CN106412502B - Video monitoring intelligence Skynet system and its working method based on recognition of face - Google Patents

Video monitoring intelligence Skynet system and its working method based on recognition of face Download PDF

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Publication number
CN106412502B
CN106412502B CN201610835599.XA CN201610835599A CN106412502B CN 106412502 B CN106412502 B CN 106412502B CN 201610835599 A CN201610835599 A CN 201610835599A CN 106412502 B CN106412502 B CN 106412502B
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China
Prior art keywords
unmanned plane
lamppost
module
wind
video
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CN106412502A (en
Inventor
温峻峰
李鑫
杜海江
江志伟
谢巍
张浪文
其他发明人请求不公开姓名
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Zhongke Skynet (Guangdong) Technology Co., Ltd.
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Zhongke Skynet (guangdong) Technology Co Ltd
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Priority to CN201610835599.XA priority Critical patent/CN106412502B/en
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    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00Television systems
    • H04N7/18Closed circuit television systems, i.e. systems in which the signal is not broadcast
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C39/00Aircraft not otherwise provided for
    • B64C39/02Aircraft not otherwise provided for characterised by special use
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F21LIGHTING
    • F21VFUNCTIONAL FEATURES OR DETAILS OF LIGHTING DEVICES OR SYSTEMS THEREOF; STRUCTURAL COMBINATIONS OF LIGHTING DEVICES WITH OTHER ARTICLES, NOT OTHERWISE PROVIDED FOR
    • F21V33/00Structural combinations of lighting devices with other articles, not otherwise provided for
    • F21V33/0004Personal or domestic articles
    • F21V33/0052Audio or video equipment, e.g. televisions, telephones, cameras or computers; Remote control devices therefor
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K9/00Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
    • G06K9/00221Acquiring or recognising human faces, facial parts, facial sketches, facial expressions
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K9/00Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
    • G06K9/00335Recognising movements or behaviour, e.g. recognition of gestures, dynamic facial expressions; Lip-reading
    • G06K9/00342Recognition of whole body movements, e.g. for sport training
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K9/00Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
    • G06K9/00624Recognising scenes, i.e. recognition of a whole field of perception; recognising scene-specific objects
    • G06K9/00711Recognising video content, e.g. extracting audiovisual features from movies, extracting representative key-frames, discriminating news vs. sport content
    • G06K9/00718Higher-level, semantic clustering, classification or understanding of video scenes, e.g. detection, labelling or Markovian modelling of sport events or news items
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K9/00Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
    • G06K9/00624Recognising scenes, i.e. recognition of a whole field of perception; recognising scene-specific objects
    • G06K9/00771Recognising scenes under surveillance, e.g. with Markovian modelling of scene activity
    • G06K9/00778Recognition or static of dynamic crowd images, e.g. recognition of crowd congestion
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C2201/00Unmanned aerial vehicles; Equipment therefor
    • B64C2201/02Unmanned aerial vehicles; Equipment therefor characterized by type of aircraft
    • B64C2201/024Helicopters, or autogiros
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C2201/00Unmanned aerial vehicles; Equipment therefor
    • B64C2201/04Unmanned aerial vehicles; Equipment therefor characterised by type of power plant
    • B64C2201/042Unmanned aerial vehicles; Equipment therefor characterised by type of power plant by electric motors; Electric power sources therefor, e.g. fuel cells, solar panels or batteries
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C2201/00Unmanned aerial vehicles; Equipment therefor
    • B64C2201/12Unmanned aerial vehicles; Equipment therefor adapted for particular use
    • B64C2201/127Unmanned aerial vehicles; Equipment therefor adapted for particular use for photography, or video recording, e.g. by using cameras
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64DEQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLYING SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D2211/00Arrangements of solar panels on aircraft
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K9/00Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
    • G06K9/00624Recognising scenes, i.e. recognition of a whole field of perception; recognising scene-specific objects
    • G06K9/00711Recognising video content, e.g. extracting audiovisual features from movies, extracting representative key-frames, discriminating news vs. sport content
    • G06K2009/00738Event detection

Abstract

The present invention relates to a kind of video monitoring intelligence Skynet system and its working method based on recognition of face, comprising: be distributed in several lampposts of block, be separately installed with video monitoring apparatus on each lamppost;And lamppost wireless communication module is additionally provided on lamppost, the video monitoring apparatus is suitable for that video image is sent to cloud computing platform by lamppost wireless communication module;The video monitoring apparatus is suitable for judging whether have human body image in the video image, and human body image, then be focused the face part in human body image if it exists.This Skynet system and its working method make full use of lamppost, the function of traditional lamppost is expanded, video monitoring is combined with lamppost, the video image of each lamppost shooting is sent to the cloud computing platform positioned at cloud and is analyzed and handled, realize it is anti-probably, anti-riot purpose, to be contained in budding state activity is feared cruelly to the maximum extent, containment terrorist forces play a significant role.

Description

Video monitoring intelligence Skynet system and its working method based on recognition of face
Technical field
The present invention relates to a kind of video monitoring intelligence Skynet system and its working method based on recognition of face.
Background technique
" skynet monitoring system " (referred to as: Skynet system) is to utilize that largely taking the photograph for the ground such as streets and lanes, indoor and outdoor is arranged in As head constitutes monitoring network, it is a Xiang Fabao of public security organ's strike crime in the street, is the strong backing of urban public security.
Video monitoring system at present, especially life outdoor videos monitoring system coverage rate are higher and higher, by video monitoring system It is probably combined with anti-, the evidence of crime that investigation clue can be captured by means such as video images, looks into goods suspect can make to supervise It controls video camera initiative recognition, forecast, exposure, confirm crime, become passive video recording as initiative alarming, investigator can be helped in magnanimity Fast and accurately location hint information, shortening cracking of cases time promote cracking of cases efficiency, and can save and be used in video data The police strength of video surveillance management about 80%.Actively prevent carrying out sabotage and make trouble for " vicious power ".To the maximum extent sudden and violent probably activity It is contained in budding state, to ensure not meet accident, something terrible happens plays a significant role.
Summary of the invention
The video monitoring intelligence Skynet system and its work side that the object of the present invention is to provide a kind of based on recognition of face Method improves the distribution of video monitoring to combine using the lamppost of LED street lamp with video monitoring, eliminates prison as far as possible Control dead angle.
In order to solve the above-mentioned technical problems, the present invention provides a kind of Skynet systems, comprising: is distributed in the several of block The lamppost of LED street lamp is separately installed with the video monitoring apparatus being connected with a control module and lamppost wireless telecommunications on each lamppost Module;The video monitoring apparatus is suitable for that video image is sent to cloud computing platform by lamppost wireless communication module.It is described Video monitoring apparatus is suitable for judging whether have human body image in the video image, if it exists human body image, then to the human body Face part in image is focused.
Face identification system is equipped in cloud computing platform, by the people in the video image from the video monitoring apparatus Body image carry out recognition of face, with obtained facial image, at the same record the facial image attribute (including obtain image when Between, place, the position in the video image etc.);Then the facial image and its attribute transfer recognition of face obtained is extremely In the database of public security bureau.
Further, camera in warning device and the video monitoring apparatus is additionally provided on the lamppost to be suitable for passing through Control module control holder makes its steering;The video image that the cloud computing platform is suitable for shooting each video monitoring apparatus carries out Identification, if it is determined that it is abnormal, then its alarm is controlled by control module;The cloud computing platform is further adapted for setting corresponding video monitoring Device video image collected mixes line and area-of-interest, when there is object entrance to mix line and area-of-interest, by taking the photograph As head carries out carrying out track up to the object.
Further, it is additionally provided with the shutdown depressed place for parking unmanned plane on the lamppost, and nobody is installed on the unmanned plane Machine control system;The unmanned aerial vehicle control system includes: airborne processor module, the airborne nothing being connected with airborne processor module Line communication module and video capture module;The unmanned aerial vehicle control system is suitable for leading to the video image of shooting by airborne wireless It interrogates module and lamppost wireless communication module communicates, to be sent to cloud computing platform;When the video monitoring apparatus quilt on a certain lamppost It blocks or failure, or after losing target, cloud computing platform starts unmanned plane and carries out tracing and monitoring to target.On the shutdown depressed place Equipped with the energy sending device for wireless charging, the energy acceptance device for wireless charging, energy are installed on unmanned plane The power input of sending device is connected with the battery, and energy acceptance device is for filling the on-board batteries on unmanned plane Electricity.
Another optional scheme is that the shutdown depressed place is equipped with laser emitter, is equipped with photocell, nothing on unmanned plane Man-machine when being parked on the shutdown depressed place, on laser transmitter projects laser to photocell, photocell is to the airborne electricity on unmanned plane It charges in pond.
Multi-crystal silicon film solar battery and amorphous silicon thin-film solar cell etc. can be used in photocell, and preferably copper indium selenide is thin Film battery (abbreviation CIS), polycrystal membrane battery, cadmium sulphide membrane battery, cadmium telluride polycrystalline hull cell, the organic film sun One of energy battery etc..
The wireless charging device of use can be induction, magnetic field resonance type or radio waves type.Using radio When waves wireless charging device, energy sending device is microwave launcher, and energy acceptance device is microwave receiving device.Using Wireless charging standard there are four types of: Qi standard, Power Matters Alliance (PMA) standard, Alliance for Wireless Power (A4WP) standard, iNPOFi technology.The work of airborne processor module control energy acceptance device.It is described Middle and upper part, top or the bottom of lamppost are equipped with battery (side in or beyond lamppost can be set in battery);The rectilinear magnetic suspension Wind-driven generator and solar photovoltaic assembly by wind-light complementary system to battery (can be nickel-cadmium cell, nickel-metal hydride battery, lithium from Sub- battery, lead storage battery, lithium iron battery, preferably energy-storage lithium battery, nickel-metal hydride battery) it charges.
Further, the video monitoring apparatus of lamppost takes a target at one, and the target is just far from the prison of the lamppost When controlling area, the cloud computing platform assigns unmanned plane to carry out tracing and monitoring to the target according to the position of target;The unmanned plane It is additionally provided with the path optimizing system and aircraft power system being connected with airborne processor module;The path optimizing system is suitable for obtaining The real time data of wind between the building get Ge, and establish air duct net between the building of city;After unmanned plane obtains target position, the path optimization System is suitable for being flown according to net selection unmanned plane in air duct between the building of city to the optimal path of the target position;The path optimizing system It include: the map memory module, GPS module and the gyro for detecting unmanned plane during flying posture being connected with airborne processor module Instrument;Wherein the aircraft power system includes: the horizontal power mechanism and Vertical Dynamic mechanism controlled by airborne processor module; Wherein the horizontal engine structure is located at fuselage, and includes: flat spin paddle mechanism;The Vertical Dynamic mechanism includes: pair Claim to be set to the vertical spin paddle mechanism at left and right wing;The vertical spin paddle mechanism includes an at least vertical spin paddle, is used for Vertical spin paddle mechanism is hung on into the suspension arrangement below wing, the vertical spin paddle is suitable for driving by corresponding micromotor Turn is dynamic;The suspension arrangement includes: the first angle fine tuning motor suitable for tilting forward or backward vertical spin paddle, and Make vertical spin paddle inclined second angle fine tuning motor to the left or to the right;Wherein the first, second angle adjustment motor and Micromotor is controlled by airborne processor module, to adjust inclination angle and the vertical spin paddle of vertical spin paddle according to flight attitude Revolving speed;Also, the unmanned plane is additionally provided with for detecting the wind transducer of met crosswind and wind speed sensing in flight course Device, and the wind direction of crosswind suffered by current unmanned plane and air speed data are sent to airborne processor module;The airborne processor Module is suitable for wind direction and air speed data according to crosswind, the inclination angle of adjusting vertical spin paddle and vertical, horizontal propeller revolving speed, Video image acquisition is carried out to stablize current flight posture;If also, the wind direction and wind speed of crosswind help to fly, and reduce and hang down The revolving speed of straight propeller and/or horizontal propeller.
Further, photovoltaic cell is covered on the wing of the unmanned plane, the path optimizing system is further adapted for obtaining each Real-time lighting intensity and the path optimizing system between building is when selecting optimal path, if two or more road The section of real-time lighting maximum intensity is then selected into optimal path by section with wind between the building of identical data;The path optimization System is further adapted for obtaining the cloud layer data in city overhead, and when selecting optimal path, avoids the section of overcast area;And The video capture module is suitable for shooting building panorama, and the height of the building is identified by cloud computing platform;When nobody Machine in rain and snow flight when, the path optimizing system is suitably selected for the leeward section of building as unmanned plane on optimal road Path selection in diameter;And the flying height of unmanned plane is set to be lower than the height of the building, to block sleet.
Further, the airborne processor module is also connected with the charge and discharge control module in unmanned plane, and the charge and discharge Electric control module is suitable for for on-board batteries electricity being sent to airborne processor module, and when on-board batteries electricity is lower than a setting value When, the airborne processor module control unmanned plane stops the region high to an intensity of illumination, to pass through the photovoltaic cell to machine Battery is carried to charge;Or the airborne processor module control unmanned plane stops to the biggish region of a wind-force, to pass through wind Dynamic horizontal propeller and/or vertical spin paddle are produced electricl energy and are charged to on-board batteries;Wherein the vertical spin paddle is suitable for Pass through the first, second angle adjustment motor adjustable inclination.
Another aspect, the present invention also provides the working methods of the Skynet system described in one kind, pass through cloud computing platform pair Target in the video image of each video monitoring apparatus is tracked.
Further, it before being tracked by cloud computing platform to the target in the video image of each video monitoring apparatus, needs Target is identified, and recognition methods includes:
The cloud computing platform, which is suitable for identifying in video image by property data base of having a fist fight, occurs fighting incident;The bucket Beatting up property data base includes: the motion frequency characteristic value of human body trick, direction of motion clutter characteristic value;If in video image The motion frequency and direction of motion clutter of human body trick match with individual features value in property data base, then determine the view Have a fist fight in frequency image behavior;The cloud computing platform is further adapted for detecting crowd massing exception, i.e., the described cloud computing platform is suitable In extracting crowd's area in image and the number in crowd, to calculate Per capita area, if Per capita area is lower than preset value When, determine that this is crowded;The cloud computing platform is further adapted for setting corresponding video monitoring device video image collected Mix line and area-of-interest, when thering is object to enter to mix line and area-of-interest, by camera the object is carried out with Track shooting;The cloud computing platform is further adapted for calculating the motion profile in video pictures, to determine whether occur in video pictures It is reverse to advance;The cloud computing platform is further adapted for recording each feature in stationary video image, when there are other in the video image When feature, features described above is identified.
Further, it is additionally provided with the shutdown depressed place for parking unmanned plane on the lamppost, and nobody is installed on the unmanned plane Machine control system;The unmanned aerial vehicle control system includes: airborne processor module, the airborne nothing being connected with airborne processor module Line communication module and video capture module;The unmanned aerial vehicle control system is suitable for leading to the video image of shooting by airborne wireless It interrogates module and lamppost wireless communication module communicates, to be sent to cloud computing platform;When the video monitoring apparatus quilt on a certain lamppost It blocks or failure, or after losing target, cloud computing platform starts unmanned plane and carries out tracing and monitoring to target.
Further, the video monitoring apparatus of lamppost takes a target at one, and the target is just far from the prison of the lamppost When controlling area, the cloud computing platform assigns unmanned plane to carry out tracing and monitoring to the target according to the position of target;Unmanned plane passes through Path optimizing system flies to several paths of the target position to select to unmanned plane, to obtain optimal path.
The invention has the advantages that this Skynet system and its working method make full use of LED street lamp lamppost, biography has been expanded The function of system lamppost, video monitoring is combined with lamppost, and the video image of each lamppost shooting is sent to the cloud meter positioned at cloud Platform is calculated to be analyzed and handled, realize it is anti-probably, anti-riot purpose, thus to the maximum extent probably activity is contained in rudiment shape cruelly State, containment terrorist forces play a significant role.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the functional block diagram of Skynet system of the invention;
Fig. 2 is the structural schematic diagram of LED street lamp lamppost of the present invention;
Fig. 3 is unmanned aerial vehicle (UAV) control functional block diagram of the invention;
Fig. 4 is the structural schematic diagram of unmanned plane of the invention;
Fig. 5 is the unmanned plane during flying track schematic diagram that path optimizing system of the invention is planned.
In figure: video monitoring apparatus 1 shuts down depressed place 2, is unmanned plane 3, horizontal power mechanism 31, horizontal propeller 311, vertical Power mechanism 32, vertical spin paddle 321, micromotor 322, wing 33, suspension arrangement 34, first angle fine tuning motor 341, the Two angle adjustment motors 342, fuselage 35, photovoltaic cell 36.
Specific embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These attached drawings are simplified schematic diagram, only with Illustration illustrates basic structure of the invention, therefore it only shows the composition relevant to the invention.
Embodiment 1
As shown in Figures 1 to 5, a kind of Skynet system of the invention, comprising: be distributed in the lamp of several LED street lamps of block Column is separately installed with video monitoring apparatus 1 on each lamppost;And lamppost wireless communication module is additionally provided on lamppost;The video Monitoring device, lamppost wireless communication module are connected with a control module;The video monitoring apparatus is suitable for passing through lamppost channel radio It interrogates module and video image is sent to cloud computing platform.
Camera in warning device and the video monitoring apparatus is additionally provided on the lamppost to be suitable for passing through control module Control holder makes its steering;The cloud computing platform is suitable for the video image that shoots to each video monitoring apparatus and identifies, if Determine exception, its alarm can be controlled by control module, if such as, but not limited to cloud computing platform passes through video image identification After judging that camera is maliciously blocked, warning device is controlled by control module and is alarmed;The cloud computing platform is further adapted for Setting corresponding video monitoring device video image collected mixes line and area-of-interest, and when having, line is mixed in object entrance and sense is emerging When interesting region, carry out carrying out track up to the object by camera.
It is additionally provided with the shutdown depressed place for parking unmanned plane on the lamppost, and unmanned aerial vehicle (UAV) control system is installed on the unmanned plane System;The unmanned aerial vehicle control system includes: airborne processor module, the airborne wireless communication mould being connected with airborne processor module Block and video capture module;The unmanned aerial vehicle control system be suitable for the video image that will shoot by airborne wireless communication module and Lamppost wireless communication module communication, to be sent to cloud computing platform;When the video monitoring apparatus on a certain lamppost is blocked, or therefore After barrier, or loss target, cloud computing platform starts unmanned plane and carries out tracing and monitoring to target.
The upper cover for shutting down depressed place can be opened in unmanned plane VTOL;Specifically, being shut down if unmanned plane flies back The upper cover in depressed place is opened, and after unmanned plane shutdown, upper cover is reclosed;One end of the upper cover is equipped with shaft, and the shaft is by a driving Motor drives rotation, and the driving motor is controlled by control module, described after cloud computing platform issues unmanned plane during flying instruction Control module control control driving motor opens upper cover.The control module such as, but not limited to use embeded processor and Motor-drive circuit is constituted.
The video monitoring apparatus of lamppost takes a target at one, and when monitored space of the target just far from the lamppost, The cloud computing platform assigns unmanned plane to carry out tracing and monitoring to the target according to the position of target;The unmanned plane is additionally provided with The path optimizing system and aircraft power system being connected with airborne processor module;The path optimizing system is suitable for obtaining each building Between wind real time data, and establish air duct net between the building of city;After unmanned plane obtains target position, the path optimizing system is suitable Fly according to net selection unmanned plane in air duct between the building of city to the optimal path of the target position.The cloud computing platform obtains target The specific location that the method for position is such as, but not limited to pass through the lamppost of the installation video monitoring apparatus of the photographic subjects carries out greatly Body positioning, and according to the angle of video monitoring apparatus shooting or apart from being further accurately positioned.
Do not need each lamppost in practice and be equipped with unmanned plane, can one region of setting configure a frame nobody Machine, the unmanned plane are suitable for target captured by tracking one's respective area video monitoring apparatus.
Passage path optimization system obtains unmanned plane and flies to the optimal path of target position, makes full use of between each building in air duct The wind direction of wind, improves flying speed between building, reduces flight energy consumption.
Specifically, the real time data of wind is such as, but not limited to acquire by the air duct data being distributed between each high building between each building Node obtains, and the air duct data acquisition node includes: the wind speed sensing for detecting wind wind speed between building between being installed on building The wind transducer of wind wind direction between the building Qi He, and the modal processor and nothing being connected with the air velocity transducer and wind transducer Wind speed, wind direction data are wirelessly sent to unmanned plane by wire module, carry out data point with passage path optimization system Analysis, and then establish air duct between the building of city.
Unmanned plane is after obtaining airbound target position, air duct between the corresponding building in analysis flight path city experienced, and advises Mark most reasonable flight path, as optimal path.
Specifically, the intersection point in air duct is node between the building air duct Wang Yige between the building of city, and according between adjacent two nodes Building between the wind speed in air duct, wind direction data carry out Path selection, i.e. wind between the corresponding building that matches to flight path of selection wind direction Selection section of the road as optimal path, makes unmanned plane reach target position in the case where with the wind as far as possible, is mentioned with reaching High flying speed reduces the purpose of fuel consumption;Though selecting the section that against the wind but wind speed is small, distance is short.Can specifically it lead to It crosses and sets corresponding limit value, such as when contrary wind state, specific wind speed rank is digitized, such as 1 grade, 2 grades, distance It can be set 10 meters, 20 meters or 30 meters etc., such as set section alternative condition as no more than 2 grades of wind speed, distance is no more than 20 meters When, it can choose the section, then during optimum path planning, if certain a road section meets above-mentioned condition, can choose this Section is added to optimal path.
As shown in figure 3, obtaining unmanned plane from initial position A to the mulitpath of target position E, and according to each path institute phase The wind direction in air duct screens path between the building of pass, and unmanned plane is made to fly in air duct between building with the wind as far as possible, such as A to B, B to C, C to D, D to E, and each hollow arrow respectively indicates the wind direction in air duct between corresponding building.
Preferably, the path optimizing system includes: the map memory module being connected with airborne processor module, GPS mould Block and gyroscope for detecting unmanned plane during flying posture;Specifically, the airborne processor module in the unmanned plane is also connected with There is map memory module, airborne processor module is suitable for matching received optimal path with cartographic information, so that unmanned plane It flies according to optimal path, flight path, flight attitude is repaired by GPS module and gyroscope in flight course Just, to improve the stability that control is shot.
Wherein the aircraft power system includes: the horizontal power mechanism 31 controlled by airborne processor module and vertically moves Force mechanisms 32;Wherein the horizontal engine structure 31 is located at fuselage 35, and includes: flat spin paddle mechanism;It is described vertical dynamic Force mechanisms 32 include: 321 mechanism of vertical spin paddle being symmetrically set at left and right wing 33;The 321 mechanism packet of vertical spin paddle An at least vertical spin paddle 321 is included, for 321 mechanism of vertical spin paddle to be hung on to the suspension arrangement 34 of 33 lower section of wing, institute Vertical spin paddle 321 is stated to be suitable for through the driving rotation of corresponding micromotor 322;The suspension arrangement 34 includes: to be suitable for making vertically The direction F1 in first angle fine tuning the motor 341(such as Fig. 5 that propeller 321 tilts forward or backward), and make vertical spin paddle The direction F2 in 321 leftward or rightward inclined second angle fine tuning motor 342(such as Fig. 5);Wherein first, second angle is micro- Motor and micromotor 322 is adjusted to be controlled by airborne processor module, to adjust inclining for vertical spin paddle 321 according to flight attitude The revolving speed at angle and vertical spin paddle 321 is suitble to high-altitude hovering or corresponding flight attitude is kept to control, and then improves image taking Clarity.
A vertical spin paddle 321 includes two vertical spin paddles 321 in Fig. 5, and front and back is symmetrical arranged, therefore, similarly Motor 342 is finely tuned including two second angles, which is suitable for by the control of airborne processor module It rotates synchronously.
The unmanned plane is additionally provided with wind transducer and air velocity transducer for detecting met crosswind in flight course, institute It states wind transducer and air velocity transducer is suitable for the wind direction of crosswind suffered by current unmanned plane and air speed data being sent to airborne place Manage device module;The airborne processor module is suitable for wind direction and air speed data according to crosswind, adjusts inclining for vertical spin paddle 321 Angle and vertical, horizontal propeller revolving speed, to stablize current flight posture, and then obtain stable video image.
If unmanned plane flies between building in city, crosswind belongs to one kind of wind between building.
Specifically, the wind transducer and air velocity transducer are for measuring what unmanned plane actually obtained in flight course The wind direction and air speed data of crosswind, and then pass through the inclination angle of vertical spin paddle 321, i.e., front or rear, left or right is adjusted, and is combined and hung down Directly, the revolving speed of horizontal propeller, to play the effect of stabilized flight posture, and if crosswind be conducive to fly, can also fit When the revolving speed for reducing horizontal propeller, to save electric energy.
Such as unmanned plane westerly flies from east, if encountering the crosswind of southwestward, airborne processor module is suitable for adjusting The inclination angle of vertical spin paddle 321, i.e., southwester direction tilts, to offset shadow of the crosswind to unmanned plane during flying route of southwestward It rings;Also, according to wind speed size, change the revolving speed of vertical spin paddle 321.Unmanned plane keeps stable hovering posture, with low coverage From close to high level, realizing to unmanned plane collision probability can be reduced with the monitoring of floor.
Wherein, the airborne processor module is such as, but not limited to the processing using the Duo-Core Architecture with DSP and ARM Device, can also be in such a way that dsp processor and arm processor cooperate.
Preferably, photovoltaic cell is covered on the wing of the unmanned plane, the path optimizing system is further adapted for obtaining each Real-time lighting intensity and the path optimizing system between building is when selecting optimal path, if two or more road The section of real-time lighting maximum intensity is then selected into optimal path by section with wind between the building of identical data.
Further, the path optimizing system is further adapted for obtaining the cloud layer data in city overhead, and in selection optimal path When, avoid the section of overcast area;And the video capture module is suitable for shooting building panorama, and flat by cloud computing Platform identifies the height of the building;When unmanned plane flight in rain and snow, the path optimizing system is suitably selected for building Path selection of the leeward section as unmanned plane in optimal path;And make the flying height of unmanned plane lower than the building Height, to block sleet.
Preferably, the airborne processor module is also connected with the charge and discharge control module in unmanned plane, and the charge and discharge Electric control module is suitable for for on-board batteries electricity being sent to airborne processor module, and when on-board batteries electricity is lower than a setting value When, the airborne processor module control unmanned plane stops the region high to an intensity of illumination, to pass through the photovoltaic cell to machine Battery is carried to charge;Or the airborne processor module control unmanned plane stops to the biggish region of a wind-force, to pass through wind Dynamic horizontal propeller and/or vertical spin paddle are produced electricl energy and are charged to on-board batteries;Wherein the vertical spin paddle is suitable for Wind power generation efficiency is improved by the first, second angle adjustment motor adjustable inclination to obtain maximum wind power.Specifically, described Charge and discharge control module is suitable for charging to on-board batteries after electric energy produced by wind-force and solar energy is carried out complementation, described to fill Control of discharge module can be realized by the corresponding wind light mutual complementing module of the prior art.
Embodiment 2
On that basis of example 1, the present invention also provides a kind of working method of Skynet system, that is, pass through cloud computing platform Target in the video image of each video monitoring apparatus is tracked.
Before being tracked by cloud computing platform to the target in the video image of each video monitoring apparatus, need to target into Row identification, the method for carrying out image recognition to target can be realized by the prior art about image procossing.Preferably, right A kind of preferred recognition methods is additionally provided in identification, the present embodiment, i.e.,
The cloud computing platform, which is suitable for identifying in video image by property data base of having a fist fight, occurs fighting incident;
It is described have a fist fight property data base include: the motion frequency characteristic value of human body trick, direction of motion clutter feature Value;
If the motion frequency of human body trick and direction of motion clutter are corresponding to property data base special in video image Value indicative matches, then determines behavior of having a fist fight in the video image;
Specifically, the trick of the people in video image is identified by video identification technology in the prior art, movement frequency Rate characteristic value is specially the motion frequency of trick, such as one minute number of oscillations;Direction of motion clutter characteristic value is specially The track and amplitude that trick is swung, such as track are bigger than normal without regular and amplitude, then judge behavior of having a fist fight.
Preferably, can also be identified by video identification technology in the prior art people in video image face, Chest and leg, and judge whether there is behavior according to the collision occurrence rate of trick and face, chest and leg.
The cloud computing platform is further adapted for detecting crowd massing exception, i.e., the described cloud computing platform is suitable for extracting in image Crowd's area and crowd in number, to calculate Per capita area, if Per capita area be lower than preset value, determine that the crowd gathers around It squeezes.
The cloud computing platform be further adapted for set corresponding video monitoring device video image collected mix line and feel it is emerging Interesting region is carried out by camera to object progress track up when having object into when mixing line and area-of-interest.
The cloud computing platform is further adapted for calculating the motion profile in video pictures, to determine whether occur in video pictures It is reverse to advance;Specifically, cloud computing platform judges whether the people in video pictures drives in the wrong direction according to the instruction of the arrow of road, Huo Zhegen It keeps to the right according to traffic rules and judges the normally travel direction in the section, then the driving trace judgement for passing through the people in video pictures Whether people drives in the wrong direction.
The cloud computing platform is further adapted for recording each feature in stationary video image, special when occurring other in the video image When sign, features described above is identified;Specifically, each feature is specially in video image picture in record stationary video image Object, placement position etc., if other objects are entered in video pictures, cloud computing platform is quickly captured, it is carried out identification and Calibration, reminder alarm issue alarm when necessary.
It is additionally provided with the shutdown depressed place for parking unmanned plane on the lamppost, and unmanned aerial vehicle (UAV) control system is installed on the unmanned plane System;The unmanned aerial vehicle control system includes: airborne processor module, the airborne wireless communication mould being connected with airborne processor module Block and video capture module;The unmanned aerial vehicle control system be suitable for the video image that will shoot by airborne wireless communication module and Lamppost wireless communication module communication, to be sent to cloud computing platform;When the video monitoring apparatus on a certain lamppost is blocked, or therefore After barrier, or loss target, cloud computing platform starts unmanned plane and carries out tracing and monitoring to target.
The video monitoring apparatus of lamppost takes a target at one, and when monitored space of the target just far from the lamppost, The cloud computing platform assigns unmanned plane to carry out tracing and monitoring to the target according to the position of target;Unmanned plane passage path is excellent Change system flies to several paths of the target position to select to unmanned plane, to obtain optimal path.
Further, unmanned plane passage path optimization system flies to several paths of target position to select to unmanned plane, Include: in the method for obtaining optimal path
The real time data of wind between each building is obtained, and establishes air duct net between the building of city;After unmanned plane obtains target position, nothing Airborne processor module passage path optimization system in man-machine is suitable for being flown according to net selection unmanned plane in air duct between the building of city to this The optimal path of target position.
Photovoltaic cell is covered on the wing of the unmanned plane, the path optimizing system is further adapted for obtaining the reality between each building When intensity of illumination;The path optimizing system is when selecting optimal path, if two or more section has identical number According to building between wind, then the section of real-time lighting maximum intensity is selected into optimal path.Wherein real-time lighting data can pass through Photosensitive sensor is placed in the data acquisition node of air duct, to obtain the real-time lighting intensity between building.
The path optimizing system is further adapted for obtaining the cloud layer data in city overhead, and when selecting optimal path, avoids The section of overcast area;Wherein, the cloud layer data are suitable for obtaining by meteorological satellite, or pass through local multiple meteorological sights The whistle is examined to obtain in real time.
The airborne processor module is suitable for identifying the height of the building according to building panorama;When unmanned plane is in sleet When weather flight, the path optimizing system is suitably selected for road of the leeward section of building as unmanned plane in optimal path Diameter selection;And make unmanned plane flying height be lower than the building height, to block sleet, can be improved shooting effect and Image stabilization is imaged.
The working method further include: the inclination angle of vertical spin paddle 321 and the method packet of revolving speed are adjusted according to flight attitude Include: the airborne processor module is suitable for control first angle fine tuning motor 341 and vertical spin paddle 321 is driven to turn forward, together When control horizontal propeller mechanism in horizontal propeller work, with shorten unmanned plane reach setting cruising altitude time, and In unmanned plane while reaching Cruising Altitude, meet its cruising speed.
The unmanned plane is additionally provided with wind transducer and air velocity transducer for detecting met crosswind in flight course, institute It states wind transducer and air velocity transducer is suitable for the wind direction of crosswind suffered by current unmanned plane and air speed data being sent to airborne place Manage device module;The airborne processor module is suitable for wind direction and air speed data according to crosswind, adjusts inclining for vertical spin paddle 321 Angle and vertical, horizontal propeller revolving speed carry out video image acquisition to stablize current flight posture.
Specifically, the airborne processor module is suitable for wind direction and air speed data according to crosswind, vertical spin paddle is adjusted 321 inclination angle and vertical, horizontal propeller revolving speed, to stablize the method packet that current flight posture carries out video image acquisition Include: if unmanned plane hovers in the sky, horizontal propeller stops working, and vertical spin paddle 321 works, the airborne processor Module is suitable for wind direction and air speed data according to crosswind, changes inclination angle and the revolving speed of vertical spin paddle 321, with steadily hovering appearance State;If unmanned plane cruises, the airborne processor module is suitable for wind direction and air speed data according to crosswind, changes vertical spin paddle 321 inclination angle and revolving speed, to keep cruising altitude.
Specific implementation process: if unmanned plane hovers in control, if encountering the crosswind from east westerly, vertical spin paddle 321 Inclination angle correspond to cross-wind direction, to offset influence of the crosswind to unmanned plane during flying posture, and adjusted and hung down according to the wind speed of crosswind The revolving speed of straight propeller 321.
The airborne processor module is suitable for judging whether the wind direction of crosswind and wind speed facilitate to fly, if helping to fly Row then reduces the revolving speed of vertical spin paddle 321 and/or horizontal propeller 311, saves electric energy, improves the cruise mileage of unmanned plane.
Embodiment 3
On the basis of embodiment 1 or 2, there are following modifications for the Skynet system of the present embodiment:
Lamp cap (preferably high-power, ultra-bright LED lamp) on street lamp or traffic lights is connected on lamppost, lamp by a connecting rod Head and/or connecting rod are suitable for rotation;The video monitoring apparatus is suitable for judging whether have human body image in the video image, if There are human body images, then are focused to the face part in human body image, while controlling the lamp cap and/or connecting rod rotation Turn, so that the lamp cap is towards the human body direction in human body image, to increase the face brightness of the human body.Video monitoring apparatus It is equipped with flash lamp, to open flash lamp when video monitoring apparatus is completed to focus face and face brightness is lower than preset value.
Face identification system is equipped in cloud computing platform, by the people in the video image from the video monitoring apparatus Body image carry out recognition of face, with obtained facial image, at the same record the facial image attribute (including obtain image when Between, place, the position in the video image etc.);Then the facial image and its attribute transfer recognition of face obtained is extremely In the database of public security bureau.
Taking the above-mentioned ideal embodiment according to the present invention as inspiration, through the above description, relevant staff is complete Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention Property range is not limited to the contents of the specification, it is necessary to which the technical scope thereof is determined according to the scope of the claim.

Claims (3)

1. a kind of Skynet system characterized by comprising be distributed in the lamppost of several LED street lamps of block, distinguish on each lamppost The video monitoring apparatus being connected with a control module and lamppost wireless communication module are installed;
The video monitoring apparatus is suitable for that video image is sent to cloud computing platform by lamppost wireless communication module;
The video monitoring apparatus is suitable for judging whether have human body image in the video image, if it exists human body image, then Face part in human body image is focused;
Face identification system is equipped in cloud computing platform, by the human figure in the video image from the video monitoring apparatus As carrying out recognition of face;
Camera in warning device and the video monitoring apparatus is additionally provided on the lamppost to be suitable for controlling by control module Holder makes its steering;
The video image that the cloud computing platform is suitable for shooting each video monitoring apparatus identifies, if it is determined that exception, then lead to It crosses control module and controls its alarm;
The cloud computing platform, which is further adapted for setting corresponding video monitoring device video image collected, mixes line and region of interest Domain is carried out by camera to object progress track up when having object into when mixing line and area-of-interest;
It is additionally provided with the shutdown depressed place for parking unmanned plane on the lamppost, and unmanned aerial vehicle control system is installed on the unmanned plane;
The unmanned aerial vehicle control system includes: airborne processor module, the airborne wireless communication being connected with airborne processor module Module and video capture module;
The video image that the unmanned aerial vehicle control system is suitable for shoot passes through airborne wireless communication module and lamppost wireless telecommunications Module communication, to be sent to cloud computing platform;
When the video monitoring apparatus on a certain lamppost is blocked or failure, or after losing target, cloud computing platform starts unmanned plane Tracing and monitoring is carried out to target;
The shutdown depressed place is equipped with laser emitter, is equipped with photocell on unmanned plane, when unmanned plane is parked on the shutdown depressed place, On laser transmitter projects laser to photocell, photocell charges to the on-board batteries on unmanned plane;
The video monitoring apparatus of lamppost takes a target at one, and when monitored space of the target just far from the lamppost, described Cloud computing platform assigns unmanned plane to carry out tracing and monitoring to the target according to the position of target;
The unmanned plane is additionally provided with the path optimizing system and aircraft power system being connected with airborne processor module;
The path optimizing system is suitable for obtaining the real time data of wind between each building, and establishes air duct net between the building of city;Work as unmanned plane After obtaining target position, the path optimizing system is suitable for being flown according to net selection unmanned plane in air duct between the building of city to the target position Optimal path;
The path optimizing system includes: the map memory module being connected with airborne processor module, GPS module and for detecting The gyroscope of unmanned plane during flying posture;Wherein
The aircraft power system includes: the horizontal power mechanism and Vertical Dynamic mechanism controlled by airborne processor module;Its In
The horizontal power mechanism is located at fuselage, and includes: flat spin paddle mechanism;
The Vertical Dynamic mechanism includes: the vertical spin paddle mechanism being symmetrically set at left and right wing;
The vertical spin paddle mechanism includes an at least vertical spin paddle, for hanging on vertical spin paddle mechanism below wing Suspension arrangement, the vertical spin paddle be suitable for by corresponding micromotor driving rotation;
The suspension arrangement includes: the first angle fine tuning motor suitable for tilting forward or backward vertical spin paddle, and is made Inclined second angle finely tunes motor to vertical spin paddle to the left or to the right;Wherein
The first, second angle adjustment motor and micromotor are controlled by airborne processor module, according to flight attitude Adjust the inclination angle of vertical spin paddle and the revolving speed of vertical spin paddle;
Also, the unmanned plane is additionally provided with wind transducer and air velocity transducer for detecting met crosswind in flight course, And the wind direction of crosswind suffered by current unmanned plane and air speed data are sent to airborne processor module;
The airborne processor module is suitable for wind direction and air speed data according to crosswind, adjusts the inclination angle of vertical spin paddle and hangs down Directly, the revolving speed of horizontal propeller carries out video image acquisition to stablize current flight posture;
If also, the wind direction and wind speed of crosswind help to fly, and reduce the revolving speed of vertical spin paddle and/or horizontal propeller.
2. Skynet system according to claim 1, which is characterized in that be covered with photovoltaic electric on the wing of the unmanned plane Pond, the path optimizing system are further adapted for obtaining the real-time lighting intensity between each building;
The path optimizing system is when selecting optimal path, if two or more section is between the building of identical data The section of real-time lighting maximum intensity is then selected into optimal path by wind;
The path optimizing system is further adapted for obtaining the cloud layer data in city overhead, and when selecting optimal path, avoids cloud layer The section of the area of coverage;And
The video capture module is suitable for shooting building panorama, and the height of the building is identified by cloud computing platform;
When unmanned plane flight in rain and snow, the path optimizing system is suitably selected for the leeward section of building as nobody Path selection of the machine in optimal path, and make the flying height of unmanned plane lower than the height of the building, to block sleet.
3. Skynet system according to claim 2, which is characterized in that the airborne processor module is also and in unmanned plane Charge and discharge control module is connected, and the charge and discharge control module is suitable for on-board batteries electricity being sent to airborne processor die Block, and when on-board batteries electricity is lower than a setting value, the airborne processor module control unmanned plane stops to an intensity of illumination High region, to be charged by the photovoltaic cell to on-board batteries;Or the airborne processor module controls unmanned plane Stop to the biggish region of a wind-force, to blow horizontal propeller by wind and/or vertical spin paddle is produced electricl energy to on-board batteries It charges;Wherein
The vertical spin paddle is suitable for passing through the first, second angle adjustment motor adjustable inclination.
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