CN110349360B - Building window area defense system and monitoring method - Google Patents

Building window area defense system and monitoring method Download PDF

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Publication number
CN110349360B
CN110349360B CN201910629004.9A CN201910629004A CN110349360B CN 110349360 B CN110349360 B CN 110349360B CN 201910629004 A CN201910629004 A CN 201910629004A CN 110349360 B CN110349360 B CN 110349360B
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window
early warning
identification signal
warning identification
monitoring
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CN110349360A (en
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纪欣怡
纪滨
马丽
张琦
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纪欣怡
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    • GPHYSICS
    • G08SIGNALLING
    • G08BSIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B13/00Burglar, theft or intruder alarms
    • G08B13/02Mechanical actuation
    • G08B13/08Mechanical actuation by opening, e.g. of door, of window, of drawer, of shutter, of curtain, of blind
    • GPHYSICS
    • G08SIGNALLING
    • G08BSIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B13/00Burglar, theft or intruder alarms
    • G08B13/18Actuation by interference with heat, light or radiation of shorter wavelength; Actuation by intruding sources of heat, light or radiation of shorter wavelength
    • G08B13/189Actuation by interference with heat, light or radiation of shorter wavelength; Actuation by intruding sources of heat, light or radiation of shorter wavelength using passive radiation detection systems
    • G08B13/19Actuation by interference with heat, light or radiation of shorter wavelength; Actuation by intruding sources of heat, light or radiation of shorter wavelength using passive radiation detection systems using infra-red radiation detection systems
    • GPHYSICS
    • G08SIGNALLING
    • G08BSIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B13/00Burglar, theft or intruder alarms
    • G08B13/22Electrical actuation
    • G08B13/24Electrical actuation by interference with electromagnetic field distribution
    • G08B13/2491Intrusion detection systems, i.e. where the body of an intruder causes the interference with the electromagnetic field
    • G08B13/2494Intrusion detection systems, i.e. where the body of an intruder causes the interference with the electromagnetic field by interference with electro-magnetic field distribution combined with other electrical sensor means, e.g. microwave detectors combined with other sensor means
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04LTRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00Network-specific arrangements or communication protocols supporting networked applications
    • H04L67/12Network-specific arrangements or communication protocols supporting networked applications adapted for proprietary or special purpose networking environments, e.g. medical networks, sensor networks, networks in a car or remote metering networks
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00Television systems
    • H04N7/18Closed circuit television systems, i.e. systems in which the signal is not broadcast

Abstract

The invention discloses a building window area defense system and a monitoring method, which comprises the step of monitoring a window area of a closed balcony, and belongs to the field of public safety systems. Aiming at the problems of low accuracy, easy misjudgment, single monitoring type and incapability of judging and monitoring the theft condition in the prior art, the system and the method provided by the invention are characterized in that a camera is added on a sensing layer to monitor a building and a window frame, an electronic tag and a sensor are installed on the building and the window frame, the electronic tag and the sensor are sent to an existing Internet of things application layer through an existing Internet of things network layer, the technical scheme is applied to the application layer, corresponding functions are integrated, the system can realize the monitoring of high-altitude object throwing and illegal family entering at the same time, the judgment is carried out from multiple levels, and a set of system is used for monitoring different states of the high building. The problem of throwing things in duty and being unsafe in the daytime or at night is effectively solved, the window turning behavior of thieves and the dangerous behavior of children climbing windows in the family can be warned, and convenience is brought to safe communities and safe cities.

Description

Building window area defense system and monitoring method
Technical Field
The invention relates to the field of public safety systems, in particular to a building window area defense arrangement system and a monitoring method.
Background
With the continuous development of cities, in the daytime or at night, as some civilized residents in high-rise buildings throw garbage bags and wine bottles downstairs randomly, downstairs vehicles are smashed or passers-by lose life events, but the problem of difficulty in pursuing responsibility is solved; the behavior that a thief turns over a window into a house when nobody is at home and the dangerous behavior that children climb the window at home become pain in the mind of residents and are also the difficulty of community security monitoring work. Particularly, the high-altitude throwing is called as 'pain over the city', is an unequivocal behavior and brings great social harm. The 'brick throwing and dead girl smashing' event causes wide social attention after media reporting. There are data showing that: a 30 g egg is thrown from the 4 th floor to cause a person to swell; the scalp of a person can be damaged by throwing the head from the 8 th floor; the skull of the pedestrian can be broken by throwing the pedestrian from the height of the 18 th building; people can die on the spot when being thrown down from the 25 th floor. It is widely appreciated that it can cause personal injury and loss of belongings downstairs, and that throwing items from or falling from buildings causes damage to others, it is difficult to determine the identity of a particular infringer, and compensation can be given by potentially harmful building users, except to prove that they are not infringers. This means that owners of the same building, unless they can prove themselves not to be infringers, must bury the order for the loss, and the academic world and media vividly and intuitively call the line "sit together and blame". Therefore, people and police have a need to solve the problems by using related security monitoring technical schemes.
In the prior art, there are some corresponding detection methods for high altitude parabolas, such as chinese patent application, application No. 201811015244.1, published as 2019, 2.5.a system and method for detecting high altitude parabolas based on computer vision are disclosed, which include: the video image acquisition unit is used for comprehensively monitoring the cell in real time and acquiring image data; a network transmission unit for transmitting image data; the moving target detection unit is used for receiving the image data from the network transmission unit, analyzing and processing the acquired image data and determining a moving target in the image data; the central processing unit is used for tracking the moving target, acquiring the characteristics and the moving track of the moving target, judging whether the moving target belongs to a high-altitude parabolic object or not, and acquiring a throwing position of the high-altitude parabolic object, and relates to the field of community security systems. However, the scheme separately uses the visual image for identification, so that the accuracy is low and misjudgment is easily caused. And the monitoring type is single, and the theft condition cannot be judged and monitored.
Disclosure of Invention
1. Technical problem to be solved
The invention provides a building window area defense system and a monitoring method, aiming at the problems of low accuracy, easy misjudgment, single monitoring type and incapability of judging and monitoring the theft condition in the prior art.
2. Technical scheme
The purpose of the invention is realized by the following technical scheme.
A building window area defense system comprises,
the internet of things sensing layer senses opening of a window, passing of a human body and foreign matters outside the window;
the Internet of things network layer transmits the equipment information of the Internet of things sensing layer to the Internet of things application layer;
and the Internet of things application layer receives the sensing signal transmitted by the Internet of things network layer, judges and processes and feeds back the sensing signal.
Furthermore, the internet of things sensing layer comprises an electronic tag for monitoring the opening and closing states of the window; the pyroelectric infrared sensor is used for detecting a temperature body passing signal; and the monitoring camera is used for carrying out video monitoring on the window and the balcony.
Furthermore, the electronic tag is an ultrahigh frequency electronic tag arranged on the window frame, a metal shielding cover is arranged on the window frame or the window frame integrally forms a metal shielding cover, when the window is closed, the metal shielding cover covers the ultrahigh frequency electronic tag, the ultrahigh frequency electronic tag is not read, and when the window is opened, the ultrahigh frequency electronic tag is read.
Furthermore, the pyroelectric infrared sensor is arranged on the inner side of the window and faces indoors.
Further, the pyroelectric infrared sensor is inclined toward the indoor direction by 45 ° to the center line.
Furthermore, the monitoring camera is arranged outdoors and arranged between floors or at the bottom of the floors to monitor all outward window and balcony light and highlighted foreign matters.
Further, the internet of things network layer includes, but is not limited to, a private network, the internet, a wired and/or wireless communication network.
A monitoring method of a building window area defense system comprises the following steps:
A. setting any one of the building window area defense system for monitoring;
B. the Internet of things application layer receives the signals detected by the Internet of things sensing layer, and then processes the signals to judge early warning information;
C. and judging the corresponding early warning condition according to the early warning information, and sending an alarm signal and/or storing the video information.
Furthermore, in the step a, the monitoring system adds equipment of the internet of things sensing layer into the existing urban internet of things, and directly forms an integral monitoring system or independently constructs a monitoring system.
Furthermore, the sensing layer of the internet of things detects and sends out an early warning identification signal 1 for opening and closing a window, an early warning identification signal 2 for closing the window by a human body, a light-up early warning identification signal 3 and an early warning identification signal 4 for highlighting foreign matters respectively.
3. Advantageous effects
Compared with the prior art, the invention has the advantages that:
based on current internet of things network or build the network by oneself, add camera control building and window frame installation hyperfrequency electronic tags at the perception layer, heat release infrared sensor, send existing thing networking application layer through existing thing networking network layer, use this technical scheme at the application layer, integrated corresponding function, not only promote wisdom community and wisdom city construction level, and effectively solved daytime or take place the disposal bag night, the beverage bottle leads to downstair vehicle to be pouded, or lead to passing the road the pedestrian to go up the problem of pursuing the responsibility of sexual life incident, can also early warning thief turn over the dangerous behavior that window entry behavior and child climbed the window at home, it provides convenience to make safe community and safe city.
Drawings
Description of the drawings:
FIG. 1 is a block diagram of the arming system of the present invention;
FIG. 2 is a schematic diagram of the operation of the monitoring method of the present invention;
fig. 3 is a schematic structural diagram of the ultrahigh frequency electronic tag arranged on the window.
1. A window; 2. a window frame; 3. an ultrahigh frequency electronic tag; 4. a metal housing space.
Detailed Description
The invention is described in detail below with reference to the drawings and specific examples.
Example 1
The invention aims to provide a high-rise window area defense system and a monitoring method, which comprise the steps of monitoring a window area of a closed balcony, and simultaneously monitoring high-altitude parabolic behavior and illegal entrance, wherein the critical closing of the high-altitude parabolic behavior is an opened window, and the window is also a necessary closing of window turning theft behavior.
In order to achieve the above object, a monitoring system of the present invention includes:
as shown in fig. 1, the internet of things sensing layer senses opening of a window, passing of a human body and foreign matters outside the window; the sensing layer of the Internet of things comprises three sensing devices, namely an ultrahigh frequency electronic tag, a pyroelectric infrared sensor and a monitoring camera, wherein the ultrahigh frequency electronic tag is mounted on all windows visible from the outside and forms a linkage device with the opening process of the windows; the ultrahigh frequency electronic tag is widely applied at present, can provide an Electronic Product Code (EPC), is a light and thin piece printed by a passive adhesive sticker, and is long in service life and 3-10 m in reading and writing distance. As shown in fig. 3, the corresponding uhf electronic tag 3 is disposed on the window frame 2 or on the edge of the window 1, the window 1 may be of a side-hung type or a push-pull type, an example shown in fig. 3 is an example in which the uhf electronic tag 3 is disposed on the window frame 2, where the window is disposed at the bottom of one side of the window frame 2, the window may be a metal frame or a window with other non-shielding effects, if the window is a metal frame, a certain space is generally reserved between the window 1 and the window frame 2, the uhf electronic tag 3 is disposed in the space, and when the window is closed, due to the shielding effect of the metal, the uhf electronic tag 3 cannot send a signal, and at this time, the window belongs to a shielding state. When the system is started, the ultrahigh frequency electronic tag 3 can be identified and sends corresponding signals. When being other non-shielding windows, such as wood window or plastics window, at this moment, leave certain space between window 1 and the window frame 2, the metal shield cover sets up in this space, and under the condition that some windows do not have corresponding space, we just leave corresponding space in the position that corresponds, such as metal covering space 4, be provided with the metal shield cover in the metal covering space 4, when the window was closed, because the shielding effect of metal, ultrahigh frequency electronic tags 3 can't send the signal, belongs to the shielding state this moment. When the system is started, the ultrahigh frequency electronic tag 3 can be identified and sends corresponding signals. The corresponding ultrahigh frequency electronic tag 3 is not limited in position, and can be set as long as a corresponding space exists or a corresponding metal cover space 4 can be made, the corresponding ultrahigh frequency electronic tag 3 can be set on the window 1 or the window frame 2, and the corresponding metal shielding cover can be correspondingly set on the window frame 2 or the window 1.
The pyroelectric infrared sensor module is arranged on the inner side of an external visible window, the pyroelectric infrared sensor module is small in size and low in price, the detection application of a human body invasion area is common, the pyroelectric infrared sensor is designed to be arranged on the inner side of the external visible window, when a probe of the pyroelectric infrared sensor inclines to a central line towards an indoor direction by an included angle of 45 degrees, the most sensitive working principle of moving in a transverse direction is utilized, a human body can be detected to approach a window detection area, and an early warning identification signal 2 is sent out wirelessly;
the monitoring cameras are installed outdoors in a number distributed enough to cover windows and balconies of the building facing outward, each of which is monitored as a target area of interest. The number distribution is enough to cover the windows and balconies of the building, which are outward, because the windows and balconies are all the necessary regions of common high altitude parabola, therefore, each window and balconies is used as the target region of interest to monitor and collect the video data. The specific distribution mode can be set according to the requirements and the field environment.
The Internet of things network layer transmits the equipment information of the Internet of things sensing layer to the Internet of things application layer; the network layer of the internet of things comprises various private networks, the internet, wired and wireless communication networks and the like, and is responsible for safely and reliably transmitting information acquired by the sensing layer of the internet of things to the application layer of the internet of things. In practical application, signals of an electronic tag and a pyroelectric infrared sensor of each household can be acquired through an internal network, then information is transmitted to a server where an application layer of the internet of things is located through a wired or wireless network, an external monitoring camera directly transmits the signals in a wired or wireless mode, and the signals are transmitted to a corresponding processing background. The network layer here can use current thing networking network, can fuse into existing thing networking, only need add camera control building and window frame installation hyperfrequency electronic tags at the perception layer, heat release infrared sensor, send existing thing networking application layer through existing thing networking network layer, use this technical scheme at the application layer, integrated corresponding function, not only promote wisdom community and wisdom city construction level, and effectively solved daytime or take place the disposal bag night, the beverage bottle leads to downstairs vehicle to be pouded, or lead to passing through the problem of pursuing the responsibility of pedestrian's last sexual life incident, can also early warning thief turns over the dangerous behavior of window entry behavior and climbing the window in the family, it provides convenience to build safe community and safe city.
And the Internet of things application layer receives the sensing signal transmitted by the Internet of things network layer, judges and processes and feeds back the sensing signal.
The corresponding point application layer is arranged in a corresponding background server, can be independently arranged and can also be accessed into a corresponding access city or a police network for processing; the application layer of the Internet of things comprises window opening and closing detection, living body detection in the area near the window, window light detection and window prominent foreign body detection, and four functions facing monitoring personnel. The four monitoring subsystem application function modules can be added to an existing Internet of things application layer system, and a database containing all visible window objects in a monitoring area is added. The system can be independently built, is built based on the existing Internet of things system, and is low in cost and good in compatibility.
The window opening and closing application is characterized in that the ultrahigh frequency electronic tag acquires information records of opening and closing of all monitored windows, and focuses on the windows in an opening state and a transient opening and closing behavior; recording the time of the opening state, wherein common parabolic behaviors can be accompanied with the action of opening and closing the window temporarily, so that important early warning is carried out on the window opening and closing behavior temporarily (within 2 minutes); a living body in the area near the window obtains an early warning identification signal 2 of the living body close to the window by applying a pyroelectric infrared sensor probe; the window light application subsystem adopts supervised machine learning to perform pattern recognition according to a window area brightness component (HSV model) frame difference value by a window video acquired by a camera, determines a light-up pattern, marks a short-time light-up pattern in combination with duration, and acquires a light-up early warning identification signal 3; the window highlight foreign matter is a window video acquired by a camera, because the windowing scene of each window is in a relatively stable state, an object is thrown out or a person shakes in the window, a window highlight foreign matter target can be detected by a background subtraction method, because the complexity of the window mode of each family is not high, particularly after a period of time is accumulated, the background model can meet the application level requirement by adopting a background updating algorithm, and if the highlight foreign matter is detected, an early warning identification signal 4 is sent.
The system comprehensively monitors information such as windows, personnel, light opening and the like of each house of the corresponding floor, reliably collects corresponding monitoring information, and integrates the monitoring information to complete monitoring and judgment of the high-floor state.
As shown in fig. 2, the specific monitoring method is as follows:
1. the video monitoring center of the application layer can monitor all windows or balcony areas in real time according to a traditional mode, store video data in a certain period and increase a visual interface for monitoring the opening of the windows and recording early warning data.
2. The method comprises the steps of fusing videos of window opening early warning information, performing key monitoring as effective window video objects, automatically recording opening time and opening and closing time of windows, generating early warning identification signals 1, generating information early warning identification signals 2 if living bodies are close to areas near the windows regardless of whether the windows are opened or closed, recording the time and the time of close events, generating information early warning identification signals 3 if the windows are opened by light at night, recording the time and the time of light events, generating information early warning identification signals 4 if foreign bodies are highlighted on the windows, and recording the time and the time of the foreign body events highlighted.
3. When a high-altitude parabolic event occurs in the daytime, the early warning identification signal 1 and the early warning identification signal 2 appear in advance, an early warning identification signal 4 is generated along with the parabolic action process, a video band between the earliest time and the latest time of the early warning identification signals 1, 2 and 4 is automatically intercepted by the system to serve as an effective window evidence, and meanwhile, an early warning can be sent to inform the user, so that the user can be timely treated.
4. When an illegal entry event occurs in the daytime, the early warning identification signal 4 appears in advance, the early warning identification signals 1 and 2 are generated along with the window turning entry process, the system automatically intercepts the video segments between the earliest time and the latest time of the early warning identification signals 1, 2 and 4 as effective window evidence, and can send out early warning to inform the user, open the mobile phone monitoring software of the user and dispose in time; when children climb the dangerous behavior incident of window at home, early warning identification signal 1 and 2 can appear in advance, accompany and climb the window process, produce early warning identification signal 4, can send the early warning and inform this family, open its cell-phone monitoring software, in time deal with.
5. When a high-altitude parabolic event occurs at night, the early warning identification signal 3 appears in advance, the early warning identification signals 2, 1 and 4 are generated along with the parabolic action process, the system automatically intercepts the video segments between the earliest time and the latest time of the early warning identification signals 1, 2, 3 and 4 as effective window evidences, and can send out early warning to inform the user to deal with the early warning; the high-altitude object throwing is carried out without turning on the light, and the video segment between the earliest time and the latest time of the early warning identification signals 1 and 2 can be used as an effective window evidence for manual identification.
6. When an illegal entry event occurs at night, the early warning identification signal 4 appears in advance, the early warning identification signals 1 and 2 are generated along with the window turning entry process, the system automatically intercepts the video segments between the earliest time and the latest time of the early warning identification signals 1, 2 and 4 as effective window evidence, and simultaneously can send out early warning to inform the user, open the mobile phone monitoring software of the user and dispose in time; the early warning identification signal 4 is not generated due to insufficient external light, and the video segment between the earliest time and the latest time of the early warning identification signals 1 and 2 can be used as effective window evidence for manual identification.
The effective state is recognized and judged by the method, the corresponding video is stored, the corresponding early warning identification signal is set, the corresponding processing party is informed, the police system and the household system can be connected, the internet of things system entering the family is fused, the overall compatibility is good, and the processing is timely.
The invention and its embodiments have been described above schematically, without limitation, and the invention can be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The representation in the drawings is only one of the embodiments of the invention, the actual construction is not limited thereto, and any reference signs in the claims shall not limit the claims concerned. Therefore, if a person skilled in the art receives the teachings of the present invention, without inventive design, a similar structure and an embodiment to the above technical solution should be covered by the protection scope of the present patent. Furthermore, the word "comprising" does not exclude other elements or steps, and the word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. Several of the elements recited in the product claims may also be implemented by one element in software or hardware. The terms first, second, etc. are used to denote names, but not any particular order.

Claims (6)

1. A building window area defense system comprises,
the internet of things sensing layer senses opening of a window, passing of a human body and foreign matters outside the window;
the Internet of things network layer transmits the equipment information of the Internet of things sensing layer to the Internet of things application layer;
the Internet of things application layer receives the sensing signal transmitted by the Internet of things network layer, judges and processes and feeds back the sensing signal; the thing networking perception layer include:
the electronic tag is used for monitoring the opening and closing states of the window; the electronic tag is an ultrahigh frequency electronic tag and is arranged on the window frame, a metal shielding cover is arranged on the window frame or the window frame integrally forms a metal shielding cover, when the window is closed, the metal shielding cover covers the ultrahigh frequency electronic tag, the ultrahigh frequency electronic tag is not read, and when the window is opened, the ultrahigh frequency electronic tag is read;
the pyroelectric infrared sensor is used for detecting a temperature body passing signal so as to acquire an early warning identification signal (2) of a human body approaching a window;
the monitoring camera is used for carrying out video monitoring on the window and the balcony to obtain a light-on early warning identification signal (3) and an early warning identification signal (4) for highlighting the foreign matters;
the sensing layer of the Internet of things detects and sends out an early warning identification signal (1) for opening and closing a window, an early warning identification signal (2) for a human body to approach the window, an early warning identification signal (3) for lighting and an early warning identification signal (4) for highlighting foreign matters respectively, and judges the signals to be one of the following events,
firstly, recognizing an early warning identification signal (1) for opening and closing a window and an early warning identification signal (2) for approaching a window by a human body, then recognizing an early warning identification signal (4) for highlighting a foreign matter, and judging that a high-altitude parabolic event or a child window climbing behavior in the daytime is achieved; before the early warning identification signal (1) for opening and closing a window, the early warning identification signal (2) for approaching a window by a human body and the early warning identification signal (4) for highlighting foreign matters are identified, a light-up early warning identification signal (3) is identified and the early warning identification signal is judged to be a high-altitude parabolic event in the night;
early warning identification signals (4) of the prominent foreign matters are recognized firstly, and then early warning identification signals (1) of the opening and closing of the window and early warning identification signals (2) of the close-to window of the human body are recognized to judge the illegal entrance event.
2. A building window area arming system as claimed in claim 1, wherein said pyroelectric infrared sensor is disposed inside the window and oriented indoors.
3. A building window area arming system as claimed in claim 2, wherein the pyroelectric infrared sensor is tilted 45 ° towards the indoor direction.
4. The system as claimed in claim 2, wherein the monitoring camera is installed outdoors, installed between floors or at the bottom of the building, and monitors all outward window and balcony lights and highlighted foreign objects.
5. A monitoring method of a building window area defense system comprises the following steps:
A. setting up the building window area defense system of any one of claims 1-4 for monitoring;
B. the Internet of things application layer receives the signals detected by the Internet of things sensing layer, and then processes the signals to judge early warning information;
the sensing layer of the Internet of things detects and sends out an early warning identification signal (1) for opening and closing a window, an early warning identification signal (2) for a human body to approach the window, an early warning identification signal (3) for lighting and an early warning identification signal (4) for highlighting foreign matters respectively, and judges the signals to be one of the following events,
firstly, recognizing an early warning identification signal (1) for opening and closing a window and an early warning identification signal (2) for approaching a window by a human body, then recognizing an early warning identification signal (4) for highlighting a foreign matter, and judging that a high-altitude parabolic event or a child window climbing behavior in the daytime is achieved; before the early warning identification signal (1) for opening and closing a window, the early warning identification signal (2) for approaching a window by a human body and the early warning identification signal (4) for highlighting foreign matters are identified, a light-up early warning identification signal (3) is identified and the early warning identification signal is judged to be a high-altitude parabolic event in the night;
firstly, recognizing an early warning identification signal (4) for highlighting foreign matters, and then recognizing an early warning identification signal (1) for opening and closing a window and an early warning identification signal (2) for approaching a window by a human body to judge that the foreign matters enter the home illegally;
C. and judging the corresponding early warning condition according to the early warning information, and sending an alarm signal and/or storing the video information.
6. The method as claimed in claim 5, wherein the monitoring system in step A is used for monitoring the window area of the building
Equipment for adding internet of things sensing layer in existing urban internet of things directly forms integral monitoring system
Or a monitoring system is independently constructed.
CN201910629004.9A 2019-07-12 2019-07-12 Building window area defense system and monitoring method Active CN110349360B (en)

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CN105163067B (en) * 2015-08-12 2018-12-14 武汉大学 A kind of throwing object in high sky evidence-obtaining system based on digital image processing techniques
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