CN108022453A - Barrier intrusion detection method, system, terminal and storage medium - Google Patents
Barrier intrusion detection method, system, terminal and storage medium Download PDFInfo
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- CN108022453A CN108022453A CN201711288181.2A CN201711288181A CN108022453A CN 108022453 A CN108022453 A CN 108022453A CN 201711288181 A CN201711288181 A CN 201711288181A CN 108022453 A CN108022453 A CN 108022453A
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- barrier
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G3/00—Traffic control systems for marine craft
- G08G3/02—Anti-collision systems
Abstract
A kind of barrier intrusion detection method, including：Receive the video data of the destination object surrounding environment of the video capture device collection of default quantity；The video data is shown according to preset display mode；According to whether there are during barrier, judge the barrier in default abnormal intrusion region in the default detection algorithm detection video data；And when the definite barrier is in the default abnormal intrusion region, the first alarm sounds are carried out according to default first warning mode；Or when the definite barrier is not in the default abnormal intrusion region, the second alarm sounds are carried out according to default second warning mode.The present invention also provides a kind of barrier system for monitoring intrusion, terminal and storage medium.The present invention can strange land monitor unmanned boat surrounding environment in real time, and when finding barrier, alarm sounds are carried out, so that staff takes appropriate measures to protect destination object to exempt from threat or destruction in time.
Description
Technical field
The present invention relates to image identification technical field, and in particular to a kind of barrier intrusion detection method, system, terminal and
Storage medium.
Background technology
With the fast development of popularization and located in connection, the navigation and control technology of unmanned platform, more and more nothings
People ocean automatic platform is applied to marine monitoring field, such as unmanned boat.Unmanned boat is a kind of new monitoring platform waterborne, its
Based on spitkit, integrated positioning, navigation and control device, can carry a variety of monitoring sensors, with the work of autonomous/remote control
Make mode, complete relevant environment monitoring.
With the continuous improvement of unmanned boat intelligence degree, the application of function of unmanned boat is also more and more diversified.However, nothing
The true navigation environment information of people's ship is difficult to predict completely, is frequently encountered unknown pop-up threats or obstacle, present nobody
Ship largely lacks adaptability to changes when there is pop-up threats obstacle, it is impossible to bypasses in time and threatens and come back to what is planned in advance
In walking along the street.In addition, the place that existing unmanned boat operating mode is unsuitable for beyond scene and command centre understands live ring in real time
The situation in border, causes unmanned boat accident easily occur.
The content of the invention
In view of the foregoing, it is necessary to propose a kind of barrier intrusion detection method, system, terminal and storage medium, energy
Enough strange lands monitor unmanned boat surrounding environment in real time, and when finding barrier, alarm sounds are carried out, so that staff adopts in time
Corresponding measure is taken to protect unmanned boat to exempt from threat or destruction.
The first aspect of the present invention provides a kind of barrier intrusion detection method, the described method includes：
Receive the video data of the unmanned boat surrounding environment of the video capture device collection of default quantity；
The video data is shown according to preset display mode；
According to whether there are during barrier, judge the barrier pre- in the default detection algorithm detection video data
If in abnormal intrusion region；And
When the definite barrier is in the default abnormal intrusion region, the is carried out according to default first warning mode
One alarm sounds；Or
When the definite barrier is not in the default abnormal intrusion region, carried out according to default second warning mode
Second alarm sounds.
It is described to show that the video data includes according to preset display mode in a kind of possible implementation：
There is provided user one user interface display area；
The user interface display area is divided into multiple user interfaces and shows subregion, one of user interface
Show the panoramic video data after subregion display splicing, remaining each user interface shows that subregion corresponds to display all the way
The video data of video capture device collection.
In a kind of possible implementation, the abnormal intrusion region can be following one or more kinds of combination region
Domain：
1) region of the video capture device collection of way is preset；
2) preset range, the preset range refers to centered on the unmanned boat, is formed using preset length by radius
Border circular areas；
3) preset coordinate region, the coordinates regional are the regions in the coordinate system established based on the panoramic video.
In a kind of possible implementation, the method further includes：
Detect the user interface and show whether receive switching command on subregion；And
When detecting the switching command from user interface display subregion, son is shown to the user interface
The video data shown on region is amplified display or recovers the preset display mode and shows.
In a kind of possible implementation, default first warning mode includes the combination of one or more of：It is right
The amplification that the video all the way of appearance abnormal intrusion carries out lasting first preset time period shows and sends audio warning, is different to occurring
The video all the way often invaded carries out distinctly displaying and sending audio warning for lasting first preset time period；
Default second warning mode includes the combination of one or more of：To there is regarding all the way for non-abnormal intrusion
Frequency carries out the amplification display of lasting second preset time period but the sound that do not sound the alarm, the video all the way to there is non-abnormal intrusion
Carry out lasting second preset time period distinctly display but the sound that do not sound the alarm.
In a kind of possible implementation, the method further includes：
Show that corresponding user interface shows that subregion barrier occurs and indicates the barrier with written form
Classification；Or
Different classes of barrier is identified with different icons.
In a kind of possible implementation, the method further includes：
Pre-set the account and password for checking the video data；
Judge whether account input by user and password are correct；And
When definite account input by user and correct password, the video data is shown according to preset display mode.
The second aspect of the present invention provides a kind of barrier system for monitoring intrusion, the system comprises：
Receiving module, the video counts for the unmanned boat surrounding environment that the video capture device for receiving default quantity gathers
According to；
Display module, for showing the video data according to preset display mode；
Detection module, for detecting whether there are obstacles in the video data according to default detection algorithm；
Judgment module, for when the detection module is according to there are obstacle in the default detection algorithm detection video data
During thing, judge the barrier whether in default abnormal intrusion region；And
Alarm modules, for when the judgment module determines that the barrier is in the default abnormal intrusion region,
First alarm sounds are carried out according to default first warning mode；
The alarm modules, are additionally operable to when the judgment module determines the barrier not in the default abnormal intrusion area
When in domain, the second alarm sounds are carried out according to default second warning mode.
The third aspect of the application provides a kind of terminal, and the terminal includes processor, and the processor is deposited for execution
Barrier intrusion detection method is realized during the computer program stored in reservoir.
The fourth aspect of the application provides a kind of computer-readable recording medium, is stored thereon with computer program, described
Barrier intrusion detection method is realized when computer program is executed by processor.
Barrier intrusion detection method, system, terminal and storage medium of the present invention, can strange land monitor nothing in real time
People's ship surrounding environment, and when finding barrier, the region occurred according to barrier carries out different alarm sounds, for work
Personnel take appropriate measures to protect unmanned boat to exempt from threat or destruction in time so that unmanned boat can reach it is more complicated
Waters, in the presence of a harsh environment, avoids staff's fieldwork, and then has ensured the life security of staff.
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 attached drawing needed in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
The embodiment of invention, for those of ordinary skill in the art, without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is the flow chart for the barrier intrusion detection method that the embodiment of the present invention one provides.
Fig. 2 is the interface schematic diagram that user interface of the present invention shows subregion.
Fig. 3 is the structure chart of barrier system for monitoring intrusion provided by Embodiment 2 of the present invention.
Fig. 4 is the schematic diagram for the terminal that the embodiment of the present invention three provides.
Following embodiment will combine above-mentioned attached drawing and further illustrate the present invention.
Embodiment
It is to better understand the objects, features and advantages of the present invention, below in conjunction with the accompanying drawings and specific real
Applying example, the present invention will be described in detail.It should be noted that in the case where there is no conflict, embodiments herein and embodiment
In feature can be mutually combined.
Elaborate many details in the following description to facilitate a thorough understanding of the present invention, described embodiment only
Only it is part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's all other embodiments obtained without making creative work, belong to the scope of protection of the invention.
Unless otherwise defined, all of technologies and scientific terms used here by the article is with belonging to technical field of the invention
The normally understood implication of technical staff is identical.Term used in the description of the invention herein is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.
Preferably, barrier intrusion detection method of the invention is applied in one or more terminal.The terminal is
It is a kind of to carry out numerical computations and/or the equipment of information processing, its hardware bag automatically according to the instruction for being previously set or storing
Include but be not limited to microprocessor, application-specific integrated circuit (Application Specific Integrated Circuit,
ASIC), programmable gate array (Field-Programmable Gate Array, FPGA), digital processing unit (Digital
Signal Processor, DSP), embedded device etc..
The terminal is not limited to PC, smart mobile phone, tablet computer, the desktop computer for being provided with camera or one
Body machine, or the computing device such as desktop PC, notebook, palm PC and cloud server.The terminal can with
Family carries out human-computer interaction by modes such as keyboard, mouse, remote controler, touch pad or voice-operated devices.
The barrier intrusion detection method can also be applied to be attached by terminal and by network and the terminal
The hardware environment that is formed of server in.Network includes but not limited to：Wide area network, Metropolitan Area Network (MAN) or LAN.The present invention is implemented
The barrier intrusion detection method of example can be performed by server, can also be performed by terminal；It can also be by server
Performed jointly with terminal.The application is not any limitation as herein.
Terminal for needing progress barrier intrusion detection, can integrate the present processes directly in terminal and be carried
The barrier intrusion detection function of confession, or installation are used for realization the client of the present processes.For another example, it is provided herein
Method server etc. can be operated in the form of Software Development Kit (Software Development Kit, SDK)
In equipment, the interface of barrier intrusion detection function is provided in the form of SDK, the interface that terminal or other equipment pass through offer is
The barrier intrusion detection of unmanned boat can be achieved.
Embodiment one
Fig. 1 is the flow chart for the barrier intrusion detection method that the embodiment of the present invention one provides.The method is applied to eventually
In end, measurement data passback is established using data radio station between the terminal and unmanned boat and control command is assigned.According to difference
Demand, the execution sequence in flow chart shown in Fig. 1 can change, and some steps can be omitted.
101：Receive the video data of the destination object surrounding environment of the video capture device collection of default quantity.
In the present embodiment, the destination object is unmanned equipment, including unmanned boat, unmanned automobile, unmanned aerial vehicle, is swept
Floor-washing robot etc..Illustrate how to carry out barrier intrusion detection by taking unmanned boat as an example herein.
In the present embodiment, the video capture device is mounted on unmanned boat, when being navigated by water for captured in real-time unmanned boat
Surrounding environment.The video data gathered in real time is sent to terminal by the video capture device, and the terminal reception is every to be regarded all the way
The video data of frequency collecting device collection, and the video data is stored respectively.
In this preferred embodiment, surrounding environment during 4 road video capture device collection unmanned boat navigation can be used, it is described
Video capture device can be wide-angle panoramic video camera, and the shooting angle of each wide-angle panoramic video camera is at least 90 degree.It is preferred that
Ground, the shooting angle of each wide-angle panoramic video camera be 90 degree, can so ensure that just 360 ° of 4 road video capture devices are adopted
Collect the surrounding environment of unmanned boat.At the specifically position of placement No. 4 video cameras, No. 4 video cameras can concentrically be placed, in being in
The heart is bloomed shape, to ensure that relative position, orientation and shooting angle between No. 4 video cameras are fixed.Each video camera takes series connection
Mode connect, to ensure the video capture device synchronous acquisition video data of default quantity.
The present invention can not do the quantity of video capture device, fixed position, orientation or shooting angle etc. specifically
Property limitation, can be carried out targetedly setting or adjusting according to actual conditions and purposes, for example, two 180 ° can be set
Video data of panoramic camera collection unmanned boat surrounding environment etc..
102：The video data is shown according to preset display mode.
In this preferred embodiment, the terminal pre-sets at least two display patterns：Branch video display modes and complete
Scape video display modes etc..The branch video display modes refer to by the video data of the collection per video capture device all the way into
Row individually display.The panoramic video display pattern refers to splice the video data of the video equipment collection of the default quantity
Shown after into panoramic video.
In this preferred embodiment, the terminal provides user one user interface display area, for checking institute for user
State video data.The user interface display area is divided into multiple user interfaces in advance and shows subregion by the terminal.Institute
State multiple user interfaces and show that the quantity of subregion adds 1 for the default quantity, i.e., described user interface shows the number of subregion
Measure than the video capture device total quantity more than 1, in this way, one of user interface show subregion be displayed for
Spliced panoramic video data, remaining each user interface show that subregion can then correspond to display video acquisition all the way
The video data of equipment collection.
The user interface display area is divided into user interface and shows that shape, position and/or the area of subregion can
By terminal default setting, can also voluntarily be set, changed according to the hobby of oneself or actual demand by user.The user
The shape of interface display subregion can include rectangle, triangle, the geometric figure of diamond shape or other any shapes, and the present invention is right
This is not restricted.
As shown in fig.2, user interface display area 20 is divided into five user interfaces by the terminal shows subregion,
Respectively the first user interface shows subregion 201, second user interface display subregion 202, the 3rd user interface display
Region 203, fourth user interface show that 204 and the 5th user interface of subregion shows subregion 205.Wherein, the first user circle
Face shows that subregion 201 is used for the first video data for showing the collection of first via video capture device, second user interface display
Subregion 202 is used for the second video data for showing the second road video capture device collection, and the 3rd user interface shows subregion
203 are used for the 3rd video data for showing that the 3rd road video capture device gathers, and fourth user interface shows that subregion 204 is used for
Show the 4th video data of the 4th road video capture device collection, the 5th user interface shows that subregion 205 is used to show and spells
Panoramic video data after connecing.Different user interface shows that subregions show different video datas, easy to user from difference
Angle checks the video data；Secondly, when some user interface shows that the video data that subregion is shown occurs abnormal,
Can learn the environment in the orientation where the video capture device of corresponding the user's interface display subregion rapidly has exception, so that
It can take appropriate measures to unmanned boat rapidly.
In addition, the method that the video data that the video capture device of different azimuth direction is gathered is spliced into panoramic video is
This is not set forth in detail in the prior art, the present invention, and any joining method suitable for panoramic video can be quoted herein.
In this preferred embodiment, it is divided in order to which user can clearly differentiate between user interface shows subregion
Position, can set the division mark that subregion is shown for distinguishing multiple user interfaces.It is described division mark can be lines,
Watermark or figure, wherein the lines may include solid line, dotted line etc..The thickness or color of the lines can be by users certainly
Row design, can also carry out default setting by the terminal.In certain embodiments, the division mark could be provided as to people
Eye is as it can be seen that may be set to be invisible to human eye.Preferably, be arranged to can to human eye by the division mark for the terminal
See.
103：Whether there are obstacles in the video data is detected according to default detection algorithm.
This preferred embodiment, the terminal are previously stored with least one detection algorithm, to detect the video data
Middle whether there are obstacles.The detection algorithm can include, but are not limited to：Ship detecting algorithm, building detection algorithm and
Fast multi-target detection algorithm YOLO9000 (You Only Look Once：Better, Faster, Stronger) etc..It is described
Barrier includes, but are not limited to：Ship (for example, pleasure-boat, freighter etc.), building etc..The ship detecting algorithm is used to detect
It whether there is ship in the video data, the building detection algorithm, which is used to detect to whether there is in the video data, to be built
Thing is built, the fast multi-target detection algorithm YOLO9000 can then detect various disorders thing at the same time.
This preferred embodiment, the terminal is according to the default detection algorithm to being regarded per video capture device collection all the way
Frequency is judged per whether there are obstacles in video data all the way according to being detected.It is real-time in order to be carried out to the video data
Processing, the terminal concurrently can be detected multi-path video data.Meanwhile to video data all the way, the terminal
Many Detection can also be performed in parallel to detect various disorders thing present in the road video data, so as to improve
The accuracy of detection.
One preferably technical solution is that the terminal prestores fast multi-target detection algorithm YOLO9000, according to
The fast multi-target detection algorithm YOLO9000, which is concurrently carried out at the same time multi-path video data, detects whether that there are barrier.
When detecting in the video data there are during barrier, step 104 is performed；When not detecting the video counts
There are during barrier in, the step 103 can be repeated.
104：Judge the barrier whether in default abnormal intrusion region.
In this preferred embodiment, the terminal can pre-set abnormal intrusion region, and the abnormal intrusion region can be with
For following one or more kinds of combination zone：
1) region of the video capture device collection of way is preset；
The barrier is detected in the video data of the video capture device collection of default way, it is believed that the barrier
Hinder thing in default abnormal intrusion region；Institute is not detected in the video data of the video capture device collection of default way
State barrier, it is believed that the barrier is not in default abnormal intrusion region.
2) preset range；
The preset range refers to centered on the unmanned boat, the border circular areas formed using preset length by radius.
When the barrier is in the border circular areas, it is believed that the barrier is in default abnormal intrusion region；When the obstacle
When thing is outside the border circular areas, it is believed that the barrier is not in default abnormal intrusion region.
The terminal can judge the barrier by judging the air line distance of the barrier and the unmanned boat
Whether in the border circular areas.When the air line distance of barrier and the unmanned boat is less than or equal to the preset length,
Then think barrier in the border circular areas；When the air line distance of barrier and the unmanned boat is more than the preset length
When, then it is assumed that barrier is not in the border circular areas.The air line distance of the barrier and the unmanned boat can be by installing
Proximity sensor on unmanned boat is obtained in real time, the straight line of the terminal real-time reception barrier and the unmanned boat away from
From.
3) preset coordinate region.
The terminal can have previously been based on the panoramic video and establish a coordinate system, be set in advance in the coordinate system
One region is as abnormal intrusion region.
It should be appreciated that an abnormal intrusion region can be pre-set, multiple abnormal intrusions can also be pre-set
Region, multiple abnormal intrusion regions can be a continuous region or discontinuous region, and the present invention does not make this
Limitation.
When the definite barrier is in the default abnormal intrusion region, step 105 is performed；When the definite obstacle
When thing is not in the default abnormal intrusion region, step 106 is performed.
105：First alarm sounds are carried out according to default first warning mode.
In this preferred embodiment, the terminal pre-sets the first warning mode, for detecting barrier and described
When barrier is appeared in the default abnormal intrusion region, the first alarm sounds are carried out.
It is for ease of being described below, situation when detecting that barrier is in the default abnormal intrusion region is referred to as different
Often invasion.
In this preferred embodiment, default first warning mode can include the combination of one or more of：To going out
The amplification that the video all the way of existing abnormal intrusion carries out lasting first preset time period shows and sends audio warning, is abnormal to occurring
The video all the way of invasion carries out distinctly displaying and sending audio warning for lasting first preset time period.Abnormal intrusion is possible to pair
Unmanned boat causes serious damage, thus the sound that needs to sound the alarm is to prompt user situation very urgent.For example, apart from unmanned boat
Pleasure boat is searched at 5 meters of position and positive unmanned boat is close, at this time, pleasure boat can hinder unmanned boat to continue navigation or even can smash
Unmanned boat, staff hear that audio warning can send the instruction of rerouting by terminal to unmanned boat.
It is to be understood that the amplification display refers to the automatic spring of video all the way that will appear from abnormal intrusion and continues pre-
If the period (for example, 3 seconds), its display area on a user interface will cover other a few road videos on a user interface
Display area.For example, represent that user interface display area shows 4 road video datas with four palace trrellis diagrams, when certain video all the way
Occurs abnormal intrusion in data, Ze Jianggai roads video data automatic spring, user interface viewing area is represented with a palace trrellis diagram shape
Domain amplification shows video data and lasting preset time period, after the preset time period, recovers to show 4 road video datas.Institute
State to distinctly display and refer to that the video all the way that will appear from abnormal intrusion carries out flashing display and continues preset time according to predeterminated frequency
Section, or highlighted background is carried out according to pre-set color and show and lasting preset time period, other a few road video counts are different from this
According to display.
106：Second alarm sounds are carried out according to default second warning mode.
In this preferred embodiment, the terminal pre-sets the second warning mode, for detecting barrier but described
When barrier is not appeared in the default abnormal intrusion region, the second alarm sounds are carried out.
For ease of being described below, the feelings that will detect barrier but when barrier is not in the default abnormal intrusion region
Condition is referred to as non-abnormal intrusion.
In this preferred embodiment, default second warning mode can include the combination of one or more of：To going out
The amplification that the video all the way of existing non-abnormal intrusion carries out lasting second preset time period show but the sound that do not sound the alarm, to appearance
The video all the way of non-abnormal intrusion carry out lasting second preset time period distinctly display but the sound that do not sound the alarm.Non- exception enters
Invade unmanned boat may will not be caused damage or damaged condition is not serious caused by unmanned boat, because without sending alarm
Sound.For example, detecting buildings in seashore or inshore, then abnormal intrusion is not belonging to, staff has found building
The headway of unmanned boat can be fallen after body, or does not make any reaction.
It should be appreciated that when if pre-set abnormal intrusion region is one, examined when in abnormal intrusion region
When measuring barrier, alarm sounds are carried out with default first warning mode.If pre-set abnormal intrusion region is
When multiple, when detecting barrier in multiple abnormal intrusion regions at the same time, then in turn with default first warning mode
Carry out alarm sounds.
Further, in order to which what is become apparent from gives staff's alarm sounds, default first warning mode and institute
Stating default second warning mode can also include：Show that corresponding user interface shows that obstacle occurs in subregion with written form
Thing and the classification for indicating the barrier；Analysis is ranked up to abnormal intrusion and non-abnormal intrusion, such as exception can be entered
Invade progress top set to show, non-abnormal intrusion is carried out to postpone display；Different classes of barrier is identified with different icons.
When further, for the ease of subsequently checking and analyzing the video data in the abnormal intrusion region, the barrier
Thing intrusion detection method is hindered to include：Preserve the video requency frame data of the barrier in the abnormal intrusion region.
The terminal can also pre-set a memory space and be used to store the barrier in the abnormal intrusion region
Hinder the video requency frame data of thing.The terminal can extract each frame data of video data, when hindering in one-frame video data
Hinder thing and the barrier belongs in abnormal intrusion region, then preserve the frame video data.
, can be by FFMPEG by original when the terminal receives the original video data of video capture device collection
Beginning Video Quality Metric is yuv format, and is sampled with given pace, and video data is sampled into frame image sequence, so as to every
Two field picture is detected whether there are obstacles according to default detection algorithm.Yuv format is independent unlike rgb format requirement three
Vision signal simultaneous transmission, thus few bandwidth is taken with yuv format transmitting video data, transmission rate is big.
Further, when staff needs to look into surrounding environment progress emphasis of the unmanned boat in a certain orientation
When seeing, then corresponding user interface is needed to show the video data in the corresponding orientation of subregion amplification display.Thus, it is described
Barrier intrusion detection method can also include：Detecting user interface shows whether receive switching command on subregion.If
When detecting the switching command from user interface display subregion, then what is shown on subregion is shown to the user interface
Video data is amplified display or recovers the preset display mode and shows；If show on subregion do not have from user interface
When detecting the switching command, then repeat detecting user interface and show whether receive the switching command on subregion.
In this preferred embodiment, the amplification shows and recovers mutually cut between the preset display mode is shown
Change, when user interface, which is shown, receives the switching command on subregion, by the video data by the default display mould
Formula, which is shown, is switched to amplification display, when user interface, which is shown, receives the switching command again on subregion, is regarded by described in
Frequency evidence is shown that being switched to (recovery) described preset display mode shows by amplification.
In certain embodiments, the switching command can be triggered by way of one or more of combination：Perform
Default handover operation, performs default phonetic order etc..The default handover operation can include, but are not limited to：Click on
Operation, double click operation or long-press operation.The double click operation includes touching user interface display subregion same position twice
Or the time interval of adjacent position is less than the operation of a preset time (such as 2 seconds etc.).The long-press operation includes pressing and uses
The duration of family interface display subregion same position is more than the operation of a preset time (such as 5 seconds).It is of the present invention to cut
Change instruction to enumerate except above-mentioned, other instructions can also be included, this is not restricted herein, does not also enumerate.
After step 101, before step 102, the barrier intrusion detection method can also include：Pre-set
Check the account and password of the video data；Judge whether account input by user and password are correct；When definite user inputs
Account and during correct password, the video data is shown according to preset display mode；Alternatively, when definite account input by user
Or during password mistake, prompt user account or password mistake.
In certain embodiments, in order to protect the privacy of video data, prevent video data from being peeped or stolen, cause nothing
Security risk when people's ship navigates by water, can be that every staff set a single account and close when checking video data
Code, can also be to set a single account and password per road video data.
In conclusion barrier intrusion detection method of the present invention, can strange land monitor ring around unmanned boat in real time
Border, and when finding barrier, the region occurred according to barrier carries out different alarm sounds, so that staff adopts in time
Corresponding measure is taken to protect unmanned boat to exempt from threat or destruction, so that unmanned boat can reach more complicated waters, is being disliked
Under bad environment, staff's fieldwork is avoided, and then has ensured the life security of staff.In addition, the present invention preserves out
The video requency frame data of existing barrier, can be easy to ex-post analysis and processing；Secondly, to arbitrarily video data can be by described all the way
Preset display mode shows that free switching is shown to amplification, and clearer unmanned boat can also be checked while improving user experience
The surrounding environment in one orientation；Finally, the account and password for checking video data are set, more can guarantee that the safety of video data, into
One step improves the safety guarantee of unmanned boat.
Embodiment two
With reference to the 3rd to 4 figure, the function module to the terminal of realizing above-mentioned barrier intrusion detection method and hard respectively
Part structure is introduced.
It should be appreciated that the embodiment is only purposes of discussion, in patent claim and from the limitation of this structure.
As shown in fig.3, be barrier system for monitoring intrusion 30 of the present invention preferred embodiment in functional block diagram.
In certain embodiments, the barrier system for monitoring intrusion 30 is run in terminal.The terminal and unmanned boat
Between using data radio station establish measurement data passback and control command assign.The barrier system for monitoring intrusion 30 can wrap
Include multiple function modules being made of program code segments.The journey of each program segment in the barrier system for monitoring intrusion 30
Sequence code can be stored in memory, and as performed by least one processor, is entered with performing and (referring to Fig. 1 descriptions) barrier
The monitoring invaded.
In the present embodiment, function of the barrier system for monitoring intrusion 30 according to performed by it, can be divided into more
A function module.The function module can include：Receiving module 301, display module 302, detection module 303, judgment module
304th, alarm modules 305, preserving module 306, handover module 307 and setup module 308.Module alleged by the present invention refers to one kind
Performed by least one processor and the series of computation machine program segment of fixed function can be completed, it is stored in
In reservoir.In certain embodiments, the function on each module will be described in detail in follow-up embodiment.
Receiving module 301, the video for the unmanned boat surrounding environment that the video capture device for receiving default quantity gathers
Data.
In the present embodiment, the video capture device is mounted on unmanned boat, when being navigated by water for captured in real-time unmanned boat
Surrounding environment.The video data gathered in real time is sent to terminal by the video capture device, and the terminal reception is every to be regarded all the way
The video data of frequency collecting device collection, and the video data is stored respectively.
In this preferred embodiment, surrounding environment during 4 road video capture device collection unmanned boat navigation can be used, it is described
Video capture device can be wide-angle panoramic video camera, and the shooting angle of each wide-angle panoramic video camera is at least 90 degree.It is preferred that
Ground, the shooting angle of each wide-angle panoramic video camera be 90 degree, can so ensure that just 360 ° of 4 road video capture devices are adopted
Collect the surrounding environment of unmanned boat.At the specifically position of placement No. 4 video cameras, No. 4 video cameras can concentrically be placed, in being in
The heart is bloomed shape, to ensure that relative position, orientation and shooting angle between No. 4 video cameras are fixed.Each video camera takes series connection
Mode connect, to ensure the video capture device synchronous acquisition video data of default quantity.
The present invention can not do the quantity of video capture device, fixed position, orientation or shooting angle etc. specifically
Property limitation, can be carried out targetedly setting or adjusting according to actual conditions and purposes, for example, two 180 ° can be set
Video data of panoramic camera collection unmanned boat surrounding environment etc..
Display module 302, for showing the video data according to preset display mode.
In this preferred embodiment, the terminal pre-sets at least two display patterns：Branch video display modes and complete
Scape video display modes etc..The branch video display modes refer to by the video data of the collection per video capture device all the way into
Row individually display.The panoramic video display pattern refers to splice the video data of the video equipment collection of the default quantity
Shown after into panoramic video.
In this preferred embodiment, the terminal provides user one user interface display area, for checking institute for user
State video data.The user interface display area is divided into multiple user interfaces in advance and shows subregion by the terminal.Institute
State multiple user interfaces and show that the quantity of subregion adds 1 for the default quantity, i.e., described user interface shows the number of subregion
Measure than the video capture device total quantity more than 1, in this way, one of user interface show subregion be displayed for
Spliced panoramic video data, remaining each user interface show that subregion can then correspond to display video acquisition all the way
The video data of equipment collection.
The user interface display area is divided into user interface and shows that shape, position and/or the area of subregion can
By terminal default setting, can also voluntarily be set, changed according to the hobby of oneself or actual demand by user.The user
The shape of interface display subregion can include rectangle, triangle, the geometric figure of diamond shape or other any shapes, and the present invention is right
This is not restricted.
As shown in fig.2, user interface display area 20 is divided into five user interfaces by the terminal shows subregion,
Respectively the first user interface shows subregion 201, second user interface display subregion 202, the 3rd user interface display
Region 203, fourth user interface show that 204 and the 5th user interface of subregion shows subregion 205.Wherein, the first user circle
Face shows that subregion 201 is used for the first video data for showing the collection of first via video capture device, second user interface display
Subregion 202 is used for the second video data for showing the second road video capture device collection, and the 3rd user interface shows subregion
203 are used for the 3rd video data for showing that the 3rd road video capture device gathers, and fourth user interface shows that subregion 204 is used for
Show the 4th video data of the 4th road video capture device collection, the 5th user interface shows that subregion 205 is used to show and spells
Panoramic video data after connecing.Different user interface shows that subregions show different video datas, easy to user from difference
Angle checks the video data；Secondly, when some user interface shows that the video data that subregion is shown occurs abnormal,
Can learn the environment in the orientation where the video capture device of corresponding the user's interface display subregion rapidly has exception, so that
It can take appropriate measures to unmanned boat rapidly.
In addition, the method that the video data that the video capture device of different azimuth direction is gathered is spliced into panoramic video is
This is not set forth in detail in the prior art, the present invention, and any joining method suitable for panoramic video can be quoted herein.
In this preferred embodiment, it is divided in order to which user can clearly differentiate between user interface shows subregion
Position, can set the division mark that subregion is shown for distinguishing multiple user interfaces.It is described division mark can be lines,
Watermark or figure, wherein the lines may include solid line, dotted line etc..The thickness or color of the lines can be by users certainly
Row design, can also carry out default setting by the terminal.In certain embodiments, the division mark could be provided as to people
Eye is as it can be seen that may be set to be invisible to human eye.Preferably, be arranged to can to human eye by the division mark for the terminal
See.
Detection module 303, for detecting whether there are obstacles in the video data according to default detection algorithm.
This preferred embodiment, the terminal are previously stored with least one detection algorithm, to detect the video data
Middle whether there are obstacles.The detection algorithm can include, but are not limited to：Ship detecting algorithm, building detection algorithm and
Fast multi-target detection algorithm YOLO9000 (You Only Look Once：Better, Faster, Stronger) etc..It is described
Barrier includes, but are not limited to：Ship (for example, pleasure-boat, freighter etc.), building etc..The ship detecting algorithm is used to detect
It whether there is ship in the video data, the building detection algorithm, which is used to detect to whether there is in the video data, to be built
Thing is built, the fast multi-target detection algorithm YOLO9000 can then detect various disorders thing at the same time.
This preferred embodiment, the detection module 303 is according to the default detection algorithm to per video capture device all the way
The video data of collection is detected to judge per whether there are obstacles in video data all the way.In order to the video data
Handled in real time, the detection module 303 concurrently can be detected multi-path video data.Meanwhile regarded all the way to same
Frequency evidence, the detection module 303 can also be performed in parallel Many Detection to detect present in the road video data
Various disorders thing, so as to improve the accuracy of detection.
One preferably technical solution is, the terminal prestores fast multi-target detection algorithm YOLO9000, described
Detection module 303 is concurrently carried out at the same time multi-path video data detection according to the fast multi-target detection algorithm YOLO9000
Whether there are obstacles.
Judgment module 304, for detecting there are during barrier to sentence in the video data when the detection module 303
The barrier break whether in default abnormal intrusion region.
In this preferred embodiment, the terminal can pre-set abnormal intrusion region, and the abnormal intrusion region can be with
For following one or more kinds of combination zone：
1) region of the video capture device collection of way is preset；
The detection module 303 detected the barrier in the video data of the video capture device collection of default way
Hinder thing, the judgment module 304 thinks the barrier in default abnormal intrusion region；The detection module 303 is default
The barrier is not detected in the video data of the video capture device collection of way, and the judgment module 304 thinks institute
Barrier is stated not in default abnormal intrusion region.
2) preset range；
The preset range refers to centered on the unmanned boat, the border circular areas formed using preset length by radius.
When the barrier is in the border circular areas, the judgment module 304 thinks the barrier in default abnormal intrusion area
In domain；When the barrier is outside the border circular areas, the judgment module 304 thinks the barrier not default abnormal
Invade in region.
The judgment module 304 can be by judging that the barrier is described to judge with the air line distance of the unmanned boat
Whether barrier is in the border circular areas.When the air line distance of barrier and the unmanned boat is less than or equal to the default length
When spending, judgment module 304 then thinks barrier in the border circular areas；When the air line distance of barrier and the unmanned boat is big
When the preset length, judgment module 304 then thinks barrier not in the border circular areas.The barrier and the nothing
The air line distance of people's ship can be obtained in real time by the proximity sensor on unmanned boat, and the receiving module 301 is real
When receive the air line distance of barrier and the unmanned boat.
3) preset coordinate region.
The terminal can have previously been based on the panoramic video and establish a coordinate system, be set in advance in the coordinate system
One region is as abnormal intrusion region.
It should be appreciated that an abnormal intrusion region can be pre-set, multiple abnormal intrusions can also be pre-set
Region, multiple abnormal intrusion regions can be a continuous region or discontinuous region, and the present invention does not make this
Limitation.
Alarm modules 305, for determining the barrier in the default abnormal intrusion region when the judgment module 304
When interior, the first alarm sounds are carried out according to default first warning mode.
In this preferred embodiment, the terminal pre-sets the first warning mode, for detecting barrier and described
When barrier is appeared in the default abnormal intrusion region, the first alarm sounds are carried out.
For ease of being described below, the situation for detecting barrier and when in the default abnormal intrusion region is referred to as
Abnormal intrusion.
In this preferred embodiment, default first warning mode can include the combination of one or more of：To going out
The amplification that the video all the way of existing abnormal intrusion carries out lasting first preset time period shows and sends audio warning, is abnormal to occurring
The video all the way of invasion carries out distinctly displaying and sending audio warning for lasting first preset time period.Abnormal intrusion is possible to pair
Unmanned boat causes serious damage, thus the sound that needs to sound the alarm is to prompt user situation very urgent.For example, apart from unmanned boat
Pleasure boat is searched at 5 meters of position and positive unmanned boat is close, at this time, pleasure boat can hinder unmanned boat to continue navigation or even can smash
Unmanned boat, staff hear that audio warning can send the instruction of rerouting by terminal to unmanned boat.
It is to be understood that the amplification display refers to the automatic spring of video all the way that will appear from abnormal intrusion and continues pre-
If the period (for example, 3 seconds), its display area on a user interface will cover other a few road videos on a user interface
Display area.For example, represent that user interface display area shows 4 road video datas with four palace trrellis diagrams, when certain video all the way
Occurs abnormal intrusion in data, Ze Jianggai roads video data automatic spring, user interface viewing area is represented with a palace trrellis diagram shape
Domain amplification shows video data and lasting preset time period, after the preset time period, recovers to show 4 road video datas.Institute
State to distinctly display and refer to that the video all the way that will appear from abnormal intrusion carries out flashing display and continues preset time according to predeterminated frequency
Section, or highlighted background is carried out according to pre-set color and show and lasting preset time period, other a few road video counts are different from this
According to display.
Alarm modules 305, are additionally operable to when the judgment module 304 determines the barrier not in the default abnormal intrusion
When in region, the second alarm sounds are carried out according to default second warning mode.
In this preferred embodiment, the terminal pre-sets the second warning mode, for detecting barrier but described
When barrier is not appeared in the default abnormal intrusion region, the second alarm sounds are carried out.
For ease of being described below, the feelings that will detect barrier but when barrier is not in the default abnormal intrusion region
Condition is referred to as non-abnormal intrusion.
In this preferred embodiment, default second warning mode can include the combination of one or more of：To going out
The amplification that the video all the way of existing non-abnormal intrusion carries out lasting second preset time period show but the sound that do not sound the alarm, to appearance
The video all the way of non-abnormal intrusion carry out lasting second preset time period distinctly display but the sound that do not sound the alarm.Non- exception enters
Invade unmanned boat may will not be caused damage or damaged condition is not serious caused by unmanned boat, because without sending alarm
Sound.For example, detecting buildings in seashore or inshore, then abnormal intrusion is not belonging to, staff has found building
The headway of unmanned boat can be fallen after body, or does not make any reaction.
It should be appreciated that when if pre-set abnormal intrusion region is one, examined when in abnormal intrusion region
When measuring barrier, alarm sounds are carried out with default first warning mode.If pre-set abnormal intrusion region is
When multiple, when detecting barrier in multiple abnormal intrusion regions at the same time, then in turn with default first warning mode
Carry out alarm sounds.
Further, in order to which what is become apparent from gives staff's alarm sounds, default first warning mode and institute
Stating default second warning mode can also include：Show that corresponding user interface shows that obstacle occurs in subregion with written form
Thing and the classification for indicating the barrier；Analysis is ranked up to abnormal intrusion and non-abnormal intrusion, such as exception can be entered
Invade progress top set to show, non-abnormal intrusion is carried out to postpone display；Different classes of barrier is identified with different icons.
When further, for the ease of subsequently checking and analyzing the video data in the abnormal intrusion region, the barrier
Thing system for monitoring intrusion 30 is hindered to include preserving module 306, for preserving the obstacle in the abnormal intrusion region
The video requency frame data of thing.
The terminal can also pre-set a memory space and be used to store the barrier in the abnormal intrusion region
Hinder the video requency frame data of thing.The terminal can extract each frame data of video data, when hindering in one-frame video data
Hinder thing and the barrier belongs in abnormal intrusion region, then preserving module 306 preserves the frame video data.
, can be by FFMPEG by original when the terminal receives the original video data of video capture device collection
Beginning Video Quality Metric is yuv format, and is sampled with given pace, and video data is sampled into frame image sequence, so as to every
Two field picture is detected whether there are obstacles according to default detection algorithm.Yuv format is independent unlike rgb format requirement three
Vision signal simultaneous transmission, thus few bandwidth is taken with yuv format transmitting video data, transmission rate is big.
Further, when staff needs to look into surrounding environment progress emphasis of the unmanned boat in a certain orientation
When seeing, then corresponding user interface is needed to show the video data in the corresponding orientation of subregion amplification display.Thus, it is described
Barrier system for monitoring intrusion 30 can also include handover module 307, show whether connect on subregion for detecting user interface
Receive switching command.If handover module 307 detects the switching command from user interface display subregion, to institute
State user interface and show that the video data shown on subregion is amplified display or the recovery preset display mode is shown；Such as
When fruit handover module 307 does not detect the switching command from user interface display subregion, then detecting user circle is repeated
Face shows whether receive the switching command on subregion.
In this preferred embodiment, the amplification shows and recovers mutually cut between the preset display mode is shown
Change, when user interface, which is shown, receives the switching command on subregion, by the video data by the default display mould
Formula, which is shown, is switched to amplification display, when user interface, which is shown, receives the switching command again on subregion, is regarded by described in
Frequency evidence is shown that being switched to (recovery) described preset display mode shows by amplification.
In certain embodiments, the switching command can be triggered by way of one or more of combination：Perform
Default handover operation, performs default phonetic order etc..The default handover operation can include, but are not limited to：Click on
Operation, double click operation or long-press operation.The double click operation includes touching user interface display subregion same position twice
Or the time interval of adjacent position is less than the operation of a preset time (such as 2 seconds etc.).The long-press operation includes pressing and uses
The duration of family interface display subregion same position is more than the operation of a preset time (such as 5 seconds).It is of the present invention to cut
Change instruction to enumerate except above-mentioned, other instructions can also be included, this is not restricted herein, does not also enumerate.
The barrier system for monitoring intrusion can also include setup module 308, and the video is checked for pre-setting
The account and password of data.
The judgment module 304, is additionally operable to judge whether account input by user and password are correct.
The display module 302, is additionally operable to when the judgment module 304 determines that account input by user and password are correct
When, the video data is shown according to preset display mode.
The alarm modules 305, are additionally operable to when the judgment module 304 determines account input by user or password mistake
When, prompt user account or password mistake.
In certain embodiments, in order to protect the privacy of video data, prevent video data from being peeped or stolen, cause nothing
Security risk when people's ship navigates by water, can be that every staff set a single account and close when checking video data
Code, can also be to set a single account and password per road video data.
In conclusion barrier system for monitoring intrusion 30 of the present invention, can strange land monitor in real time around unmanned boat
Environment, and when finding barrier, the region occurred according to barrier carries out different alarm sounds, so that staff is timely
Take appropriate measures to protect unmanned boat to exempt from threat or destruction, so that unmanned boat can reach more complicated waters,
Under adverse circumstances, staff's fieldwork is avoided, and then has ensured the life security of staff.In addition, the present invention preserves
There is the video requency frame data of barrier, ex-post analysis and processing can be easy to；Secondly, to arbitrarily video data can be by institute all the way
State preset display mode and show that free switching is shown to amplification, clearer unmanned boat can also be checked while improving user experience
The surrounding environment in a certain orientation；Finally, the account and password for checking video data are set, more can guarantee that the safety of video data,
Further increase the safety guarantee of unmanned boat.
The above-mentioned integrated unit realized in the form of software function module, can be stored in one and computer-readable deposit
In storage media.Above-mentioned software function module is stored in a storage medium, including some instructions are used so that a computer
Equipment (can be personal computer or network equipment etc.) or processor (processor) perform each embodiment institute of the present invention
State the part of method.
As shown in figure 4, it is the hardware architecture diagram for the terminal for realizing barrier intrusion detection method of the present invention.
In present pre-ferred embodiments, the terminal 4 includes memory 41, at least one processor 42, at least one
Communication bus 43 and display screen 46.It will be understood by a person skilled in the art that the structure of the terminal shown in Fig. 4 does not form this hair
The restriction of bright embodiment, either bus type structure or star structure, the terminal 4 can also be included than diagram
Other more or fewer hardware either arrange by software or different components.
In certain embodiments, the terminal 4 can carry out automatically including a kind of according to the instruction for being previously set or storing
Numerical computations and/or the terminal of information processing, its hardware include but not limited to microprocessor, application-specific integrated circuit, programmable gate
Array, digital processing unit, embedded device etc..The terminal 4 may also include user equipment, and the user equipment includes but unlimited
The electricity of human-computer interaction can be carried out by modes such as keyboard, mouse, remote controler, touch pad or voice-operated devices with user in any type
Sub- product, for example, personal computer, tablet computer, smart mobile phone, intellectual wearable device etc..
It should be noted that the terminal 4 is only for example, other electronic products that are existing or being likely to occur from now on such as may be used
It is adapted to the present invention, should also be included within protection scope of the present invention, and is incorporated herein by reference.
In certain embodiments, the memory 41 is used for store program codes and various data, such as installed in described
The system of intelligent recognition configuration file in terminal 4, and realize high speed in the operational process of terminal 4, be automatically completed program
Or the access of data.The memory 41 includes read-only storage (Read-Only Memory, ROM), random access memory
(Random Access Memory, RAM), programmable read only memory (Programmable Read-Only Memory,
PROM), Erasable Programmable Read Only Memory EPROM (Erasable Programmable Read-Only Memory, EPROM), one
Secondary programmable read only memory (One-time Programmable Read-Only Memory, OTPROM), electronics erasing type
Can make carbon copies read-only storage (Electrically-Erasable Programmable Read-Only Memory, EEPROM),
Read-only optical disc (Compact Disc Read-Only Memory, CD-ROM) or other disk storages, magnetic disk storage, magnetic
Tape storage or any other the computer-readable medium that can be used in carrying or store data.
In the present embodiment, the memory 41 is previously stored with the quantity of video capture device, shows video data
In display pattern, the detection video data detection algorithm of whether there are obstacles, abnormal intrusion region and note abnormalities into
Invade in region that there are the first warning mode and the second warning mode for during barrier, sending alarm sounds.
In certain embodiments, at least one processor 42 can be made of integrated circuit, such as can be by single
The integrated circuit of encapsulation is formed or is made of the integrated circuit that multiple identical functions or difference in functionality encapsulate, and is wrapped
Include one or more central processing unit (Central Processing unit, CPU), microprocessor, digital processing chip,
Combination of graphics processor and various control chips etc..At least one processor 42 is the control core of the terminal 4
(Control Unit), using various interfaces and all parts of the whole terminal 4 of connection, is stored in by running or performing
Program or module in the memory 41, and the data being stored in the memory 41 are called, to perform terminal 4
Various functions and processing data, such as the system for performing barrier intrusion detection.
In certain embodiments, at least one communication bus 43 be arranged to realize the memory 41, it is described extremely
Few connection communication between a processor 42 and the grade of the display screen 46.
In certain embodiments, the display screen 46 can be used for display by information input by user or be supplied to user's
Information or user interface display area 20.The display screen 46 may include display panel, optionally, can use liquid crystal display
Screen (Liquid Crystal Display, LCD), Organic Light Emitting Diode (Organic Light-Emitting Diode,
) etc. OLED form configures display panel.
The display screen 46 can also include touch panel.If the display screen 46 includes touch panel, described
Display screen 46 may be implemented as touch-screen, to receive touch signal from the user.Touch panel includes one or more
Touch sensor is to sense the gesture on touch, slip and touch panel.Above-mentioned touch sensor can not only sense touch or
The border of sliding action, but also detect and above-mentioned touch or the relevant duration and pressure of slide.The display surface
Plate and the touch panel can be independent as two component realize input and input function, but in some embodiments
In, the display panel and the touch panel can be carried out integrated and realize and output and input function.
Although being not shown, the terminal 4 can also include the power supply (such as battery) to all parts power supply, it is preferred that
Power supply can be logically contiguous by power-supply management system and at least one processor 42, so that real by power-supply management system
The functions such as now management charging, electric discharge and power managed.Power supply can also include one or more direct current or alternating current
The random component such as source, recharging system, power failure detection circuit, power supply changeover device or inverter, power supply status indicator.
The terminal 4 can also include camera, bluetooth module etc., and details are not described herein.
In a further embodiment, it can perform the operation of the terminal 4 with reference to Fig. 3, at least one processor 42
System and the types of applications program of installation (barrier system for monitoring intrusion 30 as mentioned), program code etc., for example, above-mentioned
Modules, including：Receiving module 301, display module 302, detection module 303, judgment module 304, alarm modules 305,
Preserving module 306, handover module 307 and setup module 308.Specifically, at least one processor 42 is to above-metioned instruction
Concrete methods of realizing refers to the description that Fig. 1 corresponds to correlation step in embodiment, and this will not be repeated here.
In several embodiments provided by the present invention, it should be understood that disclosed system, system and method can be with
Realize by another way.For example, system embodiment described above is only schematical, for example, the module
Division, is only a kind of division of logic function, can there is other dividing mode when actually realizing.
The module illustrated as separating component may or may not be physically separate, be shown as module
The component shown may or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
In network unit.Some or all of module therein can be selected to realize the mesh of this embodiment scheme according to the actual needs
's.
In addition, each function module in each embodiment of the present invention can be integrated in a processing unit, can also
That unit is individually physically present, can also two or more units integrate in a unit.Above-mentioned integrated list
Member can both be realized in the form of hardware, can also be realized in the form of hardware adds software function module.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Profit requires rather than described above limits, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the present invention.Any reference numeral in claim should not be considered as to the involved claim of limitation.This
Outside, it is clear that one word of " comprising " is not excluded for other units or, odd number is not excluded for plural number.The multiple units stated in system claims
Or system can also be realized by a unit or system by software or hardware.The first, the second grade word is used for representing name
Claim, and be not offered as any specific order.
Finally it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention and it is unrestricted, although reference
The present invention is described in detail in preferred embodiment, it will be understood by those of ordinary skill in the art that, can be to the present invention's
Technical solution is modified or equivalent substitution, without departing from the spirit and scope of technical solution of the present invention.
Claims (10)
- A kind of 1. barrier intrusion detection method, it is characterised in that the described method includes：Receive the video data of the destination object surrounding environment of the video capture device collection of default quantity；The video data is shown according to preset display mode；According in the default detection algorithm detection video data, whether there are during barrier, judge the barrier default different Often in invasion region；AndWhen the definite barrier is in the default abnormal intrusion region, the first police is carried out according to default first warning mode Report prompting；OrWhen the definite barrier is not in the default abnormal intrusion region, second is carried out according to default second warning mode Alarm sounds.
- 2. barrier intrusion detection method according to claim 1, it is characterised in that described to be shown according to preset display mode Show that the video data includes：There is provided user one user interface display area；The user interface display area is divided into multiple user interfaces and shows subregion, one of user interface is shown Panoramic video data after subregion display splicing, remaining each user interface show that subregion corresponds to display video all the way The video data of collecting device collection.
- 3. barrier intrusion detection method according to claim 2, it is characterised in that the abnormal intrusion region can be Following one or more kinds of combination zone：1) region of the video capture device collection of way is preset；2) preset range, the preset range refer to centered on the unmanned boat, the circle formed using preset length by radius Shape region；3) preset coordinate region, the coordinates regional are the regions in the coordinate system established based on the panoramic video.
- 4. barrier intrusion detection method according to claim 3, it is characterised in that the method further includes：Detect the user interface and show whether receive switching command on subregion；AndWhen detecting the switching command from user interface display subregion, subregion is shown to the user interface The video data of upper display is amplified display or recovers the preset display mode and shows.
- 5. barrier intrusion detection method according to claim 4, it is characterised in thatDefault first warning mode includes the combination of one or more of：To there is the progress of the video all the way of abnormal intrusion The amplification for continuing the first preset time period shows and sends audio warning, lasting the is carried out to the video all the way for abnormal intrusion occur One preset time period distinctly displays and sends audio warning；Default second warning mode includes the combination of one or more of：To occur the video all the way of non-abnormal intrusion into Row continues the amplification display of the second preset time period but the sound that do not sound the alarm, the video all the way to the non-abnormal intrusion of appearance carry out Continue the second preset time period distinctly display but the sound that do not sound the alarm.
- 6. barrier intrusion detection method according to claim 4 or 5, it is characterised in that the method further includes：Show that corresponding user interface shows that subregion barrier occurs and indicates the classification of the barrier with written form； OrDifferent classes of barrier is identified with different icons.
- 7. barrier intrusion detection method according to claim 6, it is characterised in that the method further includes：Pre-set the account and password for checking the video data；Judge whether account input by user and password are correct；AndWhen definite account input by user and correct password, the video data is shown according to preset display mode.
- A kind of 8. barrier system for monitoring intrusion, it is characterised in that the system comprises：Receiving module, the video data for the unmanned boat surrounding environment that the video capture device for receiving default quantity gathers；Display module, for showing the video data according to preset display mode；Detection module, for detecting whether there are obstacles in the video data according to default detection algorithm；Judgment module, for when the detection module is according to there are barrier in the default detection algorithm detection video data When, judge the barrier whether in default abnormal intrusion region；AndAlarm modules, for when the judgment module determines that the barrier is in the default abnormal intrusion region, according to Default first warning mode carries out the first alarm sounds；The alarm modules, are additionally operable to when the judgment module determines the barrier not in the default abnormal intrusion region When, the second alarm sounds are carried out according to default second warning mode.
- A kind of 9. terminal, it is characterised in that：The terminal includes processor, and the processor is used to perform what is stored in memory Barrier intrusion detection method as claimed in any of claims 1 to 7 in one of claims is realized during computer program.
- 10. a kind of computer-readable recording medium, is stored thereon with computer program, it is characterised in that：The computer program Barrier intrusion detection method as claimed in any of claims 1 to 7 in one of claims is realized when being executed by processor.
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