A linkage monitoring method and a monitoring linkage device

Abstract

The present application provides a linkage monitoring method and a monitoring linkage device. Since the target to be measured is in the main target area, controlling the image capture device to capture the image of the main target area is equivalent to capturing the image of the target to be measured. In addition, as long as the main target area is determined according to the position information of the target to be measured, the image capture device can be controlled to capture the image of the main target area according to the prefabricated image acquisition mapping table. Therefore, compared with the prior art, the linkage monitoring method eliminates the tedious intermediate calculation process by prefabricating the image acquisition mapping table, thereby increasing the capture speed of the image capture device for the target to be measured, and thus the linkage monitoring method provided by the present application increases the possibility of the image capture device capturing the target to be measured. Since the video surveillance device belongs to the image capture device, the linkage monitoring method provided by the present application can also increase the possibility of the video surveillance device capturing the target to be measured.

Description

Technical Field

[0001] The present invention relates to the technical field of linkage monitoring, and in particular to a linkage monitoring method and a monitoring linkage device. Background Art

[0002] Since linking radar and video surveillance equipment can make up for their respective disadvantages to a certain extent, the linkage between the two has become the mainstream of the market, and the integrated installation of the two has also become an inevitable trend of future development.

[0003] The linkage process between radar and video surveillance equipment is as follows: the video surveillance equipment uses the location information provided by the radar to capture images of the target to be measured; however, in actual applications, it is found that sometimes the target to be measured may move outside the captured image, that is, the video surveillance equipment fails to capture the target to be measured, and thus subsequent functions such as intelligent analysis cannot be realized.

[0004] Therefore, how to improve the possibility of video surveillance equipment capturing the target to be measured when radar and video surveillance equipment are linked is a technical problem that needs to be solved urgently. Summary of the invention

[0005] In view of this, the present invention provides a linkage monitoring method and a monitoring linkage device, which improve the possibility of the video monitoring device capturing the target to be measured by linking the radar with the video monitoring device.

[0006] To achieve the above objectives, the embodiments of the present invention provide the following technical solutions:

[0007] On one hand, the present application provides a linkage monitoring method, wherein the monitoring linkage device includes a target detection device, a processing unit and an image capture device, and the linkage control method is applied to the processing unit; the linkage monitoring method includes:

[0008] When a target to be detected appears in the detection area of ​​the target detection device, obtaining position information of the target to be detected by the target detection device;

[0009] According to the position information of the target to be detected and the data representing each segmented area in the detection area stored in the processing unit, determining and taking the segmented area to which the target to be detected belongs in the detection area as the main target area;

[0010] According to the main target area, searching in a prefabricated image acquisition mapping table stored in the processing unit, determining and using characteristic parameters of the image capture device corresponding to the main target area as target characteristic parameters;

[0011] According to the target characteristic parameters, the image capturing device is controlled to capture an image of the main target area.

[0012] Optionally, after controlling the image capturing device to capture an image of the main target area according to the characteristic parameter, the method further includes:

[0013] The main target area is used as the central grid of the nine-square grid, and the eight segmented areas around the main target area are used as the remaining eight grids as secondary target areas;

[0014] According to each of the secondary target areas, searching is performed in the prefabricated image acquisition mapping table to determine and use the characteristic parameters of the image capture device corresponding to each of the secondary target areas as the characteristic parameters of each secondary target;

[0015] According to each of the secondary target characteristic parameters, the image capturing device is controlled to capture images of the corresponding secondary target areas respectively.

[0016] Optionally, after controlling the image capturing device to capture images of the corresponding secondary target areas respectively according to the secondary target characteristic parameters, the method further includes:

[0017] Performing image structure analysis on each real-time image captured by the image capture device to determine the target to be measured and the target area to which it belongs;

[0018] According to the target area to which the target to be measured belongs, a search is performed in the prefabricated image acquisition mapping table to determine the position information of the center point of the target area to which the target to be measured belongs, and the position information of the target to be measured is updated using the center point.

[0019] Optionally, after using the method to update the position information of the target to be detected, the method further includes:

[0020] Determine whether a continuous tracking instruction is received;

[0021] If the continuous tracking instruction is received, determining whether a tracking termination instruction is received;

[0022] If the tracking termination instruction is not received, the step of returning to the execution step of determining and using the segmented area to which the target to be detected belongs in the detection area as the main target area based on the position information of the target to be detected and the data representing each segmented area in the detection area stored in the processing unit.

[0023] Optionally, while using it to update the position information of the target to be detected, it also includes:

[0024] Determining whether the target to be detected is a suspicious target;

[0025] If the target to be detected is a suspicious target, sending an early warning signal;

[0026] If the target to be detected is not a suspicious target, no warning signal is sent.

[0027] Optionally, the process of dividing the detection area includes:

[0028] Determine the maximum capture range of the image capture device by combining the minimum pixel requirement of the target to be measured by image structured analysis and the resolution of the image capture device;

[0029] In combination with the maximum capture range and the adjustment range of the characteristic parameter of the image capture device, selecting the actual capture range of the image capture device;

[0030] According to the actual capture range, the detection area is divided into a plurality of divided areas.

[0031] Optionally, the characteristic parameters of the image capture device include: a lateral rotation angle, a longitudinal rotation angle and a focal length of the image capture device.

[0032] On the other hand, the present application provides a monitoring linkage device, including: a target detection device, a processing unit and an image capture device; wherein:

[0033] The target detection device and the image capture device are respectively connected to the processing unit;

[0034] The processing unit is used to execute the linkage monitoring method as described in any one of the previous aspects of the present application.

[0035] Optionally, the processing unit is a processor in a background system, or a front-end processing unit that is communicatively connected to the background system.

[0036] Optionally, the target detection device is an electromagnetic wave detection device, a photoelectric detection device, or an acoustic wave detection device;

[0037] The image capturing device is a visible light imaging device or an infrared imaging device.

[0038] It can be seen from the above technical solution that the present invention provides a linkage monitoring method, which is applied to the processing unit in the monitoring linkage device. In the linkage monitoring method, since the target to be measured is in the main target area, controlling the image capture device to capture the image of the main target area is equivalent to capturing the image of the target to be measured. In addition, in the linkage monitoring method, as long as the main target area is determined according to the position information of the target to be measured, the image capture device can be controlled to capture the image of the main target area according to the prefabricated image acquisition mapping table, that is, to capture the image of the target to be measured. Therefore, compared with the prior art, the linkage monitoring method omits the tedious intermediate calculation process by prefabricating the image acquisition mapping table, thereby improving the capture speed of the image capture device for the target to be measured, and then the linkage monitoring method provided by the present application increases the possibility of the image capture device capturing the target to be measured. Since the video surveillance device belongs to the image capture device, the linkage monitoring method provided by the present application can also increase the possibility of the video surveillance device capturing the target to be measured. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0040] Figure 1 and Figure 2 Schematic diagrams of two implementation methods of the linkage monitoring method provided in the embodiments of the present application;

[0041] Figure 3 A schematic diagram of dividing the detection area of ​​the target detection device;

[0042] Figure 4 A flowchart of another implementation of the linkage monitoring method provided in an embodiment of the present application after step S140 or step S230;

[0043] Figure 5 A flowchart of another implementation of the linkage monitoring method provided in an embodiment of the present application after step S330;

[0044] Figure 6 A flowchart of another implementation of the linkage monitoring method provided in an embodiment of the present application at step S330;

[0045] Figure 7 A schematic diagram of a flow chart of a process of dividing a detection area provided in an embodiment of the present application;

[0046] Figure 8 A schematic diagram of the structure of the monitoring linkage device provided in an embodiment of the present application;

[0047] Figure 9a and Figure 9b They are schematic diagrams of the structures of two examples of monitoring linkage devices provided in embodiments of the present application. DETAILED DESCRIPTION

[0048] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0049] In this application, relational terms such as first and second, etc. are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0050] In order to improve the possibility of video surveillance equipment capturing the target to be detected in the linkage between radar and video surveillance equipment, the present application provides a linkage monitoring method, wherein the monitoring linkage device includes a target detection device, a processing unit and an image capture device, and the linkage monitoring method is applied to the processing unit; the specific process of the linkage monitoring method is as follows Figure 1 As shown, the specific steps include:

[0051] S110. When a target to be detected appears in a detection area of ​​the target detection device, position information of the target to be detected is obtained through the target detection device.

[0052] The target to be detected is the target that breaks into the detection area. Therefore, the appearance of the target to be detected in the detection area indicates that a target has broken into the detection area.

[0053] Optionally, the target to be detected can be a human, an animal, or a movable tool directly or indirectly controlled by a human, such as a truck. There is no specific limitation here and it can be determined according to the specific circumstances. All of them are within the scope of protection of this application.

[0054] Optionally, the location information can be expressed in an earth coordinate system, that is, in longitude and latitude, or in a coordinate system based on the image capture device, that is, polar coordinates with the image capture device as the pole and the line extending north from the image capture device as the polar axis, that is, expressed in terms of the distance between the measured point and the target detection device and the angle between the line between the measured point and the target detection device and the polar axis; in actual applications, including but not limited to this, no specific limitation is made here, and it may depend on the specific circumstances, all within the scope of protection of this application.

[0055] Optionally, the target detection device may be a radar or a sonar; in practical applications, including but not limited to these, no specific limitation is made here, and it may be determined according to the specific circumstances, and all are within the scope of protection of this application.

[0056] S120 , according to the position information of the target to be detected and the data representing each segmented area in the detection area, determine and use the segmented area to which the target to be detected belongs in the detection area of ​​the target detection device as the main target area.

[0057] The data representing the segmented areas within the detection area is: a collection of position information of all points within the segmented areas; therefore, the essence of step S120 is: one-to-one matching of the position information of the target to be measured with the position information of all points within each segmented area; if the position information of a certain point in a certain segmented area matches the position information of the target to be measured, it is determined that the target to be measured is within the segmented area, and the segmented area is used as the main target area.

[0058] The data representing the divided areas within the detection area are stored in the processing unit, and when storing, each divided area is represented by a number, for example, divided area No. 1 or the first divided area; when the position information is represented by an expression based on the earth coordinate system, the processing unit needs to collect data from the image capture device during the debugging of the monitoring linkage device, and obtain the data representing the divided areas within the detection area by setting the offset and store it; when the position information is represented by an expression based on the coordinate system of the image capture device, the data representing the divided areas within the detection area are pre-stored in the processing unit before leaving the factory.

[0059] S130. Search in a prefabricated image acquisition mapping table stored in the processing unit according to the main target area, determine and use characteristic parameters of the image capture device corresponding to the main target area as target characteristic parameters.

[0060] Among them, the prefabricated image acquisition mapping table includes: characteristic parameters of the image capture device when capturing images of each cut area respectively, that is, characteristic parameters of the image capture device corresponding to each cut area; and, in actual applications, in the prefabricated image acquisition mapping table, the cut areas are represented in the form of numbers, for example, cut area number one or the first cut area.

[0061] For example, in step S120, if it is determined that the target to be measured is in segmentation area No. 1, that is, the main target segmentation area is segmentation area No. 1, then an example of step S130 is: in the prefabricated image acquisition mapping table, search and determine the characteristic parameters of the image capture device corresponding to segmentation area No. 1 as the target characteristic parameters.

[0062] In addition, the characteristic parameters of the image capture device corresponding to each segmented area are obtained in advance before leaving the factory, so the prefabricated image acquisition mapping table is pre-stored in the processing unit before leaving the factory.

[0063] Optionally, characteristic parameters of the image capture device include: lateral rotation angle, longitudinal rotation angle and focal length of the image capture device; in practical applications, these parameters include but are not limited to these, which are not specifically limited here and may be determined according to specific circumstances, and are all within the scope of protection of this application.

[0064] S140. Controlling an image capture device to capture an image of the main target area according to the target characteristic parameters.

[0065] It can be known from step S120 that the target to be measured is in the main target area, therefore, capturing an image of the main target area in step S140 can be equivalent to capturing an image of the target to be measured.

[0066] In the linkage monitoring method, as long as the main target area is determined according to the position information of the target to be measured, the image capture device can be controlled to capture the image of the main target area according to the pre-made image acquisition mapping table, that is, the image of the target to be measured is captured. Therefore, compared with the prior art, the linkage monitoring method eliminates the tedious intermediate calculation process through the pre-made image acquisition mapping table, thereby improving the capture speed of the image capture device for the target to be measured. Therefore, the linkage monitoring method provided by the present application increases the possibility of the image capture device capturing the target to be measured.

[0067] In addition, since the video surveillance device is an image capturing device, the linkage monitoring method provided in the present application can also increase the possibility of the video surveillance device capturing the target to be measured.

[0068] Although the above-mentioned embodiment improves the possibility of the video surveillance device capturing the target to be measured by increasing the capture speed of the video surveillance device for the target to be measured, in the prior art, due to the response time of the radar, for example, the response time of the radar with a detection range of 1km to 1.5km is about 1s, and the response time of the radar with a detection range of 10km to 15km is about 7s. Therefore, after the radar transmits back the position information of the target to be measured and then controls the video surveillance device to capture the image, the target to be measured may have moved out of the shooting range of the video surveillance device.

[0069] In order to solve this problem, another embodiment of the present application provides another implementation of the linkage monitoring method. On the basis of the above embodiment, after step S140, the following steps are further included: Figure 2 As shown:

[0070] S210, taking the main target area as the central grid of the nine-square grid, and taking the eight divided areas around the main target area as the remaining eight grids as secondary target areas.

[0071] like Figure 3 As shown, with the tenth cutting area 10 as the main target area, after executing step S210, the second cutting area 2, the third cutting area 3, the fourth cutting area 4, the ninth cutting area 9, the eleventh cutting area 11, the sixteenth cutting area 16, the seventeenth cutting area 17 and the eighteenth cutting area 18 are respectively used as secondary target areas.

[0072] S220: Search in a prefabricated image acquisition mapping table according to each secondary target area, determine and use the characteristic parameters of the image capture device corresponding to each secondary target area as each secondary target characteristic parameter.

[0073] The search process in step S220 is the same as the search process in step S130, which will not be described in detail here. Please refer to the corresponding description in step S130.

[0074] S230 , controlling the image capturing device to capture images of corresponding sub-target areas according to the characteristic parameters of each sub-target.

[0075] In another implementation of the linkage monitoring method provided in the present embodiment, since the main target area and the eight secondary target areas form a nine-square grid, and the image capture device captures images of the eight secondary target areas respectively, the image capture device will capture the target to be measured no matter in which direction it moves, thereby solving the problem of the target to be measured moving out of the capture range due to the response time of the image capture device; since the radar is a target detection device and the video surveillance device is an image capture device, the linkage monitoring method provided in the present embodiment can solve the problem of the target to be measured moving out of the shooting range of the video surveillance device due to the response time of the radar.

[0076] In the prior art, the coordinates of the target to be measured calculated by the radar have errors, and the target to be measured is usually in motion, so the acquired coordinates of the target to be measured are not accurate. In order to solve this problem, another embodiment of the present application provides another implementation of the linkage monitoring method, after step S230, that is, after controlling the image capture device to capture the corresponding target area, the following steps are also included, such as Figure 4 As shown:

[0077] S310: Perform image structure analysis on the corresponding real-time image captured by the image capture device to determine the target to be measured and the target area to which it belongs.

[0078] Among them, the captured real-time images are divided into real-time images of the main target area and each secondary target area; in addition, image structured analysis is an AI image recognition algorithm, which is a relatively mature technical solution in the existing technology and will not be repeated here.

[0079] S320 , searching in a prefabricated image acquisition mapping table according to the target area to which the target to be measured belongs, determining the position information of the center point of the target area to which the target to be measured belongs, and using the center point to update the position information of the target to be measured.

[0080] Among them, the prefabricated image acquisition mapping table stores the position information of the center point of each divided area; when the position information is expressed in a manner based on the earth coordinate system, the processing unit collects the position information of the image capture device when debugging the monitoring linkage device, and obtains the position information of the center point of the divided area in the detection area by setting the offset and stores it; when the position information is expressed in a manner based on the coordinate system of the image capture device, the position information of the center point of each divided area is pre-stored in the processing unit before leaving the factory.

[0081] An example of step S320 is: the target to be measured appears in the main target area. If the main target area is the first segmentation area, the position information of the center point of the first segmentation area is searched in the prefabricated image acquisition mapping table, and the position information of the target to be measured is updated accordingly.

[0082] From the above, it can be seen that in this embodiment, since the position information of the target to be measured is immediately updated with the position information of the center point of the target area to which the target to be measured belongs after the target to be measured is found, the accuracy of the position information of the target to be measured can be improved, thereby obtaining more accurate position information of the target to be measured.

[0083] This embodiment also provides a specific implementation of the linkage monitoring method, which includes the following steps after step S320: Figure 5 As shown:

[0084] 410. Determine whether a continuous tracking instruction is received.

[0085] If a continuous tracking instruction is received, step S420 is executed; if no continuous tracking instruction is received, the linkage monitoring method is stopped.

[0086] Optionally, the continuous tracking instruction may be input by the operator through a corresponding input device, for example, by clicking a continuous tracking button on a display screen to issue a continuous tracking instruction; the continuous tracking instruction may also be sent by the processing unit based on subsequent intelligent analysis results; in actual applications, including but not limited to this, no specific limitation is made here, and it may depend on the specific circumstances, and all are within the scope of protection of this application.

[0087] S420: Determine whether a tracking termination instruction is received.

[0088] If no tracking termination instruction is received, step S120 is executed; if a tracking termination instruction is received, the linkage monitoring method is stopped.

[0089] Since in step S330, the position information of the target to be measured is updated with the position information of the center point of the target area corresponding to the target image, after returning to execute step S120 again, it is equivalent to continuously tracking the target to be measured.

[0090] For example, Figure 3 Taking the shown example, it is finally determined that the target to be measured is in the eighteenth cutting area 18, and the position information of the target to be measured is updated with the position information of the center point of the eighteenth cutting area 18; thereafter, step S120 and subsequent steps are executed again, and the eighteenth cutting area 18 will be determined as the main target area, and the tenth cutting area 10, the eleventh cutting area 11, the twelveth cutting area 12, the seventeenth cutting area 17, the nineteenth cutting area 19, the twenty-fourth cutting area 24, the twenty-fifth cutting area 25, and the twenty-sixth cutting area 26 will be determined as secondary target areas, so as to capture images of these cutting areas, and then determine the real-time image to which the target to be measured belongs at this time, and then by analogy, continuous tracking of the target to be measured can be achieved.

[0091] This embodiment also provides another implementation of the linkage monitoring method. Based on the above embodiment, while executing step S320, the following steps are also included: Figure 6 As shown:

[0092] S510: Determine whether the target to be detected is a suspicious target.

[0093] If the target to be detected is a suspicious target, step S520 is executed; if the target to be detected is not a suspicious target, step S530 is executed.

[0094] Among them, the suspicious target is a person or object that should not appear in the current scene; the suspicious target can be a person who enters a prohibited area or a drone that enters a no-fly zone; in practical applications, including but not limited to this, no specific limitation is made here, and it may depend on the specific circumstances, and all are within the scope of protection of this application.

[0095] It should be noted that the above judgment process is implemented using an AI recognition algorithm, which is already a relatively mature technical solution in the prior art and will not be described in detail here.

[0096] S520. Send a warning signal.

[0097] S530: Do not send a warning signal.

[0098] From the above, it can be seen that, by identifying the target to be detected, the linkage monitoring method can issue a warning signal only when the target to be detected is a suspicious target, thereby reducing the probability of false alarm triggering and further improving its own warning effect.

[0099] Another embodiment of the present application provides a process for dividing the detection area, and the specific process is as follows: Figure 7 As shown, the following steps are included:

[0100] S610 , determining the maximum capture range of the image capture device by combining the minimum pixel requirement of the target to be measured and the resolution of the image capture device with the image structured analysis.

[0101] Among them, the minimum pixel requirement is the minimum pixel point that the target to be measured occupies in the real-time image to which it belongs when the image structured analysis of the target to be measured can be performed normally. It can be seen that when the type of the target to be measured is different, the minimum pixel requirement is also different, that is, the minimum pixel requirement is related to the type of the target to be measured; it should be noted that when dividing the area, it is usually necessary to estimate the type of the target to be measured based on the actual deployment of the monitoring linkage device. For example, when the monitoring linkage device is deployed on the border line, since it is mostly deployed in rugged mountainous areas, it can be estimated that the target to be measured is a human.

[0102] An example of step S610 is: the target to be measured is a human being, the minimum pixel requirement for the human body in image analysis is 64*64, and based on the average height of 1.7 meters and the resolution of the image capture device of 1920*1080, the maximum capture range of the image capture device is 51 meters*28 meters.

[0103] At this time, assuming that the target detection device is a radar with a detection range of 10km to 15km, if its response time is 7s, then when only the main target area is image captured, the moving speed of the target to be measured needs to be less than 3m / s (calculated based on the center point of the target to be measured in the main target area), that is, 10.8km / h; when the main target area and each secondary target area are image captured separately, the moving speed of the target to be measured needs to be less than 10m / s, that is, 36km / h; among them, the image capture device should take less than 0.5s, and the execution time of the linkage monitoring method should be less than 0.1s.

[0104] Another example of step S610 is: the target to be measured is an ordinary 5-seater passenger car, and the minimum pixel requirement for image analysis is 100*100. Based on the car length of 4.5 meters and the resolution of the image capture device of 1920*1080, the maximum capture range of the image capture device is 86 meters*42 meters.

[0105] At this time, assuming that the target detection device is a radar with a detection range of 10km to 15km, if its response time is 7s, then when only the main target area is image captured, the moving speed of the target to be measured needs to be less than 6m / s (calculated based on the center point of the target to be measured in the main target area), that is, 21.6km / s; when the main target area and each secondary target area are image captured separately, the moving speed of the target to be measured needs to be less than 18m / s, that is, 66km / h; among them, the image capture device should take less than 0.5s, and the execution time of the linkage monitoring method should be less than 0.1s.

[0106] S620. Select an actual capture range of the image capture device in combination with the maximum capture range and the adjustment range of the characteristic parameters of the image capture device.

[0107] Although the actual capture range can be determined as the maximum capture range, the characteristic parameters of the image capture device may not meet the requirements. For example, when capturing images at a distance, the focal length of the image capture device cannot be adjusted to the required value, so that the capture range of the image capture device may not reach the maximum capture range when capturing images at a distance; or after adjusting to the maximum capture range, the number of target pixels is too small to meet the recognition requirements of the minimum number of target pixels for subsequent image structure analysis. Therefore, in step S620, it is necessary to select the actual capture range of the image capture device in combination with the maximum capture range and the adjustment range of the characteristic parameters of the image capture device.

[0108] S630: Divide the detection area into multiple divided areas according to the actual capture range.

[0109] In this embodiment, after the above steps, the segmented area can meet the pixel requirements of the subsequent image structure analysis and the pixel requirements of the subsequent AI recognition algorithm to achieve AI automatic target recognition.

[0110] The above is only one segmentation process. In practical applications, including but not limited to this, no specific limitation is made here. It can be determined according to the specific circumstances and is within the protection scope of this application.

[0111] Another embodiment of the present application provides a monitoring linkage device, whose specific structure is as follows: Figure 8 As shown, it includes: a target detection device 110, a processing unit 120 and an image capturing device 130.

[0112] Among them, the target detection device 110 and the image capture device 130 are respectively connected to the processing unit 120; the processing unit 120 is used to execute the linkage monitoring method provided in the above embodiment.

[0113] Optionally, the processing unit 120 may be a processor in the background system 210, such as Figure 9a It can also be a pre-processing unit 310 that is connected to the backend system 210 for communication, such as Figure 9b As shown; in practical applications, including but not limited to this, no specific limitation is made here, and it may depend on the specific circumstances, all of which are within the scope of protection of this application.

[0114] Typically, when the processing unit 120 is a pre-processing unit 310 that is communicatively connected to the background system 210 , the pre-processing unit 310 , the target detection device 110 , and the image capture device 130 are installed together via structural components.

[0115] It should be noted that when the processing unit 120 is a front-end processing unit 310 that is communicatively connected to the background system 210, the above-mentioned linkage monitoring method can be executed in the front-end processing unit 310, and there is no need to transmit data to the background system 210 through the network. Therefore, the delay caused by network reasons can be avoided, so that the position information of the target to be measured can be corrected quickly, and the adjustment of the image capture device 130 can be more flexible and faster.

[0116] Optionally, the target detection device can be an electromagnetic wave detection device, such as a radar, or a photoelectric detection device, or a sound wave detection device, such as a sonar; in practical applications, including but not limited to these, no specific limitations are made here, and it may depend on the specific circumstances, and all are within the scope of protection of this application.

[0117] Optionally, the image capture device can be a visible light imaging device, such as a pan-tilt camera, or an infrared imaging device; in practical applications, including but not limited to this, no specific limitation is made here, and it may depend on the specific circumstances, and all are within the scope of protection of this application.

[0118] An example of a combination is: Figure 9a or Figure 9b As shown, the target detection device 110 is a radar 220, and the image capture device 130 is a pan-tilt camera 230; another combination example is: the target detection device 110 is a sonar, and the image capture device 130 is an underwater camera. The above are only two combination examples. In practical applications, including but not limited to these, they can be combined according to application scenarios, which are not specifically limited here and are all within the protection scope of this application.

[0119] For the above description of the disclosed embodiments, the features recorded in each embodiment in this specification can be replaced or combined with each other, so that professionals in the field can implement or use the present application. The above is only a preferred embodiment of the present invention, and does not limit the present invention in any form. Although the present invention has been disclosed as above with a preferred embodiment, it is not used to limit the present invention. Any technician familiar with the field can make many possible changes and modifications to the technical solution of the present invention using the methods and technical contents disclosed above without departing from the scope of the technical solution of the present invention, or modify it into an equivalent embodiment of equivalent changes. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention still falls within the scope of protection of the technical solution of the present invention.

Claims

1. A linkage monitoring method, characterized in that: The monitoring linkage device comprises a target detection device, a processing unit and an image capture device, and the linkage monitoring method is applied to the processing unit; The linkage monitoring method comprises: When a target to be detected appears in the detection area of ​​the target detection device, obtaining position information of the target to be detected by the target detection device; According to the position information of the target to be measured and the data representing each segmentation area in the detection area stored in the processing unit, the segmentation area to which the target to be measured belongs in the detection area is determined and used as the main target area; wherein the position information of the target to be measured is matched one by one with the position information of the points in each segmentation area, and when the position information of the first point of the first segmentation area matches the position information of the target to be measured, it is determined that the target to be measured is in the first segmentation area, and the first segmentation area is used as the main target area; According to the main target area, searching in a prefabricated image acquisition mapping table stored in the processing unit, determining and using characteristic parameters of the image capture device corresponding to the main target area as target characteristic parameters; According to the target characteristic parameter, controlling the image capture device to capture an image of the main target area; The process of dividing the detection area includes: According to the actual deployment of the monitoring linkage device, the type of the target to be detected is estimated; Determine the maximum capture range of the image capture device by combining the minimum pixel requirement of the target to be measured by image structured analysis, the type of the target to be measured and the resolution of the image capture device; In combination with the maximum capture range and the adjustment range of the characteristic parameter of the image capture device, selecting the actual capture range of the image capture device; According to the actual capture range, the detection area is divided into a plurality of divided areas.

2. The linkage monitoring method according to claim 1, characterized in that: After controlling the image capture device to capture an image of the main target area according to the characteristic parameter, the method further includes: The main target area is used as the central grid of the nine-square grid, and the eight segmented areas around the main target area are used as the remaining eight grids as secondary target areas; According to each of the secondary target areas, searching is performed in the prefabricated image acquisition mapping table to determine and use the characteristic parameters of the image capture device corresponding to each of the secondary target areas as the characteristic parameters of each secondary target; According to each of the secondary target characteristic parameters, the image capturing device is controlled to capture images of the corresponding secondary target areas respectively.

3. The linkage monitoring method according to claim 2, characterized in that: After controlling the image capturing device to capture images of the corresponding secondary target areas respectively according to the secondary target characteristic parameters, the method further includes: Performing image structure analysis on each real-time image captured by the image capture device to determine the target to be measured and the target area to which it belongs; According to the target area to which the target to be measured belongs, a search is performed in the prefabricated image acquisition mapping table to determine the position information of the center point of the target area to which the target to be measured belongs, and the position information of the target to be measured is updated using the center point.

4. The linkage monitoring method according to claim 3, characterized in that: After the location information of the target to be detected is updated by using the device, the method further includes: Determine whether a continuous tracking instruction is received; If the continuous tracking instruction is received, determining whether a tracking termination instruction is received; If the tracking termination instruction is not received, the step of returning to the execution is to determine and use the segmented area to which the target to be detected belongs in the detection area as the main target area based on the position information of the target to be detected and the data representing each segmented area in the detection area stored in the processing unit.

5. The linkage monitoring method according to claim 3, characterized in that: While using it to update the position information of the target to be measured, it also includes: Determining whether the target to be detected is a suspicious target; If the target to be detected is a suspicious target, sending an early warning signal; If the target to be detected is not a suspicious target, no warning signal is sent.

6. The linkage monitoring method according to claim 1 or 2, characterized in that: The characteristic parameters of the image capture device include: a lateral rotation angle, a longitudinal rotation angle and a focal length of the image capture device.

7. A monitoring linkage device, characterized in that: include: Target detection equipment, processing unit and image capture equipment; wherein: The target detection device and the image capture device are respectively connected to the processing unit; The processing unit is used to execute the linkage monitoring method as described in any one of claims 1-6.

8. The monitoring linkage device according to claim 7, characterized in that: The processing unit is a processor in a background system, or a front-end processing unit that is connected to the background system for communication.

9. The monitoring linkage device according to claim 7, characterized in that: The target detection device is an electromagnetic wave detection device, a photoelectric detection device, or an acoustic wave detection device; The image capturing device is a visible light imaging device or an infrared imaging device.

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