WO2017084262A1 - 一种对移动目标进行监控的方法及监控设备、装置、系统 - Google Patents

一种对移动目标进行监控的方法及监控设备、装置、系统 Download PDF

Info

Publication number
WO2017084262A1
WO2017084262A1 PCT/CN2016/082611 CN2016082611W WO2017084262A1 WO 2017084262 A1 WO2017084262 A1 WO 2017084262A1 CN 2016082611 W CN2016082611 W CN 2016082611W WO 2017084262 A1 WO2017084262 A1 WO 2017084262A1
Authority
WO
WIPO (PCT)
Prior art keywords
monitoring
moving target
moving
monitoring device
rotation
Prior art date
Application number
PCT/CN2016/082611
Other languages
English (en)
French (fr)
Inventor
�谷川�
徐卓东
陈树毅
洪晖潞
Original Assignee
杭州海康威视数字技术股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 杭州海康威视数字技术股份有限公司 filed Critical 杭州海康威视数字技术股份有限公司
Priority to US15/759,406 priority Critical patent/US20180249128A1/en
Priority to EP16865444.0A priority patent/EP3379826A4/en
Publication of WO2017084262A1 publication Critical patent/WO2017084262A1/zh

Links

Images

Classifications

    • 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
    • H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/292—Multi-camera tracking
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30232—Surveillance
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30241—Trajectory
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30244—Camera pose
    • 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
    • G08B21/18—Status alarms

Definitions

  • the present application relates to the field of monitoring technologies, and in particular, to a method and a monitoring device, device, and system for monitoring a mobile target.
  • Video surveillance technology has a wide range of applications in many places, such as banks, communities, airports, stations, etc., and plays an increasingly important role in the field of public safety.
  • the existing video monitoring is to install a plurality of monitoring devices with different orientations on the moving path of the moving target, and perform multi-angle monitoring on the moving target through multiple monitoring devices.
  • the purpose of the embodiments of the present application is to provide a method for monitoring a mobile target, a monitoring device, a device, and a system, and improving the success rate of monitoring the mobile target.
  • the specific technical solutions are as follows:
  • a method for monitoring a moving target wherein a monitoring device is disposed at each monitoring point corresponding to a moving path of the moving target, and the monitoring device is installed on a rotating mechanism, where the moving path corresponds to multiple monitoring point locations , the method includes:
  • the rotation mechanism is controlled to rotate according to the determined rotation parameter.
  • the movement parameter includes a moving distance and a moving direction of the moving target in the monitoring screen;
  • the rotation parameter includes a rotation angle and a rotation direction of the rotating mechanism;
  • a rotation parameter of the rotation mechanism including:
  • the moving distance of the moving target in the monitoring screen the position of the moving target in the monitoring screen at the first moment, the position of the moving target in the monitoring screen at the second moment, and the monitoring point position of the monitoring device corresponding to the monitoring screen a virtual position, determining a rotation angle of the rotating mechanism; determining a rotation direction of the rotating mechanism according to a moving direction of the moving target in the monitoring screen;
  • a rotation parameter of the rotation mechanism including:
  • the distance of the moving target in the monitoring screen is transformed, and the actual moving distance of the moving target is obtained;
  • the position of the moving target in the monitoring screen at the first moment is respectively The coordinates of the moving target and the moving target at the second moment are coordinately transformed in the coordinates of the position in the monitoring screen, and the actual position coordinates of the moving target at the first moment and the actual position coordinates of the moving target at the second moment are obtained;
  • the moving distance, the actual position coordinate of the moving target at the first moment, the actual position coordinate of the moving target at the second moment, and the monitoring point position of the monitoring device determine the rotation angle of the rotating mechanism; monitoring according to the moving target
  • the direction of movement in the picture determines the direction of rotation of the rotating mechanism.
  • the method is applied to the monitoring device, where the method further includes:
  • the method is applied to a control device that is communicatively connected to each monitoring device, and the method further includes:
  • the method is applied to a monitoring device, where the method further includes any one or more of an alarm scheme 1, an alarm scheme 2, and an alarm scheme 3:
  • the alarm scheme 1 is: determining whether an image of the moving target is acquired, and if yes, determining whether the image of the moving target is outside the preset image area, and if yes, performing an alarm process;
  • the alarm scheme 2 is: if the determined movement parameter is not within a preset threshold range, performing alarm processing;
  • the alarm scheme 3 is: determining whether an image with a preset danger feature is included in the collected image, and if so, performing an alarm process.
  • the method is applied to a control device that is communicatively connected to each monitoring device, and the method further includes any one or more of an alarm scheme 4, an alarm scheme 5, an alarm scheme 6 and an alarm scheme 7:
  • the alarm scheme 4 is: determining whether each monitoring device collects an image of the moving target, and if yes, determining whether the images of the collected moving targets are all located in the preset image region, and if not, performing alarm processing;
  • the alarm scheme 5 is: if the determined movement parameter is not within a preset threshold range, performing alarm processing;
  • the alarm scheme 6 is: identifying an image with a preset dangerous feature in an image collected by each monitoring device, and performing an alarm processing if an image with a preset dangerous feature is recognized;
  • the alarm scheme 7 is: determining a time interval between a time when the rotation angle of the leftmost rotation mechanism is 0 and a time when the rotation angle of the rightmost rotation mechanism is 0 when monitoring the moving target The time interval is not within the preset threshold range, and alarm processing is performed.
  • a monitoring device is installed on a rotating mechanism, and each monitoring point corresponding to a moving path of the moving target is provided with a monitoring device mounted on the rotating mechanism, and the moving path corresponds to multiple Monitoring point location, the monitoring device includes:
  • An image acquisition module configured to obtain a shift in the monitoring image collected at the first moment and the second moment An image of the moving target
  • An image analysis module configured to perform analysis processing on the obtained image to determine a movement parameter of the moving target
  • a data calculation module configured to determine a rotation parameter of the rotation mechanism according to the determined movement parameter
  • a rotation control module configured to control the rotation mechanism to rotate according to the determined rotation parameter.
  • the movement parameter includes a moving distance and a moving direction of the moving target in the monitoring screen;
  • the rotation parameter includes a rotation angle and a rotation direction of the rotating mechanism;
  • the data calculation module is specifically configured to: according to a moving distance of the moving target in the monitoring screen, a location of the moving target in the monitoring screen at the first moment, a location of the moving target in the monitoring screen at the second moment, and the monitoring a virtual position corresponding to the monitoring screen at a monitoring point position of the device, determining a rotation angle of the rotating mechanism; determining a rotation direction of the rotating mechanism according to a moving direction of the moving target in the monitoring screen;
  • the data calculation module is specifically configured to: perform distance transformation on a moving distance of the moving target in the monitoring image according to a preset distance transformation formula, and obtain an actual moving distance of the moving target; respectively, move the target according to a preset coordinate transformation formula
  • the coordinates of the position in the monitoring screen and the coordinates of the moving target at the second moment in the monitoring screen are coordinate-transformed, and the actual position coordinates of the moving target at the first moment and the moving target at the second moment are obtained.
  • the actual position coordinate determining the rotation according to the actual moving distance, the actual position coordinate of the moving target at the first time, the actual position coordinate of the moving target at the second time, and the monitoring point position of the monitoring device
  • the rotation angle of the mechanism determining the rotation direction of the rotation mechanism according to the moving direction of the moving target in the monitoring screen.
  • the monitoring device further includes:
  • the instruction sending module is configured to determine, according to the moving direction of the moving target, the next monitoring device in the monitoring sequence; when the rotation angle of the rotating mechanism where the rotating mechanism reaches the preset threshold, send A monitoring command is initiated to the next monitoring device to cause the next monitoring device to begin monitoring the mobile target.
  • the monitoring device further includes an alarm module, where the alarm module is configured to perform alarm processing:
  • the image analysis module is further configured to determine whether an image of the moving target is acquired by itself, and if yes, determine whether the image of the moving target is outside a preset image area, and if so, trigger the alarm module;
  • the image analysis module is further configured to trigger the alarm module when the determined movement parameter is not within a preset threshold range
  • the image analysis module is further configured to determine whether an image with a preset hazard feature is included in the captured image, and if so, trigger the alarm module.
  • a monitoring device includes a rotating mechanism and any one of the monitoring devices described above, the monitoring device being mounted on the rotating mechanism.
  • a monitoring system includes: a plurality of monitoring devices installed on the rotating mechanism and a control device communicably connected to the monitoring devices, wherein each monitoring point corresponding to the moving path of the moving target is provided with a rotating mechanism In the monitoring device, the moving path corresponds to a plurality of monitoring point locations, and the control device includes:
  • An image acquisition module configured to obtain an image of a moving target in the monitoring screen collected by the monitoring device at the first moment and the second moment;
  • An image analysis module configured to perform analysis processing on the obtained image to determine a movement parameter of the moving target
  • a data calculation module configured to determine a rotation parameter of the rotation mechanism according to the determined movement parameter
  • a rotation control module configured to control the rotation mechanism to rotate according to the determined rotation parameter turn.
  • the movement parameter includes a moving distance and a moving direction of the moving target in the monitoring screen;
  • the rotation parameter includes a rotation angle and a rotation direction of the rotating mechanism;
  • the data calculation module is specifically configured to: according to a moving distance of the moving target in the monitoring screen, a location of the moving target in the monitoring screen at the first moment, a location of the moving target in the monitoring screen at the second moment, and the monitoring a virtual position corresponding to the monitoring screen at a monitoring point position of the device, determining a rotation angle of the rotating mechanism; determining a rotation direction of the rotating mechanism according to a moving direction of the moving target in the monitoring screen;
  • the data calculation module is specifically configured to: perform distance transformation on a moving distance of the moving target in the monitoring image according to a preset distance transformation formula, and obtain an actual moving distance of the moving target; respectively, move the target according to a preset coordinate transformation formula
  • the coordinates of the position in the monitoring screen and the coordinates of the moving target at the second moment in the monitoring screen are coordinate-transformed, and the actual position coordinates of the moving target at the first moment and the moving target at the second moment are obtained.
  • the actual position coordinate determining the rotation according to the actual moving distance, the actual position coordinate of the moving target at the first time, the actual position coordinate of the moving target at the second time, and the monitoring point position of the monitoring device
  • the rotation angle of the mechanism determining the rotation direction of the rotation mechanism according to the moving direction of the moving target in the monitoring screen.
  • control device further includes:
  • An instruction sending module is configured to determine a monitoring sequence of each monitoring device according to a moving direction of the moving target; determine a current monitoring device corresponding to the actual location of the moving target according to the location information of the moving target in the monitoring screen of each monitoring device; and the current monitoring device When the rotation angle of the rotating mechanism reaches a preset threshold, the monitoring instruction is sent to the next monitoring device in the monitoring sequence to enable the next monitoring device to start monitoring the moving target.
  • control device further includes an alarm module, where the alarm module is configured to perform alarm processing:
  • the image analysis module is further configured to determine whether each monitoring device collects an image of the moving target, and if yes, determine whether the images of the collected moving targets are all located in the preset image region, If not, trigger the alarm module;
  • the image analysis module is further configured to trigger the alarm module when the determined movement parameter is not within a preset threshold range
  • the image analysis module is further configured to identify an image with a preset hazard feature in an image collected by each monitoring device, and trigger the alarm module if an image with a preset hazard feature is recognized;
  • the image analysis module is further configured to determine a time interval between a time when the rotation angle of the leftmost rotation mechanism is 0 and a time when the rotation angle of the rightmost rotation mechanism is 0 when the moving target is monitored.
  • the alarm module is triggered when the time interval is not within a preset threshold range.
  • the embodiment of the present application provides an application program for performing a method for monitoring a mobile target provided by an embodiment of the present application at runtime.
  • methods for monitoring moving targets include:
  • the rotation mechanism is controlled to rotate according to the determined rotation parameter.
  • An embodiment of the present application provides a storage medium for storing an application, where the application is used to perform a method for monitoring a mobile target provided by an embodiment of the present application.
  • the method for monitoring a mobile target may include:
  • the rotation mechanism is controlled to rotate according to the determined rotation parameter.
  • each monitoring point corresponding to the moving path of the moving target is provided with a monitoring device, and the monitoring device is installed in the rotating mechanism
  • the moving path corresponds to a plurality of monitoring point locations, and an image of the moving target in the monitoring screen collected by the monitoring device at the first time and the second time is obtained, and the obtained image is analyzed and processed to determine the movement.
  • a movement parameter of the target determining a rotation parameter of the rotation mechanism according to the determined movement parameter, and controlling the rotation mechanism to rotate according to the determined rotation parameter.
  • the application realizes the tracking and monitoring of the moving target by the monitoring device through the rotation of the rotating mechanism, thereby avoiding the situation that the moving target enters the monitoring dead angle, and improves the success rate of monitoring the moving target without increasing the number of monitoring devices.
  • FIG. 1 is a schematic flowchart of a method for monitoring a mobile target according to an embodiment of the present application
  • FIG. 2 is a schematic view showing the determination of the rotation angle of the rotating mechanism
  • FIG. 3 is a schematic flowchart diagram of another method for monitoring a mobile target according to an embodiment of the present disclosure
  • Figure 4 (a) is a schematic view showing the rotation angle of the rotating mechanism of the camera in the dome machine at 0 degrees;
  • Figure 4 (b) is a schematic view showing the rotation mechanism of the camera in the dome camera rotated to the left by 45 degrees;
  • FIG. 5 is a schematic flowchart of another method for monitoring a mobile target according to an embodiment of the present disclosure
  • Figure 6 is a schematic view showing the placement position of the pan/tilt and the ball machine for monitoring the airport runway;
  • Figure 7 is a schematic view showing the specific spacing between adjacent domes
  • Figure 8 is a schematic diagram of the dome camera and the cloud platform after the unified initial viewing angle
  • FIG. 9 is a schematic diagram of tracking and monitoring of the dome and the pan/tilt when the aircraft enters the set point corresponding to the dome 1 and the intermediate position of the corresponding point of the dome 2;
  • FIG. 10 is a schematic structural diagram of a monitoring device according to an embodiment of the present application.
  • FIG. 11 is a schematic diagram of a monitoring system according to an embodiment of the present application.
  • a method for monitoring a moving target is provided in the embodiment of the present application.
  • a monitoring device is disposed on each monitoring point corresponding to the moving path of the moving target, and the monitoring device is installed on the rotating mechanism.
  • the moving path corresponds to multiple monitoring point locations, and the method may include:
  • S101 Obtain an image of the moving target in the monitoring screen collected by the monitoring device at the first moment and the second moment.
  • the method shown in FIG. 1 can be applied to a control device in a monitoring device or in communication with each monitoring device.
  • an image of the moving target in the monitoring screen collected by the monitoring device at the first moment and the second moment is obtained.
  • the interval between the first time and the second time may be shorter, such as the time interval between two adjacent video frames in the video collected by the monitoring device.
  • video capture can be performed using a monitoring device with a high frame rate to improve the monitoring success rate.
  • the image of the moving target in the monitoring screen collected by the monitoring device may be identified by an image recognition technology, and the moving target may be at least one of any movable objects, for example: Airplane or car.
  • the monitoring device set at the monitoring point position corresponding to one end point of the moving path may be a camera in the pan/tilt, and the other monitoring devices may be cameras in the ball machine.
  • the pan/tilt has a rotating mechanism that can rotate horizontally and vertically
  • the ball machine has a rotating mechanism that can rotate horizontally.
  • S102 Perform analysis processing on the obtained image to determine a movement parameter of the moving target.
  • the obtained image is analyzed and processed, and the moving parameter of the moving target can be obtained by the analyzing process.
  • the moving target can be determined according to a key point on the moving target image or the contour of the moving target.
  • the moving parameter specifically, the key point may be a center point or an edge point of the moving target, but is not limited thereto. In the case of an airplane, the key point can be a point in the center of the aircraft.
  • the movement parameter may include a moving distance and a moving direction of the moving target in the monitoring screen.
  • the time interval between the first time and the second time is obtained, and the moving distance of the moving target in the monitoring picture can be obtained by the moving distance of the moving target in the monitoring picture and the time interval, A rotation parameter of the rotation mechanism is determined according to the moving speed.
  • the moving direction can be determined according to the relative positional relationship between the image of the moving target in the monitoring screen at the first moment and the image of the moving target in the monitoring screen at the second moment. For example, when the first time is earlier than the second time, when the position of the image of the moving target in the monitoring screen at the second time is the left end relative to the position of the image of the moving target in the monitoring picture at the first time, the moving target may be determined.
  • the moving direction is moving from right to left; when the position of the image of the moving target in the monitoring screen at the second time is the right end with respect to the position of the image of the moving target in the monitoring screen at the first time, the moving direction of the moving target can be determined. Move from left to right.
  • the rotation parameter may include a rotation angle and a rotation direction of the rotation mechanism; and step S103 may include any one of the following two determination manners:
  • Determination method 1 according to the moving distance of the moving target in the monitoring screen, the moving target is in the first Determining a rotation angle of the rotating mechanism at a position in the monitoring screen, a position of the moving target at the second time in the monitoring screen, and a virtual position corresponding to the monitoring screen at the monitoring point location of the monitoring device;
  • the moving distance in the monitoring screen according to the moving target, the position of the moving target in the monitoring screen at the first moment, the position of the moving target in the monitoring screen at the second moment, and the monitoring can be
  • the virtual position corresponding to the monitoring screen is located at the monitoring point position of the device, and the rotation angle of the rotating mechanism is determined by the cosine theorem.
  • the manner of determining the rotation angle of the rotating mechanism is not limited thereto.
  • the moving target is an airplane, as shown in FIG. 2, according to the moving distance l 12 of the aircraft in the monitoring screen, the position of the aircraft in the monitoring screen at the first moment, and the location of the aircraft in the monitoring screen at the second moment.
  • the position 2 and the monitoring point where the monitoring device is located and the virtual position 3 corresponding to the monitoring screen can obtain the distances l 13 and l 23 , and the rotation angle of the rotating mechanism is determined by the cosine theorem.
  • the direction of rotation of the rotating mechanism can be determined according to the moving direction of the moving target in the monitoring screen. For example, if the moving direction of the moving target in the monitoring screen is from left to right, it is determined that the rotating direction of the rotating mechanism is clockwise rotation, which is of course not limited thereto.
  • Determining method 2 performing distance transformation on the moving distance of the moving target in the monitoring screen according to the preset distance transformation formula, and obtaining the actual moving distance of the moving target;
  • the coordinates of the position of the moving target in the monitoring screen at the first moment and the coordinates of the position of the moving target at the second moment in the monitoring screen are respectively transformed, and the moving target is located at the first moment.
  • the direction of rotation of the rotating mechanism is determined according to the moving direction of the moving target in the monitoring screen.
  • S104 Control the rotation mechanism to rotate according to the determined rotation parameter.
  • Controlling the rotating mechanism according to the determined rotation angle and rotation direction of the rotating mechanism The rotation direction rotates the rotation angle, and the moving target is monitored in real time by the rotation of the rotation mechanism, thereby preventing the movement target from entering the monitoring dead angle and preventing the monitoring from being performed.
  • the image of the moving target in the monitoring screen currently collected by the monitoring device and the image of the moving target in the monitoring image collected at a certain time before can be obtained while the rotating mechanism rotates.
  • the method shown in FIG. 1 may further include:
  • the focal length is adjusted such that the aspect ratio of the moving target image is in the preset proportional interval.
  • Adjusting the focal length is equivalent to adjusting the angle of view so that the aspect ratio of the moving target image is in the preset proportional interval, ensuring that the moving target is completely in the monitoring screen, facilitating accurate monitoring of the moving target.
  • the zoom ratio can be made larger to make the moving target image clearer; when the moving target image has a larger aspect ratio, the full focal length can be used to make the aspect ratio It becomes smaller, making the image of the moving target more complete.
  • another method for monitoring a mobile target provided by the embodiment of the present application may further include:
  • S301 Determine, according to a moving direction of the moving target, a next monitoring device of the monitoring device in a monitoring sequence.
  • the method shown in FIG. 3 can be applied to the monitoring device.
  • the moving target is an airplane
  • the moving path is an airport runway
  • the moving direction on the airport runway is from left to right
  • the monitoring sequence is from left to right, when the plane is landing, at the airport.
  • the direction of movement on the runway is from right to left, and the monitoring sequence is from right to left.
  • the rotating mechanism can be rotated to the left or to the right.
  • the rotation angle is 0 degrees.
  • the preset threshold may be 45 degrees. Of course, it is not limited thereto.
  • the preset threshold may be determined according to actual conditions.
  • the moving target is an aircraft
  • the monitoring device is a ball machine.
  • the camera as shown in Fig. 4(a) is a schematic diagram in which the rotation mechanism of the camera in the dome camera is rotated by 0 degrees, and Fig. 4(b) shows that the rotation mechanism of the camera in the dome camera is rotated to the left by 45 degrees. schematic diagram.
  • Linkage monitoring between monitoring devices is realized by sending a start monitoring command to the next monitoring device, thereby achieving seamless monitoring of the moving target and improving the success rate of the moving target monitoring.
  • the next monitoring device does not collect the moving target image
  • an alarm process is performed.
  • the moving target is an airplane
  • an image of the aircraft is collected in the monitoring screen of the first monitoring device.
  • the image of the aircraft is not collected by the next monitoring device, and the alarm processing is performed.
  • FIG. 3 can perform linkage monitoring on the moving target.
  • FIG. 3 is only an implementation manner of the linkage monitoring, but is not limited thereto, and the execution order between the specific steps may be various, and only the step S301 is performed. It can be executed after step S102.
  • another method for monitoring a mobile target provided by the embodiment of the present application may further include:
  • S501 Determine a monitoring sequence of each monitoring device according to a moving direction of the moving target.
  • the method shown in FIG. 5 can be applied to a control device communicatively connected to each monitoring device.
  • S502 Determine, according to the location information of the mobile target in the monitoring screen of each monitoring device, the current monitoring device corresponding to the actual location where the mobile target is located.
  • the implementation of the sending start monitoring command to the next monitoring device in the monitoring sequence may be that the control device that is in communication with the monitoring device controls the monitoring device to send a start monitoring command, but is not limited. herein.
  • the method shown in FIG. 5 can perform linkage monitoring on the moving target.
  • FIG. 5 is only an implementation manner of the linkage monitoring, but is not limited thereto, and the execution order between the specific steps may be various, and only step S501 is needed. It can be executed after step S102.
  • a method for monitoring a moving target provided by an embodiment of the present application further includes multiple alarm modes, and the method is applied to a monitoring device, and the method further includes any one of an alarm scheme 1, an alarm scheme 2, and an alarm scheme 3.
  • the alarm scheme one is: determining whether an image of the moving target is acquired, and if yes, determining whether the image of the moving target is located outside the first image area, and if so, performing an alarm process;
  • the first image area may be an area where the moving path is located. Specifically, the area where the moving path is located may be identified by image recognition. If the image of the moving target is not in the first image area, the preset moving path may be removed. However, it is dangerous to determine whether the image of the moving object is outside the first image area, and if so, an alarm process is performed.
  • the moving target is an airplane
  • the moving path is an airport runway
  • the first image area may be an area where the runway is located, and if the aircraft deviates from the airport runway, an alarm process is performed.
  • the alarm scheme 2 is: if the determined movement parameter is not within a preset threshold range, performing alarm processing;
  • the movement parameter may be a moving distance or a moving speed, and if the moving distance or the moving speed is no longer within a preset threshold range, an alarm process is performed.
  • the moving target is an aircraft
  • the moving distance or the moving speed of the aircraft is not within the threshold range due to the failure of the aircraft (the moving distance is too long due to the inability to take off or the speed is too slow due to the engine failure when taking off)
  • the alarm processing is performed.
  • the alarm scheme 3 is: determining whether an image with a preset danger feature is included in the collected image, and if so, performing an alarm process.
  • the predetermined hazard feature may be smoke, flare or bird, but is not limited thereto.
  • the moving target is an airplane
  • the aircraft if the aircraft generates smoke, the aircraft generates smoke, and an alarm is processed, or a bird that appears to be flying in the monitoring screen, in order to prevent an accident, an alarm is required.
  • the foregoing method may also be applied to a control device that is communicably connected to each monitoring device.
  • the method shown in FIG. 1 may further include any one or more of an alarm scheme 4, an alarm scheme 5, an alarm scheme 6 and an alarm scheme 7. :
  • the alarm scheme 4 is: determining whether each monitoring device collects an image of the moving target, and if yes, determining whether the images of the collected moving targets are all located in the preset image region, and if not, performing alarm processing;
  • the alarm scheme 5 is: if the determined movement parameter is not within a preset threshold range, performing alarm processing;
  • the alarm scheme 6 is: identifying an image with a preset dangerous feature in an image collected by each monitoring device, and performing an alarm processing if an image with a preset dangerous feature is recognized;
  • the alarm scheme 7 is: determining a time interval between a time when the rotation angle of the leftmost rotation mechanism is 0 and a time when the rotation angle of the rightmost rotation mechanism is 0 when monitoring the moving target The time interval is not within the preset threshold range, and alarm processing is performed.
  • the moving path may be an airport runway
  • the moving target may be an aircraft
  • the plurality of monitoring points may be located at four monitoring points
  • the distance between adjacent ball machines may be 300 meters.
  • the distance between the adjacent domes can be 300 meters.
  • the position of the pan/tilt and ball machine for monitoring the airport runway can be as shown in Figure 6.
  • the airport runway is a straight road. At present, most airports meet the 4C standard, that is, the runway length exceeds 1800 meters, and 4 billiard racks are located at the airport. At the position of the runway monitoring point, each covers a length of 400 meters, and finally a pan/tilt is placed for the last 200 meters and air monitoring.
  • the specific spacing between adjacent domes is shown in Figure 7, according to the height of the aircraft fuselage.
  • the height of the monitoring point is set. Specifically, the height of the monitoring point can be higher than the height of the aircraft body. For example, if the height of the aircraft fuselage is 13 meters, the height of the monitoring point can be set to 15 meters.
  • a control device that communicates with a camera in the dome camera and a camera in the pan/tilt, such as a control tower, initializes the rotation mechanism of the dome camera and the initial rotation mechanism of the pan/tilt head.
  • the perspective, the initial viewing angle to be monitored, is adjusted to the uniform as shown in Figure 8.
  • the cameras in all the domes enter the motion detection mode, and the airplane takes the lead in the surveillance screen of the camera in the dome 1.
  • the camera in the dome 1 is adjusted in real time according to the size of the image in the surveillance screen of the aircraft.
  • the focal length ensures that the aircraft as a whole is in the monitoring picture.
  • the horizontal steering of the rotating mechanism of the ball machine 1 is adjusted in real time by controlling the internal horizontal motor of the ball machine to ensure that the whole aircraft is in the monitoring picture, and the aircraft is in operation. Moving from the leftmost side to the far right side of the monitoring screen of the camera in the dome 1, the rotation angle of the rotating mechanism of the dome 1 reaches a preset threshold, and the camera that starts the monitoring command to the camera 2 is sent.
  • the camera in the machine 2 starts to track the aircraft; it can also determine whether the aircraft reaches the corresponding position of the set point of the dome 1 and the set point corresponding to the dome 2, and if so, the camera in the dome 2 starts to track the aircraft, due to this time
  • the aircraft is simultaneously present in the monitoring screen of the camera in the two billiard machines of the dome 1 and the dome 2, thereby ensuring seamless monitoring of the aircraft as shown in FIG.
  • the rotating performance of the rotating mechanism in the pan/tilt supports the horizontal rotation of the ball machine by 360 degrees, and also supports the vertical rotation of ⁇ 90 degrees.
  • the camera is used to monitor the aircraft by using the up-and-down function of the rotating mechanism in the pan/tilt to realize the monitoring of the altitude of 100 meters after the aircraft takes off.
  • the movement detection and movement tracking functions of the dome and the pan/tilt are used to implement the linkage monitoring mechanism, which realizes the monitoring of the whole process of aircraft takeoff.
  • the overlapping area of the monitoring screen is set to ensure the relay of the adjacent ball machine to monitor the aircraft, realize seamless monitoring, provide safety guarantee for the take-off of the aircraft, and break through the long-distance monitoring of the runway. The bottleneck.
  • a monitoring device is disposed on each monitoring point corresponding to the moving path of the moving target, and the monitoring device is installed on the rotating mechanism, and the moving The path corresponds to a plurality of monitoring point locations, and obtains an image of the moving target in the monitoring screen collected by the monitoring device at the first time and the second time, analyzes the obtained image, and determines a moving parameter of the moving target, Determining a rotation parameter of the rotation mechanism according to the determined movement parameter, and controlling the rotation mechanism to rotate according to the determined rotation parameter.
  • the application realizes the tracking and monitoring of the moving target by the monitoring device through the rotation of the rotating mechanism, thereby avoiding the situation that the moving target enters the monitoring dead angle, and improves the success rate of monitoring the moving target without increasing the number of monitoring devices.
  • FIG. 10 is a schematic structural diagram of a monitoring device according to an embodiment of the present disclosure.
  • the monitoring device is installed on a rotating mechanism, and each moving path of the moving target corresponds to The monitoring device is provided with a monitoring device installed on the rotating mechanism, and the moving path corresponds to a plurality of monitoring point locations.
  • the monitoring device shown in FIG. 10 may include:
  • the image acquisition obtaining module 1001 is configured to obtain an image of the moving target in the monitoring screen collected at the first time and the second time;
  • the image analysis module 1002 is configured to perform an analysis process on the obtained image to determine a movement parameter of the moving target;
  • a data calculation module 1003, configured to determine a rotation parameter of the rotation mechanism according to the determined movement parameter
  • the rotation control module 1004 is configured to control the rotation mechanism to rotate according to the determined rotation parameter.
  • the movement parameter includes a moving distance and a moving direction of the moving target in the monitoring screen;
  • the rotation parameter includes a rotation angle and a rotation direction of the rotating mechanism;
  • the data calculation module 1003 can be specifically configured to:
  • the moving distance of the moving target in the monitoring screen the position of the moving target in the monitoring screen at the first moment, the position of the moving target in the monitoring screen at the second moment, and the monitoring point position of the monitoring device corresponding to the monitoring screen a virtual position, determining a rotation angle of the rotating mechanism; determining a rotation direction of the rotating mechanism according to a moving direction of the moving target in the monitoring screen;
  • the data calculation module 1003 can be specifically configured to:
  • the distance of the moving target in the monitoring screen is transformed, and the actual moving distance of the moving target is obtained;
  • the position of the moving target in the monitoring screen at the first moment is respectively The coordinates of the moving target and the moving target at the second moment are coordinately transformed in the coordinates of the position in the monitoring screen, and the actual position coordinates of the moving target at the first moment and the actual position coordinates of the moving target at the second moment are obtained;
  • the moving distance, the actual position coordinate of the moving target at the first moment, the actual position coordinate of the moving target at the second moment, and the monitoring point position of the monitoring device determine the rotation angle of the rotating mechanism; monitoring according to the moving target
  • the direction of movement in the picture determines the direction of rotation of the rotating mechanism.
  • the monitoring device shown in FIG. 10 may further include:
  • An instruction sending module configured to determine, according to a moving direction of the moving target, the next monitoring device in the monitoring sequence; when the rotation angle of the rotating mechanism where the rotating mechanism reaches the preset threshold, sending a start monitoring instruction to the next Monitoring the device to cause the next monitoring device to begin monitoring the mobile target.
  • the monitoring device shown in FIG. 10 may further include an alarm module, where the alarm module is used for alarm processing:
  • the image analysis module is further configured to determine whether an image of the moving target is acquired by itself, and if yes, determine whether the image of the moving target is outside a preset image area, and if so, trigger the alarm module;
  • the image analysis module is further configured to trigger the alarm module when the determined movement parameter is not within a preset threshold range
  • the image analysis module is further configured to determine whether an image with a preset hazard feature is included in the captured image, and if so, trigger the alarm module.
  • the monitoring device provided by the embodiment of the present application has a monitoring device disposed at each monitoring point corresponding to the moving path of the moving target, where the monitoring device is installed on the rotating mechanism, and the moving path corresponds to multiple monitoring points. Positioning, obtaining an image of the moving target in the monitoring screen collected by the monitoring device at the first time and the second time, performing analysis processing on the obtained image, determining a moving parameter of the moving target, according to the determined moving parameter Determining a rotation parameter of the rotation mechanism, and controlling the rotation mechanism to rotate according to the determined rotation parameter.
  • the application realizes the tracking and monitoring of the moving target by the monitoring device through the rotation of the rotating mechanism, thereby avoiding the situation that the moving target enters the monitoring dead angle, and improves the success rate of monitoring the moving target without increasing the number of monitoring devices.
  • a monitoring device provided by an embodiment of the present application may include: a rotating mechanism and any one of the foregoing embodiments, wherein the monitoring device is mounted on the rotating mechanism.
  • the monitoring device can be a pan/tilt or a ball machine.
  • the monitoring device provided by the embodiment of the present application has a monitoring device disposed at each monitoring point corresponding to the moving path of the moving target, where the monitoring device is installed on the rotating mechanism, and the moving path corresponds to multiple monitoring points. Positioning, obtaining an image of the moving target in the monitoring screen collected by the monitoring device at the first time and the second time, performing analysis processing on the obtained image, determining a moving parameter of the moving target, according to the determined moving parameter Determining a rotation parameter of the rotation mechanism, and controlling the rotation mechanism to rotate according to the determined rotation parameter.
  • the application realizes the tracking and monitoring of the moving target by the monitoring device through the rotation of the rotating mechanism, thereby avoiding the situation that the moving target enters the monitoring dead angle, and improves the success rate of monitoring the moving target without increasing the number of monitoring devices.
  • a monitoring system provided by an embodiment of the present application may include:
  • the control device 002 may include:
  • An image acquisition module configured to obtain an image of a moving target in the monitoring screen collected by the monitoring device at the first moment and the second moment;
  • An image analysis module configured to perform analysis processing on the obtained image to determine a movement parameter of the moving target
  • a data calculation module configured to determine a rotation parameter of the rotation mechanism according to the determined movement parameter
  • a rotation control module configured to control the rotation mechanism to rotate according to the determined rotation parameter.
  • the movement parameter includes a moving distance and a moving direction of the moving target in the monitoring screen;
  • the rotation parameter includes a rotation angle and a rotation direction of the rotating mechanism;
  • the data calculation module may be specifically configured to: according to the moving distance of the moving target in the monitoring screen, the position of the moving target in the monitoring screen at the first moment, and the moving target at the second moment And determining a rotation angle of the rotation mechanism according to a position of the monitoring point in the monitoring screen and a monitoring point where the monitoring device is located, and a rotation position corresponding to the monitoring screen; determining a rotation direction of the rotating mechanism according to a moving direction of the moving target in the monitoring screen;
  • the data calculation module may be specifically configured to: perform distance transformation on a moving distance of the moving target in the monitoring image according to a preset distance transformation formula, and obtain an actual moving distance of the moving target; respectively move according to a preset coordinate transformation formula
  • the coordinates of the position of the target at the first moment in the monitoring screen and the coordinates of the position of the moving target at the second moment in the monitoring screen are coordinately transformed, and the actual position coordinates of the moving target at the first moment and the moving target are obtained in the second The actual position coordinate of the time; determining the said moving distance according to the actual moving distance, the actual position coordinate of the moving target at the first time, the actual position coordinate of the moving target at the second time, and the monitoring point position of the monitoring device
  • the rotation angle of the rotating mechanism; the rotation direction of the rotating mechanism is determined according to the moving direction of the moving target in the monitoring screen.
  • the control device may further include:
  • An instruction sending module is configured to determine a monitoring sequence of each monitoring device according to a moving direction of the moving target; determine a current monitoring device corresponding to the actual location of the moving target according to the location information of the moving target in the monitoring screen of each monitoring device; and the current monitoring device When the rotation angle of the rotating mechanism reaches a preset threshold, the monitoring instruction is sent to the next monitoring device in the monitoring sequence to enable the next monitoring device to start monitoring the moving target.
  • control device may further include an alarm module, where the alarm module is configured to perform alarm processing:
  • the image analysis module is further configured to determine whether each monitoring device collects an image of the moving target, and if yes, determine whether the images of the respective collected moving targets are all located in the preset image region, and if not, trigger the alarm Module
  • the image analysis module is further configured to trigger the alarm module when the determined movement parameter is not within a preset threshold range
  • the image analysis module is further configured to identify an image with a preset hazard feature in an image collected by each monitoring device, and trigger the alarm module if an image with a preset hazard feature is recognized;
  • the image analysis module is further configured to determine a time interval between a time when the rotation angle of the leftmost rotation mechanism is 0 and a time when the rotation angle of the rightmost rotation mechanism is 0 when the moving target is monitored.
  • the alarm module is triggered when the time interval is not within a preset threshold range.
  • a monitoring device is disposed on each monitoring point corresponding to the moving path of the moving target, and the monitoring device is installed on the rotating mechanism, and the moving path corresponds to multiple monitoring points. Positioning, obtaining an image of the moving target in the monitoring screen collected by the monitoring device at the first time and the second time, performing analysis processing on the obtained image, determining a moving parameter of the moving target, according to the determined moving parameter Determining a rotation parameter of the rotation mechanism, and controlling the rotation mechanism to rotate according to the determined rotation parameter.
  • the application realizes the tracking and monitoring of the moving target by the monitoring device through the rotation of the rotating mechanism, thereby avoiding the situation that the moving target enters the monitoring dead angle, and improves the success rate of monitoring the moving target without increasing the number of monitoring devices.
  • the embodiment of the present application provides an application program for performing a method for monitoring a mobile target provided by an embodiment of the present application at runtime.
  • methods for monitoring moving targets include:
  • the rotation mechanism is controlled to rotate according to the determined rotation parameter.
  • An embodiment of the present application provides a storage medium for storing an application, where the application is used to perform a method for monitoring a mobile target provided by an embodiment of the present application.
  • the method for monitoring a mobile target may include:
  • the rotation mechanism is controlled to rotate according to the determined rotation parameter.

Landscapes

  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Signal Processing (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Alarm Systems (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Image Analysis (AREA)

Abstract

本申请实施例提供了一种对移动目标进行监控的方法及监控设备、装置、系统，移动目标的移动路径对应的各监控点位置上均设置有一个监控设备，所述监控设备安装在旋转机构上，所述移动路径对应有多个监控点位置，获得所述监控设备在第一时刻和第二时刻采集的监控画面中的移动目标的图像，对获得的所述图像进行分析处理，确定移动目标的移动参数，根据确定的所述移动参数确定所述旋转机构的旋转参数，根据确定的所述旋转参数控制所述旋转机构进行旋转。本申请通过旋转机构的旋转实现监控设备对移动目标的跟踪监控，避免了移动目标进入监控死角的情况，在不增加监控设备数量的前提下，提高了对移动目标监控的成功率。

Description

一种对移动目标进行监控的方法及监控设备、装置、系统
本申请要求于2015年11月19日提交中国专利局、申请号为201510800532.8发明名称为“一种对移动目标进行监控的方法及监控设备、装置、系统”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及监控技术领域，特别是涉及一种对移动目标进行监控的方法及监控设备、装置、系统。
背景技术
随着科技的发展和人们需求的增长，视频监控技术得到了飞速的发展。视频监控技术在银行、小区、机场、车站等许多场所都有着非常广泛的应用，在公共安全领域起着日益重要的作用。
目前，为了对移动目标进行监控，现有的视频监控是在移动目标的移动路径上安装多个不同朝向的监控设备，通过多个监控设备对移动目标进行多角度监控。
虽然设置了多个监控设备，但仍可能存在监控死角。当移动目标进入监控死角时，现有的监控技术将无法继续获得移动目标的图像，从而导致监控失败。
发明内容
本申请实施例的目的在于提供一种对移动目标进行监控的方法及监控设备、装置、系统，提高对移动目标监控的成功率。具体技术方案如下：
一种对移动目标进行监控的方法，移动目标的移动路径对应的各监控点位置上均设置有一个监控设备，所述监控设备安装在旋转机构上，所述移动路径对应有多个监控点位置，所述方法包括：
获得所述监控设备在第一时刻和第二时刻采集的监控画面中的移动目标的图像；
对获得的所述图像进行分析处理，确定移动目标的移动参数；
根据确定的所述移动参数确定所述旋转机构的旋转参数；
根据确定的所述旋转参数控制所述旋转机构进行旋转。
可选的，所述移动参数包括移动目标在监控画面中的移动距离和移动方向；所述旋转参数包括所述旋转机构的旋转角度和旋转方向；
所述根据确定的所述移动参数确定所述旋转机构的旋转参数，包括：
根据移动目标在监控画面中的移动距离、移动目标在第一时刻在监控画面中所在位置、移动目标在第二时刻在监控画面中所在位置和所述监控设备所在监控点位置与监控画面对应的虚拟位置，确定所述旋转机构的旋转角度；根据移动目标在监控画面中的移动方向确定所述旋转机构的旋转方向；
或者，
所述根据确定的所述移动参数确定所述旋转机构的旋转参数，包括：
根据预设的距离变换公式对移动目标在监控画面中的移动距离进行距离变换，得到移动目标的实际移动距离；根据预设的坐标变换公式分别对移动目标在第一时刻在监控画面中所在位置的坐标和移动目标在第二时刻在监控画面中所在位置的坐标进行坐标变换，得到移动目标在第一时刻所在的实际位置坐标和移动目标在第二时刻所在的实际位置坐标；根据所述实际移动距离、移动目标在第一时刻所在的实际位置坐标、移动目标在第二时刻所在的实际位置坐标和所述监控设备所在监控点位置，确定所述旋转机构的旋转角度；根据移动目标在监控画面中的移动方向确定所述旋转机构的旋转方向。
可选的，所述方法应用于所述监控设备中，所述方法还包括：
根据移动目标的移动方向确定所述监控设备在监控顺序上的下一个监控设备；在所述旋转机构的旋转角度达到预设阈值时，发送开始监控指令到所述下一个监控设备以使所述下一监控设备对所述移动目标开始监控。
可选的，所述方法应用于与各监控设备通信连接的控制设备中，所述方法还包括：
根据移动目标的移动方向确定各监控设备的监控顺序；根据各监控设备的监控画面中移动目标的位置信息确定移动目标所在实际位置对应的当前的监控设备；在当前的监控设备所在的旋转机构的旋转角度达到预设阈值时， 发送开始监控指令到监控顺序上的下一监控设备以使所述下一监控设备对所述移动目标开始监控。
可选的，所述方法应用于监控设备中，所述方法还包括报警方案一、报警方案二和报警方案三中的任意一种或多种：
所述报警方案一为：确定是否采集到移动目标的图像，如果是，判断所述移动目标的图像是否位于预设的图像区域外，如果是，进行报警处理；
所述报警方案二为：如果所述确定的移动参数不在预设阈值范围内，进行报警处理；
所述报警方案三为：判断采集的图像中是否包括带有预设危险特征的图像，如果是，进行报警处理。
可选的，所述方法应用于与各监控设备通信连接的控制设备中，所述方法还包括报警方案四、报警方案五、报警方案六和报警方案七中的任意一种或多种：
所述报警方案四为：确定各监控设备是否采集到移动目标的图像，如果是，则判断各个采集到的移动目标的图像是否均位于预设的图像区域内，如果否，进行报警处理；
所述报警方案五为：如果所述确定的移动参数不在预设阈值范围内，进行报警处理；
所述报警方案六为：在各监控设备采集的图像中识别带有预设危险特征的图像，如果识别到带有预设危险特征的图像，进行报警处理；
所述报警方案七为：确定在对移动目标进行监控时，最左侧的旋转机构的旋转角度为0的时刻以及最右侧的旋转机构的旋转角度为0的时刻之间的时间间隔，当所述时间间隔不在预设阀值范围内，进行报警处理。
一种监控设备，所述监控设备安装在旋转机构上，移动目标的移动路径对应的各监控点位置上均设置有一个安装在旋转机构上的所述监控设备，所述移动路径对应有多个监控点位置，所述监控设备包括：
图像采集模块，用于获得在第一时刻和第二时刻采集的监控画面中的移 动目标的图像；
图像分析模块，用于对获得的所述图像进行分析处理，确定移动目标的移动参数；
数据计算模块，用于根据确定的所述移动参数确定所述旋转机构的旋转参数；
旋转控制模块，用于根据确定的所述旋转参数控制所述旋转机构进行旋转。
可选的，所述移动参数包括移动目标在监控画面中的移动距离和移动方向；所述旋转参数包括所述旋转机构的旋转角度和旋转方向；
所述数据计算模块，具体用于：根据移动目标在监控画面中的移动距离、移动目标在第一时刻在监控画面中所在位置、移动目标在第二时刻在监控画面中所在位置和所述监控设备所在监控点位置与监控画面对应的虚拟位置，确定所述旋转机构的旋转角度；根据移动目标在监控画面中的移动方向确定所述旋转机构的旋转方向；
或者，
所述数据计算模块，具体用于：根据预设的距离变换公式对移动目标在监控画面中的移动距离进行距离变换，得到移动目标的实际移动距离；根据预设的坐标变换公式分别对移动目标在第一时刻在监控画面中所在位置的坐标和移动目标在第二时刻在监控画面中所在位置的坐标进行坐标变换，得到移动目标在第一时刻所在的实际位置坐标和移动目标在第二时刻所在的实际位置坐标；根据所述实际移动距离、移动目标在第一时刻所在的实际位置坐标、移动目标在第二时刻所在的实际位置坐标和所述监控设备所在监控点位置，确定所述旋转机构的旋转角度；根据移动目标在监控画面中的移动方向确定所述旋转机构的旋转方向。
可选的，所述监控设备还包括：
指令发送模块，用于根据移动目标的移动方向确定自身在监控顺序上的下一个监控设备；在自身所在的旋转机构的旋转角度达到预设阈值时，发送 开始监控指令到所述下一个监控设备以使所述下一监控设备对所述移动目标开始监控。
可选的，所述监控设备还包括报警模块，所述报警模块用于进行报警处理：
所述图像分析模块还用于确定自身是否采集到移动目标的图像，如果是，判断所述移动目标的图像是否位于预设的图像区域外，如果是，触发所述报警模块；
或者，
所述图像分析模块还用于在所述确定的移动参数不在预设阈值范围内时，触发所述报警模块；
或者，
所述图像分析模块还用于判断采集的图像中是否包括带有预设危险特征的图像，如果是，触发所述报警模块。
一种监控装置，包括旋转机构及上述所述的任意一种监控设备，所述监控设备安装在所述旋转机构上。
一种监控系统，包括：多个安装在旋转机构上的监控设备及与各监控设备通信连接的控制设备，移动目标的移动路径对应的各监控点位置上均设置有一个安装在旋转机构上的所述监控设备，所述移动路径对应有多个监控点位置，所述控制设备包括：
图像采集模块，用于获得所述监控设备在第一时刻和第二时刻采集的监控画面中的移动目标的图像；
图像分析模块，用于对获得的所述图像进行分析处理，确定移动目标的移动参数；
数据计算模块，用于根据确定的所述移动参数确定所述旋转机构的旋转参数；
旋转控制模块，用于根据确定的所述旋转参数控制所述旋转机构进行旋 转。
可选的，所述移动参数包括移动目标在监控画面中的移动距离和移动方向；所述旋转参数包括所述旋转机构的旋转角度和旋转方向；
所述数据计算模块，具体用于：根据移动目标在监控画面中的移动距离、移动目标在第一时刻在监控画面中所在位置、移动目标在第二时刻在监控画面中所在位置和所述监控设备所在监控点位置与监控画面对应的虚拟位置，确定所述旋转机构的旋转角度；根据移动目标在监控画面中的移动方向确定所述旋转机构的旋转方向；
或者，
所述数据计算模块，具体用于：根据预设的距离变换公式对移动目标在监控画面中的移动距离进行距离变换，得到移动目标的实际移动距离；根据预设的坐标变换公式分别对移动目标在第一时刻在监控画面中所在位置的坐标和移动目标在第二时刻在监控画面中所在位置的坐标进行坐标变换，得到移动目标在第一时刻所在的实际位置坐标和移动目标在第二时刻所在的实际位置坐标；根据所述实际移动距离、移动目标在第一时刻所在的实际位置坐标、移动目标在第二时刻所在的实际位置坐标和所述监控设备所在监控点位置，确定所述旋转机构的旋转角度；根据移动目标在监控画面中的移动方向确定所述旋转机构的旋转方向。
可选的，所述控制设备还包括：
指令发送模块，用于根据移动目标的移动方向确定各监控设备的监控顺序；根据各监控设备的监控画面中移动目标的位置信息确定移动目标所在实际位置对应的当前的监控设备；在当前的监控设备所在的旋转机构的旋转角度达到预设阈值时，发送开始监控指令到监控顺序上的下一监控设备以使所述下一监控设备对所述移动目标开始监控。
可选的，所述控制设备还包括报警模块，所述报警模块用于进行报警处理：
所述图像分析模块还用于确定各监控设备是否采集到移动目标的图像，如果是，则判断各个采集到的移动目标的图像是否均位于预设的图像区域内， 如果否，触发所述报警模块；
或者，
所述图像分析模块还用于在所述确定的移动参数不在预设阈值范围内时，触发所述报警模块；
或者，
所述图像分析模块还用于在各监控设备采集的图像中识别带有预设危险特征的图像，如果识别到带有预设危险特征的图像，触发所述报警模块；
或者，
所述图像分析模块还用于确定在对移动目标进行监控时，最左侧的旋转机构的旋转角度为0的时刻以及最右侧的旋转机构的旋转角度为0的时刻之间的时间间隔，当所述时间间隔不在预设阀值范围内，触发所述报警模块。
本申请实施例提供了一种应用程序，该应用程序用于在运行时执行本申请实施例提供的对移动目标进行监控的方法。其中，对移动目标进行监控的方法，包括：
获得所述监控设备在第一时刻和第二时刻采集的监控画面中的移动目标的图像；
对获得的所述图像进行分析处理，确定移动目标的移动参数；
根据确定的所述移动参数确定所述旋转机构的旋转参数；
根据确定的所述旋转参数控制所述旋转机构进行旋转。
本申请实施例提供了一种存储介质，用于存储应用程序，该应用程序用于执行本申请实施例提供的对移动目标进行监控的方法。其中，对移动目标进行监控的方法，可以包括：
获得所述监控设备在第一时刻和第二时刻采集的监控画面中的移动目标的图像；
对获得的所述图像进行分析处理，确定移动目标的移动参数；
根据确定的所述移动参数确定所述旋转机构的旋转参数；
根据确定的所述旋转参数控制所述旋转机构进行旋转。
本申请实施例提供的一种对移动目标进行监控的方法及监控设备、装置、系统，移动目标的移动路径对应的各监控点位置上均设置有一个监控设备，所述监控设备安装在旋转机构上，所述移动路径对应有多个监控点位置，获得所述监控设备在第一时刻和第二时刻采集的监控画面中的移动目标的图像，对获得的所述图像进行分析处理，确定移动目标的移动参数，根据确定的所述移动参数确定所述旋转机构的旋转参数，根据确定的所述旋转参数控制所述旋转机构进行旋转。本申请通过旋转机构的旋转实现监控设备对移动目标的跟踪监控，避免了移动目标进入监控死角的情况，在不增加监控设备数量的前提下，提高了对移动目标监控的成功率。
附图说明
为了更清楚地说明本申请实施例和现有技术的技术方案，下面对实施例和现有技术中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本申请实施例提供的一种对移动目标进行监控的方法的流程示意图；
图2为旋转机构旋转角度的确定示意图；
图3为本申请实施例提供的另一种对移动目标进行监控的方法的流程示意图；
图4(a)为球机内的摄像机所在的旋转机构旋转角度为0度的示意图；
图4(b)为球机内的摄像机所在的旋转机构向左旋转角度为45度的示意图；
图5为本申请实施例提供的另一种对移动目标进行监控的方法的流程示意图；
图6为对机场跑道进行监控的云台与球机的放置位置示意图；
图7为相邻球机之间的具体间距设置示意图；
图8为统一初始视角后球机与云台示意图；
图9为飞机进入球机1对应的设置点和球机2对应的设置点的中间位置时球机与云台的跟踪监控示意图；
图10为本申请实施例提供的一种监控设备的结构示意图；
图11为本申请实施例提供的一种监控系统的示意图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
如图1所示，本申请实施例提供的一种对移动目标进行监控的方法，移动目标的移动路径对应的各监控点位置上均设置有一个监控设备，所述监控设备安装在旋转机构上，所述移动路径对应有多个监控点位置，该方法可以包括：
S101：获得所述监控设备在第一时刻和第二时刻采集的监控画面中的移动目标的图像。
其中，图1所示方法可以应用于监控设备中或与各监控设备通信连接的控制设备中。
在本申请实施例中为了实现对移动目标进行监控，获得监控设备在第一时刻和第二时刻采集的监控画面中的移动目标的图像。
为了提高监控的成功率，第一时刻和第二时刻之间的间隔可以较短，如为监控设备采集的视频中相邻两个视频帧之间的时间间隔。可选的，可以使用帧率高的监控设备进行视频采集以提高监控成功率。
具体的，可以通过图像识别技术识别监控设备采集的监控画面中的移动目标的图像，所述移动目标可以为任何可移动的物体中的至少一种，例如： 飞机或汽车。
具体的，对应于所述移动路径的一个端点的监控点位置上设置的监控设备可以为云台内的摄像机，其它各监控设备可以为球机内的摄像机。可以理解的是，云台中带有可以水平旋转和垂直旋转的旋转机构，球机中带有可以水平旋转的旋转机构。
S102：对获得的所述图像进行分析处理，确定移动目标的移动参数。
其中，对获得的所述图像进行分析处理，通过所述分析处理得到移动目标的移动参数的方式可以有多种，例如：可以根据移动目标图像上的一个关键点或移动目标的轮廓确定移动目标的移动参数，具体的，所述关键点可以为移动目标的中心点或者边缘点，但并不局限于此。以飞机为例，关键点可以为飞机的中心部位的一个点。
具体的，所述移动参数可以包括移动目标在监控画面中的移动距离和移动方向。
本领域技术人员可以理解的是，获得第一时刻与第二时刻之间的时间间隔，由移动目标在监控画面中的移动距离与所述时间间隔可以得到移动目标在监控画面中的移动速度，根据所述移动速度确定所述旋转机构的旋转参数。
根据第一时刻移动目标在监控画面中的图像和第二时刻移动目标在监控画面中的图像的相对位置关系，可以确定移动方向。例如：第一时刻早于第二时刻，当第二时刻移动目标在监控画面中的图像的位置相对于第一时刻移动目标在监控画面中的图像的位置为左端时，则可以确定移动目标的移动方向为从右向左移动；当第二时刻移动目标在监控画面中的图像的位置相对于第一时刻移动目标在监控画面中的图像的位置为右端时，则可以确定移动目标的移动方向为从左向右移动。
S103：根据确定的所述移动参数确定所述旋转机构的旋转参数。
具体的，所述旋转参数可以包括所述旋转机构的旋转角度和旋转方向；步骤S103可以包括如下两种确定方式中的任何一种：
确定方式一：根据移动目标在监控画面中的移动距离、移动目标在第一 时刻在监控画面中所在位置、移动目标在第二时刻在监控画面中所在位置和所述监控设备所在监控点位置与监控画面对应的虚拟位置，确定所述旋转机构的旋转角度；
本领域技术人员可以理解的是，可以根据移动目标在监控画面中的移动距离、移动目标在第一时刻在监控画面中所在位置、移动目标在第二时刻在监控画面中所在位置和所述监控设备所在监控点位置与监控画面对应的虚拟位置，通过余弦定理，确定所述旋转机构的旋转角度，但所述确定所述旋转机构的旋转角度的方式并不局限于此。
例如：所述移动目标为飞机，如图2所示，根据飞机在监控画面中的移动距离l12、飞机在第一时刻在监控画面中所在位置1、飞机在第二时刻在监控画面中所在位置2和所述监控设备所在监控点位置与监控画面对应的虚拟位置3，可以得到距离l13和l23，通过余弦定理，确定所述旋转机构的旋转角度。
当然，可以根据移动目标在监控画面中的移动方向确定所述旋转机构的旋转方向。例如：如果移动目标在监控画面中的移动方向为从左向右移动，则确定所述旋转机构的旋转方向为顺时针旋转，当然并不局限与此。
确定方式二：根据预设的距离变换公式对移动目标在监控画面中的移动距离进行距离变换，得到移动目标的实际移动距离；
根据预设的坐标变换公式分别对移动目标在第一时刻在监控画面中所在位置的坐标和移动目标在第二时刻在监控画面中所在位置的坐标进行坐标变换，得到移动目标在第一时刻所在的实际位置坐标和移动目标在第二时刻所在的实际位置坐标；
根据所述实际移动距离、移动目标在第一时刻所在的实际位置坐标、移动目标在第二时刻所在的实际位置坐标和所述监控设备所在监控点位置，确定所述旋转机构的旋转角度；
根据移动目标在监控画面中的移动方向确定所述旋转机构的旋转方向。
S104：根据确定的所述旋转参数控制所述旋转机构进行旋转。
根据确定的所述旋转机构的旋转角度和旋转方向控制所述旋转机构向所 述旋转方向旋转所述旋转角度，通过所述旋转机构的旋转对移动目标实时监控，避免移动目标进入监控死角而使监控无法进行的情况发生。
为了提高跟踪监控的准确性，可以在旋转机构进行旋转的同时，获得监控设备当前时刻采集的监控画面中的移动目标的图像并对该图像及之前某时刻采集的监控画面中的移动目标的图像进行分析处理，再次确定移动目标的移动参数并进一步确定旋转机构的旋转参数，根据确定的所述旋转参数控制所述旋转机构进行旋转，由此实现旋转机构的实时连续旋转进而带动监控设备旋转对移动目标进行连续监控。
在本申请其他实施例中，为了清晰的获得监控设备采集的监控画面中的移动目标图像，图1所示方法还可以包括：
获得移动目标图像在监控画面中所占的画面比例；
调整焦距使该移动目标图像的画面比例位于预设比例区间中。
调整焦距等同于调整视场角，使移动目标图像的画面比例位于预设比例区间中，确保移动目标完全处于监控画面中，方便对移动目标的准确监控。例如：当移动目标图像的画面比例较小时，可以整焦距使所述画面比例变大，从而使移动目标图像更加清晰；当移动目标图像的画面比例较大时，可以整焦距使所述画面比例变小，从而使移动目标的图像更加完整。
在图1所示实施例基础上，如图3所示，本申请实施例提供的另一种对移动目标进行监控的方法，还可以包括：
S301：根据移动目标的移动方向确定所述监控设备在监控顺序上的下一个监控设备。
其中，图3所示方法可以应用于所述监控设备中。
例如：所述移动目标为飞机，所述移动路径为机场跑道，飞机起飞时，在机场跑道上的移动方向是从左向右，此时监控顺序为从左向右，飞机降落时，在机场跑道上的移动方向是从右向左，此时监控顺序为从右向左。
S302：在所述旋转机构的旋转角度达到预设阈值时，发送开始监控指令到所述下一个监控设备以使所述下一监控设备对所述移动目标开始监控。
其中，旋转机构可以向左旋转，也可以向右旋转。当旋转机构未旋转时，旋转角度为0度。其中，所述预设阀值可以为45度，当然并不局限与此，可以根据实际情况，确定预设阀值的大小，例如：所述移动目标为飞机，所述监控设备为球机内的摄像机，如图4(a)为球机内的摄像机所在的旋转机构旋转角度为0度的示意图和图4(b)为球机内的摄像机所在的旋转机构向左旋转角度为45度的示意图。
通过发送开始监控指令到下一监控设备的方式实现各监控设备之间的联动监控，从而实现对移动目标的无缝监控，提高了移动目标监控的成功率。
进一步，如果下一个监控设备采集不到移动目标图像，进行报警处理。例如：所述移动目标为飞机，在第一监控设备的监控画面中采集到飞机的图像，飞机在移动过程中跑出跑道，则在下一个监控设备采集不到飞机的图像，进行报警处理。
图3所示方法可以对移动目标进行联动监控，图3仅为联动监控的一种实现方式，但并不局限于此，具体的步骤之间的执行顺序可以有多种，只需步骤S301在步骤S102后执行即可。
在图1所示实施例基础上，如图5所示，本申请实施例提供的另一种对移动目标进行监控的方法，还可以包括：
S501：根据移动目标的移动方向确定各监控设备的监控顺序。
其中，图5所示方法可以应用于与各监控设备通信连接的控制设备中。
S502：根据各监控设备的监控画面中移动目标的位置信息确定移动目标所在实际位置对应的当前的监控设备。
S503：在当前的监控设备所在的旋转机构的旋转角度达到预设阈值时，发送开始监控指令到监控顺序上的下一监控设备以使所述下一监控设备对所述移动目标开始监控。
本领域技术人员可以理解的是，所述发送开始监控指令到监控顺序上的下一监控设备的实现方式可以为与各监控设备通信连接的控制设备控制监控设备发送开始监控指令，但并不局限于此。
图5所示方法可以对移动目标进行联动监控，图5仅为联动监控的一种实现方式，但并不局限于此，具体的步骤之间的执行顺序可以有多种，只需步骤S501在步骤S102后执行即可。
本申请实施例提供的一种对移动目标进行监控的方法还包括多种报警方式，所述方法应用于监控设备中，所述方法还包括报警方案一、报警方案二和报警方案三中的任意一种或多种：
所述报警方案一为：确定是否采集到移动目标的图像，如果是，判断所述移动目标的图像是否位于第一图像区域外，如果是，进行报警处理；
所述第一图像区域可以为移动路径所在的区域，具体的，可以通过图像识别识别出移动路径所在区域，如果所述移动目标的图像不在第一图像区域内时，可能脱离预设的移动路径而发生危险，因此判断所述移动目标的图像是否位于第一图像区域外，如果是，进行报警处理。
例如：所述移动目标为飞机，所述移动路径为机场跑道，所述第一图像区域可以为跑道所在的区域，如果飞机偏离机场跑道，则进行报警处理。
所述报警方案二为：如果所述确定的移动参数不在预设阈值范围内，进行报警处理；
所述移动参数可以为移动距离或移动速度，如果所述移动距离或移动速度不再预设阈值的范围内，则进行报警处理。
例如：所述移动目标为飞机，由于飞机发生故障致使飞机的移动距离或移动速度不在阈值范围内(由于无法起飞导致移动距离过长或起飞时由于引擎故障导致速度过慢)，则进行报警处理。
所述报警方案三为：判断采集的图像中是否包括带有预设危险特征的图像，如果是，进行报警处理。
所述预设危险特征可以为烟雾、火光或鸟，但并不局限与此。
例如：所述移动目标为飞机，由于飞机发生故障致使飞机产生烟雾，则进行报警处理，或者监控画面中出现飞行的鸟类，为防止造成事故，需进行报警处理。
当然，上述方法也可以应用于与各监控设备通信连接的控制设备中，图1所示方法还可以包括报警方案四、报警方案五、报警方案六和报警方案七中的任意一种或多种：
所述报警方案四为：确定各监控设备是否采集到移动目标的图像，如果是，则判断各个采集到的移动目标的图像是否均位于预设的图像区域内，如果否，进行报警处理；
所述报警方案五为：如果所述确定的移动参数不在预设阈值范围内，进行报警处理；
所述报警方案六为：在各监控设备采集的图像中识别带有预设危险特征的图像，如果识别到带有预设危险特征的图像，进行报警处理；
所述报警方案七为：确定在对移动目标进行监控时，最左侧的旋转机构的旋转角度为0的时刻以及最右侧的旋转机构的旋转角度为0的时刻之间的时间间隔，当所述时间间隔不在预设阀值范围内，进行报警处理。
具体的，所述移动路径可以为机场跑道，所述移动目标可以为飞机，所述多个监控点位置可以为4个监控点位置，相邻球机之间的距离可以为300米，云台和其相邻的球机之间的距离可以为300米。
对机场跑道进行监控的云台与球机的放置位置可以如图6所示，机场跑道是一条笔直的道路，目前大部分机场符合4C标准即跑道长度超过1800米，将4台球机架设在机场跑道监控点位置上，每一台覆盖400米的长度，最后放置一台云台进行最后200米及空中监控，相邻球机之间的具体间距设置如图7所示，根据飞机机身高度进行监控点的高度设置，具体的，监控点的设置高度可以高于飞机机身高度。例如：飞机机身高度为13米，则可设置监控点的高度为15米。
具体的，在每一架飞机起飞之前，通过与球机内的摄像机和云台内的摄像机通信连接的控制设备例如控制塔初始化球机带有的旋转机构与云台带有的旋转机构的初始视角，即将监控的初始视角调整到统一如图8所示。所有球机内的摄像机进入移动侦测模式，飞机率先进入球机1内的摄像机的监控画面中，该球机1内的摄像机根据飞机在监控画面中图像的大小，实时调节 焦距，保证飞机整体处于监控画面中，根据飞机的移动速度，通过控制球机内部水平电机实时调整球机1带有的旋转机构的水平转向，保证飞机整体处于监控画面中，飞机在运行过程中从球机1内的摄像机的监控画面最左侧移动到最右侧，此时球机1带有的旋转机构的旋转角度达到预设阈值，发送开始监控指令到球机2内的摄像机，球机2内的摄像机开始跟踪飞机；还可以判断飞机是否到达球机1对应的设置点和球机2对应的设置点的中间位置，如果是，球机2内的摄像机开始跟踪飞机，由于此时飞机同时存在于球机1和球机2两台球机内的摄像机的监控画面中，从而保证了对飞机的无缝监控如图9所示。
由于球机中带有的旋转机构不具备上仰的功能，而云台中带有的旋转机构的转动性能除了球机的水平360度转动之外，还支持垂直方向的±90度的转动，当飞机进入云台的摄像机的监控画面中，利用云台中带有的旋转机构的上仰的功能进而带动云台内的摄像机对飞机进行监控，实现对飞机起飞之后100米高度的监控。
通过4台球机和1台云台，利用球机和云台的移动侦测和移动跟踪的功能，实行联动监控机制，实现了飞机起飞全过程的监控。在相邻的监控点位置之间，设置了监控画面重叠区，保证了相邻球机对飞机的监控的接力，实现无缝监控，给飞机起飞提供了安全的保障，突破了跑道长距离监控的瓶颈。
可见，本申请实施例提供的一种对移动目标进行监控的方法，移动目标的移动路径对应的各监控点位置上均设置有一个监控设备，所述监控设备安装在旋转机构上，所述移动路径对应有多个监控点位置，获得所述监控设备在第一时刻和第二时刻采集的监控画面中的移动目标的图像，对获得的所述图像进行分析处理，确定移动目标的移动参数，根据确定的所述移动参数确定所述旋转机构的旋转参数，根据确定的所述旋转参数控制所述旋转机构进行旋转。本申请通过旋转机构的旋转实现监控设备对移动目标的跟踪监控，避免了移动目标进入监控死角的情况，在不增加监控设备数量的前提下，提高了对移动目标监控的成功率。
图10为本申请实施例提供的一种监控设备的结构示意图，与图1所示的方法相对应，所述监控设备安装在旋转机构上，移动目标的移动路径对应的各 监控点位置上均设置有一个安装在旋转机构上的所述监控设备，所述移动路径对应有多个监控点位置，图10所示监控设备可以包括：
图像采集获得模块1001，用于获得在第一时刻和第二时刻采集的监控画面中的移动目标的图像；
图像分析模块1002，用于对获得的所述图像进行分析处理，确定移动目标的移动参数；
数据计算模块1003，用于根据确定的所述移动参数确定所述旋转机构的旋转参数；
旋转控制模块1004，用于根据确定的所述旋转参数控制所述旋转机构进行旋转。
其中，所述移动参数包括移动目标在监控画面中的移动距离和移动方向；所述旋转参数包括所述旋转机构的旋转角度和旋转方向；
所述数据计算模块1003，可以具体用于：
根据移动目标在监控画面中的移动距离、移动目标在第一时刻在监控画面中所在位置、移动目标在第二时刻在监控画面中所在位置和所述监控设备所在监控点位置与监控画面对应的虚拟位置，确定所述旋转机构的旋转角度；根据移动目标在监控画面中的移动方向确定所述旋转机构的旋转方向；
或者，
所述数据计算模块1003，可以具体用于：
根据预设的距离变换公式对移动目标在监控画面中的移动距离进行距离变换，得到移动目标的实际移动距离；根据预设的坐标变换公式分别对移动目标在第一时刻在监控画面中所在位置的坐标和移动目标在第二时刻在监控画面中所在位置的坐标进行坐标变换，得到移动目标在第一时刻所在的实际位置坐标和移动目标在第二时刻所在的实际位置坐标；根据所述实际移动距离、移动目标在第一时刻所在的实际位置坐标、移动目标在第二时刻所在的实际位置坐标和所述监控设备所在监控点位置，确定所述旋转机构的旋转角度；根据移动目标在监控画面中的移动方向确定所述旋转机构的旋转方向。
可选的，图10所示监控设备还可以包括：
指令发送模块，用于根据移动目标的移动方向确定所述自身在监控顺序上的下一个监控设备；在自身所在的旋转机构的旋转角度达到预设阈值时，发送开始监控指令到所述下一个监控设备以使所述下一监控设备对所述移动目标开始监控。
可选的，图10所示监控设备还可以包括报警模块，所述报警模块用于进行报警处理：
所述图像分析模块还用于确定自身是否采集到移动目标的图像，如果是，判断所述移动目标的图像是否位于预设的图像区域外，如果是，触发所述报警模块；
或者，
所述图像分析模块还用于在所述确定的移动参数不在预设阈值范围内时，触发所述报警模块；
或者，
所述图像分析模块还用于判断采集的图像中是否包括带有预设危险特征的图像，如果是，触发所述报警模块。
本申请实施例提供的一种监控设备，移动目标的移动路径对应的各监控点位置上均设置有一个监控设备，所述监控设备安装在旋转机构上，所述移动路径对应有多个监控点位置，获得所述监控设备在第一时刻和第二时刻采集的监控画面中的移动目标的图像，对获得的所述图像进行分析处理，确定移动目标的移动参数，根据确定的所述移动参数确定所述旋转机构的旋转参数，根据确定的所述旋转参数控制所述旋转机构进行旋转。本申请通过旋转机构的旋转实现监控设备对移动目标的跟踪监控，避免了移动目标进入监控死角的情况，在不增加监控设备数量的前提下，提高了对移动目标监控的成功率。
相应的，本申请实施例提供的一种监控装置，可以包括：旋转机构及上述各实施例中的任意一种监控设备，所述监控设备安装在所述旋转机构上。
具体的，监控装置可以为云台或球机。
本申请实施例提供的一种监控装置，移动目标的移动路径对应的各监控点位置上均设置有一个监控设备，所述监控设备安装在旋转机构上，所述移动路径对应有多个监控点位置，获得所述监控设备在第一时刻和第二时刻采集的监控画面中的移动目标的图像，对获得的所述图像进行分析处理，确定移动目标的移动参数，根据确定的所述移动参数确定所述旋转机构的旋转参数，根据确定的所述旋转参数控制所述旋转机构进行旋转。本申请通过旋转机构的旋转实现监控设备对移动目标的跟踪监控，避免了移动目标进入监控死角的情况，在不增加监控设备数量的前提下，提高了对移动目标监控的成功率。
如图11所示，本申请实施例提供的一种监控系统，可以包括：
多个安装在旋转机构上监控设备001及与各监控设备通信连接的控制设备002，移动目标的移动路径对应的各监控点位置上均设置有一个安装在旋转机构上的所述监控设备001，所述移动路径对应有多个监控点位置，所述控制设备002可以包括：
图像采集模块，用于获得所述监控设备在第一时刻和第二时刻采集的监控画面中的移动目标的图像；
图像分析模块，用于对获得的所述图像进行分析处理，确定移动目标的移动参数；
数据计算模块，用于根据确定的所述移动参数确定所述旋转机构的旋转参数；
旋转控制模块，用于根据确定的所述旋转参数控制所述旋转机构进行旋转。
可选的，所述移动参数包括移动目标在监控画面中的移动距离和移动方向；所述旋转参数包括所述旋转机构的旋转角度和旋转方向；
所述数据计算模块，可以具体用于：根据移动目标在监控画面中的移动距离、移动目标在第一时刻在监控画面中所在位置、移动目标在第二时刻在 监控画面中所在位置和所述监控设备所在监控点位置与监控画面对应的虚拟位置，确定所述旋转机构的旋转角度；根据移动目标在监控画面中的移动方向确定所述旋转机构的旋转方向；
或者，
所述数据计算模块，可以具体用于：根据预设的距离变换公式对移动目标在监控画面中的移动距离进行距离变换，得到移动目标的实际移动距离；根据预设的坐标变换公式分别对移动目标在第一时刻在监控画面中所在位置的坐标和移动目标在第二时刻在监控画面中所在位置的坐标进行坐标变换，得到移动目标在第一时刻所在的实际位置坐标和移动目标在第二时刻所在的实际位置坐标；根据所述实际移动距离、移动目标在第一时刻所在的实际位置坐标、移动目标在第二时刻所在的实际位置坐标和所述监控设备所在监控点位置，确定所述旋转机构的旋转角度；根据移动目标在监控画面中的移动方向确定所述旋转机构的旋转方向。
所述控制设备还可以包括：
指令发送模块，用于根据移动目标的移动方向确定各监控设备的监控顺序；根据各监控设备的监控画面中移动目标的位置信息确定移动目标所在实际位置对应的当前的监控设备；在当前的监控设备所在的旋转机构的旋转角度达到预设阈值时，发送开始监控指令到监控顺序上的下一监控设备以使所述下一监控设备对所述移动目标开始监控。
可选的，所述控制设备还可以包括报警模块，所述报警模块用于进行报警处理：
所述图像分析模块还用于确定各监控设备是否采集到移动目标的图像，如果是，则判断各个采集到的移动目标的图像是否均位于预设的图像区域内，如果否，触发所述报警模块；
或者，
所述图像分析模块还用于在所述确定的移动参数不在预设阈值范围内时，触发所述报警模块；
或者，
所述图像分析模块还用于在各监控设备采集的图像中识别带有预设危险特征的图像，如果识别到带有预设危险特征的图像，触发所述报警模块；
或者，
所述图像分析模块还用于确定在对移动目标进行监控时，最左侧的旋转机构的旋转角度为0的时刻以及最右侧的旋转机构的旋转角度为0的时刻之间的时间间隔，当所述时间间隔不在预设阀值范围内，触发所述报警模块。
本申请实施例提供的一种监控系统，移动目标的移动路径对应的各监控点位置上均设置有一个监控设备，所述监控设备安装在旋转机构上，所述移动路径对应有多个监控点位置，获得所述监控设备在第一时刻和第二时刻采集的监控画面中的移动目标的图像，对获得的所述图像进行分析处理，确定移动目标的移动参数，根据确定的所述移动参数确定所述旋转机构的旋转参数，根据确定的所述旋转参数控制所述旋转机构进行旋转。本申请通过旋转机构的旋转实现监控设备对移动目标的跟踪监控，避免了移动目标进入监控死角的情况，在不增加监控设备数量的前提下，提高了对移动目标监控的成功率。
本申请实施例提供了一种应用程序，该应用程序用于在运行时执行本申请实施例提供的对移动目标进行监控的方法。其中，对移动目标进行监控的方法，包括：
获得所述监控设备在第一时刻和第二时刻采集的监控画面中的移动目标的图像；
对获得的所述图像进行分析处理，确定移动目标的移动参数；
根据确定的所述移动参数确定所述旋转机构的旋转参数；
根据确定的所述旋转参数控制所述旋转机构进行旋转。
本申请实施例提供了一种存储介质，用于存储应用程序，该应用程序用于执行本申请实施例提供的对移动目标进行监控的方法。其中，对移动目标进行监控的方法，可以包括：
获得所述监控设备在第一时刻和第二时刻采集的监控画面中的移动目标的图像；
对获得的所述图像进行分析处理，确定移动目标的移动参数；
根据确定的所述移动参数确定所述旋转机构的旋转参数；
根据确定的所述旋转参数控制所述旋转机构进行旋转。
需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
本说明书中的各个实施例均采用相关的方式描述，各个实施例之间相同相似的部分互相参见即可，每个实施例重点说明的都是与其他实施例的不同之处。尤其，对于应用程序和存储介质实施例而言，由于其基本相似于方法实施例，所以描述的比较简单，相关之处参见方法实施例的部分说明即可。
以上所述仅为本申请的较佳实施例而已，并非用于限定本申请的保护范围。凡在本申请的精神和原则之内所作的任何修改、等同替换、改进等，均包含在本申请的保护范围内。

Claims (17)

  1. 一种对移动目标进行监控的方法，其特征在于，移动目标的移动路径对应的各监控点位置上均设置有一个监控设备，所述监控设备安装在旋转机构上，所述移动路径对应有多个监控点位置，所述方法包括：
    获得所述监控设备在第一时刻和第二时刻采集的监控画面中的移动目标的图像；
    对获得的所述图像进行分析处理，确定移动目标的移动参数；
    根据确定的所述移动参数确定所述旋转机构的旋转参数；
    根据确定的所述旋转参数控制所述旋转机构进行旋转。
  2. 根据权利要求1所述的方法，其特征在于，所述移动参数包括移动目标在监控画面中的移动距离和移动方向；所述旋转参数包括所述旋转机构的旋转角度和旋转方向；
    所述根据确定的所述移动参数确定所述旋转机构的旋转参数，包括：
    根据移动目标在监控画面中的移动距离、移动目标在第一时刻在监控画面中所在位置、移动目标在第二时刻在监控画面中所在位置和所述监控设备所在监控点位置与监控画面对应的虚拟位置，确定所述旋转机构的旋转角度；根据移动目标在监控画面中的移动方向确定所述旋转机构的旋转方向；
    或者，
    所述根据确定的所述移动参数确定所述旋转机构的旋转参数，包括：
    根据预设的距离变换公式对移动目标在监控画面中的移动距离进行距离变换，得到移动目标的实际移动距离；根据预设的坐标变换公式分别对移动目标在第一时刻在监控画面中所在位置的坐标和移动目标在第二时刻在监控画面中所在位置的坐标进行坐标变换，得到移动目标在第一时刻所在的实际位置坐标和移动目标在第二时刻所在的实际位置坐标；根据所述实际移动距离、移动目标在第一时刻所在的实际位置坐标、移动目标在第二时刻所在的实际位置坐标和所述监控设备所在监控点位置，确定所述旋转机构的旋转角度；根据移动目标在监控画面中的移动方向确定所述旋转机构的旋转方向。
  3. 根据权利要求1或2所述的方法，其特征在于，所述方法应用于所述监控设备中，所述方法还包括：
    根据移动目标的移动方向确定所述监控设备在监控顺序上的下一个监控设备；在所述旋转机构的旋转角度达到预设阈值时，发送开始监控指令到所述下一个监控设备以使所述下一监控设备对所述移动目标开始监控。
  4. 根据权利要求1或2所述的方法，其特征在于，所述方法应用于与各监控设备通信连接的控制设备中，所述方法还包括：
    根据移动目标的移动方向确定各监控设备的监控顺序；根据各监控设备的监控画面中移动目标的位置信息确定移动目标所在实际位置对应的当前的监控设备；在当前的监控设备所在的旋转机构的旋转角度达到预设阈值时，发送开始监控指令到监控顺序上的下一监控设备以使所述下一监控设备对所述移动目标开始监控。
  5. 根据权利要求1所述的方法，其特征在于，所述方法应用于监控设备中，所述方法还包括报警方案一、报警方案二和报警方案三中的任意一种或多种：
    所述报警方案一为：确定是否采集到移动目标的图像，如果是，判断所述移动目标的图像是否位于预设的图像区域外，如果是，进行报警处理；
    所述报警方案二为：如果所述确定的移动参数不在预设阈值范围内，进行报警处理；
    所述报警方案三为：判断采集的图像中是否包括带有预设危险特征的图像，如果是，进行报警处理。
  6. 根据权利要求1所述的方法，其特征在于，所述方法应用于与各监控设备通信连接的控制设备中，所述方法还包括报警方案四、报警方案五、报警方案六和报警方案七中的任意一种或多种：
    所述报警方案四为：确定各监控设备是否采集到移动目标的图像，如果是，则判断各个采集到的移动目标的图像是否均位于预设的图像区域内，如果否，进行报警处理；
    所述报警方案五为：如果所述确定的移动参数不在预设阈值范围内，进行报警处理；
    所述报警方案六为：在各监控设备采集的图像中识别带有预设危险特征的图像，如果识别到带有预设危险特征的图像，进行报警处理；
    所述报警方案七为：确定在对移动目标进行监控时，最左侧的旋转机构的旋转角度为0的时刻以及最右侧的旋转机构的旋转角度为0的时刻之间的时间间隔，当所述时间间隔不在预设阀值范围内，进行报警处理。
  7. 一种监控设备，其特征在于，所述监控设备安装在旋转机构上，移动目标的移动路径对应的各监控点位置上均设置有一个安装在旋转机构上的所述监控设备，所述移动路径对应有多个监控点位置，所述监控设备包括：
    图像采集模块，用于获得在第一时刻和第二时刻采集的监控画面中的移动目标的图像；
    图像分析模块，用于对获得的所述图像进行分析处理，确定移动目标的移动参数；
    数据计算模块，用于根据确定的所述移动参数确定所述旋转机构的旋转参数；
    旋转控制模块，用于根据确定的所述旋转参数控制所述旋转机构进行旋转。
  8. 根据权利要求7所述的监控设备，其特征在于，所述移动参数包括移动目标在监控画面中的移动距离和移动方向；所述旋转参数包括所述旋转机构的旋转角度和旋转方向；
    所述数据计算模块，具体用于：根据移动目标在监控画面中的移动距离、移动目标在第一时刻在监控画面中所在位置、移动目标在第二时刻在监控画面中所在位置和所述监控设备所在监控点位置与监控画面对应的虚拟位置，确定所述旋转机构的旋转角度；根据移动目标在监控画面中的移动方向确定所述旋转机构的旋转方向；
    或者，
    所述数据计算模块，具体用于：根据预设的距离变换公式对移动目标在监控画面中的移动距离进行距离变换，得到移动目标的实际移动距离；根据预设的坐标变换公式分别对移动目标在第一时刻在监控画面中所在位置的坐标和移动目标在第二时刻在监控画面中所在位置的坐标进行坐标变换，得到移动目标在第一时刻所在的实际位置坐标和移动目标在第二时刻所在的实际位置坐标；根据所述实际移动距离、移动目标在第一时刻所在的实际位置坐标、移动目标在第二时刻所在的实际位置坐标和所述监控设备所在监控点位置，确定所述旋转机构的旋转角度；根据移动目标在监控画面中的移动方向确定所述旋转机构的旋转方向。
  9. 根据权利要求7或8所述的监控设备，其特征在于，所述监控设备还包括：
    指令发送模块，用于根据移动目标的移动方向确定自身在监控顺序上的下一个监控设备；在自身所在的旋转机构的旋转角度达到预设阈值时，发送开始监控指令到所述下一个监控设备以使所述下一监控设备对所述移动目标开始监控。
  10. 根据权利要求7所述的监控设备，其特征在于，所述监控设备还包括报警模块，所述报警模块用于进行报警处理：
    所述图像分析模块还用于确定自身是否采集到移动目标的图像，如果是，判断所述移动目标的图像是否位于预设的图像区域外，如果是，触发所述报警模块；
    或者，
    所述图像分析模块还用于在所述确定的移动参数不在预设阈值范围内时，触发所述报警模块；
    或者，
    所述图像分析模块还用于判断采集的图像中是否包括带有预设危险特征的图像，如果是，触发所述报警模块。
  11. 一种监控装置，其特征在于，包括旋转机构及权利要求7至10中任一 权利要求所述的监控设备，所述监控设备安装在所述旋转机构上。
  12. 一种监控系统，其特征在于，包括：多个安装在旋转机构上的监控设备及与各监控设备通信连接的控制设备，移动目标的移动路径对应的各监控点位置上均设置有一个安装在旋转机构上的所述监控设备，所述移动路径对应有多个监控点位置，所述控制设备包括：
    图像采集模块，用于获得所述监控设备在第一时刻和第二时刻采集的监控画面中的移动目标的图像；
    图像分析模块，用于对获得的所述图像进行分析处理，确定移动目标的移动参数；
    数据计算模块，用于根据确定的所述移动参数确定所述旋转机构的旋转参数；
    旋转控制模块，用于根据确定的所述旋转参数控制所述旋转机构进行旋转。
  13. 根据权利要求12所述的监控系统，其特征在于，所述移动参数包括移动目标在监控画面中的移动距离和移动方向；所述旋转参数包括所述旋转机构的旋转角度和旋转方向；
    所述数据计算模块，具体用于：根据移动目标在监控画面中的移动距离、移动目标在第一时刻在监控画面中所在位置、移动目标在第二时刻在监控画面中所在位置和所述监控设备所在监控点位置与监控画面对应的虚拟位置，确定所述旋转机构的旋转角度；根据移动目标在监控画面中的移动方向确定所述旋转机构的旋转方向；
    或者，
    所述数据计算模块，具体用于：根据预设的距离变换公式对移动目标在监控画面中的移动距离进行距离变换，得到移动目标的实际移动距离；根据预设的坐标变换公式分别对移动目标在第一时刻在监控画面中所在位置的坐标和移动目标在第二时刻在监控画面中所在位置的坐标进行坐标变换，得到移动目标在第一时刻所在的实际位置坐标和移动目标在第二时刻所在的实际 位置坐标；根据所述实际移动距离、移动目标在第一时刻所在的实际位置坐标、移动目标在第二时刻所在的实际位置坐标和所述监控设备所在监控点位置，确定所述旋转机构的旋转角度；根据移动目标在监控画面中的移动方向确定所述旋转机构的旋转方向。
  14. 根据权利要求12或13所述的监控系统，其特征在于，所述控制设备还包括：
    指令发送模块，用于根据移动目标的移动方向确定各监控设备的监控顺序；根据各监控设备的监控画面中移动目标的位置信息确定移动目标所在实际位置对应的当前的监控设备；在当前的监控设备所在的旋转机构的旋转角度达到预设阈值时，发送开始监控指令到监控顺序上的下一监控设备以使所述下一监控设备对所述移动目标开始监控。
  15. 根据权利要求12所述的监控系统，其特征在于，所述控制设备还包括报警模块，所述报警模块用于进行报警处理：
    所述图像分析模块还用于确定各监控设备是否采集到移动目标的图像，如果是，则判断各个采集到的移动目标的图像是否均位于预设的图像区域内，如果否，触发所述报警模块；
    或者，
    所述图像分析模块还用于在所述确定的移动参数不在预设阈值范围内时，触发所述报警模块；
    或者，
    所述图像分析模块还用于在各监控设备采集的图像中识别带有预设危险特征的图像，如果识别到带有预设危险特征的图像，触发所述报警模块；
    或者，
    所述图像分析模块还用于确定在对移动目标进行监控时，最左侧的旋转机构的旋转角度为0的时刻以及最右侧的旋转机构的旋转角度为0的时刻之间的时间间隔，当所述时间间隔不在预设阀值范围内，触发所述报警模块。
  16. 一种应用程序，其特征在于，所述应用程序用于在运行时执行权利 要求1-6任一项所述的对移动目标进行监控的方法。
  17. 一种存储介质，其特征在于，所述存储介质用于存储应用程序，所述应用程序用于执行权利要求1-6任一项所述的对移动目标进行监控的方法。
PCT/CN2016/082611 2015-11-19 2016-05-19 一种对移动目标进行监控的方法及监控设备、装置、系统 WO2017084262A1 (zh)

Priority Applications (2)

Application Number Priority Date Filing Date Title
US15/759,406 US20180249128A1 (en) 2015-11-19 2016-05-19 Method for monitoring moving target, and monitoring device, apparatus, and system
EP16865444.0A EP3379826A4 (en) 2015-11-19 2016-05-19 MOBILE TARGET MONITORING METHOD, AND DEVICE, APPARATUS AND SYSTEM FOR MONITORING

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201510800532.8A CN106791586A (zh) 2015-11-19 2015-11-19 一种对移动目标进行监控的方法及监控设备、装置、系统
CN201510800532.8 2015-11-19

Publications (1)

Publication Number Publication Date
WO2017084262A1 true WO2017084262A1 (zh) 2017-05-26

Family

ID=58717264

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2016/082611 WO2017084262A1 (zh) 2015-11-19 2016-05-19 一种对移动目标进行监控的方法及监控设备、装置、系统

Country Status (4)

Country Link
US (1) US20180249128A1 (zh)
EP (1) EP3379826A4 (zh)
CN (1) CN106791586A (zh)
WO (1) WO2017084262A1 (zh)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109257572A (zh) * 2018-11-01 2019-01-22 珠海格力电器股份有限公司 一种监控云台的控制方法、装置、设备、介质及安防系统
WO2020133175A1 (en) * 2018-12-28 2020-07-02 Intel Corporation Tracking objects using sensor rotation

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108919839B (zh) * 2018-07-05 2021-08-10 北京淳中科技股份有限公司 云台转向控制方法、装置、电子设备及存储介质
CN109348178B (zh) * 2018-10-31 2021-06-01 山东神戎电子股份有限公司 一种监狱智能监控方法及系统
CN112750301A (zh) * 2019-10-30 2021-05-04 杭州海康威视系统技术有限公司 目标对象追踪方法、装置、设备及计算机可读存储介质
CN111083360B (zh) * 2019-12-09 2021-06-04 北京航空航天大学杭州创新研究院 一种基于像素坐标的摄像监视设备匹配控制方法
JP2021132352A (ja) * 2020-02-21 2021-09-09 キヤノン株式会社 撮像装置、撮影システム、およびその制御方法
CN113747039B (zh) * 2020-05-27 2023-03-24 杭州海康威视数字技术股份有限公司 图像采集方法及装置
CN111683229B (zh) * 2020-06-22 2021-10-26 杭州海康威视系统技术有限公司 巡航监控方法、装置、设备及存储介质
CN111901569A (zh) * 2020-08-11 2020-11-06 上海柏楚电子科技股份有限公司 动态追踪切割头的监控处理方法、装置、设备与介质

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1477548A (zh) * 2002-08-23 2004-02-25 英业达股份有限公司 监控移动物体的系统及其方法
US20070092245A1 (en) * 2005-10-20 2007-04-26 Honeywell International Inc. Face detection and tracking in a wide field of view
CN101883261A (zh) * 2010-05-26 2010-11-10 中国科学院自动化研究所 大范围监控场景下异常目标检测及接力跟踪的方法及系统
CN104125433A (zh) * 2014-07-30 2014-10-29 西安冉科信息技术有限公司 基于多球机联动结构的视频运动目标监控方法
CN104660998A (zh) * 2015-02-16 2015-05-27 苏州阔地网络科技有限公司 一种接力跟踪方法及系统

Family Cites Families (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0878965A3 (en) * 1997-05-14 2000-01-12 Hitachi Denshi Kabushiki Kaisha Method for tracking entering object and apparatus for tracking and monitoring entering object
JP2000069346A (ja) * 1998-06-12 2000-03-03 Canon Inc カメラ制御装置、方法、カメラ、追尾カメラシステム及びコンピュ―タ読み取り可能な記憶媒体
WO2003047258A1 (en) * 2001-11-21 2003-06-05 Etreppid Technologies, Llc Method and apparatus for storing digital video content provided from a plurality of cameras
JP4195991B2 (ja) * 2003-06-18 2008-12-17 パナソニック株式会社 監視映像モニタリングシステム、監視映像生成方法、および監視映像モニタリングサーバ
JP4587166B2 (ja) * 2004-09-14 2010-11-24 キヤノン株式会社 移動体追跡システム、撮影装置及び撮影方法
US9036028B2 (en) * 2005-09-02 2015-05-19 Sensormatic Electronics, LLC Object tracking and alerts
US20080130949A1 (en) * 2006-11-30 2008-06-05 Ivanov Yuri A Surveillance System and Method for Tracking and Identifying Objects in Environments
EP2123038A2 (en) * 2006-12-04 2009-11-25 Lynx System Developers, Inc. Autonomous systems and methods for still and moving picture production
US20100208068A1 (en) * 2006-12-20 2010-08-19 Perry Elsemore Surveillance camera apparatus, remote retrieval and mounting bracket therefor
US20090195382A1 (en) * 2008-01-31 2009-08-06 Sensormatic Electronics Corporation Video sensor and alarm system and method with object and event classification
US9736368B2 (en) * 2013-03-15 2017-08-15 Spatial Cam Llc Camera in a headframe for object tracking
TWI405457B (zh) * 2008-12-18 2013-08-11 Ind Tech Res Inst 應用攝影機換手技術之多目標追蹤系統及其方法，與其智慧節點
AU2009243528B2 (en) * 2009-12-04 2013-08-01 Canon Kabushiki Kaisha Location-based signature selection for multi-camera object tracking
CN102754435A (zh) * 2010-03-15 2012-10-24 欧姆龙株式会社 监视摄像机终端
KR101425170B1 (ko) * 2010-11-16 2014-08-04 한국전자통신연구원 영상 촬영 장치의 객체 추적 장치 및 방법과 보안 관리 시스템의 객체 추적 장치
CN202975840U (zh) * 2012-12-04 2013-06-05 浙江天地人科技有限公司 远程监控系统
JP6206804B2 (ja) * 2013-09-27 2017-10-04 パナソニックＩｐマネジメント株式会社 移動体追跡装置、移動体追跡システムおよび移動体追跡方法
CN103702030A (zh) * 2013-12-25 2014-04-02 浙江宇视科技有限公司 一种基于gis地图的场景监控方法和移动目标追踪方法
WO2015178540A1 (ko) * 2014-05-20 2015-11-26 삼성에스디에스 주식회사 카메라간 핸드오버를 이용한 목표물 추적 장치 및 방법

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1477548A (zh) * 2002-08-23 2004-02-25 英业达股份有限公司 监控移动物体的系统及其方法
US20070092245A1 (en) * 2005-10-20 2007-04-26 Honeywell International Inc. Face detection and tracking in a wide field of view
CN101883261A (zh) * 2010-05-26 2010-11-10 中国科学院自动化研究所 大范围监控场景下异常目标检测及接力跟踪的方法及系统
CN104125433A (zh) * 2014-07-30 2014-10-29 西安冉科信息技术有限公司 基于多球机联动结构的视频运动目标监控方法
CN104660998A (zh) * 2015-02-16 2015-05-27 苏州阔地网络科技有限公司 一种接力跟踪方法及系统

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109257572A (zh) * 2018-11-01 2019-01-22 珠海格力电器股份有限公司 一种监控云台的控制方法、装置、设备、介质及安防系统
WO2020133175A1 (en) * 2018-12-28 2020-07-02 Intel Corporation Tracking objects using sensor rotation
US11616914B2 (en) 2018-12-28 2023-03-28 Intel Corporation Tracking objects using sensor rotation

Also Published As

Publication number Publication date
EP3379826A1 (en) 2018-09-26
US20180249128A1 (en) 2018-08-30
EP3379826A4 (en) 2019-10-23
CN106791586A (zh) 2017-05-31

Similar Documents

Publication Publication Date Title
WO2017084262A1 (zh) 一种对移动目标进行监控的方法及监控设备、装置、系统
CN108334103B (zh) 无人机多距离避障方法及避障系统
US11604479B2 (en) Methods and system for vision-based landing
WO2018098824A1 (zh) 一种拍摄控制方法、装置以及控制设备
JP2006027448A (ja) 無人飛行体を利用した空撮方法及びその装置
WO2010108301A1 (zh) 飞机着陆与无人机回收的地基摄像测量引导方法
US11827352B2 (en) Visual observer for unmanned aerial vehicles
US20190243356A1 (en) Method for controlling flight of an aircraft, device, and aircraft
CN102590882A (zh) 机场道面异物监测系统
US10564250B2 (en) Device and method for measuring flight data of flying objects using high speed video camera and computer readable recording medium having program for performing the same
WO2017161563A1 (zh) 飞行器的控制方法和装置
KR101275297B1 (ko) 이동객체 추적 카메라 장치
CN111246174B (zh) 基于视频的远程塔台智能望远镜实现方法及系统
WO2021237618A1 (zh) 抓捕辅助方法、地面指挥平台、无人机、系统及存储介质
RU2755603C2 (ru) Система и способ обнаружения и противодействия беспилотным летательным аппаратам
JPH0737100A (ja) 移動物体検出判定装置
AU2015367226B2 (en) Imaging system
CN114967731A (zh) 一种基于无人机的野外人员自动搜寻方法
JP5858741B2 (ja) 自動追尾カメラシステム
CN109765931B (zh) 一种适用于防波堤巡检无人机的近红外视频自动导航方法
JP6707933B2 (ja) 無人飛行装置制御システム、無人飛行装置制御方法および無人飛行装置
CN110554380A (zh) 一种用于雷达反制系统的目标定高系统
US20190035144A1 (en) Method for creating a 3d model of an object
KR101980095B1 (ko) 카메라를 통해 구형 목표물의 궤적을 예측하여 무인비행기의 움직임을 제어하는 방법 및 시스템
CN112767629B (zh) 基于云台监控的室内安防方法和系统

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 16865444

Country of ref document: EP

Kind code of ref document: A1

WWE Wipo information: entry into national phase

Ref document number: 15759406

Country of ref document: US

NENP Non-entry into the national phase

Ref country code: DE