Protection detection method and device based on protective fence, electronic equipment and storage medium

Abstract

The invention discloses a protection detection method and device based on a protective fence, electronic equipment and a storage medium. The method comprises the following steps: determining target moving track information of a target identification object, wherein the target identification object is an identification object moving in a reference protection area corresponding to a reference protective fence; target moving trend information of the target recognition object is determined according to the target moving track information, and the target moving trend information is used for measuring the intrusion possibility of the target recognition object towards the reference protective fence in the moving process; and according to the target moving track information and the target moving trend information, a shooting device in the reference protection area is linked to track and detect the target identification object. According to the method, the movement intention of the target recognition object is detected, the intrusion behavior of the target recognition object is quantitatively analyzed, whether the target recognition object has the intrusion intention or not is judged, and the surrounding of the reference protective fence is detected in linkage with the image of the camera. Therefore, the alarm accuracy of the reference protective fence is improved, and the security efficiency of the reference protective fence is improved.

Description

Technical Field

[0001] The present invention relates to the field of security detection technology, and in particular to a protection detection method, device, electronic equipment and storage medium based on a guardrail. Background Art

[0002] As the first layer of protection at the outermost edge of important security sites, the guardrail plays a primary role in the security process.

[0003] In related schemes, protection alarms in the guardrail area can usually be realized by collecting changes in photoelectric, magnetic field, and displacement (vibration) near the guardrail (such as electronic reference guardrail, etc.). However, when conducting actual protection inspections on the guardrail, it was found that environmental changes caused by strong winds and lightning weather conditions would cause changes in photoelectric, magnetic field, and vibration displacement around the guardrail, resulting in false protection alarms for the guardrail. In addition, if cameras are used for full coverage inspection, there may be a problem of insufficient detection, which not only has low detection efficiency, but also high detection costs, causing serious adverse effects on the actual guardrail protection inspection. Summary of the invention

[0004] The present invention provides a guardrail-based protection detection method, device, electronic device and storage medium to solve the problems of inaccurate guardrail alarm and low detection efficiency.

[0005] According to one aspect of the present invention, a protection detection method based on a guardrail is provided, the method comprising:

[0006] Determine target movement trajectory information of a target identification object, where the target identification object is an identification object moving within a reference protection area corresponding to a reference protection fence;

[0007] Determine the target movement trend information of the target identification object according to the target movement trajectory information, and the target movement trend information is used to measure the possibility of the target identification object invading toward the reference guardrail during the movement process;

[0008] According to the target movement trajectory information and target movement trend information, the shooting equipment in the reference protection area is linked to track and detect the target identification object.

[0009] According to another aspect of the present invention, a protection detection device based on a guardrail is provided, the device comprising:

[0010] A trajectory determination module is used to determine target movement trajectory information of a target identification object, where the target identification object is an identification object moving within a reference protection area corresponding to a reference protection fence;

[0011] A movement trend determination module, used to determine the target movement trend information of the target identification object according to the target movement trajectory information, and the target movement trend information is used to measure the possibility of the target identification object invading toward the reference guardrail during the movement process;

[0012] The linkage module is used to track and detect the target identification object in conjunction with the shooting equipment in the reference protection area based on the target movement trajectory information and the target movement trend information.

[0013] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0014] at least one processor; and

[0015] a memory communicatively connected to the at least one processor; wherein,

[0016] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the guardrail-based protection detection method described in any embodiment of the present invention.

[0017] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the guardrail-based protection detection method described in any embodiment of the present invention when executed.

[0018] The technical solution of the embodiment of the present invention determines the target movement trajectory of the target recognition object moving in the reference protection area corresponding to the reference protection fence, and uses the target movement trajectory of the target recognition object to analyze the possibility of the target recognition object invading the reference protection fence during the movement, and then triggers the use of a shooting device to track and detect the target recognition object based on the possibility of invasion combined with the target movement trajectory. By making a quantitative analysis of the possible invasion of the protection fence by the target recognition object, it is determined whether there is an intention to invade the protection fence, thereby reducing the false alarm of the protection fence caused by changes in the photoelectric, magnetic field, and vibration displacement around the protection fence caused by environmental changes. By analyzing the possibility of intrusion into the protection fence, the shooting device can be called to detect the target recognition object according to a certain trajectory when needed, so that there is no need to deploy more shooting devices for full coverage detection, thereby solving the hardware cost of the shooting device. At the same time, since the movement trajectory is referenced when detecting the target recognition object, the detection accuracy can be improved, and the problem of loss of protection detection based on the protection fence can be reduced.

[0019] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 is a flow chart of a protection detection method based on a guardrail provided according to an embodiment of the present invention;

[0022] Figure 2 is a schematic diagram of a moving trajectory of a target recognition object in a reference protection area provided by an embodiment of the present invention;

[0023] Figure 3 is a flow chart of another protection detection method based on a guardrail provided according to an embodiment of the present invention;

[0024] Figure 4 is a schematic diagram of a trajectory of a target recognition object provided by an embodiment of the present invention;

[0025] Figure 5 is a schematic diagram of the moving direction of a target recognition object provided by an embodiment of the present invention;

[0026] Figure 6 is a flow chart of another protection detection method based on a guardrail provided according to an embodiment of the present invention;

[0027] Figure 7 is a schematic diagram of movement of a target recognition object provided by an embodiment of the present invention;

[0028] Figure 8 is a schematic diagram of a shooting detection area and a predicted movement area provided according to an embodiment of the present invention;

[0029] Fig. 9 is a structural schematic diagram of a protection detection device based on a guardrail provided according to an embodiment of the present invention;

[0030] Fig.10 It is a structural schematic diagram of an electronic device for implementing the guardrail-based protection detection method of an embodiment of the present invention. DETAILED DESCRIPTION

[0031] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings 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 should fall within the scope of protection of the present invention.

[0032] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0033] Figure 1 It is a flow chart of a protection detection method based on a guardrail provided according to an embodiment of the present invention. This embodiment can be applicable to the situation of performing protection detection on a protection area with a guardrail. The method can be executed by a protection detection device based on a guardrail. The protection detection device based on the guardrail can be implemented in the form of hardware and / or software. The device can be configured in any electronic device with network communication function, and the electronic device can be a server or a terminal, etc.

[0034] like Figure 1 As shown, the protection detection method based on the guardrail of this embodiment may include the following process:

[0035] S110, determining target movement trajectory information of a target recognition object, where the target recognition object is an recognition object moving within a reference protection area corresponding to a reference protection fence.

[0036] The target identification object can be considered as a person, animal, car, plastic bag or other object that has a physical body and moves within the reference protection area. The movement trajectory can be measured by a sensor that can detect distance information, such as a range finder, and the target movement trajectory information can be composed of trajectory points formed during the movement of the target identification object. The reference protection fence can be a protection fence set up to protect important areas from being invaded by the target identification object. The reference protection area can be a pre-set judgment detection area for judging whether there is an invasion of the reference protection fence.

[0037] When the target identification object appears in the reference protection area, its movement trajectory information is determined according to the travel route of the target identification object.

[0038] As an optional but non-limiting implementation, determining the target movement trajectory information of the target recognition object may include the following steps A1-A2:

[0039] Step A1: Detect the position of the moving trajectory point of the target recognition object moving in the reference protection area corresponding to the reference protection fence by using the ranging sensor deployed on the reference protection fence.

[0040] The distance measuring sensor may be a sensor capable of measuring distance, such as an infrared laser distance measuring sensor, a radar, etc. The moving track point position may be position information composed of displacement points generated by the continuous movement of the target recognition object.

[0041] After the ranging sensor is deployed on the reference guardrail, the ranging sensor detects the moving trajectory of the target identification object appearing in the reference protection area corresponding to the reference guardrail in real time according to the sampling frequency. Assuming that the sampling frequency of the ranging sensor is F, when the target identification object moves in the reference protection area, the ranging sensor measures its position change and obtains the real-time position information P of the target identification object. t (x, y), where t represents the sampling time point of the ranging sensor. Optionally, the obtained moving trajectory point position data is saved, and the saving method can be a table or the like.

[0042] Optionally, each ranging sensor on the reference guardrail is deployed in sequence according to a preset ranging limit of the ranging sensor, a ranging coverage range of each ranging sensor includes the reference guardrail area, and the preset ranging limit is pre-configured based on the ranging characteristics of the ranging sensor.

[0043] The preset distance measurement limit is selected to ensure the maximum detection distance of the distance measurement sensor for normal distance measurement. For example, if the detection range of the distance measurement sensor is 0-10m, the preset distance measurement limit can be set to 10m.

[0044] The maximum measurement field of view of the ranging sensor is used as the preset ranging limit, and then the size of the reference protection area is calculated. The total number of ranging sensors required is determined based on the size and the preset ranging limit. The ranging sensors are deployed according to the preset ranging limit. During deployment, it is necessary to ensure that the sum of the ranging ranges of the ranging sensors can cover the entire reference protection area.

[0045] The above steps deploy the ranging sensors according to the preset ranging limit, which can ensure the coverage of the entire reference protection area while reducing the problem of resource waste caused by the overlap of the ranging sensor measurement field of view.

[0046] Step A2: determining target movement trajectory information of the target recognition object according to the movement trajectory point positions of the target recognition object, wherein the target movement trajectory information includes a plurality of movement trajectory point positions and collection times of corresponding movement trajectory point positions.

[0047] According to the moving trajectory points of the target recognition object measured by the ranging sensor, the real-time position of the target recognition object can be detected according to the sampling frequency of the ranging sensor, and the real-time position of the target recognition object is used as the moving trajectory point position of the target recognition object, so as to construct the target moving trajectory information of the target recognition object. Optionally, the detected moving trajectory point position data is saved in the form of an array, and the array form can be [time, position].

[0048] When the target identification object appears in the reference protection area, the ranging sensor on the reference protection fence detects it in real time and records n consecutive displacement points, which are expressed as follows:

[0049] P={P(x,y)|P1(x,y)P2(x,y)…P n (x,y)}

[0050] Where P(x,y), 1≤i≤n represents the position of the target recognition object corresponding to a certain time point in the current sampling.

[0051] like Figure 2 As shown in the figure, the selection of the coordinate origin is to accurately calculate the distance between the target identification object and the reference guardrail. Therefore, the selection of the coordinate origin can be arbitrarily selected, such as any point where a sensor is located or any point within the reference protection area. Figure 2 The coordinate origin in the is selected with the point where the ranging sensor is located as the origin, and a coordinate system is established. According to the target moving points obtained by detection, the target recognition object trajectory is obtained.

[0052] S120. Determine target movement trend information of the target recognition object based on the target movement trajectory information. The target movement trend information is used to measure the possibility of the target recognition object invading toward the reference guardrail during movement.

[0053] The target movement trend information may be judgment information on whether the target identification object has invaded the reference protection fence when the target identification object moves within the reference protection area.

[0054] When the target identification object moves within the reference protection area, it is judged whether there is a possibility that the target identification object has invaded the reference protection fence based on the moving trajectory of the target identification object, that is, the target movement trend information. Based on the target movement trend information, it is determined whether it is necessary to call the shooting device to detect the target identification object.

[0055] In the above steps, the target movement trend information is determined through the target movement trajectory to judge whether the current target identification object has the possibility of invading the reference guardrail, and whether to call the shooting equipment group is determined according to the judgment result, thereby realizing the effective use of the shooting equipment.

[0056] S130 , tracking and detecting the target identification object by linking the shooting equipment in the reference protection area according to the target movement trajectory information and the target movement trend information.

[0057] The shooting device can be a device that can collect image information, such as a fixed camera, a dome camera, and a panoramic camera.

[0058] According to the target movement trend information, it is judged whether the current target identification object has the intention to invade the reference protection fence. If so, the shooting equipment of the reference protection area is started. The tracking detection of the target identification object by the shooting equipment is determined according to the target movement trajectory.

[0059] In the above steps, whether to start the shooting device is determined by the target movement trend information, and the tracking trajectory of the shooting device is determined by the target movement trajectory, thereby achieving directional detection of the target recognition object and improving the detection accuracy.

[0060] The technical solution of the embodiment of the present invention determines the target movement trajectory of the target recognition object moving in the reference protection area corresponding to the reference protection fence, and uses the target movement trajectory of the target recognition object to analyze the possibility of the target recognition object invading the reference protection fence during the movement, and then triggers the use of a shooting device to track and detect the target recognition object based on the possibility of invasion combined with the target movement trajectory. By making a quantitative analysis of the possible invasion of the protection fence by the target recognition object, it is determined whether there is an intention to invade the protection fence, thereby reducing the false alarm of the protection fence caused by changes in the photoelectric, magnetic field, and vibration displacement around the protection fence caused by environmental changes. By analyzing the possibility of intrusion into the protection fence, the shooting device can be called to detect the target recognition object according to a certain trajectory when needed, so that there is no need to deploy more shooting devices for full coverage detection, thereby solving the hardware cost of the shooting device. At the same time, since the movement trajectory is referenced when detecting the target recognition object, the detection accuracy can be improved, and the problem of loss of protection detection based on the protection fence can be reduced.

[0061] Figure 3 It is a flow chart of another guardrail-based protection detection method provided according to an embodiment of the present invention. The technical solution of this embodiment further optimizes the process of determining the target movement trend information of the target identification object based on the target movement trajectory information in the aforementioned embodiment on the basis of the above embodiment. This embodiment can be combined with various optional schemes in one or more of the above embodiments.

[0062] like Figure 3 As shown, the protection detection method based on the guardrail of this embodiment may include the following process:

[0063] S310: Determine target movement trajectory information of a target recognition object, where the target recognition object is a recognition object moving within a reference protection area corresponding to a reference protection fence.

[0064] S320. Determine the target movement trend information of the target identification object when it continuously moves in the reference protection area based on the position of the movement trajectory points included in the target movement trajectory information. The target movement trend information is based on the possibility of intrusion toward the reference protection fence determined by the reference movement information when the target identification object continuously moves in the reference protection area.

[0065] Among them, the reference movement information includes at least one of the distance from the moving trajectory point of the target identification object to the reference guardrail, the speed component of the target identification object moving in a direction perpendicular to the reference guardrail, and the moving direction of the target identification object toward the reference guardrail.

[0066] The moving trajectory of the target recognition object in continuous time is determined according to the position information of the moving trajectory points, and its movement trend toward the reference guardrail is judged according to the trajectory to determine whether it has the possibility of invading the reference guardrail.

[0067] As an optional but non-limiting implementation, determining the target movement trend information of the target recognition object according to the target movement trajectory information may include the following steps B1-B2:

[0068] Step B1: determining a first reference distance of the target object to be identified based on the position of the moving trajectory point included in the target moving trajectory information, wherein the first reference distance is the distance from the moving trajectory point where the target object to be identified is located to a reference guardrail line of a reference guardrail.

[0069] The reference guard line can be determined based on the position of the reference guardrail.

[0070] The distance from the moving trajectory point of the target recognition object to the reference protection line of the reference protection fence is determined according to the position information of the moving trajectory point, and the distance is the first reference distance. Figure 2 As shown, where x o 、x t Indicates the first reference distance of the target recognition object at different times.

[0071] Step B2: determining target movement trend information of the target identification object based on the first reference distance of the target identification object, wherein the target movement trend information indicates that the possibility of the target identification object invading toward the reference guardrail during movement is negatively correlated with the first reference distance.

[0072] The smaller the first reference distance of the target identification object is, the greater the possibility that it will invade the reference guardrail during movement; and the larger the first reference distance of the target identification object is, the smaller the possibility that it will invade the reference guardrail during movement.

[0073] Optionally, the first reference distance is negatively correlated with the reference change rate, and the reference change rate is a physical quantity used to describe how quickly the possibility of intrusion of the target identification object toward the reference guardrail changes during movement as the first reference distance changes.

[0074] As the first reference distance gradually increases, the rate of change of the possibility of intrusion of the target identification object toward the reference guardrail during movement indicated by the target movement trend information will decrease; as the first reference distance gradually decreases, the rate of change of the possibility of intrusion of the target identification object toward the reference guardrail during movement indicated by the target movement trend information will increase.

[0075] like Figure 2 As shown, the point where the ranging sensor is located is taken as the origin, the direction of the reference guardrail is taken as the Y-axis, and the direction passing through the ranging sensor and away from the reference guardrail is taken as the X-axis. When the target identification object enters the reference protection area, the target movement trend information of the target identification object is determined by the target movement trajectory. According to the sub-reference protection area where the current target identification object is located, its intrusion possibility is calculated as follows:

[0076]

[0077] Among them, the sub-reference protection area is obtained by dividing the reference protection area; t represents the coordinate value of the target object in the current X direction; e is the base of the natural logarithm; k1 is a parameter; I1 represents the intrusion intention index value that the target object may have in the spatial distance. Among them, the intrusion intention index value is the target movement trend information, which increases with the distance x between the target object and the reference guardrail. t increases with the decrease of x; in general, t gradually decreases, and the change rate of I1 index increases sharply.

[0078] As another optional but non-limiting implementation, determining the target movement trend information of the target recognition object according to the target movement trajectory information may include the following steps C1-C2:

[0079] Step C1, determining a reference speed of the target identification object according to the positions of each moving trajectory point included in the target moving trajectory information, wherein the reference speed is a speed component of the target identification object moving in a direction perpendicular to the reference guardrail when the target identification object continuously moves in the reference protection area.

[0080] The ranging sensor detects the target movement trajectory information when the target identification object continues to move in the reference protection area, and calculates the reference speed of the target identification object based on the real-time displacement of the target identification object in the direction perpendicular to the reference protection fence in the target movement trajectory information and the sampling frequency of the ranging sensor between adjacent positions.

[0081] like Figure 4 As shown, in the current coordinate system, the moving speed of the target identification object at the displacement point is divided into two components, X and Y. Since in the actual analysis scenario, the Y direction is parallel to the extension direction of the reference guardrail, the possible intrusion component it shows can be ignored, and only the X component is calculated, that is, the speed component of the target identification object in the direction perpendicular to the reference guardrail, which is the reference speed. The moving speed of the target identification object in the reference protection area is calculated as follows:

[0082] V i =(x i-1 -x i )·F

[0083] Where F is the sampling frequency of the current ranging sensor, 2≤i≤n; V i The positive and negative values ​​indicate the moving direction of the target surface toward the reference guardrail. By traversing all the moving speed points of the target recognition objects, we can obtain the data set of personnel movement, which is recorded as The specific expressions are as follows

[0084]

[0085] Indicates the reference speed of the target identification object at each moving trajectory point in the reference protection area.

[0086] Step C2: determining target movement trend information of the target identification object according to the reference speed of the target identification object, wherein the target movement trend information indicates that the possibility of the target identification object invading the reference guardrail during movement is positively correlated with the reference speed.

[0087] According to the above two formulas, when V i >0, the target object approaches the reference guardrail. Therefore, when the reference speed of the target object is greater, the possibility of the target object invading the reference guardrail during movement is greater; when the reference speed of the target object is smaller, the possibility of the target object invading the reference guardrail during movement is smaller. i <0, the target moves away from the reference guardrail. At this time, the possibility of the target identification object invading the reference guardrail during the movement is small.

[0088] Optionally, determining the target movement trend information of the target recognition object according to the reference speed of the target recognition object may include the following steps D1-D2:

[0089] Step D1, determine the second reference distance associated with the reference speed of the target identification object, the second reference distance is the average of the third reference distance and the fourth reference distance, the third reference distance and the fourth reference distance are respectively the distances from two adjacent moving trajectory points used to calculate the reference speed of the target identification object to the reference protection line of the reference protection fence.

[0090] The reference speed of the target identification object is obtained by calculating the displacement of the target identification object in the direction perpendicular to the reference guardrail in the target trajectory information. Therefore, before calculation, it is necessary to confirm the distances from adjacent moving trajectory points of the target identification object to the reference guardrail line of the reference guardrail based on the position information measured by the ranging sensor. The two distances are calculated to obtain the second reference distance.

[0091] The second reference distance of the target identification object in the reference protection area is calculated as follows:

[0092]

[0093] where x i is the displacement along the X direction at time i; x i-1 is the displacement along the X direction at time i-1.

[0094] Step D2, based on the reference speed and the second reference distance of the target identification object, determine the target movement trend information of the target identification object, and the influence of the reference speed on the possibility of the target identification object invading toward the reference guardrail during movement will gradually decay as the second reference distance increases.

[0095] When the reference speed of the target identification object increases, as the second reference distance decreases, the distance of the target identification object from the reference guardrail decreases, and the possibility of invading the reference guardrail increases; as the second reference distance increases, the distance of the target identification object from the reference guardrail increases, and the possibility of invading the reference guardrail decreases.

[0096] According to the reference speed and the second reference distance of the target recognition object, the target movement trend information I2 is calculated, and the calculation formula is as follows:

[0097]

[0098] In the above formula, Represents the second reference distance at the current time point; k is a constant, which can be set according to the importance of the reference guardrail of the target segment, and its value is positively correlated with the importance; e is the base of the natural logarithm.

[0099] According to the above formula, the intrusion possibilities of n displacement points are superimposed to obtain the target movement trend information of the target identification object. When the second reference distance decreases, the target identification object is closer to the reference guardrail. When the reference speed increases, the possibility of intruding the reference guardrail increases; when the reference speed decreases, the possibility of intruding the reference guardrail decreases.

[0100] As another optional but non-limiting implementation, determining the target movement trend information of the target recognition object according to the target movement trajectory information may include the following steps E1-E2:

[0101] Step E1, determining a reference moving direction of the target recognition object according to the positions of each moving trajectory point included in the target moving trajectory information, wherein the reference moving direction is determined based on an offset angle relative to a direction perpendicular to a reference guardrail when the target recognition object continuously moves in a reference guardrail area.

[0102] Determine whether the target identification object is moving toward the reference guardrail or away from the reference guardrail based on the moving trajectory information of the target identification object. The reference moving direction is determined based on the offset angle of the target identification object relative to the direction perpendicular to the reference guardrail and close to the guardrail when the target identification object continuously moves in the reference protection area. The reference moving direction can be determined by taking the target identification object as the origin, the direction perpendicular to the reference guardrail and close to the guardrail as the starting line direction, and the offset angle formed by the tangent direction of the continuously moving trajectory and the starting line. When the tangent direction of the trajectory and the starting line direction are at an acute angle, it indicates that the target identification object is moving toward the reference guardrail; when the tangent direction of the trajectory and the starting line direction are at an obtuse angle, it indicates that the target identification object is moving away from the reference guardrail.

[0103] Step E2: determine the target movement trend information of the target identification object according to the reference movement direction of the target identification object. The target movement trend information indicates that the possibility of the target identification object invading the reference guardrail during movement is negatively correlated with the offset angle corresponding to the reference movement direction.

[0104] The larger the offset angle corresponding to the reference moving direction of the target identification object, the smaller the possibility that the target identification object moves toward the reference guardrail, and the smaller the possibility that it invades the reference guardrail. For example, when the offset angle corresponding to the reference moving direction is 90°, it indicates that the target identification object moves in a direction parallel to the reference guardrail, and there is no possibility of invading the reference guardrail. The smaller the offset angle corresponding to the reference moving direction of the target identification object, the greater the possibility that the target identification object moves toward the reference guardrail, and the greater the possibility that it invades the reference guardrail. For example, when the offset angle corresponding to the reference moving direction approaches 0°, it indicates that the target identification object moves in a direction perpendicular to the reference guardrail, and at this time, the possibility that the target identification object invades the reference guardrail is the greatest.

[0105] Optionally, determining the target movement trend information of the target recognition object according to the reference movement direction of the target recognition object may include steps F1-F2:

[0106] Step F1, determine the fifth reference distance associated with the reference moving direction of the target recognition object, the fifth reference distance being the distance from the moving trajectory point of the target recognition object that can form the reference moving direction to the reference protection line of the reference protection fence determined based on the position of the moving trajectory point included in the target moving trajectory information.

[0107] According to the moving trajectory point position (x o ,y o ), determine the reference moving direction of the target recognition object as the direction of movement toward the reference guardrail, and the moving trajectory point corresponding to the target recognition object in the moving direction is as follows: Figure 5 As shown, 1 to m are moving trajectory points corresponding to the change in the moving direction of the target recognition object, and the distance from the moving trajectory point to the reference protection line of the reference protection fence is the fifth reference distance.

[0108] Step F2, determine the target movement trend information of the target identification object based on the reference movement direction and the fifth reference distance of the target identification object. The influence of the reference movement direction on the possibility of the target identification object invading toward the reference guardrail during the movement will gradually decay as the fifth reference distance increases.

[0109] When the reference distance is away from the reference guardrail, as the fifth reference distance increases, the target identification object is farther away from the reference guardrail, and the possibility of invading the reference guardrail decreases; when the reference distance is toward the reference guardrail, as the fifth reference distance decreases, the target identification object is closer to the reference guardrail, and the possibility of invading the reference guardrail increases.

[0110] like Figure 5As shown, 1~m are the moving trajectory points corresponding to the change in the moving direction of the target identification object. The accumulation of the moving direction of the target identification object in the reference protection area is calculated through points 1~m. The specific calculation is as follows. First, preprocessing is performed based on the position information. The calculation can be done in the following way:

[0111]

[0112]

[0113] The preprocessed position information of the target identification object in the current reference protection area is obtained, which is recorded as:

[0114]

[0115] in, Assume that the position of the target object when entering the reference protection area is (x0, y0). The degree of position change of the target recognition object in real time is further calculated. Approaching or moving away in the X-axis direction is expressed as a positive or negative change in the moving direction; at the same time, as the absolute value of the distance between the target recognition object and the reference guardrail changes, the influence of its moving direction on the target movement trend information I3 gradually decays. Therefore, I3 is calculated as follows:

[0116]

[0117] in Indicates that the change of positive and negative values ​​in the Y-axis direction has the same influence on the judgment of intrusion intention based on the moving direction, and satisfies e is the base of natural logarithms.

[0118] S330, based on the target movement trajectory information and the target movement trend information, linking with the shooting equipment in the reference protection area to track and detect the target identification object.

[0119] The target movement trend information can be calculated by the following formula:

[0120] I=I1+I2+I3

[0121] Among them, I1, I2, and I3 respectively describe the possible intrusion intentions contained in the position, moving speed, and moving direction of the target identification object during continuous movement. Based on the target movement trend information I, the possibility of its intrusion is quantitatively judged.

[0122] The target trend information calculated is used to determine the intrusion intention of the target identification object and whether the target identification object needs to be detected. The target movement trajectory information is used to determine the trajectory of the target identification object that needs to be detected by the camera in the linkage reference protection area. After both are determined, the camera in the linkage reference protection area is called to detect the protection detection device based on the guardrail.

[0123] The technical solution of this embodiment determines the intrusion intention of the target identification object from three angles, namely the position, movement speed and movement direction of the target identification object during its continuous movement, and determines whether it is necessary to detect the target identification object based on the intrusion intention. This improves the detection accuracy while avoiding false alarms caused by the normal passage of the target identification object.

[0124] Figure 6 It is a flow chart of another protection detection method based on a guardrail provided according to an embodiment of the present invention. The technical solution of this embodiment further optimizes the process of tracking and detecting the target identification object by the shooting equipment of the reference protection area in the aforementioned embodiment based on the target movement trajectory information and the target movement trend information. This embodiment can be combined with various optional schemes in one or more of the above embodiments.

[0125] like Figure 6 As shown, the protection detection method based on the guardrail of this embodiment may include the following process:

[0126] S610: Determine target movement trajectory information of a target recognition object, where the target recognition object is a recognition object moving within a reference protection area corresponding to a reference protection fence.

[0127] S620: Determine target movement trend information of the target recognition object based on the target movement trajectory information, where the target movement trend information is used to measure the possibility of the target recognition object invading toward the reference guardrail during movement.

[0128] S630: Determine whether to start tracking and detecting the target recognition object according to the target movement trend information.

[0129] S640: If started, predict the predicted moving area to which the target recognition object will go when it continues to move in the reference protection area based on the target moving trajectory information.

[0130] If the target identification object has an intrusion intention, the area where the target identification object will move next is determined based on the target movement trend information at the target movement trajectory point where the target identification object is currently located.

[0131] As an optional but non-limiting implementation, predicting the predicted moving area to which the target identification object will go when continuously moving in the reference protection area according to the target moving trajectory information may include steps H1-H3:

[0132] Step H1: Determine the target moving direction range when the target recognition object continuously moves in the reference protection area according to the moving trajectory point positions included in the target moving trajectory information.

[0133] like Figure 7 As shown in the figure, the points Src and Dst represent the starting point and the end point of n displacement points in a certain period of time, and their coordinates are (x t1 ,y t1 )、(x t2 ,y t2 ), where t1+n=t2. The target movement range of the target recognition object can be expressed by calculating the maximum and minimum points of the Y coordinate values ​​of the position points within the current time range, such as points U and D in the figure. The angle formed by points U and D with the target recognition object as the origin is the target movement direction range, and its calculation formula is as follows:

[0134]

[0135] Where a1 = x t2 -x t1 , b1=y t2 -y t1 ; When seeking δ u When a2=x tu -x t1 , b2=y tu -y t1 ; When seeking δ d When a2=x td -x t1 , b2=y td -y t1 Based on the above calculation, the moving direction of the target recognition object at the next sampling frequency is predicted. Among them, the adjusted moving range angle is recorded as Where Δδ is the adjustment angle. In this case, Δδ can also be corrected according to the instantaneous moving direction of the target. Where the angle between the instantaneous moving direction of the target and the X-axis is

[0136] Step H2: Determine the instantaneous moving speed of the target identification object when it is continuously moving in the reference protection area according to the moving trajectory point positions included in the target moving trajectory information.

[0137] The movement of the target object is a continuous process. When the next sampling point is generated, the predicted moving direction range at this time will be calculated according to the current new trajectory information. That is, the instantaneous moving speed of the target object when it moves continuously in the reference protection area is calculated according to the displacement at the current moving trajectory point position and the sampling frequency of the ranging sensor. The calculation formula is as follows:

[0138]

[0139] Where F is the sampling frequency of the moving trajectory.

[0140] Step H3: Determine the predicted moving area to which the target identification object will go when it continues to move in the reference protection area based on the instantaneous moving speed and the target moving direction range.

[0141] According to the magnitude of the instantaneous moving speed and the direction range in which the target identification object will move next, the predicted moving area to which the target identification object will move when it continues to move in the reference protection area is obtained.

[0142] like Figure 8 As shown, is the moving direction range, V t2 is the instantaneous moving speed, and the predicted moving area Area of ​​the target recognition object is obtained. The Area is a fan-shaped area. The directions of vectors 4 and 5 are Determine that the magnitude of the vector is Among them, τ is a constant, and r represents the maximum motion range of the current target within a certain range.

[0143] Optionally, determining the target moving direction range angle when the target identification object continuously moves within the reference protection area according to the moving trajectory point position included in the target moving trajectory information may include steps K1-K3:

[0144] Step K1: determining reference movement trajectory information from the target movement trajectory information, where the reference movement trajectory information is movement trajectory information within a reference collection time period selected from the target movement trajectory information.

[0145] The reference time period is the time period during which the movement trajectory information of the target recognition object needs to be calculated.

[0146] like Figure 7 As shown, the time corresponding to point U is t u , the time corresponding to point D is t d , the displacement change of the target recognition object during this period is from the starting point Scr(x t1 ,y t1 ) to the end point Dst(x t2 ,y t2 ).

[0147] Step K2, determining a first moving trajectory point position, a second moving trajectory point position, a third moving trajectory point position and a fourth moving trajectory point position from the moving trajectory point positions included in the reference moving trajectory information, wherein the first moving trajectory point position and the second moving trajectory point position are two moving trajectory point positions selected from the reference moving trajectory information that can produce a maximum distance difference along the reference guardrail direction, and the third moving trajectory point position and the fourth moving trajectory point position refer to the moving trajectory point position corresponding to the starting point and the moving trajectory point position corresponding to the end point in the moving trajectory information, respectively.

[0148] like Figure 7 As shown, the first moving trajectory point position and the second moving trajectory point position are two moving trajectory point positions selected from the reference moving trajectory information that can produce the maximum distance difference along the reference guardrail direction, and the first moving trajectory point position is point D, and the second moving trajectory point position is point U. The third moving trajectory point position and the fourth moving trajectory point position can be determined by referring to the moving trajectory point position corresponding to the starting point and the moving trajectory point position corresponding to the end point in the moving trajectory information, respectively, and the third moving trajectory point position is Src, and the fourth moving trajectory point position is Dst.

[0149] Step K3, determining the target moving direction range of the target recognition object according to the first moving trajectory point position, the second moving trajectory point position, the third moving trajectory point position and the fourth moving trajectory point position, wherein the target moving direction range is determined according to the first moving direction angle and the second moving direction angle, wherein the first moving angle is the angle formed by the line connecting the first moving trajectory point position and the third moving trajectory point position relative to the line connecting the fourth moving trajectory point position and the third moving trajectory point position, and the second moving angle is the angle formed by the line connecting the second moving trajectory point position and the third moving trajectory point position relative to the line connecting the fourth moving trajectory point position and the third moving trajectory point position.

[0150] like Figure 7 As shown, the first moving angle is the angle formed by the line connecting the first moving track point position and the third moving track point position relative to the line connecting the fourth moving track point position and the third moving track point position. The first moving angle is ∠DScrDst, that is, the adjustment angle δ d According to the angle formed by the line connecting the second moving track point position and the third moving track point position relative to the line connecting the fourth moving track point position and the third moving track point position, the second moving angle can be determined to be ∠DstScrU, that is, the adjustment angle δ u .

[0151] S650: Track and detect the target identification object based on the predicted moving area linked to the shooting equipment in the reference protection area.

[0152] The shooting equipment in the predicted moving area can be fixed cameras, dome cameras, high-altitude panoramic cameras, etc. The shooting equipment in the reference protection area is classified and grouped according to the type of equipment, and its key parameters are recorded. In this case, the cameras are divided into three categories, including fixed cameras, dome cameras, and high-altitude panoramic cameras, which are described as follows:

[0153] Table 1 Key parameters of fixed cameras

[0154] Fixed Camera Location Information Viewing angle Cam1_1 <![CDATA[(X C1_1 ,Y C1_1 ,Z C1_1 )]]> <![CDATA[θ C1_1 ]]> Cam1_2 <![CDATA[(X C1_2 ,Y C1_2 ,Z C1_2 )]]> <![CDATA[θ C1_2 ]]> … … … Cam1_N <![CDATA[(X C1_N ,Y C1_N ,Z C1_N )]]> <![CDATA[θ C1_N ]]>

[0155] Table 2 Key parameters of ball camera

[0156] Ball Machine Location Information Viewing angle Rotation information Cam2_1 <![CDATA[(X C2_1 ,Y C2_1 ,Z C2_1 )]]> <![CDATA[θ C2_1 ]]> <![CDATA[(α C2_1 ,b C2_1 ,c C2_1 )]]> Cam2_2 <![CDATA[(X C2_2 ,Y C2_2 ,Z C2_2 )]]> <![CDATA[θ C2_2 ]]> <![CDATA[(α C2_2 ,b C2_2 ,c C2_2 )]]> … … … … Cam2_N <![CDATA[(X C2_N ,Y C2_N ,Z C2_N )]]> <![CDATA[θ C2_N ]]> <![CDATA[(α C2_N ,b C2_N ,c C2_N )]]>

[0157] Table 3 Key parameters of high altitude panoramic camera

[0158]

[0159] Among them, 1, 2, and 3 in Cam1_x, Cam2_x, and Cam3_x respectively represent three types of cameras, and 1 represents a fixed camera, 2 represents a ball camera, and 3 represents a high-altitude panoramic camera; the position (X, Y, Z) represents the position and height of the camera in the current reference protection area coordinate system; the viewing angle θ is the field of view of the current camera; the rotation information (α, β, γ) represents the yaw, pitch, and roll angles, characterizing the posture of the camera after rotation; the low-altitude linkage camera belongs to a specific high-altitude panoramic camera, and there may be duplication in the cameras in the list, that is, a low-altitude camera belongs to multiple high-altitude panoramic cameras at the same time, among which the low-altitude linkage camera includes a fixed camera and a ball camera.

[0160] As an optional but non-limiting implementation method, tracking and detecting the target identification object based on the predicted moving area linked to the camera of the reference protection area may include steps M1-M2:

[0161] Step M1, determine the target shooting device group from at least two shooting device groups associated with the reference protection area according to the calling order of each shooting device group. The calling order of different shooting device groups is configured according to whether the shooting detection area corresponding to the equipment in each shooting device group is allowed to be adjusted and the width of the shooting angle of the corresponding shooting detection area.

[0162] The shooting device group can be obtained by grouping according to the function of the camera. For example, a fixed camera can only shoot the field of view within its field of view, so it is divided into one group. According to the size of the reference protection area, the fixed camera group is divided into several small groups for capturing target identification objects appearing near it. Whether the shooting detection area is allowed to be adjusted can indicate whether the camera shooting detection area can be changed.

[0163] Optionally, for each shooting equipment group associated with the reference protection area, the calling order of the shooting equipment group that does not allow the shooting detection area to be adjusted is placed before the calling order of the shooting equipment group that allows the shooting detection area to be adjusted, and the calling order of the shooting equipment group with a high shooting angle of view width is placed after the calling order of the shooting equipment group with a low shooting angle of view width.

[0164] The shooting equipment group that adjusts the shooting detection area may be a shooting equipment group with a fixed shooting field of view, such as a fixed camera group. The shooting equipment group that allows the shooting detection area to be adjusted may be a shooting equipment group whose shooting field of view can be adjusted at any time according to the tracking object, such as a ball camera. The shooting equipment group with a low shooting angle of view may be a camera with a low shooting field of view and a small capture field of view, such as a fixed camera group and a ball camera. The shooting equipment group with a wide shooting angle of view may be a camera with a high shooting field of view that can capture a larger field of view, such as a high-altitude panoramic camera.

[0165] The calling order of each shooting equipment group in the reference protection area is as follows: the shooting equipment group that is not allowed to adjust the shooting detection area -> the shooting equipment group that is allowed to adjust the shooting detection area -> the shooting equipment group with a wide shooting angle, that is, the fixed camera group -> ball camera -> high-altitude panoramic camera.

[0166] Step M2: Based on the predicted moving area, the shooting devices included in the target shooting device group are linked to track and detect the target recognition object.

[0167] The target camera group may be a group of shooting devices near a target identification object with intrusion intention.

[0168] According to the predicted moving area obtained by prediction, a target shooting device group near the predicted moving area is called to track the target identification object.

[0169] Optionally, based on the predicted moving area, the shooting devices included in the target shooting device group are linked to be called to track and detect the target recognition object, including:

[0170] Determine the degree of overlap between the shooting detection area of ​​each shooting device in the target shooting device group and the predicted movement area;

[0171] The overlapping area can be determined by the area of ​​the overlapping area between the shooting detection area of ​​each shooting device and the predicted movement area.

[0172] like Figure 8As shown, the predicted area of ​​the target recognition object is Area, and the dotted areas Cam1 and Cam2 represent the shooting and detection areas of the camera. The shooting and detection area of ​​Cam1 and the predicted area of ​​the target recognition object are Area, the overlapping position is the overlapped area, and the overlapped area degree is the area size of the partially overlapped area, i.e. ΔS1; the shooting and detection area of ​​Cam2 and the predicted area of ​​the target recognition object are Area, the overlapping position is the overlapped area, and the overlapped area degree is the area size of the partially overlapped area, i.e. ΔS2.

[0173] According to the area overlap degree corresponding to each shooting device in the target shooting device group, determining in sequence whether each shooting device in the target shooting device group detects the target identification object;

[0174] If there is a shooting device in the target shooting device group that detects the target identification object, the shooting device that detects the target identification object is used to track and detect the target identification object.

[0175] According to the size of the area overlap corresponding to each shooting device, the shooting devices in the target shooting device group are called in order from large to small to detect the target identification object.

[0176] from Figure 8 It can be seen that the area overlap corresponding to the shooting device Cam1 is ΔS1, and the area overlap corresponding to the shooting device Cam2 is ΔS2, ΔS1>ΔS2. Therefore, the shooting device Cam1 is first called to detect whether there is a target identification object in ΔS1. If so, continue to use the shooting device to detect the target identification object. If not, call the shooting device Cam2 to detect whether there is a target identification object in ΔS2.

[0177] Optionally, after determining in sequence whether each shooting device in the target shooting device group detects the target identification object, the method may further include:

[0178] If there is no photographing device in the target photographing device group that detects the target identification object, then determine the next photographing device group whose calling order is after the target photographing device group from at least two photographing device groups associated with the reference protection area according to the calling order of each photographing device group;

[0179] Based on the predicted moving area, the shooting devices included in the next shooting device group are linked and called to track and detect the target recognition object.

[0180] Assuming that the target shooting device group is a fixed camera group, if the target recognition object detected by the shooting device is not detected in the fixed camera group, a ball camera is used to detect the target recognition object detected by the shooting device; if the target recognition object has not been detected, a high-altitude panoramic camera is used for detection.

[0181] The technical solution of this embodiment improves the accuracy of detection and the utilization rate of the camera group by determining the predicted movement area and performing detection through the camera group near the predicted movement area.

[0182] Fig. 9 The present invention provides a structural block diagram of a protection detection device based on a guardrail. This embodiment is applicable to the case where the number of shooting devices is limited and adaptive full coverage detection is performed on the objects to be detected entering the detection area. The protection detection device based on the guardrail can be implemented in the form of hardware and / or software. The protection detection device based on the guardrail can be configured in any electronic device with network communication function. Fig. 9 As shown, the protection detection device based on the guardrail of this embodiment may include:

[0183] Trajectory determination module 710: used to determine target movement trajectory information of a target identification object, where the target identification object is an identification object moving within a reference protection area corresponding to a reference protection fence;

[0184] Movement trend determination module 720: used to determine target movement trend information of the target identification object according to the target movement trajectory information, and the target movement trend information is used to measure the possibility of the target identification object invading toward the reference guardrail during the movement process;

[0185] The linkage module 730 is used to link the shooting equipment in the reference protection area to track and detect the target identification object according to the target movement trajectory information and the target movement trend information.

[0186] Optionally, the trajectory determination module 710 includes:

[0187] The moving track point position detection submodule is used to detect the moving track point position of the target identification object moving in the reference protection area corresponding to the reference protection fence through the ranging sensor deployed on the reference protection fence;

[0188] The target movement trajectory information determination submodule is used to determine the target movement trajectory information of the target recognition object according to the movement trajectory point position of the target recognition object. The target movement trajectory information includes multiple movement trajectory point positions and the collection time of the corresponding movement trajectory point positions.

[0189] Optionally, the movement trend determination module 720 includes:

[0190] Intrusion possibility determination submodule: used for determining the possibility of intrusion toward a reference guardrail based on the target movement trend information when the target identification object continuously moves in the reference protection area, and the reference movement information includes at least one of the following: the distance from the position of the moving trajectory point of the target identification object to the reference guardrail, the speed component of the target identification object moving in a direction perpendicular to the reference guardrail, and the moving direction of the target identification object toward the reference guardrail.

[0191] Optional, intrusion possibility determination submodule, including:

[0192] A first reference distance determining unit: determining a first reference distance of the target identification object according to the position of the moving trajectory point included in the target moving trajectory information, wherein the first reference distance is the distance from the moving trajectory point where the target identification object is located to the reference protection line of the reference protection fence;

[0193] A target movement trend information determination unit: used to determine the target movement trend information of the target identification object based on the first reference distance of the target identification object, wherein the target movement trend information indicates that the possibility of the target identification object invading toward the reference guardrail during the movement is negatively correlated with the first reference distance; wherein the first reference distance is negatively correlated with the reference change rate, and the reference change rate is a physical quantity used to describe how fast the possibility of the target identification object invading toward the reference guardrail during the movement changes as the first reference distance changes.

[0194] Optional, intrusion possibility determination submodule, including:

[0195] A reference speed determination unit is used to determine the reference speed of the target identification object according to the positions of each moving trajectory point included in the target moving trajectory information, wherein the reference speed is the speed component of the target identification object moving in a direction perpendicular to the reference guardrail when the target identification object continuously moves in the reference protection area;

[0196] Target movement trend information determination unit: used to determine target movement trend information of the target identification object based on the reference speed of the target identification object, the target movement trend information indicates that the possibility of the target identification object invading the reference guardrail during movement is positively correlated with the reference speed.

[0197] Optionally, the target movement trend information determining unit includes:

[0198] A second reference distance determination subunit: used to determine a second reference distance associated with a reference speed of the target identification object, the second reference distance being the average of a third reference distance and a fourth reference distance, the third reference distance and the fourth reference distance being respectively the distances from two adjacent moving trajectory points used to calculate the reference speed of the target identification object to a reference protection line of the reference protection fence;

[0199] Target movement trend information determination subunit: used to determine the target movement trend information of the target identification object based on the reference speed and the second reference distance of the target identification object. The influence of the reference speed on the possibility of the target identification object invading the reference guardrail during movement will gradually decay as the second reference distance increases.

[0200] Optional, intrusion possibility determination submodule, including:

[0201] A reference moving direction determining unit is used to determine a reference moving direction of a target identification object according to the positions of each moving trajectory point included in the target moving trajectory information, wherein the reference moving direction is determined based on an offset angle of the target identification object relative to a direction perpendicular to the reference guardrail when the target identification object continuously moves in the reference guardrail area;

[0202] Target movement trend information determination unit: used to determine the target movement trend information of the target identification object based on the reference movement direction of the target identification object. The target movement trend information indicates that the possibility of the target identification object invading toward the reference guardrail during movement is negatively correlated with the offset angle corresponding to the reference movement direction.

[0203] Optionally, the target movement trend information determining unit includes:

[0204] A fifth reference distance determination subunit is used to determine a fifth reference distance associated with a reference moving direction of the target recognition object, wherein the fifth reference distance is a distance from a moving trajectory point of the target recognition object that can form a reference moving direction to a reference protection line of a reference protection fence, determined based on the position of the moving trajectory point included in the target moving trajectory information;

[0205] Target movement trend information determination subunit: used to determine the target movement trend information of the target identification object based on the reference movement direction of the target identification object and the fifth reference distance. The influence of the reference movement direction on the possibility of the target identification object invading the reference guardrail during the movement will gradually decay as the fifth reference distance increases.

[0206] Optionally, the linkage module 730 includes:

[0207] Tracking detection initiator module: used to determine whether to start tracking detection of the target identification object based on the target movement trend information;

[0208] Predicted movement area determination submodule: used to predict the predicted movement area to which the target identification object will go when it continues to move in the reference protection area based on the target movement trajectory information if it is started;

[0209] Tracking and detection submodule: It is used to track and detect the target identification object based on the predicted moving area and the shooting equipment in the reference protection area.

[0210] Optionally, the predicted moving area determination submodule includes:

[0211] A target moving direction range determination unit is used to determine the target moving direction range when the target identification object continuously moves in the reference protection area according to the moving track point positions included in the target moving track information;

[0212] An instantaneous moving speed determining unit is used to determine the instantaneous moving speed of the target identification object when it continuously moves in the reference protection area according to the moving track point positions included in the target moving track information;

[0213] Predicted movement area determination unit: used to determine the predicted movement area to which the target identification object will go when it continues to move in the reference protection area based on the instantaneous movement speed and the target movement direction range.

[0214] Optionally, the target moving direction range determination unit includes:

[0215] A movement trajectory information determination subunit: used to determine reference movement trajectory information from the target movement trajectory information, where the reference movement trajectory information is movement trajectory information within a reference collection time period selected from the target movement trajectory information;

[0216] A moving trajectory point position determination subunit: used to determine a first moving trajectory point position, a second moving trajectory point position, a third moving trajectory point position and a fourth moving trajectory point position from the moving trajectory point positions included in the reference moving trajectory information, wherein the first moving trajectory point position and the second moving trajectory point position are two moving trajectory point positions selected from the reference moving trajectory information that can produce a maximum distance difference along the reference guardrail direction, and the third moving trajectory point position and the fourth moving trajectory point position refer to the moving trajectory point position corresponding to the starting point and the moving trajectory point position corresponding to the end point in the moving trajectory information respectively;

[0217] A moving trajectory point angle determination subunit is used to determine the target moving direction range of the target recognition object based on the first moving trajectory point position, the second moving trajectory point position, the third moving trajectory point position and the fourth moving trajectory point position, the target moving direction range is determined based on the first moving direction angle and the second moving direction angle, the first moving angle is the angle formed by the line connecting the first moving trajectory point position and the third moving trajectory point position relative to the line connecting the fourth moving trajectory point position and the third moving trajectory point position, and the second moving angle is the angle formed by the line connecting the second moving trajectory point position and the third moving trajectory point position relative to the line connecting the fourth moving trajectory point position and the third moving trajectory point position.

[0218] The guardrail-based protection detection device provided in the embodiment of the present invention can execute the guardrail-based protection detection method provided in any embodiment of the present invention mentioned above, and has the corresponding functions and beneficial effects of executing the guardrail-based protection detection method. For the detailed process, please refer to the relevant operations of the guardrail-based protection detection method in the aforementioned embodiment.

[0219] Fig.10 1 is a schematic diagram of the structure of an electronic device for implementing a guardrail-based protection detection method according to an embodiment of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0220] like Fig.10 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0221] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0222] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a guardrail-based protection detection method.

[0223] In some embodiments, the guardrail-based protection detection method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the guardrail-based protection detection method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the guardrail-based protection detection method in any other appropriate manner (e.g., by means of firmware).

[0224] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0225] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0226] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0227] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0228] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0229] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0230] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0231] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A protection detection method based on a guardrail, characterized in that: The method comprises: Determine target movement trajectory information of a target identification object, wherein the target identification object is an identification object moving within a reference protection area corresponding to a reference protection fence; Determine target movement trend information of the target identification object according to the target movement trajectory information, wherein the target movement trend information is used to measure the possibility of the target identification object invading toward the reference guardrail during movement; According to the target movement trajectory information and the target movement trend information, the shooting equipment of the reference protection area is linked to track and detect the target identification object.

2. The method according to claim 1, characterized in that Determine the target movement trajectory information of the target identification object, including: The distance measuring sensor deployed on the reference guardrail detects the moving trajectory point position of the target identification object moving in the reference guardrail corresponding to the reference guardrail; According to the moving track point positions of the target recognition object, target moving track information of the target recognition object is determined, and the target moving track information includes a plurality of moving track point positions and collection times of corresponding moving track point positions.

3. The method according to claim 1, characterized in that The target movement trend information is based on the possibility of intrusion toward the reference guardrail determined by reference movement information when the target identification object continues to move in the reference guardrail area. The reference movement information includes at least one of the following: the distance from the position of the moving trajectory point of the target identification object to the reference guardrail, the speed component of the target identification object moving in a direction perpendicular to the reference guardrail, and the moving direction of the target identification object toward the reference guardrail.

4. The method according to claim 3, characterized in that: Determining target movement trend information of the target recognition object according to the target movement trajectory information includes: Determine a first reference distance of the target identification object according to the position of the moving trajectory point included in the target moving trajectory information, wherein the first reference distance is the distance from the moving trajectory point where the target identification object is located to a reference protection line of a reference protection fence; Determining target movement trend information of the target identification object according to the first reference distance of the target identification object, wherein the target movement trend information indicates that the possibility of the target identification object invading the reference guardrail during movement is negatively correlated with the first reference distance; Among them, the size of the first reference distance is negatively correlated with the size of the reference change rate, and the reference change rate is a physical quantity used to describe the speed of change of the possibility of intrusion of the target identification object toward the reference guardrail during movement as the first reference distance changes.

5. The method according to claim 3, characterized in that: Determining target movement trend information of the target recognition object according to the target movement trajectory information includes: Determine a reference speed of the target identification object according to the positions of each moving trajectory point included in the target moving trajectory information, wherein the reference speed is a speed component of the target identification object moving in a direction perpendicular to the reference guardrail when the target identification object continuously moves in the reference guardrail area; The target movement trend information of the target identification object is determined according to the reference speed of the target identification object, and the target movement trend information indicates that the possibility of the target identification object invading the reference guardrail during movement is positively correlated with the reference speed.

6. The method according to claim 5, characterized in that Determining target movement trend information of the target recognition object according to a reference speed of the target recognition object includes: Determine a second reference distance associated with the reference speed of the target identification object, where the second reference distance is the average of a third reference distance and a fourth reference distance, where the third reference distance and the fourth reference distance are respectively distances from two adjacent moving trajectory points used to calculate the reference speed of the target identification object to a reference protection line of a reference protection fence; The target movement trend information of the target identification object is determined based on the reference speed of the target identification object and the second reference distance. The influence of the reference speed on the possibility of the target identification object invading the reference guardrail during movement will gradually decay as the second reference distance increases.

7. The method according to claim 3, characterized in that Determining target movement trend information of the target recognition object according to the target movement trajectory information includes: Determine a reference moving direction of the target recognition object according to the positions of each moving trajectory point included in the target moving trajectory information, wherein the reference moving direction is determined based on an offset angle of the target recognition object relative to a direction perpendicular to the reference guardrail when the target recognition object continuously moves within the reference guardrail area; Based on the reference moving direction of the target identification object, the target movement trend information of the target identification object is determined, and the possibility of intrusion of the target identification object toward the reference guardrail during movement indicated by the target movement trend information is negatively correlated with the offset angle corresponding to the reference moving direction.

8. The method according to claim 7, characterized in that Determining target movement trend information of the target recognition object according to the reference movement direction of the target recognition object includes: Determine a fifth reference distance associated with the reference moving direction of the target recognition object, wherein the fifth reference distance is a distance from a moving trajectory point of the target recognition object that can form the reference moving direction to a reference protection line of a reference protection fence, determined based on the position of the moving trajectory point included in the target moving trajectory information; Based on the reference moving direction of the target identification object and the fifth reference distance, the target movement trend information of the target identification object is determined. The influence of the reference moving direction on the possibility of the target identification object invading toward the reference guardrail during movement will gradually attenuate as the fifth reference distance increases.

9. The method according to claim 1, characterized in that: According to the target movement trajectory information and the target movement trend information, the shooting device of the reference protection area is linked to track and detect the target identification object, including: Determining whether to start tracking and detecting the target identification object according to the target movement trend information; If started, predicting the predicted moving area to which the target identification object will go when it continues to move in the reference protection area based on the target movement trajectory information; Based on the predicted moving area, the shooting equipment of the reference protection area is linked to track and detect the target identification object.

10. The method according to claim 9, characterized in that Predicting the predicted moving area to which the target identification object will go when continuously moving in the reference protection area according to the target moving trajectory information includes: Determine, according to the movement trajectory point positions included in the target movement trajectory information, the target movement direction range when the target recognition object continuously moves within the reference protection area; Determining the instantaneous moving speed of the target identification object when it continuously moves within the reference protection area according to the moving trajectory point positions included in the target moving trajectory information; The predicted moving area to which the target recognition object will go when continuously moving in the reference protection area is determined according to the instantaneous moving speed and the target moving direction range.

11. The method according to claim 10, characterized in that Determining the target moving direction range angle when the target recognition object continuously moves within the reference protection area according to the moving trajectory point position included in the target moving trajectory information includes: Determining reference movement trajectory information from the target movement trajectory information, wherein the reference movement trajectory information is movement trajectory information within a reference collection time period selected from the target movement trajectory information; Determine a first moving trajectory point position, a second moving trajectory point position, a third moving trajectory point position, and a fourth moving trajectory point position from the moving trajectory point positions included in the reference moving trajectory information, wherein the first moving trajectory point position and the second moving trajectory point position are two moving trajectory point positions selected from the reference moving trajectory information that can produce a maximum distance difference along the reference guardrail direction, and the third moving trajectory point position and the fourth moving trajectory point position are respectively the moving trajectory point position corresponding to the starting point and the moving trajectory point position corresponding to the end point in the reference moving trajectory information; According to the first moving trajectory point position, the second moving trajectory point position, the third moving trajectory point position and the fourth moving trajectory point position, the target moving direction range of the target recognition object is determined, and the target moving direction range is determined according to the first moving direction angle and the second moving direction angle, the first moving angle is the angle formed by the line connecting the first moving trajectory point position and the third moving trajectory point position relative to the line connecting the fourth moving trajectory point position and the third moving trajectory point position, and the second moving angle is the angle formed by the line connecting the second moving trajectory point position and the third moving trajectory point position relative to the line connecting the fourth moving trajectory point position and the third moving trajectory point position.

12. A protection detection device based on a guardrail, characterized in that: The device comprises: Trajectory determination module: used to determine target movement trajectory information of a target identification object, where the target identification object is an identification object moving within a reference protection area corresponding to a reference protection fence; A movement trend determination module: used to determine the target movement trend information of the target identification object according to the target movement trajectory information, wherein the target movement trend information is used to measure the possibility of the target identification object invading toward the reference guardrail during movement; Linkage module: used to link the shooting equipment in the reference protection area to track and detect the target identification object according to the target movement trajectory information and the target movement trend information.

13. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the guardrail-based protection detection method according to any one of claims 1 to 11.

14. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the guardrail-based protection detection method described in any one of claims 1 to 11 when executed.

Images