CN112489338B - Alarm method, system, device, equipment and storage medium - Google Patents
Alarm method, system, device, equipment and storage medium Download PDFInfo
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- CN112489338B CN112489338B CN201910859517.9A CN201910859517A CN112489338B CN 112489338 B CN112489338 B CN 112489338B CN 201910859517 A CN201910859517 A CN 201910859517A CN 112489338 B CN112489338 B CN 112489338B
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- 238000000034 method Methods 0.000 title claims abstract description 46
- 238000012544 monitoring process Methods 0.000 claims abstract description 199
- 230000007123 defense Effects 0.000 claims abstract description 88
- 238000001514 detection method Methods 0.000 claims description 72
- 230000004044 response Effects 0.000 claims description 21
- 230000001960 triggered effect Effects 0.000 claims description 10
- 230000015654 memory Effects 0.000 claims description 5
- 238000012163 sequencing technique Methods 0.000 claims description 5
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- 239000011159 matrix material Substances 0.000 description 8
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- 238000004590 computer program Methods 0.000 description 2
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B13/00—Burglar, theft or intruder alarms
- G08B13/22—Electrical actuation
- G08B13/24—Electrical actuation by interference with electromagnetic field distribution
- G08B13/2491—Intrusion detection systems, i.e. where the body of an intruder causes the interference with the electromagnetic field
- G08B13/2494—Intrusion detection systems, i.e. where the body of an intruder causes the interference with the electromagnetic field by interference with electro-magnetic field distribution combined with other electrical sensor means, e.g. microwave detectors combined with other sensor means
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B13/00—Burglar, theft or intruder alarms
- G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
- G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
- G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
- G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
- G08B13/19695—Arrangements wherein non-video detectors start video recording or forwarding but do not generate an alarm themselves
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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Abstract
The application discloses an alarm method, system, device, equipment and storage medium, and belongs to the technical field of video monitoring. The method comprises the following steps: when a target to be processed is detected in a first monitoring area through a radar and the target to be processed is judged to meet a linkage condition, acquiring position information of the target to be processed; and controlling the dome camera to switch from the second monitoring area to the first monitoring area for shooting according to the position information of the target to be processed, detecting the target to be processed through the dome camera according to the image obtained by shooting, triggering a defense area alarm if the dome camera detects that the target to be processed is a real alarm target, wherein the second monitoring area is not overlapped with or partially overlapped with the first monitoring area. The monitoring range of the dome camera and the radar is enlarged, so that the radar and the dome camera can not only perform independent monitoring alarm work in the monitoring range of the radar, but also perform radar and dome linkage monitoring alarm work in the monitoring range of the radar, and the alarm flexibility is improved.
Description
Technical Field
The present application relates to the field of video monitoring technologies, and in particular, to an alarm method, system, apparatus, device, and storage medium.
Background
At present, a defense area is usually set in a monitoring scene, and the defense area refers to an area where people and other objects are forbidden to enter. In order to improve the accuracy of detecting targets entering a defense area, a radar and a ball machine are generally used for linkage monitoring and detection.
In the implementation, the radar and the dome camera monitor the same area, when the radar detects a target, radar detection data are obtained, and coordinate information of the target in a radar coordinate system is determined according to the radar detection data. Then, the coordinate information is mapped to configuration parameters of the dome camera according to the parameter mapping matrix, the dome camera is controlled to track and shoot the target according to the configuration parameters of the dome camera, so that target identification is performed according to image information obtained by tracking shooting, for example, whether the target is a person or not is detected, and whether alarm is performed or not is determined.
However, in the above implementation, since the radar and the ball machine monitor the same area, the monitoring area is limited, and the system alarm mode is single.
Disclosure of Invention
The embodiment of the application provides an alarm method, an alarm device, an alarm system, alarm equipment and a storage medium, and can solve the problems that in the related art, a monitoring area is limited and the alarm mode of the system is single. The technical scheme is as follows:
in one aspect, an alarm method is provided, and the method includes:
when a target to be processed is detected in a first monitoring area through a radar and is judged to meet a linkage condition, acquiring position information of the target to be processed;
and controlling a dome camera to switch from a second monitoring area to the first monitoring area for shooting according to the position information of the target to be processed, detecting the target to be processed through the dome camera according to the image obtained by shooting, triggering a defense area alarm if the dome camera detects that the target to be processed is a real alarm target, wherein the second monitoring area is not overlapped or partially overlapped with the first monitoring area.
In a possible implementation manner of the present application, detecting a target to be processed and determining that the target to be processed satisfies a linkage condition in a first monitoring area through a radar includes:
when the target to be processed is detected in a first monitoring area through a radar, if a target class identification instruction of the target to be processed exists, determining that the target to be processed meets the linkage condition; or when the target to be processed is detected in the first monitoring area through a radar, acquiring radar detection data of the target to be processed, and when the target to be processed is determined to be a low-confidence target according to the radar detection data of the target to be processed, determining that the target to be processed meets the linkage condition.
In a possible implementation manner of the present application, the detecting, by the dome camera, the target to be processed according to the image obtained by shooting includes:
acquiring image information of the target to be processed in the first monitoring area through the ball machine based on the shot image;
and judging whether the target to be processed is a real alarm target or not according to the image information of the target to be processed and the radar detection data of the target to be processed.
In a possible implementation manner of the present application, the detecting, by the dome camera, the target to be processed according to the image obtained by shooting includes:
acquiring image information of the target to be processed in the first monitoring area through the dome camera based on the image obtained by shooting;
and judging whether the target to be processed is a real alarm target or not according to the image information of the target to be processed.
In one possible implementation manner of the present application, the method further includes:
when a target to be processed is detected in a first monitoring area through a radar, radar detection data of the target to be processed are obtained;
when the target to be processed is determined to be a high-confidence target according to the radar detection data of the target to be processed, and a target class identification instruction of the target to be processed does not exist, determining that the target to be processed does not meet the linkage condition;
and when the target to be processed is determined not to meet the linkage condition, judging whether the target to be processed is a real alarm target or not according to the radar detection data of the target to be processed, and triggering a defense area alarm when the target to be processed is the real alarm target.
In a possible implementation manner of the present application, after the obtaining the radar detection data of the target to be processed, the method further includes:
and when the target to be processed is determined to be a high-confidence target according to the radar detection data of the target to be processed and a target class identification instruction of the target to be processed does not exist, determining that the target to be processed is a real alarm target.
In a possible implementation manner of the present application, the controlling, according to the position information of the target to be processed, the dome camera to switch from the second monitoring area to the first monitoring area for shooting includes:
and according to the position information, adjusting the current configuration parameters of the dome camera from an initial state to a target state, and controlling the dome camera to shoot the first monitoring area based on the adjusted target state.
In one possible implementation manner of the present application, the method further includes:
controlling the ball machine to shoot the second monitoring area, adjusting configuration parameters of the ball machine to identify and track the target to be processed when the target to be processed is detected based on the shot image, and triggering a defense area alarm when the target to be processed is determined to be a real alarm target according to identification information and tracking information of the target to be processed;
resetting the configuration parameters of the dome camera to an initial state after triggering a defense area alarm;
or when the target to be processed is judged not to be the real alarm target, resetting the configuration parameters of the dome camera to the initial state.
In a possible implementation manner of the present application, before the obtaining the location information of the target to be processed, the method further includes:
when a plurality of targets are detected in the first monitoring area through a radar, performing response priority sequencing on the plurality of targets according to target information and defense area event information of the plurality of detected targets;
and determining the target with the highest response priority in the sequenced targets as the target to be processed.
On the other hand, an alarm system is provided, and comprises control equipment, a radar and a ball machine;
the radar is used for detecting in a first monitoring area;
the control equipment is used for acquiring the position information of the target to be processed when the target to be processed is detected in a first monitoring area through a radar and is judged to meet the linkage condition;
the control equipment is used for controlling the dome camera to switch from a second monitoring area to the first monitoring area for shooting according to the position information of the target to be processed;
the ball machine is used for detecting the target to be processed according to the image obtained by shooting;
the control equipment is used for triggering a defense area alarm when the ball machine detects that the target to be processed is a real alarm target, and the second monitoring area is not overlapped or partially overlapped with the first monitoring area.
In one possible implementation manner of the present application, the control device is configured to:
when the target to be processed is detected in a first monitoring area through a radar, if a target class identification instruction of the target to be processed exists, determining that the target to be processed meets the linkage condition; or,
when the target to be processed is detected in the first monitoring area through a radar, radar detection data of the target to be processed are obtained, and when the target to be processed is determined to be a low-confidence target according to the radar detection data of the target to be processed, the target to be processed is determined to meet the linkage condition.
In a possible implementation manner of the present application, the dome camera is configured to acquire image information of the target to be processed in the first monitoring area based on an image obtained by shooting;
and the control equipment is used for judging whether the target to be processed is a real alarm target or not according to the image information of the target to be processed and the radar detection data of the target to be processed.
In one possible implementation of the present application,
the ball machine is used for acquiring image information of the target to be processed in the first monitoring area based on the shot image;
and the ball machine is used for judging whether the target to be processed is a real alarm target or not according to the image information of the target to be processed.
In one possible implementation manner of the present application, the control device is configured to:
when an object to be processed is detected in a first monitoring area through a radar, acquiring radar detection data of the object to be processed;
when the target to be processed is determined to be a high-confidence target according to the radar detection data of the target to be processed and a target class identification instruction of the target to be processed does not exist, determining that the target to be processed does not meet the linkage condition;
and when the target to be processed is determined not to meet the linkage condition, judging whether the target to be processed is a real alarm target or not according to the radar detection data of the target to be processed, and triggering a defense area alarm when the target to be processed is the real alarm target.
In one possible implementation manner of the present application, the control device is configured to:
and when the target to be processed is determined to be a high-confidence target according to the radar detection data of the target to be processed and a target class identification instruction of the target to be processed does not exist, determining that the target to be processed is a real alarm target.
In one possible implementation manner of the present application, the control device is configured to:
and according to the position information, adjusting the current configuration parameters of the dome camera from an initial state to a target state, and controlling the dome camera to shoot the first monitoring area based on the adjusted target state.
In one possible implementation manner of the present application, the control device is configured to:
controlling the dome camera to shoot the second monitoring area, adjusting configuration parameters of the dome camera to identify and track the target to be processed when the target to be processed is detected based on the shot image, and triggering defense area alarm when the target to be processed is determined to be a real alarm target according to identification information and tracking information of the target to be processed;
resetting the configuration parameters of the dome camera to an initial state after triggering a defense area alarm;
or when the target to be processed is judged not to be the real alarm target, resetting the configuration parameters of the dome camera to the initial state.
In one possible implementation manner of the present application, the control device is further configured to:
when a plurality of targets are detected in the first monitoring area through a radar, performing response priority sequencing on the targets according to the detected target information and defense area event information of the targets;
and determining the target with the highest response priority in the sequenced targets as the target to be processed.
In another aspect, an alarm device is provided, including:
the system comprises an acquisition module, a processing module and a processing module, wherein the acquisition module is used for acquiring the position information of a target to be processed when the target to be processed is detected in a first monitoring area through a radar and is judged to meet a linkage condition;
and the control module is used for controlling the dome camera to switch from a second monitoring area to the first monitoring area for shooting according to the position information of the target to be processed, detecting the target to be processed through the dome camera according to the image obtained by shooting, triggering a defense area alarm if the dome camera detects that the target to be processed is a real alarm target, and enabling the second monitoring area and the first monitoring area not to be overlapped or partially overlapped.
In another aspect, there is provided a control apparatus including:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to implement the steps of any one of the methods of the above-described aspects.
In another aspect, a computer-readable storage medium is provided, having instructions stored thereon, which when executed by a processor, implement the steps of any of the methods of the above aspects.
In another aspect, a computer program product is provided comprising instructions which, when run on a computer, cause the computer to perform the steps of any of the methods of the above aspects.
The technical scheme provided by the embodiment of the application has the following beneficial effects:
when the target to be processed is detected in the first monitoring area through the radar and meets the linkage condition, the target to be processed needs to be rechecked for the second time, and therefore the dome camera is controlled to be switched from the second monitoring area to the first monitoring area to shoot according to the position information of the target to be processed. And detecting the target to be processed through the ball machine according to the shot image, and triggering a defense area alarm if the ball machine detects that the target to be processed is a real alarm target. Therefore, the monitoring range of the ball machine and the radar is enlarged, the radar and the ball machine can not only perform independent monitoring alarm work in the monitoring range of the radar, but also perform ball linkage monitoring alarm work in the monitoring range of the radar, and the alarm flexibility is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic illustration of a thunder ball linkage monitoring system shown in accordance with an exemplary embodiment;
FIG. 2 is a flow chart illustrating a method of alerting according to an exemplary embodiment;
FIG. 3 is a schematic illustration of a monitored area shown in accordance with an exemplary embodiment;
FIG. 4 is a flow chart illustrating a method of alerting according to another exemplary embodiment;
FIG. 5 is a schematic diagram illustrating the construction of an alarm device according to an exemplary embodiment;
fig. 6 is a schematic structural diagram illustrating a control apparatus according to another exemplary embodiment.
Detailed Description
To make the objects, technical solutions and advantages of the present application more clear, the following detailed description of the embodiments of the present application will be made with reference to the accompanying drawings.
Before describing the alarm method provided by the embodiment of the present application in detail, the terms and implementation environments related to the embodiment of the present application will be briefly described.
First, terms related to the embodiments of the present application will be briefly described.
Radar: an apparatus for detecting a target by using electromagnetic waves has the characteristic of all-weather all-day-long operation. The target is irradiated by transmitting electromagnetic waves and the echo thereof is received, thereby obtaining information of the distance from the target to the electromagnetic wave transmission point, the rate of change of distance (radial velocity), the azimuth, the altitude, and the like.
A ball machine: the camera has mechanical structures such as a holder and the like, can monitor a large-range monitoring camera with PTZ change, and can give consideration to panoramic information and detailed information of a monitored scene.
And (3) thunder ball linkage: through the combined monitoring of the radar and the ball machine, when the radar detects a suspected movable target, the ball machine can be driven to rotate and track the suspected target in real time, so that secondary identification is carried out.
PTZ: the Pan Tilt Zoom lens is a short hand writing of Pan Tilt Zoom in security monitoring application and is used for representing all-around (horizontal/vertical) movement of a holder, zooming and zooming control of a lens.
A defense area: the method refers to an area where targets are forbidden to enter, monitoring equipment is generally needed to monitor the targets, and once it is determined that the targets enter a defense area, an alarm can be triggered. Further, the type of the target prohibited from entering the defense area may be preset, that is, when a target enters the defense area and the type of the target belongs to the preset type, an alarm is triggered, and the type of the target prohibited from entering the defense area may be set according to a requirement, for example, the target may be a person, a vehicle, or the like.
Next, a brief description will be given of an implementation environment related to the embodiments of the present application.
Referring to fig. 1, fig. 1 is a schematic diagram illustrating a ball linkage monitoring system according to an exemplary embodiment, which may include a control device 110, a radar 120, and a ball machine 130. Wherein, the radar 120 and the ball machine 130 may be separately installed or may be an integrated device. Further, when the radar 120 is installed separately from the ball machine 130, the control device 110 may be integrally provided with the radar 120, or the control device 110 may also be integrally provided with the ball machine 130; alternatively, when the radar 120 and the ball machine 130 are integrated devices, the control device 110 may be provided in the integrated devices.
The radar 120 described above may be used to detect an object to be processed and generate radar detection data. In the implementation, one radar 120 may be provided in the radar-based ball linkage monitoring system, or a plurality of radars 120 may be provided, and when a plurality of radars 120 are provided, the detection can be performed in all directions by the arrangement. As an example, the radar 120 may employ a millimeter wave radar, a laser radar, and the like, which is not limited in this embodiment.
The ball machine 130 may be used to perform real-time tracking shooting on the target to be processed. As an example, the dome camera 130 may employ a general light camera, a thermal imaging camera, an infrared camera, or the like, which is not limited in the embodiments of the present application.
The control device 110 may be configured to process radar detection data, determine PTZ coordinates, control the operation of the dome camera 130, determine whether an alarm is required according to the radar detection data and/or dome camera shooting data, and the like. As an example, the control device 110 may further be configured with an alarm device, and perform an alarm prompt through the alarm device, where the alarm prompt may be a ringing device, a voice broadcast device, an indicator light, or the like, which is not limited in this embodiment of the present application.
Further, the control device 110 may include a video module, a radar module, a linkage scheduling module, a control module, an information fusion processing module, and an alarm module, so as to implement the alarm method provided by the present application through these modules.
FIG. 2 is a flow chart illustrating an alerting method that may be used in the environment of FIG. 1 described above, according to an exemplary embodiment, and that may include the following steps:
step 201: and when the target to be processed is detected in the first monitoring area through the radar and is judged to meet the linkage condition, acquiring the position information of the target to be processed.
The linkage condition refers to a condition that the radar and the dome camera need to be linked to detect a target together.
The radar is detected in the first monitoring area, when the radar detects a target to be processed in the first monitoring area, the target exists, and in order to determine whether the target to be processed triggers a defense area alarm or not, the control equipment judges whether the target to be processed meets a linkage condition or not.
As an example, the specific implementation of detecting the target to be processed in the first monitoring area by the radar and determining whether the target to be processed satisfies the linkage condition may include any one of the following implementation manners:
the first mode is as follows: when the target to be processed is detected in the first monitoring area through the radar, if the target type identification instruction of the target to be processed exists, the target to be processed is determined to meet the linkage condition.
The target category identification instruction is used for indicating that the category identification of the target to be processed is required. The target category identification instruction may be triggered by a user, and the user may trigger the target category identification instruction by a specified operation, which may include, but is not limited to, a click operation, a slide operation, and the like.
That is, the object class identification requirement may be set by the user according to actual requirements, for example, in some scenarios, it may be possible that some classes of objects need to be alarmed when entering a defense area, and other types of objects do not need to be alarmed when entering the defense area, for example, a person needs to be alarmed when entering the defense area, and an animal or vehicle does not need to be alarmed when entering the defense area, in which case, an object class identification instruction may be set. Further, the target category corresponding to the target category identification requirement can be set, that is, which categories of targets need to be alarmed when entering the defense area can be set. In other scenes, as long as any type of target entering the defense area needs to be alarmed, at the moment, the target type identification requirement does not need to be set, namely, no target type identification instruction exists at the moment.
The control device may determine whether linkage monitoring is required according to whether the target category identification instruction exists. When a target type identification instruction exists, the fact that the type of the target to be processed needs to be determined is explained, so that the linkage ball machine needs to perform secondary recheck, and therefore the linkage condition is determined to be met.
The second mode is as follows: when the target to be processed is detected in the first monitoring area through the radar, radar detection data of the target to be processed are obtained, and when the target to be processed is determined to be a low-confidence target according to the radar detection data of the target to be processed, the target to be processed is determined to meet the linkage condition.
Wherein a low confidence target is a target with a confidence below a certain confidence threshold.
The confidence threshold may be set by a user in a user-defined manner according to actual requirements, or may also be set by the control device in a default manner, which is not limited in the embodiment of the present application.
It is understood that when the radar detects the target to be processed in the first monitoring area, radar detection data can be obtained, the control device can obtain the radar detection data, and the confidence degree that the target to be processed is the real target is determined according to the radar detection data. As an example, a network model which is trained in advance may be stored in the linkage scheduling module of the control device, and the network model may be used to determine the confidence that any target is a real target based on the radar detection data of the any target, so that the confidence that the target to be processed is a real target may be output through the network model based on the radar detection data of the target to be processed.
The network model can be obtained by deep learning and training a model to be trained based on a plurality of training samples, the training samples can include radar detection data of a plurality of target samples and a true-false label corresponding to each target sample, the true-false label corresponding to each target sample can be calibrated in advance by technicians, illustratively, "0" or "1" can be adopted for calibration, when the target sample is a true target, the true-false label can be calibrated to "1", and when the target sample is not a true target, the true-false label can be calibrated to "0".
When the confidence of the target to be processed is smaller than the confidence threshold, the target to be processed can be determined to be a low confidence target, and at this time, if a target category identification instruction exists, a ball machine can be linked for secondary rechecking in order to further determine whether the target to be processed is a real alarm target needing alarming, so that the target to be processed can be determined to meet the linkage condition.
The real alarm target refers to a real target needing to be alarmed, and related information of the real alarm target can be set according to actual requirements, for example, the related information can include information such as the type of the real target needing to be alarmed, a triggered defense area event and the like.
And when the target to be processed is detected in the first monitoring area through the radar and is judged to meet the linkage condition, acquiring the position information of the target to be processed.
As an example, when an object to be processed is detected in a first monitoring area by a radar, radar detection data of the object to be processed is acquired, and when it is determined that the object to be processed is a high-confidence object according to the radar detection data of the object to be processed and there is no object class identification instruction of the object to be processed, it is determined that the object to be processed does not satisfy the linkage condition.
Wherein, a high confidence target is a target with a confidence greater than or equal to a confidence threshold.
It is easy to understand that when the target to be processed is determined to be a high-confidence target, it is indicated that a real target is detected to enter the first monitoring area, the detection result is relatively accurate, if the target category identification requirement does not exist, the target to be processed can be directly and independently detected through a radar without rechecking through a linked ball machine, and therefore the target to be processed can be determined not to meet the linkage condition.
Further, under the condition that the target to be processed is determined not to meet the linkage condition, whether the target to be processed is a real alarm target or not is judged according to the radar detection data of the target to be processed, and a defense area alarm is triggered when the target to be processed is the real alarm target.
As an example, when it is determined that the target to be processed is a real alarm target, it may be determined whether the target to be processed is a real alarm target according to radar detection data and defense area event information of the target to be processed. The information of the defense area event may be set according to actual requirements, and for example, the information of the defense area event may include, but is not limited to, at least one of a size of the defense area, position information of the defense area, or a type of the defense area.
In addition, the defense area event information may include event information of at least one defense area, for example, the defense area event information may include event information of a radar defense area and event information of a dome camera defense area, the radar defense area refers to a defense area in a radar monitoring area, and the dome camera defense area refers to a defense area in a monitoring range of the dome camera, that is, two defense areas are provided at this time.
Therefore, the position of the target to be processed can be determined according to the radar detection data of the target to be processed, and then whether the position of the target to be processed is located in a defense area can be determined according to the defense area event information, so that whether the target to be processed is a real alarm target is determined. When determining whether the target to be processed is a real alarm target, alarming in a defense area can be carried out.
The control device can perform alarm processing through the alarm module, as an example, the alarm module can perform alarm in a ringing mode, or can perform alarm in an indicator light mode, or perform alarm in a voice broadcast mode, and the embodiment of the application is not limited thereto.
As an example, when it is determined that the target to be processed is a high-confidence target according to the radar detection data of the target to be processed, and there is no target class identification instruction of the target to be processed, it is determined that the target to be processed is a real alarm target.
When the confidence that the target to be processed is the real target is determined to be greater than or equal to the confidence threshold, it can be shown that the real target enters the first monitoring area, the detection result is relatively accurate, and if the target class identification requirement does not exist, the target to be processed can be directly determined to be the real alarm target. That is, in this implementation manner, it may also be determined whether the target to be processed enters the defense area not according to the defense area event information, but after determining that the target to be processed is the high-confidence target, the target to be processed is the real alarm target.
Further, when the object to be processed is detected in the first monitoring area by the radar, if the object to be processed is a low-confidence object and there is no object class identification instruction, the control device does not perform a defence area alarm.
Further, when a plurality of targets are detected in the first monitoring area through the radar, response priority ranking is carried out on the plurality of targets according to target information and defense area event information of the plurality of detected targets, and the target with the highest response priority in the ranked plurality of targets is determined as the target to be processed.
The target information may include, but is not limited to, position information and moving speed of the target to be processed. The target information of the target to be processed may be data obtained by processing data acquired by a ball machine or a radar. For example, when the object to be processed is monitored by a radar, radar detection data is obtained, and because the radar detection data is generally non-intuitive data, the radar detection data may be processed to obtain radar target information, and further, the radar module may determine the radar target information in implementation.
It will be appreciated that in some cases, multiple targets may be monitored, which may all be monitored by radar, or which may all be monitored by a ball machine, or which may be monitored in part by radar and in part by a ball machine. When a plurality of targets are detected in the first monitoring area through the radar, the control device can select one target from the plurality of targets as a target to be processed, so that the selected target to be processed can be subjected to alarm judgment processing subsequently.
When selecting an object from a plurality of objects, the selection may be made based on response priorities of the plurality of objects, which may be determined based on the defence area event information and the object information of each of the plurality of objects, for example, the response priority of each of the objects may be determined based on the defence area event information and the moving speed and/or position information of each of the plurality of objects.
As an example, when a plurality of targets are monitored, the fusion information module in the control device may obtain target information of the plurality of targets, generate an information list according to the obtained target information, and then determine a distance between each target and a defense area according to the defense area event information and the target information of the plurality of targets in the information list, where the closer the distance to the defense area and/or the faster the moving speed is, the higher the response priority of the corresponding target is, and sort the plurality of targets according to the sort rule. Then, the target with the highest response priority is selected from the sorted information list, and in general, the higher the response priority, the more likely the target enters the defense area first or leaves the defense area faster, so that the target with the highest response priority can be used as the target to be processed for subsequent processing in order to capture the target in time.
For example, assuming that three targets including ase:Sub>A, B, and C are detected in the first monitored arease:Sub>A by radar, assuming that ase:Sub>A is 10 meters away from the radar defence arease:Sub>A based on the location information and defence arease:Sub>A event information of ase:Sub>A, B is 5 meters away from the radar defence arease:Sub>A based on the location information and defence arease:Sub>A event information of B, and C is 12 meters away from the radar defence arease:Sub>A based on the location information and defence arease:Sub>A event information of C, the result of prioritizing the responses for ase:Sub>A, B, and C is B-ase:Sub>A-C, i.e., B has the highest response priority and C has the lowest response priority. At this time, B is determined as the target to be processed.
Step 202: and controlling the ball machine to switch from the second monitoring area to the first monitoring area for shooting according to the position information of the target to be processed, wherein the second monitoring area is not overlapped or partially overlapped with the first monitoring area.
In the embodiment of the application, the ball machine and the radar respectively monitor different monitoring areas, namely, the ball machine shoots the second monitoring area under the conventional condition. As an example, the initial state of the dome camera may be adjusted in advance, and for example, the initial state may be adjusted by controlling configuration parameters of the dome camera, so that the dome camera monitors the second monitoring area in the initial state. For a dome camera, different states correspond to different configuration parameters, which are generally referred to as PTZ coordinates, wherein the configuration parameters of the dome camera are related to the PTZ coordinates, and the different PTZ coordinates correspond to different configuration parameters.
Further, the monitoring distance of the ball machine may be greater than that of the radar. As an example, the initial state of the dome camera may be adjusted by a user adjusting at least one of a horizontal photographing angle and a vertical photographing angle of the dome camera according to the farthest detection distance of the radar. For example, the user may adjust the dome camera in advance so that the second monitoring area monitored by the dome camera is outside the first monitoring area of the radar, and the farthest detection distance of the radar is generally known and constant. For example, referring to fig. 3, 31 in fig. 3 is a first monitoring area of a radar, and 32 in fig. 3 is a second monitoring area of a ball machine, when a user adjusts the ball machine, the control device may store the configuration parameters of the adjusted ball machine, i.e., record the initial state of the ball machine.
Thus, referring to fig. 4, the fig. 4 is a work flow diagram of a thunder ball linkage monitoring system according to an exemplary embodiment, after the thunder ball linkage monitoring system is started, a ball machine can be adjusted according to configuration parameters corresponding to an initial state to perform continuous monitoring, so that a monitoring area of the whole thunder ball linkage monitoring system is enlarged in distance, as shown in fig. 3, the distance of the monitoring area of the thunder ball linkage monitoring system is R1+ R2. It is understood that in the continuous tracking process, the PTZ coordinate changes along with the movement of the target, and the configuration parameters of the dome camera change from the initial state.
The monitoring areas of the dome camera and the radar are different, so that the target to be processed may be monitored by the dome camera, or the target to be processed may also be monitored by the radar, and when the target to be processed is monitored by the radar and meets the linkage condition, the detection needs to be performed by the linked dome camera, that is, the dome camera is controlled to be switched from the second monitoring area to the first monitoring area.
As an example, the method may control the dome camera to switch from the second monitoring area to the first monitoring area for shooting according to the position information of the target to be processed, and the specific implementation may include: and according to the position information, adjusting the current configuration parameters of the dome camera from an initial state to a target state, and controlling the dome camera to shoot the first monitoring area based on the adjusted target state.
The control device may convert the position information of the object to be processed into PTZ coordinates. As an example, a parameter mapping matrix may be obtained, where the parameter mapping matrix is used to indicate a mapping relationship between radar parameters and PTZ coordinates, and according to the parameter mapping matrix, the position information of the target to be processed may be mapped to the PTZ coordinates. And then, controlling the ball machine to rotate to a second monitoring area based on the PTZ coordinate obtained after mapping, namely when the monitoring area is switched, adjusting the configuration parameters of the ball machine from the initial state to the target state, and adjusting the parameters of the ball machine, such as the focal length and the like, to track and shoot the target to be processed in real time.
It should be noted that the parameter mapping matrix may be determined by a radar calibration module. In practice, the parameter mapping matrix may be determined by manual calibration means, for example, a target may be moved within the monitoring range of the radar and dome camera, and during the movement, the technician may acquire the radar coordinate parameters and PTZ coordinates, thereby determining the parameter mapping matrix based on the acquired radar coordinate parameters and PTZ coordinates. In practice, the parameter mapping matrix is used to indicate the mapping relationship between the radar coordinate parameters to the PTZ coordinates.
Step 203: and detecting the target to be processed through the ball machine according to the image obtained by shooting, and triggering a defense area alarm if the ball machine detects that the target to be processed is a real alarm target.
As an example, a specific implementation of detecting the target to be processed by the ball machine according to the captured image may include: and acquiring image information of the target to be processed in the first monitoring area through the ball machine based on the shot image, and judging whether the target to be processed is a real alarm target or not according to the image information of the target to be processed and the radar detection data of the target to be processed.
The dome camera may obtain image information of the image through image detection, image recognition, and the like, and the image information may include a category of the target to be processed, as an example. Further, the image information may further include position information of the object to be processed, and in addition, when a defense area is included in the image, the image information may further include defense area information. The location information and the defense area information may be used to cross-check with location information of the target to be processed determined by the radar detection data to determine whether the target to be processed is actually located within the defense area.
As another example, the specific implementation of detecting the target to be processed by the ball machine according to the captured image may include: and acquiring image information of the target to be processed in the first monitoring area by the ball machine based on the shot image, and judging whether the target to be processed is a real alarm target or not by the ball machine according to the image information of the target to be processed.
That is, the dome camera may further determine whether the target to be processed is a real alarm target only based on image information of an image captured in the first monitoring area. Illustratively, the image information may include a category of the object to be processed. Further, the image information may further include position information of the target to be processed and defense area information of the defense area, so that whether the target to be processed is located in the defense area is determined according to the obtained image information, and whether the target to be processed is a real alarm target is further determined.
So, when detecting the pending target and this pending target satisfies the linkage condition in first monitoring area through the radar, control ball machine linkage detects, promptly, can come to recheck this pending target based on more abundant fusion information (including accurate position, the moving speed information that the radar provided and the target classification information that the ball machine provided) to guarantee the accuracy that detects.
It is worth mentioning that, when the radar detects the target to be processed, the ball machine cannot be dispatched immediately for real-time tracking and identification, but whether the ball machine is dispatched or not is determined according to the credibility of the target to be processed detected by the radar and whether a target category identification instruction exists, unnecessary dispatching operation can be reduced through the selectivity of the dispatching ball machine, so that the operation independence of two monitoring devices, namely the ball machine and the radar, in the thunder ball linkage monitoring system is stronger, and the alarming flexibility of the thunder ball linkage monitoring system is enhanced.
Furthermore, after the defense area alarm is carried out, the ball machine can be controlled to reset, so that the thunder ball linkage monitoring system is reset to an initial state to continuously detect the next target to be processed. That is, when the rechecking result of the dome camera indicates that the target to be processed is not the real alarm target, the control module controls the dome camera to reset to the initial state, namely the lightning ball linkage monitoring system resets, and the dome camera continues to monitor the own monitoring area in real time.
And further, the ball machine is controlled to shoot the second monitoring area, when the target to be processed is detected based on the shot image, the configuration parameters of the ball machine are adjusted to identify and track the target to be processed, and when the target to be processed is determined to be a real alarm target according to the identification information and the tracking information of the target to be processed, a defense area alarm is triggered.
As described above, since the radar and the dome camera each monitor different monitoring areas, for the dome camera, the initial state is to monitor the second monitoring area. When the dome camera monitors the target to be processed, the configuration parameters of the dome camera can be adjusted, so that the dome camera tracks and identifies the target to be processed, and whether the target to be processed is a real alarm target is determined.
As one example, the image may be identified using image recognition techniques to determine the location and/or object class of the object to be processed, and then determine whether the object to be processed triggers a defense area alarm based on the defense area event information.
Therefore, the monitoring of the dome camera has independent alarm capability, namely, when the radar does not detect the target, the dome camera can carry out independent monitoring alarm work in a preset remote monitoring range.
Further, after the defense area alarm is triggered, the configuration parameters of the dome camera are reset to the initial state, or when the target to be processed is judged not to be the real alarm target, the configuration parameters of the dome camera are reset to the initial state.
It should be noted that, because the target to be processed may be monitored by a radar, or may also be monitored by a ball machine, and the implementation manner of determining whether the target to be processed is a real alarm target is different according to different devices monitoring the target to be processed, it is necessary for the control device to determine whether the target to be processed is detected by the radar or shot by the ball machine. As an example, the control apparatus may determine whether the target to be processed belongs to a radar target or a dome camera target, based on target information of the target to be processed.
As an example, when the target information is radar target information, it is determined that the target to be processed belongs to a radar target, and when the target information is dome camera target information, it is determined that the target to be processed belongs to a dome camera target. That is, when the target information is determined to be obtained according to the radar detection data, it is indicated that the target to be processed is monitored by the radar, and at this time, the target to be processed is determined to be the radar target. When the target information is determined to be obtained according to the image shot by the ball machine, the target to be processed is monitored by the ball machine, and the target to be processed is determined to be the ball machine target.
In the embodiment of the application, when the target to be processed is detected in the first monitoring area through the radar and meets the linkage condition, it is described that the target to be processed needs to be rechecked for the second time, and therefore, the dome camera is controlled to switch from the second monitoring area to the first monitoring area for shooting according to the position information of the target to be processed. And detecting the target to be processed through the ball machine according to the shot image, and triggering a defense area alarm if the ball machine detects that the target to be processed is a real alarm target. Therefore, the monitoring range of the ball machine and the radar is enlarged, the radar and the ball machine can not only perform independent monitoring alarm work in the monitoring range of the radar, but also perform ball linkage monitoring alarm work in the monitoring range of the radar, and the alarm flexibility is improved.
Fig. 5 is a schematic diagram illustrating the structure of an alarm device according to an exemplary embodiment, which may include:
an obtaining module 510, configured to obtain position information of a target to be processed when the target to be processed is detected in a first monitoring area by a radar and is determined to meet a linkage condition;
the control module 520 is configured to control the dome camera to switch from the second monitoring area to the first monitoring area for shooting according to the position information of the target to be processed, detect the target to be processed through the dome camera according to the image obtained through shooting, trigger a defense area alarm if the dome camera detects that the target to be processed is a real alarm target, and enable the second monitoring area and the first monitoring area to be non-overlapped or partially overlapped.
In one possible implementation manner of the present application, the obtaining module 510 is further configured to:
when the target to be processed is detected in a first monitoring area through a radar, if a target class identification instruction of the target to be processed exists, determining that the target to be processed meets the linkage condition; or,
when the target to be processed is detected in the first monitoring area through a radar, radar detection data of the target to be processed are obtained, and when the target to be processed is determined to be a low-confidence target according to the radar detection data of the target to be processed, the target to be processed is determined to meet the linkage condition.
In one possible implementation manner of the present application, the control module 520 is further configured to:
acquiring image information of the target to be processed in the first monitoring area through the dome camera based on the image obtained by shooting;
and judging whether the target to be processed is a real alarm target or not according to the image information of the target to be processed and the radar detection data of the target to be processed.
In one possible implementation manner of the present application, the control module 520 is further configured to:
acquiring image information of the target to be processed in the first monitoring area through the ball machine based on the shot image;
and judging whether the target to be processed is a real alarm target or not by the ball machine according to the image information of the target to be processed.
In one possible implementation manner of the present application, the control module 520 is further configured to:
when an object to be processed is detected in a first monitoring area through a radar, acquiring radar detection data of the object to be processed;
when the target to be processed is determined to be a high-confidence target according to the radar detection data of the target to be processed, and a target class identification instruction of the target to be processed does not exist, determining that the target to be processed does not meet the linkage condition;
and when the target to be processed is determined not to meet the linkage condition, judging whether the target to be processed is a real alarm target or not according to the radar detection data of the target to be processed, and triggering a defense area alarm when the target to be processed is the real alarm target.
In one possible implementation manner of the present application, the control module 520 is further configured to:
and when the target to be processed is determined to be a high-confidence target according to the radar detection data of the target to be processed and a target class identification instruction of the target to be processed does not exist, determining that the target to be processed is a real alarm target.
In one possible implementation manner of the present application, the control module 520 is configured to:
and according to the position information, adjusting the current configuration parameters of the dome camera from an initial state to a target state, and controlling the dome camera to shoot the first monitoring area based on the adjusted target state.
In one possible implementation manner of the present application, the control module 520 is further configured to:
controlling the ball machine to shoot the second monitoring area, adjusting configuration parameters of the ball machine to identify and track the target to be processed when the target to be processed is detected based on the shot image, and triggering a defense area alarm when the target to be processed is determined to be a real alarm target according to identification information and tracking information of the target to be processed;
resetting the configuration parameters of the dome camera to an initial state after triggering a defense area alarm;
or when the target to be processed is judged not to be the real alarm target, resetting the configuration parameters of the dome camera to the initial state.
In one possible implementation manner of the present application, the control module 520 is further configured to:
when a plurality of targets are detected in the first monitoring area through a radar, performing response priority sequencing on the targets according to the detected target information and defense area event information of the targets;
and determining the target with the highest response priority in the sequenced targets as the target to be processed.
In the embodiment of the application, when the target to be processed is detected in the first monitoring area through the radar and meets the linkage condition, it is indicated that the target to be processed needs to be rechecked for the second time, and therefore, the dome camera is controlled to be switched from the second monitoring area to the first monitoring area to shoot according to the position information of the target to be processed. And detecting the target to be processed through the ball machine according to the shot image, and triggering a defense area alarm if the ball machine detects that the target to be processed is a real alarm target. Therefore, the monitoring range of the ball machine and the radar is enlarged, the radar and the ball machine can not only perform independent monitoring alarm work in the monitoring range of the radar, but also perform ball linkage monitoring alarm work in the monitoring range of the radar, and the alarm flexibility is improved.
Fig. 6 is a schematic structural diagram of a control device 600 according to an embodiment of the present application, where the control device 600 may generate a relatively large difference due to different configurations or performances, and may include one or more processors (CPUs) 601 and one or more memories 602, where the memory 602 stores at least one instruction, and the at least one instruction is loaded and executed by the processor 601 to implement the alarm method according to the above method embodiment.
Of course, the control device 600 may further have components such as a wired or wireless network interface, a keyboard, and an input/output interface, so as to perform input and output, and the control device 600 may further include other components for implementing device functions, which are not described herein again.
Embodiments of the present application further provide a non-transitory computer-readable storage medium, where instructions in the storage medium, when executed by a processor of a control device, enable the control device to perform the alarm method provided by the above method embodiments.
The embodiment of the present application further provides a computer program product containing instructions, which when run on a computer, causes the computer to execute the alarm method provided by the above method embodiment.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The above description is only a preferred embodiment of the present application and should not be taken as limiting the present application, and any modifications, equivalents, improvements and the like that are made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (19)
1. An alarm method is characterized in that the alarm method is applied to control equipment of an alarm system, the alarm system further comprises a radar and a dome camera, the radar monitors a first monitoring area, the dome camera monitors a second monitoring area, and the second monitoring area is not overlapped with the first monitoring area; the method comprises the following steps:
when a target to be processed is detected in the first monitoring area through the radar and the target to be processed is judged to meet a linkage condition, acquiring position information of the target to be processed;
controlling a dome camera to switch from the second monitoring area to the first monitoring area for shooting according to the position information of the target to be processed, detecting the target to be processed through the dome camera according to the image obtained by shooting, and triggering a defense area alarm if the dome camera detects that the target to be processed is a real alarm target;
the method for detecting the target to be processed in the first monitoring area through the radar and judging that the target to be processed meets the linkage condition comprises the following steps:
when the target to be processed is detected in the first monitoring area through the radar, if a target type identification instruction of the target to be processed exists, the target to be processed is determined to meet the linkage condition, and the target type identification instruction is triggered by a user; or,
when the target to be processed is detected in the first monitoring area through the radar, radar detection data of the target to be processed are obtained, and when the target to be processed is determined to be a low-confidence target according to the radar detection data of the target to be processed, the target to be processed is determined to meet the linkage condition.
2. The method according to claim 1, wherein the detecting, by the dome camera, the target to be processed from the photographed image includes:
acquiring image information of the target to be processed in the first monitoring area through the ball machine based on the shot image;
and judging whether the target to be processed is a real alarm target or not according to the image information of the target to be processed and the radar detection data of the target to be processed.
3. The method according to claim 1, wherein the detecting, by the dome camera, the target to be processed from the photographed image includes:
acquiring image information of the target to be processed in the first monitoring area through the ball machine based on the shot image;
and judging whether the target to be processed is a real alarm target or not by the ball machine according to the image information of the target to be processed.
4. The method of claim 1, wherein the method further comprises:
when a target to be processed is detected in a first monitoring area through a radar, radar detection data of the target to be processed are obtained;
when the target to be processed is determined to be a high-confidence target according to the radar detection data of the target to be processed, and a target class identification instruction of the target to be processed does not exist, determining that the target to be processed does not meet the linkage condition;
and when the target to be processed is determined not to meet the linkage condition, judging whether the target to be processed is a real alarm target or not according to the radar detection data of the target to be processed, and triggering a defense area alarm when the target to be processed is the real alarm target.
5. The method of claim 4, wherein after the obtaining the radar detection data of the target to be processed, further comprising:
and when the target to be processed is determined to be a high-confidence target according to the radar detection data of the target to be processed and no target class identification instruction of the target to be processed exists, determining that the target to be processed is a real alarm target.
6. The method of claim 1, wherein the controlling a dome camera to switch from a second monitoring area to the first monitoring area for shooting according to the position information of the target to be processed comprises:
and adjusting the current configuration parameters of the dome camera from an initial state to a target state according to the position information, and controlling the dome camera to shoot the first monitoring area based on the adjusted target state.
7. The method of claim 1, wherein the method further comprises:
controlling the ball machine to shoot the second monitoring area, adjusting configuration parameters of the ball machine to identify and track the target to be processed when the target to be processed is detected based on the shot image, and triggering a defense area alarm when the target to be processed is determined to be a real alarm target according to identification information and tracking information of the target to be processed;
resetting the configuration parameters of the dome camera to an initial state after triggering a defense area alarm;
or when the target to be processed is judged not to be the real alarm target, resetting the configuration parameters of the dome camera to the initial state.
8. The method of claim 1, wherein before obtaining the location information of the object to be processed, further comprising:
when a plurality of targets are detected in the first monitoring area through a radar, performing response priority sequencing on the plurality of targets according to target information and defense area event information of the plurality of detected targets;
and determining the target with the highest response priority in the sequenced targets as the target to be processed.
9. An alarm system is characterized by comprising control equipment, a radar and a ball machine, wherein the radar monitors a first monitoring area, the ball machine monitors a second monitoring area, and the second monitoring area is not overlapped with the first monitoring area;
the radar is used for detecting in the first monitoring area;
the control equipment is used for acquiring the position information of the target to be processed when the target to be processed is detected in the first monitoring area through the radar and the target to be processed is judged to meet the linkage condition;
the control equipment is used for controlling the ball machine to switch from the second monitoring area to the first monitoring area for shooting according to the position information of the target to be processed;
the ball machine is used for detecting the target to be processed according to the image obtained by shooting;
the control equipment is used for triggering a defense area alarm when the ball machine detects that the target to be processed is a real alarm target;
the control device is configured to:
when the target to be processed is detected in the first monitoring area through the radar, if a target type identification instruction of the target to be processed exists, determining that the target to be processed meets the linkage condition, wherein the target type identification instruction is triggered by a user; or,
when the target to be processed is detected in the first monitoring area through the radar, radar detection data of the target to be processed are obtained, and when the target to be processed is determined to be a low-confidence target according to the radar detection data of the target to be processed, the target to be processed is determined to meet the linkage condition.
10. The alarm system of claim 9,
the ball machine is used for acquiring image information of the target to be processed in the first monitoring area based on the shot image;
and the control equipment is used for judging whether the target to be processed is a real alarm target or not according to the image information of the target to be processed and the radar detection data of the target to be processed.
11. The alarm system of claim 9,
the ball machine is used for acquiring image information of the target to be processed in the first monitoring area based on the shot image;
and the ball machine is used for judging whether the target to be processed is a real alarm target or not according to the image information of the target to be processed.
12. The alarm system of claim 9, wherein the control device is configured to:
when a target to be processed is detected in a first monitoring area through a radar, radar detection data of the target to be processed are obtained;
when the target to be processed is determined to be a high-confidence target according to the radar detection data of the target to be processed, and a target class identification instruction of the target to be processed does not exist, determining that the target to be processed does not meet the linkage condition;
and when the target to be processed is determined not to meet the linkage condition, judging whether the target to be processed is a real alarm target or not according to the radar detection data of the target to be processed, and triggering a defense area alarm when the target to be processed is the real alarm target.
13. The alarm system of claim 12, wherein the control device is configured to:
and when the target to be processed is determined to be a high-confidence target according to the radar detection data of the target to be processed and a target class identification instruction of the target to be processed does not exist, determining that the target to be processed is a real alarm target.
14. The alarm system of claim 9, wherein the control device is configured to:
and adjusting the current configuration parameters of the dome camera from an initial state to a target state according to the position information, and controlling the dome camera to shoot the first monitoring area based on the adjusted target state.
15. The alarm system of claim 9, wherein the control device is configured to:
controlling the dome camera to shoot the second monitoring area, adjusting configuration parameters of the dome camera to identify and track the target to be processed when the target to be processed is detected based on the shot image, and triggering defense area alarm when the target to be processed is determined to be a real alarm target according to identification information and tracking information of the target to be processed;
resetting the configuration parameters of the dome camera to an initial state after triggering a defense area alarm;
or when the target to be processed is judged not to be the real alarm target, resetting the configuration parameters of the dome camera to the initial state.
16. The alarm system of claim 9, wherein the control device is further configured to:
when a plurality of targets are detected in the first monitoring area through a radar, performing response priority sequencing on the plurality of targets according to target information and defense area event information of the plurality of detected targets;
and determining the target with the highest response priority in the sequenced targets as the target to be processed.
17. The alarm device is characterized by being applied to control equipment of an alarm system, wherein the alarm system further comprises a radar and a ball machine, the radar monitors a first monitoring area, the ball machine monitors a second monitoring area, and the second monitoring area is not overlapped with the first monitoring area; the alarm device includes:
the acquisition module is used for acquiring the position information of the target to be processed when the target to be processed is detected in the first monitoring area through the radar and is judged to meet the linkage condition;
the control module is used for controlling the ball machine to switch from a second monitoring area to the first monitoring area for shooting according to the position information of the target to be processed, detecting the target to be processed through the ball machine according to the image obtained by shooting, and triggering a defense area alarm if the ball machine detects that the target to be processed is a real alarm target;
the acquisition module is specifically configured to:
when the target to be processed is detected in the first monitoring area through the radar, if a target type identification instruction of the target to be processed exists, the target to be processed is determined to meet the linkage condition, and the target type identification instruction is triggered by a user; or,
when the target to be processed is detected in the first monitoring area through the radar, radar detection data of the target to be processed are obtained, and when the target to be processed is determined to be a low-confidence target according to the radar detection data of the target to be processed, the target to be processed is determined to meet the linkage condition.
18. A control apparatus, characterized by comprising:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to implement the steps of any of the methods of claims 1-8.
19. A computer-readable storage medium having instructions stored thereon, wherein the instructions, when executed by a processor, implement the steps of any of the methods of claims 1-8.
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