CN107295230A - A kind of miniature object movement detection device and method based on thermal infrared imager - Google Patents
A kind of miniature object movement detection device and method based on thermal infrared imager Download PDFInfo
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- CN107295230A CN107295230A CN201710575337.9A CN201710575337A CN107295230A CN 107295230 A CN107295230 A CN 107295230A CN 201710575337 A CN201710575337 A CN 201710575337A CN 107295230 A CN107295230 A CN 107295230A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/54—Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
- G08B21/24—Reminder alarms, e.g. anti-loss alarms
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/80—Camera processing pipelines; Components thereof
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- 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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
- H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
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Abstract
The present invention proposes a kind of miniature object mobile detection method based on thermal infrared imager, comprises the following steps：S1：Each head that thermal infrared imager and high-definition camera are respectively loaded with according to user instruction is run to presetting bit；S2：The chip module determines the deploy troops on garrison duty type in region, and the corresponding parameter information in each region of deploying troops on garrison duty according to presetting bit information；S3：Cross thermal infrared imager to be scanned each region of deploying troops on garrison duty, and transfer data to the chip module；S4：By each frame infrared video flow data, first coordinate set of deploying troops on garrison duty corresponding with the presetting bit with default database is compared chip module, S5：Client obtains coordinate information by server end, and the object of alarm is confined in real time on video flowing according to coordinate information, forms the movement locus of the object of an alarm.The present invention can completely detect the motion track of mobile object, and the method that can substantially reduce rate of false alarm.
Description
Technical field
It is more particularly to a kind of to be based on thermal infrared imager and miniature object the present invention relates to infrared thermal imagery technical field of imaging
Movement detection device and method.
Background technology
With continuing to develop for intelligent video monitoring system in recent years, people need for the function of intelligent video monitoring system
Ask and also constantly upgrade, it is also harsher to its accuracy requirement, and mobile detection function is used as intelligent video monitoring system
One of Core Feature, research of the people to its method is also never interrupted, and the method for mobile detection constantly develops.
Mobile detection method common at present is roughly divided into three kinds：
1st, background subtraction method is a kind of the most frequently used method in current motion detection, and it is to use present image and background image
Difference detect a kind of technology of moving region.It is generally possible to provide most complete characteristic, but for dynamic field
The change of scape, such as illumination and the interference of external extraneous events are especially sensitive.Simplest background model is time the average image,
Most researcher is devoted to develop different background models at present, to reduce dynamic scene change for motion point
The influence cut.
2nd, time differencing method is also known as neighbor frame difference, is that two or three adjacent interframe use base in continuous image sequence
The moving region in image is extracted in the time difference and thresholding of pixel.Time difference method for testing motion is for dynamic
State environment has stronger adaptivity, but can not typically extract all related moving target changes completely.
3rd, optical flow method, the motion detection based on optical flow approach employs the optical flow characteristic that moving target is changed over time, and leads to
Cross calculating motion vector optical flow field to initialize the track algorithm based on profile, so as to effectively extract and pursuit movement target.
The advantage of this method is also to detect independent moving target on the premise of camera motion is present.However, most
Optical flow computation method is considerably complicated, and noiseproof feature is poor, and full frame can not be applied to if without special hardware unit and is regarded
The real-time processing of frequency stream.
Three of the above method is substantially based on high-definition camera to do, by the analysis of the yuv data of high definition figure and
Algorithm process carries out computing, so as to realize detecting and positioning to mobile object, but these three methods all exist it is certain
The problem of, they are all based on visible ray to do, so the scene of detecting needs illumination, and equipment is away from detecting scene distance
Can not too far, and small variation can all cause substantial amounts of wrong report, and have certain difficulty for the evidence obtaining of object.
The content of the invention
The present invention proposes that one kind works as detecting scene with equipment apart from medium and long distance, or object is in the infrared angle of visual field
When shared pixel quantity is less in the range of the space of a whole page, the motion track and mistake of the movement object can be completely detected
Journey, and the method that rate of false alarm can be substantially reduced.
The technical proposal of the invention is realized in this way：
A kind of miniature object mobile detection method based on thermal infrared imager, including for obtaining the red of infrared video stream
Outer thermal imaging system；High-definition camera for obtaining high definition video steaming, the range unit for obtaining target range information, and bag
Chip containing ARM or fpga chip for the chip module that is handled according to algorithm；For supporting thermal infrared imager and high definition
Video camera simultaneously ensures both coaxial multiple heads, for the client of the server end of information processing, and built-in electronic map,
The server end includes streaming media server；Its method for detecting comprises the following steps：
S1：Each head that thermal infrared imager and high-definition camera are respectively loaded with according to user instruction is run to presetting bit；
S2：The chip module determines the type in region of deploying troops on garrison duty according to presetting bit information, and each region of deploying troops on garrison duty is corresponding
Parameter information, the parameter information includes the area vector scope of algorithm types, alarm sensitivity, and triggering alarm；
S3：Each region of deploying troops on garrison duty is scanned by the thermal infrared imager according to user instruction, and obtains each pre-
Each frame infrared video flow data of set is sent to the chip module；
S4：The chip module by described in each frame infrared video flow data first with default database in the presetting bit
Corresponding coordinate set comparison of deploying troops on garrison duty, extracts data set of deploying troops on garrison duty corresponding with the coordinate set of deploying troops on garrison duty；By number of being deployed troops on garrison duty described in each frame
Calculated according to the data set of deploying troops on garrison duty of collection and its front cross frame according to the algorithm of setting；Pixel after piecemeal processing is calculated is in
When in the range of the area vector of the setting triggering alarm, it is determined as there is mobile object triggering alarm, the coordinate of alarm will be triggered
Information is sent to server end in real time；
S5：Client obtains coordinate information, and the thing according to coordinate information on video flowing to alarm by server end
Body is confined in real time, and the central point for the object that will trigger alarm is connected, and forms the motion of an object alerted
Track.
A kind of miniature object mobile detection method based on thermal infrared imager that the present invention is provided, passes through the infrared heat in front end
Picture instrument quickly constantly obtains infrared video stream, and big sends these data to chip module by data-interface, then passes through service
The high definition video steaming of infrared video stream and high-definition camera is transmitted to client by device end, and user needs further according to itself, passed through
Client marks off the high capital region of mobile detection on infrared video stream and sets the triggering alarm in each alarm region
Threshold value, client is by these regions and corresponding parameter feedback to chip module, and chip module is according to further according to infrared video
Flow and calculated, finally judge whether triggering alarm, it uses infrared inspection detecting mode, when remote in detecting scene and equipment distance
Distance, or object pixel quantity shared in the range of the space of a whole page of the infrared angle of visual field it is less when, can completely detect
The motion track and process of the movement object are measured, and rate of false alarm can be substantially reduced.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, without having to pay creative labor, may be used also
To obtain other accompanying drawings according to these accompanying drawings.
Fig. 1 is a kind of flow chart of the miniature object mobile detection method based on thermal infrared imager of the present invention；
Fig. 2 is space of a whole page pixel enlarged diagram of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the embodiment of the present invention is set with to a kind of rotatable entertaining building blocks
In technical scheme be clearly and completely described, it is clear that described embodiment is only a part of embodiment of the invention,
Rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art are not making creative labor
The every other embodiment obtained under the premise of dynamic, belongs to the scope of protection of the invention.
It is preferred that, a kind of miniature object mobile detection method based on thermal infrared imager, including for obtaining infrared regard
The thermal infrared imager of frequency stream；High-definition camera for obtaining high definition video steaming, the ranging for obtaining target range information is filled
Put, and comprising ARM chips or fpga chip for the chip module that is handled according to algorithm；For supporting infrared thermal imagery
Instrument and high-definition camera simultaneously ensure both coaxial multiple heads, for the server end of information processing, and built-in electronic map
Client, the server end include streaming media server；Its method for detecting comprises the following steps：
S1：Each head that thermal infrared imager and high-definition camera are respectively loaded with according to user instruction is run to presetting bit；
S2：The chip module determines the type in region of deploying troops on garrison duty according to presetting bit information, and each region of deploying troops on garrison duty is corresponding
Parameter information, the parameter information includes the area vector scope of algorithm types, alarm sensitivity, and triggering alarm；
S3：Each region of deploying troops on garrison duty is scanned by the thermal infrared imager according to user instruction, and obtains each pre-
Each frame infrared video flow data of set is sent to the chip module；
S4：The chip module by described in each frame infrared video flow data first with default database in the presetting bit
Corresponding coordinate set comparison of deploying troops on garrison duty, extracts data set of deploying troops on garrison duty corresponding with the coordinate set of deploying troops on garrison duty；By number of being deployed troops on garrison duty described in each frame
Calculated according to the data set of deploying troops on garrison duty of collection and its front cross frame according to the algorithm of setting；Pixel after piecemeal processing is calculated is in
When in the range of the area vector of the setting triggering alarm, it is determined as there is mobile object triggering alarm, the coordinate of alarm will be triggered
Information is sent to server end in real time；
S5：Client obtains coordinate information, and the thing according to coordinate information on video flowing to alarm by server end
Body is confined in real time, and the central point for the object that will trigger alarm is connected, and forms the motion of an object alerted
Track.
It is preferred that, before step S1 is performed, in addition to step S0, the presetting bit information of equipment is determined, its specific steps bag
Include：
Rotating machinery is marked off on infrared video stream to needing to carry out the scene setting presetting bit of mobile detection of deploying troops on garrison duty
Deploy troops on garrison duty region, and corresponding region parameter threshold；One preset one presetting bit number of bit allocation is often set；Wherein presetting bit level
Angle and presetting bit luffing angle determine a presetting bit, and each region of deploying troops on garrison duty at most sets five in a presetting bit, if
When quantity is not up to five, then the coordinate without data is defaulted as sky；
Client is by each presetting bit information, the corresponding parameter threshold of area information and region of deploying troops on garrison duty of deploying troops on garrison duty of the presetting bit
Value is encapsulated as structured data, and these structured datas are sent to chip module in the form of message by server end；
Structured data is stored in database by chip module.
The structured data wherein sent is defined as follows：
It is preferred that, refer to Fig. 2, according to the size of the space of a whole page resolution ratio of infrared image, chip module will by algorithm with
The one-to-one original uncorrected data of infrared image pixel sets up rectangular coordinate system, and the image resolution ratio hair of such as thermal infrared imager is
640*480, then setting up a horizontal direction has 640 units, and vertical direction has the rectangular coordinate system of 480 units.In this reality
Apply the uncorrected data proposed in example and refer to the data that thermal infrared imager is gathered, untreated initial data.
It is preferred that, when performing step S2, its specific operating process is as follows：
The chip module determines the region of deploying troops on garrison duty of each presetting bit according to presetting bit information and area information of deploying troops on garrison duty
Type and quantity；
For the type in each region of deploying troops on garrison duty, the institute of the pixel inside each region of deploying troops on garrison duty is found out by geometric algorithm
There is a position coordinates, and presetting bit is encapsulated as according to presetting bit number and deploy troops on garrison duty coordinate set, in classification deposit data；Each of which block is preserved
Deploy troops on garrison duty area coordinate all with corresponding parameter setting, parameter setting include algorithms selection type, alarm sensitivity and touch
Send out the area vector scope of alarm.
It is preferred that, in step S4 is performed, by the data set root of deploying troops on garrison duty of data set and its front cross frame of being deployed troops on garrison duty described in each frame
When being calculated according to the algorithm of setting, its specific operating process is as follows：If algorithm types are sent out to compare, chip module is obtained
To the set for area data collection of deploying troops on garrison duty, by this gather in coordinate data and an above frame deploy troops on garrison duty corresponding coordinate picture in data set
The uncorrected data value of vegetarian refreshments is compared, and whether finds out the difference of uncorrected data change of the pixel more than the sensitivity set
Point, if carrying out piecemeal processing to the pixel more than sensitivity more than if, if the pixel quantity after piecemeal is in the face of setting
Product vector scope, then judge have mobile object to enter area triggering alarm of deploying troops on garrison duty；The object of alarm shows as difference in the space of a whole page
Value transfinites and pixel is in the block of pixels that the pixel in the range of area vector is constituted；
If the algorithm types of selection are differential technique, chip module is getting the set for data set of deploying troops on garrison duty, is calculating this
Deploy troops on garrison duty region all pixels point data value average value B1, then by this average value B1 and previous frame data respective coordinates collection
The average value A1 of pixel is compared, if the absolute value (| A1-B1 |) of the difference of two average value exceedes the sensitivity of setting,
Then each data of the area data collection of deploying troops on garrison duty are individually subtracted with the average value B1 of the data value of the area data collection of deploying troops on garrison duty of the frame,
Pixel the absolute value therein for subtracting rear difference higher than sensitivity is recorded, then carries out piecemeal processing, if after piecemeal
Pixel is in the range of the area vector of setting, then judges have mobile object to enter area triggering alarm of deploying troops on garrison duty；The thing of alarm
The equal difference that body shows as in the space of a whole page transfinites and pixel is in the pixel that the pixel in the range of area vector is constituted
Point block.
It is preferred that, when performing step S4, chip module constantly takes out the original naked of the presetting bit from thermal infrared imager
Data are simultaneously analysed and compared by algorithm, and the speed for obtaining original uncorrected data ensures more than 15 frame per second；Touched when there is alarm
During hair, the coordinate information for triggering alarm is sent to client by chip module by service end in real time.
It is preferred that, when performing step S5, its specific steps includes：
The longitude and latitude for the initial position installed according to infrared video camera and high-definition camera, adds one and consolidates on the electronic map
Determine the equipment sites of longitude and latitude, while setting the corresponding direction of the initial position, initial position is that horizontal angle is 0 degree, the angle of pitch
Spend for 90 degree, it is to direct north that position is shown during its general default installation；
Angle information is obtained according to the coordinate information of the object of current alarm, range unit goes to angle progress ranging and obtained
Get distance and be sent to client；When alerting, the object of alarm can be obtained in infrared visual field by detection equipment
Coordinate information on the space of a whole page of angle, because the infrared lens angle of visual field is certain, therefore corresponding pixel in unit field of view angle
Quantity be also it is certain, therefore according to the coordinate on the angle of visual field space of a whole page and current device head angle, you can obtain alarm
The current angle of object.For example spent when the infrared angle of visual field is 38 degree * 27, the resolution ratio of infrared image is 384*288, current to accuse
The center point coordinate of alert object is (x, y), and equipment head current angular is horizontal H degree, pitching P degree, it is assumed that now alert
The angle of object be horizontal M, pitching N, then：
M=H+ (x- (384/2)/(384/38))；
N=P+ (y- (288/2)/(288/27)).
Go out the position of mobile object on client electronic map according to angle information and distance calibration, and alarm will be triggered
The central point of object is connected, and forms the movement locus of the object of an alarm on the electronic map.Due to the detecting of front end
Equipment is constantly in the detecting implemented, therefore coordinate information is by the renewal of implementation, you can real-time calibration on the electronic map
Go out the position movement locus of mobile object, wherein the central point of triggering alarm object is a general interval point.
It is preferred that, the mobile detection method for the miniature object based on thermal infrared imager that the present invention is provided, it is adaptable to many
The demand of scene is planted, one of them typical scene is exactly the detecting to the object of falling from high altitude.Because object falls from high-altitude
The speed fallen, therefore generally also need to monitor fixed scene with the carrier of fixed angle.
Identical with foregoing direction, the detecting that user can mark off foreign body falling in monitoring scene is deployed troops on garrison duty region, then
Client sends the coordinate information in region of deploying troops on garrison duty to detection equipment, and detection equipment can calculate region of deploying troops on garrison duty according to geometric algorithm
Pixel coordinate set.
Front end detection equipment continuously obtains the original uncorrected data of thermal infrared imager, then two frames will not deploy troops on garrison duty region
The corresponding data of pixel coordinate set data corresponding with above two frame data according to method of comparison carry out computing.Due to foreign matter pendant
The object fallen is all to move from top to bottom, so for the algorithm of foreign body falling, contrasted during contrast with above two frames, according to
Whether the longitudinal axis left side of the object central point in the infrared angle of visual field space of a whole page increases, and then determines that object is falling from high altitude thing
Body, so as to trigger foreign body falling alarm.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
God is with principle, and any modification, equivalent substitution and improvements made etc. should be included in the scope of the protection.
Claims (5)
1. a kind of miniature object mobile detection method based on thermal infrared imager, it is characterised in that including infrared for obtaining
The thermal infrared imager of video flowing；High-definition camera for obtaining high definition video steaming, the ranging for obtaining target range information
Device, and comprising ARM chips or fpga chip for the chip module that is handled according to algorithm；For supporting infrared heat
As instrument and high-definition camera simultaneously ensure both coaxial multiple heads, for the server end of information processing, and built-in electronic
The client of figure, the server end includes streaming media server；Its method for detecting comprises the following steps：
S1：Each head that thermal infrared imager and high-definition camera are respectively loaded with according to user instruction is run to presetting bit；
S2：The chip module determines the deploy troops on garrison duty type in region, and the corresponding parameter in each region of deploying troops on garrison duty according to presetting bit information
Information, the parameter information includes the area vector scope of algorithm types, alarm sensitivity, and triggering alarm；
S3：Each region of deploying troops on garrison duty is scanned by the thermal infrared imager according to user instruction, and obtains each presetting bit
Each frame infrared video flow data be sent to the chip module；
S4：The chip module is first corresponding with the presetting bit with default database by infrared video flow data described in each frame
Deploy troops on garrison duty coordinate set comparison, extract data set of deploying troops on garrison duty corresponding with the coordinate set of deploying troops on garrison duty；By data set of being deployed troops on garrison duty described in each frame
Calculated with the data set of deploying troops on garrison duty of its front cross frame according to the algorithm of setting；Pixel after piecemeal processing is calculated is in described
When in the range of the area vector of setting triggering alarm, it is determined as there is mobile object triggering alarm, the coordinate information of alarm will be triggered
Send in real time to server end；
S5：Client obtains coordinate information by server end, and the object of alarm is entered on video flowing according to coordinate information
Row is confined in real time, and the central point for the object that will trigger alarm is connected, and forms the movement locus of an object alerted.
2. a kind of miniature object mobile detection method based on thermal infrared imager as claimed in claim 1, it is characterised in that
Before step S1 is performed, in addition to step S0, the presetting bit information of equipment is determined, its specific steps includes：
Rotating machinery is marked off on infrared video stream and deployed troops on garrison duty to needing to carry out the scene setting presetting bit of mobile detection of deploying troops on garrison duty
Region, and corresponding region parameter threshold；One preset one presetting bit number of bit allocation is often set；Wherein presetting bit level angle
A presetting bit is determined with presetting bit luffing angle, each region of deploying troops on garrison duty at most sets five in a presetting bit, if quantity
At not up to five, then the coordinate without data is defaulted as sky；
Client seals each presetting bit information, the corresponding parameter threshold of area information and region of deploying troops on garrison duty of deploying troops on garrison duty of the presetting bit
Fill as structured data, and these structured datas are sent to chip module in the form of message by server end；Chip
Structured data is stored in database by module.
3. a kind of miniature object mobile detection method based on thermal infrared imager as claimed in claim 2, it is characterised in that
When performing step S2, its specific operating process is as follows：
The chip module determines the type in the region of deploying troops on garrison duty of each presetting bit according to presetting bit information and area information of deploying troops on garrison duty
And quantity；
For the type in each region of deploying troops on garrison duty, all positions of the pixel inside each region of deploying troops on garrison duty are found out by geometric algorithm
Put coordinate, and presetting bit is encapsulated as according to presetting bit number and deploy troops on garrison duty coordinate set, in classification deposit data；The cloth that each of which block is preserved
Anti- area coordinate all with corresponding parameter setting, parameter setting include algorithms selection type, alarm sensitivity and triggering accuse
Alert area vector scope.
4. a kind of miniature object mobile detection method based on thermal infrared imager as claimed in claim 1, it is characterised in that
In step S4 is performed, the data set of deploying troops on garrison duty of deployed troops on garrison duty described in each frame data set and its front cross frame is carried out according to the algorithm of setting
During calculating, its specific operating process is as follows：If algorithm types are sent out to compare, chip module gets area data collection of deploying troops on garrison duty
Set, by this gather in coordinate data and an above frame uncorrected data value of corresponding coordinate pixel in data set of deploying troops on garrison duty enter
Row compare, find out the pixel uncorrected data change difference whether exceed setting sensitivity point, if more than if to more than
The pixel of sensitivity carries out piecemeal processing, if the pixel quantity after piecemeal is in the area vector scope of setting, judges
There is mobile object to enter area triggering alarm of deploying troops on garrison duty；The object of alarm shows as difference in the space of a whole page to transfinite and pixel
The block of pixels of pixel composition in the range of area vector；
If the algorithm types of selection are differential technique, chip module is getting the set for data set of deploying troops on garrison duty, is calculating this and deploy troops on garrison duty
The average value B1 of the data value of all pixels point in region, then by the pixel of this average value B1 and previous frame data respective coordinates collection
The average value A1 of point is compared, right if the absolute value (| A1-B1 |) of the difference of two average value exceedes the sensitivity of setting
The average value B1 of the data value of the area data collection of deploying troops on garrison duty of the frame is individually subtracted in each data of the area data collection of deploying troops on garrison duty, it
In the absolute value for subtracting rear difference recorded higher than the pixel of sensitivity, then piecemeal processing is carried out, if the pixel after piecemeal
In the range of area vector of the point in setting, then judge there is mobile object to enter area triggering alarm of deploying troops on garrison duty；The object of alarm exists
The pixel block that equal difference is transfinited and pixel of the pixel in the range of area vector is constituted is shown as in the space of a whole page.
5. a kind of miniature object mobile detection method based on thermal infrared imager as claimed in claim 1, it is characterised in that
When performing step S5, its specific steps includes：
The longitude and latitude for the initial position installed according to infrared video camera and high-definition camera, adds one and fixes warp on the electronic map
The equipment sites of latitude, while setting the corresponding direction of the initial position；
Angle information is obtained according to the coordinate information of the object of current alarm, range unit goes to angle progress ranging and got
Distance is simultaneously sent to client；
Go out the position of mobile object, and the object that alarm will be triggered on client electronic map according to angle information and distance calibration
Central point connect, on the electronic map formed one alarm object movement locus.
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| CN110275220A (en) * | 2018-03-15 | 2019-09-24 | 阿里巴巴集团控股有限公司 | Detection method, the method for detecting position of target object, alarm method |
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