CN112488068A - Method, device and equipment for searching monitoring target and computer storage medium - Google Patents
Method, device and equipment for searching monitoring target and computer storage medium Download PDFInfo
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- CN112488068A CN112488068A CN202011515919.6A CN202011515919A CN112488068A CN 112488068 A CN112488068 A CN 112488068A CN 202011515919 A CN202011515919 A CN 202011515919A CN 112488068 A CN112488068 A CN 112488068A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/29—Geographical information databases
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/90—Details of database functions independent of the retrieved data types
- G06F16/95—Retrieval from the web
- G06F16/953—Querying, e.g. by the use of web search engines
- G06F16/9537—Spatial or temporal dependent retrieval, e.g. spatiotemporal queries
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V2201/00—Indexing scheme relating to image or video recognition or understanding
- G06V2201/07—Target detection
Abstract
The embodiment of the invention provides a method, a device and equipment for searching a monitoring target and a computer storage medium, wherein initial monitoring equipment for monitoring the monitoring target for the last time is determined by confirming that the tracking of the monitoring target fails; predicting a motion range corresponding to the motion of the monitoring target in a later preset time period by taking the initial monitoring equipment as a starting point; determining candidate monitoring equipment capable of monitoring the monitoring target in the motion range, and screening N target monitoring equipment which are closest to the route between the initial monitoring equipment and all the motion routes reaching the candidate monitoring equipment; and analyzing the monitoring information of the target monitoring equipment, and searching a monitoring target according to an analysis result. By screening the monitoring equipment, only the monitoring equipment which is necessary to pass through on the movement route is searched and analyzed in the movement range, the number of the monitoring equipment which needs to be analyzed is reduced, the calculation amount is reduced, and the calculation speed is increased.
Description
Technical Field
The present invention relates to the field of computer technologies, and in particular, to a method, an apparatus, a device, and a computer storage medium for searching a monitored target.
Background
In the prior art, a cross-lens pedestrian tracking scheme is influenced by various factors (such as video image quality, illumination intensity and direction change of moving of a monitored target) in an actual scene, so that in a plurality of tracking and monitoring processes, the monitored target does not pass through cross-lens video analysis feature matching within a specified range or time, and cross-lens tracking and monitoring are failed.
At present, for the problem of searching for a monitoring target again after a cross-lens tracking monitoring fails, the mainstream technical scheme is as follows: and searching and analyzing the monitoring information of all monitoring equipment around the monitoring equipment at the last position according to the last position of the monitoring target, and searching the monitoring target. Thus, a large amount of monitoring information of the monitoring device needs to be searched and analyzed. Accordingly, a large amount of computing power is consumed, and the speed is slow, which is not favorable for rapidly recovering the tracking and monitoring of the monitored target.
Disclosure of Invention
The embodiment of the invention provides a method, a device and equipment for searching a monitoring target and a computer storage medium, which are used for solving the problems of large calculation amount and low speed of the monitoring target in cross-border monitoring searching and tracking failure in the prior art.
The embodiment of the invention provides a monitoring target searching method, which is applied to a monitoring system consisting of a plurality of monitoring devices and comprises the following steps:
when confirming that the tracking of the monitoring target fails, determining initial monitoring equipment which monitors the monitoring target for the last time;
predicting a motion range corresponding to the motion of the monitoring target in a later preset time period by taking the initial monitoring equipment as a starting point;
determining candidate monitoring devices capable of monitoring the monitoring target in the motion range, and screening N target monitoring devices which are closest to the initial monitoring device on all motion routes reaching the candidate monitoring devices, wherein N is a positive integer;
and analyzing the monitoring information of the target monitoring equipment, and searching a monitoring target according to an analysis result.
Optionally, a candidate device closest to the route distance between the candidate device and the initial monitoring device is determined as a target monitoring device.
Optionally, confirming that the monitoring target tracking fails, including:
confirming that the monitoring target leaves the monitoring range of the current monitoring equipment, and predicting at least one predicted monitoring equipment capable of monitoring the monitoring target;
and after the preset time threshold value is exceeded and all the prediction monitoring equipment do not monitor the monitoring target, confirming that the tracking of the monitoring target fails.
Optionally, determining candidate monitoring devices capable of monitoring the monitoring target in the motion range, and screening N target monitoring devices closest to the route between the initial monitoring devices on all the motion routes reaching the candidate monitoring devices, includes:
taking all the monitoring devices in the motion range as a set, and traversing the monitoring devices in the set in sequence as follows:
determining all possible movement routes of the monitoring target to the currently traversed judging and monitoring equipment;
sequentially judging the movement routes as follows:
if the judging and monitoring equipment cannot monitor the monitoring target on all possible moving routes, screening the judging and monitoring equipment from a set;
and if the judging and monitoring device for judging is a candidate monitoring device capable of monitoring the monitored target, and for any one motion route, the judging and monitoring device is the nth closest to the route distance between the initial monitoring device, and the judging and monitoring device is determined to be the target monitoring device, wherein N is a positive integer less than or equal to N.
Optionally, determining candidate monitoring devices capable of monitoring the monitoring target in the motion range, and screening N target monitoring devices closest to the route between the initial monitoring devices on all the motion routes reaching the candidate monitoring devices, includes:
determining all possible movement routes for moving to each monitoring device in the movement range according to the map corresponding to the predicted movement range;
sequentially judging all the monitoring devices on the movement route from near to far according to the route distance from the initial monitoring device on each movement route as follows:
if the judged monitoring equipment cannot monitor the monitoring target on the movement route, finishing the judgment of the judged monitoring equipment;
if the judged monitoring equipment is candidate monitoring equipment capable of monitoring the monitoring target and is the nth closest to the route distance between the initial monitoring equipment, determining that the current monitoring equipment is target monitoring equipment, wherein N is a positive integer less than or equal to N;
and if N is equal to N or all the monitoring devices on the movement route finish the judgment, ending the judgment of the route.
Optionally, the determining whether the monitoring device is a candidate monitoring device capable of monitoring the monitoring target includes:
dividing the motion route of the monitoring equipment into a plurality of line segments with preset lengths;
and determining that any line segment is positioned in the monitoring direction of the judging and monitoring device, and the distance between any end point of the line segment and the judging and monitoring device is smaller than the maximum monitoring range of the judging and monitoring device, and determining that the judging and monitoring device is a candidate monitoring device capable of monitoring the monitoring target.
Optionally, predicting a motion range corresponding to the motion of the monitoring target in a later preset time period includes:
determining a predicted movement range of the monitoring target according to a preset movement distance and a preset movement range shape;
or determining the predicted movement range of the monitoring target according to a preset movement distance and the predicted movement direction of the monitoring target;
or predicting a movement distance according to a preset movement speed and the preset time period, and determining a predicted movement range of the monitoring target according to the predicted movement distance and the predicted movement direction of the monitoring target;
or predicting a movement distance according to a preset movement speed and the preset time period, and determining a predicted movement range of the monitoring target according to the predicted movement distance and the movement range shape;
or predicting the movement distance according to the movement speed of the monitoring target and a preset time period, and determining the predicted movement range of the monitoring target according to the predicted movement distance and the predicted movement direction of the monitoring target.
Based on the same inventive concept, an embodiment of the present invention further provides a monitoring target searching apparatus, which is applied to a monitoring system composed of a plurality of monitoring devices, and includes:
the search starting module is used for determining initial monitoring equipment which monitors the monitoring target for the last time when the monitoring target tracking fails;
the prediction range module is used for predicting a motion range corresponding to the motion of the monitoring target in a later preset time period by taking the initial monitoring equipment as a starting point;
the screening module is used for determining candidate monitoring equipment capable of monitoring the monitoring target in the motion range and screening N target monitoring equipment which are closest to the route distance between the initial monitoring equipment and all the motion routes reaching the candidate monitoring equipment, wherein N is a positive integer;
and the analysis searching module is used for analyzing the monitoring information of the target monitoring equipment and searching the monitoring target according to the analysis result.
Based on the same inventive concept, an embodiment of the present invention further provides a monitoring target searching apparatus, including: a processor and a memory for storing processor-executable instructions;
wherein the processor is configured to execute the instructions to implement the monitoring target search method.
Based on the same inventive concept, the embodiment of the present invention further provides a computer storage medium, where a computer program is stored, and the computer program is used to implement the monitoring target searching method.
The invention has the following beneficial effects:
according to the monitoring target searching method, the monitoring target searching device, the monitoring target searching equipment and the computer storage medium, the movement range of the monitoring target which fails to be tracked is predicted, the monitoring equipment in the movement range is screened, only the monitoring equipment which is necessary to pass through on the movement route is searched and analyzed, the number of the monitoring equipment which needs to be analyzed is reduced, the operation amount is reduced, and the operation speed is increased.
Drawings
Fig. 1 is a schematic structural diagram of a monitoring system composed of a plurality of monitoring devices to which an embodiment of the present invention is applied;
fig. 2 is a flowchart of a monitoring target searching method according to an embodiment of the present invention;
FIG. 3 is a partial flowchart of a monitoring target searching method according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a three-dimensional map used in an embodiment of the invention;
FIG. 5 is a second partial flowchart of a monitoring target searching method according to an embodiment of the present invention;
fig. 6 is a schematic diagram of a candidate monitoring device determining method of the monitoring target searching method according to the embodiment of the present invention;
fig. 7 is a flowchart of a candidate monitoring device determining method of the monitoring target searching method according to the embodiment of the present invention;
fig. 8 is a schematic structural diagram of a monitoring target searching apparatus according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of a monitoring target search device according to an embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, the present invention is further described with reference to the accompanying drawings and examples. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and thus their repetitive description will be omitted. The words expressing the position and direction described in the present invention are illustrated in the accompanying drawings, but may be changed as required and still be within the scope of the present invention. The drawings of the present invention are for illustrative purposes only and do not represent true scale.
It should be noted that in the following description, specific details are set forth in order to provide a thorough understanding of the present invention. The invention can be implemented in a number of ways different from those described herein and similar generalizations can be made by those skilled in the art without departing from the spirit of the invention. Therefore, the present invention is not limited to the specific embodiments disclosed below. The description which follows is a preferred embodiment of the present application, but is made for the purpose of illustrating the general principles of the application and not for the purpose of limiting the scope of the application. The protection scope of the present application shall be subject to the definitions of the appended claims.
A method, an apparatus, a device, and a computer storage medium for searching a monitoring target according to embodiments of the present invention are specifically described below with reference to the accompanying drawings.
The embodiment of the invention provides a monitoring target searching method, which is applied to a monitoring system consisting of a plurality of monitoring devices as shown in figure 1. The monitoring system comprises monitoring equipment LOST, WR, FA, FB, A, B, C, D, E, F, G, H, I, J, K and L. And using the monitoring equipment to continuously monitor the motion track of the monitoring TARGET TARGET across the equipment. Fig. 1 shows all routes R1, R2, R3, R4, R5, R6, R7, R8, R9 through the monitoring unit LOST over a distance. In a specific implementation process, the monitoring device may be a monitoring camera, and may also be other monitoring devices, which is not limited herein. The monitoring TARGET may be a moving TARGET (illustrated by a person in fig. 1) such as a person or a motor vehicle, and is not limited herein. Hereinafter, a description will be given mainly of a monitoring camera as the monitoring device and a person as the monitoring target.
As shown in fig. 2, the monitoring target searching method includes:
s11, when confirming that the tracking of the monitoring target fails, determining initial monitoring equipment which monitors the monitoring target for the last time;
s12, with the initial monitoring equipment as a starting point, predicting a movement range corresponding to movement of the monitoring target in a later preset time period;
s13, determining candidate monitoring devices capable of monitoring the monitored target in the motion range, and screening N target monitoring devices which are closest to the initial monitoring device in route distance on all the motion routes reaching the candidate monitoring devices, wherein N is a positive integer;
and S14, analyzing the monitoring information of the target monitoring equipment, and searching a monitoring target according to the analysis result.
In the implementation, as shown in fig. 1, the motion RANGE is predicted in step S12, and when the candidate monitoring device is determined in step S13, the monitoring device WR is out of the motion RANGE and therefore does not belong to the candidate monitoring device. The monitoring devices FA, FB, a, B, … …, L are all in the RANGE of motion RANGE. The monitoring devices FA and FB are monitoring devices that cannot monitor the monitoring target, and therefore do not belong to the candidate monitoring devices. The monitoring device A, B … … L belongs to the candidate monitoring device.
It should be noted that the target monitoring device is a candidate monitoring device closest to the initial monitoring device route, and is not a candidate monitoring device closest to the initial monitoring device route. Taking N as 1 as an example, as shown in fig. 1, the moving route R4 is influenced by an obstacle WALL, and the moving route R4 is first far from the initial monitoring device LOST, then close to the initial monitoring device LOST, and then far from the initial monitoring device LOST. The candidate monitoring device E, F, G is on the movement route R4, wherein the monitoring device F is the candidate monitoring device closest to the initial monitoring device LOST on the route R4, but not the candidate monitoring device closest to the route. And the candidate monitoring equipment with the closest route distance is the monitoring equipment E. In this way, the problem that if the monitoring TARGET moves on the movement route R4, a device closest to the initial monitoring device LOST but not closest to the route is set as the TARGET monitoring device, which results in the failure to successfully search for the TARGET of the monitoring TARGET is avoided.
Therefore, the monitoring information of the N target monitoring devices closest to the route distance between the initial monitoring devices is analyzed, the number of the monitoring devices needing to be monitored and analyzed is reduced, and the data volume and the operation amount of analysis are greatly reduced.
Optionally, a candidate device closest to the route distance between the candidate device and the initial monitoring device is determined as a target monitoring device.
In this way, the number of necessary candidate monitoring devices is controlled to the minimum range, the data calculation amount for analyzing the monitoring information of the target monitoring device in the step S14 is reduced, and the search speed is increased.
Optionally, in step S11, the confirming that the monitoring target tracking fails includes:
confirming that the monitoring target leaves the monitoring range of the current monitoring equipment, and predicting at least one predicted monitoring equipment capable of monitoring the monitoring target;
and after the preset time threshold value is exceeded, confirming that the monitoring target is failed to track when all the prediction monitoring equipment do not monitor the monitoring target.
In a specific implementation, for example, as shown in fig. 1, the monitoring TARGET leaves the monitoring range of the monitoring device LOST. According to the monitoring video information of the monitoring device LOST (for example, the moving direction of the monitoring TARGET when the monitoring TARGET leaves the monitoring range of the monitoring device LOST), the predicted moving directions of the monitoring TARGET are analyzed to be the moving route R2 and the moving route R3. Accordingly, the predictive monitoring devices are monitoring device B on the movement route R2 and monitoring device C, D on the movement route R3. And after the preset time threshold value is exceeded, confirming that the tracking of the monitoring TARGET fails when the monitoring TARGET TARGET is not monitored by the prediction monitoring equipment.
Optionally, as shown in fig. 3, the step S13 of determining candidate monitoring devices capable of monitoring the monitoring target in the motion range, and screening N target monitoring devices closest to the route distance between the initial monitoring device and all the moving routes reaching the candidate monitoring devices includes:
taking all the monitoring devices in the motion range as a set, and traversing the monitoring devices in the set in sequence as follows:
determining all possible movement routes of the monitoring target to the currently traversed judging and monitoring equipment;
sequentially judging the movement routes as follows:
if the judging and monitoring equipment cannot monitor the monitoring target on all possible moving routes, screening the judging and monitoring equipment from a set;
and if the judging and monitoring device for judging is a candidate monitoring device capable of monitoring the monitored target, and for any one motion route, the judging and monitoring device is the nth closest to the route distance between the initial monitoring device, and the judging and monitoring device is determined to be the target monitoring device, wherein N is a positive integer less than or equal to N.
In a specific implementation process, the steps may specifically be:
s1311, taking all monitoring devices in the movement range as a set;
s1312, judging whether the judgment on all the monitoring devices in the set is finished or not;
if not, S1313, determining the monitoring device for traversal sequentially;
s1314, determining all possible movement routes between the initial monitoring equipment and the judgment monitoring equipment according to the map corresponding to the predicted movement range;
s1315, judging whether judgment of all possible movement routes is finished or not;
s1316, if not, sequentially determining the motion route for judgment;
s1317, judging whether the judging and monitoring device can monitor the movement route;
if not, returning to the step S1315;
s1318, if yes, the determining monitoring device is a candidate monitoring device S1319, and determines whether the determining monitoring device is an nth device closest to a route distance between the initial monitoring device, where N is a positive integer less than or equal to N;
if not, returning to the step S1315;
S131X, if yes, determining that the judgment monitoring device is the target monitoring device;
returning to step S1312, when the determination of all the monitoring devices in the set is completed, the subsequent steps are performed.
In a specific implementation process, the map may be a two-dimensional map or a three-dimensional map. Correspondingly, the movement route may be a planar route or a stereoscopic route. For example, as shown in fig. 4, the movement route RA and the movement route RB coincide up and down, but two different movement routes should be on the three-dimensional map.
In a specific implementation process, the sequence of sequentially judging the monitoring devices in the set may be from far to near or from near to far according to the distance from the initial monitoring device, may also be a sequence according to the numbers of the monitoring devices, may also be a random sequence, and is not limited herein.
As shown in fig. 1, taking N as 1 and a random order as an example, when the monitoring device FA is the judgment monitoring device, all possible movement routes R2 between the initial monitoring device LOST and the judgment monitoring device FA are determined, and the judgment monitoring device FA is not a candidate monitoring device capable of monitoring the monitoring target on the movement route R2, and is removed from the set. When the monitoring device D is the judging monitoring device, all possible movement routes R3 between the initial monitoring device LOST and the judging monitoring device D are determined, and the judging monitoring device D can monitor the monitoring target on the movement route R3 and is a candidate monitoring device. However, the judgment monitoring device D is not the 1 st closest to the route distance between the initial monitoring device and the target monitoring device, and thus the judgment monitoring device D is not the target monitoring device. When the monitoring device H is the judging monitoring device, it is determined that there are R5 and R7 in all possible movement routes between the initial monitoring device LOST and the judging monitoring device H. The judgment and monitoring device H can monitor the monitoring target on the movement routes R5, R7, and is a candidate monitoring device. Although the judgment monitor device H is not the 1 st closest to the route pattern distance between the initial monitor devices for the movement route R7, the judgment monitor device H is the 1 st closest to the route pattern distance between the initial monitor devices, and thus the judgment monitor device H is determined as the target monitor device.
Therefore, all the monitoring devices in the movement range are judged in the sequence of the monitoring devices, and the judgment accuracy is guaranteed.
Optionally, the step S13, determining candidate monitoring devices capable of monitoring the monitoring target in the motion range, and screening N target monitoring devices closest to the route between the initial monitoring devices on all the motion routes reaching the candidate monitoring devices, includes:
determining all possible movement routes for moving to each monitoring device in the movement range according to the map corresponding to the predicted movement range;
sequentially judging all the monitoring devices on the movement route from near to far according to the route distance from the initial monitoring device on each movement route as follows:
if the judged monitoring equipment cannot monitor the monitoring target on the movement route, finishing the judgment of the judged monitoring equipment;
if the judged monitoring equipment is candidate monitoring equipment capable of monitoring the monitoring target and is the nth closest to the route distance between the initial monitoring equipment, determining that the current monitoring equipment is target monitoring equipment, wherein N is a positive integer less than or equal to N;
and if N is equal to N or all the monitoring devices on the movement route finish the judgment, ending the judgment of the route.
In a specific implementation process, as shown in fig. 5, the steps may specifically be:
s1321, determining all possible movement routes of the monitoring equipment moving to each movement range according to the map corresponding to the predicted movement range;
s1322, judging whether the judgment of all the movement routes is finished or not;
s1323, if not, sequentially determining the motion route for judgment;
s1324, determining judgment monitoring equipment for judgment in sequence according to the sequence of the route distances from the initial monitoring equipment from near to far;
s1325, judging whether the monitoring equipment is candidate monitoring equipment capable of monitoring the monitoring target;
if not, the monitoring device is judged not to be the candidate monitoring device, and the step S1325 is returned;
s1326, if yes, determining that the judged monitoring device is a candidate monitoring device;
s1327, judging whether the monitoring device is the nth monitoring device closest to the route distance between the monitoring device and the initial monitoring device, wherein N is a positive integer smaller than or equal to N;
s1328, if yes, determining that the monitoring device is the target monitoring device;
s1329, judging whether N is equal to N or whether all the monitoring devices on the movement route finish the judgment;
if yes, ending the judgment of the monitoring equipment on the route, and returning to the step S1322;
if not, returning to the step S1324;
if the determination result of step S1322 is yes, the following steps are performed.
In the implementation process, the case shown in fig. 1 is taken as an example, and N is 1. After determining all possible movement routes R1 and R2 … … R9 to be moved to each monitoring device within the movement range according to the map corresponding to the predicted movement range, first, judging the monitoring device a on the movement route R1 as a judgment monitoring device, determining that the monitoring device a is a candidate monitoring device capable of monitoring the monitoring target and is the 1 st monitoring device closest to the route distance between the initial monitoring devices, determining that the judgment monitoring device a is a target monitoring device, and ending the judgment of the movement route R1. Then, judging a monitoring device FA on the movement route R2 as a judgment monitoring device, and determining that the monitoring device FA is a candidate monitoring device which cannot monitor the monitoring target; and judging the monitoring equipment B as judging monitoring equipment, determining that the monitoring equipment B is candidate monitoring equipment capable of monitoring the monitored target and is the 1 st equipment closest to the route distance between the initial monitoring equipment, determining that the judging monitoring equipment B is target monitoring equipment, and finishing the judgment of the movement route R2. The above determination process is then repeated for the movement route R3 … … R9. Finally, all the target monitoring devices are determined to be A, B, C, E, H, J, K, L.
Therefore, all the monitoring devices in the movement range are judged in the sequence of the movement route, the judgment of the monitoring devices on the same movement route is finished when the quantity requirement of the target monitoring devices is met, all the monitoring devices in the movement range do not need to be judged, the calculation amount for judging is reduced, and the judgment speed is accelerated.
Optionally, determining whether the monitoring device X on the movement route RX is a candidate monitoring device capable of monitoring the monitoring target by using the following method includes:
dividing the movement route RX where the monitoring equipment X is judged into a plurality of line segments with preset lengths;
and determining that any line segment is positioned in the monitoring direction of the judging and monitoring device X, and the distance between any end point of the line segment and the judging and monitoring device X is smaller than the maximum monitoring range of the judging and monitoring device X, and determining that the judging and monitoring device X is a candidate monitoring device capable of monitoring the monitoring target.
In a specific implementation process, as shown in fig. 6 and 7, the specific steps of the method may be as follows:
s21, acquiring the maximum monitoring range and the monitoring direction of the judgment monitoring device X;
s22, dividing the movement route RX in the movement RANGE RANGE into a plurality of line segments with preset lengths;
s23, judging whether the movement route RX is positioned in the monitoring direction of the monitoring equipment;
s24, if not, determining that the monitoring device X is not a candidate monitoring device capable of monitoring the monitoring target;
s24, if yes, judging whether the distance judgment between the terminal points of all the line segments divided by the movement route is finished or not; s25, if not, sequentially calculating the distance between the current monitoring equipment and the end point of the line segment;
s26, judging whether the distance from the end point of the line segment is smaller than the maximum monitoring range of the current monitoring equipment X;
s27, if yes, the current monitoring device X is a candidate monitoring device capable of monitoring the monitoring target;
s28, if the step S23 determines that the monitoring target is not the candidate monitoring apparatus, or the step S24 determines that the monitoring target is not the candidate monitoring apparatus, the current monitoring apparatus X is capable of monitoring the monitoring target.
In a specific implementation process, the preset length may be adjusted according to the operation performance of the device executing the monitoring target searching method. And if the computing performance of the equipment is stronger, the preset length of the line segment is shorter.
In a specific implementation process, as shown in fig. 1, the monitoring device FA is not a candidate monitoring device because the monitoring direction of the monitoring device FA deviates from the movement route R2. The monitoring device FB judges according to the method that distances between the end points corresponding to all the line segments obtained by dividing the movement route R9 and the monitoring device FB are all larger than the maximum monitoring range of the monitoring device FB, so the monitoring device FB is not a candidate monitoring device.
In this way, part of the monitoring equipment is excluded by judging the monitoring direction of the monitoring equipment, and whether the distance between the movement route and the judging monitoring equipment is smaller than the maximum monitoring range of the judging monitoring equipment is calculated by a segmentation method so as to exclude part of the monitoring equipment and reduce the number of candidate monitoring equipment, thereby reducing the calculation amount of subsequently screening target monitoring equipment from the candidate monitoring equipment and accelerating the judging speed.
Optionally, predicting a motion range corresponding to the motion of the monitoring target in a later preset time period includes:
and determining the predicted movement range of the monitoring target according to the preset movement distance and the preset movement range shape.
In a specific implementation process, a preset movement distance may be set according to the type and the preset time of the monitoring target. The motion shape range can be in the shape of a circle, a rectangle and the like, wherein the circle corresponds to the largest motion range.
Or determining the predicted movement range of the monitoring target according to a preset movement distance and the predicted movement direction of the monitoring target.
In a specific implementation process, the direction of the monitoring TARGET may be a sector with a certain central angle and the movement route R2 as a symmetry axis, which is predicted as a predicted movement direction of the monitoring TARGET according to monitoring video information of the initial monitoring device LOST (for example, the movement direction of the monitoring TARGET when the monitoring TARGET leaves the monitoring range of the monitoring device LOST is R2). Then, the predicted movement range of the monitoring target is the sector with the preset movement distance as a radius.
Or predicting the movement distance according to a preset movement speed and the preset time period, and determining the predicted movement range of the monitoring target according to the predicted movement distance and the predicted movement direction of the monitoring target.
In a specific implementation process, a preset movement speed may be set according to the type of the monitoring target. For example, if the monitored object is a person, the preset movement speed is 1 m/s. And if the monitored target is a motor vehicle and the monitored target searching system is applied to urban roads, the preset movement speed is 8 m/s. And predicting a predicted movement distance according to the preset movement speed and the preset time, taking the predicted movement distance as a radius, and determining a predicted movement range of the monitoring target according to the predicted movement direction of the monitoring target.
Or predicting the movement distance according to a preset movement speed and the preset time period, and determining the predicted movement range of the monitoring target according to the predicted movement distance and the movement range shape.
Or predicting the movement distance according to the movement speed of the monitoring target and a preset time period, and determining the predicted movement range of the monitoring target according to the predicted movement distance and the predicted movement direction of the monitoring target.
In this way, by determining the predicted movement range, the monitoring devices which are not possible to reach the monitoring target and are far away from the initial monitoring device are eliminated, and the number of the monitoring devices which need to be judged is reduced.
Based on the same inventive concept, an embodiment of the present invention further provides a monitoring target search apparatus, which is applied to a monitoring system composed of a plurality of monitoring devices, as shown in fig. 8, and includes:
the search starting module M11 is configured to determine, when it is determined that tracking of the monitoring target fails, an initial monitoring device that monitors the monitoring target for the last time;
a prediction range module M12, configured to predict, with the initial monitoring device as a starting point, a motion range corresponding to the motion of the monitoring target in a later preset time period;
a screening module M13, configured to determine candidate monitoring devices capable of monitoring the monitoring target within the motion range, and screen N target monitoring devices that are closest to the initial monitoring device on all motion routes reaching the candidate monitoring devices, where N is a positive integer;
and the analysis and search module M14 is configured to analyze the monitoring information of the target monitoring device, and search for a monitoring target according to an analysis result.
Optionally, a candidate device closest to the route distance between the candidate device and the initial monitoring device is determined as a target monitoring device.
Optionally, in the search initiation module M11, confirming that the monitoring target tracking fails includes:
confirming that the monitoring target leaves the monitoring range of the current monitoring equipment, and predicting at least one predicted monitoring equipment capable of monitoring the monitoring target;
and after a preset time threshold value is exceeded and all the prediction monitoring equipment do not monitor the monitoring target, confirming that the tracking of the monitoring target fails.
Optionally, in the screening module M13, determining candidate monitoring devices capable of monitoring the monitoring target in the motion range, and screening N target monitoring devices closest to the route between the initial monitoring devices on all the motion routes reaching each of the candidate monitoring devices, includes:
taking all the monitoring devices in the motion range as a set, and traversing the monitoring devices in the set in sequence as follows:
determining all possible movement routes of the monitoring target to the currently traversed judging and monitoring equipment;
sequentially judging the movement routes as follows:
if the judging and monitoring equipment cannot monitor the monitoring target on all possible moving routes, screening the judging and monitoring equipment from a set;
and if the judging and monitoring device for judging is a candidate monitoring device capable of monitoring the monitored target, and for any one motion route, the judging and monitoring device is the nth closest to the route distance between the initial monitoring device, and the judging and monitoring device is determined to be the target monitoring device, wherein N is a positive integer less than or equal to N.
Optionally, in the screening module M13, determining candidate monitoring devices capable of monitoring the monitoring target in the motion range, and screening N target monitoring devices closest to the route between the initial monitoring devices on all the motion routes reaching each of the candidate monitoring devices, includes:
determining all possible movement routes for moving to each monitoring device in the movement range according to the map corresponding to the predicted movement range;
sequentially judging all the monitoring devices on the movement route from near to far according to the route distance from the initial monitoring device on each movement route as follows:
if the judged monitoring equipment cannot monitor the monitoring target on the movement route, finishing the judgment of the judged monitoring equipment;
if the judged monitoring equipment is candidate monitoring equipment capable of monitoring the monitoring target and is the nth closest to the route distance between the initial monitoring equipment, determining that the current monitoring equipment is target monitoring equipment, wherein N is a positive integer less than or equal to N;
and if N is equal to N or all the monitoring devices on the movement route finish the judgment, ending the judgment of the route.
Optionally, the determining whether the monitoring device is a candidate monitoring device capable of monitoring the movement route includes:
dividing the motion route of the monitoring equipment into a plurality of line segments with preset lengths;
and determining that any line segment is positioned in the monitoring direction of the judging and monitoring device, and the distance between any end point of the line segment and the judging and monitoring device is smaller than the maximum monitoring range of the judging and monitoring device, and determining that the judging and monitoring device is a candidate monitoring device capable of monitoring the monitoring target.
Optionally, the predicting a range of motion corresponding to the movement of the monitoring target in a later preset time period in the prediction range module M12 includes:
determining a predicted movement range of the monitoring target according to a preset movement distance and a preset movement range shape;
or determining the predicted movement range of the monitoring target according to a preset movement distance and the predicted movement direction of the monitoring target;
or predicting a movement distance according to a preset movement speed and the preset time period, and determining a predicted movement range of the monitoring target according to the predicted movement distance and the predicted movement direction of the monitoring target;
or predicting a movement distance according to a preset movement speed and the preset time period, and determining a predicted movement range of the monitoring target according to the predicted movement distance and the movement range shape;
or predicting the movement distance according to the movement speed of the monitoring target and a preset time period, and determining the predicted movement range of the monitoring target according to the predicted movement distance and the predicted movement direction of the monitoring target.
In the specific implementation process, the working principle of the monitoring target searching device is basically consistent with that of the monitoring target searching method, and therefore, the detailed description is omitted.
Based on the same inventive concept, an embodiment of the present invention further provides a monitoring target search device, as shown in fig. 9, including: a processor 110 and a memory 120 for storing instructions executable by the processor 110;
wherein the processor is configured to execute the instructions to implement the monitoring target search method.
In particular implementations, the apparatus may vary widely depending on configuration or performance, and may include one or more processors 110 and memory 120, one or more storage media 130 storing applications 131 or data 132. Memory 120 and storage medium 130 may be, among other things, transient or persistent storage. The application 131 stored in the storage medium 130 may include one or more units (not shown in fig. 9) described above, and each module may include a series of instruction operations in the information processing apparatus. Further, the processor 110 may be configured to communicate with the storage medium 130 to execute a series of instruction operations in the storage medium 130 on the device. The apparatus may also include one or more power supplies (not shown in FIG. 9); one or more transceivers 140, the transceivers 140 comprising a wired or wireless network interface 141, one or more input-output interfaces 142; and/or one or more operating systems 133, such as Windows, Mac OS, Linux, IOS, Android, Unix, FreeBSD, etc.
Based on the same inventive concept, the embodiment of the present invention further provides a computer storage medium, where a computer program is stored, and the computer program is used to implement the monitoring target searching method.
According to the monitoring target searching method, the monitoring target searching device, the monitoring target searching equipment and the computer storage medium, the movement range of the monitoring target which fails to be tracked is predicted, the monitoring equipment in the movement range is screened, only the monitoring equipment which is necessary to pass through on the movement route is searched and analyzed, the number of the monitoring equipment which needs to be analyzed is reduced, the operation amount is reduced, and the operation speed is increased.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (10)
1. A monitoring target searching method is applied to a monitoring system consisting of a plurality of monitoring devices, and comprises the following steps:
when confirming that the tracking of the monitoring target fails, determining initial monitoring equipment which monitors the monitoring target for the last time;
predicting a motion range corresponding to the motion of the monitoring target in a later preset time period by taking the initial monitoring equipment as a starting point;
determining candidate monitoring devices capable of monitoring the monitoring target in the motion range, and screening N target monitoring devices which are closest to the initial monitoring device on all motion routes reaching the candidate monitoring devices, wherein N is a positive integer;
and analyzing the monitoring information of the target monitoring equipment, and searching a monitoring target according to an analysis result.
2. The method of claim 1, wherein a candidate device that is closest in route distance to the initial monitoring device is determined as a target monitoring device.
3. The method of claim 1, wherein confirming failure to monitor target tracking comprises:
confirming that the monitoring target leaves the monitoring range of the current monitoring equipment, and predicting at least one predicted monitoring equipment capable of monitoring the monitoring target;
and after the preset time threshold value is exceeded and all the prediction monitoring equipment do not monitor the monitoring target, confirming that the tracking of the monitoring target fails.
4. The method of claim 1, wherein determining candidate monitoring devices within the range of motion that can monitor the monitored objects and screening for the N object monitoring devices on all of the moving routes to each of the candidate monitoring devices that are closest in route distance to the initial monitoring device comprises:
taking all the monitoring devices in the motion range as a set, and traversing the monitoring devices in the set in sequence as follows:
determining all possible movement routes of the monitoring target to the currently traversed judging and monitoring equipment;
sequentially judging the movement routes as follows:
if the judging and monitoring equipment cannot monitor the monitoring target on all possible moving routes, screening the judging and monitoring equipment from a set;
and if the judging and monitoring device for judging is a candidate monitoring device capable of monitoring the monitored target, and for any one motion route, the judging and monitoring device is the nth closest to the route distance between the initial monitoring device, and the judging and monitoring device is determined to be the target monitoring device, wherein N is a positive integer less than or equal to N.
5. The method of claim 1, wherein determining candidate monitoring devices within the range of motion that can monitor the monitored objects and screening for the N object monitoring devices on all of the moving routes to each of the candidate monitoring devices that are closest in route distance to the initial monitoring device comprises:
determining all possible movement routes for moving to each monitoring device in the movement range according to the map corresponding to the predicted movement range;
sequentially judging all the monitoring devices on the movement route from near to far according to the route distance from the initial monitoring device on each movement route as follows:
if the judged monitoring equipment cannot monitor the monitoring target on the movement route, finishing the judgment of the judged monitoring equipment;
if the judged monitoring equipment is candidate monitoring equipment capable of monitoring the monitoring target and is the nth closest to the route distance between the initial monitoring equipment, determining that the current monitoring equipment is target monitoring equipment, wherein N is a positive integer less than or equal to N;
and if N is equal to N or all the monitoring devices on the movement route finish the judgment, ending the judgment of the route.
6. The method of claim 4 or 5, wherein determining whether the monitoring device is a candidate monitoring device capable of monitoring the monitoring target comprises:
dividing the motion route of the monitoring equipment into a plurality of line segments with preset lengths;
and determining that any line segment is positioned in the monitoring direction of the judging and monitoring device, and the distance between any end point of the line segment and the judging and monitoring device is smaller than the maximum monitoring range of the judging and monitoring device, and determining that the judging and monitoring device is a candidate monitoring device capable of monitoring the monitoring target.
7. The method of claim 1, wherein predicting a range of motion corresponding to the monitored object moving a predetermined period of time later comprises:
determining a predicted movement range of the monitoring target according to a preset movement distance and a preset movement range shape;
or determining the predicted movement range of the monitoring target according to a preset movement distance and the predicted movement direction of the monitoring target;
or predicting a movement distance according to a preset movement speed and the preset time period, and determining a predicted movement range of the monitoring target according to the predicted movement distance and the predicted movement direction of the monitoring target;
or predicting a movement distance according to a preset movement speed and the preset time period, and determining a predicted movement range of the monitoring target according to the predicted movement distance and the movement range shape;
or predicting the movement distance according to the movement speed of the monitoring target and a preset time period, and determining the predicted movement range of the monitoring target according to the predicted movement distance and the predicted movement direction of the monitoring target.
8. A monitoring target search device is applied to a monitoring system composed of a plurality of monitoring devices, and is characterized by comprising:
the search starting module is used for determining initial monitoring equipment which monitors the monitoring target for the last time when the monitoring target tracking fails;
the prediction range module is used for predicting a motion range corresponding to the motion of the monitoring target in a later preset time period by taking the initial monitoring equipment as a starting point;
the screening module is used for determining candidate monitoring equipment capable of monitoring the monitoring target in the motion range and screening N target monitoring equipment which are closest to the route distance between the initial monitoring equipment and all the motion routes reaching the candidate monitoring equipment, wherein N is a positive integer;
and the analysis searching module is used for analyzing the monitoring information of the target monitoring equipment and searching the monitoring target according to the analysis result.
9. A monitoring target search apparatus, characterized by comprising: a processor and a memory for storing processor-executable instructions;
wherein the processor is configured to execute the instructions to implement the monitoring object search method of any one of claims 1-7.
10. A computer storage medium characterized in that the computer storage medium stores a computer program for implementing the monitoring target search method according to any one of claims 1 to 7.
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