CN112767629A - Indoor security method and system based on holder monitoring - Google Patents
Indoor security method and system based on holder monitoring Download PDFInfo
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- CN112767629A CN112767629A CN202011573279.4A CN202011573279A CN112767629A CN 112767629 A CN112767629 A CN 112767629A CN 202011573279 A CN202011573279 A CN 202011573279A CN 112767629 A CN112767629 A CN 112767629A
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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
- G08B13/19602—Image analysis to detect motion of the intruder, e.g. by frame subtraction
- G08B13/19608—Tracking movement of a target, e.g. by detecting an object predefined as a target, using target direction and or velocity to predict its new position
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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
- G08B13/19602—Image analysis to detect motion of the intruder, e.g. by frame subtraction
- G08B13/19613—Recognition of a predetermined image pattern or behaviour pattern indicating theft or intrusion
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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
- G08B13/19617—Surveillance camera constructional details
- G08B13/1963—Arrangements allowing camera rotation to change view, e.g. pivoting camera, pan-tilt and zoom [PTZ]
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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
- G08B13/19617—Surveillance camera constructional details
- G08B13/19632—Camera support structures, e.g. attachment means, poles
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B3/00—Audible signalling systems; Audible personal calling systems
- G08B3/10—Audible signalling systems; Audible personal calling systems using electric transmission; using electromagnetic transmission
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Abstract
The invention provides an indoor security method and an indoor security system based on holder monitoring, which are characterized in that the indoor place images obtained by shooting are analyzed and processed to determine the personnel gathering states of different areas of the indoor place, and a target monitoring area with abnormal personnel gathering in the indoor place is determined according to the personnel gathering states, so that the shortest path between the target monitoring area and the starting position of an unmanned aerial vehicle holder is determined, and the unmanned aerial vehicle holder is indicated to move to the position above the target monitoring area along the shortest path and perform corresponding security alarm operation, so that the area with abnormal personnel gathering can be purposefully dredged on in real time according to the actual personnel gathering condition of the indoor place, the situation of excessive personnel gathering is avoided to the maximum extent, and the monitoring safety of the indoor place is improved.
Description
Technical Field
The invention relates to the technical field of security monitoring, in particular to an indoor security method and system based on holder monitoring.
Background
At present, video monitoring equipment is installed in indoor public places, different areas of the indoor public places are subjected to image shooting through the video monitoring equipment, and then the shot images are analyzed and processed, so that whether suspicious people exist or whether potential safety hazards exist in the indoor public places or not is determined. The existing video monitoring equipment is that corresponding camera equipment is installed in different position areas of an indoor public place, the camera equipment can only shoot images of specific areas of the indoor public place, and cannot carry out on-site and instant monitoring and alarming on a personnel gathering area of the indoor public place, so that the situation of personnel gathering of the indoor public place is not favorably and effectively solved, and meanwhile, the monitoring safety of the indoor public place is greatly reduced.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides an indoor security method and an indoor security system based on holder monitoring, which are characterized in that an indoor place is shot to obtain an indoor place image related to the indoor place, the indoor place image is analyzed and processed to determine personnel gathering state information of different areas of the indoor place, corresponding target monitoring areas are determined from the different areas of the indoor place according to the personnel gathering state information, a shortest path between the target monitoring area and the starting position of an unmanned aerial vehicle holder is also determined, the unmanned aerial vehicle holder is indicated to move to the upper part of the target monitoring area along the shortest path, and adaptive security alarm operation is carried out on the target monitoring area; therefore, the indoor security method and the system based on the holder monitoring determine the personnel gathering states of different areas of the indoor place by analyzing and processing the shot indoor place images, determine the target monitoring area with abnormal personnel gathering in the indoor place according to the personnel gathering states, and determine the shortest path between the target monitoring area and the starting position of the unmanned aerial vehicle holder so as to instruct the unmanned aerial vehicle holder to move to the position above the target monitoring area along the shortest path and perform corresponding security alarm operation.
The invention provides an indoor security method based on holder monitoring, which is characterized by comprising the following steps:
step S1, shooting indoor places to obtain indoor place images of the indoor places, and analyzing the indoor place images to determine people gathering state information of different areas of the indoor places;
step S2, according to the personnel gathering state information, determining corresponding target monitoring areas from different areas of the indoor places, and also determining the shortest path between the target monitoring areas and the starting position of the unmanned aerial vehicle holder;
step S3, indicating the unmanned aerial vehicle holder to move to the position above the target monitoring area along the shortest path, and performing security alarm operation on the target monitoring area;
further, in step S1, the step of capturing an indoor location to obtain an indoor location image of the indoor location, and performing analysis processing on the indoor location image to determine the people gathering state information of different areas of the indoor location specifically includes:
step S101, scanning and shooting the indoor places to obtain panoramic indoor place images of the indoor places, and performing background noise reduction filtering processing and pixel graying conversion processing on the panoramic indoor place images to obtain grayed panoramic indoor place images;
step S102, carrying out face contour recognition processing on the grayed panoramic indoor place image so as to determine personnel number information and personnel distribution information existing in the indoor place;
step S103, determining the respective corresponding personnel gathering quantity of different areas of the indoor place according to the personnel quantity information and the personnel distribution information, and taking the determined personnel gathering quantity as the personnel gathering state information;
further, in step S2, according to the staff aggregation state information, determining a corresponding target monitoring area from different areas of the indoor location, and further determining a shortest path between the target monitoring area and the starting position of the pan/tilt head of the unmanned aerial vehicle specifically includes:
step S201, comparing the respective corresponding personnel gathering number of different areas of the indoor place with a preset gathering number threshold, and determining the corresponding indoor place area as a target monitoring area when the personnel gathering number exceeds the preset gathering number threshold;
step S202, determining the position of the target monitoring area in the indoor place and the position of the starting point of the unmanned aerial vehicle holder in the indoor place, and simultaneously determining a space area allowing the unmanned aerial vehicle holder to fly in the indoor place;
step S203, determining a shortest path corresponding to the position of the unmanned aerial vehicle holder moving from the position of the unmanned aerial vehicle holder starting point to the position of the target monitoring area according to the position of the target monitoring area, the position of the unmanned aerial vehicle holder starting point and the space area allowing the unmanned aerial vehicle holder to fly;
further, in step S3, instructing the unmanned aerial vehicle pan-tilt head to move to the top of the target monitoring area along the shortest path, and performing security alarm operation on the target monitoring area specifically includes:
step S301, indicating the unmanned aerial vehicle holder to move along the shortest path, and acquiring flight obstacle distribution state information of the unmanned aerial vehicle holder in the moving process;
step S302, according to the flight obstacle distribution state information, adjusting the flight height and/or the flight attitude of the unmanned aerial vehicle holder in the movement process, so that the unmanned aerial vehicle holder moves to the position above the target monitoring area;
step S303, when the unmanned aerial vehicle holder moves to the position above the target monitoring area, indicating the unmanned aerial vehicle to move to perform security alarm operation in a voice broadcast mode;
further, in step S302, according to the flight obstacle distribution state information, adjusting a flying height and/or a flying attitude of the unmanned aerial vehicle cradle head in a moving process, so that moving the unmanned aerial vehicle cradle head to a position above the target monitoring area specifically includes:
firstly, obtaining the flying height of the unmanned aerial vehicle holder in the moving process according to the distribution state of the flying barriers by using the following formula (1),
in the above formula (1), FaRepresenting the flying height of the unmanned aerial vehicle holder when moving to the a-th position of the target monitoring area in the moving process, Da+lRepresenting the shortest path value of the a + l position of the target monitoring area, and if the a + l position of the target monitoring area is the position in the shortest path, Da+l1, if the a + l th position of the target monitoring area is not the position in the shortest path, then Da+l＝0，Ha+lRepresenting the highest height value of the flight obstacles in the a + l position of the target monitoring area in the distribution state of the flight obstacles, and H if the flight obstacles are not arranged in the a + l position of the target monitoring areaa+l0, L represents the width of the unmanned aerial vehicle holder,
the value representing L is taken from 0 to the maximum value in L brackets;
secondly, obtaining the flight attitude angle of the unmanned aerial vehicle holder in the motion process according to the flight height of the unmanned aerial vehicle holder in the motion process by using the following formula (2),
in the above formula (2), θaRepresenting that the unmanned aerial vehicle cloud deck moves to the target monitoring in the moving processThe flight attitude angle of the area at the a-th position, S represents the interval length of the sub-area in the target monitoring area, FaRepresenting the flying height of the unmanned aerial vehicle cradle head when moving to the a-th position of the target monitoring area in the moving process, Fa+lRepresenting the flying height of the unmanned aerial vehicle cloud deck when the unmanned aerial vehicle cloud deck moves to the (a + l) th position of the target monitoring area in the moving process;
thirdly, obtaining the ascending speed of the unmanned aerial vehicle holder in the motion process according to the flight attitude angle of the unmanned aerial vehicle holder in the motion process and the advancing speed of the unmanned aerial vehicle holder in the motion process by using the following formula (3),
in the above formula (3), VaRepresenting the rising speed V of the unmanned aerial vehicle cradle head when the unmanned aerial vehicle cradle head moves to the a-th position of the target monitoring area in the moving process0Representing the advancing speed of the unmanned aerial vehicle cloud deck in the motion process;
and finally, controlling the ascending speed of the unmanned aerial vehicle cloud platform in the motion process according to the process, thereby ensuring that the unmanned aerial vehicle cloud platform can keep the same advancing speed all the time to advance, and ensuring the stability of the unmanned aerial vehicle cloud platform.
The invention also provides an indoor security system based on the tripod head monitoring, which is characterized by comprising an indoor place shooting module, an indoor place image processing module, an unmanned aerial vehicle tripod head motion path determining module and an unmanned aerial vehicle tripod head security alarm module; wherein the content of the first and second substances,
the indoor place shooting module is used for shooting an indoor place so as to obtain an indoor place image about the indoor place;
the indoor place image processing module is used for analyzing and processing the indoor place image so as to determine personnel gathering state information of different areas of the indoor place;
the unmanned aerial vehicle holder motion path determining module is used for determining corresponding target monitoring areas from different areas of the indoor place according to the personnel gathering state information and also determining a shortest path between the target monitoring areas and the starting position of the unmanned aerial vehicle holder;
the unmanned aerial vehicle holder security alarm module is used for indicating the unmanned aerial vehicle holder to move to the position above the target monitoring area along the shortest path and carrying out security alarm operation on the target monitoring area;
further, the capturing an indoor location by the indoor location capturing module to obtain an indoor location image of the indoor location specifically includes:
scanning and shooting the indoor places to obtain panoramic indoor place images of the indoor places;
and the number of the first and second groups,
the indoor place image processing module analyzes and processes the indoor place image, so as to determine the people gathering state information of different areas of the indoor place, specifically comprising:
carrying out background noise reduction filtering processing and pixel graying conversion processing on the panoramic indoor site image so as to obtain a grayed panoramic indoor site image;
then, carrying out face contour recognition processing on the grayed panoramic indoor place image so as to determine the personnel number information and the personnel distribution information existing in the indoor place;
finally, according to the personnel number information and the personnel distribution information, determining the respective corresponding personnel gathering number of different areas of the indoor place, and taking the determined personnel gathering number as the personnel gathering state information;
further, the determining module of the motion path of the unmanned aerial vehicle pan-tilt-zoom determines corresponding target monitoring areas from different areas of the indoor place according to the information of the personnel gathering state, and further determines the shortest path between the target monitoring area and the starting position of the unmanned aerial vehicle pan-tilt-zoom specifically includes:
comparing the respective corresponding personnel gathering number of different areas of the indoor place with a preset gathering number threshold, and determining the corresponding indoor place area as a target monitoring area when the personnel gathering number exceeds the preset gathering number threshold;
determining the position of the target monitoring area in the indoor place and the position of the starting point of the unmanned aerial vehicle holder in the indoor place, and simultaneously determining a space area allowing the unmanned aerial vehicle holder to fly in the indoor place;
determining a shortest path corresponding to the position of the unmanned aerial vehicle holder moving from the position of the unmanned aerial vehicle holder starting point to the position of the target monitoring area according to the position of the target monitoring area, the position of the unmanned aerial vehicle holder starting point and the space area allowing the unmanned aerial vehicle holder to fly;
further, the security alarm module of the unmanned aerial vehicle holder indicates that the unmanned aerial vehicle holder moves to the top of the target monitoring area along the shortest path, and the security alarm operation of the target monitoring area specifically includes:
indicating the unmanned aerial vehicle cloud deck to move along the shortest path, and acquiring flight obstacle distribution state information of the unmanned aerial vehicle cloud deck in the moving process;
adjusting the flying height and/or flying attitude of the unmanned aerial vehicle holder in the moving process according to the flying barrier distribution state information so as to enable the unmanned aerial vehicle holder to move above the target monitoring area;
and when the unmanned aerial vehicle holder moves to the position above the target monitoring area, indicating the unmanned aerial vehicle to move to perform security alarm operation in a voice broadcast mode.
Compared with the prior art, the indoor security method and the system based on the holder monitoring acquire the indoor place image of the indoor place by shooting the indoor place, analyze and process the indoor place image to determine the personnel gathering state information of different areas of the indoor place, determine the corresponding target monitoring area from the different areas of the indoor place according to the personnel gathering state information, determine the shortest path between the target monitoring area and the starting position of the unmanned aerial vehicle holder, instruct the unmanned aerial vehicle holder to move to the upper part of the target monitoring area along the shortest path, and perform adaptive security alarm operation on the target monitoring area; therefore, the indoor security method and the system based on the holder monitoring determine the personnel gathering states of different areas of the indoor place by analyzing and processing the shot indoor place images, determine the target monitoring area with abnormal personnel gathering in the indoor place according to the personnel gathering states, and determine the shortest path between the target monitoring area and the starting position of the unmanned aerial vehicle holder so as to instruct the unmanned aerial vehicle holder to move to the position above the target monitoring area along the shortest path and perform corresponding security alarm operation.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flow chart of an indoor security method based on pan-tilt monitoring provided by the invention.
Fig. 2 is a schematic structural diagram of an indoor security system based on pan-tilt monitoring provided by the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic structural diagram of an indoor security method based on pan-tilt monitoring according to an embodiment of the present invention. The indoor security method based on the holder monitoring comprises the following steps:
step S1, shooting the indoor place to obtain the indoor place image of the indoor place, and analyzing the indoor place image to determine the people gathering state information of different areas of the indoor place;
step S2, according to the personnel gathering state information, determining corresponding target monitoring areas from different areas of the indoor place, and also determining the shortest path between the target monitoring areas and the starting position of the unmanned aerial vehicle holder;
and step S3, indicating the unmanned aerial vehicle holder to move to the upper part of the target monitoring area along the shortest path, and performing security alarm operation on the target monitoring area.
The beneficial effects of the above technical scheme are: according to the indoor security method based on the tripod head monitoring, the shot indoor place images are analyzed and processed, so that the personnel gathering states of different areas of the indoor place are determined, the target monitoring area with abnormal personnel gathering in the indoor place is determined according to the personnel gathering states, the shortest path between the target monitoring area and the starting position of the unmanned aerial vehicle tripod head is determined, the unmanned aerial vehicle tripod head is indicated to move to the position above the target monitoring area along the shortest path and corresponding security alarm operation is carried out, the area with abnormal personnel gathering can be purposefully and timely defibered according to the actual personnel gathering condition of the indoor place, and therefore the situation that personnel are excessively gathered is avoided to the greatest extent and the monitoring safety of the indoor place is improved.
Preferably, in step S1, the photographing an indoor location to obtain an indoor location image about the indoor location, and performing an analysis process on the indoor location image to determine the people gathering state information of different areas of the indoor location specifically includes:
step S101, scanning and shooting the indoor place to obtain a panoramic indoor place image of the indoor place, and performing background noise reduction filtering processing and pixel graying conversion processing on the panoramic indoor place image to obtain a grayed panoramic indoor place image;
step S102, carrying out face contour recognition processing on the grayed panoramic indoor place image so as to determine the personnel number information and personnel distribution information existing in the indoor place;
step S103, determining the respective corresponding personnel gathering number of different areas of the indoor place according to the personnel number information and the personnel distribution information, and taking the determined personnel gathering number as the personnel gathering state information.
The beneficial effects of the above technical scheme are: by scanning and shooting the indoor place, the panoramic image of the indoor place can be comprehensively obtained, so that the personnel quantity information and the personnel distribution information of the indoor place can be accurately analyzed and obtained, the personnel gathering quantity of different areas in the indoor place can be rapidly determined, and reliable basis is provided for the follow-up judgment of whether the abnormal condition of the personnel gathering exists in the different areas.
Preferably, in step S2, according to the staff aggregation state information, determining a corresponding target monitoring area from different areas of the indoor location, and further determining a shortest path between the target monitoring area and the starting position of the pan/tilt head of the unmanned aerial vehicle specifically includes:
step S201, comparing the respective corresponding personnel gathering number of different areas of the indoor place with a preset gathering number threshold, and determining the corresponding indoor place area as a target monitoring area when the personnel gathering number exceeds the preset gathering number threshold;
step S202, determining the position of the target monitoring area in the indoor place and the position of the starting point of the unmanned aerial vehicle holder in the indoor place, and simultaneously determining a space area allowing the unmanned aerial vehicle holder to fly in the indoor place;
step S203, determining the shortest path corresponding to the position of the unmanned aerial vehicle holder moving from the position of the unmanned aerial vehicle holder starting point to the position of the target monitoring area according to the position of the target monitoring area, the position of the unmanned aerial vehicle holder starting point and the space area allowing the unmanned aerial vehicle holder to fly.
The beneficial effects of the above technical scheme are: the indoor place area with the personnel gathering quantity exceeding the threshold quantity is determined as the target monitoring area through a quantity threshold value comparison mode, and the existence condition of the target monitoring area can be rapidly and objectively determined; in addition, because there are different arrangements in indoor place, this leads to this indoor place only corresponding spatial region can allow the flight of unmanned aerial vehicle cloud platform, like this according to the position in this target monitoring area, the position of this unmanned aerial vehicle cloud platform departure point and this spatial region who allows the flight of unmanned aerial vehicle cloud platform, confirms this shortest path, can guarantee that the unmanned aerial vehicle cloud platform can fly fast and safely and reach the position in this target monitoring area.
Preferably, in this step S3, the instructing the unmanned aerial vehicle pan-tilt head to move to the top of the target monitoring area along the shortest path, and performing security alarm operation on the target monitoring area specifically includes:
step S301, indicating the unmanned aerial vehicle holder to move along the shortest path, and acquiring flight obstacle distribution state information of the unmanned aerial vehicle holder in the moving process;
step S302, according to the flight obstacle distribution state information, adjusting the flight height and/or flight attitude of the unmanned aerial vehicle holder in the movement process, so that the unmanned aerial vehicle holder moves to the position above the target monitoring area;
and step S303, after the unmanned aerial vehicle holder moves to the upper part of the target monitoring area, indicating the unmanned aerial vehicle to move to perform security alarm operation in a voice broadcast mode.
The beneficial effects of the above technical scheme are: through according to this flight obstacle distribution state information, adjust the flying height and/or the flight gesture of this unmanned aerial vehicle cloud platform in the motion process, can guarantee this unmanned aerial vehicle cloud platform and in time avoid the obstacle at the flight in-process, thereby improve the flight security of unmanned aerial vehicle cloud platform, and after this unmanned aerial vehicle cloud platform moved to this target monitoring area's top, instruct this unmanned aerial vehicle motion to carry out the security protection alarm operation of voice broadcast form, can in time dredge the gathering personnel in target monitoring area, thereby avoid taking place the incident.
Preferably, in step S302, according to the flight obstacle distribution status information, the flying height and/or flying attitude of the unmanned aerial vehicle cradle head during the moving process is adjusted, so that the moving of the unmanned aerial vehicle cradle head to the upper side of the target monitoring area specifically includes:
firstly, the flying height of the unmanned aerial vehicle holder in the moving process is obtained according to the distribution state of the flying barrier by using the following formula (1),
in the above formula (1), FaThe flying height of the unmanned aerial vehicle holder moving to the a-th position of the target monitoring area in the moving process is shown, Da+lThe shortest path value of the a + l position of the target monitoring area is shown, and D is obtained if the a + l position of the target monitoring area is the position in the shortest patha+l1, if the a + l th position of the target monitoring area is not the position in the shortest path, Da+l＝0，Ha+lThe maximum height value of the flight obstacle in the a + l position of the target monitoring area in the distribution state of the flight obstacle is represented, and H is higher if the flight obstacle is not in the a + l position of the target monitoring areaa+l0, L represents the width of the unmanned aerial vehicle holder,
the value representing L is taken from 0 to the maximum value in L brackets;
secondly, obtaining the flight attitude angle of the unmanned aerial vehicle holder in the motion process according to the flight height of the unmanned aerial vehicle holder in the motion process by using the following formula (2),
in the above formula (2), θaRepresenting the flight attitude angle of the unmanned aerial vehicle holder moving to the a-th position of the target monitoring area in the moving process, S representing the interval length of the sub-area in the target monitoring area, FaThe flying height of the unmanned aerial vehicle holder moving to the a-th position of the target monitoring area in the moving process is represented as Fa+lRepresenting the flying height of the unmanned aerial vehicle cloud deck when the unmanned aerial vehicle cloud deck moves to the a + l th position of the target monitoring area in the moving process;
thirdly, obtaining the ascending speed of the unmanned aerial vehicle holder in the motion process according to the flight attitude angle of the unmanned aerial vehicle holder in the motion process and the advancing speed of the unmanned aerial vehicle holder in the motion process by using the following formula (3),
in the above formula (3), VaThe rising speed V of the unmanned aerial vehicle cradle head moving to the a-th position of the target monitoring area in the moving process is shown0Representing the advancing speed of the unmanned aerial vehicle cloud deck in the motion process;
finally, according to the ascending speed of the unmanned aerial vehicle cloud platform in the motion process, the unmanned aerial vehicle cloud platform can be guaranteed to keep the same advancing speed constantly to advance, and the stability of the unmanned aerial vehicle cloud platform is guaranteed.
The beneficial effects of the above technical scheme are: the flying height of the unmanned aerial vehicle holder in the moving process is obtained according to the distribution state of the flying obstacles by using the formula (1), so that the unmanned aerial vehicle holder is ensured not to touch the obstacles in the moving process; then, the formula (2) is utilized to obtain the flight attitude angle of the unmanned aerial vehicle holder in the motion process according to the flight height of the unmanned aerial vehicle holder in the motion process, so that the flight attitude angle of the unmanned aerial vehicle holder is controlled, and the unmanned aerial vehicle holder can reach the corresponding flight height; and finally, obtaining the ascending speed of the unmanned aerial vehicle holder in the motion process according to the flight attitude angle of the unmanned aerial vehicle holder in the motion process and the advancing speed of the unmanned aerial vehicle holder in the motion process by using a formula (3), so that the unmanned aerial vehicle holder can be ensured to keep the same advancing speed to advance all the time, the work efficiency of the system is improved, and the stability of the unmanned aerial vehicle holder is ensured.
Fig. 2 is a schematic structural diagram of an indoor security system based on pan-tilt monitoring according to an embodiment of the present invention. The indoor security system based on the tripod head monitoring comprises an indoor place shooting module, an indoor place image processing module, an unmanned aerial vehicle tripod head motion path determining module and an unmanned aerial vehicle tripod head security alarm module; wherein the content of the first and second substances,
the indoor place shooting module is used for shooting an indoor place so as to obtain an indoor place image about the indoor place;
the indoor place image processing module is used for analyzing and processing the indoor place image so as to determine personnel gathering state information of different areas of the indoor place;
the unmanned aerial vehicle cloud platform movement path determining module is used for determining corresponding target monitoring areas from different areas of the indoor place according to the personnel gathering state information and also determining the shortest path between the target monitoring areas and the starting position of the unmanned aerial vehicle cloud platform;
the unmanned aerial vehicle cloud platform security alarm module is used for indicating the unmanned aerial vehicle cloud platform to move to the top of the target monitoring area along the shortest path, and performing security alarm operation on the target monitoring area.
The beneficial effects of the above technical scheme are: the indoor security system based on the holder monitoring analyzes and processes the images of the indoor places obtained through shooting, so that the personnel gathering states of different areas of the indoor places are determined, the target monitoring area with abnormal personnel gathering in the indoor places is determined according to the personnel gathering states, and the shortest path between the target monitoring area and the starting position of the unmanned aerial vehicle holder is determined according to the shortest path, so that the unmanned aerial vehicle holder is instructed to move to the upper part of the target monitoring area along the shortest path and perform corresponding security alarm operation, the areas with abnormal personnel gathering can be purposefully and timely defibered according to the actual personnel gathering conditions of the indoor places, and the situation that personnel are excessively gathered is avoided to the greatest extent, and the monitoring safety of the indoor places is improved.
Preferably, the capturing an indoor location by the indoor location capturing module to obtain an indoor location image of the indoor location specifically includes:
scanning and shooting the indoor place to obtain a panoramic indoor place image of the indoor place;
and the number of the first and second groups,
the indoor place image processing module analyzes and processes the indoor place image, so as to determine the personnel gathering state information of different areas of the indoor place, and specifically comprises the following steps:
carrying out background noise reduction filtering processing and pixel graying conversion processing on the panoramic indoor place image so as to obtain a grayed panoramic indoor place image;
then, carrying out face contour recognition processing on the grayed panoramic indoor place image so as to determine the personnel number information and personnel distribution information existing in the indoor place;
and finally, determining the respective corresponding personnel gathering number of different areas of the indoor place according to the personnel number information and the personnel distribution information, and taking the determined personnel gathering number as the personnel gathering state information.
The beneficial effects of the above technical scheme are: by scanning and shooting the indoor place, the panoramic image of the indoor place can be comprehensively obtained, so that the personnel quantity information and the personnel distribution information of the indoor place can be accurately analyzed and obtained, the personnel gathering quantity of different areas in the indoor place can be rapidly determined, and reliable basis is provided for the follow-up judgment of whether the abnormal condition of the personnel gathering exists in the different areas.
Preferably, the unmanned aerial vehicle pan-tilt movement path determining module determines, according to the staff aggregation state information, a corresponding target monitoring area from different areas of the indoor location, and further determines a shortest path between the target monitoring area and a starting position of the unmanned aerial vehicle pan-tilt, specifically including:
comparing the respective corresponding personnel gathering number of different areas of the indoor place with a preset gathering number threshold, and determining the corresponding indoor place area as a target monitoring area when the personnel gathering number exceeds the preset gathering number threshold;
determining the position of the target monitoring area in the indoor place and the position of the starting point of the unmanned aerial vehicle holder in the indoor place, and simultaneously determining a space area allowing the unmanned aerial vehicle holder to fly in the indoor place;
and determining the shortest path corresponding to the position of the unmanned aerial vehicle holder moving from the position of the unmanned aerial vehicle holder starting point to the position of the target monitoring area according to the position of the target monitoring area, the position of the unmanned aerial vehicle holder starting point and the space area allowing the unmanned aerial vehicle holder to fly.
The beneficial effects of the above technical scheme are: the indoor place area with the personnel gathering quantity exceeding the threshold quantity is determined as the target monitoring area through a quantity threshold value comparison mode, and the existence condition of the target monitoring area can be rapidly and objectively determined; in addition, because there are different arrangements in indoor place, this leads to this indoor place only corresponding spatial region can allow the flight of unmanned aerial vehicle cloud platform, like this according to the position in this target monitoring area, the position of this unmanned aerial vehicle cloud platform departure point and this spatial region who allows the flight of unmanned aerial vehicle cloud platform, confirms this shortest path, can guarantee that the unmanned aerial vehicle cloud platform can fly fast and safely and reach the position in this target monitoring area.
Preferably, this unmanned aerial vehicle cloud platform security protection alarm module instructs this unmanned aerial vehicle cloud platform to move to this target monitoring area's top along this shortest path to carry out security protection alarm operation to this target monitoring area and specifically include:
indicating the unmanned aerial vehicle cloud deck to move along the shortest path, and acquiring flight obstacle distribution state information of the unmanned aerial vehicle cloud deck in the moving process;
adjusting the flying height and/or flying attitude of the unmanned aerial vehicle holder in the moving process according to the flying barrier distribution state information so as to enable the unmanned aerial vehicle holder to move above the target monitoring area;
after this unmanned aerial vehicle cloud platform moved to this target monitoring area's top, instruct this unmanned aerial vehicle motion to carry out the security protection alarm operation of voice broadcast form.
The beneficial effects of the above technical scheme are: through according to this flight obstacle distribution state information, adjust the flying height and/or the flight gesture of this unmanned aerial vehicle cloud platform in the motion process, can guarantee this unmanned aerial vehicle cloud platform and in time avoid the obstacle at the flight in-process, thereby improve the flight security of unmanned aerial vehicle cloud platform, and after this unmanned aerial vehicle cloud platform moved to this target monitoring area's top, instruct this unmanned aerial vehicle motion to carry out the security protection alarm operation of voice broadcast form, can in time dredge the gathering personnel in target monitoring area, thereby avoid taking place the incident.
As can be seen from the content of the above embodiment, the indoor security method and system based on pan-tilt monitoring obtain an indoor location image related to an indoor location by photographing the indoor location, analyze and process the indoor location image, determine staff aggregation state information of different areas of the indoor location, determine a corresponding target monitoring area from the different areas of the indoor location according to the staff aggregation state information, determine a shortest path between the target monitoring area and a starting position of an unmanned aerial vehicle pan-tilt head, instruct the unmanned aerial vehicle pan-tilt head to move to a position above the target monitoring area along the shortest path, and perform adaptive security alarm operation on the target monitoring area; therefore, the indoor security method and the system based on the holder monitoring determine the personnel gathering states of different areas of the indoor place by analyzing and processing the shot indoor place images, determine the target monitoring area with abnormal personnel gathering in the indoor place according to the personnel gathering states, and determine the shortest path between the target monitoring area and the starting position of the unmanned aerial vehicle holder so as to instruct the unmanned aerial vehicle holder to move to the position above the target monitoring area along the shortest path and perform corresponding security alarm operation.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (9)
1. An indoor security method based on holder monitoring is characterized by comprising the following steps:
step S1, shooting indoor places to obtain indoor place images of the indoor places, and analyzing the indoor place images to determine people gathering state information of different areas of the indoor places;
step S2, according to the personnel gathering state information, determining corresponding target monitoring areas from different areas of the indoor places, and also determining the shortest path between the target monitoring areas and the starting position of the unmanned aerial vehicle holder;
and step S3, indicating the unmanned aerial vehicle holder to move to the position above the target monitoring area along the shortest path, and performing security alarm operation on the target monitoring area.
2. An indoor security method based on holder monitoring according to claim 1, characterized in that:
in step S1, the step of capturing an indoor location to obtain an indoor location image of the indoor location, and performing analysis processing on the indoor location image to determine the people gathering state information of different areas of the indoor location specifically includes:
step S101, scanning and shooting the indoor places to obtain panoramic indoor place images of the indoor places, and performing background noise reduction filtering processing and pixel graying conversion processing on the panoramic indoor place images to obtain grayed panoramic indoor place images;
step S102, carrying out face contour recognition processing on the grayed panoramic indoor place image so as to determine personnel number information and personnel distribution information existing in the indoor place;
step S103, determining the respective corresponding personnel gathering number of different areas of the indoor place according to the personnel number information and the personnel distribution information, and taking the determined personnel gathering number as the personnel gathering state information.
3. An indoor security method based on holder monitoring according to claim 2, characterized in that:
in step S2, according to the staff aggregation state information, determining a corresponding target monitoring area from different areas of the indoor location, and further determining a shortest path between the target monitoring area and a starting position of the unmanned aerial vehicle pan-tilt specifically includes:
step S201, comparing the respective corresponding personnel gathering number of different areas of the indoor place with a preset gathering number threshold, and determining the corresponding indoor place area as a target monitoring area when the personnel gathering number exceeds the preset gathering number threshold;
step S202, determining the position of the target monitoring area in the indoor place and the position of the starting point of the unmanned aerial vehicle holder in the indoor place, and simultaneously determining a space area allowing the unmanned aerial vehicle holder to fly in the indoor place;
step S203, determining a shortest path corresponding to the position of the unmanned aerial vehicle holder moving from the position of the unmanned aerial vehicle holder starting point to the position of the target monitoring area according to the position of the target monitoring area, the position of the unmanned aerial vehicle holder starting point and the space area allowing the unmanned aerial vehicle holder to fly.
4. An indoor security method based on holder monitoring according to claim 3, characterized in that:
in step S3, instructing the unmanned aerial vehicle pan-tilt head to move to the top of the target monitoring area along the shortest path, and performing security alarm operation on the target monitoring area specifically includes:
step S301, indicating the unmanned aerial vehicle holder to move along the shortest path, and acquiring flight obstacle distribution state information of the unmanned aerial vehicle holder in the moving process;
step S302, according to the flight obstacle distribution state information, adjusting the flight height and/or the flight attitude of the unmanned aerial vehicle holder in the movement process, so that the unmanned aerial vehicle holder moves to the position above the target monitoring area;
and S303, after the unmanned aerial vehicle holder moves to the upper part of the target monitoring area, indicating the unmanned aerial vehicle to move to perform security alarm operation in a voice broadcast mode.
5. An indoor security method based on holder monitoring according to claim 4, characterized in that:
in step S302, according to the flight obstacle distribution status information, adjusting a flying height and/or a flying attitude of the unmanned aerial vehicle cradle head during a moving process, so that moving the unmanned aerial vehicle cradle head above the target monitoring area specifically includes:
firstly, obtaining the flying height of the unmanned aerial vehicle holder in the moving process according to the distribution state of the flying barriers by using the following formula (1),
in the above formula (1), FaRepresenting the flying height of the unmanned aerial vehicle holder when moving to the a-th position of the target monitoring area in the moving process, Da+lRepresenting the shortest path value of the a + l position of the target monitoring area, and if the a + l position of the target monitoring area is the position in the shortest path, Da+l1, if the a + l th position of the target monitoring area is not the position in the shortest path, then Da+l＝0，Ha+lRepresenting the highest height value of the flight obstacles in the a + l position of the target monitoring area in the distribution state of the flight obstacles, and H if the flight obstacles are not arranged in the a + l position of the target monitoring areaa+l0, L represents the width of the unmanned aerial vehicle holder,
the value representing L is taken from 0 to the maximum value in L brackets;
secondly, obtaining the flight attitude angle of the unmanned aerial vehicle holder in the motion process according to the flight height of the unmanned aerial vehicle holder in the motion process by using the following formula (2),
in the above formula (2), θaRepresenting the flight attitude angle of the unmanned aerial vehicle holder moving to the a-th position of the target monitoring area in the moving process, S representing the interval length of the sub-area in the target monitoring area, FaRepresenting the flying height of the unmanned aerial vehicle cradle head when moving to the a-th position of the target monitoring area in the moving process, Fa+lRepresenting the flying height of the unmanned aerial vehicle cloud deck when the unmanned aerial vehicle cloud deck moves to the (a + l) th position of the target monitoring area in the moving process;
thirdly, obtaining the ascending speed of the unmanned aerial vehicle holder in the motion process according to the flight attitude angle of the unmanned aerial vehicle holder in the motion process and the advancing speed of the unmanned aerial vehicle holder in the motion process by using the following formula (3),
in the above formula (3), VaRepresenting the rising speed V of the unmanned aerial vehicle cradle head when the unmanned aerial vehicle cradle head moves to the a-th position of the target monitoring area in the moving process0Representing the advancing speed of the unmanned aerial vehicle cloud deck in the motion process;
and finally, controlling the ascending speed of the unmanned aerial vehicle cloud platform in the motion process according to the process, thereby ensuring that the unmanned aerial vehicle cloud platform can keep the same advancing speed all the time to advance, and ensuring the stability of the unmanned aerial vehicle cloud platform.
6. The indoor security system based on the tripod head monitoring is characterized by comprising an indoor place shooting module, an indoor place image processing module, an unmanned aerial vehicle tripod head motion path determining module and an unmanned aerial vehicle tripod head security alarm module; wherein the content of the first and second substances,
the indoor place shooting module is used for shooting an indoor place so as to obtain an indoor place image about the indoor place;
the indoor place image processing module is used for analyzing and processing the indoor place image so as to determine personnel gathering state information of different areas of the indoor place;
the unmanned aerial vehicle holder motion path determining module is used for determining corresponding target monitoring areas from different areas of the indoor place according to the personnel gathering state information and also determining a shortest path between the target monitoring areas and the starting position of the unmanned aerial vehicle holder;
the unmanned aerial vehicle cloud platform security alarm module is used for indicating the unmanned aerial vehicle cloud platform to move to the top of the target monitoring area along the shortest path, and carrying out security alarm operation on the target monitoring area.
7. An indoor security system based on holder monitoring according to claim 6, wherein:
the indoor location photographing module photographs an indoor location, and thereby obtaining an indoor location image about the indoor location specifically includes:
scanning and shooting the indoor places to obtain panoramic indoor place images of the indoor places;
and the number of the first and second groups,
the indoor place image processing module analyzes and processes the indoor place image, so as to determine the people gathering state information of different areas of the indoor place, specifically comprising:
carrying out background noise reduction filtering processing and pixel graying conversion processing on the panoramic indoor site image so as to obtain a grayed panoramic indoor site image;
then, carrying out face contour recognition processing on the grayed panoramic indoor place image so as to determine the personnel number information and the personnel distribution information existing in the indoor place;
and finally, determining the respective corresponding personnel gathering number of different areas of the indoor place according to the personnel number information and the personnel distribution information, and taking the determined personnel gathering number as the personnel gathering state information.
8. An indoor security system based on holder monitoring according to claim 7, wherein:
the unmanned aerial vehicle pan-tilt movement path determining module determines corresponding target monitoring areas from different areas of the indoor place according to the personnel gathering state information, and further determines a shortest path between the target monitoring area and an unmanned aerial vehicle pan-tilt starting position, wherein the shortest path specifically includes:
comparing the respective corresponding personnel gathering number of different areas of the indoor place with a preset gathering number threshold, and determining the corresponding indoor place area as a target monitoring area when the personnel gathering number exceeds the preset gathering number threshold;
determining the position of the target monitoring area in the indoor place and the position of the starting point of the unmanned aerial vehicle holder in the indoor place, and simultaneously determining a space area allowing the unmanned aerial vehicle holder to fly in the indoor place;
and determining the shortest path corresponding to the position of the unmanned aerial vehicle holder moving from the position of the unmanned aerial vehicle holder starting point to the position of the target monitoring area according to the position of the target monitoring area, the position of the unmanned aerial vehicle holder starting point and the space area allowing the unmanned aerial vehicle holder to fly.
9. An indoor security system based on holder monitoring according to claim 8, wherein:
the security alarm module of the unmanned aerial vehicle holder indicates that the unmanned aerial vehicle holder moves to the top of the target monitoring area along the shortest path, and the security alarm operation of the target monitoring area specifically comprises the following steps:
indicating the unmanned aerial vehicle cloud deck to move along the shortest path, and acquiring flight obstacle distribution state information of the unmanned aerial vehicle cloud deck in the moving process;
adjusting the flying height and/or flying attitude of the unmanned aerial vehicle holder in the moving process according to the flying barrier distribution state information so as to enable the unmanned aerial vehicle holder to move above the target monitoring area;
and when the unmanned aerial vehicle holder moves to the position above the target monitoring area, indicating the unmanned aerial vehicle to move to perform security alarm operation in a voice broadcast mode.
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