CN107578422B - Pedestrian tracking detection system and method - Google Patents
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Abstract
The embodiment of the invention provides a pedestrian tracking detection system and a pedestrian tracking detection method, wherein the system comprises the following steps: a server and at least one pedestrian tracking detection device, the pedestrian tracking detection device comprising: the system comprises core processing equipment, image acquisition equipment, voice equipment, execution equipment and wireless transmission equipment; the core processing equipment acquires a first real-time video image acquired by the image acquisition equipment, detects pedestrians on the first real-time video image, and generates a tracking control instruction when the pedestrians are detected; acquiring a second real-time video image, determining the pedestrian position of the pedestrian, and generating a movement control instruction when the pedestrian position of the pedestrian is located in a preset specific area; when the moving distance is smaller than a preset threshold value, controlling voice equipment to send warning information to pedestrians; and the wireless transmission equipment sends current time information to the server when the pedestrian position of the pedestrian is in a preset specific area. The system and the method provided by the embodiment of the invention can replace manual monitoring, improve the monitoring efficiency and reduce the labor cost.
Description
Technical Field
The invention relates to the field of intelligent monitoring, in particular to a pedestrian tracking detection system and method.
Background
In the agricultural field, real-time monitoring is needed in many places, for example, some agricultural product planting places with high food safety requirements need to be strictly monitored; the important test field cannot be closed by the idlers, so that the damage test is prevented; seed and pesticide libraries to prevent theft; flour factories with certain dangers can not allow the idlers to enter the flour factories to prevent dangers. Currently, the conventional method is also manual monitoring, however, the monitoring effect of manual monitoring is poor, the efficiency is low, and the labor cost is correspondingly increased.
Disclosure of Invention
The invention provides a pedestrian tracking detection system and a pedestrian tracking detection method, which aim to solve the problems of poor human monitoring effect and low efficiency in the prior art.
In one aspect, an embodiment of the present invention provides a tracking detection system, including: a server and at least one pedestrian tracking detection device in communication with the server, wherein the pedestrian tracking detection device comprises: the system comprises core processing equipment, image acquisition equipment, voice equipment, execution equipment and wireless transmission equipment;
the core processing device is connected with the image acquisition device, the voice device, the execution device and the wireless transmission device;
the core processing equipment acquires a first real-time video image acquired by the image acquisition equipment, detects pedestrians on the first real-time video image, and generates a tracking control instruction when the pedestrians are detected, wherein the tracking control instruction is used for instructing the execution equipment to drive the image acquisition equipment to acquire a second real-time video image of the pedestrians; acquiring the second real-time video image, determining the pedestrian position of the pedestrian, and generating a movement control instruction when the pedestrian position of the pedestrian is positioned in a preset specific area, wherein the movement control instruction is used for indicating the execution equipment to drive the pedestrian tracking detection device to move to the pedestrian position; when the moving distance is smaller than a preset threshold value, controlling voice equipment to send out warning information to the pedestrian;
the wireless transmission device is used for sending current time information to the server when the pedestrian position of the pedestrian is located in a preset specific area.
In another aspect, an embodiment of the present invention provides a pedestrian tracking detection method, including:
acquiring a first real-time video image, and detecting pedestrians on the first real-time video image;
if judging that the pedestrian image exists in the first real-time video image, generating a tracking control instruction, wherein the tracking control instruction is used for indicating to collect a second real-time video image of the pedestrian;
determining the pedestrian position of the pedestrian according to the second real-time video image;
if the pedestrian position is judged to be located in a preset specific area, generating a movement control instruction, wherein the movement control instruction is used for indicating the moving distance of the pedestrian position;
and when the moving distance is smaller than a preset threshold value, sending out warning information to the pedestrians.
According to the system and the method provided by the embodiment of the invention, the pedestrians in the monitoring area are tracked and detected in real time, and when the pedestrians enter the preset specific area, warning information is sent to the pedestrians and the current time information is sent to the server for inquiry, so that the monitoring efficiency is improved and the labor cost is reduced.
Drawings
Fig. 1 is a schematic structural diagram of a pedestrian tracking detection system according to an embodiment of the present invention;
fig. 2 is a flowchart of a method for pedestrian tracking detection according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Fig. 1 is a schematic structural diagram of a pedestrian tracking detection system according to an embodiment of the present invention. As shown in fig. 1, the system includes: a server and at least one pedestrian tracking detection device in communication with the server, wherein the pedestrian tracking detection device comprises: the system comprises core processing equipment, image acquisition equipment, voice equipment, execution equipment and wireless transmission equipment;
the core processing device is connected with the image acquisition device, the voice device, the execution device and the wireless transmission device;
the core processing equipment acquires a first real-time video image acquired by the image acquisition equipment, detects pedestrians on the first real-time video image, and generates a tracking control instruction when the pedestrians are detected, wherein the tracking control instruction is used for instructing the execution equipment to drive the image acquisition equipment to acquire a second real-time video image of the pedestrians; acquiring the second real-time video image, determining the pedestrian position of the pedestrian, and generating a movement control instruction when the pedestrian position of the pedestrian is positioned in a preset specific area, wherein the movement control instruction is used for indicating the execution equipment to drive the pedestrian tracking detection device to move to the pedestrian position; when the moving distance is smaller than a preset threshold value, controlling voice equipment to send out warning information to the pedestrian;
the wireless transmission device is used for sending current time information to the server when the pedestrian position of the pedestrian is located in a preset specific area.
Specifically, the image acquisition equipment is used for acquiring a first real-time video image of a monitoring area where the pedestrian tracking device is located, the core processing equipment detects pedestrians in the first real-time video image, and when the pedestrians are detected, a tracking control instruction is generated; then, the execution equipment drives the image acquisition equipment according to the tracking control instruction, so that the image acquisition equipment rotates to enable the pedestrian to be always in a shooting picture, namely, the pedestrian is subjected to real-time image tracking, and a second real-time video image of the pedestrian is acquired; the core processing equipment determines the pedestrian position of the pedestrian in real time according to the second real-time video image, and generates a movement control instruction when detecting that the pedestrian enters a preset specific area; then, the execution equipment drives the pedestrian tracking detection device to move towards the pedestrian according to the movement control instruction; when the core processing equipment detects that the distance between the pedestrian tracking detection device and the pedestrian, namely the moving distance, is smaller than a preset threshold value, the voice equipment is controlled to send out warning information to the pedestrian, and the pedestrian is reminded to leave the monitoring area. Meanwhile, once the core processing equipment detects that a pedestrian enters a preset specific area, the pedestrian tracking device sends current time information to the server through the wireless transmission equipment, and the server stores the time information, so that a user can conveniently inquire.
According to the pedestrian tracking detection system provided by the embodiment of the invention, the pedestrians in the monitoring area are tracked and detected in real time, and when the pedestrians enter the preset specific area, warning information is sent to the pedestrians and the current time information is sent to the server for inquiry, so that the monitoring efficiency is improved and the labor cost is reduced.
On the basis of the above embodiment, the pedestrian tracking detection apparatus further includes: the GSM short message equipment is connected with the core processing equipment; and the core processing equipment controls the pedestrian tracking detection device to execute preset operation according to the short message received by the GSM short message equipment.
Specifically, the core processing device can be connected with the GSM short message device through an RS232 serial port, and the pedestrian tracking detection device is remotely controlled according to the short message received by the GSM short message device. In practical application, the corresponding relation between the short message instruction and the operation can be stored locally by the pedestrian tracking detection device, and the corresponding preset operation is executed according to the short message instruction. For example, the short message command "1" correspondingly "moves to a preset monitoring point"; the short message instruction 2 corresponds to the opening of remote video monitoring and the like.
According to the pedestrian tracking detection system provided by the embodiment of the invention, the GSM short message equipment is utilized to receive the short message of the user, so that the remote control of the pedestrian tracking detection device is realized, and the device controllability is improved.
On the basis of the above embodiments, the pedestrian tracking detection apparatus further includes: the infrared ranging sensor is connected with the core processing equipment and used for detecting obstacles in the moving process of the pedestrian detection tracking device.
Specifically, the infrared ranging sensor is used for collecting short-distance obstacle distance information, is used for obstacle detection between pedestrian tracking detection device marching, and can stop when encountering obstacles.
On the basis of the above embodiments, the image acquisition device includes at least one wide-angle high-definition camera and at least one depth camera.
Specifically, the depth camera is used for collecting a close-range depth image and realizing close-range obstacle avoidance; the wide-angle high-definition camera is used for acquiring high-definition images and realizing pedestrian tracking detection. The wide-angle high-definition camera and the depth camera are both installed above the execution equipment, the execution equipment can control the two cameras to turn left and right, for example, the rotation angle of the wide-angle high-definition camera can be preset, the wide-angle high-definition camera can rotate at a constant speed in the preset angle, after a pedestrian is detected, the pedestrian is always placed in a shooting picture through the rotation of the wide-angle high-definition camera, the pedestrian does not rotate after exceeding a set angle, and at the moment, if the pedestrian leaves a monitoring area, the pedestrian continues to rotate at a constant speed according to the set angle until the pedestrian is found again. In practical application, a camera housing with black appearance can be adopted to cover the image acquisition equipment, so that the rotating camera is prevented from being seen by pedestrians.
On the basis of the above embodiments, the execution device includes: at least 3 drive wheels and driving motor, driving motor with the drive wheel the image acquisition equipment is connected.
Specifically, the execution device may include an execution body of a three-wheel structure, in which two driving wheels serve as driving wheels, and the other driving wheel may use a universal wheel as a driven wheel, so that it may be ensured that the pedestrian tracking detection apparatus may flexibly and accurately implement a turn. The main body also comprises a plane and a bracket for placing other devices; the driving wheel and the image acquisition equipment are connected with a driving motor, and are driven by the driving motor.
On the basis of the above embodiments, the voice device includes: at least one annular 8 microphone array.
Specifically, the annular 8-microphone array is used for sending out warning information to pedestrians on one hand; on the other hand, the voice interaction device can also be used for detecting, identifying and positioning the voice transmitted from each azimuth, so that voice interaction with a user is realized.
On the basis of the above embodiments, the wireless transmission device includes a WiFi module and a Zigbee module.
Specifically, the wireless transmission device adopts a WiFi and ZigBee hybrid mode, the WiFi module can be directly connected with the core processing device by adopting a wireless network card, and the WiFi module is connected with the server by WiFi. The ZigBee module is connected to the core processing equipment through a serial port to USB port (CP 2102 or CH 340), and wirelessly transmits with the server through ZigBee. ZigBee uses an own OSAL mechanism to realize low-power management, enters a sleep state when no task is transmitted, and wakes up regularly to check whether a receiving command exists.
Optionally, in practical application, the WiFi module may be in a sleep state, and when the server needs to acquire a real-time video image acquired by the image acquisition device, the ZigBee module or the GSM short message module receives an instruction and transmits the instruction to the core processing device, and then the core processing device wakes up the WiFi module, and then utilizes WiFi to perform real-time video transmission.
The pedestrian tracking detection system provided by the embodiment of the invention adopts a WiFi and ZigBee mixed mode, so that the remote monitoring and management of the multi-area and multi-line human tracking detection device can be realized, and the information transmission power consumption can be reduced.
Fig. 2 is a flowchart of a method for pedestrian tracking detection according to an embodiment of the present invention. As shown in fig. 2, the method comprises the steps of:
s201, acquiring a first real-time video image, and detecting pedestrians on the first real-time video image;
s202, if judging that the pedestrian image exists in the first real-time video image, generating a tracking control instruction, wherein the tracking control instruction is used for indicating to collect a second real-time video image of the pedestrian;
s203, determining the pedestrian position of the pedestrian according to the second real-time video image;
s204, if the pedestrian position is judged to be located in a preset specific area, generating a movement control instruction, wherein the movement control instruction is used for indicating the moving distance of the pedestrian position;
and S205, when the moving distance is smaller than a preset threshold value, warning information is sent to the pedestrians.
Specifically, a pedestrian tracking detection device is started at a fixed monitoring point, a first real-time video image of the monitoring point is collected, each frame of image of the first real-time video image is detected, whether a pedestrian image exists in the image or not is judged, if the pedestrian image exists, the pedestrian tracking detection device generates a tracking control instruction, a second real-time video image of the pedestrian is collected, and the pedestrian position of the pedestrian is determined so as to know whether the pedestrian enters a preset specific area or not; when the pedestrian enters the preset specific area, the pedestrian tracking detection device moves to the pedestrian position and sends out warning information to the pedestrian to remind the pedestrian to leave the preset specific area.
Wherein each pedestrian tracking detection device initially monitors at a fixed location, similar to a fixed camera, and the collected environmental information is a fixed video image in which the user can pre-mark a specific area.
According to the pedestrian tracking detection method provided by the embodiment of the invention, the pedestrians in the monitoring area are tracked and detected in real time, and the warning information is sent to the pedestrians when the pedestrians enter the preset specific area, so that the monitoring efficiency is improved, and the labor cost is reduced.
On the basis of the embodiment, the method further comprises: and if the pedestrian position is judged to be located in the preset specific area, sending current time information to a server so that the server can store the current time information.
Specifically, when the pedestrian tracking detection device detects that the pedestrian enters a preset specific area, the current time information may be sent to the server and stored by the server.
According to the pedestrian tracking detection method provided by the embodiment of the invention, when the pedestrian is detected to enter the preset specific area, the pedestrian is sent out to alarm information, meanwhile, the pedestrian monitoring time information is sent to the server, so that a user can conveniently inquire the monitoring condition at the time.
On the basis of the embodiments, the method further comprises: receiving a video image sending instruction issued by a server, and sending a first real-time video image and a second real-time video image to the server.
Specifically, each pedestrian tracking and detecting device can transmit the collected first real-time video image and the second real-time video image to the server through wireless transmission, and the server can display the image information obtained by each tracking and detecting device through a display.
Optionally, the pedestrian tracking detection device continues to track and detect the pedestrian after detecting the pedestrian and then returning to the fixed monitoring point.
Alternatively, the server may control the pedestrian tracking detection device to move or reset a new monitoring location for the device.
According to the method provided by the embodiment of the invention, the server is communicated with the pedestrian tracking and detecting device, so that pedestrians can be monitored more efficiently.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (5)
1. A pedestrian tracking detection system, comprising: a server and at least one pedestrian tracking detection device in communication with the server, wherein the pedestrian tracking detection device comprises: the system comprises core processing equipment, image acquisition equipment, voice equipment, execution equipment and wireless transmission equipment;
the core processing device is connected with the image acquisition device, the voice device, the execution device and the wireless transmission device;
the core processing equipment acquires a first real-time video image acquired by the image acquisition equipment, detects pedestrians on the first real-time video image, and generates a tracking control instruction when the pedestrians are detected, wherein the tracking control instruction is used for instructing the execution equipment to drive the image acquisition equipment to acquire a second real-time video image of the pedestrians; acquiring the second real-time video image, determining the pedestrian position of the pedestrian, and generating a movement control instruction when the pedestrian position of the pedestrian is positioned in a preset specific area, wherein the movement control instruction is used for indicating the execution equipment to drive the pedestrian tracking detection device to move to the pedestrian position; when the moving distance is smaller than a preset threshold value, controlling voice equipment to send out warning information to the pedestrian;
the wireless transmission equipment is used for sending current time information to the server when the pedestrian position of the pedestrian is located in a preset specific area;
the pedestrian tracking detection device further includes: the GSM short message equipment is connected with the core processing equipment;
the core processing equipment controls the pedestrian tracking detection device to execute preset operation according to the short message received by the GSM short message equipment;
the pedestrian tracking detection device further includes: the infrared ranging sensor is connected with the core processing equipment and used for detecting obstacles in the moving process of the pedestrian tracking detection device;
the image acquisition equipment comprises at least one wide-angle high-definition camera and at least one depth camera.
2. The system of claim 1, wherein the execution device comprises: at least 3 drive wheels and driving motor, driving motor with the drive wheel the image acquisition equipment is connected.
3. The system of claim 1, wherein the voice device comprises: at least one annular 8 microphone array.
4. The system of claim 1, wherein the wireless transmission device comprises a WiFi module and a Zigbee module.
5. A method of pedestrian tracking detection employing the system of claim 1, comprising:
acquiring a first real-time video image, and detecting pedestrians on the first real-time video image;
if judging that the pedestrian image exists in the first real-time video image, generating a tracking control instruction, wherein the tracking control instruction is used for indicating to collect a second real-time video image of the pedestrian;
determining the pedestrian position of the pedestrian according to the second real-time video image;
if the pedestrian position is judged to be located in a preset specific area, generating a movement control instruction, wherein the movement control instruction is used for indicating the moving distance of the pedestrian position;
when the moving distance is smaller than a preset threshold value, warning information is sent to the pedestrians;
controlling the pedestrian tracking detection device to execute preset operation through a short message received by the GSM short message equipment;
if the pedestrian position is judged to be located in the preset specific area, current time information is sent to a server so that the server can store the current time information;
receiving a video image sending instruction issued by a server, and sending a first real-time video image and a second real-time video image to the server.
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