Dynamic comprehensive management method and platform for intelligent security and protection

Abstract

The invention relates to the technical field of security management, and particularly discloses a dynamic comprehensive management method and platform for intelligent security, and the method comprises the steps: obtaining the zoning information of a security area and the installation information of a camera, constructing a road network according to the zoning information, and calculating the exposure of each position in the road network based on the installation information of the camera; determining motion parameters of the robot based on the exposure, and sending the motion parameters to the robot; and receiving monitoring data of the monitor in the security area, determining working parameters of the camera according to the monitoring data, and synchronously updating motion parameters of the robot. The road section is monitored through the camera installed on the street lamp, supplementary inspection monitoring is conducted on the area which cannot be monitored in cooperation with the robot, meanwhile, the non-road-section area is monitored through the sensor which is extremely low in cost and small in laying difficulty, the corresponding area can be monitored as soon as possible when special situations occur, and the monitoring efficiency is improved. And although the timeliness is slightly reduced, the cost is extremely low, and the aesthetic degree is also very high.

Description

Technical Field

[0001] The present invention relates to the technical field of security management, and in particular to a dynamic integrated management method and platform for intelligent security. Background Art

[0002] Smart security system is a comprehensive system that uses artificial intelligence (AI), Internet of Things (IoT), big data, cloud computing and other advanced technologies to achieve intelligence, automation and security protection. It is mainly used to enhance the protection capabilities in the fields of public safety, community management, corporate security, etc.

[0003] If you want to obtain the highest security effect, you must install global monitoring equipment in the entire security area, such as installing cameras. The monitoring range of the camera can fully cover the entire security area. It can be imagined that although this method has excellent security effects, the cost is too high, and the camera is generally installed on the top, and it is necessary to add multiple supporting rods, and the aesthetics is also poor. How to provide a low-cost intelligent security system suitable for large-area security areas is a technical problem that the technical solution of the present invention wants to solve. Summary of the invention

[0004] The purpose of the present invention is to provide a dynamic integrated management method and platform for smart security to solve the problems raised in the above background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions: A dynamic integrated management method for smart security, the method comprising: Obtain the zoning information of the security zone and the installation information of the camera, build a road network based on the zoning information, and calculate the exposure of each location in the road network based on the installation information of the camera; Determine the motion parameters of the robot based on the exposure and send them to the robot; the goal of determining the motion parameters of the robot is to minimize the standard deviation of the exposure at each position; Receive monitoring data from the monitors in the security zone, determine the working parameters of the camera based on the monitoring data, and synchronously update the motion parameters of the robot; The working parameters of the monitor are synchronously updated according to the monitoring data.

[0006] As a further solution of the present invention: the steps of obtaining the zoning information of the security zone and the installation information of the camera, constructing a road network according to the zoning information, and calculating the exposure at each position in the road network based on the installation information of the camera include: Query the traffic areas in the zoning information of the security zone and build a road network; Establishing a connection channel with the monitoring system and querying the camera installation information; the installation information includes the installation location and parameter range; Calculate the monitoring area of ​​the camera according to the parameter range; A location is selected in the road network according to a preset step length, the number of monitoring areas including each location is queried, and the exposure is determined according to the number; the exposure is proportional to the number.

[0007] As a further solution of the present invention: the step of determining the motion parameters of the robot based on the exposure and sending the parameters to the robot comprises: Marking positions where the exposure is less than a preset exposure threshold; Using the marked positions as waypoints, a preset number of detection paths are randomly generated; Selecting a final path from the generated detection paths based on the exposure of each position; Determine the robot's movement speed on the final path based on the exposure of each position; The final path selection process is: The detection path is symmetrically extended according to a preset distance to obtain an extension area; Query the exposure of each position in the extension area, calculate the mean and standard deviation of the exposure, calculate the evaluation score according to the mean and standard deviation, and select the detection path with the largest evaluation score as the final path; The calculation process of the evaluation score is as follows: ; In the formula, For the The evaluation score of each detection path is and is the preset correction factor, Indicates The mean of the detection paths, Indicates The standard deviation of the detection path is The predetermined minimum value of the mean, is the predetermined minimum standard deviation; The process of determining the movement speed is: Query the exposure of each position, and determine the movement rate of each position according to the direct proportion of the exposure; The movement speed of each position is fitted along the path direction to obtain the movement speed on the final path.

[0008] As a further solution of the present invention: the step of determining the motion parameters of the robot based on the exposure and sending the parameters to the robot further includes: The position of the fitting mark is used as the detection area, and the average exposure of the detection area is calculated simultaneously; Determining a detection probability based on the average exposure; the detection probability is inversely proportional to the average exposure; A detection area is randomly selected based on the detection probability as a passing area, and a preset number of detection paths are randomly generated.

[0009] As a further solution of the present invention: the steps of receiving monitoring data from a monitor in the security zone, determining the working parameters of the camera according to the monitoring data, and synchronously updating the motion parameters of the robot include: Establish connection channels with each monitor in the security area and obtain monitoring data from each monitor; Inputting the monitoring data into a trained fluctuation recognition model and outputting the fluctuation degree of the monitoring data; When any fluctuation reaches a preset fluctuation threshold, query the camera closest to the monitor; Sending a fixed-point monitoring instruction to the camera; the fixed-point monitoring instruction is used to control the center of the camera to point to the position closest to the monitor in the road network; Update the camera's monitoring area, synchronously update the exposure of each position, and update the robot's motion parameters.

[0010] As a further solution of the present invention: the step of synchronously updating the working parameters of the monitor according to the monitoring data includes: For any monitor, periodically obtain the fluctuation of other monitors within its preset range; Adjust its own data upload frequency according to the fluctuation of other monitors.

[0011] The technical solution of the present invention also provides a dynamic integrated management platform for smart security, the platform comprising: A road network parameter determination module is used to obtain the zoning information of the security zone and the installation information of the camera, construct a road network according to the zoning information, and calculate the exposure of each position in the road network based on the installation information of the camera; A motion parameter determination module is used to determine the motion parameters of the robot based on the exposure and send them to the robot; the goal of determining the motion parameters of the robot is to minimize the standard deviation of the exposure at each position; The monitoring data application module is used to receive the monitoring data of the monitors in the security zone, determine the working parameters of the camera according to the monitoring data, and synchronously update the motion parameters of the robot; The monitor adjustment module is used to synchronously update the working parameters of the monitor according to the monitoring data.

[0012] As a further solution of the present invention: the road network parameter determination module includes: A road network construction unit is used to query the pass area in the zoning information of the security zone and construct a road network; An installation information query unit, used to establish a connection channel with the monitoring system and query the installation information of the camera; the installation information includes the installation location and parameter range; A monitoring area calculation unit, used to calculate the monitoring area of ​​the camera according to the parameter range; The exposure calculation unit is used to select a position in the road network according to a preset step length, query the number of monitoring areas including each position, and determine the exposure according to the number; the exposure is proportional to the number.

[0013] As a further solution of the present invention: the motion parameter determination module includes: A position marking unit, used to mark a position where the exposure is less than a preset exposure threshold; A path generation unit, used to randomly generate a preset number of detection paths using the marked positions as waypoints; A path selection unit, for selecting a final path from the generated detection paths based on the exposure of each position; A speed determination unit, for determining a movement speed of the robot on a final path based on the exposure of each position; The final path selection process is: The detection path is symmetrically extended according to a preset distance to obtain an extension area; Query the exposure of each position in the extension area, calculate the mean and standard deviation of the exposure, calculate the evaluation score according to the mean and standard deviation, and select the detection path with the largest evaluation score as the final path; The calculation process of the evaluation score is as follows: ; In the formula, For the The evaluation score of each detection path is and is the preset correction factor, Indicates The mean of the detection paths, Indicates The standard deviation of the detection path is The predetermined minimum value of the mean, is the predetermined minimum standard deviation; The process of determining the movement speed is: Query the exposure of each position, and determine the movement rate of each position according to the direct proportion of the exposure; The movement speed of each position is fitted along the path direction to obtain the movement speed on the final path.

[0014] As a further solution of the present invention: the monitoring data application module includes: A data acquisition unit is used to establish a connection channel with each monitor in the security area and obtain monitoring data of each monitor; A fluctuation calculation unit, used for inputting the monitoring data into a trained fluctuation recognition model and outputting the fluctuation of the monitoring data; A camera query unit, used for querying the camera closest to the monitor when any fluctuation reaches a preset fluctuation threshold; An instruction sending unit, used for sending a fixed-point monitoring instruction to the camera; the fixed-point monitoring instruction is used to control the center of the camera to point to the position closest to the monitor in the road network; The parameter updating unit is used to update the monitoring area of ​​the camera, synchronously update the exposure of each position, and update the motion parameters of the robot.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention monitors the road section by means of the camera installed on the street lamp, and performs supplementary patrol monitoring on the areas that cannot be monitored in cooperation with the robot. At the same time, the non-road section area is monitored by using the sensor with extremely low cost and low laying difficulty. When special circumstances occur, the corresponding area can be monitored as soon as possible. Although the timeliness is slightly reduced, the cost is extremely low and the aesthetics is also very high. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention.

[0017] Figure 1 This is a flowchart of the dynamic integrated management method for smart security.

[0018] Figure 2 This is the first sub-process flowchart of the dynamic integrated management method for smart security.

[0019] Figure 3 This is the second sub-process flowchart of the dynamic integrated management method for smart security.

[0020] Figure 4 This is the third sub-process flowchart of the dynamic integrated management method for smart security.

[0021] Figure 5 This is the fourth sub-process flowchart of the dynamic integrated management method for smart security.

[0022] Figure 6 This is a structural block diagram of the dynamic integrated management system for smart security. DETAILED DESCRIPTION

[0023] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0024] Figure 1The flowchart of the dynamic integrated management method of smart security is as follows. In an embodiment of the present invention, a dynamic integrated management method of smart security includes: Step S100: obtaining the zoning information of the security zone and the installation information of the camera, constructing a road network according to the zoning information, and calculating the exposure at each position in the road network based on the installation information of the camera; A security zone is an area that requires security. Its area is generally large, and the cost of installing a global monitoring camera is extremely high. The zoning information of the security zone is obtained. The zoning information is the function of each area, which is determined during the regional construction stage. For the execution subject of this method, it is known data by default. Further, the camera installation information in the security zone is obtained. The camera in the scenario of this application is generally installed on a street lamp to monitor the road. The road distribution in the zoning information is read to construct a road network. The exposure of each position in the road network is calculated based on the camera installation information. The camera installation information is used to determine the monitoring range of the camera. The calculated exposure indicates the possibility of monitoring each position in the road network. The higher the exposure, the higher the monitoring possibility, and the greater the possibility of the corresponding position being monitored.

[0025] Step S200: determining the motion parameters of the robot based on the exposure and sending them to the robot; the goal of determining the motion parameters of the robot is to minimize the standard deviation of the exposure at each position; On this basis, a robot with mobile function is used for free inspection. The existing robots are extremely advanced and have been mass-produced. Their motion functions are extremely strong and can adapt to various road sections. The motion parameters of the robot are determined based on the exposure and sent to the robot. The motion parameters include motion path and motion speed. The determined motion parameters are used to ensure that the exposure of each position is uniform. That is, the inspection process of the robot plus the fixed-point detection process of the camera can make the exposure of each position in the road network as close as possible.

[0026] Step S300: receiving monitoring data from the monitor in the security zone, determining the working parameters of the camera according to the monitoring data, and synchronously updating the motion parameters of the robot; Multiple monitors will also be installed in the security zone, including infrared monitors and audio monitors, which are distributed in non-road areas. They are low in cost and easy to install, and multiple monitors can be set up. Monitoring data from the monitors in the security zone are received, and the working parameters of the camera are determined based on the monitoring data, and the motion parameters of the robot are updated synchronously. In this application, the camera and the robot only monitor the passable area, and the non-passable area is less important and is monitored by a monitor. However, the monitoring results of the monitor can affect the camera and the robot, and determine which part of the road section the camera and the machine monitor to a higher degree.

[0027] Cameras, robots and monitors actually form a three-in-one architecture. For large areas of unimportant non-road areas, this application uses low-cost and easy-to-install monitors for fuzzy monitoring. Important road areas (special cases basically involve road sections, which are difficult to complete only in non-road areas) are monitored by cameras and robots. The cost is very low and the resource utilization rate is high.

[0028] Step S400: Synchronously updating the working parameters of the monitor according to the monitoring data; After the monitor obtains the monitoring data, it identifies the monitoring data and can adjust the working process of the monitor itself. The more stable the monitoring data is, the lower its working frequency can be, and the security area is in a stable state for a long time. This negative feedback architecture can further reduce costs and improve resource utilization.

[0029] Figure 2 The first sub-process flowchart of the dynamic integrated management method of smart security is as follows: the steps of obtaining the zoning information of the security zone and the installation information of the camera, constructing a road network according to the zoning information, and calculating the exposure at each position in the road network based on the installation information of the camera include: Step S101: query the pass area in the zoning information of the security zone and construct a road network; Step S102: Establishing a connection channel with the monitoring system and querying the installation information of the camera; the installation information includes the installation location and parameter range; Step S103: Calculating the monitoring area of ​​the camera according to the parameter range; Step S104: select a location in the road network according to a preset step length, query the number of monitoring areas including each location, and determine the exposure degree according to the number; the exposure degree is proportional to the number.

[0030] In an example of the technical solution of the present invention, the analysis process of each position in the road network is described, the traffic area in the zoning information of the security zone is queried, the road network is constructed, the connection channel with the monitoring system is established, and the installation information of the camera is queried; the installation information includes the installation position and the parameter range, the parameter range is the monitoring wide angle and the camera rotation range, the monitoring wide angle is generally fixed, and the camera rotation range is generally an angle range. Although there are many 360-degree rotating monitoring cameras now, there is still an angle in its actual monitoring range, and the clarity is insufficient at a distance. For example, if the camera is pointed at the sky, its information is almost invalid. Therefore, the angle range is generally around the x-axis, y-axis and z-axis to plus or minus 30 degrees or plus or minus 60 degrees.

[0031] The monitoring area of ​​the camera is calculated according to the parameter range, and then the position is selected in the road network according to the preset step size, the number of monitoring areas including each position is queried, and the exposure is determined according to the number. The exposure is proportional to the number. The larger the number, the more cameras can monitor the position and the greater the exposure. In addition, the step size is the distance between adjacent positions. A simpler way is to determine a length and use the length as the step size to construct a grid. The step size represents the side length of each small unit in the grid. The grid is inserted into the road network, and the grid node can be used as the position. An even simpler way is to simplify the road network into a set of line segments, determine a length, and select a position at a certain distance in the line segment set.

[0032] Figure 3 The second sub-flow chart of the dynamic integrated management method of smart security, wherein the step of determining the motion parameters of the robot based on the exposure and sending the parameters to the robot includes: Step S201: marking a position where the exposure is less than a preset exposure threshold; Step S202: using the marked position as a waypoint, and randomly generating a preset number of detection paths; Step S203: selecting a final path from the generated detection paths based on the exposure of each position; Step S204: Determine the movement speed of the robot on the final path based on the exposure of each position.

[0033] In an example of the technical solution of the present invention, the exposure of each position is compared with a preset exposure threshold. When the exposure is less than the preset exposure threshold, the marked position is used as a waypoint, and then the existing path generation scheme is applied to generate a path passing through all the waypoints, which is called a detection path. Since different positions have no order, there are many randomly generated detection paths. A detection path that best meets the preset exposure conditions is selected from multiple detection paths as the final path; at the same time, the movement speed of the robot on the final path can also be determined according to the exposure at each position; the process of determining the movement speed is to first determine the movement rate according to the exposure at each position, and then fit the movement rate (equivalent to converting discrete data into a smoother curve) to obtain the final movement speed.

[0034] Specifically, the final path selection process is: The detection path is symmetrically extended according to a preset distance to obtain an extension area; Query the exposure of each position in the extension area, calculate the mean and standard deviation of the exposure, calculate the evaluation score according to the mean and standard deviation, and select the detection path with the largest evaluation score as the final path; The calculation process of the evaluation score is as follows: ; In the formula, For the The evaluation score of each detection path is and is the preset correction factor, Indicates The mean of the detection paths, Indicates The standard deviation of the detection path is The predetermined minimum value of the mean, is the predetermined minimum standard deviation; The process of determining the evaluation score is as follows: the smaller the mean, the smaller the total exposure of the positions passed by the detection path, and the more it needs to be selected; the smaller the standard deviation, the more uniform the exposure of the positions passed by the detection path, and the more it needs to be selected; among them, the degree of influence of the mean and standard deviation can be determined by the staff according to the specific situation. For example, a compound exponential function can be used on the mean term, and its change is more drastic, indicating that the mean term is more important. A compound logarithmic function can also be used on the mean term, and its change is more gradual, indicating that the mean term is less important.

[0035] The process of determining the movement speed is: Query the exposure of each position, and determine the movement rate of each position according to the direct proportion of the exposure; The movement speed of each position is fitted along the path direction to obtain the movement speed on the final path.

[0036] As a preferred embodiment of the technical solution of the present invention, the step of determining the motion parameters of the robot based on the exposure and sending the parameters to the robot further includes: The position of the fitting mark is used as the detection area, and the average exposure of the detection area is calculated simultaneously; Determining a detection probability based on the average exposure; the detection probability is inversely proportional to the average exposure; A detection area is randomly selected based on the detection probability as a passing area, and a preset number of detection paths are randomly generated.

[0037] The process of determining the detection path in the present application is actually to first determine multiple paths, and then select an optimal path from the multiple paths. The more paths there are, the closer the selected optimal path is to the optimal path in the true sense. The purpose of the above content is to optimize the detection path determination plan.

[0038] The position of the fitting mark is used as the detection area, and the average exposure of the detection area is calculated. The detection probability is determined based on the average exposure. The smaller the average exposure, the higher the detection probability. For each detection area, it is determined whether to select the detection area based on the detection probability. After all detection areas are determined, multiple detection areas are obtained. The obtained multiple detection areas are subsets of all detection areas. The selected detection areas are used as the passing areas, and a preset number of detection paths are randomly generated. This process simplifies the path generation process (first, the positions are counted as areas, and second, the detection probability of the detection areas is adjusted according to the exposure). Under the premise of ensuring the integrity of the inspection as much as possible, the operating cost of the robot is greatly reduced. It essentially reduces the inspection frequency at each position.

[0039] It is worth mentioning that the process of determining whether to select the detection area can be assisted by random numbers. Assuming the detection probability is 30%, a random number is generated between 0 and 1. If it is between 0 and 30%, it is determined to be selected. Otherwise, it is determined not to be selected.

[0040] Figure 4 The third sub-flow chart of the dynamic integrated management method of smart security includes the steps of receiving monitoring data of the monitor in the security zone, determining the working parameters of the camera according to the monitoring data, and synchronously updating the motion parameters of the robot. Step S301: Establishing a connection channel with each monitor in the security zone to obtain monitoring data of each monitor; Step S302: input the monitoring data into a trained fluctuation recognition model, and output the fluctuation degree of the monitoring data; Step S303: when any fluctuation reaches a preset fluctuation threshold, query the camera closest to the monitor; Step S304: Sending a fixed-point monitoring instruction to the camera; the fixed-point monitoring instruction is used to control the center of the camera to point to the position closest to the monitor in the road network; Step S305: Update the monitoring area of ​​the camera, synchronously update the exposure of each position, and update the motion parameters of the robot.

[0041] In an example of the technical solution of the present invention, the three-end interaction process is defined, a connection channel is established with each monitor in the security area, the monitoring data of each monitor is obtained, the monitoring data is input into a trained fluctuation recognition model, and the fluctuation degree of the monitoring data is output. The fluctuation recognition model can use an existing function analysis model; when any fluctuation degree is large enough, the camera closest to the monitor is queried, and a fixed-point monitoring instruction is sent to the camera, and the center of the camera is controlled to point to the position closest to the monitor in the road network, that is, the nearest camera will monitor a certain area at a fixed point, and the area is very close to the monitor.

[0042] When the camera is in a fixed-point monitoring state, the monitoring area of ​​the camera changes, and the exposure at each position changes. Accordingly, the motion parameters of the robot also need to be adjusted in the same way, that is, step S201 to step S202.

[0043] Figure 5 The fourth sub-flow chart of the dynamic integrated management method of smart security, wherein the step of synchronously updating the working parameters of the monitor according to the monitoring data includes: Step S401: For any monitor, periodically obtain the fluctuation of other monitors within its preset range; Step S402: adjusting its own data upload frequency according to the fluctuation of other monitors.

[0044] In one example of the technical solution of the present invention, a negative feedback regulation architecture is introduced on the monitor. For any monitor, the fluctuation of the monitors around it is obtained at preset time intervals. The fluctuation actually reflects the stability of the data of the monitor. If the fluctuation is relatively small, then the area where the monitor is located is in a relatively stable area, and the frequency of data upload can be reduced, further reducing costs.

[0045] It should be noted that the fluctuation identification model used in this application to identify fluctuations is simply used to evaluate the fluctuations of discrete data. In the data analysis process, it is a conventional technology. There are also related technologies in other fields, such as the field of power data evaluation. Therefore, this application will not go into details.

[0046] There are many ways to adjust one's own data upload frequency according to the fluctuation of other monitors. A simpler way is to query the maximum fluctuation of surrounding monitors and determine the data upload frequency in proportion to the maximum fluctuation. That is, the data upload frequency is related to the maximum fluctuation.

[0047] Figure 6 The following is a structural diagram of a dynamic integrated management system for smart security. In an embodiment of the present invention, a dynamic integrated management platform for smart security is provided. The platform 10 includes: The road network parameter determination module 11 is used to obtain the zoning information of the security zone and the installation information of the camera, construct the road network according to the zoning information, and calculate the exposure at each position in the road network based on the installation information of the camera; A motion parameter determination module 12 is used to determine the motion parameters of the robot based on the exposure and send them to the robot; the goal of determining the motion parameters of the robot is to minimize the standard deviation of the exposure at each position; The monitoring data application module 13 is used to receive the monitoring data of the monitors in the security zone, determine the working parameters of the camera according to the monitoring data, and synchronously update the motion parameters of the robot; The monitor adjustment module 14 is used to synchronously update the working parameters of the monitor according to the monitoring data.

[0048] Furthermore, the road network parameter determination module 11 includes: A road network construction unit is used to query the pass area in the zoning information of the security zone and construct a road network; An installation information query unit, used to establish a connection channel with the monitoring system and query the installation information of the camera; the installation information includes the installation location and parameter range; A monitoring area calculation unit, used to calculate the monitoring area of ​​the camera according to the parameter range; The exposure calculation unit is used to select a position in the road network according to a preset step length, query the number of monitoring areas including each position, and determine the exposure according to the number; the exposure is proportional to the number.

[0049] Specifically, the motion parameter determination module 12 includes: A position marking unit, used to mark a position where the exposure is less than a preset exposure threshold; A path generation unit, used to randomly generate a preset number of detection paths using the marked positions as waypoints; A path selection unit, for selecting a final path from the generated detection paths based on the exposure of each position; A speed determination unit, for determining a movement speed of the robot on a final path based on the exposure of each position; The final path selection process is: The detection path is symmetrically extended according to a preset distance to obtain an extension area; Query the exposure of each position in the extension area, calculate the mean and standard deviation of the exposure, calculate the evaluation score according to the mean and standard deviation, and select the detection path with the largest evaluation score as the final path; The calculation process of the evaluation score is as follows: ; In the formula, For the The evaluation score of each detection path is and is the preset correction factor, Indicates The mean of the detection paths, Indicates The standard deviation of the detection path is The predetermined minimum value of the mean, is the predetermined minimum standard deviation; The process of determining the movement speed is: Query the exposure of each position, and determine the movement rate of each position according to the direct proportion of the exposure; The movement speed of each position is fitted along the path direction to obtain the movement speed on the final path.

[0050] Furthermore, the monitoring data application module 13 includes: A data acquisition unit is used to establish a connection channel with each monitor in the security area and obtain monitoring data of each monitor; A fluctuation calculation unit, used for inputting the monitoring data into a trained fluctuation recognition model and outputting the fluctuation of the monitoring data; A camera query unit, used for querying the camera closest to the monitor when any fluctuation reaches a preset fluctuation threshold; An instruction sending unit, used for sending a fixed-point monitoring instruction to the camera; the fixed-point monitoring instruction is used to control the center of the camera to point to the position closest to the monitor in the road network; The parameter updating unit is used to update the monitoring area of ​​the camera, synchronously update the exposure of each position, and update the motion parameters of the robot.

[0051] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A dynamic integrated management method for intelligent security, characterized in that: The method comprises: Obtain the zoning information of the security zone and the installation information of the camera, build a road network based on the zoning information, and calculate the exposure of each location in the road network based on the installation information of the camera; Marking positions where the exposure is less than a preset exposure threshold; Using the marked positions as waypoints, a preset number of detection paths are randomly generated; Selecting a final path from the generated detection paths based on the exposure of each position; Determine the robot's movement speed on the final path based on the exposure of each position; Receive monitoring data from the monitors in the security zone, determine the working parameters of the camera based on the monitoring data, and synchronously update the motion parameters of the robot; The working parameters of the monitor are synchronously updated according to the monitoring data.

2. The dynamic integrated management method of smart security according to claim 1 is characterized in that: The steps of obtaining the zoning information of the security zone and the installation information of the camera, constructing a road network according to the zoning information, and calculating the exposure at each position in the road network based on the installation information of the camera include: Query the traffic areas in the zoning information of the security zone and build a road network; Establishing a connection channel with the monitoring system and querying the camera installation information; the installation information includes the installation location and parameter range; Calculate the monitoring area of ​​the camera according to the parameter range; A location is selected in the road network according to a preset step length, the number of monitoring areas including each location is queried, and the exposure is determined according to the number; the exposure is proportional to the number.

3. The dynamic integrated management method of smart security according to claim 1 is characterized in that: The final path selection process is: The detection path is symmetrically extended according to a preset distance to obtain an extension area; Query the exposure of each position in the extension area, calculate the mean and standard deviation of the exposure, calculate the evaluation score according to the mean and standard deviation, and select the detection path with the largest evaluation score as the final path; The calculation process of the evaluation score is as follows: ; In the formula, For the The evaluation score of each detection path is and is the preset correction factor, Indicates The mean of the detection paths, Indicates The standard deviation of the detection paths, is the predetermined minimum mean value, is the predetermined minimum standard deviation; The process of determining the movement speed is: Query the exposure of each position, and determine the movement rate of each position according to the direct proportion of the exposure; The movement speed of each position is fitted along the path direction to obtain the movement speed on the final path.

4. The dynamic integrated management method of smart security according to claim 3 is characterized in that: The step of determining the motion parameters of the robot based on the exposure and sending the parameters to the robot further includes: The position of the fitting mark is used as the detection area, and the average exposure of the detection area is calculated simultaneously; Determining a detection probability based on the average exposure; the detection probability is inversely proportional to the average exposure; A detection area is randomly selected based on the detection probability as a passing area, and a preset number of detection paths are randomly generated.

5. The dynamic integrated management method of smart security according to claim 1 is characterized in that: The steps of receiving monitoring data from a monitor in the security zone, determining the working parameters of the camera according to the monitoring data, and synchronously updating the motion parameters of the robot include: Establish connection channels with each monitor in the security area and obtain monitoring data from each monitor; Inputting the monitoring data into a trained fluctuation recognition model and outputting the fluctuation degree of the monitoring data; When any fluctuation reaches a preset fluctuation threshold, query the camera closest to the monitor; Sending a fixed-point monitoring instruction to the camera; the fixed-point monitoring instruction is used to control the center of the camera to point to the position closest to the monitor in the road network; Update the camera's monitoring area, synchronously update the exposure of each position, and update the robot's motion parameters.

6. The dynamic integrated management method of smart security according to claim 5 is characterized in that: The step of synchronously updating the working parameters of the monitor according to the monitoring data comprises: For any monitor, periodically obtain the fluctuation of other monitors within its preset range; Adjust its own data upload frequency according to the fluctuation of other monitors.

7. A dynamic integrated management platform for smart security, characterized in that: The platform includes: A road network parameter determination module is used to obtain the zoning information of the security zone and the installation information of the camera, construct a road network according to the zoning information, and calculate the exposure of each position in the road network based on the installation information of the camera; A position marking unit, used to mark a position where the exposure is less than a preset exposure threshold; A path generation unit, used to randomly generate a preset number of detection paths using the marked positions as waypoints; A path selection unit, for selecting a final path from the generated detection paths based on the exposure of each position; A speed determination unit, for determining a movement speed of the robot on a final path based on the exposure of each position; The monitoring data application module is used to receive the monitoring data of the monitors in the security zone, determine the working parameters of the camera according to the monitoring data, and synchronously update the motion parameters of the robot; The monitor adjustment module is used to synchronously update the working parameters of the monitor according to the monitoring data.

8. The dynamic integrated management platform for smart security according to claim 7 is characterized in that: The road network parameter determination module comprises: A road network construction unit is used to query the pass area in the zoning information of the security zone and construct a road network; An installation information query unit, used to establish a connection channel with the monitoring system and query the installation information of the camera; the installation information includes the installation location and parameter range; A monitoring area calculation unit, used to calculate the monitoring area of ​​the camera according to the parameter range; The exposure calculation unit is used to select a position in the road network according to a preset step length, query the number of monitoring areas including each position, and determine the exposure according to the number; the exposure is proportional to the number.

9. The dynamic integrated management platform for smart security according to claim 7, characterized in that: The final path selection process is: The detection path is symmetrically extended according to a preset distance to obtain an extension area; Query the exposure of each position in the extension area, calculate the mean and standard deviation of the exposure, calculate the evaluation score according to the mean and standard deviation, and select the detection path with the largest evaluation score as the final path; The calculation process of the evaluation score is as follows: ; In the formula, For the The evaluation score of each detection path is and is the preset correction factor, Indicates The mean of the detection paths, Indicates The standard deviation of the detection paths, is the predetermined minimum mean value, is the predetermined minimum standard deviation; The process of determining the movement speed is: Query the exposure of each position, and determine the movement rate of each position according to the direct proportion of the exposure; The movement speed of each position is fitted along the path direction to obtain the movement speed on the final path.

10. The dynamic integrated management platform for smart security according to claim 7, characterized in that: The monitoring data application module includes: A data acquisition unit is used to establish a connection channel with each monitor in the security area and obtain monitoring data of each monitor; A fluctuation calculation unit, used for inputting the monitoring data into a trained fluctuation recognition model and outputting the fluctuation of the monitoring data; A camera query unit, used for querying the camera closest to the monitor when any fluctuation reaches a preset fluctuation threshold; An instruction sending unit, used for sending a fixed-point monitoring instruction to the camera; the fixed-point monitoring instruction is used to control the center of the camera to point to the position closest to the monitor in the road network; The parameter updating unit is used to update the monitoring area of ​​the camera, synchronously update the exposure of each position, and update the motion parameters of the robot.

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