CN110703814B - Scheduling mode of camera in water area detection monitoring process - Google Patents
Scheduling mode of camera in water area detection monitoring process Download PDFInfo
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- CN110703814B CN110703814B CN201910789201.7A CN201910789201A CN110703814B CN 110703814 B CN110703814 B CN 110703814B CN 201910789201 A CN201910789201 A CN 201910789201A CN 110703814 B CN110703814 B CN 110703814B
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D3/12—Control of position or direction using feedback
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- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
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- H04N7/00—Television systems
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Abstract
The invention discloses a scheduling mode of a camera in a water area detection monitoring process, which is a scheduling task of the camera and comprises the following steps: the cloud deck control task is used for scheduling the camera selected by the user, adjusting the horizontal angle, the pitch angle and the focal length of the camera lens selected by the user to the horizontal angle, the pitch angle and the focal length set by the user; manually tracking a task, and scheduling a camera to track and shoot a target or an area selected by a user; and automatically tracking the task, and scheduling the camera to track and shoot the alarm target. The invention effectively solves the problem of dispatching the camera networking by multitask on the water area, ensures that the camera networking can monitor the targets or the areas on the water area in order, and effectively avoids the condition that the important targets or the important areas on the water area are monitored in an omission way.
Description
Technical Field
The invention relates to the technical field of water area detection monitoring, in particular to a scheduling mode of a camera in a water area detection monitoring process.
Background
In recent years, a safety lofting device for marine information is under way for research and development of a water area detection system. Through practical research, a user wants to strengthen the supervision of ships and water areas in water areas for 24 hours by means of modern detection means, intelligently identify ship information, monitor the integrity of the large area and provide alarm information, so that the water area management moves to the artificial intelligence era,
in the water area detection process, the camera networking is erected on the water area, and the camera networking is utilized to shoot the target or the area on the water area. Therefore, the scheduling problem of the network connection of the cameras installed on the water area also arises, for example, when the scheduling task source of the camera is single, in the case of a single task source, the scheduling of the camera generally does not generate a large impact, but when the scheduling task of the camera is complex, in the case of a complex task source, the scheduling of the camera easily generates an impact, and in the case of a network connection of a plurality of cameras, the scheduling of the camera to a plurality of cameras by a plurality of tasks more easily generates an impact of the scheduling right of the camera, so that the target or the area on the water area cannot be monitored orderly, and the important target or the important area on the water area is easily monitored.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a scheduling mode of a camera in a water area detection monitoring process, which effectively solves the problem of scheduling camera networking by multitask in a water area, ensures that the camera networking can monitor targets or areas in the water area in order, and effectively avoids the condition that important targets or important areas in the water area are monitored in a missing way.
In order to achieve the purpose, the invention adopts the following technical scheme that:
a scheduling mode of a camera in a water area detection monitoring process, a scheduling task of a camera network on a water area, comprises the following steps:
the pan-tilt control task refers to that a user selects a camera and sets the horizontal angle, the pitch angle and the focal length of a lens of the selected camera; the CCTV scheduling module schedules the camera selected by the user, adjusts the horizontal angle, the pitch angle and the focal length of the camera lens selected by the user to the horizontal angle, the pitch angle and the focal length set by the user;
the CCTV scheduling module selects a camera based on the position of the target or the area selected by the user, and schedules the selected camera to track and shoot the target or the area;
the automatic tracking task means that after the automatic alarm module generates alarm information on a certain target in a water area, the CCTV scheduling module selects a camera based on the position of the target generating the alarm information, namely the alarm target, and schedules the selected camera to track and shoot the alarm target;
the levels of the tasks scheduled by the camera are as follows from high to low: pan-tilt control, manual tracking and automatic tracking; that is, when a plurality of different tasks simultaneously schedule the same camera, the pan-tilt control task can preempt the camera scheduling power of the manual tracking task, and the manual tracking task can preempt the camera scheduling power of the automatic tracking task.
When a plurality of users select the same camera to perform the pan-tilt control task at the same time, the user with high authority level can preempt the camera scheduling right of the user with low authority level; queuing the users with the same authority level according to the sequence of the request time;
when a plurality of users simultaneously perform manual tracking tasks and simultaneously select the same camera, the users with high authority level can seize the camera scheduling right of the users with low authority level; queuing the users with the same authority level according to the sequence of the request time;
when a plurality of alarm targets simultaneously select the same camera to perform automatic tracking tasks, the alarm target with high alarm level can preempt the camera scheduling right of the alarm target with low alarm level; queuing the alarm targets with the same alarm grade according to the sequence of the alarm information generation time; the alarm grade is set according to the severity of the alarm information.
When the CCTV scheduling module carries out automatic tracking task on the alarm target, the selection mode of the camera is as follows:
s11, searching a camera in a shooting range according to the longitude and latitude position information of the alarm target;
s12, judging the state of the cameras in the shooting range, if the cameras in the idle state exist, selecting the cameras in the idle state closest to the alarm target position from the cameras in the idle state, and finishing the selection of the cameras; if the camera in the idle state does not exist, namely the camera in the shooting range is occupied, and the next step is carried out;
s13, according to the called task level of the camera within the shooting range, searching for an automatic tracking task with the alarm level lower than the alarm target in the automatic tracking tasks, preempting the camera which is closest to the alarm target and occupied by the automatic tracking task with the alarm level lower than the alarm target, regarding the original scheduling task of the preempted camera as the end, and finishing the selection of the camera;
and if the automatic tracking task with the alarm grade lower than the alarm target cannot be found out in the automatic tracking tasks, selecting the camera with the occupation state closest to the alarm target position, and queuing according to the sequence of the generation time of the alarm information.
When the camera tracks and shoots a target, the adjustment mode of the camera lens is as follows:
firstly, adjusting the horizontal angle and the pitch angle of a camera lens, wherein the specific mode of adjusting the horizontal angle and the pitch angle of the camera lens is as follows:
calculating a target horizontal angle and a target pitch angle of the camera lens holder to be adjusted in place according to the longitude and latitude of the target; then according to the current original horizontal angle and original pitch angle of the camera lens holder, calculating a difference value delta P between the target horizontal angle and the original horizontal angle and a difference value delta T between the target pitch angle and the original pitch angle; when the absolute value of delta P is more than or equal to 5 degrees or the absolute value of delta T is more than or equal to 2 degrees, starting a speed control mode;
when 5 degrees > | Δ P | > is not less than 2 degrees or 2 degrees > | Δ T | > is not less than 1 degree, starting the micro-control mode 1;
when 2 degree > | Δ P | > is not less than 1 degree or 1 degree > | Δ T | > is not less than 0.5 degree, starting the micro-control mode 2;
when 1 ° > | Δ P | ≧ 0.5 ° or 0.5 ° > | Δ T | ≧ 0.2 °, the micro-control mode 3 is activated;
when the absolute value delta P is less than 0.5 degrees and the absolute value delta T is less than 0.2 degrees, stopping the micro-control mode 3, namely, indicating that the horizontal angle and the pitch angle of the lens of the camera are adjusted;
the adjusting speed of the horizontal angle and the pitch angle of the camera lens is as follows from fast to slow: a speed control mode, a micro control mode 1, a micro control mode 2 and a micro control mode 3;
after the horizontal angle and the pitch angle of the camera lens are adjusted, the focal length of the camera lens is adjusted, and the specific mode of adjusting the focal length of the camera lens is as follows:
judging whether the distance between the position of the target and the position of the current camera is less than 100 meters, and if not, automatically focusing; and if the distance is less than 100 meters, not focusing.
The adjusting speed of the camera lens in the speed control mode is 2 degrees/s; the adjusting speed of the camera lens in the micro-control mode 1 is 0.5 degree/s; the adjusting speed of the camera lens in the micro-control mode 2 is 0.1 degree/s; the adjustment speed of the camera lens in the micro control mode 3 is 0.01 °/s.
The CCTV scheduling module is provided with a dormant target cache table for caching the alarm target of which the automatic tracking task is finished; the alarm target cached in the dormant target cache table is the dormant target;
setting a dormancy time length aiming at the dormant target, and deleting the dormant target from the dormant target cache list if the time length of the dormant target cached in the cache list exceeds the dormancy time length;
when an alarm target needs to perform an automatic tracking task, the CCTV scheduling module firstly judges whether the alarm target is cached in a dormant target cache table, namely firstly judges whether the alarm target is a dormant target, and if the alarm target is the dormant target, the CCTV scheduling module does not schedule a camera to perform tracking shooting on the alarm target; if the target is not the dormant target, the CCTV scheduling module schedules the camera to track and shoot the alarm target.
The CCTV scheduling module is internally provided with a real-time task cache table for caching ongoing tasks;
and setting a task time length aiming at the ongoing task, if the time length cached by the ongoing task in the real-time task cache table exceeds the task time length, ending the ongoing task, namely the CCTV scheduling module finishes the ongoing task, and deleting the finished ongoing task from the real-time task cache table.
The CCTV scheduling module is also provided with a tracking target cache table for caching a target which is being tracked and shot, namely an ongoing target;
setting a tracking time length for the ongoing target, if the time length of the ongoing target cached in the tracking target cache table exceeds the tracking time length, ending the tracking shooting of the ongoing target, namely the CCTV scheduling module finishes the scheduling task of the ongoing target, and meanwhile deleting the ended ongoing target from the tracking target cache table;
if the time length of the ongoing target cached in the tracking target cache table does not exceed the tracking time length, but the time length of the ongoing scheduling task of the ongoing target cached in the real-time task cache table exceeds the task time length, the tracking shooting of the ongoing target is not finished, and the CCTV scheduling module still continues to perform aiming at the ongoing scheduling task of the ongoing target.
The invention has the advantages that:
(1) The invention realizes video tracking shooting of the target or the area on the water area, and is convenient for evidence collection.
(2) The invention realizes the adjustment of the lens of the camera, so that the camera shoots the position pointed by the lens, and the evidence can be conveniently obtained.
(3) The invention realizes automatic video tracking shooting of the alarm target and is convenient for evidence collection.
(4) The invention divides the task level of the camera scheduling, and effectively solves the problem that the same camera is scheduled by multiple users or multiple tasks at the same time.
(5) When the target is tracked and shot, the camera lens is adjusted into four modes, so that the camera lens can be quickly and accurately aligned with the target.
(6) After a certain target on a water area enters an alarm position, alarm information can be continuously generated, so that a CCTV scheduling module needs to continuously execute an automatic tracking task on the alarm target.
(7) The invention designs a tracking target cache table and tracking time, and automatically finishes the tracking shooting of a target when the time for the target to be tracked and shot exceeds the tracking time, thereby avoiding the situation that the camera resources are always occupied.
(8) The invention designs a real-time task cache table and a task time length, and automatically ends a certain task after the running time length of the task exceeds the task time length, thereby avoiding the situation that the camera resource is always occupied.
Drawings
Fig. 1 is an overall schematic diagram of a water area detection monitoring system.
Fig. 2 is a schematic diagram of scheduling tasks of a camera in a water area detection monitoring process.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, a water area detecting and monitoring system includes: the system comprises an acquisition end, a database, a server and a client;
the collection end comprises: lake surface detection radar, infrared photoelectric sensor, AIS sensor, camera. The lake surface detection radar, the infrared photoelectric sensor and the AIS sensor are used for cooperatively detecting a water area ship, namely a target, so that echo data of the target are obtained, the camera is used for tracking and shooting the target or area in the water area, and a video of the target or area in the water area is obtained. In this embodiment, the acquisition end includes a plurality of lake surface detection radars, that is, radars, the detection range of the radar network covers the entire water area, the radar network detects the target in the water area in cooperation, and each radar returns the echo data of the target in the detection range corresponding to the radar. In this embodiment, the acquisition end further includes a plurality of cameras, the shooting range of the camera networking covers the whole water area, the camera networking is cooperated to track and shoot the target or the area in the water area, and each camera acquires a video of the target or the area in the water area within the corresponding shooting range.
The database stores: user information data, device information data, echo data, track data, video data, alarm data, plan disposition data, log data. The system comprises a client, a system management unit, an echo data acquisition unit, a data fusion module, an automatic alarm module and an auxiliary decision unit, wherein the user information data and the equipment information data are all from the system management unit of the client, the echo data are from a radar of the acquisition end, the video data are from a camera of the acquisition end, the track data are from the data fusion module of a server, the alarm data are from the automatic alarm module of the server, the plan disposal data are from the auxiliary decision unit of the client, and the log data comprise a user operation log, a system fault log and an alarm log. The data volume of the echo data and the track data is huge, and the data request is frequent, so that the oracle database is selected to meet the requirement of quick response. The database is developed by adopting SQL (structured query language), namely structured query language, and combines the multithreading technology of the server and the multithreading connection pool technology of oracle, so that the database pressure is effectively linked, and the throughput of the system is improved.
The server is arranged between the database and the client and is used for executing various operation works of the system and maintenance works of various resource management. The server includes: the system comprises a data fusion module, an automatic alarm module and a CCTV scheduling module; wherein the content of the first and second substances,
the data fusion module generates track data of the target according to the echo data of the target detected by the radar networking and stores the track data into a database; specifically, the data fusion module performs fusion processing on target echo data respectively detected by a plurality of radars to sort out track data belonging to the same target.
The automatic alarm module identifies the behavior and the position of the target according to the track data of the target, generates alarm information for the target with abnormal behavior, generates alarm information for the target entering the alarm position, and stores the alarm information, namely the alarm data, in a database.
After the automatic alarm module generates alarm information for a certain target, an automatic tracking task is sent to the target generating the alarm information, namely the alarm target, and the automatic tracking task is sent to the CCTV scheduling module; the automatic tracking task refers to that a camera is dispatched to perform tracking shooting on an alarm target.
The CCTV scheduling module schedules the camera based on the scheduling task, and schedules the camera to track and shoot the target or the area on the water area; wherein the scheduling task comprises: automatic tracking task, cradle head control task and manual tracking task.
The client comprises: the system comprises a target detection unit, a playback management unit, a CCTV unit, an operation and maintenance management unit, an auxiliary decision unit and a system management unit; wherein the content of the first and second substances,
the target detection unit is used for displaying track data of each target on the water area, videos shot by each camera and alarm information of each target in real time.
The user plays back the track, video and alarm information of the specified target through the playback management unit; specifically, the track data, the video data and the alarm data of the target are respectively sequenced according to the time stamp sequence, and then the playback function of the specified target can be completed.
The CCTV unit sends a pan-tilt control task aiming at the camera selected by the user and sends the pan-tilt control task to the CCTV scheduling module; the cloud deck control task is to schedule the camera selected by the user, adjust the horizontal angle, the pitch angle and the focal length of the camera lens selected by the user to the horizontal angle, the pitch angle and the focal length set by the user.
The CCTV unit sends a manual tracking task to the target or the area selected by the user and sends the manual tracking task to the CCTV scheduling module; the manual tracking task refers to that a camera is scheduled to perform tracking shooting on a target or an area selected by a user.
The operation and maintenance management unit is used for monitoring the operation condition of each device in the system and starting a corresponding maintenance processing flow for the fault device; the apparatus comprises: cameras, radars, infrared photosensors, AIS sensors, etc.
The auxiliary decision unit is used for providing a processing plan for fishery administration personnel to refer to; specifically, the user sets different processing plans for different alarm information, and fishery administration personnel can process the alarm information according to the processing plans.
The user sets system parameters through the system management unit, such as: the severity of each alarm message, the authority level of each user, the alarm position on the water area, the abnormal behavior of the target and various parameter thresholds.
In this embodiment, the permission levels of the users are divided into: high, medium, low.
The water area is provided with an alarm point location, an alarm line and an alarm area.
The alarm information comprises: collision, crossing and entry are prohibited; the alarm level for each alarm type may be set to 6 levels at different times for different zones.
The abnormal behavior of the target includes: illegal fishing, etc.
As shown in fig. 2, the CCTV scheduling module is configured to schedule a camera, and schedule the camera to track and shoot a target or an area in a water area. The scheduling task of the camera comprises the following steps:
the pan-tilt control task refers to that a user selects a camera through a CCTV unit and sets the horizontal angle, the pitch angle and the focal length of a lens of the selected camera; the CCTV scheduling module adjusts the horizontal angle, the pitch angle and the focal length of the camera lens selected by the user to the horizontal angle, the pitch angle and the focal length set by the user, so that the camera shoots the position pointed by the lens;
the CCTV scheduling module selects a camera according to the position of the target or the area selected by the user, so that the selected camera performs tracking shooting on the target or the area;
the automatic tracking task means that after the automatic alarm module generates alarm information on a certain target, the CCTV scheduling module selects a camera based on the position of the target generating the alarm information, namely the alarm target, so that the selected camera performs tracking shooting on the alarm target;
the task levels scheduled by the cameras are as follows from high to low: pan-tilt control, manual tracking and automatic tracking; that is, when a plurality of different scheduling tasks select the same camera at the same time, the pan-tilt control task can preempt the camera scheduling right of the manual tracking task, and the manual tracking task can preempt the camera scheduling right of the automatic tracking task.
When a plurality of users select the same camera to perform the pan-tilt control task at the same time, the user with high authority level can preempt the camera scheduling right of the user with low authority level; queuing the users with the same authority level according to the sequence of the request time;
when a plurality of users simultaneously perform manual tracking tasks and simultaneously select the same camera, the users with high authority level can seize the camera scheduling right of the users with low authority level; queuing the users with the same authority level according to the sequence of the request time;
when a plurality of alarm targets simultaneously select the same camera to perform automatic tracking tasks, the alarm target with high alarm level can preempt the camera scheduling right of the alarm target with low alarm level; queuing the alarm targets with the same alarm grade according to the sequence of the alarm information generation time; the alarm grade is set according to the severity of the alarm information, and the higher the severity of the alarm information is, the higher the alarm grade is.
When the CCTV scheduling module carries out automatic tracking task on the alarm target, the selection mode of the camera is as follows:
s11, searching a camera in a shooting range according to the longitude and latitude position information of the alarm target;
s12, judging the state of the cameras in the shooting range, if the cameras in the idle state exist, selecting the cameras in the idle state closest to the alarm target position from the cameras in the idle state, and finishing the selection of the cameras; if the camera in the idle state does not exist, namely the camera in the shooting range is occupied, and the next step is carried out;
s13, according to the called task level of the camera in the shooting range, searching for an automatic tracking task of which the alarm level is lower than that of the alarm target in the automatic tracking task, seizing a camera which is closest to the alarm target and is occupied by the automatic tracking task of which the alarm level is lower than that of the alarm target, regarding the original scheduling task of the seized camera as the end, and finishing the selection of the camera;
if the automatic tracking task with the alarm level lower than that of the alarm target cannot be found out in the automatic tracking tasks, the camera with the occupation state closest to the position of the alarm target is selected, and queuing waiting is carried out according to the sequence of the generation time of the alarm information.
In the process of scheduling the camera to perform a manual tracking task or an automatic tracking task by the CCTV scheduling module, when a target is tracked and shot, the adjustment mode of the camera lens is as follows:
firstly, adjusting the horizontal angle and the pitch angle of the camera lens, wherein the specific mode of adjusting the horizontal angle and the pitch angle of the camera lens is as follows:
calculating a target horizontal angle and a target pitch angle of the camera lens holder to be adjusted in place according to the longitude and latitude of the target; then according to the current original horizontal angle and original pitch angle of the camera lens holder, calculating a difference value delta P between the target horizontal angle and the original horizontal angle and a difference value delta T between the target pitch angle and the original pitch angle; when the absolute value of delta P is more than or equal to 5 degrees or the absolute value of delta T is more than or equal to 2 degrees, starting a speed control mode;
when 5 ° > | Δ P | ≧ 2 ° or 2 ° > | Δ T | > 1 °, the micro-control mode 1 is started;
when 2 ° > | Δ P | ≧ 1 ° or 1 ° > | Δ T | > 0.5 °, the micro-control mode 2 is started;
when 1 ° > | Δ P | ≧ 0.5 ° or 0.5 ° > | Δ T | ≧ 0.2 °, the micro-control mode 3 is activated;
when the absolute value delta P is less than 0.5 degrees and the absolute value delta T is less than 0.2 degrees, stopping the micro-control mode 3, namely, indicating that the horizontal angle and the pitch angle of the camera lens are adjusted completely;
in the embodiment, the adjusting speed of the camera lens in the speed control mode is 2 °/s; the adjusting speed of the camera lens in the micro-control mode 1 is 0.5 degree/s; the adjusting speed of the camera lens in the micro-control mode 2 is 0.1 degree/s; the adjusting speed of the camera lens in the micro-control mode 3 is 0.01 degree/s;
after the horizontal angle and the pitch angle of the camera lens are adjusted, the focal length of the camera lens is adjusted, and the specific mode of adjusting the focal length of the camera lens is as follows:
judging whether the distance between the position of the target and the position of the current camera is less than 100 meters, and if not, automatically focusing; and if the distance is less than 100 meters, not focusing.
The CCTV scheduling module is provided with a dormant target cache table for caching the alarm target of which the automatic tracking task is finished; the alarm target cached in the dormant target cache table is the dormant target;
setting a dormancy time length aiming at the dormant target, and deleting the dormant target from the dormant target cache list if the time length of the dormant target cached in the cache list exceeds the dormancy time length;
when an alarm target needs to perform an automatic tracking task, the CCTV scheduling module firstly judges whether the alarm target is cached in a dormant target cache table, namely firstly judges whether the alarm target is a dormant target, and if the alarm target is the dormant target, the CCTV scheduling module does not schedule a camera to perform tracking shooting on the alarm target; if the target is not the dormant target, the CCTV scheduling module schedules the camera to track and shoot the alarm target.
The CCTV scheduling module is internally provided with a real-time task cache table for caching ongoing tasks;
and setting task duration aiming at the ongoing task, if the duration cached in the real-time task cache table by the ongoing task exceeds the task duration, ending the ongoing task, namely the CCTV scheduling module finishes the ongoing task, and simultaneously deleting the finished ongoing task from the real-time task cache table.
The CCTV scheduling module is also provided with a tracking target cache table for caching a target which is being tracked and shot, namely an ongoing target;
setting a tracking time length aiming at an ongoing target, if the time length of the ongoing target cached in a tracking target cache table exceeds the tracking time length, ending the tracking shooting of the ongoing target, namely the CCTV scheduling module finishes the scheduling task aiming at the ongoing target, and simultaneously deleting the finished ongoing target from the tracking target cache table;
if the time length of the ongoing target cached in the tracking target cache table does not exceed the tracking time length, but the time length of the ongoing scheduling task of the ongoing target cached in the real-time task cache table exceeds the task time length, the tracking shooting of the ongoing target is not finished, and the CCTV scheduling module still continues to perform aiming at the ongoing scheduling task of the ongoing target.
The automatic alarm module calls and identifies the behavior of the target according to the detection data of the target, and generates alarm information for the target with abnormal behavior; the behavior recognition of the target is judged in a manner of deep learning by adopting a caffe framework.
The system is provided with an alarm point position, an alarm line and an alarm area; if the detection data of the target shows that the position of the target reaches the alarm point position, the alarm line and the alarm area, the target is indicated to enter the alarm position, and the automatic alarm module generates alarm information for the target entering the alarm position. In this embodiment, the alarm line is a straight line segment.
The whole water area is constructed into a two-dimensional coordinate system and is provided with a coordinate origin, wherein,
the position coordinate of the alarm point position in the two-dimensional coordinate system is (x) a ,y a )；
The position coordinates of the two end points of the alarm line in the two-dimensional coordinate system are respectively (x) b1 ,y b1 )、(x b2 ,y b2 )；
If the alarm area is a circular surface, the position coordinate of the central point of the circular surface in the two-dimensional coordinate system is (x) c ,y c )；
If the alarm area is a non-circular surface, the N vertexes of the non-circular surface are q respectively 1 ，q 2 ，……q N The position coordinates of the N vertexes in the two-dimensional coordinate system are respectively (x) d1 ,y d1 )、(x d2 ,y d2 )、……(x dN ,y dN )；
The corresponding position coordinate of the target in the two-dimensional coordinate system is (x) 0 ,y 0 )。
The automatic alarm module judges whether the target reaches the alarm point location, and the method is as follows:
calculating the position distance des between the target and the alarm point a ，
If des a Less than a set warning distance D a If the target reaches the alarm point, the automatic alarm module generates alarm information for prohibiting collision aiming at the target;
the automatic alarm module judges whether the target reaches an alarm line or not, and the mode is as follows:
the position coordinates of the two end points of the alarm line in the two-dimensional coordinate system are respectively (x) b1 ,y b1 )、(x b2 ,y b2 ) (ii) a Thus, the equation for this warning line is Ax + By + C =0; wherein, A = y b2 -y b1 ，B＝x b1 -x b2 ，C＝x b2 ·y b1 -x b1 ·y b2 ；
Calculating the position distance des between the target and the alarm line b ，
If des b Less than a set warning distance D b If the target reaches the alarm line, the automatic alarm module generates alarm information for forbidding the passing of the line aiming at the target;
the automatic alarm module judges whether the target reaches the alarm area of the circular surface, and the method is as follows:
calculating the position distance des between the target and the center point of the alarm area of the circular surface c ，
If des c Less than a set warning distance D c It indicates that the target reaches the alarm area of the circular face and the automatic alarm module generates an alarm message for the target that prohibits entry.
The automatic alarm module judges whether the target reaches an alarm area of a non-circular surface, and the mode is as follows:
n vertexes q of the non-circular surface 1 ，q 2 ，……q N The position coordinates in the two-dimensional coordinate system are (x) respectively d1 ,y d1 )、(x d2 ,y d2 )……(x dN ,y dN ) (ii) a The N sides of the non-circular surface are q respectively N q 1 、q 1 q 2 、……q N-1 q N (ii) a I.e. any two adjacentThe vertex forms one side of the non-circular surface;
respectively calculating the position distances des between the target point and the N vertexes n ，n＝1,2,…N，
And obtaining the maximum value des of the position distance between the target point and the N vertexes max ；
From the position coordinates (x) of the target point 0 ,y 0 ) And coordinates (x) 0 +2·des max ,y 0 ) Form a line segment p 1 p 2 ；
Sequentially judging the line segment p 1 p 2 If it intersects with N edges of the non-circular surface, if the line segment p 1 p 2 If the number of the edges of the non-circular surface is intersected with the odd number of the edges of the N edges of the non-circular surface, the target point is located in the non-circular surface, namely the target reaches an alarm area of the non-circular surface, and the automatic alarm module generates alarm information for prohibiting entry of the target; if the line segment p 1 p 2 If even number of edges exist in the N edges of the non-circular surface, the target point is positioned outside the non-circular surface, namely the target does not reach the alarm area of the non-circular surface, and no alarm information is generated;
wherein, the line segment p is judged 1 p 2 With the nth side q of the non-circular surface n-1 q n Whether intersecting, N =1,2, … N, and when N =1, q n-1 q n Is q is N q 1 (ii) a The determination method is specifically as follows:
line segment p 1 p 2 The position coordinates of the two end points are respectively: (x) 0 ,y 0 )、(x 0 +2·des max ,y 0 )；
Nth side q of non-circular surface n-1 q n The position coordinates of the two end points are respectively: (x) dn-1 ,y dn-1 )、(x dn ,y dn )；
Computing
δ 1 n ＝[(q n-1 .x-p 1 .x)·(q n-1 .y-q n .y)-(q n-1 .y-p 1 .y)·(q n-1 .x-q n .x)]×[(q n-1 .x-p 2 .x)·(q n-1 .y-q n .y)-(q n-1 .y-p 2 .y)·(q n-1 .x-q n .x)]；
δ 2 n ＝[(p 1 .x-q n-1 .x)·(p 1 .y-p 2 .y)-(p 1 .y-q n-1 .y)·(p 1 .x-p 2 .x)]×[(p 1 .x-q n .x)·(p 1 .y-p 2 .y)-(p 1 .y-q n .y)·(p 1 .x-p 2 .x)]；
Wherein, delta 1 n 、δ 2 n Each represents a calculated value;
p 1 .x＝x 0 ；p 1 .y＝y 0 ；p 2 .x＝x 0 +2·des max ；p 2 .y＝y 0 ；
q n-1 .x＝x dn-1 ；q n-1 .y＝y dn-1 ；q n .x＝x dn ；q n .y＝y dn ；
if delta 1 n 、δ 2 n Are all less than 0, then the line segment p is represented 1 p 2 With the nth side q of the non-circular surface n-1 q n Intersecting; otherwise, the line segment p is represented 1 p 2 With the nth side q of the non-circular surface n-1 q n Are not intersected.
The water area detection monitoring system constructed in the embodiment adopts a B/S architecture mode.
The invention is not to be considered as limited to the specific embodiments shown and described, but is to be understood to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims.
Claims (5)
1. A scheduling mode of a camera in a water area detection monitoring process is characterized in that a scheduling task of networking of the camera on a water area comprises the following steps:
the pan-tilt control task refers to that a user selects a camera and sets the horizontal angle, the pitch angle and the focal length of a lens of the selected camera; the CCTV scheduling module schedules the camera selected by the user, adjusts the horizontal angle, the pitch angle and the focal length of the camera lens selected by the user to the horizontal angle, the pitch angle and the focal length set by the user;
the CCTV scheduling module selects a camera based on the position of the target or the area selected by the user, and schedules the selected camera to track and shoot the target or the area;
the automatic tracking task means that after the automatic alarm module generates alarm information on a certain target in a water area, the CCTV scheduling module selects a camera based on the position of the target generating the alarm information, namely the alarm target, and schedules the selected camera to track and shoot the alarm target;
the levels of the tasks scheduled by the camera are as follows from high to low: pan-tilt control, manual tracking and automatic tracking; that is, when a plurality of different tasks simultaneously schedule the same camera, the pan-tilt control task can preempt the camera scheduling right of the manual tracking task, and the manual tracking task can preempt the camera scheduling right of the automatic tracking task;
the CCTV scheduling module is provided with a dormant target cache table for caching the alarm target of which the automatic tracking task is finished; the alarm target cached in the dormant target cache table is the dormant target;
setting a dormancy time length aiming at the dormant target, and deleting the dormant target from the dormant target cache list if the time length of the dormant target cached in the cache list exceeds the dormancy time length;
when an alarm target needs to perform an automatic tracking task, the CCTV scheduling module firstly judges whether the alarm target is cached in a dormant target cache table, namely firstly judges whether the alarm target is a dormant target, and if the alarm target is the dormant target, the CCTV scheduling module does not schedule a camera to perform tracking shooting on the alarm target; if the target is not a dormant target, the CCTV scheduling module schedules the camera to perform tracking shooting on the alarm target;
the CCTV scheduling module is internally provided with a real-time task cache table for caching ongoing tasks;
setting a task time length aiming at the ongoing task, if the time length of the ongoing task cached in the real-time task cache table exceeds the task time length, ending the ongoing task, namely the CCTV scheduling module finishes the ongoing task, and deleting the ended ongoing task from the real-time task cache table;
the CCTV scheduling module is also provided with a tracking target cache table for caching a target which is being tracked and shot, namely an ongoing target;
setting a tracking time length aiming at an ongoing target, if the time length of the ongoing target cached in a tracking target cache table exceeds the tracking time length, ending the tracking shooting of the ongoing target, namely the CCTV scheduling module finishes the scheduling task aiming at the ongoing target, and simultaneously deleting the finished ongoing target from the tracking target cache table;
if the time length of the ongoing target cached in the tracking target cache table does not exceed the tracking time length, but the time length of the ongoing scheduling task of the ongoing target cached in the real-time task cache table exceeds the task time length, the tracking shooting of the ongoing target is not finished, and the CCTV scheduling module still continues to perform aiming at the ongoing scheduling task of the ongoing target.
2. The scheduling method of cameras in water area detection and monitoring process as claimed in claim 1,
when a plurality of users select the same camera to perform the pan-tilt control task at the same time, the user with high authority level can preempt the camera scheduling right of the user with low authority level; queuing the users with the same authority level according to the sequence of the request time;
when a plurality of users simultaneously perform manual tracking tasks and simultaneously select the same camera, the users with high authority level can seize the camera scheduling right of the users with low authority level; queuing the users with the same authority level according to the sequence of the request time;
when a plurality of alarm targets simultaneously select the same camera to perform automatic tracking tasks, the alarm target with high alarm level can preempt the camera scheduling right of the alarm target with low alarm level; queuing the alarm targets with the same alarm grade according to the sequence of the alarm information generation time; the alarm grade is set according to the severity of the alarm information.
3. The scheduling method of the camera in the water area detection and monitoring process according to claim 2, wherein when the CCTV scheduling module performs the automatic tracking task on the alarm target, the camera is selected in the following way:
s11, searching a camera in a shooting range according to the longitude and latitude position information of the alarm target;
s12, judging the state of the cameras in the shooting range, if the cameras in the idle state exist, selecting the cameras in the idle state closest to the alarm target position from the cameras in the idle state, and finishing the selection of the cameras; if the camera in the idle state does not exist, namely the camera in the shooting range is occupied, and the next step is carried out;
s13, according to the called task level of the camera within the shooting range, searching for an automatic tracking task with the alarm level lower than the alarm target in the automatic tracking tasks, preempting the camera which is closest to the alarm target and occupied by the automatic tracking task with the alarm level lower than the alarm target, regarding the original scheduling task of the preempted camera as the end, and finishing the selection of the camera;
and if the automatic tracking task with the alarm grade lower than the alarm target cannot be found out in the automatic tracking tasks, selecting the camera with the occupation state closest to the alarm target position, and queuing according to the sequence of the generation time of the alarm information.
4. A scheduling method of a camera in a water area detecting and monitoring process as claimed in claim 1, wherein the adjustment method of the camera lens when the camera tracks and shoots the target is as follows:
firstly, adjusting the horizontal angle and the pitch angle of the camera lens, wherein the specific mode of adjusting the horizontal angle and the pitch angle of the camera lens is as follows:
calculating a target horizontal angle and a target pitch angle of the camera lens holder to be adjusted in place according to the longitude and latitude of the target; then according to the current original horizontal angle and original pitch angle of the camera lens holder, calculating a difference value delta P between the target horizontal angle and the original horizontal angle and a difference value delta T between the target pitch angle and the original pitch angle; when the absolute value of delta P is more than or equal to 5 degrees or the absolute value of delta T is more than or equal to 2 degrees, starting a speed control mode;
when 5 degrees > | Δ P | > is not less than 2 degrees or 2 degrees > | Δ T | > is not less than 1 degree, starting the micro-control mode 1;
when 2 ° > | Δ P | ≧ 1 ° or 1 ° > | Δ T | > 0.5 °, the micro-control mode 2 is started;
when 1 ° > | Δ P | ≧ 0.5 ° or 0.5 ° > | Δ T | ≧ 0.2 °, the micro-control mode 3 is activated;
when the absolute value delta P is less than 0.5 degrees and the absolute value delta T is less than 0.2 degrees, stopping the micro-control mode 3, namely, indicating that the horizontal angle and the pitch angle of the camera lens are adjusted completely;
the adjusting speed of the horizontal angle and the pitch angle of the camera lens is as follows from fast to slow: a speed control mode, a micro control mode 1, a micro control mode 2 and a micro control mode 3;
after the horizontal angle and the pitch angle of the camera lens are adjusted, the focal length of the camera lens is adjusted, and the specific mode of adjusting the focal length of the camera lens is as follows:
judging whether the distance between the position of the target and the position of the current camera is less than 100 meters, and if not, automatically focusing; and if the distance is less than 100 meters, not focusing.
5. The dispatching method of the camera in the water area detecting and monitoring process according to claim 4, wherein the adjusting speed of the camera lens in the speed control mode is 2 °/s; the adjusting speed of the camera lens in the micro-control mode 1 is 0.5 degree/s; the adjusting speed of the camera lens in the micro-control mode 2 is 0.1 degree/s; the adjustment speed of the camera lens in the micro control mode 3 is 0.01 °/s.
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