CN109348170B - Video monitoring method and device and video monitoring equipment - Google Patents
Video monitoring method and device and video monitoring equipment Download PDFInfo
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- CN109348170B CN109348170B CN201811110449.8A CN201811110449A CN109348170B CN 109348170 B CN109348170 B CN 109348170B CN 201811110449 A CN201811110449 A CN 201811110449A CN 109348170 B CN109348170 B CN 109348170B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
Abstract
The invention provides a video monitoring method and device and video monitoring equipment. The video monitoring method comprises the following steps: the method comprises the following steps: collecting wireless radio frequency signals transmitted in a monitoring place; monitoring whether a visiting object enters the monitoring place or not according to the wireless radio frequency signal; when it is monitored that a visiting object enters the monitoring place, determining the direction information of the visiting object based on the wireless radio frequency signal; and controlling a holder carrying a camera to rotate according to the azimuth information so as to shoot the visiting object. The invention can realize the omnibearing and dead-angle-free monitoring of a monitoring place by utilizing the wireless radio frequency signal, and when a visiting object is found by adopting the wireless radio frequency signal, the cradle head can be controlled to rotate at the first time to shoot the visiting object, thereby avoiding missing any monitoring picture of the visiting object and eliminating the monitoring blind area in time and space.
Description
Technical Field
The invention relates to the technical field of security monitoring, in particular to a video monitoring method and device and video monitoring equipment.
Background
The video monitoring system is widely applied to daily life as a social security guarantee system, and video acquisition equipment such as a camera and the like can be seen everywhere in public places such as banks, shopping malls, supermarkets, hotels, street corners, intersections, toll stations and the like. The installation of the system greatly increases social security, plays a role in monitoring and recording the behavior of lawbreakers in real time, and provides a great amount of real and reliable clues for the public security organs to detect cases.
Referring to fig. 1, a schematic view of a monitoring range of a video monitoring system in the prior art is shown, as shown in the figure, one of the existing video monitoring systems is a fixed directional camera, which can only monitor a fixed area within a visual angle range of the camera, and has a large monitoring blind area; the other is to adopt the rotatory camera that is equipped with the cloud platform, and this kind of camera can adopt cruise mode autogiration in order to monitor to bigger visual angle scope, but this kind of camera also has the control blind area in the space-time, and for example, lawless persons can wait to invade again when the camera turns to other angles to avoid being shot by the camera.
In summary, the video monitoring systems provided in the prior art all have monitoring blind areas, so that some important monitoring pictures are omitted, and in some scenes, lawbreakers can engage in illegal criminal activities through the monitoring blind areas.
In view of the foregoing, there is a need to provide a video monitoring technique that can eliminate the dead zone.
Disclosure of Invention
In view of the foregoing problems, an object of the present invention is to provide a video monitoring method, a video monitoring device and a video monitoring apparatus, so as to solve the problem that in the prior art, video monitoring systems all have monitoring blind areas, thereby omitting some important monitoring pictures.
The first aspect of the present invention provides a video monitoring method, including:
acquiring a wireless radio frequency signal transmitted in a monitoring place;
monitoring whether a visiting object enters the monitoring place or not according to the wireless radio frequency signal;
when it is monitored that a visiting object enters the monitoring place, determining the direction information of the visiting object based on the wireless radio frequency signal;
and controlling a holder carrying a camera to rotate according to the azimuth information so as to shoot the visiting object.
In a modified embodiment of the first aspect of the present invention, the monitoring whether a visiting subject enters the monitoring place according to the radio frequency signal includes:
and judging whether a visiting object enters the monitoring place or not according to the wireless radio frequency signal by adopting a wireless radio frequency signal-based dynamic object detection method.
In another modified embodiment of the first aspect of the present invention, the method for determining whether a visiting party enters the monitoring place according to a radio frequency signal by using a dynamic object detection method based on the radio frequency signal, includes:
extracting the characteristics of the radio frequency signals by adopting a sliding window method, and extracting to obtain the phase difference variance between the receiving antennas corresponding to the current time window;
and comparing the ratio between the phase difference variance corresponding to the current time window and the standard phase difference variance, and if the ratio exceeds a preset ratio threshold, judging that the visiting object enters the monitoring place in the current time window, wherein the standard phase difference variance is the average value of the phase difference variances of the wireless radio frequency signals collected when the monitoring place is in a static state.
In a further modified embodiment of the first aspect of the present invention, the acquiring a radio frequency signal transmitted in a monitoring location includes:
the method comprises the steps of acquiring wireless radio frequency signals transmitted in a monitoring place acquired by a wireless signal receiver, wherein a uniform linear antenna array is arranged on the wireless signal receiver and comprises a plurality of linear antennas which are arranged at equal intervals, and the wireless radio frequency signals comprise channel state information which is received by each antenna respectively.
In a further variation of the first aspect of the present invention, the determining the positional information of the visiting object based on the radio frequency signal comprises:
identifying a dynamic path signal based on the wireless radio frequency signal;
selecting a dynamic path signal with the minimum arrival time from the identified dynamic path signals;
and determining the arrival angle of the dynamic path signal with the minimum arrival time as the direction information of the visiting object.
In another modified embodiment of the first aspect of the present invention, the identifying a dynamic path signal based on the radio frequency signal includes:
based on the channel state information respectively received by each antenna in the wireless radio frequency signals, performing signal classification by adopting a two-dimensional multi-signal classification algorithm and estimating the arrival angle and arrival time of each classified wireless radio frequency signal;
identifying the radio frequency signals with the arrival angles not changing along with time, which are obtained by classification, as static path signals;
and identifying the radio frequency signals with arrival angles changing along with time obtained by classification as dynamic path signals.
In a further modified embodiment of the first aspect of the present invention, the controlling a pan/tilt head carrying a camera to rotate according to the orientation information to shoot the visiting object includes:
calibrating the initial direction of the holder and the orientation of the uniform antenna array;
and controlling a holder bearing a camera to rotate to the direction corresponding to the arrival angle according to the calibration result so as to control the camera to shoot the visiting object.
In yet another variation of the first aspect of the present invention, the wireless rf signal comprises a WiFi signal.
A second aspect of the present invention provides a video monitoring apparatus, including:
the signal acquisition module is used for acquiring wireless radio frequency signals transmitted in a monitoring place;
the object visiting monitoring module is used for monitoring whether a visiting object enters the monitoring place or not according to the wireless radio frequency signal;
the object position calculation module is used for determining the position information of the visiting object based on the wireless radio frequency signal when the visiting object is monitored to enter the monitoring place;
and the holder control module is used for controlling the holder carrying the camera to rotate according to the azimuth information so as to shoot the visiting object.
In a modified embodiment of the second aspect of the present invention, the subject visit monitoring module includes:
and the object visiting monitoring unit is used for judging whether a visiting object enters the monitoring place or not according to the wireless radio frequency signal by adopting a wireless radio frequency signal-based dynamic object detection method.
In another modified embodiment of the second aspect of the present invention, the subject visit monitoring unit includes:
the characteristic extraction subunit is used for extracting the characteristics of the radio frequency signals by adopting a sliding window method and extracting to obtain the phase difference variance between the receiving antennas corresponding to the current time window;
and the characteristic comparison subunit is used for comparing the ratio between the phase difference variance corresponding to the current time window and the standard phase difference variance, and if the ratio exceeds a preset ratio threshold, judging that a visiting object enters the monitoring place in the current time window, wherein the standard phase difference variance is the average value of the phase difference variances of the wireless radio frequency signals acquired when the monitoring place is in a static state.
In a further modified embodiment of the second aspect of the present invention, the signal acquisition module includes:
the array antenna unit is used for acquiring wireless radio frequency signals transmitted in a monitoring place acquired by a wireless signal receiver, wherein the wireless signal receiver is provided with a uniform linear antenna array, the uniform linear antenna array comprises a plurality of antennas which are linearly arranged at equal intervals, and the wireless radio frequency signals comprise channel state information respectively received by the antennas.
In a further modified embodiment of the second aspect of the present invention, the object orientation calculation module includes:
the dynamic path signal identification unit is used for identifying a dynamic path signal based on the radio frequency signal;
the minimum signal identification and selection unit is used for selecting the dynamic path signal with the minimum arrival time from the identified dynamic path signals;
an arrival angle determining unit, configured to determine an arrival angle of the dynamic path signal with the minimum arrival time as the azimuth information of the visiting object.
In a further modified embodiment of the second aspect of the present invention, the dynamic path signal identifying unit includes:
a signal classification subunit, configured to classify signals and estimate an arrival angle and an arrival time of each classified radio frequency signal by using a two-dimensional multiple signal classification algorithm based on channel state information received by each antenna in the radio frequency signal;
a static path identifying subunit, configured to identify the radio frequency signal with the arrival angle unchanged with time, which is obtained by the classification, as a static path signal;
and the dynamic path identifying subunit is used for identifying the radio frequency signals with the arrival angles changing along with time, which are obtained by classification, as dynamic path signals.
In still another modified embodiment of the second aspect of the present invention, the pan/tilt head control module includes:
the direction calibration unit is used for calibrating the initial direction of the holder and the orientation of the uniform antenna array;
and the holder direction control unit is used for controlling the holder bearing the camera to rotate to the direction corresponding to the arrival angle according to the calibration result so as to control the camera to shoot the visiting object.
In yet another variation of the second aspect of the present invention, the wireless radio frequency signal comprises a WiFi signal.
A third aspect of the present invention provides a video monitoring apparatus comprising: the system comprises a camera, a holder, a wireless signal receiver, a memory and a processor;
the camera is arranged on the holder, and the wireless signal receiver is arranged adjacent to the camera;
the camera, the holder, the wireless signal receiver and the memory are all connected with the processor;
the memory having stored thereon a computer program operable on the processor;
the wireless signal receiver is used for collecting wireless radio frequency signals transmitted in a monitoring place and sending the wireless radio frequency signals to the processor;
when the processor runs the computer program, the video monitoring method provided by the invention is executed, so that when a visiting object enters the monitoring place according to the radio frequency signal, the holder is controlled to rotate, and the camera shoots the visiting object.
The video monitoring method provided by the first aspect of the invention comprises the following steps: collecting wireless radio frequency signals transmitted in a monitoring place; monitoring whether a visiting object enters the monitoring place or not according to the wireless radio frequency signal; when it is monitored that a visiting object enters the monitoring place, determining the direction information of the visiting object based on the wireless radio frequency signal; and controlling a holder carrying a camera to rotate according to the azimuth information so as to shoot the visiting object. Compared with the prior art, the video monitoring method provided by the invention has the advantages that the monitoring place is monitored based on the radio frequency signals, the radio frequency signals are not restricted by the view field, so that the omnibearing and dead-angle-free monitoring of the monitoring place can be realized, when the visiting object enters, the radio frequency signals are utilized to position the visiting object, and the cradle head is controlled to rotate according to the position information obtained by positioning so as to shoot the visiting object, so that the rotating of the cradle head can be controlled at the first time to shoot the visiting object when the visiting object enters, the monitoring pictures of any visiting object are avoided being omitted, and the monitoring blind area in time and space is eliminated.
The video monitoring apparatus provided by the second aspect of the present invention and the video monitoring device provided by the third aspect of the present invention have the same advantages as the video monitoring method provided by the first aspect of the present invention.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
FIG. 1 is a schematic diagram of a monitoring range of a prior art video monitoring system;
fig. 2 is a flowchart illustrating a video monitoring method according to an embodiment of the present invention;
fig. 3 is a schematic diagram illustrating an installation position of a wireless signal transmitter and a wireless signal receiver according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a video monitoring apparatus according to an embodiment of the present invention;
fig. 5 shows a schematic diagram of a video monitoring apparatus according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
It is to be noted that, unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which the present invention belongs.
The embodiment of the invention is based on the principle that:
in an indoor environment, the transmitted wireless signal typically does not follow a direct path to the receiver. In fact, the received signal is usually a superposition of multiple signals formed by the reflection, diffraction and scattering of the signal via furniture, human body and other obstacles, a phenomenon known as multipath. The physical space limits the propagation of wireless signals, which in turn can be used to sense the physical environment through which they travel. For example, in a quiet place, a slight motion may also affect a WiFi signal in a space, and different motions, different motion amplitudes, and different motion frequencies may all affect the WiFi signal transmitted in the space to different degrees, for example, motions such as walking, bending over, squatting, heartbeat, and breathing of a person may all affect the WiFi signal to different degrees, and therefore, the behavior of the person in the target place may be identified according to the received WiFi signal in the target place.
Based on the above description, a wireless signal transceiver may be disposed in the monitoring location, and by monitoring the change of the wireless signal transmitted in the monitoring location, it may be determined whether an originally quiet monitoring location has an object to be visited, and further, a positioning method based on the wireless signal is used to determine the azimuth information of the object to be visited, and then the cradle head is controlled to rotate fast in real time, so that the camera can collect the monitoring picture of the object to be visited in the first time.
The embodiment of the invention provides a video monitoring method, a video monitoring device and video monitoring equipment on the basis of the above principle. Embodiments of the present invention will be described below with reference to the drawings.
Referring to fig. 2, a flowchart of a video monitoring method according to an embodiment of the present invention is shown, where the video monitoring method includes the following steps:
step S101: and acquiring the wireless radio frequency signal transmitted in the monitoring place.
In the embodiment of the application, can arrange wireless signal transmitter and wireless signal receiver in the control place in advance, by wireless signal transmitter transmission radio frequency signal, radio frequency signal takes place reflection, diffraction and scattering in this control place after by wireless signal receiver receives, wherein, wireless signal receiver can be integrated into same video monitoring equipment with camera, cloud platform etc..
The wireless signal transmitter and the wireless signal receiver can be any equipment with a wireless radio frequency signal receiving/transmitting function, such as a wireless router, a wireless signal enhancer, a notebook computer, a tablet computer, a mobile phone and the like. The wireless radio frequency signal may be a WiFi signal, or may also be a wireless radio frequency signal in other frequency bands such as ZigBee or based on other transmission protocols.
Referring to fig. 3, a schematic diagram of an installation position of a wireless signal transmitter and a wireless signal receiver according to an embodiment of the invention is shown, as shown, the wireless signal transmitter and the wireless signal receiver can be installed at diagonal positions in a room, and it should be noted that, in this application, since the pan/tilt head carrying the camera is controlled to rotate according to the positional information of the visiting object determined by the wireless signal receiver, therefore, the wireless signal receiver and the cradle head or camera head should be positioned as close as possible during installation, so as to reduce the process of angle conversion, improve the timeliness of controlling the rotation of the cradle head, ensure that the cradle head is rotated at the first time to monitor the visiting object, in some embodiments, the wireless signal receiver may be integrated with the pan/tilt head and the camera head into an integrated video surveillance device.
Step S102: and monitoring whether a visiting object enters the monitoring place or not according to the wireless radio frequency signal.
In the embodiment of the present invention, the visiting object may be a person, or may also be other objects or animals that can move, such as an automobile, a cat, a dog, and the like, which are all suitable for the embodiment of the present application.
In a static place, a transmission path of a radio frequency signal after being reflected, scattered or diffracted is basically kept stable, when a visiting object enters, the stable situation is necessarily broken, so that the radio frequency signal is disturbed, and the disturbances can be expressed as signal transmission path increase, more disordered signals and the like.
Specifically, a dynamic object detection method based on a radio frequency signal may be adopted, and whether a visiting object enters the monitoring place or not may be determined according to the radio frequency signal.
For example, in an alternative implementation manner of the embodiment of the present application, the determining whether a visiting object enters the monitoring place according to the wireless radio frequency signal by using the dynamic object detection method based on the wireless radio frequency signal may include:
extracting the characteristics of the radio frequency signals by adopting a sliding window method, and extracting to obtain the phase difference variance between the receiving antennas corresponding to the current time window;
and comparing the ratio between the phase difference variance corresponding to the current time window and the standard phase difference variance, and if the ratio exceeds a preset ratio threshold, judging that the visiting object enters the monitoring place in the current time window, wherein the standard phase difference variance is the average value of the phase difference variances of the wireless radio frequency signals collected when the monitoring place is in a static state.
In order to ensure that the visiting object can be found at the first time, when the sliding window method is adopted to extract the characteristics of the radio frequency signal, the time window of the sliding window method can be set to be 1 second, 0.5 second, 0.1 second or even lower.
The embodiment has simple calculation and high calculation efficiency, so that the visiting object can be found in real time, and the monitoring blind area in time and space is avoided.
Step S103: when it is monitored that the visiting object enters the monitoring place, determining the direction information of the visiting object based on the wireless radio frequency signal.
In the embodiment of the present invention, the position information of the visiting object may be determined by using any dynamic object positioning method based on wireless radio frequency signals (such as WiFi signals) provided in the prior art, and all of them are suitable for the embodiment of the present invention to achieve the purpose of the embodiment of the present invention.
In addition, in an embodiment of the present invention, a method for identifying a dynamic path signal by using variability of signal arrival angles, further determining direction information of a visiting object relative to a wireless signal receiver as orientation information, and further controlling a pan-tilt to rotate so as to monitor the visiting object is further provided, specifically, since the dynamic path signal needs to be identified by using the signal arrival angles, the wireless radio frequency signal acquired in step S101 needs to be a wireless radio frequency signal acquired by using multiple antennas, for example, in an implementation manner provided by an embodiment of the present invention, the acquiring a wireless radio frequency signal transmitted in a monitoring location includes:
the method comprises the steps of acquiring wireless radio frequency signals transmitted in a monitoring place acquired by a wireless signal receiver, wherein a uniform linear antenna array is arranged on the wireless signal receiver and comprises a plurality of linear antennas which are arranged at equal intervals, and the wireless radio frequency signals comprise channel state information which is received by each antenna respectively.
Wherein, in order to realize better signal identification efficiency, the distance between the plurality of antennas should not exceed half of the wavelength of the used radio frequency signal.
After receiving the radio frequency signal collected by the uniform linear antenna array, in an implementation manner provided by an embodiment of the present invention, the determining the position information of the visiting object based on the radio frequency signal may include:
identifying a dynamic path signal based on the wireless radio frequency signal;
selecting a dynamic path signal with the minimum arrival time from the identified dynamic path signals;
and determining the arrival angle of the dynamic path signal with the minimum arrival time as the direction information of the visiting object.
Identifying a dynamic path signal based on the radio frequency signal may include:
based on the channel state information respectively received by each antenna in the wireless radio frequency signals, performing signal classification by adopting a two-dimensional multi-signal classification algorithm and estimating the arrival angle and arrival time of each classified wireless radio frequency signal;
identifying the radio frequency signals with the arrival angles not changing along with time, which are obtained by classification, as static path signals;
and identifying the radio frequency signals with arrival angles changing along with time obtained by classification as dynamic path signals.
The two-dimensional multi-Signal Classification algorithm (Multiple Signal Classification, abbreviated as MUSIC) is a mature algorithm in the prior art, and by using the algorithm, input signals can be directly distinguished, and the arrival angle and arrival time of each Signal can be obtained.
According to the embodiment, the dynamic path signal can be accurately identified based on the variability of the arrival angle of the signal, and the dynamic path signal with the minimum arrival time is selected according to the arrival time of the dynamic path signal, wherein the dynamic path signal is directly transmitted to the wireless signal receiver after being reflected by the visiting object, so that the direction information of the visiting object can be determined according to the arrival angle of the dynamic path signal and is used as the direction information of the visiting object.
Step S104: and controlling a holder carrying a camera to rotate according to the azimuth information so as to shoot the visiting object.
After the position information of the visiting object is determined based on the radio frequency signal, the cradle head can be controlled to rapidly rotate the direction of the visiting object in real time, and therefore the visiting object can be monitored at the first time.
Specifically, in an implementation manner of the embodiment of the present invention, the controlling, according to the orientation information, a pan-tilt that carries a camera to rotate so as to shoot the visiting object includes:
calibrating the initial direction of the holder and the orientation of the uniform antenna array;
and controlling a holder bearing a camera to rotate to the direction corresponding to the arrival angle according to the calibration result so as to control the camera to shoot the visiting object.
The initial direction of the cloud deck and the orientation of the uniformity antenna array are calibrated, so that an included angle between the initial direction of the cloud deck and the orientation of the uniformity antenna array can be determined, a target direction for controlling the rotation of the cloud deck can be determined by utilizing the included angle and the arrival angle of the dynamic path signal with the minimum arrival time, and then the cloud deck is controlled to rotate to the target direction, so that the aim of controlling the camera to monitor the visiting object can be fulfilled.
As described above, for the exemplary illustration of the video monitoring method provided by the embodiment of the present invention, compared with the prior art, the video monitoring method provided by the present invention firstly monitors the monitoring location based on the radio frequency signal, and since the radio frequency signal is not restricted by the field of view, the omnidirectional and dead-angle-free monitoring of the monitoring location can be realized.
In the foregoing embodiment, a video monitoring method is provided, and correspondingly, the invention further provides a video monitoring device. Please refer to fig. 4, which is a schematic diagram of a video monitoring apparatus according to an embodiment of the present invention. Since the apparatus embodiments are substantially similar to the method embodiments, they are described in a relatively simple manner, and reference may be made to some of the descriptions of the method embodiments for relevant points. The device embodiments described below are merely illustrative.
As shown in fig. 4, a video monitoring apparatus 2 according to an embodiment of the present invention includes:
the signal acquisition module 21 is configured to acquire a wireless radio frequency signal transmitted in a monitoring site;
the object visiting monitoring module 22 is used for monitoring whether a visiting object enters the monitoring place according to the wireless radio frequency signal;
an object position calculating module 23, configured to determine, based on the radio frequency signal, position information of a visiting object when it is monitored that the visiting object enters the monitoring location;
and the holder control module 24 is configured to control the holder carrying the camera to rotate according to the azimuth information so as to shoot the visiting object.
In a modified implementation manner of the embodiment of the present invention, the subject visiting monitoring module 22 includes:
and the object visiting monitoring unit is used for judging whether a visiting object enters the monitoring place or not according to the wireless radio frequency signal by adopting a wireless radio frequency signal-based dynamic object detection method.
In another variation of the embodiment of the present invention, the subject visit monitoring unit includes:
the characteristic extraction subunit is used for extracting the characteristics of the radio frequency signals by adopting a sliding window method and extracting to obtain the variance of the phase difference between the receiving antennas corresponding to the current time window;
and the characteristic comparison subunit is used for comparing the ratio between the phase difference variance corresponding to the current time window and the standard phase difference variance, and if the ratio exceeds a preset ratio threshold, judging that a visiting object enters the monitoring place in the current time window, wherein the standard phase difference variance is the average value of the phase difference variances of the wireless radio frequency signals acquired when the monitoring place is in a static state.
In a further modified embodiment of the present invention, the signal obtaining module 21 includes:
the array antenna unit is used for acquiring wireless radio frequency signals transmitted in a monitoring place acquired by a wireless signal receiver, wherein the wireless signal receiver is provided with a uniform linear antenna array, the uniform linear antenna array comprises a plurality of antennas which are linearly arranged at equal intervals, and the wireless radio frequency signals comprise channel state information respectively received by the antennas.
In still another modified embodiment of the present invention, the object orientation calculation module 23 includes:
the dynamic path signal identification unit is used for identifying a dynamic path signal based on the radio frequency signal;
the minimum signal identification and selection unit is used for selecting the dynamic path signal with the minimum arrival time from the identified dynamic path signals;
an arrival angle determining unit, configured to determine an arrival angle of the dynamic path signal with the minimum arrival time as the azimuth information of the visiting object.
In yet another modified embodiment of the present invention, the dynamic path signal identifying unit includes:
a signal classification subunit, configured to classify signals and estimate an arrival angle and an arrival time of each classified radio frequency signal by using a two-dimensional multiple signal classification algorithm based on channel state information received by each antenna in the radio frequency signal;
a static path identifying subunit, configured to identify the radio frequency signal with the arrival angle unchanged with time, which is obtained by the classification, as a static path signal;
and the dynamic path identifying subunit is used for identifying the radio frequency signals with the arrival angles changing along with time, which are obtained by classification, as dynamic path signals.
In another modified embodiment of the present invention, the pan/tilt control module 24 includes:
the direction calibration unit is used for calibrating the initial direction of the holder and the orientation of the uniform antenna array;
and the holder direction control unit is used for controlling the holder bearing the camera to rotate to the direction corresponding to the arrival angle according to the calibration result so as to control the camera to shoot the visiting object.
In yet another variation of the embodiment of the present invention, the wireless radio frequency signal includes a WiFi signal.
The video monitoring apparatus 2 provided by the embodiment of the present invention has the same beneficial effects as the video monitoring method provided by the foregoing embodiment of the present invention.
In the above embodiments, a video monitoring method and a video monitoring device are provided, and accordingly, the present invention further provides a video monitoring apparatus, please refer to fig. 5, where fig. 5 is a schematic diagram of a video monitoring apparatus provided in an embodiment of the present invention. As shown in fig. 5, the video monitoring apparatus 3 includes:
a camera 31, a pan-tilt head 32, a wireless signal receiver 33, a memory 34 and a processor 35;
the camera 31 is mounted on the holder 32, and the wireless signal receiver 33 is arranged adjacent to the camera 31;
the camera 31, the pan-tilt head 32, the wireless signal receiver 33 and the memory 34 are all connected with the processor 35 through a bus 36;
the memory 34 has stored thereon a computer program operable on the processor 35;
the wireless signal receiver 33 is configured to collect wireless radio frequency signals transmitted in a monitoring location, and send the wireless radio frequency signals to the processor 34;
when the processor 34 executes the video monitoring method provided by the embodiment of the present invention when running the computer program, so as to control the pan/tilt head 32 to rotate when it is monitored that a visiting object enters the monitoring place according to the radio frequency signal, so that the camera 31 shoots the visiting object.
The wireless signal receiver 33 may be any wireless signal receiver such as a WiFi signal receiver, a ZigBee signal receiver, and the like, and the specific implementation thereof can be understood with reference to the description of the embodiment corresponding to fig. 2, which is not described herein again.
The Memory 34 may comprise a Random Access Memory (RAM) and may also include a non-volatile Memory (non-volatile Memory), such as at least one disk Memory.
The processor 35 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 35. The Processor 35 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. The various methods, steps and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in the memory 34, and the processor 35 reads the information in the memory 34 and completes the steps of the method in combination with the hardware thereof.
The video monitoring device provided by the embodiment of the invention and the video monitoring method provided by the embodiment of the invention have the same inventive concept and the same beneficial effects.
It should be noted that the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.
Claims (6)
1. A video surveillance method, comprising:
acquiring a wireless radio frequency signal transmitted in a monitoring place;
monitoring whether a visiting object enters the monitoring place or not according to the wireless radio frequency signal;
when it is monitored that a visiting object enters the monitoring place, determining the direction information of the visiting object based on the wireless radio frequency signal;
controlling a holder carrying a camera to rotate according to the azimuth information so as to shoot the visiting object;
the monitoring whether a visiting object enters the monitoring place according to the wireless radio frequency signal comprises the following steps:
judging whether a visiting object enters the monitoring place or not according to the wireless radio frequency signal by adopting a dynamic object detection method based on the wireless radio frequency signal;
the method for detecting the dynamic object based on the wireless radio frequency signal is used for judging whether a visiting object enters the monitoring place or not according to the wireless radio frequency signal, and comprises the following steps:
extracting the characteristics of the radio frequency signals by adopting a sliding window method, and extracting to obtain the phase difference variance between the receiving antennas corresponding to the current time window;
comparing the ratio between the phase difference variance corresponding to the current time window and a standard phase difference variance, and if the ratio exceeds a preset ratio threshold, judging that a visiting object enters the monitoring place in the current time window, wherein the standard phase difference variance is the average value of the phase difference variances of the wireless radio frequency signals collected when the monitoring place is in a static state;
the acquiring of the wireless radio frequency signal transmitted in the monitoring place comprises:
acquiring a wireless radio frequency signal transmitted in a monitoring place acquired by a wireless signal receiver, wherein the wireless signal receiver is provided with a uniform linear antenna array, the uniform linear antenna array comprises a plurality of antennas which are linearly arranged at equal intervals, and the wireless radio frequency signal comprises channel state information respectively received by each antenna; the spacing between the plurality of antennas is less than or equal to half of the wavelength of the used radio frequency signal;
the cloud platform that carries the camera is controlled according to the position information and is rotated in order to shoot the visiting object, include:
calibrating the initial direction of the holder and the orientation of the uniform antenna array;
and determining an included angle between the initial direction of the holder and the orientation of the uniform antenna array according to a calibration result, determining a target direction for controlling the rotation of the holder by using the included angle and the arrival angle of the dynamic path signal with the minimum arrival time, and controlling the holder bearing the camera to rotate to the direction corresponding to the arrival angle so as to control the camera to shoot the visiting object.
2. The video surveillance method of claim 1, wherein the determining the positional information of the visiting object based on the wireless radio frequency signal comprises:
identifying a dynamic path signal based on the wireless radio frequency signal;
selecting a dynamic path signal with the minimum arrival time from the identified dynamic path signals;
and determining the arrival angle of the dynamic path signal with the minimum arrival time as the direction information of the visiting object.
3. The video surveillance method of claim 1, wherein the identifying a dynamic path signal based on the radio frequency signal comprises:
based on the channel state information respectively received by each antenna in the wireless radio frequency signals, performing signal classification by adopting a two-dimensional multi-signal classification algorithm and estimating the arrival angle and arrival time of each classified wireless radio frequency signal;
identifying the radio frequency signals with the arrival angles not changing along with time, which are obtained by classification, as static path signals;
and identifying the radio frequency signals with arrival angles changing along with time obtained by classification as dynamic path signals.
4. The video surveillance method of any one of claims 1-3, wherein the wireless radio frequency signal comprises a WiFi signal.
5. A video monitoring apparatus, comprising:
the signal acquisition module is used for acquiring wireless radio frequency signals transmitted in a monitoring place;
the object visiting monitoring module is used for monitoring whether a visiting object enters the monitoring place or not according to the wireless radio frequency signal;
the object position calculation module is used for determining the position information of the visiting object based on the wireless radio frequency signal when the visiting object is monitored to enter the monitoring place;
the holder control module is used for controlling the holder carrying the camera to rotate according to the azimuth information so as to shoot the visiting object;
the subject visit monitoring module is further to: extracting the characteristics of the radio frequency signals by adopting a sliding window method, and extracting to obtain the phase difference variance between the receiving antennas corresponding to the current time window;
comparing the ratio between the phase difference variance corresponding to the current time window and a standard phase difference variance, and if the ratio exceeds a preset ratio threshold, judging that a visiting object enters the monitoring place in the current time window, wherein the standard phase difference variance is the average value of the phase difference variances of the wireless radio frequency signals collected when the monitoring place is in a static state;
the signal acquisition module is specifically configured to: acquiring a wireless radio frequency signal transmitted in a monitoring place acquired by a wireless signal receiver, wherein the wireless signal receiver is provided with a uniform linear antenna array, the uniform linear antenna array comprises a plurality of antennas which are linearly arranged at equal intervals, and the wireless radio frequency signal comprises channel state information respectively received by each antenna; the spacing between the plurality of antennas is less than or equal to half of the wavelength of the used radio frequency signal;
the holder control module is specifically used for:
calibrating the initial direction of the holder and the orientation of the uniform antenna array;
and determining an included angle between the initial direction of the holder and the orientation of the uniform antenna array according to a calibration result, determining a target direction for controlling the rotation of the holder by using the included angle and the arrival angle of the dynamic path signal with the minimum arrival time, and controlling the holder bearing the camera to rotate to the direction corresponding to the arrival angle so as to control the camera to shoot the visiting object.
6. A video surveillance apparatus, comprising: the system comprises a camera, a holder, a wireless signal receiver, a memory and a processor;
the camera is arranged on the holder, and the wireless signal receiver is arranged adjacent to the camera;
the camera, the holder, the wireless signal receiver and the memory are all connected with the processor;
the memory having stored thereon a computer program operable on the processor;
the wireless signal receiver is used for collecting wireless radio frequency signals transmitted in a monitoring place and sending the wireless radio frequency signals to the processor;
the processor executes the video monitoring method according to any one of claims 1 to 4 when running the computer program, so as to control the pan-tilt to rotate when it is monitored that a visiting object enters the monitoring place according to the radio frequency signal, so that the camera shoots the visiting object.
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| CN111083357B (en) * | 2019-12-05 | 2021-11-09 | 河北汉光重工有限责任公司 | Image missing capturing and supplementing method based on target detection system |
| CN114299725B (en) * | 2021-12-31 | 2023-01-17 | 高新兴智联科技有限公司 | Single-lane vehicle-passing information acquisition system and method |
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| CN103557859B (en) * | 2013-10-10 | 2015-12-23 | 北京智谷睿拓技术服务有限公司 | Image acquisition localization method and image acquisition positioning system |
| CN106231670B (en) * | 2016-06-20 | 2019-04-02 | 北京大学 | A kind of contactless perceptual positioning method |
| CN107333105A (en) * | 2017-07-14 | 2017-11-07 | 中国矿业大学 | A kind of downhole intelligent video monitoring system and monitoring method based on WIFI |
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