CN103702030A - Scene monitoring method and moving target tracking method based on GIS (Geographic Information System) map - Google Patents
Scene monitoring method and moving target tracking method based on GIS (Geographic Information System) map Download PDFInfo
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- CN103702030A CN103702030A CN201310729262.7A CN201310729262A CN103702030A CN 103702030 A CN103702030 A CN 103702030A CN 201310729262 A CN201310729262 A CN 201310729262A CN 103702030 A CN103702030 A CN 103702030A
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Abstract
The scheme of the invention provides a scene monitoring method based on a GIS (Geographic Information System) map. The method comprises the following steps: receiving longitude and latitude information carrying a click target position of a user on the GIS map; determining a current camera waiting to rotate according to longitude and latitude information of the target position and the longitude and latitude information of the position of the camera saved in control equipment; calculating the rotating angle of the camera waiting to rotate according to the longitude and latitude information of the target position and the longitude and latitude information of the mounting position of the camera waiting to rotate; transmitting the rotating angle information of the camera waiting to rotate in order to control the camera waiting to rotate to rotate to the target position on the GIS map for monitoring. According to the scheme of the invention, a scene-based monitoring service is started on the basis of a position to be monitored on the GIS map, so that simultaneous all-dimensional and multi-angle monitoring of the target position is realized automatically.
Description
Technical field
The present invention relates to field of video monitoring, relate in particular to a kind of scene monitoring method and moving target method for tracing based on GIS map.
Background technology
Along with the construction of safe city, the monitoring demand sustainable growth based on GIS map, mark CCTV camera on GIS map, can reach the object of transferring more intuitively monitor video based on GIS map.
The Chinese patent that is entitled as " the intelligent vision sensing network moving target relay tracking system based on GPS and GIS " discloses a kind of intelligent vision sensing network moving target relay tracking system based on GPS and GIS.This system comprises some monitoring cameras unit, each monitoring camera unit comprises CCTV camera, embedded or be furnished with GPS and receive locating module and wire/wireless communication module, by the video sequence in acquisition monitoring region, monitoring camera unit, and through wire/wireless digital communications network, send to Surveillance center by wire/wireless communication module; Surveillance center comprises wired/wireless communication module, target analysis module, relay tracking scheduler module, relay tracking network generation module, database server, demonstration interactive module, GIS GIS-Geographic Information System.Can realize autonomous discovery to mobile suspicion object, location, relay tracking the monitor video of target is integrated and shown on electronic chart and the multiple function such as emergency cooperative, video monitoring, command scheduling in real time.This scheme is limited to computational accuracy and the calculated performance of intelligent algorithm, and the effect of following the tracks of and locating is limited.
The Chinese patent that is entitled as " correlating method of GIS-Geographic Information System and supervisory control system and system " has disclosed the correlating method of a kind of GIS-Geographic Information System and supervisory control system, comprising: call a supervisory control system; Call a GIS-Geographic Information System GIS, GIS comprises electronic chart, coordinate data, geographic information data; According to monitoring probe address, on the electronic chart of GIS, mark monitoring probe, and obtain the coordinate data of each monitoring probe; The coordinate data of unit and monitoring probe, determines the monitoring probe nearest apart from each map unit according to the map, and the relevant information of preserving this nearest monitoring probe in the geographic information data of this map unit; Choose a map unit, according to the geographic information data of this map unit, find nearest monitoring probe; Obtain the video image of this nearest monitoring probe and show this video image.The present invention combines GIS and supervisory control system, chooses a map unit on GIS, just can automatically switch to the video image that the monitoring probe nearest with this map cell distance obtains.The method and system all do not have to consider how to reach for monopod video camera the object of comprehensive scene monitoring.
Summary of the invention
In view of this, the invention provides a kind of scene monitoring method based on GIS map.
The method is applied to control appliance, comprises the steps: that A, reception carry user and on GIS map, click the latitude and longitude information of target location; The latitude and longitude information of the position of B, the video camera preserved according to the latitude and longitude information of this target location and control appliance is determined video camera current to be rotated; C, according to the latitude and longitude information of described target location and described in the latitude and longitude information of installation site of video camera to be rotated calculate the rotational angle of video camera to be rotated; D, to video camera described to be rotated, send the described target location that rotational angle information turns on GIS map with video camera to be rotated described in controlling and monitor.
Preferably, determine that video camera current to be rotated comprises: using target location as center, the rectangle of drawing coverage according to default length and width, contrasts the longitude and latitude at four angles of rectangle and video camera longitude and latitude, for the video camera dropping in rectangle, carries out distance calculating; According to the longitude and latitude of target location and described in drop on the calculation of longitude & latitude target location of the video camera installation site in rectangle and the distance between this video camera, the video camera that distance is less than preset value is video camera current to be rotated.
Preferably, the rotational angle that calculates video camera to be rotated comprises: C1, the angle value according to the sensing of the calculation of longitude & latitude video camera head for target position of the longitude and latitude of target location and video camera installation site with respect to preset direction; The current sensing of C2, the angle value calculating according to this and this video camera obtains the rotational angle of video camera to be rotated with respect to the angle value of described preset direction.
Preferably, the method further comprises: determining after the video camera rotating, according to the distance between target location and video camera, and carry out the adjustment of corresponding zoom multiple in conjunction with the distance and the zoom multiple corresponding relation instruction video camera that set in advance.
Design based on same, the present invention also provides a kind of method that moving target is monitored, the method is applied to control appliance, and the method comprises the steps: S1, periodically receives the signal of moving target transmitting, and this signal carries the latitude and longitude information of moving target position; The latitude and longitude information of S2, the video camera installation site of preserving according to the latitude and longitude information of this moving target position and this control appliance is determined video camera current to be rotated; S3, according to the latitude and longitude information of this moving target position and described in the latitude and longitude information of position of video camera to be rotated calculate the rotational angle of video camera to be rotated; S4, to video camera described to be rotated, send the position that rotational angle information turns to this moving target with video camera to be rotated described in controlling and monitor.
Preferably, determine that video camera current to be rotated comprises: using moving target position as center, the rectangle of drawing coverage according to default length and width, contrasts the longitude and latitude at four angles of rectangle and video camera longitude and latitude, for the video camera dropping in rectangle, carries out distance calculating; According to the longitude and latitude of this moving target position and described in drop on the calculation of longitude & latitude moving target position of the video camera installation site in rectangle and the distance between this video camera, the video camera that distance is less than preset value is video camera current to be rotated.
Preferably, the rotational angle that calculates video camera to be rotated comprises: C1, according to the calculation of longitude & latitude video camera of the longitude and latitude of moving target position and video camera installation site towards the sensing of moving target the angle value with respect to preset direction; The current sensing of C2, the angle value calculating according to this and this video camera obtains the rotational angle of video camera to be rotated with respect to the angle value of described preset direction.
Preferably, the method further comprises: determining after the video camera rotating, according to the distance between moving target position and video camera, and carry out the adjustment of corresponding zoom multiple in conjunction with the distance and the zoom multiple corresponding relation instruction video camera that set in advance.
Design based on same, the present invention also provides a kind of method that moving target is monitored, the method is applied to control the equipment of video camera, the method comprises the steps: S1, periodically receives the signal of moving target transmitting, and this signal carries latitude and longitude information and the translational speed of moving target position; S2, according to the shiftable haulage line information of the latitude and longitude information of this moving target position, translational speed and default time t and moving target, determine the latitude and longitude information of this moving target Future Positions; According to the latitude and longitude information of the video camera installation site of the latitude and longitude information of this moving target Future Positions and the preservation of this control appliance, determine video camera current to be rotated; S3, according to the latitude and longitude information of the position in this moving target future and described in the latitude and longitude information of video camera to be rotated installation site calculate the rotational angle of video camera to be rotated; S4, to video camera described to be rotated, send the position that rotational angle information turns to described moving target future with video camera to be rotated described in controlling and monitor.
Preferably, determine that video camera current to be rotated comprises: using moving target Future Positions as center, the rectangle of drawing coverage according to default length and width, contrasts the longitude and latitude at four angles of rectangle and video camera longitude and latitude, for the video camera dropping in rectangle, carries out distance calculating; According to the longitude and latitude of this moving target Future Positions and described in drop on the calculation of longitude & latitude target location of the video camera installation site in rectangle and the distance between video camera, the video camera that distance is less than preset value is video camera current to be rotated.
Preferably, the rotational angle that calculates video camera to be rotated comprises: C1, according to the calculation of longitude & latitude video camera of the longitude and latitude of moving target Future Positions and video camera installation site towards the sensing of moving target Future Positions the angle value with respect to preset direction; The current sensing of C2, the angle value calculating according to this and this video camera obtains the rotational angle of video camera to be rotated with respect to the angle value of described preset direction.
Preferably, the method further comprises: determining after the video camera rotating, according to the distance between moving target Future Positions and video camera, and carry out the adjustment of corresponding zoom multiple in conjunction with the distance and the zoom multiple corresponding relation instruction video camera that set in advance.
Compared to prior art, the present invention is based on GIS map, the target scene of paying close attention to for user, without the position of paying close attention to periphery video camera, only need to start scene monitoring to target location, obtains the monitoring of the full angle of this scene location.Design based on same, the present invention has also realized the tracing and monitoring to moving target.
Accompanying drawing explanation
Fig. 1 is the embodiment of the present invention one flow chart.
Fig. 2 is diagram corresponding to embodiment of the present invention example application.
Fig. 3 is embodiment of the present invention goniometer nomogram.
Embodiment
The to be monitored position of the embodiment of the present invention one based on GIS map, starts the monitoring business based on scene, automatically realizes comprehensive, the multi-angle of destination locations are monitored simultaneously.
Embodiment mono-
The flow chart of the present embodiment shown in please refer to the drawing 1.The step of this flow process is specifically carried out by the equipment of controlling video camera:
Step 11, reception carry user and on GIS map, click the latitude and longitude information of target location.
The positional information of step 12, the video camera preserved according to the latitude and longitude information of this target location and control appliance is determined video camera current to be rotated.
Step 13, according to the latitude and longitude information of the installation site of the latitude and longitude information of target location and video camera to be rotated, calculate the rotational angle of video camera to be rotated.
Step 14, to video camera to be rotated, send rotational angle information and monitor with the target location of controlling video camera to be rotated and turning on GIS map.
Video camera in the present embodiment is and can carries out in the horizontal direction the video camera of 360 degree rotations.User clicks target location on GIS map, and latitude and longitude information corresponding to this target location will be sent to as on the control appliance of monitoring central server.For GIS map, latitude and longitude information is the parameter of easily obtaining, so the present embodiment scheme all adopts longitude and latitude parameter in the calculating of follow-up angle, distance.This GIS map can be positioned at for user to be checked on the monitoring terminal equipment of fact or video recording, the clicking operation of user on GIS map sends control appliance by be packaged into the signaling that control appliance can resolve by monitor terminal, and this signaling comprises the latitude and longitude information of click location; This clicking operation comprises with mouse clicks or points click etc.; This target location is place to be monitored.
Control appliance receives after the latitude and longitude information of this target location, determines the video camera that needs scheduling.The number of cameras that control appliance is controlled is conventionally numerous, for some, cannot monitor the video camera of target location at all, and control appliance is without sending the instruction of controlling its monitoring objective position.So simple effective method calculates the distance of each video camera distance target location to be monitored, and judge that this distance whether in default scope, if so, dispatches corresponding video camera, otherwise do not dispatch.
Further, if each video camera that control appliance calculating is administered self is apart from the distance of destination locations, may there is the problem that amount of calculation is larger.So a kind of method of optimization is: using target location as center, according to default length and width, draw the rectangle of coverage, the longitude and latitude at four angles of rectangle and video camera longitude and latitude are contrasted, for the video camera dropping in rectangle, carry out again distance calculating, with this, reduce amount of calculation.
The latitude and longitude information of the video camera of control can be preserved in control appliance this locality.According to the latitude and longitude information of the latitude and longitude information of each video camera and target location, just can calculate the distance of each video camera and target location like this.Please refer to the drawing 2, the longitude and latitude of target location is respectively: xt, yt; The longitude and latitude of video camera 1 is respectively: x1, y1.According to the longitude and latitude of target location and video camera 1, can obtain distance Slng and the difference of latitude respective distances Slat that their difference of longitudes are corresponding.Please refer to the drawing 3, in the situation that obtain corresponding distance Slng and distance Slat corresponding to difference of latitude of difference of longitude, the distance S=√ ((Slng) of video camera and target location
2+ (Slat)
2).
Control appliance needs further to determine specifically angle to be rotated of each video camera to be rotated.In the situation that knowing target location longitude and latitude and video camera installation site longitude and latitude, a kind of method of calculating rotational angle is: the angle value according to the sensing of the calculation of longitude & latitude video camera head for target position of the longitude and latitude of target location and video camera installation site with respect to preset direction; The angle value calculating according to this and the current sensing of this video camera obtain the rotational angle of video camera to be rotated with respect to the angle value of described preset direction.Here suppose that direct north is preset direction, please refer to the drawing 3, the sensing of video camera 1 head for target position is ∠ phx with respect to the angle value of direct north, video camera 1 is current is ∠ phx ' towards the angle value with respect to direct north; So the angle value that video camera 1 is to be rotated is the difference of these two angles.As for control appliance indication video camera, clockwise rotate or rotate counterclockwise, as long as video camera supports that the rotation of this both direction is all passable; Suppose in the situation that clockwise rotating α angle, counterclockwise the next rotation of situation 360-α.Video camera 2 and video camera 3 angle value to be rotated calculate after the same method.
About angle value ∠ phx, its computational methods can be with reference to the computational process of ∠ PHA in figure 3.Please refer to the drawing 3, tg ∠ tmp=Slng/Slat, ∠ PHA=∠ tmp+180 °.And the current angle value that uses the same method and calculate before the angle value ∠ phx ' with respect to direct north is the last instruction video camera rotation of control appliance.The calculating of the required rotational angle of monitoring position that aims at the mark first after installing for video camera, need to know installation after video camera towards the angle value with respect to direct north, this angle value be current towards initial value, this value can manually arrange.After video camera has rotated, it is current is the value of ∠ phx by iteration towards the angle value with respect to direct north.
In the example of Fig. 3, in the first quartile of the rectangular coordinate system that Yu Yi target location, position for video camera is initial point; If video camera is in other quadrants of this rectangular coordinate system, ∠ PHA and ∠ tmp may not be the difference of 180 degree.Concrete difference relation is as follows:
If the longitude and latitude of video camera is xa, ya; The longitude and latitude of target location is xt, yt;
When xa>xt & & ya>yt, tg ∠ tmp=Slng/Slat, ∠ PHA=∠ tmp+180 °;
When xa>xt & & ya<yt, tg ∠ tmp=Slng/Slat, ∠ PHA=∠ tmp+270 °;
When xa<xt & & ya<yt, tg ∠ tmp=Slng/Slat, ∠ PHA=∠ tmp;
When xa<xt & & ya>yt, tg ∠ tmp=Slng/Slat, ∠ PHA=180 °-∠ tmp;
When xa=xt & & ya>yt, ∠ PHA=180 °;
When xa=xt & & ya<yt, ∠ PHA=0 °;
When xa>xt & & ya=yt, ∠ PHA=270 °;
When xa<xt & & ya=yt, ∠ PHA=90 °.
In order to make the monitoring of camera points target location time can obtain good image effect, control appliance can further make video camera carry out zoom operation.The multiple of each camera zoom can be determined according to the distance size of this video camera distance objective position.Control appliance can set in advance a distance and zoom multiple mapping table, then according to the distance S of the video camera calculating in above-mentioned steps and target location, determines zoom multiple.Control appliance sends to corresponding video camera by the zoom multiple of finding.This zoom multiple can send to corresponding video camera in the lump with rotational angle.
Each video camera, after the instruction that receives control appliance, turns to and points to the direction of target location and adjust zoom multiple, thereby realized the multi-angle monitoring to target location.In user's monitor terminal display frame, just can see the monitoring image of each angle simultaneously.
The present embodiment is based on GIS map, and the target scene of paying close attention to for user, without the position of paying close attention to periphery video camera, only need to start scene monitoring to target location, obtains the monitoring of the full angle of this scene location.
For the monitoring of moving target, can use for reference the method for embodiment mono-, specifically please join embodiment bis-.
Embodiment bis-
The present embodiment provides a kind of method that moving target is followed the tracks of.The moving target of the present embodiment needs to send to control appliance the information of self position.The concrete operation of carrying out of control appliance is as follows:
Step 41, periodically receive the signal of moving target transmitting, this signal carries the latitude and longitude information at moving target place.
The positional information of step 42, the video camera preserved according to the longitude and latitude information of this moving target position and control appliance is determined video camera current to be rotated.
Step 43, according to the latitude and longitude information of the latitude and longitude information of this moving target position and video camera to be rotated, calculate the rotational angle of video camera current to be rotated.
Step 44, to video camera to be rotated, send rotational angle information turns to this moving target place position to control video camera to be rotated and monitor.
Moving target can carry GPS device, sends the latitude and longitude information of carrying its position to control appliance.Control appliance is according to default cycle time, such as every 1 minute, obtains the latitude and longitude information of its position to moving target.After obtaining the latitude and longitude information of the current position of moving target, just can determine video camera to be rotated, angle that each video camera need to rotate and the multiple of zoom according to the method for embodiment mono-.
Near video camera scheduling controlling just carrying out once according to the current position of moving target at regular intervals because control appliance is every, so that these video cameras carry out the monitoring of multi-angle to moving target.In the situation that and control appliance calculated performance less in moving target translational speed is higher, by the method for embodiment mono-, determine that video camera to be rotated and rotational angle and zoom multiple are the monitoring that can meet moving target.
In moving target translational speed, than in situation faster, while using said method just may occur that video camera turns to monitoring position, moving target has left and has caused monitoring failed problem.So a kind of more excellent method is: further carry current translational speed in the signal that moving target sends.Control appliance is according to this movement speed v, and in conjunction with time t(computing time of above-mentioned sequence of operations cost, video camera rotation time etc.) determine that the Future Positions of moving target, this Future Positions are the real position at place when monitored of moving target.This time t can arrange in advance according to actual situation on control appliance.The calculating of moving target Future Positions also depends on the certainty of moving target shiftable haulage line.So this moving target Future Positions position when normal root transmits according to moving target really, translational speed, traveling time t, and mobile predetermined paths information is calculated.In subsequent calculations, all according to Future Positions described in moving target, calculate during wait the angle of the video camera rotating, rotation and the multiple of zoom.Detailed computational process please be joined embodiment mono-.
The application scenarios of the present embodiment is similar to need to be to inspecting the checking of leader troop, scenes such as monitoring to procession.
The monitoring of moving target can be accomplished the video preview from motion tracking with respect to prior art, and that has saved loaded down with trivial details video point position searches, starts, closes the process of searching, restart, closing.
The foregoing is only preferred embodiment of the present invention, in order to limit the present invention, within the spirit and principles in the present invention not all, any modification of making, be equal to replacement, improvement etc., within all should being included in the scope of protection of the invention.
Claims (10)
1. the scene monitoring method based on GIS map, the method is applied to control appliance, it is characterized in that, and the method comprises the steps:
A, reception carry user and on GIS map, click the latitude and longitude information of target location;
The latitude and longitude information of the position of B, the video camera preserved according to the latitude and longitude information of this target location and control appliance is determined video camera current to be rotated;
C, according to the latitude and longitude information of described target location and described in the latitude and longitude information of installation site of video camera to be rotated calculate the rotational angle of video camera to be rotated;
D, to video camera described to be rotated, send the described target location that rotational angle information turns on GIS map with video camera to be rotated described in controlling and monitor.
2. the method for claim 1, is characterized in that, described definite video camera current to be rotated comprises:
Using target location as center, according to default length and width, draw the rectangle of coverage, the longitude and latitude at four angles of rectangle and video camera longitude and latitude are contrasted, for the video camera dropping in rectangle, carry out distance calculating;
According to the longitude and latitude of target location and described in drop on the calculation of longitude & latitude target location of the video camera installation site in rectangle and the distance between this video camera, the video camera that distance is less than preset value is video camera current to be rotated.
3. the method for claim 1, is characterized in that, the described rotational angle that calculates video camera to be rotated comprises:
C1, the angle value according to the sensing of the calculation of longitude & latitude video camera head for target position of the longitude and latitude of target location and video camera installation site with respect to preset direction;
The current sensing of C2, the angle value calculating according to this and this video camera obtains the rotational angle of video camera to be rotated with respect to the angle value of described preset direction.
4. method as claimed in claim 2, it is characterized in that, the method further comprises: determining after the video camera rotating, according to the distance between target location and video camera, and carry out the adjustment of corresponding zoom multiple in conjunction with the distance and the zoom multiple corresponding relation instruction video camera that set in advance.
5. a method of moving target being monitored, the method is applied to control appliance, it is characterized in that, and the method comprises the steps:
S1, periodically receive the signal of moving target transmitting, this signal carries the latitude and longitude information of moving target position;
The latitude and longitude information of S2, the video camera installation site of preserving according to the latitude and longitude information of this moving target position and this control appliance is determined video camera current to be rotated;
S3, according to the latitude and longitude information of this moving target position and described in the latitude and longitude information of position of video camera to be rotated calculate the rotational angle of video camera to be rotated;
S4, to video camera described to be rotated, send the position that rotational angle information turns to this moving target with video camera to be rotated described in controlling and monitor.
6. method as claimed in claim 5, is characterized in that, described definite video camera current to be rotated comprises:
Using moving target position as center, according to default length and width, draw the rectangle of coverage, the longitude and latitude at four angles of rectangle and video camera longitude and latitude are contrasted, for the video camera dropping in rectangle, carry out distance calculating;
According to the longitude and latitude of this moving target position and described in drop on the calculation of longitude & latitude moving target position of the video camera installation site in rectangle and the distance between this video camera, the video camera that distance is less than preset value is video camera current to be rotated.
7. method as claimed in claim 5, is characterized in that, the described rotational angle that calculates video camera to be rotated comprises:
C1, according to the calculation of longitude & latitude video camera of the longitude and latitude of moving target position and video camera installation site towards the sensing of moving target the angle value with respect to preset direction;
The current sensing of C2, the angle value calculating according to this and this video camera obtains the rotational angle of video camera to be rotated with respect to the angle value of described preset direction.
8. method as claimed in claim 6, it is characterized in that, the method further comprises: determining after the video camera rotating, according to the distance between moving target position and video camera, and carry out the adjustment of corresponding zoom multiple in conjunction with the distance and the zoom multiple corresponding relation instruction video camera that set in advance.
9. a method of moving target being monitored, the method is applied to control the equipment of video camera, it is characterized in that, and the method comprises the steps:
S1, periodically receive the signal of moving target transmitting, this signal carries latitude and longitude information and the translational speed of moving target position;
S2, according to the shiftable haulage line information of the latitude and longitude information of this moving target position, translational speed and default time t and moving target, determine the latitude and longitude information of this moving target Future Positions; According to the latitude and longitude information of the video camera installation site of the latitude and longitude information of this moving target Future Positions and the preservation of this control appliance, determine video camera current to be rotated;
S3, according to the latitude and longitude information of the position in this moving target future and described in the latitude and longitude information of video camera to be rotated installation site calculate the rotational angle of video camera to be rotated;
S4, to video camera described to be rotated, send the position that rotational angle information turns to described moving target future with video camera to be rotated described in controlling and monitor.
10. method as claimed in claim 9, is characterized in that, described definite video camera current to be rotated comprises:
Using moving target Future Positions as center, according to default length and width, draw the rectangle of coverage, the longitude and latitude at four angles of rectangle and video camera longitude and latitude are contrasted, for the video camera dropping in rectangle, carry out distance calculating;
According to the longitude and latitude of this moving target Future Positions and described in drop on the calculation of longitude & latitude target location of the video camera installation site in rectangle and the distance between video camera, the video camera that distance is less than preset value is video camera current to be rotated.
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