CN111984904B - Distributed collaborative monitoring method, monitoring platform and storage medium - Google Patents
Distributed collaborative monitoring method, monitoring platform and storage medium Download PDFInfo
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Abstract
The invention discloses a distributed collaborative monitoring method, a monitoring platform and a storage medium, wherein the method is applied to a distributed collaborative monitoring system, the distributed collaborative monitoring system comprises at least one monitoring platform, and the method comprises the following steps: acquiring each first distance corresponding to each monitoring platform in the distributed collaborative monitoring system, and determining a target street corresponding to a target monitoring platform according to each first distance corresponding to each monitoring platform; after the target monitoring platform reaches the corresponding target street, determining the target position of the target monitoring platform on the corresponding target street according to the monitoring range of the target monitoring platform and the monitoring ranges of other platforms in the distributed collaborative monitoring system, so that the target monitoring platform can monitor after reaching the target position. The invention realizes automatic allocation of the monitoring positions of the monitoring platform.
Description
Technical Field
The invention relates to the technical field of public safety, in particular to a distributed collaborative monitoring method, a monitoring platform and a storage medium.
Background
Currently, the allocation of a monitoring platform for monitoring a target is manually based on experience, and no method for automatically allocating the monitoring platform according to the action area of the target exists.
Accordingly, there is a need for improvement and advancement in the art.
Disclosure of Invention
The invention provides a distributed collaborative monitoring method, a monitoring platform and a storage medium, aiming at overcoming the defects of the prior art, and solving the problem that the prior art does not automatically allocate the monitoring platform according to the ringing area of a target.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
in a first aspect of the present invention, there is provided a distributed collaborative monitoring method for use in a distributed collaborative monitoring system including at least one monitoring platform, the method comprising:
acquiring each first distance corresponding to each monitoring platform in the distributed collaborative monitoring system, wherein the first distance is the distance from the monitoring platform to a street in a target monitoring area, and determining a target street corresponding to a target monitoring platform according to each first distance corresponding to each monitoring platform;
After the target monitoring platform reaches the corresponding target street, determining the target position of the target monitoring platform on the corresponding target street according to the monitoring range of the target monitoring platform and the monitoring ranges of other platforms in the distributed collaborative monitoring system, so that the target monitoring platform can monitor after reaching the target position.
The distributed collaborative monitoring method, wherein the determining the target street of the target monitoring platform according to the respective first distances corresponding to each monitoring platform includes:
acquiring a second distance corresponding to each monitoring platform, wherein the second distance is the smallest distance in the first distances corresponding to the monitoring platforms;
sequencing the second distances respectively corresponding to all monitoring platforms in the distributed collaborative monitoring system, and acquiring the sequence of all the monitoring platforms according to sequencing results;
and after the target streets corresponding to the monitoring platforms before the target monitoring platform are determined in the sequence, determining the target streets corresponding to the target monitoring platform.
The distributed collaborative monitoring method, wherein the determining the target street corresponding to the target monitoring platform includes:
Acquiring a street corresponding to the minimum value in each preset parameter corresponding to the target monitoring platform as a target street corresponding to the target monitoring platform, and updating the uncovered length of the target street corresponding to the target monitoring platform; wherein the preset parameter eta l ＝D i,l /RL l Wherein D is i,l Monitoring a first distance from the platform to the first street for the targetLeave, RL l Is the uncovered length of the first street.
The distributed collaborative monitoring method, wherein the determining the target street of the target monitoring platform according to the respective first distances corresponding to each monitoring platform further includes:
after each time the target street corresponding to the monitoring platform is determined, acquiring the uncovered length of each street, updating the first distance corresponding to the monitoring platform of the undetermined target street when the uncovered length of the street is smaller than or equal to 0, so as to update the sequence, and enabling the monitoring platform of the undetermined target street to determine the corresponding target street according to the updated preset parameters.
According to the distributed collaborative monitoring method, a monitoring platform in the distributed collaborative monitoring system meets preset conditions;
the preset condition is that 
Wherein R is i For the monitoring radius, θ, of the ith monitoring platform in the distributed collaborative monitoring system i For the monitoring angle of the ith monitoring platform in the distributed collaborative monitoring system, n is the number of monitoring platforms in the distributed collaborative monitoring system, f is the monitoring handover length, L l And m is the number of streets in the target monitoring area, and is the length of the first street in the target monitoring area.
The distributed collaborative monitoring method, wherein the determining, according to the monitoring range of the target monitoring platform and the monitoring ranges of other platforms in the distributed collaborative monitoring system, the target position of the target monitoring platform on the corresponding target street includes:
acquiring a current target position and a monitoring range at the current target position of the target monitoring platform, and a current target position and a monitoring range at the current target position of a target adjacent monitoring platform in real time, wherein the target adjacent monitoring platform is adjacent to the target monitoring platform, and the initial target position of each monitoring platform is the position when the monitoring platform reaches a corresponding target street;
when the target adjacent monitoring platform corresponds to the same target street with the target monitoring platform, detecting whether a projection monitoring range corresponding to the current target position of the target monitoring platform is overlapped with a projection monitoring range corresponding to the current target position of the target adjacent monitoring platform, if so, keeping the current target position of the target monitoring platform unchanged, and if not, determining whether an obstacle exists between the current target position and the first position of the target monitoring platform, and updating the target position of the target monitoring platform according to the type of the obstacle until the projection monitoring range of each monitoring platform on the target position is overlapped with the projection monitoring range of the adjacent monitoring platform on the same target street on the target position;
The first position is a position of the current target position of the target monitoring platform after the current target position moves to the adjacent monitoring platform by a preset distance.
The distributed collaborative monitoring method, wherein the determining the target position of the target monitoring platform on the corresponding target street according to the monitoring range of the target monitoring platform and the monitoring ranges of other platforms in the distributed collaborative monitoring system further includes:
when the target adjacent monitoring platform and the target corresponding to the target monitoring platform are not identical item target streets, detecting whether the sum of the coverage length of the target monitoring platform on the target street corresponding to the target adjacent monitoring platform in the current target position and the coverage length of the target adjacent monitoring platform on the target street corresponding to the target monitoring platform is not smaller than the monitoring handing over length, if so, keeping the current target position of the target monitoring platform unchanged, if not, determining whether an obstacle exists between the current target position and the first position of the target monitoring platform, and updating the target position of the target monitoring platform according to the type of the obstacle until the sum of the coverage length of each monitoring platform on the target street corresponding to the target adjacent monitoring platform and the coverage length of the adjacent monitoring platform on the target position not on the same item target street on the target street is not smaller than the monitoring handing over length;
The first position is a position of the current target position of the target monitoring platform after the current target position moves to the adjacent monitoring platform by a preset distance.
The distributed collaborative monitoring method, wherein updating the target position of the target monitoring platform according to the type of the obstacle comprises:
when the type of the obstacle is unable to pass through and does not shade the visual field, keeping the current target position of the target monitoring platform unchanged;
when the type of the obstacle is a penetrable and shielding visual field type, updating the target position of the target monitoring platform to the first position, and updating the monitoring range of the target monitoring platform at the current target position according to the obstacle after updating the target position.
When the type of the obstacle is unable to pass through and the view is blocked, the current target position of the target monitoring platform is kept unchanged, and the monitoring range of the target monitoring platform at the current target position is updated.
In a second aspect of the present invention, there is provided a monitoring platform comprising a processor, a storage medium in communication with the processor, the storage medium adapted to store a plurality of instructions, the processor adapted to invoke the instructions in the storage medium to perform the steps of implementing the distributed collaborative monitoring method as described in any of the preceding claims.
In a third aspect of the present invention, there is provided a storage medium storing one or more programs executable by one or more processors to implement the steps of the distributed collaborative monitoring method described in any of the preceding claims.
Compared with the prior art, the invention provides a distributed collaborative monitoring method, a monitoring platform and a storage medium, wherein the distributed collaborative monitoring method is used for determining a target street corresponding to a target monitoring platform according to each first distance corresponding to each monitoring platform by acquiring each first distance corresponding to each monitoring platform in a distributed collaborative monitoring system, wherein the first distance is the distance from the monitoring platform to the target monitoring area; after the target monitoring platform reaches the corresponding target street, determining the target position of the target monitoring platform on the corresponding target street according to the monitoring range of the target monitoring platform and the monitoring ranges of other platforms in the distributed collaborative monitoring system, so that the target monitoring platform can monitor after reaching the target position, the automatic allocation of the monitoring position of the monitoring platform is realized, and the problems of target loss caused by insufficient coverage of a monitoring area or resource waste caused by excessive allocation of the monitoring platform, which can occur in manual allocation, are effectively avoided.
Drawings
FIG. 1 is a flow chart of an embodiment of a distributed collaborative monitoring method provided by the present invention;
fig. 2 is a schematic diagram of an application scenario of the distributed collaborative monitoring method provided by the present invention;
FIG. 3 is a schematic view of a monitoring range of a monitoring platform in an embodiment of a distributed collaborative monitoring method provided by the present invention;
FIG. 4 is a schematic diagram of a projection monitoring range in an embodiment of a distributed collaborative monitoring method provided by the present invention;
FIG. 5 is a schematic diagram I of determining a target location in an embodiment of a distributed collaborative monitoring method provided by the present invention;
FIG. 6 is a second schematic diagram of determining a target location in an embodiment of a distributed collaborative monitoring method provided by the present invention;
FIG. 7 is a diagram illustrating a first type of obstacle in an embodiment of a distributed collaborative monitoring method according to the present invention;
FIG. 8 is a second diagram of the type of obstacle in an embodiment of the distributed collaborative monitoring method provided by the present invention;
FIG. 9 is a diagram of a third type of obstacle in an embodiment of a distributed collaborative monitoring method provided by the present invention;
fig. 10 is a schematic diagram of an actual application effect of an embodiment of a distributed collaborative monitoring method according to the present invention;
fig. 11 is a schematic diagram showing a practical application effect of an embodiment of the distributed collaborative monitoring method according to the present invention;
Fig. 12 is a schematic diagram of an embodiment of a monitoring platform provided by the present invention.
Detailed Description
In order to make the objects, technical solutions and effects of the present invention clearer and more specific, the present invention will be described in further detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Example 1
The distributed collaborative monitoring method provided by the invention can be applied to a distributed collaborative monitoring system, the distributed collaborative monitoring system comprises at least one monitoring platform, the distributed collaborative monitoring method can be executed by a terminal, and the terminal can be one monitoring platform in the distributed collaborative monitoring system or a total monitoring platform in the distributed collaborative monitoring system for communicating with each monitoring platform. When the distributed collaborative monitoring method is executed by one monitoring platform in the distributed collaborative monitoring system, the monitoring platform determines a target position of a target monitoring platform (which may be a self or other monitoring platform) according to the distributed collaborative monitoring method so that the target monitoring platform reaches the target position to monitor, and when the distributed collaborative monitoring method is executed by a total monitoring platform in the distributed collaborative monitoring system, the total monitoring platform determines a target position of the target monitoring platform (which may be any monitoring platform in the distributed collaborative system) according to the distributed collaborative monitoring method so that the target monitoring platform reaches the target position to monitor.
As shown in fig. 1, in one embodiment of the distributed collaborative monitoring method provided by the present invention, the method includes:
s100, acquiring each first distance corresponding to each monitoring platform in the distributed collaborative monitoring system, and determining a target street corresponding to a target monitoring platform according to each first distance corresponding to each monitoring platform.
The first distance is the distance from the monitoring platform to a street in the target monitoring area, as shown in fig. 2, the target monitoring area is a preset area, an active area of a target (a vehicle on a road in the figure) to be monitored can be preset as the target monitoring area, and the target monitoring area comprises a plurality of streets. The corresponding target street of the monitoring platform is the street to which the monitoring platform needs to go when monitoring the target to be monitored, i.e. the monitoring platform monitors on the corresponding target street.
The determining the target street of the target monitoring platform according to the first distance corresponding to each monitoring platform comprises the following steps:
s110, acquiring a second distance corresponding to each monitoring platform, wherein the second distance is the smallest distance in the first distances corresponding to the monitoring platforms;
the initial positions of the monitoring platforms in the distributed collaborative monitoring system are random, and may be the positions when the last monitoring task is executed or the positions of a monitoring platform dispatching center and the like, when a new target needs to be monitored, firstly, the distance between the current position of each monitoring platform and each street in the target monitoring area is acquired, and for each monitoring platform, the shortest distance (namely the second distance) among the distances between the monitoring platform and each street is acquired.
S120, sorting the second distances respectively corresponding to all monitoring platforms in the distributed collaborative monitoring system, and acquiring the sequence of all the monitoring platforms according to a sorting result;
and sequencing the second distance corresponding to each monitoring platform, for example sequencing from big to small or from small to big, and acquiring the sequence of each monitoring platform according to the sequencing result, wherein the sequence is the sequence of determining the target street corresponding to the monitoring platform. When the second distances are ordered from large to small, the order is the reverse order of the ordering of the second distances, and when the second distances are ordered from small to large, the order is consistent with the ordering of the second distances, namely, the corresponding monitoring platforms with small second distances are determined firstly, the corresponding target streets are determined firstly, the corresponding monitoring platforms with large second distances are determined secondly, and then the corresponding target streets are determined.
S130, after the target streets corresponding to the monitoring platforms before the target monitoring platform are determined in the sequence, determining the target streets corresponding to the target monitoring platform.
And after the sequence is acquired, determining a target street corresponding to the target monitoring platform according to the sequence.
The determining the target street corresponding to the target monitoring platform according to the sequence specifically comprises the following steps:
and acquiring a street corresponding to the minimum value in each preset parameter corresponding to the target monitoring platform as a target street corresponding to the target monitoring platform, and updating the uncovered length of the target street corresponding to the target monitoring platform.
The preset parameter eta l ＝D i,l /RL l Wherein D is i,l For a first distance from the object monitoring platform to the first street, RL l Is the uncovered length of the first street. As can be seen from the formula of the preset parameters, each monitoring platform corresponds to a plurality of preset parameters, and the street corresponding to the smallest value in the preset parameters corresponding to the monitoring platform is selected as the target street corresponding to the monitoring platform. The coverage length of a street is the sum of the coverage lengths of the monitoring ranges of the monitoring platforms currently determining the street as the target street, the length of the uncovered length of the street minus the coverage length, the monitoring ranges of the monitoring platforms are as shown in FIG. 3, and the monitoring range of each monitoring platform is the radius R is a sector area with an angle theta, and the monitoring range of the monitoring platform can cover a length of
After each time a target street of a monitoring platform is determined, updating the uncovered length of the target street, and the formula for updating the uncovered length of the street can be as follows: />
Wherein RLl' is the uncovered length before updating, R j For the most recent determination of the radius, θ, of the surveillance range of the surveillance platform for which the street is the corresponding target street j The monitoring range angle of the monitoring platform for which the street is the corresponding target street is newly determined.
In one possible implementation manner, determining that the order of the target streets corresponding to the monitoring platforms in the distributed collaborative monitoring system is dynamically changed, specifically, determining the target streets of the target monitoring platform according to the respective first distances corresponding to each monitoring platform further includes:
after each time the target street corresponding to the monitoring platform is determined, acquiring the uncovered length of each street, and updating the first distance corresponding to the monitoring platform of the undetermined target street when the uncovered length of the street is smaller than or equal to 0, so that the monitoring platform of the undetermined target street determines the corresponding target street according to the updated preset parameters. That is, each time after each monitoring platform determines its corresponding target street, the uncovered length of the street is updated, when the uncovered length of any street in the target monitoring area is less than or equal to 0, it is indicated that the corresponding monitoring platform of the street is enough, when the corresponding first distance of the remaining monitoring platforms is determined, the corresponding first distance of the fully covered street is not practical because the corresponding first distance of the monitoring platform is used, so that in order to reduce the movement distance of the monitoring platform as much as possible, when the uncovered length of any street is less than or equal to 0, the first distance of the monitoring platform of the non-determined corresponding target street is updated, the first distance between the monitoring platform and the street of the non-covered length is deleted, the sequence is updated according to the updated first distance, and the monitoring platform of the non-determined target street determines the corresponding target according to the updated preset parameters. That is, each time the target street corresponding to the monitoring platform is determined, it is determined according to the updated first distance.
For each platform in the distributed collaborative monitoring system, the corresponding target street can be determined by adopting the steps as the target monitoring platform.
In one possible implementation manner, in order to prevent the target from losing at the monitoring range junction of the monitored target, the monitoring platform in the distributed collaborative monitoring system meets the preset condition:
Referring to fig. 1 again, the distributed collaborative monitoring method provided in this embodiment further includes the steps of:
and S200, after the target monitoring platform reaches the corresponding target street, determining the target position of the target monitoring platform on the corresponding target street according to the monitoring range of the target monitoring platform and the monitoring ranges of other platforms in the distributed collaborative monitoring system, so that the target monitoring platform reaches the prime number target position and then monitors.
After determining the target streets corresponding to the monitoring platforms in the distributed collaborative monitoring system, each monitoring platform goes to the corresponding target street.
The determining the target position of the target monitoring platform on the corresponding target street according to the monitoring range of the target monitoring platform and the monitoring ranges of other platforms in the distributed collaborative monitoring system comprises:
acquiring a current target position and a monitoring range at the current target position of the target monitoring platform, and a current target position and a monitoring range at the current target position of a target adjacent monitoring platform in real time, wherein the target adjacent monitoring platform is adjacent to the target monitoring platform, and the initial target position of each monitoring platform is the position when the monitoring platform reaches a corresponding target street;
when the target positions corresponding to the target monitoring platforms in the distributed collaborative monitoring system are obtained dynamically, namely, after the initial target positions of all the monitoring platforms are set to be the positions when the monitoring platforms reach the corresponding target streets, new target positions are obtained each time so as to update the current target positions. It should be noted that, the current target position and the monitoring range at the current target position of the target monitoring platform and the current target position and the monitoring range at the current target position of the target adjacent monitoring platform may be obtained at preset time intervals or may be obtained after updating the target street each time. The target adjacent monitoring platform is a platform which is positioned at one side of the target monitoring platform and is closest to the target monitoring platform, two adjacent monitoring platforms are corresponding to the target monitoring platform, and one of the two adjacent monitoring platforms can be selected as the target adjacent monitoring platform at a time. As can be seen, there are two situations for the target adjacent monitoring platform: on the same street as the object monitoring platform or not. These two cases are described below:
When the target adjacent monitoring platform corresponds to the same target street with the target monitoring platform, detecting whether a projection monitoring range corresponding to the current target position of the target monitoring platform and a projection monitoring range corresponding to the current target position of the target adjacent monitoring platform overlap, if so, keeping the current target position unchanged, and if not, determining whether an obstacle exists between the current target position and the first position of the target monitoring platform, and updating the target position according to the type of the obstacle until the projection monitoring range of each monitoring platform on the target position overlaps with the projection monitoring range of the adjacent monitoring platform on the same target street on the target position;
the first position is a position of the current target position of the target monitoring platform after the current target position moves to the adjacent monitoring platform by a preset distance, and the preset distance may be, for example, 1 meter, 2 meters, etc.
When the target adjacent monitoring platform and the target monitoring platform correspond to the same target street, the monitoring ranges of the target adjacent monitoring platform and the target monitoring platform are projected onto a one-dimensional straight line to respectively obtain corresponding projection monitoring ranges, as shown in fig. 4, L is a street in the target monitoring area, the included angle between L and the horizontal direction is gamma, the radius of the monitoring area of the monitoring platform is R, and the projection monitoring range is the length 
Each time the target position of the target monitoring platform is updated, acquiring a projection monitoring range corresponding to the current target position of the target monitoring platform and a projection monitoring range corresponding to the current target position of the target adjacent monitoring platform, if the two are overlapped, keeping the current target position of the target monitoring platform unchanged, and if the two are not overlapped, in a possible implementation manner, directly updating the target position of the target monitoring platform to the first position, and in this embodiment, further determining whether an obstacle exists between the current target position of the target monitoring platform and the first positionThe object updates the target position of the target monitoring platform according to the type of the obstacle until the projection monitoring range of each monitoring platform on the target position overlaps with the projection monitoring range of the adjacent monitoring platform on the same target street on the target position, and the updating of the target position of the target monitoring platform according to the type of the obstacle will be described in detail later.
It should be noted that, for each monitoring platform in the distributed collaborative monitoring system, the above steps may be adopted to determine the corresponding target position, so as to implement the collaborative operation of the whole system, as shown in fig. 5, S in fig. 5 n The projection monitoring range is corresponding to each monitoring platform on the same target street.
When the target adjacent monitoring platform and the target corresponding to the target monitoring platform are not identical item target streets, detecting whether the sum of the coverage length of the target monitoring platform on the target street corresponding to the target adjacent monitoring platform in the current target position and the coverage length of the target adjacent monitoring platform on the target street corresponding to the target monitoring platform in the current target position is not smaller than the monitoring handing-over length, if yes, keeping the current target position of the target monitoring platform unchanged, if no, determining whether an obstacle exists between the current target position and the first position of the target monitoring platform, updating the target position of the target monitoring platform according to the type of the obstacle until the sum of the coverage length of each monitoring platform on the target street corresponding to the target adjacent monitoring platform in the monitoring range of each monitoring platform on the target position and the coverage length of the adjacent monitoring platform on the target position on the target street corresponding to the monitoring platform in the different item target position is not smaller than the monitoring length;
The first position is a position of the current target position of the target monitoring platform after the current target position moves to the adjacent monitoring platform by a preset distance, and the preset distance may be, for example, 1 meter, 2 meters, etc.
As shown in FIG. 6, when the target is monitoredVision platform O 1 Monitoring platform O adjacent to the target 2 The target monitoring platform O when the corresponding street is not the same 1 Monitoring range at current target position is within the target adjacent monitoring platform O 2 The coverage length of the corresponding target street is the length of a line segment AB, namely |AB|, the coverage length of the monitoring range of the target adjacent monitoring platform at the current target position on the corresponding target street of the target monitoring platform is the length of a line segment BC, namely |BC|, and the coverage length of the target adjacent monitoring platform on the corresponding target street of the target monitoring platform is the length of a line segment BC, namely |BC|, for the target monitoring platform O 1 For example, if |AB|+|BC|is not less than f, the current target position of the target monitoring platform is kept unchanged, and if |AB|+|BC|is not changed<f, in one possible implementation manner, the target position of the target monitoring platform may be directly updated to the first position, in this embodiment, it is further determined whether an obstacle exists between the current target position of the target monitoring platform and the first position, the target position of the target monitoring platform is updated according to the type of the obstacle, until the sum of the coverage length of the monitoring range of each monitoring platform on the target position on the target street corresponding to the target adjacent monitoring platform and the coverage length of the monitoring range of the adjacent monitoring platform on the target position, which is not on the same target street, on the target street corresponding to the monitoring platform is not less than the monitoring handover length, and updating the target position of the target monitoring platform according to the type of the obstacle will be described in detail later.
The updating the target position of the target monitoring platform according to the type of the obstacle comprises:
when the type of the obstacle is unable to pass through and does not obstruct the view (as shown in fig. 7), keeping the current target position of the target monitoring platform unchanged;
when the type of the obstacle is a penetrable obstacle and the view is blocked (as shown in fig. 8), the target position of the target monitoring platform is updated to the first position, and the monitoring range of the target monitoring platform at the current target position is updated according to the obstacle after the target position is updated.
Specifically, when the target monitoring platform is updated according to the obstacle and the monitoring range corresponding to the current target position is updated according to the boundary of the obstacle, after the target position of the target monitoring platform is updated to the first position, the current target position of the target monitoring platform is changed to the first position, as shown in fig. 8, and the monitoring range of the target monitoring platform at the current target position should be in a sector of the right half in fig. 8.
When the type of the obstacle is unable to pass through and the view is blocked (as shown in fig. 9), the current target position of the target monitoring platform is kept unchanged and the monitoring range of the target monitoring platform at the current target position is updated.
Specifically, when the object monitoring platform is updated according to the obstacle and the boundary of the obstacle is updated according to the monitoring range corresponding to the current object position, as shown in fig. 9, when the object monitoring platform is detected to have an obstacle which blocks the view and cannot pass through between the current object position and the first position, the obstacle is likely to block part of the monitoring range of the object monitoring platform, and therefore, the monitoring range of the object monitoring platform at the current object position is updated to be in a right half sector in fig. 9.
In order to verify the effectiveness of the distributed collaborative monitoring method provided in this embodiment, eclipse programming environment is used, and relevant parameters are set as follows:
number of platforms: 33; all monitoring platforms have an initial x-coordinate between [400,2800] and an initial y-coordinate between [300,2100 ]; monitoring range radius maximum/minimum of monitoring platform: 20m/100m; the angle of the monitoring range is between [0,2 pi ]; the streets in the target monitoring area are equivalent to three broken line segments, and the vertexes are (2000,1500), (1600,1260), (1200,1050), (600 ) respectively; monitoring the handover length 10m; the speed of the target is about 60km/h; the speed of the monitoring platform is about 80km/h; the platform should keep a certain safety distance with the target track during monitoring, and the safety distance is set to be 10m.
After running in Eclipse programming environment, the running results, i.e. the final monitoring position (target position) of the monitoring platform and the target track are plotted on Matlab as shown in fig. 10 and 11. As can be seen from fig. 10 and 11, the target track has been fully covered and sufficient surveillance interface area remains between the surveillance areas of the platform.
In summary, the present embodiment provides a distributed collaborative monitoring method, where the distributed collaborative monitoring method determines, according to each first distance corresponding to each monitoring platform in the distributed collaborative monitoring system, a target street corresponding to the target monitoring platform by obtaining each first distance corresponding to each monitoring platform in the distributed collaborative monitoring system, where the first distance is a distance from the monitoring platform to a street in the target monitoring area; after the target monitoring platform reaches the corresponding target street, determining the target position of the target monitoring platform on the corresponding target street according to the monitoring range of the target monitoring platform and the monitoring ranges of other platforms in the distributed collaborative monitoring system, so that the target monitoring platform can monitor after reaching the target position, the automatic allocation of the monitoring position of the monitoring platform is realized, and the problems of target loss caused by insufficient coverage of a monitoring area or resource waste caused by excessive allocation of the monitoring platform, which can occur in manual allocation, are effectively avoided.
It should be understood that the steps presented in this invention are not necessarily performed in the order illustrated. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps may include a plurality of sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, or the order in which the sub-steps or stages are performed is not necessarily sequential, but may be performed in rotation or alternately with at least some of the other steps or stages.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
Example two
Based on the above embodiments, the present invention also correspondingly provides a monitoring platform, which comprises a processor 10 and a memory 20. Fig. 2 shows only a portion of the components of the monitoring platform, but it should be understood that not all of the illustrated components are required to be implemented and that more or fewer components may alternatively be implemented.
The memory 20 may in some embodiments be an internal storage unit of the monitoring platform, such as a hard disk or a memory of the monitoring platform. The memory 20 may in other embodiments also be an external storage device of the monitoring platform, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) or the like, which are provided on the monitoring platform. Further, the memory 20 may also include both an internal storage unit and an external storage device of the monitoring platform. The memory 20 is used for storing application software and various data installed on the monitoring platform. The memory 20 may also be used to temporarily store data that has been output or is to be output. In one embodiment, the memory 20 has stored thereon a distributed co-monitor program 30, and the distributed co-monitor program 30 is executable by the processor 10 to implement the distributed co-monitor method of the present application.
The processor 10 may in some embodiments be a central processing unit (Central Processing Unit, CPU), microprocessor or other chip for executing program code or processing data stored in the memory 20, for example for performing the distributed co-monitoring method or the like.
In one embodiment, the following steps are implemented when the processor 10 executes the distributed collaborative monitor 30 in the memory 20:
acquiring each first distance corresponding to each monitoring platform in the distributed collaborative monitoring system, wherein the first distance is the distance from the monitoring platform to a street in a target monitoring area, and determining a target street corresponding to a target monitoring platform according to each first distance corresponding to each monitoring platform;
after the target monitoring platform reaches the corresponding target street, determining the target position of the target monitoring platform on the corresponding target street according to the monitoring range of the target monitoring platform and the monitoring ranges of other platforms in the distributed collaborative monitoring system, so that the target monitoring platform can monitor after reaching the target position.
Wherein, the determining the target street of the target monitoring platform according to the respective first distances corresponding to each monitoring platform includes:
Acquiring a second distance corresponding to each monitoring platform, wherein the second distance is the smallest distance in the first distances corresponding to the monitoring platforms;
sequencing the second distances respectively corresponding to all monitoring platforms in the distributed collaborative monitoring system, and acquiring the sequence of all the monitoring platforms according to sequencing results;
and after the target streets corresponding to the monitoring platforms before the target monitoring platform are determined in the sequence, determining the target streets corresponding to the target monitoring platform.
Wherein, the determining the target street corresponding to the target monitoring platform includes:
acquiring a street corresponding to the minimum value in each preset parameter corresponding to the target monitoring platform as a target street corresponding to the target monitoring platform, and updating the uncovered length of the target street corresponding to the target monitoring platform; wherein the preset parameter eta l ＝D i,l /RL l Wherein D is i,l For a first distance from the object monitoring platform to the first street, RL l Is the uncovered length of the first street.
Wherein said determining the target street of the target monitoring platform according to the respective first distances corresponding to each monitoring platform further comprises:
After each time the target street corresponding to the monitoring platform is determined, acquiring the uncovered length of each street, updating the first distance corresponding to the monitoring platform of the undetermined target street when the uncovered length of the street is smaller than or equal to 0, so as to update the sequence, and enabling the monitoring platform of the undetermined target street to determine the corresponding target street according to the updated preset parameters.
Wherein, the monitoring platform in the distributed collaborative monitoring system meets the preset condition;
the preset condition is that
Wherein R is i For the monitoring radius, θ, of the ith monitoring platform in the distributed collaborative monitoring system i For the monitoring angle of the ith monitoring platform in the distributed collaborative monitoring system, n is the number of monitoring platforms in the distributed collaborative monitoring system, f is the monitoring handover length, L l And m is the number of streets in the target monitoring area, and is the length of the first street in the target monitoring area.
Wherein, the determining the target position of the target monitoring platform on the corresponding target street according to the monitoring range of the target monitoring platform and the monitoring ranges of other platforms in the distributed collaborative monitoring system includes:
Acquiring a current target position and a monitoring range at the current target position of the target monitoring platform, and a current target position and a monitoring range at the current target position of a target adjacent monitoring platform in real time, wherein the target adjacent monitoring platform is adjacent to the target monitoring platform, and the initial target position of each monitoring platform is the position when the monitoring platform reaches a corresponding target street;
when the target adjacent monitoring platform corresponds to the same target street with the target monitoring platform, detecting whether a projection monitoring range corresponding to the current target position of the target monitoring platform is overlapped with a projection monitoring range corresponding to the current target position of the target adjacent monitoring platform, if so, keeping the current target position of the target monitoring platform unchanged, and if not, determining whether an obstacle exists between the current target position and the first position of the target monitoring platform, and updating the target position of the target monitoring platform according to the type of the obstacle until the projection monitoring range of each monitoring platform on the target position is overlapped with the projection monitoring range of the adjacent monitoring platform on the same target street on the target position;
The first position is a position of the current target position of the target monitoring platform after the current target position moves to the adjacent monitoring platform by a preset distance.
Wherein the determining the target position of the target monitoring platform on the corresponding target street according to the monitoring range of the target monitoring platform and the monitoring ranges of other platforms in the distributed collaborative monitoring system further comprises:
when the target adjacent monitoring platform and the target corresponding to the target monitoring platform are not identical item target streets, detecting whether the sum of the coverage length of the target monitoring platform on the target street corresponding to the target adjacent monitoring platform in the current target position and the coverage length of the target adjacent monitoring platform on the target street corresponding to the target monitoring platform is not smaller than the monitoring handing over length, if so, keeping the current target position of the target monitoring platform unchanged, if not, determining whether an obstacle exists between the current target position and the first position of the target monitoring platform, and updating the target position of the target monitoring platform according to the type of the obstacle until the sum of the coverage length of each monitoring platform on the target street corresponding to the target adjacent monitoring platform and the coverage length of the adjacent monitoring platform on the target position not on the same item target street on the target street is not smaller than the monitoring handing over length;
The first position is a position of the current target position of the target monitoring platform after the current target position moves to the adjacent monitoring platform by a preset distance.
Wherein updating the target position of the target monitoring platform according to the type of the obstacle comprises:
when the type of the obstacle is unable to pass through and does not shade the visual field, keeping the current target position of the target monitoring platform unchanged;
when the type of the obstacle is a penetrable and shielding visual field type, updating the target position of the target monitoring platform to the first position, and updating the monitoring range of the target monitoring platform at the current target position according to the obstacle after updating the target position.
When the type of the obstacle is unable to pass through and the view is blocked, the current target position of the target monitoring platform is kept unchanged, and the monitoring range of the target monitoring platform at the current target position is updated.
Example III
The present invention also provides a storage medium in which one or more programs are stored, the one or more programs being executable by one or more processors to implement the steps of the distributed collaborative monitoring method as described above.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. A distributed collaborative monitoring method, the method being applied to a distributed collaborative monitoring system including at least one monitoring platform, the method comprising:
acquiring each first distance corresponding to each monitoring platform in the distributed collaborative monitoring system, wherein the first distance is the distance from the monitoring platform to a street in a target monitoring area, and determining a target street corresponding to a target monitoring platform according to each first distance corresponding to each monitoring platform;
the monitoring platform in the distributed collaborative monitoring system meets preset conditions;
the preset condition is that
Wherein R is i For the monitoring radius, θ, of the ith monitoring platform in the distributed collaborative monitoring system i For the monitoring angle of the ith monitoring platform in the distributed collaborative monitoring system, n is the number of monitoring platforms in the distributed collaborative monitoring system, f is the monitoring handover length, L l For the length of the first street in the target monitoring area, m is the number of streets in the target monitoring area;
after the target monitoring platform reaches the corresponding target street, determining the target position of the target monitoring platform on the corresponding target street according to the monitoring range of the target monitoring platform and the monitoring ranges of other platforms in the distributed collaborative monitoring system, so that the target monitoring platform can monitor after reaching the target position;
The determining the target position of the target monitoring platform on the corresponding target street according to the monitoring range of the target monitoring platform and the monitoring ranges of other platforms in the distributed collaborative monitoring system comprises:
acquiring a current target position and a monitoring range at the current target position of the target monitoring platform, and a current target position and a monitoring range at the current target position of a target adjacent monitoring platform in real time, wherein the target adjacent monitoring platform is adjacent to the target monitoring platform, and the initial target position of each monitoring platform is the position when the monitoring platform reaches a corresponding target street;
when the target adjacent monitoring platform corresponds to the same target street with the target monitoring platform, detecting whether a projection monitoring range corresponding to the current target position of the target monitoring platform is overlapped with a projection monitoring range corresponding to the current target position of the target adjacent monitoring platform, if so, keeping the current target position of the target monitoring platform unchanged, and if not, determining whether an obstacle exists between the current target position and the first position of the target monitoring platform, and updating the target position of the target monitoring platform according to the type of the obstacle until the projection monitoring range of each monitoring platform on the target position is overlapped with the projection monitoring range of the adjacent monitoring platform on the same target street on the target position;
The first position is a position of the current target position of the target monitoring platform after the current target position moves to the adjacent monitoring platform by a preset distance.
2. The distributed collaborative monitoring method of claim 1, wherein determining a target street for a target monitoring platform based on the respective first distances for each monitoring platform comprises:
acquiring a second distance corresponding to each monitoring platform, wherein the second distance is the smallest distance in the first distances corresponding to the monitoring platforms;
sequencing the second distances respectively corresponding to all monitoring platforms in the distributed collaborative monitoring system, and acquiring the sequence of all the monitoring platforms according to sequencing results;
and after the target streets corresponding to the monitoring platforms before the target monitoring platform are determined in the sequence, determining the target streets corresponding to the target monitoring platform.
3. The distributed collaborative monitoring method of claim 2, wherein the determining a target street corresponding to the target monitoring platform comprises:
acquiring a street corresponding to the minimum value in each preset parameter corresponding to the target monitoring platform as a target street corresponding to the target monitoring platform, and updating the uncovered length of the target street corresponding to the target monitoring platform; wherein the preset parameter eta l ＝D i,l /RL l Wherein D is i,l For a first distance from the object monitoring platform to the first street, RL l Is the uncovered length of the first street.
4. A distributed collaborative monitoring method according to claim 3 wherein said determining a target street for a target monitoring platform based on each respective said first distance for each monitoring platform further comprises:
after each time the target street corresponding to the monitoring platform is determined, acquiring the uncovered length of each street, updating the first distance corresponding to the monitoring platform of the undetermined target street when the uncovered length of the street is smaller than or equal to 0, so as to update the sequence, and enabling the monitoring platform of the undetermined target street to determine the corresponding target street according to the updated preset parameters.
5. The distributed collaborative monitoring method of claim 1, wherein determining a target position of the target monitoring platform on a corresponding target street based on a monitoring range of the target monitoring platform and monitoring ranges of other platforms in the distributed collaborative monitoring system further comprises:
when the target adjacent monitoring platform and the target corresponding to the target monitoring platform are not identical item target streets, detecting whether the sum of the coverage length of the target monitoring platform on the target street corresponding to the target adjacent monitoring platform in the current target position and the coverage length of the target adjacent monitoring platform on the target street corresponding to the target monitoring platform is not smaller than the monitoring handing over length, if so, keeping the current target position of the target monitoring platform unchanged, if not, determining whether an obstacle exists between the current target position and the first position of the target monitoring platform, and updating the target position of the target monitoring platform according to the type of the obstacle until the sum of the coverage length of each monitoring platform on the target street corresponding to the target adjacent monitoring platform and the coverage length of the adjacent monitoring platform on the target position not on the same item target street on the target street is not smaller than the monitoring handing over length;
The first position is a position of the current target position of the target monitoring platform after the current target position moves to the adjacent monitoring platform by a preset distance.
6. The distributed collaborative monitoring method of claim 1, wherein updating the target position of the target monitoring platform based on the type of obstacle comprises:
when the type of the obstacle is unable to pass through and does not shade the visual field, keeping the current target position of the target monitoring platform unchanged;
when the type of the obstacle is penetrable and the view is blocked, updating the target position of the target monitoring platform to the first position, and updating the monitoring range of the target monitoring platform at the current target position according to the obstacle after updating the target position;
when the type of the obstacle is unable to pass through and the view is blocked, the current target position of the target monitoring platform is kept unchanged, and the monitoring range of the target monitoring platform at the current target position is updated.
7. A monitoring platform, the monitoring platform comprising: a processor, a storage medium communicatively coupled to the processor, the storage medium adapted to store a plurality of instructions, the processor adapted to invoke the instructions in the storage medium to perform the steps of implementing the distributed collaborative monitoring method of any of claims 1-6.
8. A storage medium storing one or more programs executable by one or more processors to implement the steps of the distributed collaborative monitoring method of any of claims 1-6.
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