A method and device for linking fence and photoelectric equipment based on terrain visibility analysis

Abstract

The present invention discloses a method and device for linking fences and photoelectric devices based on terrain visibility analysis, including: querying and obtaining the longitude, latitude and altitude of the alarm position corresponding to the fence alarm; screening out the photoelectric devices within the power range of the alarm position according to the longitude and latitude of the alarm position; screening out the photoelectric devices that meet the visibility conditions from the photoelectric devices within the power range of the alarm position based on terrain visibility analysis; selecting the photoelectric device closest to the alarm position from the photoelectric devices that meet the visibility conditions as the photoelectric device corresponding to the current alarm and fence linkage based on the principle of the closest distance; calculating the review parameters of the selected photoelectric device corresponding to the current alarm and fence linkage, and adjusting the photoelectric device according to the review parameters for reviewing the intrusion information. The present invention automatically screens the linked photoelectric devices and calculates the photoelectric review parameters according to the alarm, effectively improving the real-time performance from discovery to processing.

Description

Technical Field

[0001] The present invention belongs to the technical field of intrusion detection, and in particular relates to a method and a device for linking a fence and a photoelectric device based on terrain visibility analysis. Background Art

[0002] At present, electronic fences and photoelectric devices are widely used in perimeter intrusion detection systems. Electronic fences are often deployed outside the area to prevent target intrusion and generate alarm information. Photoelectric unit equipment is often deployed inside the area to review intrusion information. Therefore, the linkage between fences and photoelectric equipment is a key link in perimeter intrusion detection systems. The current technical solutions mostly adopt manual linkage operation, as follows: When targets such as people, animals, and vehicles invade through the fence, the front end of the electronic fence senses the tension change and then generates an alarm signal, which is processed by the front-end host and transmitted to the security center through the network. After receiving the alarm information, the on-duty personnel of the security center manually select one of the photoelectric units from the list of multiple photoelectric unit devices, and manually turn the turntable to the alarm position, and then manually adjust the pitch and focal length parameters to the appropriate size to ensure that the corresponding alarm position can be seen clearly, and then review the photoelectric video information, and take the next step according to the review results.

[0003] Obviously, when the photoelectric device is selected by pure manual work in the prior art, if there is terrain obstruction, the photoelectric device may not be able to see the corresponding alarm position, such as Figure 1 As shown in the figure, it is a topographic profile from the photoelectric unit to the alarm position. Since the i-th sampling point in the middle is at a high altitude, it blocks the alarm position, so the photoelectric unit cannot verify the alarm position. This requires the on-duty personnel to try many times to select the appropriate photoelectric equipment, which is inefficient. In addition, when conducting the review, manually adjusting the photoelectric turntable, pitch, focal length and other parameters also has the problems of slow speed and low efficiency, which makes it difficult to meet the real-time requirements from discovery to disposal. Summary of the invention

[0004] One of the purposes of the present invention is to provide a method for linking fences and photoelectric devices based on terrain visibility analysis, automatically screening linked photoelectric devices according to alarms and calculating photoelectric review parameters, effectively improving the real-time performance from discovery to processing.

[0005] To achieve the above object, the technical solution adopted by the present invention is:

[0006] A method for linking a fence and a photoelectric device based on terrain visibility analysis, the method for linking a fence and a photoelectric device based on terrain visibility analysis comprising:

[0007] Step 1: Query and obtain the longitude, latitude and altitude of the alarm location corresponding to the fence alarm;

[0008] Step 2: Filter out the optoelectronic devices within the power range of the alarm location according to the longitude and latitude of the alarm location;

[0009] Step 3: Based on terrain visibility analysis, select optoelectronic devices that meet the visibility conditions from optoelectronic devices within the power range of the alarm position, including:

[0010] Step 3.1, calculating the angle between the photoelectric device and the alarm position;

[0011] Step 3.2, performing interval sampling between the photoelectric device and the alarm position, and calculating the elevation angle between each sampling point and the photoelectric device based on the angle and the height;

[0012] Step 3.3, if the upward angles of all sampling points corresponding to the photoelectric device are smaller than the upward angles between the photoelectric device and the alarm position, the photoelectric device meets the line-of-sight condition; otherwise, the line-of-sight condition is not met;

[0013] Step 4: Based on the principle of the closest distance, the photoelectric device closest to the alarm location is selected from the photoelectric devices that meet the line of sight condition as the photoelectric device corresponding to the linkage between the alarm and the fence;

[0014] Step 5: Calculate the review parameters of the selected optoelectronic device corresponding to the current alarm and fence linkage, and adjust the optoelectronic device according to the review parameters to review the intrusion information.

[0015] Several optional methods are also provided below, but they are not intended to be additional limitations on the above-mentioned overall solution, but are merely further supplements or preferences. Under the premise that there are no technical or logical contradictions, each optional method can be combined with the above-mentioned overall solution separately, and multiple optional methods can also be combined.

[0016] Preferably, the querying to obtain the longitude, latitude and altitude of the alarm location corresponding to the fence alarm includes:

[0017] According to the defense zone and host information reported by the fence alarm, the longitude, latitude and altitude of the alarm location can be queried.

[0018] Preferably, the step of selecting optoelectronic devices within the range of the alarm location according to the longitude and latitude of the alarm location comprises:

[0019] Let the longitude of the alarm location be L 0 , latitude is B 0 , height is H 0 , the current longitude of the optoelectronic device is L n , latitude is B n , height is H n , then the distance S between the photoelectric device and the alarm position n for:

[0020] S n =R*arccos(sinB 0 *sinB n +cosB 0 *cosB n *cos(L n -L 0 ))

[0021] Where R is the radius of the earth;

[0022] If the distance between the photoelectric device and the alarm location is S n If the distance is smaller than the effective distance of the photoelectric device, the photoelectric device is within the power range of the alarm position; otherwise, it is outside the power range of the alarm position.

[0023] Preferably, calculating the angle between the photoelectric device and the alarm position includes:

[0024] A n =arccos(sinB 0 *sinB n +cosB 0 *cosB n *cos(L n -L 0 ))

[0025] In the formula, A n is the angle between the current photoelectric device and the alarm position, B 0 is the latitude of the alarm location, B n is the latitude of the current optoelectronic device, L 0 is the longitude of the alarm location, L n is the longitude of the current photoelectric device.

[0026] Preferably, the step of calculating the elevation angle between each sampling point and the optoelectronic device based on the angle and the height comprises:

[0027] The longitude and latitude of the current sampling point are calculated as follows:

[0028] L i =L n +i*r*cos A n / (2*π*R*cosL n )

[0029] B i =B n +i*r*sin A n / (2*π*R*cosL n )

[0030] Where, L iis the longitude of the current sampling point, L n is the longitude of the photoelectric device corresponding to the current sampling point, i is the number of the current sampling point, r is the sampling distance, A n is the angle between the photoelectric device corresponding to the current sampling point and the alarm position, R is the radius of the earth, and B i is the latitude of the current sampling point, B n is the latitude of the optoelectronic device corresponding to the current sampling point;

[0031] According to the longitude and latitude of the current sampling point, the height of the current sampling point is queried from the geographic information system as H i , so the upward angle between the current sampling point and the photoelectric device is calculated as follows:

[0032] Y i =arctan((H i -H n ) / (i*r))

[0033] Where Y i H is the upward angle between the current sampling point and the optoelectronic device, n It is the height of the photoelectric device corresponding to the current sampling point.

[0034] Preferably, the calculation of the elevation angle between each sampling point and the optoelectronic device based on the angle and the height includes: the interval sampling is equal interval sampling.

[0035] Preferably, the upward angle between the photoelectric device and the alarm position includes:

[0036] Y 0 =arctan((H 0 -H n ) / S n )

[0037] Where Y 0 H is the upward angle between the current photoelectric device and the alarm position, n is the height of the current optoelectronic device, H 0 is the height of the warning position, S n It is the distance between the current photoelectric device and the alarm location.

[0038] Preferably, the verification parameters of the optoelectronic device corresponding to the current alarm and fence linkage selected by the calculation include:

[0039] Calculate the orientation verification parameters of the optoelectronic device:

[0040] A n =arccos(sinB 0 *sinB n +cosB 0*cosB n *cos(L n -L 0 ))

[0041] In the formula, A n is the angle between the current photoelectric device and the alarm position, which is the azimuth verification parameter of the photoelectric device. 0 is the latitude of the alarm location, B n is the latitude of the current optoelectronic device, L 0 is the longitude of the alarm location, L n is the longitude of the current photoelectric device;

[0042] Calculate the pitch verification parameters of the optoelectronic device:

[0043] Y 0 =arctan((H 0 -H n ) / S n )

[0044] Where Y 0 is the elevation angle between the current photoelectric device and the alarm position, that is, the elevation verification parameter of the photoelectric device, H n is the height of the current optoelectronic device, H 0 is the height of the warning position, S n is the distance between the current photoelectric device and the alarm position;

[0045] Calculate the focal length verification parameters of optoelectronic equipment:

[0046]

[0047] Where J is the focal length verification parameter of the optoelectronic device, Z 0 Z is the maximum distance that can be detected by the minimum focal length of the photoelectric device. 1 J is the shortest distance that can be detected by the maximum focal length of the photoelectric device. min is the minimum focal length of the optoelectronic device, J max is the maximum focal length of the optoelectronic device.

[0048] The present invention provides a method for linking a fence with photoelectric equipment based on terrain visibility analysis, proposes a method for selecting photoelectric equipment based on terrain visibility analysis, and realizes automatic selection of photoelectric equipment that meets the visibility conditions and is closest from a list of photoelectric equipment; proposes a method for calculating photoelectric review parameters, and automatically calculates the required azimuth, pitch, and focal length parameters, thereby solving the problem of low efficiency of current manual operations.

[0049] The second purpose of the present invention is to provide a fence and photoelectric equipment linkage device based on terrain visibility analysis, which automatically screens the linked photoelectric equipment and calculates the photoelectric review parameters according to the alarm, effectively improving the real-time performance from discovery to processing.

[0050] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a fence and photoelectric device linkage device based on terrain visibility analysis, including a processor and a memory storing a plurality of computer instructions, and when the computer instructions are executed by the processor, the steps of the fence and photoelectric device linkage method based on terrain visibility analysis are implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 A schematic diagram of a high sea wave shielding between an optoelectronic device and an alarm position in the prior art;

[0052] Figure 2 The present invention is a flow chart of the method for linking fences and photoelectric devices based on terrain visibility analysis. DETAILED DESCRIPTION

[0053] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0054] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0055] In order to solve the problem of low efficiency of manual work in the prior art, this embodiment provides a method for linking fences and photoelectric devices based on terrain visibility analysis. The overall process of the technical solution is as follows: Figure 2 First, according to the fence alarm information, the photoelectric unit in the photoelectric equipment list that is within its power range, meets the line of sight condition, and is the closest is selected; secondly, the azimuth, pitch, and focal length parameters required for photoelectric verification are solved according to the coordinates of the alarm point and the coordinates of the photoelectric unit.

[0056] Specifically, the method for linking a fence and a photoelectric device based on terrain visibility analysis in this embodiment includes:

[0057] Step 1: Query and obtain the longitude, latitude and altitude of the alarm location corresponding to the fence alarm.

[0058] In the fence layout, multiple defense zones are set up under one host, and the center position of each defense zone is known. When the fence detects an intruder, the host and defense zone information are reported. Therefore, this embodiment queries the longitude L of the corresponding alarm position from the fence coordinate library based on the reported defense zone and host information. 0 , Latitude B 0 , height H 0 The azimuth data of the alarm position usually queried is the azimuth data of the center position of the defense zone reported.

[0059] Step 2: Filter out the optoelectronic devices within the power range of the alarm location according to the longitude and latitude of the alarm location.

[0060] Since there are many optoelectronic devices, the present embodiment first selects optoelectronic devices within the power range to reduce the calculation pressure of subsequent steps.

[0061] Let the longitude of the current photoelectric device be L n , latitude is B n , height is H n , then calculate the distance S between the photoelectric device and the alarm location according to formula (1): n for:

[0062] S n =R*arccos(sinB 0 *sinB n +cosB 0 *cosB n *cos(L n -L 0 )) (1)

[0063] Where R is the radius of the earth; if the distance between the photoelectric device and the alarm location is S n If the distance is smaller than the effective distance of the photoelectric device, the photoelectric device is within the power range of the alarm position; otherwise, it is outside the power range of the alarm position.

[0064] It should be noted that, in this embodiment, the subscript n may be used only to distinguish the description and has no substantial meaning. Of course, the subscript n may also be understood as the nth optoelectronic device in the optoelectronic device list, that is, n is the number of the optoelectronic device.

[0065] It is easy to understand that the distance S between the photoelectric device and the alarm position n The critical position equal to the effective distance of the photoelectric device may be within the power range of the alarm position or outside the power range of the alarm position, and may be set according to actual conditions.

[0066] Step 3: Based on terrain visibility analysis, select optoelectronic devices that meet the visibility conditions from optoelectronic devices within the power range of the alarm position.

[0067] Step 3.1: Use formula (2) to calculate the angle A between the photoelectric device and the alarm position. n .

[0068] A n =arccos(sinB 0 *sinB n +cosB 0 *cosB n *cos(L n -L 0 )) (2)

[0069] Step 3.2: perform interval sampling between the photoelectric device and the alarm position, and calculate the elevation angle between each sampling point and the photoelectric device based on the angle and height.

[0070] Perform equal-interval sampling between the photoelectric device and the alarm position (equal-interval sampling is preferred in this embodiment, and unequal-interval sampling can also be performed in other embodiments), and set the sampling distance to r (r can be 1 meter, 2 meters or 3 meters, etc. The smaller the sampling distance, the more accurate the final linkage judgment selection) and the number of sampling points to I, then I = S n / R.

[0071] The longitude and latitude of the current sampling point are calculated using formulas (3) and (4) as follows:

[0072] L i =L n +i*r*cos A n / (2*π*R*cosL n ) (3)

[0073] B i =B n +i*r*sin A n / (2*π*R*cosL n ) (4)

[0074] Where, L i is the longitude of the current sampling point, L n is the longitude of the photoelectric device corresponding to the current sampling point, that is, the longitude of the current photoelectric device. The subscript is also n because n is used to illustrate the calculation and does not specifically refer to a photoelectric device in the device list. i is the number of the current sampling point, and 1≤i≤I. The sampling point numbers set in this embodiment increase from the photoelectric device side to the alarm position side. A n is the angle between the photoelectric device corresponding to the current sampling point and the alarm position, B iis the latitude of the current sampling point, B n It is the latitude of the optoelectronic device corresponding to the current sampling point.

[0075] According to the longitude and latitude of the current sampling point, the height of the current sampling point is queried from the geographic information system as H i , so the upward angle between the current sampling point and the photoelectric device is calculated as follows:

[0076] Y i =arctan((H i -H n ) / (i*r)) (5)

[0077] Where Y i H is the upward angle between the current sampling point and the optoelectronic device, n It is the height of the photoelectric device corresponding to the current sampling point.

[0078] In most cases, due to the large amount of data from the sampling points, serial computing is difficult to meet the real-time requirements, so a distributed data computing method is used to improve data processing efficiency through parallel computing.<key,value> Yes, define the map method to generate a new<key,value> Yes, the map method is the calculation method of formulas 3 to 5 above.

[0079] Step 3.3: If the upward angles of all sampling points corresponding to the photoelectric device are smaller than the upward angle between the photoelectric device and the alarm position, the photoelectric device meets the line-of-sight condition; otherwise, the line-of-sight condition is not met.

[0080] The upward angle between the photoelectric device and the alarm position includes:

[0081] Y 0 =arctan((H 0 -H n ) / S n ) (6)

[0082] Where Y 0 It is the upward angle between the current photoelectric device and the alarm position.

[0083] In this embodiment, when performing visual screening, a Reduce method is defined to sort the data received by the map and obtain the maximum value Y in the value. max , if Y 0 Greater than Y max , then the optoelectronic device meets the line-of-sight condition, otherwise it is not line-of-sight. The above judgment is performed on each optoelectronic device to screen out all optoelectronic devices that meet the conditions.

[0084] Step 4: Based on the principle of the shortest distance, select the photoelectric device that is closest to the alarm location (i.e., S n The photoelectric device with the smallest value is used as the photoelectric device corresponding to this alarm and fence linkage.

[0085] It should be noted that in this embodiment, the photoelectric device linked to the fence is obtained through three screenings (located within the power range, meeting the line of sight condition, and closest distance) according to the alarm information. Usually, since the layout of the fence and the photoelectric device is reasonably planned, the three screenings can screen out the photoelectric devices that meet the conditions. If the photoelectric device that meets the conditions is not screened out in a certain screening, an alarm message can be generated to prompt the on-duty personnel, so that the on-duty personnel can manually select or optimize the layout of the photoelectric device.

[0086] If multiple photoelectric devices that meet the conditions are finally screened out based on the principle of closest distance, a list of the multiple photoelectric devices that meet the conditions can be generated and fed back to the on-duty personnel, who will then specify the photoelectric devices for review. Alternatively, the list can be kept silent and the review parameters of all photoelectric devices that meet the conditions can be directly calculated and the use of the photoelectric devices adjusted.

[0087] Step 5: Calculate the review parameters of the selected optoelectronic device corresponding to the current alarm and fence linkage, and adjust the optoelectronic device according to the review parameters to review the intrusion information.

[0088] After selecting the corresponding optoelectronic equipment, the orientation verification parameter A of the optoelectronic unit is calculated according to formula (2): n , calculate the pitch verification parameter Y of the photoelectric unit according to formula (6) 0 , calculate the focal length verification parameter J of the photoelectric unit according to formula (7).

[0089]

[0090] Where J is the focal length verification parameter of the optoelectronic device, Z 0 Z is the maximum distance that can be detected by the minimum focal length of the photoelectric device. 1 J is the shortest distance that can be detected by the maximum focal length of the photoelectric device. min is the minimum focal length of the optoelectronic device, J max is the maximum focal length of the optoelectronic device. The above four parameters are all inherent parameters of the optoelectronic device.

[0091] Compared with the manual selection of optoelectronic equipment one by one, this embodiment establishes an optoelectronic equipment screening method based on terrain visibility analysis, which can automatically screen out optoelectronic units that are within its power range and meet the visibility requirements; compared with the manual adjustment of the optoelectronic turntable azimuth, pitch, and focal length, this method can automatically calculate the required turntable azimuth, pitch, and focal length parameters based on the positional relationship between the alarm point and the optoelectronic equipment; it can greatly improve the working efficiency and better meet the real-time working requirements.

[0092] In another embodiment, the present application also provides a fence and photoelectric device linkage device based on terrain visibility analysis, including a processor and a memory storing a plurality of computer instructions, and the computer instructions, when executed by the processor, implement the steps of the fence and photoelectric device linkage method based on terrain visibility analysis.

[0093] For the specific limitations of the fence and photoelectric device linkage device based on terrain visibility analysis, please refer to the limitations of the fence and photoelectric device linkage method based on terrain visibility analysis in the above text, which will not be repeated here.

[0094] The memory and the processor are electrically connected directly or indirectly to achieve data transmission or interaction. For example, these elements can be electrically connected to each other through one or more communication buses or signal lines. The memory stores a computer program that can be run on the processor, and the processor implements the method for linking a fence and an optoelectronic device based on terrain visibility analysis in an embodiment of the present invention by running the computer program stored in the memory.

[0095] The memory may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable read-only memory (EEPROM), etc. The memory is used to store a program, and the processor executes the program after receiving an execution instruction.

[0096] The processor may be an integrated circuit chip with data processing capabilities. The above-mentioned processor may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc. The methods, steps and logic block diagrams disclosed in the embodiments of the present invention may be implemented or executed. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0097] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0098] The above-mentioned embodiments only express several implementation modes of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the invention. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the attached claims.

Claims

1. A method for linking fences and photoelectric equipment based on terrain visibility analysis. It is characterized in that The method for linking fences and photoelectric devices based on terrain visibility analysis includes: Step 1: Query and obtain the longitude, latitude and altitude of the alarm location corresponding to the fence alarm; Step 2: Filter out the optoelectronic devices within the power range of the alarm location according to the longitude and latitude of the alarm location; Step 3: Based on terrain visibility analysis, select optoelectronic devices that meet the visibility conditions from optoelectronic devices within the power range of the alarm position, including: Step 3.1, calculating the angle between the photoelectric device and the alarm position, including: ； In the formula, is the angle between the current photoelectric device and the alarm position, is the latitude of the alarm location, is the latitude of the current optoelectronic device, is the longitude of the alarm location, is the longitude of the current photoelectric device; Step 3.2, performing interval sampling between the photoelectric device and the alarm position, and calculating the elevation angle between each sampling point and the photoelectric device based on the angle and the height; Step 3.3, if the upward angles of all sampling points corresponding to the photoelectric device are smaller than the upward angles between the photoelectric device and the alarm position, the photoelectric device meets the line-of-sight condition; otherwise, the line-of-sight condition is not met; Step 4: Based on the principle of the closest distance, the photoelectric device closest to the alarm location is selected from the photoelectric devices that meet the line of sight condition as the photoelectric device corresponding to the linkage between the alarm and the fence; Step 5: Calculate the review parameters of the selected optoelectronic device corresponding to the current alarm and fence linkage, and adjust the optoelectronic device for reviewing the intrusion information according to the review parameters, wherein the review parameters include the azimuth review parameters, the pitch review parameters and the focal length review parameters of the optoelectronic device.

2. The method for linking fences and photoelectric devices based on terrain visibility analysis as claimed in claim 1, It is characterized in that The query obtains the longitude, latitude and altitude of the alarm location corresponding to the fence alarm, including: According to the defense zone and host information reported by the fence alarm, the longitude, latitude and altitude of the alarm location can be queried.

3. The method for linking fences and photoelectric devices based on terrain visibility analysis as claimed in claim 1, It is characterized in that The step of selecting optoelectronic devices within the range of the alarm location according to the longitude and latitude of the alarm location includes: Let the longitude of the alarm location be , latitude is , height is , the current longitude of the optoelectronic device is , latitude is , height is , then the distance between the photoelectric device and the alarm location for: ； In the formula, is the radius of the Earth; If the distance between the optoelectronic device and the warning position is less than the effective range of the optoelectronic device, then the optoelectronic device is within the lethal range of the warning position; otherwise, it is outside the lethal range of the warning position.

4. The method for linking fences and photoelectric devices based on terrain visibility analysis as claimed in claim 1, It is characterized in that The method of calculating the elevation angle between each sampling point and the optoelectronic device based on the included angle and the height includes: The longitude and latitude of the current sampling point are calculated as follows: ； ； In the formula, is the longitude of the current sampling point, is the longitude of the optoelectronic device corresponding to the current sampling point, is the number of the current sampling point, is the sampling distance, is the angle between the photoelectric device corresponding to the current sampling point and the alarm position, is the radius of the Earth, is the latitude of the current sampling point, is the latitude of the optoelectronic device corresponding to the current sampling point; According to the longitude and latitude of the current sampling point, the height of the current sampling point is queried from the geographic information system. , so the upward angle between the current sampling point and the photoelectric device is calculated as follows: ； In the formula, is the upward angle between the current sampling point and the optoelectronic device, It is the height of the photoelectric device corresponding to the current sampling point.

5. The method for linking fences and photoelectric devices based on terrain visibility analysis as claimed in claim 1, It is characterized in that The method of calculating the upward viewing angle between each sampling point and the optoelectronic device based on the included angle and the height includes: the interval sampling is equal interval sampling.

6. The method for linking fences and photoelectric devices based on terrain visibility analysis as claimed in claim 1, It is characterized in that The upward angle between the photoelectric device and the alarm position includes: ； In the formula, is the upward angle between the current photoelectric device and the alarm position, is the height of the current optoelectronic device, is the height of the warning location, It is the distance between the current photoelectric device and the alarm location.

7. The method for linking fences and photoelectric devices based on terrain visibility analysis as claimed in claim 1, It is characterized in that The verification parameters of the optoelectronic equipment corresponding to the current alarm and fence linkage selected by the calculation include: Calculate the orientation verification parameters of the optoelectronic device: ； In the formula, is the angle between the current photoelectric device and the alarm position, that is, the azimuth verification parameter of the photoelectric device. is the latitude of the alarm location, is the latitude of the current optoelectronic device, is the longitude of the alarm location, is the longitude of the current photoelectric device; Calculate the pitch verification parameters of the optoelectronic equipment: ； In the formula, is the elevation angle between the current photoelectric device and the alarm position, that is, the elevation verification parameter of the photoelectric device. is the height of the current optoelectronic device, is the height of the warning location, is the distance between the current photoelectric device and the alarm position; Calculate the focal length verification parameters of optoelectronic equipment: ； In the formula, To verify the focal length parameters of optoelectronic equipment, The maximum distance that can be detected by the minimum focal length of the photoelectric device. It is the shortest distance that can be detected by the maximum focal length of the photoelectric device. is the minimum focal length of the optoelectronic device, is the maximum focal length of the optoelectronic device.

8. A fence and photoelectric device linkage device based on terrain visibility analysis, comprising a processor and a memory storing a plurality of computer instructions, It is characterized in that When the computer instructions are executed by a processor, the steps of the method described in any one of claims 1 to 7 are implemented.

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