CN105657266B - The detection and tracking of a kind of tunnel mobile video to invasion personnel - Google Patents
The detection and tracking of a kind of tunnel mobile video to invasion personnel Download PDFInfo
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- CN105657266B CN105657266B CN201610006546.7A CN201610006546A CN105657266B CN 105657266 B CN105657266 B CN 105657266B CN 201610006546 A CN201610006546 A CN 201610006546A CN 105657266 B CN105657266 B CN 105657266B
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- 230000009545 invasion Effects 0.000 title claims abstract description 58
- 238000001514 detection method Methods 0.000 title claims abstract description 19
- 238000012544 monitoring process Methods 0.000 claims abstract description 47
- 238000001931 thermography Methods 0.000 claims abstract description 19
- 238000012545 processing Methods 0.000 claims abstract description 12
- 230000004069 differentiation Effects 0.000 claims abstract description 8
- 238000000034 method Methods 0.000 claims description 10
- 238000004458 analytical method Methods 0.000 claims description 8
- 239000011159 matrix material Substances 0.000 claims description 8
- 230000004888 barrier function Effects 0.000 claims description 7
- 230000036760 body temperature Effects 0.000 claims description 7
- 238000005259 measurement Methods 0.000 claims description 7
- 230000033001 locomotion Effects 0.000 claims description 6
- 238000007689 inspection Methods 0.000 claims description 3
- 238000011897 real-time detection Methods 0.000 claims description 3
- 238000012546 transfer Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 3
- 230000008901 benefit Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B13/00—Burglar, theft or intruder alarms
- G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
- G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
- G08B13/19—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using infrared-radiation detection systems
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B13/00—Burglar, theft or intruder alarms
- G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
- G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
- G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
- G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Closed-Circuit Television Systems (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Geophysics And Detection Of Objects (AREA)
- Emergency Alarm Devices (AREA)
Abstract
Detection and tracking the invention discloses a kind of tunnel mobile video to invasion personnel, are arranged video monitoring equipment, the acquisition to sound, real time video data and infrared thermal imaging data is carried out in tunnel；According to collected real time video data and infrared thermal imaging data, by human bioequivalence algorithm, differentiation processing is carried out to image data, when finding someone's invasion, notifies monitoring center to have personnel's invasion immediately, and carry out invasion tracking；It measures video monitoring equipment and invades the linear distance of personnel, the distance of adjust automatically between the two is within the scope of specified monitoring.The present invention can effectively detect the invasion personnel in tunnel, monitor the every act and every move of invasion personnel, and real-time tracking invades various activities of the personnel in tunnel, provide reliable advantageous evidence for monitoring center operator.
Description
Technical field
Detection and tracking the present invention relates to a kind of tunnel mobile video to invasion personnel.
Background technique
In power industry, aerial cable underground retrofit has become industrial trend, and each districts and cities in the whole nation also accelerate electric power
The pace of construction in tunnel.But the stolen event of buried cable happens occasionally in recent years, seriously compromises the benefit of numerous personnel
Benefit causes large effect to production, life.The comprehensively monitoring for how improving subterranean tunnel is horizontal, timely and effectively detects
And tracking invasion personnel are our urgent problems.
Summary of the invention
The present invention to solve the above-mentioned problems, proposes the detection and track side of a kind of tunnel mobile video to invasion personnel
Method, the present invention hang car body using rail, installation real-time video, infrared video and Laser Distance Measuring Equipment, by data analysis and
The monitoring and tracking of image processing algorithm realization invasion personnel.
To achieve the goals above, the present invention adopts the following technical scheme:
The detection and tracking of a kind of tunnel mobile video to invasion personnel, comprising the following steps:
(1) video monitoring equipment is set, is adopted to sound, real time video data and infrared thermal imaging data are carried out in tunnel
Collection；
(2) according to collected real time video data and infrared thermal imaging data, by human bioequivalence algorithm, to picture number
According to differentiation processing is carried out, when finding someone's invasion, monitoring center is notified to have personnel's invasion immediately, and carry out invasion tracking；
(3) linear distance of measurement video monitoring equipment and invasion personnel, the distance of adjust automatically between the two is specified
Monitoring within the scope of.
In the step (1), it is laid with running of mobile terminal track on tunnel top, mobile terminal is projecting to be realized in orbit
It is moved forward and backward, obstacle detecting apparatus, real-time video, infrared thermal imaging and Laser Distance Measuring Equipment and mobile device are fixed on one
It rises.
In the step (1), mobile terminal is equipped with radio transmitting device, and the audio, video data that collection in worksite is arrived transmits
To upper layer analysis module, under normal circumstances, transfer terminal will carry out reciprocal inspection in tunnel.
In the step (2), specific method includes: the detection device real-time detection objects in front that breaks the barriers, and works as discovery
When having barrier, analysis and distinguishing is carried out to objects in front, if differentiating that result ignores this object if being non-personnel invasion, it is on the contrary then
It is determined as that personnel invade, to invasion, personnel are traced and monitored, the distance between real-time judge mobile terminal and invasion personnel, from
The distance of dynamic adjustment between the two is within the scope of specified monitoring.
In the step (2), analysis and distinguishing is carried out to objects in front method particularly includes:
(2-1) obtains infrared temperature matrix data in real time from infrared thermal imaging equipment；
(2-2) judges whether maximum temperature is greater than human body minimum temperature, if so, enter step (2-3), if not returning
It returns step (2-1)；
(2-3) judges whether minimum temperature is lower than the human body highest temperature, if so, (2-4) is entered step, if not return
Step (2-1) obtains the matrix data for meeting human body temperature range if there is the pyrotoxin for meeting human body temperature range, leads to
It crosses human body proportional manner and carries out human body differentiation；
(2-4) judges whether that someone invades, and if there is invasion, is then tracked.
In the step (3), by the linear distance of laser ranging system real-time measurement mobile terminal and invasion personnel, lead to
The feedback for crossing measurement data, when find actual range be more than monitoring apart from when, control mobile terminal accelerate advance, reach monitoring away from
From when, stop motion execute monitoring work；Conversely, when actual range be less than monitoring apart from when, control mobile terminal stop advance
Or travel rearwardly, be adjusted to monitoring apart from when, stop motion execute monitoring work.
The detection and tracking system of a kind of tunnel mobile video to invasion personnel, including mobile terminal, monitoring arrangement, data
Processing platform and running track, wherein running track is laid in tunnel top, and mobile terminal is projecting to realize that front and back is moved in orbit
It is dynamic, monitoring arrangement is set on mobile terminal, and monitoring arrangement connects data processing platform (DPP) by mobile network.
The monitoring arrangement includes obstacle detecting apparatus, video equipment, infrared thermal imaging and Laser Distance Measuring Equipment.
The invention has the benefit that
(1) the invasion personnel in tunnel can effectively be detected by this method, monitors one action one of invasion personnel
It is dynamic, reliable advantageous evidence is provided for monitoring center operator.
(2) infrared thermal imaging equipment is used, can adapt to the application environment of no visible light, it is quasi- in conjunction with Human detection algorithm
Really judge invasion personnel.
(3) use rail monitoring arrangement, can various activities of the track shot invasion personnel in tunnel, make up fixed point view
The limited defect of frequency monitoring range.
Detailed description of the invention
Fig. 1 is system schematic of the invention；
Fig. 2 is flow diagram of the invention；
Fig. 3 is personnel tracking method flow schematic diagram of the invention；
Fig. 4 is infrared thermal imaging human body recognition method of the present invention.
Specific embodiment:
The invention will be further described with embodiment with reference to the accompanying drawing.
The detection and tracking of a kind of tunnel mobile video to invasion personnel, comprising the following steps:
Step 1: intrusion detection
Step 2: human bioequivalence
Step 3: tracing and monitoring
Intrusion detection: the step 1 is laid with running of mobile terminal track on tunnel top, mobile terminal is hung upside down in track
On may be implemented to be moved forward and backward, obstacle detecting apparatus, real-time video, infrared thermal imaging and Laser Distance Measuring Equipment and mobile device
It is fixed together.Mobile terminal is equipped with radio transmitting device, can by collection in worksite to audio, video data be transferred to upper layer
Analysis module.Under normal circumstances, mobile device will carry out reciprocal inspection in tunnel.
The step 2, human bioequivalence: by the collected real time video data of headend equipment and infrared thermal imaging data, meeting
Real-time transmission is into back end processing module, by human bioequivalence algorithm, carries out differentiation processing to image data.When discovery someone enters
When invading, monitoring center is notified to have personnel's invasion immediately, and enters invasion tracing mode.Accuracy, meeting are distinguished in order to improve human body
It is repeatedly analyzed for real time data.
The step 3, is traced and monitored: by laser ranging system can with real-time measurement mobile terminal with invasion personnel it is straight
Linear distance.By the feedback of measurement data, when find actual range be more than monitoring apart from when, control mobile terminal accelerates to advance,
Reach monitoring apart from when, stop motion execute monitoring work.Conversely, when actual range be less than monitoring apart from when, control it is mobile eventually
End stop advance or travel rearwardly, be adjusted to monitoring apart from when, stop motion execute monitoring work.
As shown in Figure 1, this system includes: A1: upper layer data processing platform, A2: running of mobile terminal track, A3: mobile
Terminal and A4: monitoring arrangement mainly includes infrared thermal imaging, real-time video, Laser Distance Measuring Equipment etc..
Mobile terminal and monitoring arrangement are fixed together to form an entirety, and mobile terminal can be in running of mobile terminal rail
It is moved forward and backward on road, wirelessly the infrared data of monitoring arrangement is transmitted to upper layer data processing and put down by mobile terminal
Platform is handled.
As shown in Figure 2: break the barriers detection device real-time detection objects in front, when discovery has barrier, by message
Event passes to human bioequivalence module；Human bioequivalence module carries out analysis and distinguishing to objects in front, if differentiating that result is inhuman
On the contrary this object is then ignored in member's invasion, then be determined as personnel's invasion, then start-up trace monitoring module tracks invasion personnel
Monitoring；Module is traced and monitored by the distance between real-time judge mobile terminal and invasion personnel, adjust automatically between the two away from
From within the scope of specified monitoring.
It is as shown in Figure 3:
C1: prison viewpoint position 1；
C2: prison viewpoint position 2；
C3: prison viewpoint position 3；
D1: invasion personnel positions 1；
D2: invasion personnel positions 2；
D3: invasion personnel positions 3；
Refinement explanation is carried out for the module of tracing and monitoring in Fig. 2.When invasion personnel are moved to the position D2 from the position D1,
Mobile terminal can follow automatically invasion personnel to move to the position C2 from the position C1；When invasion personnel are moved to the position D3 from the position D2
When, mobile terminal can follow automatically invasion personnel to move to the position C3 from the position C2；When invasion personnel return to D2 from the position D3
When position, mobile terminal can follow automatically invasion personnel to move to the position C2 from the position C3.
As shown in Figure 4: the step of infrared thermal imaging human body recognition method includes:
E1: infrared temperature matrix is obtained；
E2: whether the highest temperature is greater than human body lowest temperature in temperature matrices；
E3: whether lowest temperature is lower than the human body highest temperature in temperature matrices；
E4: the matrix data for meeting human body temperature range is obtained；
E5: whether judge head position；
E6: human body differentiation is carried out by head body ratio；
E7: whether someone invades；
E8: it traces and monitors；
E1 step obtains infrared temperature matrix data in real time from infrared thermal imaging equipment；By E2, E3 step, can sentence
It Chu not be in matrix data, if include the pyrotoxin for meeting human body temperature range；If there is meeting human body temperature range
Pyrotoxin, then continue E4, E5, E6 step, human body differentiation further carried out by human body proportion mode, if there is no
E1 step is then jumped to, continues to obtain temperature matrices data from infrared equipment；Whether can be determined that E7 by E4, E5, E6 step
Someone's invasion, is traced and monitored if there is then executing E8 step, E1 step is jumped to if not.The judgement of human body high/low temperature
Standard and head body ratio, can obtain from the empirical data of long-term observation.
Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention
The limitation enclosed, those skilled in the art should understand that, based on the technical solutions of the present invention, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within protection scope of the present invention.
Claims (4)
1. detection and tracking of a kind of tunnel mobile video to invasion personnel, it is characterized in that: the following steps are included:
(1) it is laid with running of mobile terminal track on tunnel top, projecting realize in orbit of mobile terminal is moved forward and backward, barrier
Detection device, real-time video, infrared thermal imaging and Laser Distance Measuring Equipment and mobile device are fixed together, to carry out sound in tunnel
The acquisition of sound, real time video data and infrared thermal imaging data；
(2) according to collected real time video data and infrared thermal imaging data, by human bioequivalence algorithm, to image data into
Row differentiation processing notifies monitoring center to have personnel's invasion, and carry out invasion tracking immediately when finding someone's invasion；
(3) linear distance of measurement video monitoring equipment and invasion personnel, the distance of adjust automatically between the two is in specified prison
Depending in range；
In the step (2), specific method includes: the detection device real-time detection objects in front that breaks the barriers, when discovery has barrier
When hindering object, analysis and distinguishing is carried out to objects in front, it is on the contrary then determine if differentiating that result ignores this object if being non-personnel invasion
For personnel's invasion, to invasion, personnel are traced and monitored, the distance between real-time judge mobile terminal and invasion personnel, automatic to adjust
Whole distance between the two is within the scope of specified monitoring；
In the step (2), analysis and distinguishing is carried out to objects in front method particularly includes:
(2-1) obtains infrared temperature matrix data in real time from infrared thermal imaging equipment；
(2-2) judges whether maximum temperature is greater than human body minimum temperature, if so, entering step (2-3), walks if not returning
Suddenly (2-1)；
(2-3) judges whether minimum temperature is lower than the human body highest temperature, if so, (2-4) is entered step, if not return step
(2-1) obtains the matrix data for meeting human body temperature range, passes through people if there is the pyrotoxin for meeting human body temperature range
Body proportional manner carries out human body differentiation；
(2-4) judges whether that someone invades, and if there is invasion, is then tracked；
In the step (3), by the linear distance of laser ranging system real-time measurement mobile terminal and invasion personnel, pass through survey
Measure data feedback, when find actual range be more than monitoring apart from when, control mobile terminal accelerate advance, reach monitoring distance
When, stop motion executes monitoring work；Conversely, when actual range be less than monitoring apart from when, control mobile terminal stop advance or
Travel rearwardly, be adjusted to monitoring apart from when, stop motion execute monitoring work.
2. detection and tracking of a kind of tunnel mobile video as described in claim 1 to invasion personnel, it is characterized in that: institute
State in step (1), mobile terminal is equipped with radio transmitting device, by collection in worksite to audio, video data be transferred to upper layer analysis
Module, under normal circumstances, transfer terminal will carry out reciprocal inspection in tunnel.
3. it is a kind of realize tunnel mobile video described in claim 1 to invasion personnel detection and tracking detection and with
Track system, it is characterized in that: including mobile terminal, monitoring arrangement, data processing platform (DPP) and running track, wherein running track is applied
Set on tunnel top, projecting realize in orbit of mobile terminal is moved forward and backward, and monitoring arrangement, monitoring arrangement is arranged on mobile terminal
Data processing platform (DPP) is connected by mobile network.
4. system as claimed in claim 3, it is characterized in that: the monitoring arrangement include obstacle detecting apparatus, video equipment,
Infrared thermal imaging and Laser Distance Measuring Equipment.
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| CN201610006546.7A CN105657266B (en) | 2016-01-06 | 2016-01-06 | The detection and tracking of a kind of tunnel mobile video to invasion personnel |
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| CN107784272B (en) * | 2017-09-28 | 2018-08-07 | 深圳市万佳安物联科技股份有限公司 | Human body recognition method |
| CN109445315A (en) * | 2018-08-21 | 2019-03-08 | 成都理工大学 | High-voltage test hall safety guard and method of controlling security |
| CN109899662A (en) * | 2019-03-04 | 2019-06-18 | 王佩洁 | A kind of monitoring device of the automatic cash register of unmanned supermarket with information record function |
| CN110087036A (en) * | 2019-04-29 | 2019-08-02 | 国家电网有限公司 | A kind of method and system for electric power tunnel safety monitoring |
| CN110228066B (en) * | 2019-05-29 | 2022-04-08 | 常州中铁科技有限公司 | Tunnel detection device and obstacle avoidance unit and obstacle avoidance method thereof |
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| CN110933365A (en) * | 2019-11-04 | 2020-03-27 | 山东康威通信技术股份有限公司 | Two-dimensional holder device and method for realizing dynamic video monitoring based on window |
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| CN113936405A (en) * | 2021-10-08 | 2022-01-14 | 国能榆林能源有限责任公司 | Alarm method, alarm system and storage medium |
| CN113643508B (en) * | 2021-10-14 | 2022-01-07 | 深圳市信润富联数字科技有限公司 | Disaster prevention emergency channel monitoring method, system, equipment and storage medium |
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| US8812083B2 (en) * | 2008-04-21 | 2014-08-19 | Philadelphia Health & Education Corporation | Methods of optically monitoring wound healing |
| CN101835032B (en) * | 2010-04-27 | 2012-11-21 | 沈阳瑗玛信息技术有限公司 | Multi-camera crowd-gathered message statistic device and method |
| CN102880179B (en) * | 2012-09-19 | 2016-01-27 | 山东康威通信技术股份有限公司 | Multifunctional intelligent crusing robot in a kind of electric power tunnel |
| CN104469309A (en) * | 2014-12-12 | 2015-03-25 | 天津艾思科尔科技有限公司 | Tunnel pedestrian intrusion detection device and method |
| CN105100752A (en) * | 2015-09-07 | 2015-11-25 | 中科融通物联科技无锡有限公司 | All-weather anti-intrusion smart boundary system |
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Address after: 250101 A203, block F, entrepreneurship square, Qilu Software Park, No.1 Shunhua Road, high tech Development Zone, Jinan City, Shandong Province Patentee after: Conway Communication Technology Co.,Ltd. Address before: 250101 Qilu Software Park, No. 1 Shunhua Road, Jinan High-tech Development Zone, Shandong Province, A 203 Patentee before: SHANDONG KANGWEI COMMUNICATION TECHNOLOGY Co.,Ltd. |
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Denomination of invention: A method for detecting and tracking intruders by tunnel mobile video Effective date of registration: 20210908 Granted publication date: 20190409 Pledgee: Bank of Tai'an Limited by Share Ltd. Ji'nan branch Pledgor: Conway Communication Technology Co.,Ltd. Registration number: Y2021370000106 |
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