WO2018210192A1 - Procédé de surveillance de véhicule aérien sans pilote et appareil de liaison audio/vidéo - Google Patents

Procédé de surveillance de véhicule aérien sans pilote et appareil de liaison audio/vidéo Download PDF

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Publication number
WO2018210192A1
WO2018210192A1 PCT/CN2018/086565 CN2018086565W WO2018210192A1 WO 2018210192 A1 WO2018210192 A1 WO 2018210192A1 CN 2018086565 W CN2018086565 W CN 2018086565W WO 2018210192 A1 WO2018210192 A1 WO 2018210192A1
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Prior art keywords
audio collection
target object
sound component
sound
preset
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PCT/CN2018/086565
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English (en)
Chinese (zh)
Inventor
何赛娟
陈扬坤
陈展
Original Assignee
杭州海康威视数字技术股份有限公司
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Publication of WO2018210192A1 publication Critical patent/WO2018210192A1/fr

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
    • G10L25/00—Speech or voice analysis techniques not restricted to a single one of groups G10L15/00 - G10L21/00
    • G10L25/03—Speech or voice analysis techniques not restricted to a single one of groups G10L15/00 - G10L21/00 characterised by the type of extracted parameters
    • G10L25/18—Speech or voice analysis techniques not restricted to a single one of groups G10L15/00 - G10L21/00 characterised by the type of extracted parameters the extracted parameters being spectral information of each sub-band
    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
    • G10L25/00—Speech or voice analysis techniques not restricted to a single one of groups G10L15/00 - G10L21/00
    • G10L25/03—Speech or voice analysis techniques not restricted to a single one of groups G10L15/00 - G10L21/00 characterised by the type of extracted parameters
    • G10L25/21—Speech or voice analysis techniques not restricted to a single one of groups G10L15/00 - G10L21/00 characterised by the type of extracted parameters the extracted parameters being power information
    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
    • G10L25/00—Speech or voice analysis techniques not restricted to a single one of groups G10L15/00 - G10L21/00
    • G10L25/48—Speech or voice analysis techniques not restricted to a single one of groups G10L15/00 - G10L21/00 specially adapted for particular use
    • G10L25/51—Speech or voice analysis techniques not restricted to a single one of groups G10L15/00 - G10L21/00 specially adapted for particular use for comparison or discrimination
    • 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

Definitions

  • the present application relates to the field of security monitoring technologies, and in particular, to a drone monitoring method and an audio and video linkage device.
  • the drone is a short name for a class of powered, unmanned, reusable aircraft. It is small in size and low in cost, and can be equipped with telemetry equipment such as sensors and cameras. Since drones can take pictures of the ground from the air, drones are often used to monitor the ground.
  • the purpose of the embodiment of the present application is to provide a UAV monitoring method and an audio and video linkage device to implement monitoring of the UAV, thereby ensuring social and personal security.
  • the specific technical solutions are as follows:
  • an embodiment of the present application provides a UAV monitoring method, where the method includes:
  • the signal feature includes: a spectrum feature
  • Performing signal processing on the sound signal to obtain a sound component in which at least one of the sound signals meets a preset condition including:
  • a sound component in which the spectral features of all sound components satisfy the preset spectral features is obtained.
  • the acquiring the energy collected by each audio collection device in the audio collection array for each of the at least one sound component comprises:
  • the sound component collected by each audio collection device in the audio collection array is subjected to frame processing in a preset period of the current time, and the sound component corresponding to each audio collection device is correspondingly obtained.
  • the frequency domain signal of the sound component collected by each audio collection device in the audio collection array is fused to obtain a frequency characteristic, and the method includes:
  • the frequency domain signals of the frame signals corresponding to the sound components collected by the audio collection devices whose energy is greater than the preset threshold are fused to obtain the spectral features of the sound components.
  • the method before the extracting the frame signal corresponding to the sound component collected by the audio collection device that is greater than the preset threshold, the method further includes:
  • the method further includes:
  • the determining, by the sound component that the signal feature meets the preset condition, the location of the target object includes:
  • Determining a location of the target object according to a position of each of the audio collection devices in the audio collection array relative to the camera and a position of the target object relative to each of the audio collection devices.
  • the method further includes:
  • Determining a location of the target object according to a position of each of the audio collection devices in the audio collection array relative to the camera and a position of the target object relative to each of the audio collection devices including:
  • the location of the target object is determined according to the position of each audio collection device relative to the camera and the position of the target object relative to each pair of audio collection devices.
  • determining the location of the target object according to a location of each audio collection device relative to the camera and a location of the target object relative to each pair of audio collection device including:
  • the method further includes:
  • the method further includes: after determining, according to the image captured by the camera, whether the target object is a drone, the method further includes:
  • An alarm enhancement command is generated when the target object is a drone.
  • the method further includes:
  • the camera is controlled to perform tracking shooting on the drone.
  • an audio and video linkage device where the device includes:
  • An audio collection array for collecting sound signals
  • a processor configured to perform signal processing on the sound signal collected by the audio collection array, to obtain a sound component in which at least one of the sound signals meets a preset condition; and determine a sound component corresponding to the preset condition Positioning the target object; controlling the position of the camera to be aligned with the target object; determining whether the target object is a drone according to an image captured by the camera;
  • the housing assembly includes: a rotating member and a base, wherein the rotating member is configured to provide rotational kinetic energy to the camera, and the base is configured to fix a bottom of the camera, the audio collection array, and the processor.
  • the feature signal includes: a spectrum feature
  • the processor is specifically configured to:
  • a sound component in which the spectral features of all sound components satisfy the preset spectral features is obtained.
  • the processor is specifically configured to:
  • the sound component collected by each audio collection device in the audio collection array is subjected to frame processing in a preset period of the current time, and the sound component corresponding to each audio collection device is correspondingly obtained.
  • the frequency domain signals of the frame signals corresponding to the sound components collected by the audio collection devices whose energy is greater than the preset threshold are fused to obtain the spectral features of the sound components.
  • the processor is specifically configured to:
  • the processor is specifically configured to:
  • the sound component is determined to be noise.
  • the processor is specifically configured to:
  • Determining a location of the target object according to a position of each of the audio collection devices in the audio collection array relative to the camera and a position of the target object relative to each of the audio collection devices.
  • the processor is specifically configured to:
  • the location of the target object is determined according to the position of each audio collection device relative to the camera and the position of the target object relative to each pair of audio collection devices.
  • the processor is specifically configured to:
  • the device further includes:
  • the alarm component is used to perform an alarm operation when an alarm command is received.
  • the processor is specifically configured to:
  • the processor is specifically configured to:
  • the camera is controlled to perform tracking shooting on the drone.
  • an embodiment of the present application provides a storage medium for storing executable code, where the executable code is used to execute at a runtime: the method steps provided by the first aspect of the embodiment of the present application.
  • an embodiment of the present application provides an application program for performing, at runtime, the method steps provided by the first aspect of the embodiment of the present application.
  • the UAV monitoring method and the audio and video linkage device provided by the embodiment of the present invention process the sound signal collected by the audio collection array to determine the location of the target object corresponding to the sound component whose signal characteristic meets the preset condition, and According to the position of the target object, the camera is controlled to be aimed at the target object, and the target object is judged to be a drone according to the captured image, thereby realizing the monitoring of the drone and ensuring the accuracy of the monitoring.
  • FIG. 1 is a schematic flow chart of a method for monitoring a drone according to an embodiment of the present application
  • FIG. 2 is a schematic flow chart of a method for monitoring a drone according to another embodiment of the present application.
  • FIG. 3 is a schematic flow chart of a method for monitoring a drone according to still another embodiment of the present application.
  • FIG. 4 is a schematic structural diagram of an audio-video linkage device according to an embodiment of the present application.
  • FIG. 5 is a schematic structural diagram of an audio-video linkage device according to another embodiment of the present application.
  • the embodiment of the present application provides a drone monitoring method and an audio and video linkage device.
  • the following describes an unmanned aerial vehicle monitoring method provided by the embodiment of the present application.
  • the execution body of the UAV monitoring method provided by the embodiment of the present application may be a controller equipped with a core processing chip, wherein the core processing chip may be a DSP (Digital Signal Processor), an ARM. Any of core processing chips such as (Advanced Reduced Instruction Set Computer Machines) or FPGA (Field-Programmable Gate Array).
  • a manner of implementing a UAV monitoring method provided by an embodiment of the present application may be at least one of software, hardware circuits, and logic circuits disposed in an execution body.
  • a method for monitoring a drone provided by an embodiment of the present application may include the following steps:
  • the audio collection array may be an array of multiple audio collection devices having audio collection functions, such as an array of multiple microphones or multiple sound sensors.
  • the array can be installed on the periphery of the area to be monitored; of course, the array can also be installed in the area to be monitored. An important location within the area so that only that important location is monitored.
  • the number of audio collection devices in the audio collection array can be selected according to the size of the area to be monitored.
  • the larger the area to be monitored the audio collection is required to obtain the same detection result. The more devices there are, the wider the distribution of audio capture devices.
  • an electret microphone can be installed every 10 cm to 20 cm, and the distance between each two electret microphones may not be exactly the same, which is not limited herein.
  • S102 Perform signal processing on the sound signal to obtain a sound component in which at least one of the sound signals satisfies a preset condition.
  • the sound signals collected by the audio collection array may contain sounds from multiple objects.
  • the sound signal collected by the audio collection array may be a time domain signal or a frequency domain signal, and the signal characteristics may be any one or more of characteristics such as audio, pitch, volume, and frequency spectrum, and the signal characteristics may be different.
  • the sound components are separated.
  • a preset condition is defined in the embodiment of the present application, and the preset condition is a condition that the signal feature needs to reach.
  • the sound signals generated by the propellers have distinct features, and all of the properties of the sound signal characteristics of the propellers that can represent the drone can be set to the preset conditions. For example, there are a plurality of spectral lines having harmonic relations in the noise, and the spectral lines are arranged at equal intervals on the frequency axis. Based on the feature, signals having spectral lines arranged at equal intervals on the frequency axis can be carried. Any attribute information is set as a preset condition. By analyzing the signal characteristics of all sound components, and obtaining the sound components whose signal characteristics meet the preset conditions, the noise signal similar to noise can be filtered out, the accuracy of positioning the drone by sound is improved, and the identification drone is improved. s efficiency.
  • the step of performing signal processing on the sound signal to obtain a sound component that satisfies a predetermined condition in at least one of the sound signals may include:
  • the sound signal collected by the audio collection array is extracted to obtain at least one sound component in the sound signal.
  • the sound signal collected by the audio collection array may be a sound emitted by a plurality of objects
  • at least one sound component may be obtained by extracting the sound signal, for example, dividing the sound signal according to the spectrum of the sound, in addition to the manner, Other ways of extracting the sound signal to obtain at least one sound component are also within the protection scope of the embodiment, and are not described herein again.
  • the energy collected by each audio collection device in the audio collection array is acquired; for the sound component whose energy is greater than the preset threshold, each audio collection device in the audio collection array The frequency domain signals of the collected sound components are fused to obtain spectral features.
  • the greater the number the closer the object is to the area to be monitored or the area to be monitored. Therefore, in this embodiment, the energy of the sound component collected by each audio collection device is extracted, and an audio collection device whose energy is greater than a preset threshold is determined, wherein the preset threshold and the area to be monitored are not included.
  • the volume of the man-machine is related to other factors, and can be initialized according to the environment when the audio acquisition array is installed for the first time.
  • the number of audio collection devices whose energy is greater than a preset threshold may be limited, for example, the number of audio collection devices whose energy is greater than a preset threshold.
  • the frequency domain is converted to half of the total number of all audio collection devices in the audio collection array. Otherwise, the sound component is considered as noise and is not processed.
  • the spectral characteristic is a characteristic of the sound emitted by the propeller of the drone when it is rotating, that is, a plurality of spectral lines having harmonic relations in the noise, and the spectral lines are arranged at equal intervals on the frequency axis, and therefore, the sound component is Frequency domain transform is performed to obtain a frequency domain signal, and then the spectral characteristics of the sound component are obtained by fusion.
  • the step of acquiring the energy collected by each audio collection device in the audio collection array for each of the at least one sound component may include:
  • the sound component collected by each audio collection device in the audio collection array is subjected to frame processing in a preset period of the current time to obtain a frame corresponding to the sound component collected by each audio collection device. signal;
  • the sound component collected by each audio collection device in the audio collection array is audio for a period of time
  • the sound components collected by each audio collection device may be divided in a preset period of the current time.
  • Frame processing after performing framing processing, it is necessary to perform energy calculation on the frame signal, and for each audio acquisition device, calculate the sum of energy calculated for all frame signals.
  • the step of merging the frequency domain signals of the sound component collected by each of the audio collection devices in the audio collection array for the sound component whose energy is greater than the preset threshold to obtain the spectral features may include:
  • the frequency domain signals of the frame signals corresponding to the sound components collected by the audio collection devices whose energy is greater than the preset threshold are fused to obtain the spectral features of the sound components.
  • the frame signal obtained by the frame processing may be subjected to frequency domain transformation according to a preset time-frequency transform method, wherein the preset time-frequency transform method may be The leaf transform, of course, other methods for transforming the time domain signal into the frequency domain signal are also within the scope of protection of the embodiments of the present application, and are not described herein again.
  • the multi-order harmonic signal processing result of the obtained frequency domain signal can be fused to obtain a spectrum feature.
  • the fusion of the harmonic signals may be a fusion of the cyclostationary features of the multi-order harmonics with the multiplication relationship.
  • other ways of fusing the harmonic signals are also within the protection scope of the embodiment of the present application. Let me repeat.
  • the method may further include the following steps:
  • the number of the audio collecting devices whose energy is greater than the preset threshold may be limited, for example, a first preset number is set, and the energy is greater than the preset threshold.
  • the step of extracting the frame signal is performed only when the number of the audio collection devices is greater than the first preset number, otherwise the sound component is considered to be noise and is not processed.
  • the first preset number may be set to be half of the total number of audio collection devices, or may be set to one quarter of the total number of audio collection devices. The smaller the first preset number is set, the larger the monitoring range is, but the accuracy is May be reduced. Normally, the first preset number is set to half of the total number of audio collection devices.
  • the sound components of all the sound components whose spectral features satisfy the preset spectral features are obtained.
  • the target object corresponding to the sound component satisfying the preset condition can be determined by analyzing the signal feature, and the position of the target object compared to the audio collecting device can be determined by the attribute information such as volume and audio of the sound component of the target object.
  • the step of determining that the signal feature meets the location of the target object corresponding to the sound component of the preset condition may include:
  • the location of the target object is determined according to the position of each of the audio collection devices in the audio collection array relative to the camera and the position of the target object relative to each of the audio collection devices.
  • each audio collection device in the audio collection array relative to the camera When the position of each audio collection device in the audio collection array relative to the camera is arranged in the audio collection array, it can be determined according to the position information provided by the audio collection device, that is, when determining the arrangement of the audio collection array.
  • the position of each audio capture device in the audio capture array relative to the camera has been determined.
  • the position mentioned here can be either an angle or a distance.
  • the method further includes the following steps:
  • the first step is to select an audio collection device that meets a second preset number from the audio collection devices whose energy is greater than a preset threshold;
  • the second preset number of audio collection devices are combined to form a pair of audio collection device pairs
  • the position of the target object relative to each pair of audio collection devices is determined according to a preset time delay estimation method.
  • the audio collection device with the energy greater than the preset threshold may select a plurality of audio collection devices in descending order of energy values, in this embodiment.
  • the second preset number is determined by the energy value from large to small, and can be set as five audio collection devices, and the selected audio collection devices are combined to form an audio collection device pair.
  • the preset time delay estimation method can calculate a corresponding azimuth of each pair of audio collection devices, and can convert the azimuth angle into an angle at which the camera rotates.
  • the preset time delay estimation method may be a classical time delay estimation method, and the estimated sound signal reaches a time difference between different audio collection devices, and the position of the sound source may be determined through a geometric relationship.
  • the classical time delay estimation method includes The method of the cross-correlation function, the method using the speech feature, and the method based on the channel transfer function are all applicable to the embodiments of the present application.
  • the step of determining the location of the target object according to the position of each of the audio collection devices in the audio collection array relative to the camera and the position of the target object relative to each of the audio collection devices may include:
  • the location of the target object is determined according to the position of each audio collection device relative to the camera and the position of the target object relative to each pair of audio collection devices.
  • the step of determining the location of the target object according to the position of each audio collection device relative to the camera and the position of the target object relative to each pair of the audio collection device may include:
  • the first step determining a position parameter of the target object relative to each pair of the audio collection device according to a position of the target object relative to each pair of the audio collection device, wherein the position parameter includes an angle value or a displacement value;
  • the third step is to average the position parameters corresponding to the difference value of the preset difference, and determine the position of the target object relative to any of the audio collection devices;
  • the location of the target object is determined according to the position of the audio collection device relative to the camera and the position of the target object relative to the audio collection device.
  • the pair of audio collection devices calculates an angle of the target object relative to each pair of audio collection devices, calculates an audio collection device pair whose angle difference value is within 10 degrees, and determines the target object by using an average value. Accurate position can further improve the accuracy of determining the target position.
  • S104 Control the position of the camera at the target object.
  • the control camera is aimed at the target object, and the camera can be driven to rotate by driving the rotating device.
  • the alignment operation of the camera is not specifically limited, and may be aligned by the camera, or may be aligned by the camera, or may be translated by the camera.
  • S105 Determine, according to the image captured by the camera, whether the target object is a drone.
  • the camera can be always in the shooting state, and only the driving camera is aimed at the target object; or after the camera is aimed at the target object, a shooting instruction is received to start shooting the target object.
  • the image recognition technology may be an automatic recognition technology such as a neural network or a pixel comparison in the field of image processing, or may be artificially Compare, there is no specific limit here.
  • the sound signal collected by the audio collection array is processed to determine the position of the target object corresponding to the sound component whose signal characteristic meets the preset condition, and the camera is controlled to be aligned with the target object according to the position of the target object.
  • the embodiment of the present application provides another UAV monitoring method. After S104, the following steps may be further included:
  • the drone Since the drone enters the area to be monitored, it may bring safety hazards to the users in the area. Therefore, when it is judged by the audio that the target object approaches or enters the area to be monitored, an alarm command is generated to remind the user that there is a suspected target. Need to be alert.
  • S105 if the target object is a drone, S202 is performed, otherwise, S203 is performed.
  • an alarm enhancement command is generated to enhance the effect of the alarm, for example, increasing the sound of the alarm to remind the user that there is a drone in the area.
  • the alarm can be eliminated.
  • the sound signal collected by the audio collection array is processed to determine the position of the target object corresponding to the sound component whose signal characteristic meets the preset condition, and the camera is controlled to be aligned with the target object according to the position of the target object.
  • Shooting, according to the captured image to determine whether the target object is a drone thus achieving monitoring of the drone, and using the double confirmation of audio and video to prevent false positives, to ensure the accuracy of monitoring.
  • alerting the presence of the target object the alarm is enhanced when there is a drone, and the user is promptly reminded to further improve the safety.
  • the embodiment of the present application provides another UAV monitoring method. After S105, the following steps may be further included:
  • the camera can be controlled to the drone. Tracking and shooting is performed. Specifically, according to the motion track of the drone in the captured video, the camera can be driven to move according to the motion track to achieve tracking shooting.
  • the sound signal collected by the audio collection array is processed to determine the position of the target object corresponding to the sound component whose signal characteristic meets the preset condition, and the camera is controlled to be aligned with the target object according to the position of the target object.
  • Shooting according to the captured image to determine whether the target object is a drone, thus achieving monitoring of the drone, and using the double confirmation of audio and video to prevent false positives, to ensure the accuracy of monitoring.
  • controlling the camera to track and shoot the drone real-time monitoring of the flight status of the drone, to ensure real-time monitoring and security.
  • the embodiment of the present application provides an audio and video linkage device.
  • the audio and video linkage device may include:
  • An audio collection array 410 configured to collect a sound signal
  • the processor 430 is configured to perform signal processing on the sound signal collected by the audio collection array 410, obtain a sound component in which at least one of the sound signals meets a preset condition, and determine a sound that the signal feature meets a preset condition. Positioning the target object corresponding to the component; controlling the camera 420 to align the location of the target object; determining, according to the image captured by the camera 420, whether the target object is a drone;
  • the housing assembly 440 includes a rotating member and a base, wherein the rotating member is configured to provide rotational kinetic energy to the camera, and the base is configured to fix a bottom of the camera, the audio collection array, and the processor.
  • the sound signal collected by the audio collection array is processed to determine the position of the target object corresponding to the sound component whose signal characteristic meets the preset condition, and the camera is controlled to be aligned with the target object according to the position of the target object.
  • the feature signal may include: a spectrum feature
  • the processor 430 is specifically configured to:
  • a sound component in which the spectral features of all sound components satisfy the preset spectral features is obtained.
  • the processor 430 is specifically configured to:
  • the sound component collected by each audio collection device in the audio collection array 410 is subjected to frame processing in a preset period of the current time to obtain the sound component collected by each audio collection device.
  • the frequency domain signals of the frame signals corresponding to the sound components collected by the audio collection devices whose energy is greater than the preset threshold are fused to obtain the spectral features of the sound components.
  • the processor 430 is specifically configured to:
  • the processor 430 is specifically configured to:
  • the sound component is noise.
  • the processor 430 is specifically configured to:
  • the location of the target object is determined according to the position of each of the audio collection devices in the audio collection array 410 relative to the camera 420 and the position of the target object relative to each of the audio collection devices.
  • the processor 430 is specifically configured to:
  • the location of the target object is determined according to the position of each audio collection device relative to the camera 420 and the position of the target object relative to each pair of audio collection devices.
  • the processor 430 is specifically configured to:
  • the location of the target object is determined according to the position of the audio capture device relative to the camera 420 and the position of the target object relative to the audio capture device.
  • the audio-video linkage device of the embodiment of the present application is a device applying the above-described UAV monitoring method, and all the embodiments of the UAV monitoring method are applicable to the device, and all of the same or similar beneficial effects can be achieved.
  • the audio and video linkage device may further include:
  • the alarm component 510 is configured to perform an alarm operation when receiving an alarm instruction.
  • the alarm component 510 can be a device for alarms such as a buzzer, a light emitting diode, a display, etc., and the alarm component 510 has a function of enhancing an alarm, for example, the buzzer of the buzzer is getting louder and the light of the light emitting diode is coming. The brighter, the display content of the display changes, and so on.
  • the alarm operation may be a beeping sound, lighting a light emitting diode, displaying a suspected target, and the like.
  • the sound signal collected by the audio collection array is processed to determine the position of the target object corresponding to the sound component whose signal characteristic meets the preset condition, and the camera is controlled to be aligned with the target object according to the position of the target object.
  • Shooting, according to the captured image to determine whether the target object is a drone thus achieving monitoring of the drone, and using the double confirmation of audio and video to prevent false positives, to ensure the accuracy of monitoring.
  • alerting the presence of the target object the alarm is enhanced when there is a drone, and the user is promptly reminded to further improve the safety.
  • the processor 430 is specifically configured to:
  • the processor 430 is specifically configured to:
  • the camera 420 is controlled to perform tracking shooting on the drone.
  • the embodiment of the present application provides a storage medium for storing executable code, which is used to execute at runtime: the embodiment of the present application
  • the UAV monitoring method provided; specifically, the UAV monitoring method includes:
  • the signal feature includes: a spectrum feature
  • Performing signal processing on the sound signal to obtain a sound component in which at least one of the sound signals meets a preset condition including:
  • a sound component in which the spectral features of all sound components satisfy the preset spectral features is obtained.
  • the acquiring the energy collected by each audio collection device in the audio collection array for each of the at least one sound component comprises:
  • the sound component collected by each audio collection device in the audio collection array is subjected to frame processing in a preset period of the current time, and the sound component corresponding to each audio collection device is correspondingly obtained.
  • the frequency domain signal of the sound component collected by each audio collection device in the audio collection array is fused to obtain a spectrum feature, where the sound component is greater than a preset threshold, and the spectrum features are obtained, including:
  • the frequency domain signals of the frame signals corresponding to the sound components collected by the audio collection devices whose energy is greater than the preset threshold are fused to obtain the spectral features of the sound components.
  • the method before the extracting the frame signal corresponding to the sound component collected by the audio collection device that is greater than the preset threshold, the method further includes:
  • the method further includes:
  • the determining, by the sound component that the signal feature meets the preset condition, the location of the target object includes:
  • Determining a location of the target object according to a position of each of the audio collection devices in the audio collection array relative to the camera and a position of the target object relative to each of the audio collection devices.
  • the method further includes:
  • Determining a location of the target object according to a position of each of the audio collection devices in the audio collection array relative to the camera and a position of the target object relative to each of the audio collection devices including:
  • the location of the target object is determined according to the position of each audio collection device relative to the camera and the position of the target object relative to each pair of audio collection devices.
  • determining the location of the target object according to a location of each audio collection device relative to the camera and a location of the target object relative to each pair of audio collection device including:
  • the method further includes:
  • the method further includes: after determining, according to the image captured by the camera, whether the target object is a drone, the method further includes:
  • An alarm enhancement command is generated when the target object is a drone.
  • the method further includes:
  • the camera is controlled to perform tracking shooting on the drone.
  • the storage medium stores an application program for performing the UAV monitoring method provided by the embodiment of the present application during operation, so that the sound signal collected by the audio collection array can be processed to determine that the signal characteristic satisfies the pre-processing.
  • the embodiment of the present application provides an application program for performing the following steps of the UAV monitoring method provided by the embodiment of the present application.
  • the application performs the UAV monitoring method provided by the embodiment of the present application during operation, so that the sound component collected by the audio collection array can be processed to determine the sound component whose signal characteristic meets the preset condition.
  • Corresponding position of the target object according to the position of the target object, controlling the camera to aim at the target object, and determining whether the target object is a drone according to the captured image, thereby realizing monitoring of the drone and ensuring The accuracy of the monitoring.

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  • Engineering & Computer Science (AREA)
  • Signal Processing (AREA)
  • Multimedia (AREA)
  • Physics & Mathematics (AREA)
  • Computational Linguistics (AREA)
  • Health & Medical Sciences (AREA)
  • Audiology, Speech & Language Pathology (AREA)
  • Human Computer Interaction (AREA)
  • Acoustics & Sound (AREA)
  • Spectroscopy & Molecular Physics (AREA)
  • Circuit For Audible Band Transducer (AREA)

Abstract

Selon certains modes de réalisation, la présente invention concerne un procédé de surveillance de véhicule aérien sans pilote et un appareil de liaison audio/vidéo. Le procédé de surveillance de véhicule aérien sans pilote consiste à : acquérir un signal sonore au moyen d'un réseau d'acquisition audio ; effectuer un traitement de signal sur le signal sonore et obtenir, dans le signal sonore, au moins une composante sonore comportant une caractéristique de signal satisfaisant une condition prédéfinie ; déterminer l'emplacement d'un objet cible correspondant à la composante sonore avec la caractéristique de signal satisfaisant la condition prédéfinie ; commander une caméra vers l'emplacement d'un objet cible ; et déterminer si l'objet cible est un véhicule aérien sans pilote selon une image photographiée par la caméra. Selon la présente solution, la surveillance sur un véhicule aérien sans pilote peut être obtenue, et ainsi la sécurité sociale et personnelle peut être assurée.
PCT/CN2018/086565 2017-05-17 2018-05-11 Procédé de surveillance de véhicule aérien sans pilote et appareil de liaison audio/vidéo WO2018210192A1 (fr)

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