CN113691774A - Movable monitoring equipment, platform, system and method - Google Patents
Movable monitoring equipment, platform, system and method Download PDFInfo
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- CN113691774A CN113691774A CN202110882674.9A CN202110882674A CN113691774A CN 113691774 A CN113691774 A CN 113691774A CN 202110882674 A CN202110882674 A CN 202110882674A CN 113691774 A CN113691774 A CN 113691774A
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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
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
Abstract
The invention discloses movable monitoring equipment, a platform, a system and a method, wherein the movable monitoring equipment comprises a fixedly installed monitoring parent body and at least one monitoring daughter body which can stop on the monitoring parent body and can move in a flying mode, the monitoring parent body is used for acquiring a monitoring task, at least one monitoring daughter body is scheduled to execute the monitoring task according to the monitoring task and state information of each monitoring daughter body, and the monitoring daughter body is used for flying to a first monitoring range carried in the monitoring task to shoot a monitoring image according to the scheduling of the monitoring parent body. The movable monitoring equipment has the advantages of flexible deployment and wide monitoring coverage range, and the movable monitoring system is deployed by matching each movable monitoring equipment with the monitoring platform, so that each monitoring equipment can work cooperatively, and large-scale and large-range monitoring tasks can be processed.
Description
Technical Field
The invention relates to the technical field of monitoring, in particular to movable monitoring equipment, a movable monitoring platform, a movable monitoring system and a movable monitoring method.
Background
With the continuous development of security technologies, the popularity of monitoring systems in indoor and outdoor places is higher and higher, and the monitoring systems are widely applied to the fields of security monitoring, traffic and the like in cities and among cities, and cover various infrastructures, such as streets, communities, hospitals, banks, highways, airports, railway stations and the like. Traditional monitoring equipment is installed in a fixed mode, for example, a camera is installed on a monitoring upright rod or a support of a building wall surface, and due to complexity of a real environment, dead angles or blind areas caused by shelters are often formed; or because the geographical location specificity does not allow the intensive monitoring upright rods and cameras to be installed, the blind monitoring area can be caused.
The patent application with the application number of 'CN201610682706. X' and the patent name of 'a movable monitoring vehicle' provides a movable monitoring vehicle, which comprises a vehicle body, a lifting mechanism and monitoring equipment, wherein the monitoring vehicle can be moved from one monitoring place to another monitoring place through a driving mechanism arranged on the vehicle body; and part of monitoring equipment can be lifted through the lifting equipment arranged on the vehicle body main body. Therefore, mobile monitoring is realized, and the sudden monitoring requirement is met. The monitoring system of the scheme has a certain moving function, but is required to run on a flat ground or plane, so that the monitoring coverage is limited, and the monitoring in a three-dimensional space still has blind areas and limitations. In addition, the monitoring vehicle is not fixed in position, independent of each other and has no ability of cooperation.
Disclosure of Invention
The embodiment of the invention aims to provide movable monitoring equipment, a platform, a system and a method, which have the advantages of flexible deployment, wide monitoring coverage range, cooperative work among the monitoring equipment and capability of processing large-scale and large-scale monitoring tasks.
In a first aspect, the embodiments of the present invention provide a mobile monitoring device, which includes a fixedly installed monitoring parent and at least one monitoring daughter that can be parked on the monitoring parent and can be moved in flight, wherein,
the monitoring parent is used for acquiring monitoring tasks and scheduling at least one monitoring daughter to execute the monitoring tasks according to the monitoring tasks and the state information of each monitoring daughter;
and the monitoring daughter is used for flying to a first monitoring range carried in the monitoring task to shoot a monitoring image according to the scheduling of the monitoring mother body.
Optionally, the monitoring parent includes at least one charging interface, and the charging interface is used for charging when the monitoring parent docks with the monitoring child.
Optionally, the monitoring task further carries monitoring target information, the monitoring parent is further configured to identify a monitoring target in the monitoring image according to the monitoring target information, and if the identification is successful, the monitoring child is notified to perform tracking monitoring.
Optionally, the monitoring parent is further configured to obtain a periodic monitoring plan, and generate a monitoring task according to a first monitoring range, a monitoring period, a monitoring start time, a monitoring end time, and a monitoring duration included in the periodic monitoring plan.
Optionally, the monitoring parent is further configured to formulate a flight plan according to the monitoring task, where the flight plan includes a flight path;
the monitoring daughter is further used for shooting a monitoring image when the monitoring daughter flies to the first monitoring range according to the dispatching of the monitoring mother body and the flight path.
In a second aspect, an embodiment of the present invention provides a monitoring method, where the method is applied to any one of the monitoring devices described above, and includes:
the monitoring parent acquires a monitoring task, and at least one monitoring daughter is scheduled to execute the monitoring task according to the monitoring task and the state information of each monitoring daughter;
and the monitoring daughter flies to a first monitoring range carried in the monitoring task according to the scheduling of the monitoring mother body to shoot a monitoring image.
Optionally, the monitoring task carries monitoring target information, and the method further includes:
and the monitoring parent identifies a monitoring target in the monitoring image according to the monitoring target information, and if the identification is successful, the monitoring child is informed to execute tracking monitoring.
Optionally, the method further comprises:
the monitoring parent acquires a periodic monitoring plan, and generates a monitoring task according to a first monitoring range, a monitoring period, a monitoring start time, a monitoring end time and a monitoring duration which are included in the periodic monitoring plan.
Optionally, the method further comprises:
the monitoring parent body formulates a flight plan according to the monitoring task, and the flight plan comprises a flight path;
and the monitoring daughter flies to the first monitoring range according to the scheduling of the monitoring mother body and shoots a monitoring image according to the flight path.
In a third aspect, an embodiment of the present invention provides a monitoring method, where the method is applied to a monitoring platform, and includes:
acquiring a monitoring request, determining a second monitoring range according to the monitoring request, generating at least one monitoring task according to the second monitoring range and the monitoring coverage range of each monitoring device, and determining at least one monitoring device executing the at least one monitoring task;
and sending the at least one monitoring task to monitoring equipment executing the monitoring task, wherein the monitoring task carries a first monitoring range, and the first monitoring range is contained in the second monitoring range.
Optionally, the monitoring request further carries monitoring target information, and the monitoring task includes the monitoring target information.
Optionally, the method further comprises:
the method comprises the steps of generating a periodic monitoring plan, determining monitoring equipment for executing the periodic monitoring plan, and sending the periodic monitoring plan to the monitoring equipment, wherein the periodic monitoring plan comprises a first monitoring range, a monitoring period, a monitoring starting time, a monitoring ending time and a monitoring duration.
In a fourth aspect, an embodiment of the present invention provides a monitoring platform, including:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform any of the monitoring methods described above as applied to a monitoring platform.
In a fifth aspect, an embodiment of the present invention provides a mobile monitoring system, including the above monitoring platform and at least one monitoring device described in any one of the above, where the monitoring platform and each monitoring device in the at least one monitoring device respectively establish a communication connection.
In a sixth aspect, embodiments of the present invention provide a computer-readable storage medium storing computer-executable instructions that, when executed by one or more processors, cause the one or more processors to perform any one of the methods described above.
The embodiment of the invention has the beneficial effects that: different from the situation of the prior art, the movable monitoring device provided by the embodiment of the invention comprises a fixedly installed monitoring parent and at least one monitoring daughter which can be parked on the monitoring parent and can move in a flying manner, wherein the monitoring parent is used for acquiring a monitoring task, and at least one monitoring daughter is scheduled to execute the monitoring task according to the monitoring task and the state information of each monitoring daughter; the monitoring daughter is used for flying to a first monitoring range carried in the monitoring task to shoot a monitoring image according to the scheduling of the monitoring parent, and sending the monitoring image to the monitoring parent. The movable monitoring equipment has the advantages of flexible deployment and wide monitoring coverage range, and the movable monitoring system is deployed by matching each movable monitoring equipment with the monitoring platform, so that each monitoring equipment can work cooperatively, and large-scale and large-range monitoring tasks can be processed.
Drawings
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
Fig. 1 is a schematic structural diagram of a mobile monitoring device according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a monitoring parent of a mobile monitoring device according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a monitoring sub-body of a mobile monitoring device according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a mobile monitoring system according to an embodiment of the present invention;
fig. 5 is a flowchart of a monitoring method applied to a monitoring platform according to an embodiment of the present invention;
fig. 6 is a flowchart of a monitoring method applied to a monitoring device according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a monitoring platform according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention. 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.
In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a mobile monitoring device according to an embodiment of the present invention, the monitoring device 100 includes a monitoring parent 110 and at least one monitoring child 120 capable of moving in flight, wherein the monitoring parent 110 is fixedly installed at a certain position and includes at least one charging interface, and the charging interface is used for charging when the monitoring child 120 is docked to the monitoring parent 110.
Specifically, the monitoring parent 110 may be a vertical type fixing pile structure installed on the ground, a parking bin is disposed at an upper end of the fixing pile and used for parking each monitoring child 120, a plurality of parking bins are disposed in the bin body, and each parking bin is provided with a charging interface and used for automatically charging the monitoring child 120 when the monitoring child parks in the parking bin of the monitoring parent 110. Preferably, the mooring caddy has an enclosed space and a hatch that is wind, sun, rain, and water resistant. When the monitoring daughter 120 is detached, the monitoring mother body 110 controls the hatch to be opened for the monitoring daughter 120 to fly away; when the monitoring daughter 120 returns, the monitoring mother 110 controls the hatch to open for the monitoring daughter 120 to fly in; when the monitoring daughter 120 flies off or in, the monitoring mother 110 controls the hatch to be closed.
Since the monitoring parent 110 is fixedly installed and there is an upper limit to the flight range of each monitoring daughter 120, the monitorable range of each monitoring device 100 is determinable. Alternatively, the monitoring coverage of the monitoring parent 110 may be preset, and each monitoring child may be controlled to fly only within the monitoring coverage.
Referring to fig. 2, fig. 2 is a schematic structural diagram of a monitoring parent of a mobile monitoring device according to an embodiment of the present invention. The monitoring parent 110 includes a first communication module 1101, a first charging module 1102, a sub-body berthing bin 1103, and a first processing module 1104.
The first processing module 1104 is configured to obtain a monitoring task, and schedule at least one monitoring sub-body 120 to execute the monitoring task according to the monitoring task and the status information of each monitoring sub-body 120. The status information of the monitoring sub-body 120 includes whether the monitoring sub-body 120 is idle, remaining power, and the like. The performance of each monitoring sub-body 120 under the same monitoring device may be different, and the performance includes flight speed, flight altitude, camera definition, sensitivity, and the like. The monitoring parent 110 is further configured to schedule the monitoring daughter 120 according to the performance of each monitoring daughter 120 and the monitoring information carried in the monitoring task when the monitoring daughter 120 is scheduled to execute the monitoring task.
The monitoring task may be obtained from an external system (e.g., a monitoring platform), or may be generated by the monitoring host 110. The monitoring task carries the first monitoring range and other monitoring information, for example, the monitoring task further includes a monitoring type, and the monitoring type may include tracking a monitoring target, performing routine monitoring, finding a target, and the like. Different other monitoring information can be contained in the monitoring task for different monitoring types. The first processing module 1104 determines the monitoring sub-body 120 executing the monitoring task according to various monitoring information in the monitoring task. It should be noted that the first monitoring range may be a determined location point or a determined location range. Further, the first processing module 1104 can be further configured to schedule the monitoring sub-body 120 to execute the monitoring task; for example, when an abnormal condition occurs in the monitoring daughter 120 that is executing the monitoring task, the abnormal condition includes insufficient power, hardware failure, and performance mismatch (e.g., insufficient flying height, obstacle), the abnormal condition is reported to the monitoring mother 110, and the first processing module 1104 schedules other monitoring daughter to assist in executing the task.
The first processing module 1104 is further configured to identify a monitoring target in a monitoring image according to the monitoring target information, and if the identification is successful, notify the monitoring daughter to perform tracking monitoring. The monitoring target information may be characteristic information of a monitoring target, for example, if the monitoring target is an automobile, the monitoring target information may include a license plate number, a color of the automobile, a model of the automobile, and the like. When the first processing module 1104 identifies a monitoring target (car) to be monitored in the monitoring image according to the monitoring target information such as the license plate number, the car color, the car model, and the like, the monitoring target is notified to the monitoring daughter 120 at the position where the monitoring target is located, and the monitoring daughter 120 is controlled to perform tracking monitoring on the monitoring target. Meanwhile, the first processing module 1104 sends alarm information to the external system, prompts the external system to find the monitored target, and sends the real-time monitoring image of the monitored target to the external system according to the request of the external system. It should be noted that the monitoring parent 110 may also send monitoring target information to the monitoring daughter 120, and the monitoring daughter 120 identifies the monitoring target in the monitoring image according to the target monitoring information, and if the identification is successful, reports a message of successful identification to the monitoring parent 110 or an external system (such as a monitoring platform), and performs tracking monitoring; further optionally, after receiving the message that the identification is successful, the monitoring parent 110 schedules other monitoring children 120 according to the current position of the target for cooperative monitoring, or schedules other monitoring children 120 according to a position predicted in the future of the target for cooperative monitoring, so that the target can be shot from multiple angles, or the target tracking loss is prevented.
For the monitoring type of routine monitoring, the first processing module 1104 is further configured to obtain a periodic monitoring plan from an external system, and generate a monitoring task according to a first monitoring range, a monitoring period, a monitoring start time, a monitoring end time, and a monitoring duration included in the periodic monitoring plan, where the monitoring task includes information of the first monitoring range, the monitoring period, the monitoring start time, the monitoring end time, the monitoring duration, and the like. For example, the ecosystem of a certain area is regularly monitored. The living things in the area a are frequently active only during the daytime, while the living things in the area B are frequently active only during the night time. The external system sends a periodic monitoring plan a to the monitoring equipment deployed in the area A and sends a periodic monitoring plan B to the monitoring equipment deployed in the area B. The monitoring start time of the periodic monitoring plan a is 6:00, the monitoring end time is 18:00, the monitoring period is 1 hour, the monitoring time is 15 minutes each time, and the first monitoring range can be the monitoring coverage range of the monitoring equipment deployed in the area a. The monitoring start time of the periodic monitoring plan B is 18:00, the monitoring end time is 6:00 in the next morning, the monitoring period is 2 hours, the monitoring time is 20 minutes each time, and the first monitoring range can be the monitoring coverage range of the monitoring equipment deployed in the area B.
In some embodiments, the first processing module 1104 is further configured to, when the monitoring sub-body 120 is scheduled to execute the monitoring task, formulate a flight plan for each monitoring sub-body 120 executing the monitoring task according to various monitoring information carried in the monitoring task, where the flight plan includes a takeoff time and a flight path. When a plurality of monitoring sub-volumes 120 are required to work cooperatively, the flight plan may further include flight speed, flight altitude, and the like, so as to prevent collision of the monitoring sub-volumes 120 during flight.
In some embodiments, the first processing module 1104 is further configured to send a first monitoring range in the monitoring task to the monitoring sub-body 120 executing the task when the monitoring sub-body 120 is scheduled to execute the monitoring task, so that the monitoring sub-body 120 formulates the flight path according to the first monitoring range.
Optionally, the first processing module 1104 is further configured to control opening and closing of the hatch door of each sub-body mooring bin 1103, and send a corresponding control command to the monitoring sub-body when the monitoring sub-body performs the monitoring task.
A first communication module 1101, configured to communicate with each monitoring daughter 120, send a control signal to each monitoring daughter 120, receive a monitoring image transmitted by each monitoring daughter 120, and the like; and communicate with external systems (such as a monitoring platform), acquire monitoring tasks from the external systems, and alert the external systems, transmit monitoring data (e.g., monitoring images, including still images, i.e., pictures, and moving images, i.e., videos), and the like. Preferably, the first communication module 1101 is implemented by using a wireless communication technology, which includes mobile communication 4G, mobile communication 5G, NB-IoT (Narrow Band Internet of Things), WIFI, and the like.
The first charging module 1102 includes a charging interface disposed on the sub-body parking bin 1103, and is configured to provide charging for each monitoring sub-body 120.
The daughter berthing bin 1103 is used for providing a bin position for the monitoring daughter 120 berthed on the monitoring mother body 110, and the bin position has the functions of wind prevention, rain prevention, sun protection and water prevention.
Referring to fig. 3, fig. 3 is a schematic structural diagram of a monitoring sub-body of a mobile monitoring device according to an embodiment of the present invention. The monitoring daughter 120 includes a second communication module 1201, a second charging module 1202, a flyable fuselage 1203, a camera module 1204, and a second processing module 1205.
The second processing module 1205 is configured to fly to the first monitoring range carried in the monitoring task according to the scheduling of the monitoring parent 110 to shoot a monitoring image, and send the monitoring image to the monitoring parent 110 or to an external system (e.g., a monitoring platform) that generates the monitoring task, where the monitoring image may be a static image, that is, a picture, or a dynamic image, that is, a video.
Optionally, the second processing module 1205 is further configured to perform path planning according to the first monitoring range in the monitoring task, and provide a planned flight path for the flyable fuselage 1203. In addition, when the monitoring task is finished or the monitoring task is disconnected from the monitoring parent 110, the second processing module 1205 may also plan a flight path to fly back to the monitoring parent 110 according to the current position and the position of the monitoring parent 110.
Optionally, the second processing module 1205 is further configured to report the location information of the monitoring parent 110 to the monitoring parent periodically when the monitoring task is executed.
Optionally, the second processing module 1205 is further configured to identify a monitored target in the captured monitored image according to the target monitoring information, and if the monitored target is successfully identified, report a message that the identification is successful to the monitoring parent 110 or the monitoring platform, and perform tracking monitoring.
Optionally, the second processing module 1205 is further configured to report, when an abnormal condition occurs in the process of executing the monitoring task, the abnormal condition includes insufficient power, a hardware fault, and performance mismatch (for example, the flight height is insufficient, and an obstacle occurs), the abnormal condition to the monitoring parent 110, so that the monitoring parent 110 schedules other monitoring children 120 to assist and cooperate with the task execution.
The second communication module 1201 is used for communicating with the monitoring parent 110, and comprises receiving a control signal sent by the monitoring parent 110 and transmitting the shot monitoring image to the monitoring parent 110. The second communication module 1201 is matched with the first communication module 1101, and adopts the same communication technology as the first communication module 1101.
The second charging module 1202 includes a rechargeable battery for charging through the charging interface when docked at the sub-body docking bay 1103 of the monitoring parent 110.
The flyable fuselage 1203 is used for providing power for flying away from the monitoring parent body when the monitoring task is executed, and flying according to a flying path.
And a camera module 1204, configured to capture a monitoring image according to the control of the second processing module 1205 when executing the monitoring task. Preferably, the camera module 1204 comprises a high-definition camera.
The movable monitoring equipment provided by the embodiment of the invention has the advantages of flexible deployment and wide monitoring coverage, and each movable monitoring equipment is deployed into a movable monitoring system by matching with the monitoring platform, so that each monitoring equipment can work cooperatively, and large-scale monitoring tasks can be processed.
Referring to fig. 4, fig. 4 is a schematic structural diagram of a mobile monitoring system 400 according to an embodiment of the present invention, where the monitoring system 400 includes a monitoring platform 420 and at least one monitoring device 410 according to the above embodiment. Wherein, the monitoring platform 420 establishes communication connection with each monitoring device 410 respectively. The communication connection includes a wired communication connection and a wireless communication connection.
The monitoring platform 420 is configured to obtain a monitoring request, determine a second monitoring range according to the monitoring request, generate at least one monitoring task according to the second monitoring range and a monitoring coverage of each monitoring device 410, determine at least one monitoring device 410 that executes the at least one monitoring task, and send the at least one monitoring task to the monitoring device 410 that executes the monitoring task, where the monitoring task carries a first monitoring range, and the first monitoring range is included in the second monitoring range.
In one mode, the monitoring request includes a current target position, a start point and an end point of a target plan; the monitoring platform 420 calculates a second monitoring range based on the current position of the target, the start point and the end point of the target plan. For example, the target is a taxi in the net, the current position is at the A place, and the starting point and the ending point of the plan are at the B place and the C place respectively.
In another mode, the monitoring request includes a current position of the target, the monitoring platform 420 obtains a historical motion trajectory of the target from a sender of the monitoring request, and predicts a future motion trajectory of the target according to the current position of the target and the historical motion trajectory, so as to obtain a second monitoring range. For example, the target is a taxi in the net, the current position is at the D place, and the historical movement tracks respectively pass through E, F, G roads.
In a third manner, the monitoring request includes a current position of the target, optionally, a target type, and the monitoring platform 420 predicts a future movement trajectory of the target according to the current position of the target and the environmental information, optionally, further in combination with the target type, so as to obtain a second monitoring range. For example, the target is a falling object, the target type is a container, the target current position is K ground, and the environmental information to be combined is water speed and wind speed.
Specifically, the installation location of each monitoring device 410 and the monitoring coverage of each monitoring device 410 are stored in the monitoring platform 420, and then an appropriate monitoring device 410 is scheduled to execute a monitoring task in combination with the second monitoring coverage. In one example, when the second monitoring range is included in the monitoring coverage of a monitoring device 410, the monitoring platform 420 may schedule only one monitoring device 410 to complete the monitoring task, and in this case, the first monitoring range may be the same as the second monitoring range. When the second monitoring range is not included in the monitoring coverage range of any monitoring device, the monitoring platform 420 needs to schedule at least two monitoring devices to complete the monitoring task, at this time, the monitoring platform 420 divides the second monitoring range into a plurality of first monitoring ranges, generates one monitoring task based on each first monitoring range, and determines the monitoring device 410 that executes each monitoring task.
In some embodiments, the mobile monitoring system provided by the embodiments of the present invention may interface with various third party platforms to obtain monitoring requests from the third party platforms. The monitoring request may be of various types, such as tracking monitoring a target, routine monitoring of an area, monitoring of a particular object in an area, and so forth. According to different types of the monitoring requests, the monitoring platform 420 generates different monitoring tasks, for example, a monitoring request for tracking and monitoring a target, where the generated monitoring task includes monitoring target information and a first monitoring range; and for the monitoring request for performing rational monitoring on a certain area, the generated monitoring task comprises a first monitoring range and monitoring time information.
The operation principle of the mobile monitoring system is described below by taking the monitoring request of the third-party taxi platform as an example. Assuming that a third-party taxi platform monitors that an emergency abnormality occurs in a certain operating vehicle (for example, a driver does not drive along a normal route and has a bias driving behavior, or a passenger has a dangerous behavior and uses dangerous goods to coerce the driver), the passenger or the driver gives an alarm to the third-party taxi platform through an intelligent mobile terminal, and the third-party taxi platform initiates a monitoring request to a monitoring platform of a movable monitoring system and reports related information. For example, a request is made to perform tracking monitoring on a taxi with a car model XX, a license plate YY and a white color. The current position of the vehicle is A, the initial boarding point of the passenger is B, the boarding time is T, and the destination is C. The monitoring platform calculates according to the information reported by the third-party taxi platform, and determines a second monitoring range in which monitoring needs to be implemented, for example, the second monitoring range includes: the L1 major lane, the L2 major lane, and the L3 major lane. Further, according to the determined second monitoring range, monitoring devices, such as monitoring devices with numbers of SLDD1-6, XCDD1-8, XCDD1-5, TYL1-6 and the like, located in the second monitoring range are queried. And the monitoring platform screens out a plurality of idle monitoring devices which can cover a second monitoring range from the queried monitoring devices, respectively generates monitoring tasks for the monitoring devices, and sends the monitoring tasks to the monitoring devices executing the monitoring tasks. The monitoring task carries a first monitoring range and other monitoring information, for example, the first monitoring range is L1 avenue, and the monitoring target information is "automobile model: XX, license plate number: YY, vehicle color: white ". After receiving the monitoring task, the monitoring equipment determines a monitoring sub-body executing the monitoring task and formulates a flight path for the monitoring sub-body. The monitoring daughter executing the monitoring task flies to the L1 avenue according to the formulated flight path, starts shooting, and sends the shot monitoring image to the monitoring mother body, wherein the monitoring image can be a static image, namely a picture, or a dynamic image, namely a video. The monitoring parent carries out matching identification on the monitored target in the monitored image according to the information of the monitored target, if the identification is successful, a control instruction is sent to inform the monitoring child to carry out tracking monitoring, and alarm information can be sent to the monitoring platform to prompt the monitoring platform to find the monitored target; in another optional mode, the monitoring daughter matches and identifies the monitored target in the monitored image according to the monitored target information, if the identification is successful, tracking monitoring is executed, and optionally, alarm information can be sent to the monitoring platform to prompt the monitoring platform to find the monitored target. Further, the real-time monitoring image of the monitoring target can be sent to the monitoring platform according to the request of the monitoring platform. It can be understood that, when the monitoring daughter of the monitoring device a is tracking the monitoring target, the monitoring device a further sends the monitoring daughter or the location of the monitoring target to the monitoring platform in real time, so that when the monitoring target is separated from the monitoring range of the monitoring device a and enters the monitoring range of the monitoring device B, the monitoring platform schedules the monitoring device B to cooperatively track the target.
In some embodiments, the mobile monitoring system may also be used to perform periodic routine monitoring. A user prefabricates a plurality of periodic monitoring plans and monitoring equipment for executing the periodic monitoring plans through a monitoring platform, and sends each periodic monitoring plan to the corresponding monitoring equipment, wherein the periodic monitoring plans comprise a first monitoring range, a monitoring period, a monitoring starting time, a monitoring ending time and a monitoring duration. And the first monitoring range contained in each periodic monitoring plan is matched with the monitoring coverage range of the monitoring equipment executing the periodic monitoring plan. The movable monitoring equipment generates a monitoring task according to the periodic monitoring plan and dispatches a proper monitoring sub-body to execute the monitoring task.
The movable monitoring system provided by the embodiment of the invention can be in butt joint with various third-party platforms, and suitable monitoring equipment is scheduled to execute monitoring tasks according to monitoring requests sent by the third-party platforms. Each monitoring device executing the monitoring task has a mobile monitoring function, is flexible to deploy and wide in monitoring coverage range, can work cooperatively under the control of a monitoring platform, and can process various large-scale and large-range monitoring tasks.
Referring to fig. 5, fig. 5 is a flowchart of a monitoring method applied to a monitoring platform according to an embodiment of the present invention, where the method includes:
step S501, a monitoring request is obtained, a second monitoring range is determined according to the monitoring request, at least one monitoring task is generated according to the second monitoring range and the monitoring coverage range of each monitoring device, and at least one monitoring device executing the at least one monitoring task is determined.
And the monitoring task carries a first monitoring range, and the first monitoring range is contained in the second monitoring range. Specifically, the installation position of each monitoring device and the monitoring coverage range of each monitoring device are stored in the monitoring platform. When the second monitoring range is included in the monitoring coverage range of a certain monitoring device, the monitoring platform may schedule only one monitoring device to complete the monitoring task, and at this time, the first monitoring range may be the same as the second monitoring range. When the second monitoring range is not included in the monitoring coverage range of any monitoring device, the monitoring platform needs to schedule at least two monitoring devices to complete the monitoring tasks, at this time, the monitoring platform divides the second monitoring range into a plurality of first monitoring ranges, generates one monitoring task based on each first monitoring range, and determines the monitoring device executing each monitoring task.
In some embodiments, the monitoring platform may interface with various third party platforms, obtaining monitoring requests from the third party platforms. The monitoring request may be of various types, such as tracking monitoring a target, routine monitoring of an area, monitoring of a particular object in an area, and so forth. According to different types of the monitoring requests, the monitoring platform generates different monitoring tasks, for example, the monitoring requests for tracking and monitoring the targets, and the generated monitoring tasks include monitoring target information and a first monitoring range; and for the monitoring request for performing rational monitoring on a certain area, the generated monitoring task comprises a first monitoring range and monitoring time information.
In some embodiments, a monitoring platform generates a plurality of periodic monitoring plans and determines monitoring devices executing the periodic monitoring plans, and sends each periodic monitoring plan to a corresponding monitoring device, where the periodic monitoring plans include a first monitoring range, a monitoring period, a monitoring start time, a monitoring end time, and a monitoring duration. And the first monitoring range contained in each periodic monitoring plan is matched with the monitoring coverage range of the monitoring equipment executing the periodic monitoring plan. The movable monitoring equipment generates a monitoring task according to the periodic monitoring plan and dispatches a proper monitoring sub-body to execute the monitoring task.
Step S502, sending the at least one monitoring task to a monitoring device executing the monitoring task.
Referring to fig. 6, fig. 6 is a flowchart of a monitoring method applied to a monitoring device according to an embodiment of the present invention, where the monitoring device is the monitoring device according to the embodiment of the present invention, and the method includes:
step S601, the monitoring parent acquires a monitoring task, and at least one monitoring daughter is scheduled to execute the monitoring task according to the monitoring task and the state information of each monitoring daughter.
Specifically, the monitoring parent of the monitoring device may obtain the monitoring task from the monitoring platform, or may generate the monitoring task by itself. The monitoring task comprises a first monitoring range and other monitoring information. And the monitoring parent dispatches at least one monitoring daughter to execute the monitoring task according to the monitoring information carried in the monitoring task and the state information of each monitoring daughter, such as whether the monitoring daughter is idle or not, the residual electric quantity and the like.
In some embodiments, the monitoring parent makes a flight plan for each monitoring daughter executing the monitoring task according to various monitoring information carried in the monitoring task, and the flight plan includes a takeoff time and a flight path. When a plurality of monitoring sub-bodies are required to work cooperatively, the flight plan can further comprise the flight speed, the flight height and the like so as to prevent collision of the monitoring sub-bodies in flight.
In other embodiments, when the monitoring daughter schedules the monitoring daughter to execute the monitoring task, the monitoring mother is further configured to send a first monitoring range in the monitoring task to the monitoring daughter executing the task, so that the monitoring daughter formulates a flight path according to the first monitoring range.
And step S602, the monitoring daughter flies to a first monitoring range carried in the monitoring task according to the scheduling of the monitoring mother body to shoot a monitoring image. The monitoring image may be a static image, i.e., a picture, or a dynamic image, i.e., a video.
Optionally, the monitoring daughter flies to the first monitoring range according to the scheduling of the monitoring parent to shoot a monitoring image according to the flight path, and sends the monitoring image to the monitoring parent or an external system (e.g., a monitoring platform) generating a monitoring task. The flight path can be established by a monitoring parent body and can also be established by the monitoring child body.
In some embodiments, the monitoring task carries monitoring target information, and the method further includes: and after receiving the monitoring image transmitted by the monitoring daughter, the monitoring parent identifies a monitoring target in the monitoring image according to the monitoring target information, and if the identification is successful, the monitoring parent informs the monitoring daughter to execute tracking monitoring. Alarm information can be sent to the monitoring platform to prompt the monitoring platform to find a monitoring target.
In another embodiment, the monitoring task carries monitoring target information, and the method further includes: the monitoring daughter matches and identifies the monitored target in the monitored image according to the monitored target information, if the identification is successful, tracking monitoring is executed, optionally, alarm information can be sent to the monitoring platform, and the monitoring platform is prompted to find the monitored target.
In another embodiment, when an abnormal condition occurs in the monitoring daughter which is executing the monitoring task, the abnormal condition includes insufficient power, hardware fault, and performance mismatch (for example, insufficient flight height, obstacle occurs), the abnormal condition is reported to the monitoring mother body, and the monitoring mother body schedules other monitoring daughter to assist and cooperate with the task execution according to the abnormal type.
For some periodic routine monitoring requirements, the method further comprises the steps of:
and the monitoring parent generates a monitoring task according to a first monitoring range, a monitoring period, a monitoring starting time, a monitoring ending time and a monitoring duration which are included in the periodic monitoring plan.
The method is applied to the movable monitoring system provided by the embodiment of the invention, and has the steps and the beneficial effects corresponding to the system functions. For technical details that are not described in detail in this embodiment, reference may be made to the system provided in the embodiments of the present application.
The monitoring method in the embodiment of the invention can dispatch proper monitoring equipment to perform monitoring based on various monitoring requirements, and can adapt to various large-scale and large-scale monitoring tasks.
The embodiment of the present application further provides a monitoring platform, as shown in fig. 7, which is a schematic structural diagram of the monitoring platform provided in the embodiment of the present invention, the monitoring platform may include one or more processors 701 (one processor 701 is taken as an example in fig. 7), a communication interface 702, a memory 703 and a communication bus 704, where the processor 701, the communication interface 702 and the memory 703 complete mutual communication through the communication bus 704. The memory 703 is a computer-readable storage medium, and can be used for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the monitoring method in the embodiment of the present application (block 501 and block 502 in fig. 5). The processor 701 implements the monitoring method applied to the monitoring platform in the above method embodiment by running the software program, instructions and modules stored in the memory 703.
The memory 703 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the monitoring platform, and the like. Further, the memory 703 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, memory 703 optionally includes memory located remotely from processor 701, which may be connected to the monitoring platform via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The one or more modules are stored in the memory 703 and when executed by the one or more processors 701, perform the monitoring method applied to the monitoring platform in any of the above-described method embodiments, for example, perform the above-described method steps S501 to S502 in fig. 5.
Embodiments of the present application also provide a computer-readable storage medium storing computer-executable instructions, which, when executed by one or more processors, may cause the one or more processors to perform a method in any of the method embodiments described above, for example, performing method steps 501 to 502 in fig. 5 and method steps 601 to 602 in fig. 6 described above.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a general hardware platform, and certainly can also be implemented by hardware. It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware related to instructions of a computer program, which can be stored in a computer readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; within the context of the present application, where technical features in the above embodiments or in different embodiments can also be combined, the steps can be implemented in any order and there are many other variations of the different aspects of the present application as described above, which are not provided in detail for the sake of brevity; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.
Claims (15)
1. A mobile monitoring device, comprising a fixedly mounted monitoring parent and at least one monitoring child which can be parked on the monitoring parent and can be moved in flight, wherein,
the monitoring parent is used for acquiring monitoring tasks and scheduling at least one monitoring daughter to execute the monitoring tasks according to the monitoring tasks and the state information of each monitoring daughter;
and the monitoring daughter is used for flying to a first monitoring range carried in the monitoring task to shoot a monitoring image according to the scheduling of the monitoring mother body.
2. The monitoring device of claim 1, wherein the monitoring parent body comprises at least one charging interface for charging the monitoring parent body when the monitoring parent body is docked with the monitoring parent body.
3. The monitoring device according to claim 1 or 2, wherein the monitoring task further carries monitoring target information, and the monitoring parent is further configured to identify a monitoring target in the monitoring image according to the monitoring target information, and notify the monitoring child to perform tracking monitoring if the identification is successful.
4. The monitoring device according to claim 1 or 2, wherein the monitoring parent is further configured to obtain a periodic monitoring plan, and generate the monitoring task according to a first monitoring range, a monitoring period, a monitoring start time, a monitoring end time, and a monitoring duration included in the periodic monitoring plan.
5. The monitoring device of claim 1 or 2,
the monitoring parent body is further used for making a flight plan according to the monitoring task, and the flight plan comprises a flight path;
the monitoring daughter is further used for shooting a monitoring image when the monitoring daughter flies to the first monitoring range according to the dispatching of the monitoring mother body and the flight path.
6. A monitoring method applied to the monitoring apparatus of any one of claims 1 to 5, comprising:
the monitoring parent acquires a monitoring task, and at least one monitoring daughter is scheduled to execute the monitoring task according to the monitoring task and the state information of each monitoring daughter;
and the monitoring daughter flies to a first monitoring range carried in the monitoring task according to the scheduling of the monitoring mother body to shoot a monitoring image.
7. The method according to claim 6, wherein the monitoring task carries monitoring target information, and the method further comprises:
and the monitoring parent identifies a monitoring target in the monitoring image according to the monitoring target information, and if the identification is successful, the monitoring child is informed to execute tracking monitoring.
8. The method of claim 6, further comprising:
the monitoring parent acquires a periodic monitoring plan, and generates a monitoring task according to a first monitoring range, a monitoring period, a monitoring start time, a monitoring end time and a monitoring duration which are included in the periodic monitoring plan.
9. The method according to any one of claims 6 to 8, further comprising:
the monitoring parent body formulates a flight plan according to the monitoring task, and the flight plan comprises a flight path;
and the monitoring daughter flies to the first monitoring range according to the scheduling of the monitoring mother body and shoots a monitoring image according to the flight path.
10. A monitoring method is applied to a monitoring platform and is characterized by comprising the following steps:
acquiring a monitoring request, determining a second monitoring range according to the monitoring request, generating at least one monitoring task according to the second monitoring range and the monitoring coverage range of each monitoring device, and determining at least one monitoring device executing the at least one monitoring task;
and sending the at least one monitoring task to monitoring equipment executing the monitoring task, wherein the monitoring task carries a first monitoring range, and the first monitoring range is contained in the second monitoring range.
11. The method according to claim 10, wherein the monitoring request further carries monitoring target information, and the monitoring task includes the monitoring target information.
12. The method according to claim 10 or 11, characterized in that the method further comprises:
the method comprises the steps of generating a periodic monitoring plan, determining monitoring equipment for executing the periodic monitoring plan, and sending the periodic monitoring plan to the monitoring equipment, wherein the periodic monitoring plan comprises a first monitoring range, a monitoring period, a monitoring starting time, a monitoring ending time and a monitoring duration.
13. A monitoring platform, comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 10-12.
14. A mobile monitoring system comprising the monitoring platform of claim 13 and at least one monitoring device of any one of claims 1 to 5, wherein each of the monitoring platform and the at least one monitoring device establishes a communication connection.
15. A computer-readable storage medium having stored thereon computer-executable instructions that, when executed by one or more processors, cause the one or more processors to perform the method of any one of claims 6 to 12.
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