Method, system, electronic device and storage medium for generating full-area cruise routes

Abstract

The present invention belongs to the field of monitoring technology, and specifically relates to a method, system, electronic device and storage medium for generating a full-area cruise route. The method includes: obtaining imaging parameter information, position parameter information and height parameter information of a monitoring device; planning a required cruise route and generating a cruise route map based on a given cruise range, the lens field of view and imaging effect of the monitoring device; performing actual measurement and detection and optimizing the cruise route according to the generated cruise route map, and obtaining the best route for the monitoring device to complete the full-area cruise. The present invention automatically generates a full-area patrol line plan to reduce the process of manual calibration and configuration, thereby achieving no leaks in the patrol area and unblurred video in the patrol area, thereby meeting the requirements of full-area coverage patrol. By accurately calculating the shortest motion route, the number of back-and-forth movements of the pan / tilt head can be effectively reduced, and the full-area coverage cruise work can be quickly completed.

Description

Technical Field

[0001] The present invention belongs to the field of monitoring technology, and in particular relates to a method, system, electronic equipment and storage medium for generating a full-area cruise route. Background Art

[0002] With the continuous development of economy and the advancement of science and technology, in order to protect the safety of people's property, security monitoring projects are becoming more and more important. Among them, monitoring equipment, as one of the important equipment in security monitoring projects, can replace manual inspection work in many scenarios, efficiently and conveniently complete the video acquisition and shooting of the monitoring area, and obtain the scene conditions of the monitoring site. The video images are recorded and stored in the form of video images, which are widely used in various scenarios such as mining, security, transportation, communication, smart city construction or daily life.

[0003] When the monitoring equipment is shooting and collecting scene images, in order to achieve full-area monitoring of the required monitoring area, especially when the required coverage area is monitored on a carrier mounted at a high point, it is necessary to set a cruise route for the monitoring equipment to ensure full-area monitoring of the monitoring equipment. However, the traditional monitoring equipment cruise is manually set based on preset points, preset routes or cruise trajectories. During the cruise monitoring process, it leads to missed inspections, unclear images caused by too fast movement, and low efficiency of the patrol configuration process. Unreasonable cruise routes or trajectories make it impossible for the monitoring equipment to complete the cruise of the entire area in a short time, the cruise time is extended, the effective coverage of the monitoring is reduced, and there are easy to be cruise omissions. There are positioning errors when searching and locating the specified target. Summary of the invention

[0004] In order to solve the problems in the prior art that the traditional monitoring equipment cruise is manually set based on preset points, preset routes or cruise trajectories, resulting in missed detection, unclear images caused by too fast movement, and low efficiency of the patrol configuration process, the present invention provides a full-area cruise route generation method, system, electronic device and storage medium, which automatically generates the best cruise route in the area through a given up, down, left and right range, so as to avoid missed detection caused by manual calibration, unclear images caused by too fast movement, and low efficiency of the patrol configuration process.

[0005] The present invention is implemented by the following technical solutions:

[0006] A method for generating a full-area cruise route, the method comprising:

[0007] Obtain imaging parameter information, position parameter information, and height parameter information of the monitoring device;

[0008] Calculate the lens field of view and imaging effect of the monitoring device according to the acquired imaging parameter information of the monitoring device;

[0009] Acquire the position information of the PTZ device used for installing the monitoring device in real time;

[0010] According to a given cruising range, based on the field of view and imaging effect of the monitoring device, a required cruising route is planned and a cruising route map is generated;

[0011] According to the generated cruise route map, actual measurement and detection are carried out and the cruise route is optimized to obtain the best route for the monitoring equipment to complete the cruise in the entire area.

[0012] As a further solution of the present invention, the imaging parameter information is obtained from the factory parameters of the monitoring device, and the imaging parameter information includes minimum focal length, maximum focal length, pixel size, imaging image length, and imaging image width.

[0013] Preferably, the location parameter information is acquired by a GPS module in the monitoring device, and the location parameter information includes the current GPS coordinate information of the monitoring device acquired by the GPS module; the height parameter information is obtained from the actual installation location of the monitoring device, and the height parameter information includes the installation height information of the monitoring device.

[0014] As a further solution of the present invention, the lens field of view and imaging effect of the monitoring device are calculated based on the camera pinhole imaging principle and the camera vertical field of view. The imaging effect of the monitoring device includes horizontal detection distance , the horizontal detection distance The calculation formula is as follows:

[0015] ,in, is the focal length of the lens, m is the focal length value of the lens, the unit of the focal length of the lens is millimeter (mm), the horizontal detection distance The unit is kilometer (Km).

[0016] Preferably, the field of view of the lens of the monitoring device includes a horizontal field of view angle FOV (H) and a vertical field of view angle FOV (D), wherein the calculation formula of the vertical field of view angle FOV (D) is as follows:

[0017] , where It is the horizontal distance of the field of view angle range closer to the monitoring. is the vertical length of the field of view , L( ) is the horizontal distance that the monitoring device can detect, is the horizontal detection distance of the monitoring device; is the lens pitch angle;

[0018] The calculation formula for the horizontal distance that the monitoring device can detect is: ;

[0019] The installation height H of the monitoring equipment is:

[0020] .

[0021] Furthermore, the calculation formula of the horizontal field of view FOV(H) is as follows:

[0022] in, is the horizontal visible area length of the field of view, H is the installation height of the monitoring device, L( ) is the horizontal distance that the monitoring device can detect, is the lens pitch angle;

[0023] in, , where It is the horizontal distance of the field of view angle range closer to the monitoring. is the vertical length of the field of view , is the horizontal detection distance of the monitoring device.

[0024] As a further solution of the present invention, the viewing angle of the lens of the monitoring device also includes the vertical length of the viewing angle , the vertical length of the field angle The calculation formula is:

[0025] , where is the vertical length of the field of view , is the horizontal detection distance of the monitoring device, is the lens pitch angle, FOV(D) is the vertical field of view angle, and H is the installation height of the monitoring device.

[0026] As a further solution of the present invention, the orientation information of the pan-tilt device includes the orientation values ​​of the pan-tilt device in the horizontal direction and the vertical direction.

[0027] Preferably, the method for planning the required cruise route is based on the camera imaging principle and the up, down, left, and right range data of the given cruise range, using a step-by-step movement method from near to far or from far to near, calculating the number of circles required for the pan-tilt device to move, planning the required cruise route within the given cruise range, and generating a cruise route map. The generated cruise route can meet the monitoring range and cruise cycle requirements. When the identification radius is not more than 5km, the cruise time is not more than 15 minutes; when the identification radius is not more than 10km, the cruise time is not more than 20 minutes; when the identification radius is not more than 15km, the cruise time is not more than 30 minutes. The number of circles should be as small as possible to meet the cruise time requirements.

[0028] Preferably, the method of performing actual measurement on the generated cruise route map and optimizing the cruise route includes:

[0029] According to the generated patrol route map, drive the PTZ equipment to complete the patrol work in the whole area and judge whether it meets the inspection requirements;

[0030] When the cruise route actually measured meets the time and range requirements, the best cruise route that meets the requirements is output;

[0031] When the actual measurement of the cruise route does not meet the time and range requirements, the system continuously iterates and optimizes through feedback, automatically optimizes the parameters, regenerates the cruise route, and conducts actual measurement of the cruise route. When the time and range requirements are met, the optimal cruise route that meets the requirements is output.

[0032] Preferably, the inspection requirements during the actual measurement of the cruise route also include the pixel size and picture clarity judgment of the fixed image of an object of a given target size, and the judgment method of the pixel size and picture clarity includes:

[0033] Get the PTZ angle and zoom information of the PTZ device in real time;

[0034] Calculate the vertical field of view of the camera lens of the monitoring device in real time according to the acquired pan / tilt angle and zoom information;

[0035] According to the vertical field of view of the lens, it is judged whether the fixed image size of an object of a given target size at the current distance meets the pixel size and image clarity requirements required for detection.

[0036] The present invention also includes a full-area cruise route generation system, which uses the above-mentioned full-area cruise route generation method to generate the best cruise route for a given inspection area; the full-area cruise route generation system includes a parameter acquisition module, a cruise route generation module and a route optimization module.

[0037] The parameter acquisition module is used to acquire imaging parameter information, position parameter information and height parameter information of the monitoring device, and is also used to acquire the position information of the pan / tilt device installed on the monitoring device in real time;

[0038] The cruise route generation module is used to calculate the number of circles required for the pan / tilt device to move based on the camera imaging principle and a given cruise range, using a step-by-step movement method from near to far or from far to near, and plan a required cruise route within the given cruise range;

[0039] The route optimization module is used to drive the pan / tilt device and the monitoring device for actual measurement according to the generated cruise route, and output the best cruise route that meets the requirements by judging whether the image is clear and whether the pixels required for detection and the full coverage of the coverage area are met.

[0040] The present invention also includes an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method for generating a full-area cruise route when executing the computer program.

[0041] The present invention also includes a storage medium storing a computer program, which implements the steps of the method for generating a full-area cruise route when executed by a processor.

[0042] The technical solution provided by the present invention has the following beneficial effects:

[0043] The present invention is used for high-point monitoring cruise control. By re-adjusting the original control amount of the pan-tilt pitch angle and the pan-tilt motion angular velocity under the original camera focal length, field of view angle and other parameters and conditions, the deviation caused by manual calibration is reduced, thereby achieving more accurate motion control of high-point monitoring cruise. By automatically generating a full-area patrol plan, the process of manual calibration configuration is reduced, so that there are no leaks in the inspection area, the video of the inspection area is not blurred, and the requirements of full-area coverage inspection are met. By accurately calculating the shortest movement route, the number of back-and-forth movements of the pan-tilt can be effectively reduced. It has been found through theory and experiment that a 360° full-area coverage cruise can be completed within 15 minutes.

[0044] These and other aspects of the present invention will be more clearly understood in the following description of the embodiments. It should be understood that the above general description and the following detailed description are only exemplary and explanatory and cannot limit the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or related technologies, the following briefly introduces the drawings required for use in the exemplary embodiments or related technical descriptions. The drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation to the present invention. In the drawings:

[0046] Figure 1 The present invention is a flowchart of a method for generating a full-area cruise route according to an embodiment of the present invention.

[0047] Figure 2 The present invention is a flowchart of generating a cruise route in a method for generating a full-area cruise route according to an embodiment of the present invention.

[0048] Figure 3 The present invention is a schematic diagram of the principle of calculating the limit detection distance based on the camera pinhole imaging principle in a method for generating a full-area cruise route in an embodiment of the present invention.

[0049] Figure 4 The figure is a schematic diagram of the principle of calculating the horizontal distance with a pitch angle in a method for generating a full-area cruise route according to an embodiment of the present invention.

[0050] Figure 5 The present invention is a top view of calculating the horizontal distance with a pitch angle in a method for generating a full-area cruise route in an embodiment of the present invention.

[0051] Figure 6 This is a display diagram of the results of the simulated movement of the monitoring device input and output data in a method for generating a full-area cruise route in an embodiment of the present invention.

[0052] Figure 7 The system block diagram of a system for generating a full-area cruise route in an embodiment of the present invention.

[0053] Figure 8 The structure block diagram of an electronic device according to an embodiment of the present invention.

[0054] Fig. 9 It is a structural schematic diagram of a computer system suitable for implementing a method for generating a full-area cruise route according to an embodiment of the present invention. DETAILED DESCRIPTION

[0055] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0056] In some of the processes described in the specification and claims of the present invention and the above-mentioned figures, multiple operations that appear in a specific order are included, but it should be clearly understood that these operations may not be executed in the order in which they appear in this article or executed in parallel. The serial numbers of the operations, such as 101, 102, etc., are only used to distinguish different operations, and the serial numbers themselves do not represent any execution order. In addition, these processes may include more or fewer operations, and these operations may be executed in sequence or in parallel. It should be noted that the descriptions of "first", "second", etc. in this article are used to distinguish different messages, devices, modules, etc., do not represent the order of precedence, and do not limit the "first" and "second" to be different types.

[0057] The present invention provides a method, system, electronic device and storage medium for generating a full-area cruise route. The method is based on GIS three-dimensional geographic elevation data, monitored GPS coordinate positions, relative ground height, 6-axis gyroscope, high-precision pan / tilt and lens field of view information. The vertical visible distance is calculated based on high-precision geographic information, high-precision pan / tilt information and binocular visual positioning. The pan / tilt pitch angle required for the cruise is calculated step by step within a given range and a cruise route is generated. This method can achieve cruise without missing points in the entire area and can reduce the cruise time to less than 15 minutes. Through GIS three-dimensional geographic elevation data and the monitored coordinate positions, the effective monitoring coverage can be calculated in advance; it can also achieve the search and positioning of specified large and small targets within the area, and the positioning error is less than 100m.

[0058] The following will be combined with the drawings in the exemplary embodiments of the present invention to clearly and completely describe the technical solutions in the exemplary embodiments of the present invention. Obviously, the exemplary embodiments described are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0059] Figure 1 The figure is a flow chart of a method for generating a full-area cruise route according to an embodiment of the present invention. Figure 2 FIG. 1 is a flow chart of generating a cruise route in a method for generating a full-area cruise route according to an embodiment of the present invention. Figure 1 and Figure 2 As shown, an embodiment of the present invention provides a method for generating a full-area cruise route, which is applied to cruise route planning of a monitoring device, and the method includes the following steps:

[0060] S1. Obtain imaging parameter information, position parameter information, and height parameter information of a monitoring device.

[0061] In this embodiment, the imaging parameter information is obtained from the factory parameters of the monitoring device, and the imaging parameter information includes the minimum focal length, the maximum focal length, the pixel size, the imaging image length, and the imaging image width.

[0062] The location parameter information is obtained by the GPS module in the monitoring device, and the location parameter information includes the current GPS coordinate information of the monitoring device obtained by the GPS module; the height parameter information is obtained from the actual installation location of the monitoring device, and the height parameter information includes the installation height information of the monitoring device.

[0063] When acquiring the parameters of the monitoring device, the initial factory parameters of the monitoring device are acquired. From the factory parameters of the monitoring device, the minimum focal length, maximum focal length, pixel size, imaging image length, and imaging image width can be acquired. The actual installation parameters of the monitoring device are acquired. From the actual installation position of the device, the height of the monitoring device can be acquired. The GPS coordinate parameters of the monitoring device and the high-precision data of the monitoring device in motion can be acquired. The current GPS coordinate information is acquired from the GPS module of the monitoring device.

[0064] Preferably, in the embodiments of the present invention, see Figure 3 As shown, the initial setting parameters of a monitoring device are as follows:

[0065] a) Minimum recognition pixel of imaging: 2 pixels * 2 pixels;

[0066] b) The detected object is a car: 2.3m*2.3m;

[0067] c) Infrared imaging camera parameters of monitoring equipment:

[0068] Detector pixels: 400*300;

[0069] Lens focal length: 30mm ~ 150mm;

[0070] Pixel size: 17 μm;

[0071] Calculated field of view angle: (H×V) (12.9°*9.7°)~(2.6°*1.9°).

[0072] d) Horizontal is also equivalent to calculating the detection distance of the PTZ device at 0°, that is, when it is not zoomed.

[0073] S2. Calculate the lens field of view and imaging effect of the monitoring device according to the acquired imaging parameter information of the monitoring device.

[0074] Among them, see Figure 4 and Figure 5As shown, the lens field of view and imaging effect of the monitoring device are calculated based on the camera pinhole imaging principle and the camera vertical field of view. The imaging effect of the monitoring device includes horizontal detection distance , the horizontal detection distance The calculation formula is as follows:

[0075]

[0076] In the formula, is the focal length of the lens, m is the focal length value of the lens, the unit of the focal length of the lens is millimeter (mm), the horizontal detection distance The unit is kilometer (Km).

[0077] For example: ,express: It is the theoretical maximum horizontal distance for a 30mm focal length.

[0078] ,express: It is the theoretical maximum horizontal distance for a 150mm focal length.

[0079] In this embodiment, the field of view of the lens of the monitoring device includes a horizontal field of view angle FOV (H) and a vertical field of view angle FOV (D), wherein the calculation formula of the vertical field of view angle FOV (D) is as follows:

[0080] , where It is the horizontal distance of the field of view angle range closer to the monitoring. is the vertical length of the field of view , L( ) is the horizontal distance that the monitoring device can detect, is the horizontal detection distance of the monitoring device; is the lens pitch angle;

[0081] The calculation formula for the horizontal distance that the monitoring device can detect is: ;

[0082] The installation height H of the monitoring equipment is:

[0083] .

[0084] The calculation formula of the horizontal field of view FOV (H) is as follows:

[0085] in, is the horizontal visible area length of the field of view, H is the installation height of the monitoring device, L( ) is the horizontal distance that the monitoring device can detect, is the lens pitch angle;

[0086] in, , where It is the horizontal distance of the field of view angle range closer to the monitoring. is the vertical length of the field of view , is the horizontal detection distance of the monitoring device, and H is the installation height of the monitoring device.

[0087] In this embodiment, the viewing angle of the camera lens of the monitoring device also includes the vertical length of the viewing angle. , the vertical length of the field angle The calculation formula is:

[0088] , where is the vertical length of the field of view , is the horizontal detection distance of the monitoring device, is the lens pitch angle, FOV(D) is the vertical field of view angle, and H is the installation height of the monitoring device.

[0089] S3. Acquire the position information of the PTZ device used for installing the monitoring device in real time.

[0090] In this embodiment, the orientation information of the pan / tilt device includes the orientation values ​​of the pan / tilt device in the horizontal direction and the vertical direction.

[0091] S4. According to the given cruising range, based on the lens field of view and imaging effect of the monitoring device, a required cruising route is planned and a cruising route map is generated.

[0092] In this embodiment, the method for planning the required cruise route is based on the camera imaging principle and the upper, lower, left, and right range data of the given cruise range, using a step-by-step movement method from near to far or from far to near, calculating the number of circles required for the pan-tilt device to move, planning the required cruise route within the given cruise range, and generating a cruise route map. The generated cruise route can meet the requirements of the monitoring range and cruise cycle. When the identification radius is not greater than 5km, the cruise time is not greater than 15 minutes; when the identification radius is not greater than 10km, the cruise time is not greater than 20 minutes; when the identification radius is not greater than 15km, the cruise time is not greater than 30 minutes. The number of circles should be as small as possible to meet the cruise time requirements.

[0093] S5. Perform actual measurement and detection according to the generated cruise route map and optimize the cruise route to obtain the best route for the monitoring device to complete the cruise in the entire area.

[0094] See also Figure 2As shown, the operation process of producing a cruise route using the full-area cruise route generation method in this embodiment is as follows: first, obtain the camera lens parameters of the monitoring equipment, the GPS coordinates of the equipment installation, and the altitude information, set the cruise range, calculate the cruise route according to the formula, make a preliminary judgment on the cruise route, and when it meets the inspection requirements, conduct actual measurement of the cruise route, determine the optimal route, and output the best cruise route that meets the requirements; when it does not meet the inspection requirements and the optimal route cannot be determined, optimize the generation parameters, recalculate the cruise route according to the formula, and when the cruise route cannot be calculated according to the formula, it is an abnormal input, and the cruise route generation operation ends.

[0095] In this embodiment, the method for performing actual measurement on the generated cruise route map and optimizing the cruise route includes:

[0096] According to the generated patrol route map, drive the PTZ equipment to complete the patrol work in the whole area and judge whether it meets the inspection requirements;

[0097] When the cruise route actually measured meets the time and range requirements, the best cruise route that meets the requirements is output;

[0098] When the actual measurement of the cruise route does not meet the time and range requirements, the system continuously iterates and optimizes through feedback, automatically optimizes the parameters, regenerates the cruise route, and conducts actual measurement of the cruise route. When the time and range requirements are met, the optimal cruise route that meets the requirements is output.

[0099] Among them, the inspection requirements during the actual measurement of the cruise route also include the pixel size and picture clarity judgment of the fixed image of an object of a given target size, and the judgment method of the pixel size and picture clarity includes:

[0100] Acquire the pan / tilt angle and zoom information of the pan / tilt device in real time, wherein the pan / tilt angle and zoom information are obtained by the gyroscope module of the monitoring device and the high-precision pan / tilt device. In this embodiment, the pan / tilt accuracy is better than 0.001;

[0101] Calculate the vertical field of view of the camera lens of the monitoring device in real time according to the acquired pan / tilt angle and zoom information;

[0102] According to the vertical field of view of the lens, it is judged whether the fixed image size of an object of a given target size at the current distance meets the pixel size and image clarity requirements required for detection.

[0103] Finally, through continuous iterative optimization through parameter feedback, a cruise route that meets the requirements can be output. The output results are as follows: Figure 6 shown.

[0104] To sum up, the present invention is mainly used for high-point monitoring cruise control, which reduces the deviation caused by manual calibration by readjusting the original control amounts of the pan-tilt pitch angle and the pan-tilt motion angular velocity under the original focal length, field of view angle and other parameters and conditions of the camera, thereby achieving more precise motion control of the high-point monitoring cruise.

[0105] like Figure 7 As shown, in an embodiment of the present invention, a full-area cruise route generation system is provided, wherein the full-area cruise route generation system adopts the aforementioned full-area cruise route generation method to generate an optimal cruise route for a given inspection area; the full-area cruise route generation system includes a parameter acquisition module 11, a cruise route generation module 12 and a route optimization module 13.

[0106] The parameter acquisition module 11 is used to acquire the imaging parameter information, position parameter information and height parameter information of the monitoring device, and is also used to acquire in real time the azimuth information of the pan-tilt device installed on the monitoring device; wherein the imaging parameter information is acquired from the factory parameters of the monitoring device, and the imaging parameter information includes the minimum focal length, the maximum focal length, the pixel size, the imaging image length, and the imaging image width; the position parameter information is acquired from the GPS module in the monitoring device, and the position parameter information includes the current GPS coordinate information of the monitoring device acquired by the GPS module; the height parameter information is obtained from the actual installation position of the monitoring device, and the height parameter information includes the installation height information of the monitoring device; the azimuth information of the pan-tilt device includes the azimuth values ​​of the pan-tilt device in the horizontal and vertical directions.

[0107] The cruise route generation module 12 is used to calculate the number of circles required for the pan / tilt device to move based on the camera imaging principle and a given cruise range, using a step-by-step movement method from near to far or from far to near, and plan the required cruise route within the given cruise range. The lens field of view and imaging effect of the monitoring device are calculated based on the camera pinhole imaging principle and the camera vertical field of view angle.

[0108] The route optimization module 13 is used to drive the pan-tilt device and the monitoring device to measure according to the generated cruise route, and output the best cruise route that meets the requirements by judging whether the image is clear and whether the pixels and coverage area of ​​the detection requirements are fully covered. During the detection, according to the generated cruise route map, the pan-tilt device is driven to complete the full-area cruise work, and judge whether it meets the inspection requirements. When the cruise route measurement meets the time and range requirements, the best cruise route that meets the requirements is output; when the cruise route measurement does not meet the time and range requirements, it continuously iterates and optimizes through feedback, automatically optimizes the parameters, regenerates the cruise route, and measures the cruise route. When the time and range requirements are met, the best cruise route that meets the requirements is output.

[0109] The present invention automatically generates a full-area patrol plan to reduce the process of manual calibration and configuration, thereby achieving no missed points in the patrol area and clear video blur in the patrol area, meeting the requirements of full-area coverage patrol. By accurately calculating the shortest movement route, the number of back-and-forth movements of the PTZ can be effectively reduced. Through theoretical and experimental findings, a 360° full-area coverage patrol can be completed within 15 minutes.

[0110] like Figure 8 As shown, in an embodiment of the present invention, an electronic device 900 is provided, the electronic device 900 includes a memory 901 and a processor 902, the memory 901 stores a computer program, and the processor 902 is configured to execute the computer program stored in the memory 901. The memory 901 is used to store one or more computer instructions, wherein the one or more computer instructions are executed by the processor 902 to implement the steps in the above method embodiment:

[0111] Obtain imaging parameter information, position parameter information, and height parameter information of the monitoring device;

[0112] Calculate the lens field of view and imaging effect of the monitoring device according to the acquired imaging parameter information of the monitoring device;

[0113] Acquire the position information of the PTZ device used for installing the monitoring device in real time;

[0114] According to a given cruising range, based on the field of view and imaging effect of the monitoring device, a required cruising route is planned and a cruising route map is generated;

[0115] According to the generated cruise route map, actual measurement and detection are carried out and the cruise route is optimized to obtain the best route for the monitoring equipment to complete the cruise in the entire area.

[0116] Fig. 9 FIG. 1 is a schematic diagram of a computer system suitable for implementing a method for generating a full-area cruise route according to an embodiment of the present invention. Fig. 9 As shown, the computer system 1000 includes a processor (CPU, GPU, FPGA, etc.) 1001, which can perform part or all of the processing in the embodiments shown in the above figures according to the program stored in the read-only memory (ROM) 1002 or the program loaded from the storage part 1008 to the random access memory (RAM) 1003. In the RAM 1003, various programs and data required for the operation of the system 1000 are also stored. The processor 1001, ROM 1002 and RAM 1003 are connected to each other through a bus 1004. An input / output (I / O) interface 1005 is also connected to the bus 1004.

[0117] The following components are connected to the I / O interface 1005: an input section 1006 including a keyboard, a mouse, etc.; an output section 1007 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 1008 including a hard disk, etc.; and a communication section 1009 including a network interface card such as a LAN card, a modem, etc. The communication section 1009 performs communication processing via a network such as the Internet. A drive 1010 is also connected to the I / O interface 1005 as needed. A removable medium 1011, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 1010 as needed, so that a computer program read therefrom is installed into the storage section 1008 as needed.

[0118] In particular, according to an embodiment of the present invention, the method described above with reference to the accompanying drawings can be implemented as a computer software program. For example, an embodiment of the present invention includes a computer program product, which includes a computer program tangibly contained on a readable medium thereof, and the computer program includes program code for executing the method in the accompanying drawings. In such an embodiment, the computer program can be downloaded and installed from a network through the communication part 1009, and / or installed from the removable medium 1011.

[0119] The flowchart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the system, method and computer program product according to various embodiments of the present invention. In this regard, each box in the road map or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0120] In an embodiment of the present invention, a storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented:

[0121] Obtain imaging parameter information, position parameter information, and height parameter information of the monitoring device;

[0122] Calculate the lens field of view and imaging effect of the monitoring device according to the acquired imaging parameter information of the monitoring device;

[0123] Acquire the position information of the PTZ device used for installing the monitoring device in real time;

[0124] According to a given cruising range, based on the field of view and imaging effect of the monitoring device, a required cruising route is planned and a cruising route map is generated;

[0125] According to the generated cruise route map, actual measurement and detection are carried out and the cruise route is optimized to obtain the best route for the monitoring equipment to complete the cruise in the entire area.

[0126] A person skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory.

[0127] In summary, the present invention automatically generates a full-area patrol plan to reduce the process of manual calibration and configuration, thereby achieving no missed points in the patrol area, and the patrol area video is not blurred, meeting the requirements of full-area coverage patrol. By accurately calculating the shortest movement route, the number of back-and-forth movements of the pan / tilt can be effectively reduced. Through theoretical and experimental findings, a 360° full-area coverage patrol can be completed within 15 minutes.

[0128] It should be noted that the technical features in the above-mentioned embodiments can be combined arbitrarily, and the combined technical solutions all belong to the protection scope of the present application. In this article, terms such as "including", "comprising" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not clearly listed, or also includes elements inherent to such process, method, article or equipment. In the absence of more restrictions, the elements limited by the sentence "including one..." do not exclude the presence of other identical elements in the process, method, article or equipment including the elements.

[0129] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for generating a full-area cruise route; characterized in that: The method for generating a full-area cruise route includes: Obtain imaging parameter information, position parameter information, and height parameter information of the monitoring device; Calculate the lens field of view and imaging effect of the monitoring device according to the acquired imaging parameter information of the monitoring device; Acquire the position information of the PTZ device used for installing the monitoring device in real time; According to a given cruising range, based on the field of view and imaging effect of the monitoring device, a required cruising route is planned and a cruising route map is generated; Perform actual measurement and inspection according to the generated cruise route map and optimize the cruise route to obtain the best route for the monitoring device to complete the cruise in the entire area; The lens field of view and imaging effect of the monitoring device are calculated based on the camera pinhole imaging principle and the camera vertical field of view angle. The imaging effect of the monitoring device includes the horizontal detection distance L (m) , the horizontal detection distance L (m) The calculation formula is as follows: Among them, f (m) is the focal length of the lens, m is the focal length value of the lens, the unit of the focal length of the lens is millimeter, and the horizontal detection distance L (m) The unit is kilometers; The viewing angle of the camera lens of the monitoring device includes the horizontal viewing angle FOV (H), the vertical viewing angle FOV (D) and the vertical length L of the viewing angle (V) , wherein the calculation formula of the vertical field of view angle FOV(D) is as follows: Where C1 is the horizontal distance of the field of view from the nearest monitoring section, and C2 is the vertical length of the field of view. L(α) is the horizontal distance that the monitoring device can detect, L is the horizontal detection distance of the monitoring device; α is the lens pitch angle; wherein the calculation formula for the horizontal distance that the monitoring device can detect is: L (α) = sinα·L; The installation height H of the monitoring equipment is: The calculation formula of the horizontal field of view FOV (H) is as follows: Among them, L (H) is the length of the horizontal visible area of ​​the field of view, H is the installation height of the monitoring device, L(α) is the horizontal distance that the monitoring device can detect, and α is the pitch angle of the lens; Among them, C1+C2=H·tanα=sinα·L=L (α) , where C1 is the horizontal distance of the field of view from the monitoring area, and C2 is the vertical length of the field of view. L is the horizontal detection distance of the monitoring device, and H is the installation height of the monitoring device; The vertical length L of the viewing angle (V) The calculation formula is: Wherein, C2 is the vertical length of the field of view The L is the horizontal detection distance of the monitoring device, α is the lens pitch angle, and the FOV(D) is the vertical field of view angle.

2. The method for generating a full-area cruise route according to claim 1, characterized in that: The imaging parameter information is obtained from the factory parameters of the monitoring device, and the imaging parameter information includes a minimum focal length, a maximum focal length, a pixel size, an imaging image length, and an imaging image width.

3. The method for generating a full-area cruise route according to claim 2, characterized in that: The location parameter information is obtained by the GPS module in the monitoring device, and the location parameter information includes the current GPS coordinate information of the monitoring device obtained by the GPS module; the height parameter information is obtained from the actual installation location of the monitoring device, and the height parameter information includes the installation height information of the monitoring device.

4. The method for generating a full-area cruise route according to claim 1, characterized in that: The method for performing actual measurement and detection according to the generated cruise route map and optimizing the cruise route includes: According to the generated patrol route map, drive the PTZ equipment to complete the patrol work in the whole area and judge whether it meets the inspection requirements; When the cruise route actually measured meets the time and range requirements, the best cruise route that meets the requirements is output; When the actual measurement of the cruise route does not meet the time and range requirements, the system continuously iterates and optimizes through feedback, automatically optimizes the parameters, regenerates the cruise route, and conducts actual measurement of the cruise route. When the time and range requirements are met, the optimal cruise route that meets the requirements is output.

5. A system for generating a cruise route for an entire region, characterized in that: The full-area cruise route generation system uses the full-area cruise route generation method described in any one of claims 1 to 4 to generate the best cruise route for a given inspection area; The full-area cruise route generation system includes: A parameter acquisition module, used to acquire imaging parameter information, position parameter information and height parameter information of the monitoring device, and also used to acquire in real time the orientation information of the pan / tilt device installed in the monitoring device; A cruise route generation module is used to calculate the number of circles required for the pan / tilt device to move based on the camera imaging principle and a given cruise range, using a step-by-step movement method from near to far or from far to near, and plan the required cruise route within the given cruise range; The route optimization module is used to drive the PTZ equipment and monitoring equipment for actual measurement based on the generated cruise route. It determines whether the image is clear and meets the pixel and coverage requirements of the detection area, and outputs the best cruise route that meets the requirements.

6. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 4 are implemented.

7. A storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 4 are implemented.

Images