RU2678688C2 - Video surveillance system from the moving vehicle - Google Patents

Abstract

FIELD: transportation.SUBSTANCE: video surveillance system from vehicles 1, in which video surveillance is carried out from several vehicles (V) moving along specified trajectories. Each vehicle is equipped with the video camera 2 connected through the video input card 3 to the computer 4 having the first receiving and transmitting device (RTD) 5, by means of which the radio communication with the RTD 22, with the computer 20 and the monitor 21 of the control center (CP) 19 is realized. On the vehicle there are installed and connected to the computer 4 sensor 6 measuring the direction of movement, distance sensor 7, ultrasonic location sensor 8, alarm device 9, pair of sensors 11 of horizontal and vertical angles of rotation of the video camera 2 and drives 10 of horizontal and vertical movement of the video camera 2, which are connected to the inputs of the pair of sensors 11, additional video cameras 12 with multiplexer 13, out of which four video cameras form the circular view system, and two cameras are responsible for stereo surveillance. Second RTD 14 is installed on the vehicle, which is controlled by the computer 4, which carries out radio communication on a separate radio channel with three control RTDs 15, 16, 17 that are located along the perimeter of the protected area to determine the current vehicle coordinates. Output of the RTD 14 is connected to the converter 18 of time intervals in a digital code that enters the computer 4 for recalculation in the current distance between the vehicle and the RTD 15, 16, 17.EFFECT: video surveillance system allows the vehicle to be “trained” for passing the route through the protected area remotely with high accuracy without the presence of mounting objects.1 cl, 2 dwg

Description

This technical solution relates to the field of automated video surveillance of protected objects and recognition of patterns and situations.

A known video surveillance system [1] from a vehicle in motion, comprising a video camera mounted on a vehicle, connected via a video capture card to a computer, to which a vehicle’s transmitting and receiving device is connected, which provides radio communication via the command station’s transmitting and receiving device with the computer of the command post to which the monitoring monitor is connected, a sensor for measuring the direction of its movement connected to the vehicle is installed with the vehicle computer, to which the horizontal and vertical movement drive is connected, connected to the control input of the video camera, while the vehicle additionally contains several video cameras connected to the computer via a multiplexer.

The disadvantages of this video surveillance system from a vehicle in motion are: insufficient accuracy in determining the coordinates of the vehicle and selected objects and the associated low reliability of control, since their coordinates are determined using the global navigation system and the lack of a satellite navigation signal (for example, in radio shadow trees, covered sheds, etc.) leads to uncertainty in the designation of the position of the vehicle; lack of a clearly defined vehicle trajectory; the limited area of the controlled (protected) territory by one vehicle and the inability to organize control in a complex territory containing many stationary objects, including buildings and all kinds of structures.

There is also a known system [2] of video surveillance from a vehicle in motion, containing several vehicles, the number of which is determined by the complexity and area of the protected area, each of which contains a video camera (high resolution) with the ability to change its focal length, and (or) change aperture, and / or focus settings to provide guidance to a target connected via a video capture card to a computer to which a vehicle’s transceiver is connected, printing communication via a radio channel through the command and receiving unit of the command post with the command post computer to which the monitoring monitor is connected; the vehicle has a sensor for measuring the direction of its movement, a distance traveled sensor, an ultrasonic location sensor and an alarm device connected to the vehicle computer, to which are connected the drives of horizontal and vertical movement of the video camera (high resolution), the outputs of which are connected to The input inputs are pairs of sensors of horizontal and vertical rotation angles connected to the vehicle computer with their outputs, and the vehicle additionally contains several video cameras connected to the computer via a multiplexer, some of which, with overlapping viewing sectors, form a video surveillance system, and two video cameras, located at a certain angle relative to each other, make up a stereo surveillance system, The disadvantage of this video surveillance system with transport means in motion is the need for the operator to go through the protected area of the route of each of the vehicles in the process of their "training", which is quite burdensome with extended territories and adverse weather conditions.

Closest to the proposed video surveillance system from a vehicle in motion is a video surveillance system [3] from a vehicle in motion, containing several vehicles, the number of which is determined by the complexity and area of the protected area, each of which contains a high-resolution video camera changing its focal length, and (or) changing the aperture, and (or) adjusting the focus to ensure aiming at a target connected via a video card water to the computer to which the vehicle’s transmitting and receiving device is connected, providing radio communication through the command and receiving unit with the command station computer to which the monitoring monitor is connected, a vehicle has a sensor for measuring the direction of its movement, a sensor for the distance traveled, ultrasonic location sensor and alarm device connected to the vehicle computer to which the horizontal drives are connected and vertical movement of high-resolution video cameras, the outputs of which are connected to the corresponding inputs of a pair of sensors of horizontal and vertical rotation angles, connected to the vehicle computer with their outputs, and the vehicle additionally contains several cameras connected to the computer through a multiplexer, some of which with overlapping sectors overview, forms a system of all-round video surveillance, two cameras located at a certain angle relative to each other a, they make up a stereo monitoring system and a second transceiver of the vehicle, providing communication via a separate radio channel with an additional transceiver.

The disadvantages of this video surveillance system from a vehicle in motion are the lack of reliability and accuracy of the system.

The lack of reliability of the system is due to the need to have supporting objects (buildings, trees, lights, etc.) for forming the route of the vehicle, which are not stable (for example, trees can be cut down, buildings are destroyed, etc.), which leads to to system failures, the need for new training of the protected area and repeated “training” of vehicles.

The insufficient accuracy of the vehicle along a given route is due to the significant size of the reference objects used, which leads to large errors in determining the angle of rotation ϕ, the value of which along with the distance is used to determine the coordinate points of a given route.

The aim of the invention is to increase the reliability and accuracy of the system by forming a route of movement of vehicles without the use of supporting objects.

To achieve this goal, a video surveillance system from vehicles in motion containing several vehicles, the number of which is determined by the complexity and area of the protected area, each of which contains a high-resolution video camera with the ability to change its focal length, and (or) change the aperture, and (or) focus settings to ensure aiming at a target connected via a video capture card to a computer to which the first transceiver is connected a means of communication that provides radio communication through the command and control unit with the command station computer to which the monitoring monitor is connected; a vehicle has a sensor for measuring its direction of movement, a distance sensor, an ultrasonic location sensor and an alarm device connected to a computer a vehicle to which drives of horizontal and vertical movement of a high-resolution video camera are connected, the outputs of which pairs of horizontal and vertical angle sensors connected to the corresponding inputs are connected to the vehicle’s computer by their outputs, and the vehicle additionally contains several video cameras connected to the computer through a multiplexer, some of which, with overlapping viewing sectors, form a video surveillance system, two video cameras located at a certain angle relative to each other make up a stereo monitoring system and a second receiving and transmitting device of the vehicle, providing communication via a separate radio channel with the first additional transceiver device, at least two additional transceiver devices have been introduced, providing communication via a separate radio channel with the second transceiver device of the vehicle, the output of which is connected to the input of the time interval to digital converter a code whose control input is connected to the control input of the second transceiver of the vehicle and the computer trans Tailor means connected to the output of the time interval converter into a digital code.

The invention is illustrated in the drawings (FIG. 1 and FIG. 2), where in FIG. 1 is a structural diagram of a system using one vehicle as an example, and FIG. 2 principle of its operation using multiple vehicles.

On each vehicle 1 (Fig. 1), the number of which is selected taking into account the complexity and length of the protected area, a high-resolution video camera 2 is installed, with the ability to change the focal length, and (or) change the aperture, and (or) adjust the focus to ensure pointing to a target connected via a video capture card 3 to a computer 4, to which a first vehicle transceiver 5 is connected with an antenna. A computer 4 is also connected to a sensor 6 for measuring the direction of movement (compass or gyroscope), a sensor 7 for the distance traveled (odometer), an ultrasonic location sensor 8 and an alarm device 9 (siren and flashing light). The high-resolution video camera 2 is also equipped with horizontal and vertical movement drives 10, to the second outputs of which a pair of sensors 11 of the horizontal and vertical rotation angles 11 of the high-resolution video camera 2 are connected. The outputs of the sensors 11 of the horizontal and vertical rotation angles and the control inputs of the drives 10 of horizontal and vertical movement of the high-resolution video camera 2 are connected to a computer 4, to which additional video cameras 12 are also connected via a multiplexer 13.

Out of the number of additional video cameras 12, for example, four (12.1-12.4) form a circular video surveillance device with fixation of moving objects, two video cameras (12.5, 12.6 installed in the front of the vehicle) form a stereo surveillance device for fixing foreign objects that interfere with the movement of the vehicle funds on a given route.

The vehicle also has a second transceiver 14 with an antenna, which provides a separate radio link to the transceivers 15, 16, 17. The output of the second transceiver 14 of the vehicle is connected to the input of the converter 18 time intervals into a digital code, the control input of which is connected to the control input of the second transceiver device 14 of the vehicle and the computer 4 of the vehicle connected to the output of the Converter 18 intervals BP Click on the code.

Note - As a second transceiver 14 and a converter 18 of time intervals into a digital code, a single Deca Wave DW1000 ScenSor module (radio chip) can be used.

At the command post 19, there is a computer 20 of the command post, to which a monitoring monitor 21 and a transmitting and receiving device 22 of the command post with an antenna are connected, providing communication with the first transceiver 5 of the vehicle.

Before the practical use of the video surveillance system, they prepare the protected area (see Fig. 2) and “train” each vehicle (TS) for its autonomous movement along a given route. For this purpose, at least three additional transceiver devices (PPU1-PPU3) are installed along the perimeter of the protected area and, using geodetic instruments or satellite navigation systems (GPS, GLONASS), their exact location on the ground is determined in coordinates (X1, Y1) , (X2, Y2), (X3, Y3). Next, on the map-diagram of the protected area, presented on the monitor 21 of the command post (CP) 19, with additional control points indicated on it, lay the trajectories from point A to point B of each vehicle of the video surveillance system and select their number (in Fig. 2, for simplicity of presentation, two vehicles are presented as an example) in such a way as to ensure control over each site of the possible penetration of intruders into the protected area.

Next, the operator from the computer 20 of the command post 19 through the transceiver devices 22 and 5 enters the memory of the computer 4 of each vehicle information on their route in the coordinates (X1i, Y1i), (X2i, Y2i), ..., (Xni, Yni) through the specified distances, where n is the serial number of the vehicle.

In the process of moving vehicles along a given route, the transceiver devices 14 of each of them, on command from computers 4, periodically send radio signals to additional PPU1-PPU3, which re-emit them back to the corresponding transceiver devices 14. Time intervals (tin) between transmission times of radio signals by transceivers 14 and their reverse reception are converted by converters 18 into a digital code, which is converted by computers 4 into distances (rin) according to the well-known formula:

rin = С⋅tin,

where C is the propagation velocity of radio waves.

Considering that between the current coordinates Xni, Yni of vehicles on the ground and the measured distances r1n, r2n, r3n to additional PPU1-PPU3, with known coordinates of the PPU, there is a direct correlation, then by monitoring the distances r1n, r2n, r3n, the computers of the 4 vehicles automatically control (and if necessary correct) the trajectory of vehicles on a given route.

During the vehicle’s movement along a predetermined path of the 12.1-12.4 all-round camera (each in its sector), the presence of moving objects in the protected area is recorded and, when they are detected, computer 4, using horizontal and vertical rotation drives 10, induces a high-resolution video camera 2 to the detected moving object gives a command to the device 9 also by means of the transmitter-receiver device 5 of the vehicle transmits a video signal to the command point 19 for display on the monitor 21 situation and decision making.

In the event that foreign insurmountable objects appear on the route of the vehicle, they are sequentially detected by stereo cameras 12.5, 12.6 and identified as insurmountable by the ultrasonic location sensor 8. The vehicle bypasses the obstacle and, guided by the 4 coordinates previously recorded in the computer’s memory, returns to the specified trajectory.

Literature

1 Patent RU 2326445 C2, (analogue). The method and system of video surveillance from a vehicle in motion. Published in BI No. 16 dated 06/10/2008

2 Patent RU 106785 U1 for utility model, (analogue). Video surveillance system from a vehicle in motion. Published July 20, 2011

3 Patent RU 114202 U1 for utility model, (prototype). Video surveillance system from a vehicle in motion. Published 03/10/2012

Claims (1)

A video surveillance system from vehicles on the move containing several vehicles, the number of which is determined by the complexity and area of the protected area, each of which contains a high-resolution video camera with the ability to change its focal length, and (or) change the aperture, and (or) settings focus to ensure aiming at a target connected via a video capture card to a computer to which the first receiving-transmitting device of the vehicle is connected, providing on the radio channel through the command and receiving unit of the command post with the command post computer to which the monitoring monitor is connected, the vehicle is equipped with a sensor for measuring its direction of movement, a distance traveled sensor, an ultrasonic location sensor and an alarm device connected to the vehicle computer to to which are connected the drives of horizontal and vertical movement of a high-resolution video camera, the outputs of which are connected to the corresponding inputs pairs of sensors of horizontal and vertical rotation angles connected to the vehicle computer with their outputs, and the vehicle additionally contains several video cameras connected to the computer via a multiplexer, some of which, with overlapping sectors of vision, form a video surveillance system, two video cameras located under a certain angle relative to each other, make up the stereo monitoring system and the second receiving and transmitting device of the vehicle, provide communication via a separate radio channel with a first additional transceiver device, characterized in that at least two additional transceiver devices are introduced, providing communication via a separate radio channel with a second vehicle transceiver, the output of which is connected to the input of the interval converter time into a digital code, the control input of which is connected to the control input of the second transceiver of the vehicle and the vehicle computer a unit connected to the output of a time interval to digital code converter.

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