting distance is far away, but so that horizontal early warning video possesses the characteristics of taking the little effective monitoring distance of area.Cooperate with horizontal early warning video acquisition unit by vertical early warning video acquisition unit, namely select the suitable wide-angle lens of focal length and telephoto lens and cooperate the horizontal early warning of adjustment shooting angle partly, can make horizontal early warning video cover the edge of torsional deformation in the vertical early warning video and the part beyond the edge, obtain more remote early warning video image, greatly improved the effective monitoring distance of supervising device.And, cooperate the different horizontal early warning video acquisition unit of a plurality of horizontal shooting angle, can make supervising device to carrying out the video monitoring without the dead angle in 360 ° of scopes of its periphery.
Following the tracks of video acquisition unit is comprised of zoom lens and analog video camera.Zoom lens is as with the optical structure that constitutes of lens or speculum, and the light of injecting in the guarded region of moving target place is carried out light harvesting and images on the imageing sensor of analog video camera.Analog video camera converts the light of zoom lens light harvesting the signal of telecommunication to and finally transfers to the first video converting unit with the analog composite video signal form.
The intensity of illumination detecting unit adopts the intensity of illumination transducer.The intensity of illumination transducer detects the intensity of illumination of guarded region in real time, and will transfer to the detected value of intensity of illumination the first control unit.
The floor light unit adopts the infrared LED module.The infrared LED module is opened under the control of the first control unit, after opening guarded region is carried out the infrared light floor light.In other embodiments, the floor light unit also can adopt floor light unit such as visible LED module, laser, selects one or their combination.
The first video converting unit adopts the modulus Video Decoder.The modulus Video Decoder receives vertical early warning video analog signal and the horizontal early warning video analog signal of vertical early warning video acquisition unit and the output of horizontal early warning video acquisition unit, and will above-mentioned vertical early warning video analog signal with the digitlization of horizontal early warning video analog signal after transfer to detection of dynamic unit (the vertical early warning video analog signal of hereinafter referred after digitlization is " digital vertical early warning video " and " digital horizontal early warning video " with horizontal early warning video analog signal).Simultaneously, the modulus Video Decoder also with the vertical early warning video of above-mentioned numeral and digital horizontal early warning transmission of video to the video synthesis unit.Simultaneously, the modulus Video Decoder also with the vertical early warning video of above-mentioned numeral and digital horizontal early warning transmission of video to video storage unit.And, the modulus Video Decoder also receives the tracking video analog signal of following the tracks of video acquisition unit output, and will transfer to video synthesis unit (the tracking video analog signal of hereinafter referred after digitlization is " figure tracking video ") after the digitlization of above-mentioned tracking video analog signal.Simultaneously, the modulus Video Decoder also with above-mentioned figure tracking transmission of video to video storage unit.
Video storage unit possesses the storage medium such as SD card or hard disk.The vertical early warning video of numeral of the first video converting unit output, digital horizontal early warning video and figure tracking video are received and are stored in the SD clamping.And under the control of the first control unit, the SD card also can be with the vertical early warning video of the above-mentioned numeral of its storage inside, digital horizontal early warning video and figure tracking transmission of video to the video synthesis unit.Video storage unit also can store compressed digital video signal replace original digital video signal.In such an embodiment, the additional compression/decompression unit that possesses for compression raw digital video signal reconciliation compressed digital video signals of video storage unit.
The detection of dynamic unit adopts digital signal processor.Detection of dynamic unit, video synthesis unit and the first control unit can be realized by same digital signal processor, also can be respectively by separately independently digital signal processor realize.Digital signal processor detect respectively take frame as unit in the vertical early warning video image of numeral and the digital horizontal early warning video image dynamically, when detecting a plurality of moving target, size according to moving target, the sequencing of speed and appearance (can be considered size, speed and one of sequencing factor occurs, or consider its whole factors), all moving targets are carried out prioritization, only being arranged, a tracking warns under the prerequisite of module, determine the moving target that priority is the highest and calculate the positional information of this moving target, digital signal processor is converted to the positional information of moving target to the warn control command of module of tracking, and with above-mentioned the warn control command of module of tracking is transferred to the first control unit.Dynamic detection algorithm will be described in detail thereafter.
The video synthesis unit adopts digital signal processor.Video synthesis unit, detection of dynamic unit and the first control unit can be realized by same digital signal processor, also can be respectively by separately independently digital signal processor realize.Digital signal processor receives the vertical early warning video of numeral, digital horizontal early warning video and figure tracking video from the first video converting unit, and according to the constituted mode of setting the vertical early warning video of above-mentioned numeral, digital horizontal early warning video and figure tracking video is synthesized the panoramic video digital signal under the control of the first control unit.When detecting moving target, digital signal processor superposes such as alarm signals such as frame flickers at corresponding early warning video image under the control of the first control unit.Under the control of the first control unit, the vertical early warning video of above-mentioned numeral, digital horizontal early warning video and figure tracking video can be the Real Time Monitoring videos that is provided by the first video converting unit, also can be the video recordings of the in the past monitor video that provided by video storage unit.When digital signal processor received the vertical early warning video of numeral, digital horizontal early warning video and figure tracking video from video storage unit, the first control unit control figure signal processor no longer received the vertical early warning video of numeral of the first video converting unit output, digital horizontal early warning video and figure tracking video.It is the video recording of storage in the video storage unit that digital signal processor reception this moment comes from the vertical early warning video of numeral of video storage unit, digital horizontal early warning video and figure tracking video.
The configuration example of the panoramic video digital signal after Figure 10 represents to synthesize.The video synthesis unit is divided into video pictures between four viewing areas, fills with the railway digital vision signal in the vertical early warning video of numeral, digital horizontal early warning video and the figure tracking video respectively between each viewing area.Operating personnel change the composition structure of panoramic video digital signal by the main control device sending controling instruction.For example, if select in the panoramic video of operating personnel on display device to amplify and follow the tracks of video, then main control device sends corresponding control command, the first control unit control video synthesis unit only comprises the figure tracking video in the panoramic video digital signal, and it is taken between whole four viewing areas.Similarly, if select to close the tracking video in the panoramic video of operating personnel on display device, then main control device sends corresponding control command, the first control unit control video synthesis unit does not comprise the figure tracking video in the panoramic video digital signal, originally preset picture for the interval of stuffing digit tracking video and substitute.
The second video converting unit adopts digital video code.The panoramic video digital signal of digital video code receiver, video synthesis unit output, and above-mentioned panoramic video digital signal is converted to analog composite video signal transfers to display device.
The first communication unit adopts the serial communication codec.Being connected between serial communication codec and main control device or the first control unit can form according to RS232, RS485 or RS422 standard.The serial communication codec receives the control command that meets serial communication (control command that hereinafter referred meets serial communication is " Serial Control instruction ") that main control device sends, and will transfer to the first control unit behind the above-mentioned Serial Control instruction decoding.Above-mentioned Serial Control instruction is a kind of to be control command for the early warning locating module, and another kind is for the warn control command of module of tracking.In the first situation, the first control unit is converted to control signal with control command, the functional units such as control example such as video storage unit, video synthesis unit.In the second situation, the first control unit is extremely followed the tracks of the control command relay transmission of the module of warning.And, the serial communication codec also receives the state information that the first control unit sends, and transfers to main control device (state information that hereinafter referred meets serial communication is " serial state information ") after above-mentioned state information being encoded to the state information that meets serial communication.Above-mentioned state information is a kind of to be the state information of early warning locating module, and another kind is by the warn state information of module of the tracking of the first control unit relay transmission.When detecting moving target, the serial communication codec also receives the alarm command that the first control unit sends, and transfers to main control device (alarm command that hereinafter referred meets serial communication is " serial alarm command ") after above-mentioned alarm command being encoded to the alarm command that meets serial communication.
The first control unit adopts digital signal processor.The first control unit, video synthesis unit and detection of dynamic unit can be realized by same digital signal processor, also can be respectively by separately independently digital signal processor realize.Digital signal processor receive that the detection of dynamic unit produces to the warn control command of module of tracking, and the warn control command of module of tracking is transferred to and follows the tracks of the module of warning with above-mentioned by the second communication unit, simultaneously, digital signal processor also by the second communication unit from the tracking module receiving status information of warning.Digital signal processor is also from the detected value of intensity of illumination detecting unit reception to the guarded region intensity of illumination, and when above-mentioned detected value was lower than set point, DSP CONTROL was opened the floor light unit guarded region is carried out floor light.Digital signal processor is also controlled the video synthesis unit and is received the vertical early warning video of numeral, digital horizontal early warning video and figure tracking video from the first video converting unit or from video storage unit, and digital signal processor is also controlled the video synthesis unit and according to the constituted mode of setting the vertical early warning video of above-mentioned numeral, digital horizontal early warning video and figure tracking video synthesized the panoramic video digital signal.When detecting moving target, digital signal processor is also controlled the video synthesis unit and is superposeed such as alarm signals such as frame flickers at corresponding early warning video image.Digital signal processor is also controlled video storage unit can be with the vertical early warning video of the numeral of its storage inside, digital horizontal early warning video and figure tracking transmission of video to the video synthesis unit, and this moment, DSP CONTROL video synthesis unit no longer received the vertical early warning video of numeral of the first video converting unit output, digital horizontal early warning video and figure tracking video.Digital signal processor also receives the control command that main control device sends by the first communication unit, and simultaneously, digital signal processor also sends state information by the first communication unit to main control device.When detecting moving target, digital signal processor also sends alarm command by the first communication unit to main control device, is used for triggering the actuation of an alarm of main control device.
The second communication unit adopts the serial communication codec.Serial communication codec and the first control unit are connected with tracking being connected and can forming according to RS232, RS485 or RS422 standard between the 3rd communication unit in the module.The serial communication codec receive that the first control unit sends in the early warning locating module to the warn control command of module of tracking, and be to transfer to the 3rd communication unit of following the tracks of in the module of warning after the Serial Control instruction with above-mentioned control command code.Above-mentioned can be the control command that the position probing of moving target is produced by the detection of dynamic unit that the first control unit sends to the warn control command of module of tracking, also can be the control command that comes from main control device of the first control unit relay transmission, and the control command latter's priority be higher than the former.And the serial communication codec also receives the warn serial state information of module of tracking that the 3rd communication unit followed the tracks of in the module of warning sends, and transfers to the first control unit after above-mentioned serial state information is decoded as state information.
The 3rd communication unit adopts the serial communication codec.Being connected and forming according to RS232, RS485 or RS422 standard between serial communication codec and the second control unit and the second communication unit that the early warning locating module is connected.The serial communication codec receive that the second communication unit in the early warning locating module sends to the warn Serial Control instruction of module of tracking, and be to transfer to the second control unit of following the tracks of in the module of warning after the control command with above-mentioned Serial Control instruction decoding.And, the warn state information of module of the tracking that the serial communication codec also receives the second control unit transmission, and above-mentioned state information is encoded to the second communication unit that transfers to after the serial state information in the early warning locating module.
The second control unit adopts the microcontroller processor.The microcontroller processor by the 3rd communication unit receive from the early warning locating module to the warn control command of module of tracking, and according to above-mentioned the warn control command of module of tracking is produced horizontally rotating the control signal of electric-motor drive unit, vertical rotary electric-motor drive unit and lens zoom electric-motor drive unit.Simultaneously, the microcontroller processor also sends state information by the 3rd communication unit to the early warning locating module.The microcontroller processor also carries out illumination to the moving target region and warns in the controlled light unit of warning.The microcontroller processor is also controlled the sound unit of warning and sound is carried out in the moving target region is warned, the warn source of sound of microcontroller processor selection.The microcontroller processor is also controlled the audio collection unit audio collection is carried out in the moving target region.
Horizontally rotate electric-motor drive unit and can adopt stepper motor driver.Stepper motor driver receives the control signal of the second control unit, and above-mentioned control signal is converted to horizontally rotating the driving signal of motor, drives to horizontally rotate the motor rotation.
Horizontally rotate motor and can adopt stepping motor.Stepping motor receives the driving signal horizontally rotate electric-motor drive unit, and rotation and the band motion tracking mechanism of warning rotates in the horizontal direction under the control that drives signal, finally makes and follows the tracks of the mechanism in the horizontal direction orientation movements target region of warning.
The vertical rotary electric-motor drive unit can adopt stepper motor driver.Stepper motor driver receives the control signal of the second control unit, and above-mentioned control signal is converted to driving signal to the vertical rotary motor, drives the rotation of vertical rotary motor.
The vertical rotary motor adopts stepping motor.Stepping motor receives the driving signal of vertical rotary electric-motor drive unit, and rotation and the band motion tracking mechanism of warning rotates in vertical direction under the control that drives signal, finally makes and follows the tracks of the mechanism in vertical direction orientation movements target region of warning.
The lens zoom electric-motor drive unit can adopt stepper motor driver.Stepper motor driver receives the control signal of the second control unit, and above-mentioned control signal is converted to driving signal to the lens zoom motor, drives the rotation of lens zoom motor.
The lens zoom motor can adopt micro-step motor.Micro-step motor receives the driving signal of lens zoom electric-motor drive unit, thereby rotate and change lens focus driving under the signal controlling rotation and drive varifocal mirror head mirror group, area occupied and image definition reach optimum state on the video following the tracks of finally to make moving target.
The illumination unit of warning adopts high light LED module.High light LED module carries out illumination to the moving target region and warns under the control of the second control unit.
The sound unit of warning adopts the analog directional loud speaker.The analog directional loud speaker carries out sound to the moving target region and warns under the control of the second control unit.The sound that is used for warning can come from pre-stored recording in directional loudspeaker inside, and the voice that also can directly come from the operating personnel of main control device collection in worksite are propagandaed directed to communicate.
The audio collection unit adopts the analog directional pick-up.The analog directional pick-up carries out the analogue audio frequency collection to the moving target region under the control of the second control unit, and the analogue audio frequency that gathers is transferred to main control device.
Such as Figure 11 and shown in Figure 12, be the multi-direction guarded region early warning of Fig. 1 positioning automatic tracking supervising device embodiment detection of dynamic and image intelligent algorithm flow.
The early warning video image carries out the image intelligent Algorithm Analysis in the step 1 pair guarded region, and this step comprises following step:
Step 101 adopts Gauss's modeling to extract background image.
Step 102 is done difference and binaryzation by present image and background image and is obtained binaryzation foreground image about moving target.
Step 103 represents the motion agglomerate by the binaryzation foreground image is carried out Contour searching with rectangle frame, determines position (rectangular centre position) and the size (rectangle is long and wide) of motion agglomerate.
The step 104 pair motion agglomerate that finds merges, and the final result that agglomerate merges is as result's output of motion detection target.
Step 105 detects moving target for present frame and itself and before moving target need to be mated with realize target and follow the tracks of.The very little and very little principle of change in size of the pixel distance that coupling moves in adjacent image interframe according to same moving target is carried out, and has so far finished the tracking to the early warning moving object in video sequences.And give moving target label (ID) according to the sequencing that moving target occurs.
Moving target in the step 2 pair multiple-camera guarded region carries out motion analysis.
The multiple-camera monitor mode that adopts the early warning detent mechanism has realized the video monitoring to guarded region, when moving target moves at guarded region, its range of movement may be crossed over the guarded region of a plurality of video cameras, when moving target enters into another monitoring visual field from the monitoring visual field of current video camera, the ID of same moving target should be constant, each video camera of early warning detent mechanism all adopts the intelligent image analysis module to carry out motion target tracking, the motion target tracking result that each video camera obtains need analyze to identify the trans-regional motion of same moving target, adopt camera marking method to analyze the position of moving target in world coordinate system at the moving target analysis module between multiple-camera to the target that the camera supervised overlay region of early warning detent mechanism occurs, the target of judging present overlay region according to the method for the position consistency of the world coordinate system of same moving target is same target whether.
The multiple-camera monitor mode that adopts the early warning detent mechanism has realized the video monitoring to guarded region, when moving target moves at guarded region, its range of movement may be crossed over the guarded region of a plurality of video cameras, when moving target entered into the monitoring visual field of another video camera from the monitoring visual field of current video camera, the ID of same moving target should be constant.
In guarded region, often need to delimit prewarning area, moving target in the effective coverage is carried out tracking, the setting of prewarning area can be demarcated at the video image of each video camera of early warning detent mechanism, judges in the positional information of video image whether target appears in the prewarning area according to moving target.
The formulation of tracking strategy is to select an effective tracking target for following the tracks of the mechanism of warning when satisfying multiple mobile object and enter prewarning area.Tracking strategy can be embodied as autotrack mode, namely selects that occur the earliest or maximum effective tracking target as the warn tracking target of mechanism of tracking.When target selects during not at tracing area the next effective tracking target that occurs the earliest as the warn tracking target of mechanism of tracking.Preferably, tracking strategy can be selected the tracking mode of cruising, namely when a plurality of effective tracking targets appear at effective tracing area, the tracking mechanism of warning carries out the Continuous Tracking of a period of time to each effective tracking target, when moving target is lost or reach tracking time, follow the tracks of the mechanism of warning and to select next effectively tracking target to follow the tracks of.
The conversion of step 5 tracking control signal.
The control signal of pursuit movement target horizontally rotates signal, vertical rotary signal and zoom ratio value, horizontally rotates signal and vertical rotary signal and can be expressed as concrete angle and the vertical rotary angle of horizontally rotating.
Comprise the wide-angle imaging machine of vertically downward installation and the telephoto lens video camera of inclination certain angle in the early warning detent mechanism, under the wide-angle shot machine, the picture point projection relation of wide-angle lens satisfies the wide-angle lens projection rule among Figure 13.
As shown in figure 13, some O is the center of circle of the plane of delineation, and OZ is perpendicular to the plane of delineation, and OA and OB are two incident raies, and D1 and D2 are respectively the imaging points of A and B.If α 1 and α 2 are the radian value of ∠ AOZ and ∠ BOZ, d1 and d2 are that D1 and D2 are to the distance of center of circle O.Then projection relation satisfies:
α1/α2＝d1/d2 (0≤α1≤α2≤π/2) (1)
When α 2=pi/2, d2 equals the center of circle radius R on ground, and d1=2R α 1/ π is arranged.
Distortion for wide angle picture exists radial distortion and tangential distortion, and we only consider radial distortion herein.
Under the wide-angle shot machine, as shown in figure 14, vertical rotary angle [alpha] 1 if known tracking is warned during the observing scene point A of mechanism, for obtaining of α 1, can be by operating personnel's remote tracking center that mechanism is positioned at imaging point B to follow the tracks of video image of warning, the vertical rotary angle that the mechanism this moment of warning is followed the tracks of in inquiry is α 1.Simultaneously, known scene point A the imaging point B on the image on the plane of delineation apart from OB, known scene point D the imaging point C on the image on the plane of delineation apart from OC, OB and OC are the position of moving target and the distance of picture centre on the plane of delineation, can obtain vertical rotary angle [alpha] 2 according to formula (1).
When warning the observing scene point A of mechanism, known tracking horizontally rotates angle, on the plane of delineation, can obtain the imaging point C of scene point D with respect to the relative angle ∠ BOC of the imaging point B of scene point A, thereby the angle that horizontally rotates of the relative scene point D of scene point A is not difficult to obtain.
Under the telephoto lens video camera, according to the pinhole imaging system model, can be video camera projection model (a) schematic diagram (as shown in figure 15) with early warning detent mechanism and guarded region system simplification.
Among Figure 15, plane ABU represents the plane, road, ABCD is the trapezoid area on the plane, road that photographs of video camera, the O point is the camera lens central point, OG is camera optical axis, the G point is the intersection point (also being the trapezoidal diagonal intersection point in the visual field simultaneously) on camera optical axis and plane, road, and the I point is the upright projection of O point on the plane, road.In the plane coordinate system of road, the G point is defined as coordinate origin, the moving target direction of advance is defined as Y direction.G, A, B, C, the D each point corresponding points (as shown in figure 16) in the plane of delineation are video camera projection model (b) schematic diagrames.
A, b, c, d are four summits of plane of delineation rectangle, and H and W are respectively the height and width of the plane of delineation.The central point g of definition image rectangle is the origin of coordinates of plane of delineation coordinate system, and the y axle represents the direction of advance of moving target.
Get 1 P on the plane, road, its coordinate at the road plane coordinate system is (X
P, Y
P), the corresponding points of P point in the plane of delineation are p, its coordinate at plane of delineation coordinate system is (x
p, y
p).
Utilize geometrical relationship can derive corresponding relation between following road plane coordinate system and the plane of delineation coordinate system:
Y
P＝h·k
1·y
p·(1+k
2 2)/(1-k
2·k
1·y
p) (2)
X
P＝((UG+Y
P)/UG)·k
3·x
p·k
4 (3)
y
p＝(Y
P/k
1)/(h+h·k
2 2+Y
P·k
2) (4)
x
p＝(UG·X
P)/(k
3·k
4(UG+Y
P)) (5)
In formula (2), (3), (4), (5),
k
1＝2tg(α
0)/H (6)
k
2＝tg(γ
0) (7)
k
3＝h/cos(γ
0) (8)
k
4＝2tg(β
0)/W (9)
UG＝h·[tg(γ
0)-tg(γ
0-α
0)]·cos(γ
0-α
0)/[cos(γ
0-α
0)-cos(γ
0)](10)
In formula (6), (7), (8), (9), (10), H is the height of the plane of delineation; W is the wide of the plane of delineation; H is the setting height(from bottom) of video camera; 2 β
0Horizontal field of view angle for camera lens; 2 α
0Vertical field of view angle for camera lens; γ
0The angle of pitch for video camera.
Formula (2) is the mapping relations of the plane of delineation to the plane, road with formula (3); Formula (4) is the inverse mapping relation of plane, road to the plane of delineation with formula (5).Concrete derivation the present invention does not elaborate.
According to the corresponding conversion relation of scene point at road plane coordinate system and plane of delineation coordinate system, when the position of known motive target imaging point, be not difficult to calculate moving target with respect to the actual positional relationship of supervising device, horizontally rotate angle and vertical rotary angle by what space geometry relation obtained moving target again.For the tracking suitable zoom ratio value that mechanism observes moving target of warning, absolute value in can the spherical coordinate system centered by the early warning detent mechanism represents, usage track is warned mechanism to ad-hoc location, the zoom ratio inquiry that suits, all the other moving target positions can ad-hoc location be the benchmark relative value.
As shown in figure 17, be a variant embodiment of the multi-direction guarded region early warning of Fig. 1 positioning automatic tracking supervising device.
Among the embodiment shown in Figure 17, the horizontal early warning part 218 of early warning detent mechanism 2 two horizontal early warning video cameras 212 have been set up, make four horizontal early warning video cameras 212 towards different directions, be that each video camera has certain angle in the position each other, four horizontal early warning video cameras 212 angle to each other is 90 ° as described in Figure 17, two monitoring directions on Fig. 1 embodiment basis, have just been increased like this, also increased simultaneously the scope in early warning monitoring zone, the horizontal field of view angle of each video camera all greater than 90 ° prerequisite under, can realize 360 ° of overall view monitorings by four horizontal early warning video cameras, it is identical with Fig. 9 block diagram principle that it implements block diagram in detail, and the present invention no longer is described.
As shown in figure 18, be a variant embodiment of the multi-direction guarded region early warning of Fig. 9 positioning automatic tracking supervising device.
Among the embodiment shown in Figure 9, the first control unit carries out communication by the first communication unit with mode and the main control device of serial communication.The second video converting unit panoramic video digital signal that the video synthesis unit is synthetic is converted to analog composite video signal, and transfers to display device by coaxial cable.The audio collection unit transfers to main control device with the simulated audio signal that collects by coaxial cable.The sound unit of warning receives simulation that main control device the sends sound of warning by coaxial cable.
In the present embodiment, the early warning locating module also comprises the Network adaptation unit, and described Network adaptation unit also possesses Ethernet interface, serial communication interface, digital video input interface, digital audio input interface and digital audio output interface.The Network adaptation unit adopts the ether web plate.Above-mentioned ether web plate is connected to main control device by the LAN cable that is connected on its Ethernet interface.The Ethernet buttress receives control command and control command is decoded as the Serial Control instruction from main control device according to ICP/IP protocol, and the ether web plate transfers to the first communication unit with above-mentioned Serial Control instruction by serial communication interface.And the first communication unit transfers to the ether web plate with serial state information and serial alarm command by serial communication interface, the ether web plate with serial state information and serial alarm command according to the ICP/IP protocol coding and transfer to main control device.And the ether web plate panoramic video digital signal that the video synthesis unit is synthetic transfers to main control device with digital signal form.And the ether web plate transfers to main control device with the digital audio and video signals that the audio collection unit collects with digital signal form.And the numeral that the ether web plate the sends main control device sound of warning transfers to the sound unit of warning with digital signal form.
In the present embodiment, because the Network adaptation unit adopts digital signal form transmission panoramic video digital signal, therefore can omit the second video converting unit.Because the Network adaptation unit adopts digital signal form transmission of audio signal, therefore the audio collection unit is required to be digital directive pickup device, the sound unit of warning is required to be digital directional loudspeaker.As adopt analog directional pick-up and analog or digital directional loudspeaker, the Network adaptation unit also should possess analogue audio frequency input interface and analogue audio frequency output interface, and additional possesses the modulus that carries out simulated audio signal and digital audio and video signals and mutually change/digital-to-analogue audio coding decoding unit.
In the present embodiment, the Network adaptation unit adopts the LAN cable to be connected to main control device.More excellent, can make the Network adaptation unit receive main control device or communication terminal by wireless network communication technical battery.In such an embodiment, the additional radio communication unit that possesses wireless communication function in Network adaptation unit, for example 3G wireless communication module or Wi-Fi wireless communication module.
As shown in figure 19, be a variant embodiment of the multi-direction guarded region early warning of Figure 18 positioning automatic tracking supervising device.
Among the embodiment as shown in figure 18, vertical early warning video acquisition unit, horizontal early warning video acquisition unit and tracking video acquisition unit are all exported analog video signal.Above-mentioned analog video signal transfers to detection of dynamic unit, video storage unit and video synthesis unit again after the first video converting unit digitlization.
In the present embodiment, vertical early warning video acquisition unit is comprised of wide-angle lens and digital camera.Digital camera converts the light of wide-angle lens light harvesting to the signal of telecommunication also finally with the digital video signal formal output.Horizontal early warning video acquisition unit is comprised of telephoto lens and digital camera.Digital camera converts the light of telephoto lens light harvesting to the signal of telecommunication also finally with the digital video signal formal output.Following the tracks of video acquisition unit is comprised of zoom lens and digital camera.Digital camera converts the light of zoom lens light harvesting to the signal of telecommunication also finally with the digital video signal formal output.
In the present embodiment, because vertical early warning video acquisition unit, horizontal early warning video acquisition unit and the equal output digital video signal of tracking video acquisition unit, therefore can omit the first video converting unit.Supervising device is with Digital Way work.
As shown in figure 20, be another variant embodiment of the multi-direction guarded region early warning of Fig. 1 positioning automatic tracking supervising device.The present embodiment is set up the n layer in vertical direction with horizontal early warning part 218, and in every layer of horizontal early warning part, set up n horizontal early warning video camera 212, combination by the present embodiment can realize monitoring multi-direction, larger guarded region, it is identical with Fig. 9 block diagram principle that it implements block diagram in detail, and the present invention no longer is described in detail.
Such as Figure 21 and shown in Figure 22, be another variant embodiment of the multi-direction guarded region early warning of Fig. 1 positioning automatic tracking supervising device.
As shown in figure 21, the present embodiment is set up n and is followed the tracks of the mechanism of warning above supervising device, for satisfying the demand of multiple target tracking.Among the embodiment shown in Figure 9, supervising device only comprises an early warning locating module and tracking module of warning.When the detection of dynamic unit inspection in the early warning locating module when a plurality of moving target, only can control and follow the tracks of the module of warning and that the highest moving target of priority is followed the tracks of warned.Video synthesis unit in the early warning locating module only is between four viewing areas with the panoramic video picture segmentation.
In the present embodiment, supervising device comprises an early warning locating module and a plurality of tracking module of warning.The early warning locating module carries out communication by the second communication unit and a plurality of tracking module of warning, and the early warning locating module obtains the tracking video by the first video converting unit from a plurality of tracking module of warning.
In the present embodiment, because the second communication unit will carry out communication with a plurality of tracking module of warning, need comprise in the Serial Control instruction that the second communication unit sends and follow the tracks of warn ID or the address of module, thereby can guarantee that the second communication unit optionally sends the Serial Control instruction to a plurality of tracking module of warning.Same, warn module when sending the serial state information to the second communication unit when tracking, also need in the serial state information to comprise ID or the address of following the tracks of the module of warning, thus the source of clear state information.And because the second communication unit of early warning locating module is connected with a plurality of tracking module of warning, each is followed the tracks of the state letter that the module of warning should be set to receive after the corresponding Serial Control instruction just self and transfers to the second communication unit.
In the present embodiment, when having a plurality of moving target, detection of dynamic unit elder generation carries out prioritization according to the sequencing (can consider one of sequencing factor of size, speed and appearance, or consider its all factor) of size, speed and the appearance of moving target to all moving targets.Then, determine the moving target that needs are followed the tracks of according to the priority orders of moving target with the quantity of following the tracks of the mechanism of warning.At last, calculate the positional information of all moving targets that need to follow the tracks of, the detection of dynamic unit is converted to the positional information of all moving targets to the warn control command of module of corresponding tracking, and with above-mentioned the warn control command of module of all tracking is transferred to the first control unit.
In the present embodiment, the video synthesis unit can be divided into video pictures between more viewing areas, fills with the railway digital vision signal in the vertical early warning video of numeral, digital horizontal early warning video and the figure tracking video respectively between each viewing area.
As shown in figure 23, be another variant embodiment of the multi-direction guarded region early warning of Fig. 1 positioning automatic tracking supervising device.The present embodiment is the distortion of Fig. 1 embodiment, the supervising device top is set up n follow the tracks of the demand that the mechanism of warning satisfies the multiple mobile object tracking, n horizontal early warning video camera partly set up in horizontal early warning in the early warning detent mechanism, and set up the horizontal early warning part of n layer at vertical axial, this embodiment can regulate the direction of guarded region and the size of monitoring range continuously, various combination is suitable for different monitoring purposes, its implementation block diagram is the Integrated Development that carries out on the basis of Fig. 9 block diagram, and the present invention no longer is described in detail.
As shown in figure 24, be another variant embodiment of the multi-direction guarded region early warning of Fig. 1 positioning automatic tracking supervising device.The present embodiment is the distortion of Fig. 1 embodiment, the tracking mechanism of warning is placed in early warning detent mechanism below and replaces vertical early warning part, the present embodiment is followed the tracks of the mechanism of warning and is preferentially adopted spherical pan head video camera 4, and its design philosophy also comprises other video acquisition device that is driven by the horizontal/vertical rotating parts.
As shown in figure 25, be another variant embodiment of the multi-direction guarded region early warning of Fig. 9 positioning automatic tracking supervising device.Among the embodiment shown in Figure 9, the early warning locating module comprises vertical early warning video acquisition unit and horizontal early warning video acquisition unit.The early warning video of the vertical early warning video acquisition unit of detection of dynamic unit inspection and the output of horizontal early warning video acquisition unit.
In the present embodiment, adopt the tracking video acquisition unit to substitute vertical early warning video acquisition unit.In the situation that occur without moving target, following the tracks of video acquisition unit is responsible for the guarded region under the supervising device of the present invention is carried out vertical early warning video acquisition (in the present embodiment, be called for short the tracking video acquisition unit and be at this moment " alert status ").For alert status, follow the tracks of video acquisition unit and should be preset with the early warning position.When calling the early warning position, the second control unit control vertical rotary electric-motor drive unit, and then control the vertical rotary driven by motor and follow the tracks of the mechanism's rotation of warning, finally make and follow the tracks of the in vertical direction guarded region under supervising device of mechanism of warning.The second control unit is also controlled the lens zoom electric-motor drive unit, and then the rotation of control lens zoom driven by motor varifocal mirror head mirror group, finally makes zoom lens be in the wide-angle state, so that the maximization of the area of video camera capture video image.
In the present embodiment, the detection of dynamic unit inspection is followed the tracks of the early warning video of video acquisition unit and the output of horizontal early warning video acquisition unit.When detection of dynamic unit inspection during to moving target, follow the tracks of video acquisition unit and be responsible for moving target place guarded region is followed the tracks of video acquisition (in the present embodiment, be called for short follow the tracks of video acquisition unit be at this moment " tracking mode ").After moving target disappears in the early warning video, to follow the tracks of video acquisition unit and should withdraw from tracking mode, Automatically invoked early warning position also enters alert status.
Above-mentioned detailed description of this multi-direction guarded region early warning positioning automatic tracking supervising device being carried out with reference to each embodiment; illustrative rather than determinate; therefore in the variation and the modification that do not break away under the general plotting of the present invention, should belong within protection scope of the present invention.
Claims (26)
1. a multi-direction guarded region early warning positioning automatic tracking supervising device is the video monitoring front end equipment of video monitoring system; It is characterized in that:
This supervising device comprises early warning detent mechanism and the tracking mechanism of warning; Described early warning detent mechanism is connected with the support that this supervising device is provided with, and the described tracking mechanism's correspondence of warning is arranged at early warning detent mechanism top;
Described early warning detent mechanism comprises vertical early warning part and horizontal early warning part, and vertical early warning partly is used for gathering the video image of this supervising device below, and horizontal early warning partly is used for gathering the video image of this supervising device side direction; Establish the early warning locating module in the described early warning detent mechanism, in order to realizing the early warning detent mechanism to the early warning of institute's monitoring moving target location, and control is followed the tracks of the mechanism of warning and moving target is followed the tracks of is warned;
The described tracking mechanism of warning comprises and follows the tracks of video acquisition part and the part of warning, and follows the tracks of video acquisition and partly is used for following the tracks of the video image that gathers moving target, and the part of warning is used for to the moving target warning of warning; Described tracking is warned to establish in the mechanism and is followed the tracks of the module of warning, in order to realize that following the tracks of the mechanism of warning warns to the tracking of institute's monitoring moving target.
2. multi-direction guarded region early warning positioning automatic tracking supervising device according to claim 1 is characterized in that:
Described early warning locating module comprises vertical early warning video acquisition unit, horizontal early warning video acquisition unit, intensity of illumination detecting unit, floor light unit, the first video converting unit, video storage unit, detection of dynamic unit, video synthesis unit, the second video converting unit, the first control unit, the first communication unit and the second communication unit;
The early warning video of described vertical early warning video acquisition unit acquisition monitoring device below guarded region, and with above-mentioned early warning transmission of video to the first video converting unit;
Described horizontal early warning video acquisition unit acquisition monitoring device side is to the early warning video of guarded region, and with above-mentioned early warning transmission of video to the first video converting unit;
Described the first video converting unit receives vertical early warning video acquisition unit, horizontal early warning video acquisition unit and tracking and warns and follow the tracks of the analog video signal of video acquisition unit output in the module, and above-mentioned analog video signal is converted to digital video signal;
Described intensity of illumination detecting unit detects the intensity of illumination of guarded region, and detected value is transferred to the first control unit, by the first control unit control floor light unit guarded region is carried out floor light;
Described video storage unit is stored vertical early warning video, the horizontal early warning video after the digitlization of the first video converting unit output and is followed the tracks of video; And under the control of the first control unit, video storage unit can be with the digital signal transmission of its storage inside to the video synthesis unit;
In vertical early warning video after the digitlization of described detection of dynamic unit inspection the first video converting unit output and the horizontal early warning video dynamically, and the positional information of moving target is converted to the warn control command of module of tracking, above-mentioned control command transfers to the second communication unit by the first control unit, by the second communication unit control command is transferred to and follows the tracks of the module of warning;
Described video synthesis unit after selecting to receive digitlization from the first video converting unit or video storage unit under the control of the first control unit vertical early warning video, horizontal early warning video and follow the tracks of video, and above-mentioned all videos are synthesized the panoramic video digital signal; When detecting moving target, the video synthesis unit superposes such as alarm signals such as frame flickers at corresponding early warning video image under the control of the first control unit;
Described the second video converting unit is responsible for the panoramic video digital signal is converted to analog composite video signal, and transfers to display device;
Described the first control unit receive that the detection of dynamic unit provides to the warn control command of module of tracking, and by the second communication unit and the tracking module communication of warning; The first control unit also receives the intensity of illumination detecting unit to the detected value of guarded region intensity of illumination, and the floor light unit is opened in control; The first control unit is also controlled the video synthesis unit and is received from the digital video signal of the first video converting unit or receive digital video signal from video storage unit, and sets the compound mode of synthetic panoramic video; When detecting moving target, the first control unit is also controlled the video synthesis unit in the corresponding early warning video image alarm signal that superposes; The first control unit is also controlled the digital video signal whether video storage unit exports its storage inside; The first control unit is also by the first communication unit and main control device communication;
Described the first communication unit is responsible for the communication of the first control unit and main control device; The second communication unit is responsible for the first control unit and is carried out communication with the 3rd communication unit of following the tracks of in the module of warning.
3. multi-direction guarded region early warning positioning automatic tracking supervising device according to claim 1 is characterized in that:
Described tracking warn module comprise follow the tracks of video acquisition unit, audio collection unit, illumination warn unit, sound warn the unit, horizontally rotate electric-motor drive unit, vertical rotary electric-motor drive unit, lens zoom electric-motor drive unit, the second control unit and the 3rd communication unit;
Described tracking video acquisition unit gathers the tracking video of moving target region, and with the first video converting unit of above-mentioned tracking transmission of video to the early warning locating module;
Described audio collection unit receives the control signal of the second control unit, and audio collection is carried out in the moving target region, and with the audio transmission that gathers to main control device;
The described illumination unit of warning receives the control signal of the second control unit, illumination is carried out in the moving target region warn;
The described sound unit of warning receives the control signal of the second control unit, sound is carried out in the moving target region warn;
Describedly horizontally rotate the control signal that electric-motor drive unit receives the second control unit, drive and horizontally rotate the motor rotation;
Described vertical rotary electric-motor drive unit receives the control signal of the second control unit, drives the rotation of vertical rotary motor;
Described lens zoom electric-motor drive unit receives the control signal of the second control unit, drives the rotation of lens zoom motor;
Described the 3rd communication unit is responsible for the second control unit and is carried out communication with the second communication unit in the early warning locating module, the second control unit by the reception of the 3rd communication unit to the warn control command of module of tracking; And the second control unit sends state information by the 3rd communication unit to the second communication unit in the early warning locating module, and the second communication unit is with above-mentioned status information transmission to the first control unit;
To the warn control command of module of tracking, control horizontally rotates electric-motor drive unit, vertical rotary electric-motor drive unit and lens zoom electric-motor drive unit to described the second control unit according to above-mentioned; Described the second control unit controlled light unit of warning carries out illumination to institute monitoring moving target region and warns; Described the second control unit control sound unit of warning carries out sound to institute monitoring moving target region and warns, and the source of the sound of selecting to warn; Described the second control unit is also controlled the audio collection unit audio collection is carried out in institute monitoring moving target region.
4. multi-direction guarded region early warning positioning automatic tracking supervising device according to claim 1 is characterized in that:
Described vertical early warning partly comprises vertical early warning video camera and floor light parts; Described vertical early warning video camera adopts the wide-angle imaging machine; The floor light unit established in the described floor light parts adopts infrared lamp, laser, visible illumination equipment one of them or two or more combinations.
5. multi-direction guarded region early warning positioning automatic tracking supervising device according to claim 1 is characterized in that:
Described horizontal early warning partly comprises horizontal early warning video camera, horizontal slip parts, vertical adjusting parts and floor light parts.
6. multi-direction guarded region early warning positioning automatic tracking supervising device according to claim 5 is characterized in that:
Described horizontal slip parts comprise slip guard shield, upper backup pad and lower supporting plate; Described slip guard shield is provided with slide rail in two ends up and down; Described upper backup pad and lower supporting plate are provided with the chute that matches with the guard shield upper/lower terminal slide rail that slides with slip guard shield contact surface.
7. multi-direction guarded region early warning positioning automatic tracking supervising device according to claim 5 is characterized in that:
Described vertical adjusting parts comprise camera mount and camera mount mounting panel; Described camera mount both sides are provided with two rotation axiss and two sliding axles, camera mount mounting panel both sides correspondence is provided with two location holes and two arcuate sockets, two rotation axiss of camera mount one end are placed on two location holes of camera mount mounting panel both sides and are rotationally connected, two sliding axles of the other end and two arcuate socket matched in clearance of camera mount mounting panel.
8. it is characterized in that according to claim 5 or 6 or 7 described multi-direction guarded region early warning positioning automatic tracking supervising devices:
Described horizontal early warning video camera is arranged on the interior camera mount of vertical adjusting parts, and by the vertical corner that be rotationally connected adjusting horizontal early warning video camera of camera mount with the camera mount mounting panel; Camera mount mounting panel in the vertical adjusting parts is fixedly placed in the slip guard shield of horizontal slip parts, and the level angle of the horizontal early warning video camera of the adjusting that is slidingly connected by slip guard shield and upper backup pad and lower supporting plate.
9. multi-direction guarded region early warning positioning automatic tracking supervising device according to claim 1 is characterized in that:
Described tracking video acquisition partly comprises tracking camera, horizontal rotary mechanism and vertical rotary mechanism, and the described part of warning comprises audio collection device, alarm and warning light.
10. multi-direction guarded region early warning positioning automatic tracking supervising device according to claim 9 is characterized in that:
Described tracking camera adopts Zoom camera, by lens zoom motor-driven lens zoom, it is the driving signal that the lens zoom motor receives the lens zoom electric-motor drive unit, under the control that drives signal, lens zoom driven by motor varifocal mirror head mirror group is rotated, and area occupied and image definition reach optimum state on the video following the tracks of finally to make moving target.
11. multi-direction guarded region early warning positioning automatic tracking supervising device according to claim 9 is characterized in that:
Described horizontal rotary mechanism is by horizontally rotating motor and synchronous belt mechanism forms; Vertical rotary mechanism is comprised of vertical rotary motor and synchronous belt mechanism; The described motor that horizontally rotates receives the driving signal that horizontally rotates electric-motor drive unit, under the control that drives signal, horizontally rotates driven by motor and follows the tracks of the mechanism's rotation of warning, and finally makes and follows the tracks of the mechanism in the horizontal direction orientation movements target region of warning; Described vertical rotary motor receives the driving signal of vertical rotary electric-motor drive unit, and under the control that drives signal, the vertical rotary driven by motor is followed the tracks of the mechanism of warning and rotated, and finally makes and follows the tracks of the mechanism in vertical direction orientation movements target region of warning.
12. multi-direction guarded region early warning positioning automatic tracking supervising device according to claim 2 is characterized in that:
Described vertical early warning video acquisition unit adopts vertical early warning video camera; Described horizontal early warning video acquisition unit adopts horizontal early warning video camera.
13. multi-direction guarded region early warning positioning automatic tracking supervising device according to claim 2 is characterized in that:
Described intensity of illumination detecting unit adopts the intensity of illumination transducer; The intensity of illumination transducer detects the intensity of illumination of guarded region in real time, and will detect data and send to the first control unit.
14. according to claim 2 or 4 described multi-direction guarded region early warning positioning automatic tracking supervising devices, it is characterized in that: described floor light unit adopts the infrared LED module; Described infrared LED module is opened under the control of the first control unit, after opening guarded region is carried out the infrared light floor light.
15. multi-direction guarded region early warning positioning automatic tracking supervising device according to claim 2 is characterized in that:
Described the first video converting unit adopts the modulus Video Decoder; The modulus Video Decoder receives vertical early warning video, horizontal early warning video and follows the tracks of video, and will above-mentioned vertical early warning video, horizontal early warning video and follow the tracks of video digitizer after transfer to video storage unit and video synthesis unit, simultaneously also with the vertical early warning video after the above-mentioned digitlization and horizontal early warning transmission of video to the detection of dynamic unit;
Described detection of dynamic unit adopts digital signal processor; Digital signal processor to guarded region early warning video image by the warn control command of module tracks moving target of the controlled tracking of image intelligent Algorithm Analysis;
Described video storage unit adopts the SD card as storage medium; The digital video signal of the first video converting unit output is received and is stored in the SD clamping; And under the control of the first control unit, the SD card also can be with the above-mentioned digital signal transmission of its storage inside to the video synthesis unit;
Described video synthesis unit adopts digital signal processor; Digital signal processor after with above-mentioned digitlization vertical early warning video, horizontal early warning video and follow the tracks of video and synthesize the panoramic video digital signal; When detecting moving target, digital signal processor superposes such as alarm signals such as frame flickers at corresponding early warning video image;
Described the second video converting unit adopts digital video code; The panoramic video digital signal of digital video code receiver, video synthesis unit output, and above-mentioned panoramic video digital signal is converted to analog composite video signal transfers to display device.
16. multi-direction guarded region early warning positioning automatic tracking supervising device according to claim 2 is characterized in that:
Described the first control unit adopts digital signal processor.
17. multi-direction guarded region early warning positioning automatic tracking supervising device according to claim 2 is characterized in that:
Described the first communication unit adopts the serial communication codec; The control command to supervising device of the present invention that described serial communication codec receiver, video supervisory control system main control device sends, and return the state information that the first control unit returns to main control device; When detecting moving target, the serial communication codec also is responsible for the alarm command that the first control unit produces is transferred to main control device;
Described the second communication unit adopts the serial communication codec; Described serial communication codec receives this supervising device the first control unit to the control command of the second control unit, and returns the state information that the second control unit returns to the first control unit.
18. according to claim 2 or 17 described multi-direction guarded region early warning positioning automatic tracking supervising devices, it is characterized in that:
Described is the control command that the position probing of moving target is produced by the detection of dynamic unit that the first control unit sends to the warn control command of module of tracking, or the control command that comes from main control device of the first control unit relay transmission, and the control command latter's priority is higher than the former.
19. multi-direction guarded region early warning positioning automatic tracking supervising device according to claim 3 is characterized in that:
Described tracking video acquisition unit adopts tracking camera;
Described audio collection unit adopts the analog or digital directive pickup device, and the analog or digital directive pickup device receives the control signal of the second control unit, and audio collection is carried out in the moving target region, and with the audio transmission that gathers to main control device;
The described illumination unit of warning adopts high light LED module, and high light LED module receives the control signal of the second control unit, illumination is carried out in the moving target region warn;
The described sound unit of warning adopts the analog or digital directional loudspeaker, the analog or digital directional loudspeaker receives the control signal of the second control unit, sound is carried out in the moving target region warns, the sound that should be used for warning come from pre-stored recording in analog or digital directional loudspeaker inside, or the voice that come from the operating personnel of main control device collection in worksite are propagandaed directed to communicate;
The described electric-motor drive unit that horizontally rotates adopts motor driver, and motor driver receives the control signal of the second control unit, and above-mentioned control signal is converted to horizontally rotating the driving signal of motor;
Described vertical rotary electric-motor drive unit adopts motor driver, and motor driver receives the control signal of the second control unit, and above-mentioned control signal is converted to driving signal to the vertical rotary motor;
Described lens zoom electric-motor drive unit adopts motor driver, and motor driver receives the control signal of the second control unit, and above-mentioned control signal is converted to driving signal to the lens zoom motor;
Described the 3rd communication unit adopts the serial communication codec, and the serial communication codec is responsible for the communication of the second communication unit and the second control unit.
20. multi-direction guarded region early warning positioning automatic tracking supervising device according to claim 3 is characterized in that:
Described the second control unit adopts the microcontroller processor; The microcontroller processor is by the 3rd communication unit and the second communication unit communication; Also according to the control command of module that tracking is warned, control horizontally rotates electric-motor drive unit, vertical rotary electric-motor drive unit and lens zoom electric-motor drive unit to the microcontroller processor; The microcontroller processor also carries out illumination to the moving target region and warns in the controlled light unit of warning; The microcontroller processor is also controlled the sound unit of warning and sound is carried out in the moving target region is warned, and the source of the sound of selecting to warn; The microcontroller processor is also controlled the audio collection unit audio collection is carried out in the moving target region.
21. multi-direction guarded region early warning positioning automatic tracking supervising device according to claim 1 and 2, it is characterized in that: described early warning locating module also comprises the Network adaptation unit, and the Network adaptation unit also possesses Ethernet interface, serial communication interface, digital video input interface, analog/digital audio input interface and analog/digital audio output interface; The Network adaptation unit adopts the ether web plate, and above-mentioned ether web plate is connected to main control device by the LAN cable that is connected on its Ethernet interface;
More excellent, make the ether web plate receive main control device or communication terminal by wireless network communication technical battery; The additional radio communication unit that possesses wireless communication function of ether web plate.
22. multi-direction guarded region early warning positioning automatic tracking supervising device according to claim 12 is characterized in that:
Described vertical early warning video camera adopts the combination of wide-angle lens and analog video camera/digital camera; Described horizontal early warning video camera adopts the combination of telephoto lens/zoom lens and analog video camera/digital camera, and adopting quantity is more than one group.
23. multi-direction guarded region early warning positioning automatic tracking supervising device according to claim 19 is characterized in that:
Described tracking camera adopts the combination of zoom lens and analog video camera/digital camera.
24. multi-direction guarded region early warning positioning automatic tracking supervising device according to claim 1 is characterized in that:
Described horizontal early warning part arranges more than one deck at vertical axial, and in every layer of horizontal early warning part horizontal early warning video camera more than is set.
25. according to claim 1 or 3 described multi-direction guarded region early warning positioning automatic tracking supervising devices, it is characterized in that: this supervising device top arranges follows the tracks of the mechanism of warning more than one, and comprises an early warning locating module and follow the tracks of the module of warning more than one; The early warning locating module is followed the tracks of the module of warning by the second communication unit and more than one and is carried out communication, and the early warning locating module obtains the tracking video by the first video converting unit from following the tracks of the module of warning more than one.
26. multi-direction guarded region early warning positioning automatic tracking supervising device according to claim 1 is characterized in that:
The described tracking mechanism of warning is placed in early warning detent mechanism below and replaces vertical early warning part, follows the tracks of the mechanism of warning and preferentially adopts the spherical pan head video camera, and comprise the video acquisition device that other is driven by the horizontal/vertical rotating parts.
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| CN201210357740.1A CN102868875B (en) | 2012-09-24 | 2012-09-24 | Multi-direction guarded region early warning positioning automatic tracking supervising device |
| PCT/CN2012/083257 WO2014043976A1 (en) | 2012-09-24 | 2012-10-20 | Prewarning locating automatic tracking monitoring device for multidirectional monitoring area |
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| CN201210357740.1A CN102868875B (en) | 2012-09-24 | 2012-09-24 | Multi-direction guarded region early warning positioning automatic tracking supervising device |
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