A security monitoring device based on human perception

Abstract

The application provides a security monitoring device based on human perception, which comprises a monitoring body, a mounting rack for mounting the monitoring body, a rotating table rotatably connected to one end of the mounting rack, the monitoring body being connected to the rotating table through a hinged structure and being rotatable up and down about the hinged structure, and a controller of a control device arranged on the mounting rack; an electric lifting rod is arranged on one side of the rotating table and rotatably connected to the rotating table and the monitoring body at both ends; a mounting plate is arranged between the rotating table and the mounting rack, a plurality of support frames are arranged on the circumference of the mounting plate, and a sensing assembly is arranged on each support frame; the sensing assembly comprises a main body shell, a pyroelectric sensor for detecting human infrared radiation signals and a piezoelectric sensor for detecting low-frequency vibration signals, both of which are arranged in the main body shell, and a control panel is further arranged in the main body shell. The device realizes accurate human perception through a dual-mode sensing assembly, adjusts the monitoring angle in cooperation with the rotating table and the electric lifting rod, and improves the reliability and adaptability of security monitoring.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of monitoring devices, in particular to a security monitoring device based on human perception. BACKGROUND

[0002] In the field of security monitoring, monitoring devices based on human perception are widely used in home, factory, campus and other scenes, which realize safety warning and dynamic tracking by monitoring human activities in real time. However, the existing security monitoring devices face the dual problems of insufficient sensing accuracy and tracking response lag in actual use.

[0003] When using traditional monitoring devices, in order to expand the monitoring range, a fixed-angle multi-camera layout or a single rotating camera combined with a simple infrared sensor is often used. However, the single infrared sensor of the traditional monitoring device is easily disturbed by the environment, such as pet activity and warm air flow, which causes false triggering, making the camera rotate frequently and meaninglessly, wasting energy and shortening the service life of the device. At the same time, the traditional monitoring device is difficult to locate the target direction due to the lack of coordinated sensing of vibration signals when detecting human activity, and the steering control of the rotating mechanism only relies on a single signal source, which is prone to tracking deviation or lag during target movement, especially in complex environments such as rapid movement of personnel and multiple target cross activities, the monitoring screen is easy to lose the key target, affecting the reliability of security. SUMMARY

[0004] In view of the above-mentioned problems, in combination with the first aspect of the present application, the present application provides a security monitoring device based on human perception, which comprises:

[0005] A security monitoring device based on human perception, comprising a monitoring body and a mounting bracket for mounting the monitoring body, one end of the mounting bracket being rotatably connected to a rotating table, the monitoring body being connected to the rotating table through a hinged structure, the monitoring body being rotatable up and down about the center line through the hinged structure, and a controller for controlling the monitoring device being provided on the mounting bracket;

[0006] One side of the rotating table is provided with an electric lifting rod, one end of the electric lifting rod being connected to the rotating table and the other end being rotatably connected to the monitoring body;

[0007] An installation plate is provided between the rotating table and the mounting bracket, a plurality of support frames are provided on the periphery of the installation plate, and a sensing assembly is provided on the support frame;

[0008] The induction assembly comprises a main body shell, a pyroelectric sensor for sensing infrared radiation signals and a piezoelectric sensor for sensing low-frequency vibration signals, the pyroelectric sensor and the piezoelectric sensor are both installed in the main body shell, and a control board for controlling the induction assembly is arranged in the main body shell, the control board is electrically connected with the pyroelectric sensor, the piezoelectric sensor and the controller respectively.

[0009] According to a preferred embodiment, a rotating support plate is arranged on the support frame, the main body shell is installed on the support plate, a limiting block is clamped between the support plate and the support frame, an upward supporting force is formed by the limiting block, and an included angle of 25° is formed between the support plate and the support frame.

[0010] A traction rope is arranged on the support plate, a threaded stud is arranged at one end of the traction rope, a threaded hole is formed in the support frame, the threaded stud is arranged in the threaded hole, a downward pulling force is formed by the threaded stud and the traction rope, and the support plate and the support frame clamp the limiting block.

[0011] One end of the main body shell is provided with an irradiation opening, and an installation area is arranged inside, a light-transmitting mirror is arranged in the irradiation opening, an installation frame is arranged in the installation area, the pyroelectric sensor is installed in the installation frame, and the irradiation direction is towards the light-transmitting mirror.

[0012] According to a preferred embodiment, the pyroelectric sensor, the piezoelectric sensor and the control board are all located in the installation area, a silica gel ring for enhancing vibration signals is arranged outside the light-transmitting mirror, and a clamping groove is formed at the irradiation opening, and the silica gel ring is clamped in the clamping groove.

[0013] The main body shell is provided with a first mounting seat and a second mounting seat, the first mounting seat is located below the pyroelectric sensor, the piezoelectric sensor is clamped in the first mounting seat, the second mounting seat is located at one end of the main body shell away from the irradiation opening, and the control board is clamped on the second mounting seat.

[0014] The silica gel ring is provided with a radial protrusion, and the protrusion is connected with the piezoelectric sensor through a conductor.

[0015] According to a preferred embodiment, the signal output end of the piezoelectric sensor is connected with the pyroelectric sensor through a metal spring piece.

[0016] When the piezoelectric sensor and the pyroelectric sensor both detect valid signals, the metal spring piece generates resonance through double signal superposition, triggering an alarm.

[0017] When one of the piezoelectric sensor and the pyroelectric sensor detects an effective signal, the metal spring does not vibrate and does not trigger an alarm, thereby forming a double condition verification structure.

[0018] The conducting element is a tungsten wire.

[0019] The metal spring is made of beryllium copper.

[0020] According to a preferred embodiment, a protective plate is arranged above the support plate, the protective plate is connected with the support plate to form a protective cavity, the induction assembly is located in the protective cavity, and an air gap of 0.5 mm is formed between the protective plate and the main body shell.

[0021] The protective plate is made of polytetrafluoroethylene and is covered with a transparent hydrophobic coating on the outside of the protective plate.

[0022] An angle a is formed between the induction assembly and the center line of the adjacent induction assembly, a belongs to 30°-90°, the irradiation range of the induction assembly is arranged in a fan shape, the fan angle is β, β belongs to 120°-150°, and the overlapping angle Y of adjacent fan-shaped regions (S1, S2) is 15°-45°.

[0023] According to a preferred embodiment, one end of the mounting bracket is provided with a mounting sleeve, the mounting plate covers the opening surface of the mounting sleeve to form a mounting cavity, a motor is arranged in the mounting cavity, a bearing is arranged in the mounting plate, a protrusion is arranged at the bottom of the rotating table, the protrusion penetrates the bearing, and the motor shaft end is connected with the protrusion.

[0024] An annular sliding groove is formed in the mounting plate, and a plurality of rolling beads are arranged at the bottom of the support table and clamped in the annular sliding groove.

[0025] An oil injection pipe is formed in the mounting sleeve, the two ends of the oil injection pipe are respectively provided as an oil inlet and an oil outlet, an oil inlet cavity is arranged in the rotating table, an oil inlet hole and a plurality of oil outlet holes are formed in the rotating table, the oil inlet cavity is connected with the outside through the oil inlet hole and the oil outlet hole, and the oil outlet holes are located at the protrusion and the rolling beads.

[0026] When the rotating table is rotated to one side by 60°, the oil outlet and the oil inlet hole are connected, the oil inlet is connected with an oil supply device outside, rubber membranes connected with flaps are arranged at the oil outlet and the oil inlet hole to form a one-way valve structure.

[0027] According to a preferred embodiment, the control method of the monitoring device by the controller comprises the following steps:

[0028] S1: obtaining infrared radiation intensity data based on a pyroelectric sensor, obtaining vibration frequency data based on a piezoelectric sensor, and generating a dual-mode verification result based on the infrared radiation intensity data and the vibration frequency data;

[0029] S2: determining a target trigger area based on the dual-mode verification result, generating a spatial positioning coordinate in combination with the installation position of the sensing component, and outputting a preliminary steering instruction to the motor and the electric lifting rod based on the spatial positioning coordinate;

[0030] S3: constructing a target moving track based on the trigger timing and signal intensity difference of multiple sensing components, correcting the steering speed parameter according to the track curvature, and dynamically optimizing the preliminary steering instruction based on the corrected steering speed parameter;

[0031] S4: when the target moving track exceeds the current monitoring body field range, generating a linkage control instruction to synchronously adjust the horizontal rotation angle of the motor and the extension amount of the electric lifting rod.

[0032] According to a preferred embodiment, the controller also includes a control method for the monitoring device, which comprises:

[0033] obtaining the dual-mode verification result and the installation azimuth angle of each sensing component, and generating a spatial trigger matrix based on the installation azimuth angle and the verification result;

[0034] When a single sensing component triggers a dual-mode signal, the number information of the component is extracted, a primary directional instruction is generated based on the number information and a preset area mapping table, and the rotating table is controlled to steer to the corresponding area at a speed of 1° / ms;

[0035] When two adjacent sensing components are triggered at the same time, the signal intensity ratio of the two components is calculated, the target deviation azimuth is determined based on the ratio, a secondary tracking instruction is generated, and the rotating table is controlled to rotate along an arc track at a speed of 0.5° / ms, and the steering angle is calibrated in real time during the rotation process.

[0036] According to a preferred embodiment, the target moving track is constructed based on the trigger timing and signal intensity difference of multiple sensing components, the steering speed parameter is corrected according to the track curvature, and the preliminary steering instruction is dynamically optimized based on the corrected steering speed parameter, which comprises:

[0037] The target moving speed is calculated based on the trigger time difference and the installation interval of the sensing component, and the target distance is estimated in combination with the vibration signal amplitude attenuation coefficient;

[0038] When the track curvature is less than 15° / m, the steering speed is maintained unchanged;

[0039] When the track curvature is between 15° and 30° / m, the steering speed is reduced by 20%;

[0040] When the track curvature is greater than 30° / m, the steering speed is reduced by 50% and the pre-judgment steering mode is started;

[0041] In the pre-judgment steering mode, a parabolic equation is fitted based on the track data of the first three sampling points, and a pre-steering instruction is output 500ms in advance, so that the center of the field of view of the monitoring body always leads the target position by 0.5m.

[0042] According to a preferred embodiment, when three or more sensing components are triggered at the same time, the control method further comprises:

[0043] The peak values of the vibration signals of each sensing component are extracted, the main triggering component is determined based on the peak value size sorting, and the fan-shaped coverage area is generated based on the installation position of the main triggering component;

[0044] The signal phase difference of adjacent components is calculated, and when the phase difference is less than 30°, it is determined as the same target group, and the monitoring body is controlled to shoot in a wide-angle mode;

[0045] When the phase difference is greater than 30°, it is determined as a scattered target, and a round scanning mode is started, and the shooting time of each target is allocated according to the signal intensity ratio;

[0046] In the round scanning mode, the characteristic parameters of the current target are automatically recorded after completing the target switching once, and when the same characteristic parameters are detected again, 50% of the shooting time is preferentially allocated;

[0047] The characteristic parameters include the external radiation area and the vibration frequency distribution.

[0048] Compared with the prior art, the present application has the following beneficial effects:

[0049] 1. Through the dual-mode sensing component design of the pyroelectric sensor and the piezoelectric sensor, the cooperative installation of the two in the main body shell is utilized to form a double verification mechanism for human body sensing: the pyroelectric sensor detects the human body infrared radiation signal, the piezoelectric sensor detects the low-frequency vibration signal through the silica gel ring and the tungsten wire, and the signal output ends of the two are connected through the beryllium copper metal spring. Only when the two signals are effective at the same time, the metal spring resonates and triggers, which can filter the false triggering caused by single interference sources such as pet activity and warm air flow, and avoid meaningless rotation of the camera. At the same time, multiple sensing components are installed on the installation plate through the support frame, and are distributed at an angle of 30°-90°, the fan-shaped coverage range is 120°-150°, and the adjacent areas overlap by 15°-45°, which solves the problem of fuzzy positioning of single signal source in traditional devices.

[0050] 2. The protective plate outside the induction assembly and the support plate form a protective cavity, the protective plate is made of polytetrafluoroethylene material and covers a transparent hydrophobic coating, and a 0.5mm air gap is reserved between the protective plate and the main body shell, which not only ensures the penetration of infrared signals, but also blocks dust and rain from adhering, reducing the interference of environmental factors on the sensor; the mounting sleeve at one end of the mounting frame is covered with the mounting plate to form a mounting cavity, the built-in motor is connected with the protrusion at the bottom of the rotating table, and the oil injection pipe and the one-way valve structure are matched, so that automatic lubrication of the bearing and the rolling ball can be realized when the rotating table turns, mechanical wear is reduced, and the long-term stability of the rotating mechanism is improved.

[0051] 3. The monitoring body is connected with the rotating table through a hinged structure, and the two ends of the electric lifting rod are connected with the rotating table and the monitoring body respectively, so that the up-down rotation adjustment of the monitoring body can be realized, and the horizontal rotation of the rotating table is matched to expand the monitoring coverage; the first mounting seat and the second mounting seat in the main body shell are fixed with the piezoelectric sensor and the control panel respectively, and the pyroelectric sensor is fixed in the mounting area through the mounting frame, so that the layout of each component is compact and the signal transmission path is stable, which not only adapts to the monitoring of small indoor space, but also meets the large-range tracking demand of outdoor open area, and improves the scene versatility of the device. BRIEF DESCRIPTION OF DRAWINGS

[0052] Figure 1 is a structural schematic diagram of the present application;

[0053] Figure 2 is a structural schematic diagram of the present application after disassembly;

[0054] Figure 3 is a structural schematic diagram of the induction assembly after disassembly;

[0055] Figure 4 is a structural schematic diagram of the inside of the main body shell;

[0056] Figure 5 is Figure 3 is a local enlarged view of area a in figure 8;

[0057] Figure 6 is a structural schematic diagram of the support plate and the support frame;

[0058] Figure 7 is a structural schematic diagram of the mounting sleeve, the rotating table and the mounting plate after disassembly;

[0059] Figure 8 is a bottom view of the rotating table;

[0060] Figure 9 is a step flow chart of the control method of the monitoring device;

[0061] Figure 10 is a principle block diagram of the controller.

[0062] In the drawings, the correspondence between the component names and the reference numerals is as follows:

[0063] 11, monitoring body; 12, mounting frame; 13, electric lifting rod; 14, mounting plate; 15, support frame; 16, mounting sleeve; 17, motor; 18, annular chute; 19, rolling ball; 201, main body shell; 202, pyroelectric sensor; 203, piezoelectric sensor; 204, control panel; 205, light transmission mirror; 206, mounting frame; 207, silica gel ring; 208, first mounting seat; 209, second mounting seat; 210, metal elastic sheet; 211, protective plate; 31, support plate; 32, limiting block; 33, traction rope; 34, stud; 41, rotating table; 42, oil injection pipe; 43, oil inlet hole; 44, oil outlet hole. DETAILED DESCRIPTION

[0064] The application will be specifically described below in conjunction with the drawings of the specification;

[0065] As shown in the drawings, Figures 1 to 10 The application provides a security monitoring device based on human perception, which comprises a monitoring body 11 and a mounting frame 12 for mounting the monitoring body 11. One end of the mounting frame 12 is rotatably connected with a rotating table 41. The monitoring body 11 is connected with the rotating table 41 through a hinged structure. The monitoring body 11 rotates up and down with the hinged structure as the center line. A controller for controlling the monitoring device is arranged on the mounting frame 12. The controller and the monitoring body 11 are both existing devices, and the controller is not shown in the drawings.

[0066] One side of the rotating table 41 is provided with an electric lifting rod 13. One end of the electric lifting rod 13 is connected with the rotating table 41 through a rotating shaft, and the other end is rotatably connected with the monitoring body 11 through a rotating shaft. When the electric lifting rod 13 extends or retracts, it can drive the monitoring body 11 to rotate around the hinged structure.

[0067] A mounting plate 14 is arranged between the rotating table 41 and the mounting frame 12. The mounting plate 14 is circular, and a plurality of support frames 15 are uniformly arranged on the periphery of the mounting plate 14. The support frames 15 are perpendicularly connected with the mounting plate 14. An induction assembly is arranged on one end of the support frame 15 away from the mounting plate 14.

[0068] The induction assembly comprises a main body shell 201, a pyroelectric sensor 202 for detecting human infrared radiation signals, and a piezoelectric sensor 203 for detecting low-frequency vibration signals. The pyroelectric sensor 202 and the piezoelectric sensor 203 are both mounted in the main body shell 201. A control panel 204 for controlling the induction assembly is further arranged in the main body shell 201. A plurality of terminal connectors are arranged on the control panel 204 and are electrically connected with the pins of the pyroelectric sensor 202, the pins of the piezoelectric sensor 203, and the terminal connectors of the controller through wires. The control panel 204 can adopt a BK51-6X4Y type control panel.

[0069] As shown in the drawings, Figures 2 to 6As shown, the support frame 15 is provided with a rotatable support plate 31, which is a steel plate with a thickness of 3 mm, one end of which is connected with the support frame 15 through a hinge type hinge, and the two leaf plates of the hinge are respectively welded and fixed with the support plate 31 and the support frame 15, so that the support plate 31 can freely rotate around the hinge shaft. The main shell 201 is fixed in the middle of the support plate 31 through four countersunk screws, which are screwed with the threaded holes at the bottom of the main shell 201 after penetrating through the through holes of the support plate 31, to ensure the stable installation of the main shell 201. The support plate 31 and the support frame 15 are clamped with a limiting block 32, which is a hard rubber block, one side of which is attached to the vertical surface of the support frame 15, and the other side is processed with an inclined surface which is attached to the bottom surface of the support plate 31. Through the supporting action of the limiting block 32, an upward supporting force is formed, so that the support plate 31 and the support frame 15 stably maintain a 25° angle; by replacing the limiting block 32 with different thickness or inclination angle, the angle between the support plate 31 and the support frame 15 can be adjusted to adapt to the sensing range requirements of different scenes.

[0070] The end of the support plate 31 away from the hinge is welded with a hanging ring, and a traction rope 33 is bound in the hanging ring, which is a stainless steel wire rope with a diameter of 2 mm, and the other end of which is fixed with a stud 34 through a crimping terminal, which is an external thread column with M8 specification. The support frame 15 is provided with a screw hole corresponding to the stud 34, and the stud 34 is arranged in the screw hole, and a hexagonal knob is welded on the exposed end of the stud 34. By rotating the knob, the stud 34 moves along the screw hole in the axial direction, and then a downward pulling force is formed at the end of the support plate 31 away from the hinge through the pulling force of the stud 34 and the traction rope 33, which cooperates with the supporting force of the limiting block 32, so that the support plate 31 and the support frame 15 tightly clamp the limiting block 32, preventing the angle from deviating due to vibration during use.

[0071] The main shell 201 is provided with an irradiation port at one end, which is a circular hole with a diameter of 30 mm, and the area corresponding to the irradiation port in the main shell 201 is an installation area, which is communicated with the irradiation port through a stepped hole to form a stepped accommodation space. A light transmission mirror 205 is fixed on the stepped surface of the irradiation port through an annular buckle, which is an infrared high-transparency glass with a thickness of 2 mm, and its edge is clamped into the groove of the buckle, which not only ensures the smooth penetration of infrared signal, but also prevents dust from entering the installation area. An installation frame 206 is arranged in the installation area, which is made of ABS plastic and connected with the inner wall of the main shell 201 through two self-tapping screws, and the pyroelectric sensor 202 is installed in the installation frame 206 through the elastic buckles on both sides, and its detection end is opposite to the center position of the light transmission mirror 205, so as to ensure that the detection direction is coaxial with the irradiation port.

[0072] The pyroelectric sensor 202, the piezoelectric sensor 203 and the control board 204 are sequentially arranged in the installation area, a ring-shaped clamping groove is arranged on the inner wall of the irradiation port outside the light-transmitting lens 205, a silica gel ring 207 is clamped in the clamping groove, the silica gel ring 207 is a silica rubber product with a Shore hardness of 60, the inner side of the silica gel ring 207 is tightly combined with the outer periphery of the light-transmitting lens 205, which not only plays a sealing role to prevent water vapor from entering, but also can buffer the influence of external vibration on the light-transmitting lens 205 through the elasticity of the silica gel ring 207.

[0073] The first mounting seat 208 is a rectangular clamping seat protruding upward, located directly below the pyroelectric sensor 202, and the two sides of the first mounting seat 208 are provided with elastic clamping claws, the piezoelectric sensor 203 is clamped in the first mounting seat 208 through the elastic force of the clamping claws, which ensures that the piezoelectric sensor 203 is installed firmly and in a horizontal state; the second mounting seat 209 is a platform with four threaded columns, located at one end of the main body shell 201 away from the irradiation port, and the control board 204 is clamped on the second mounting seat 209 by rotating and combining four screws through the mounting holes of the control board 204 and the threaded columns, so that the control board 204 and the inner wall of the main body shell 201 maintain a distance of 5mm, which is convenient for heat dissipation.

[0074] Three evenly distributed radial protrusions are integrally formed on the outer wall of the silica gel ring 207, the protrusions extend outward along the radial direction of the silica gel ring 207 to the edge of the piezoelectric sensor 203, the end of the protrusion is connected with the piezoelectric sensor 203 through a conductive element, the conductive element is a tungsten wire with a diameter of 0.1mm, one end of the tungsten wire is fixed with the protrusion through conductive glue, and the other end is wound and welded on the edge of the metal shell of the piezoelectric sensor 203, so that the vibration signal captured by the silica gel ring 207 can be efficiently conducted to the piezoelectric sensor 203 through the tungsten wire.

[0075] A metal spring 210 is connected between the signal output pin of the piezoelectric sensor 203 and the signal output pin of the pyroelectric sensor 202, the metal spring 210 is a beryllium copper strip with a thickness of 0.1mm, one end of the metal spring 210 is fixedly welded with the output pin of the piezoelectric sensor 203 through tin soldering, and the other end is also fixedly welded with the output pin of the pyroelectric sensor 202 through tin soldering, which not only forms an electrical connection channel between the two, but also realizes mechanical connection through the elastic property of the metal spring 210; the pyroelectric sensor 202 adopts a D203S model, which has high sensitivity infrared detection capability, and the piezoelectric sensor 203 adopts a CAYD170V-100B model, which can accurately capture low-frequency vibration signals, and the two cooperate to realize dual-mode sensing.

[0076] When the piezoelectric sensor 203 detects a low-frequency vibration signal and the pyroelectric sensor 202 detects a human body infrared radiation signal, both output valid signals, the two signals superimpose at the metal spring 210, causing the metal spring 210 to resonate, and the electric signal generated by the resonance is transmitted to the alarm device, thereby triggering the alarm device to start.

[0077] When the piezoelectric sensor 203 detects a valid signal and the pyroelectric sensor 202 does not detect, or the pyroelectric sensor 202 detects a valid signal and the piezoelectric sensor 203 does not detect, a single signal cannot cause the metal spring 210 to vibrate, and the alarm device remains off, thereby forming a double condition verification structure that triggers the alarm only when both signals exist at the same time.

[0078] The metal spring 210 is made of beryllium copper, which has a certain elasticity. When excited by an electric signal, the metal spring 210 can vibrate, and after the signal disappears, it can return to its initial state, ensuring that it can maintain a stable working state after multiple uses.

[0079] A protective plate 211 is arranged above the support plate 31, one side of the protective plate 211 is connected with the support plate 31, and the other side edge of the protective plate 211 is provided with a clamping block. The support plate 31 is provided with a clamping groove at the corresponding position, and the clamping block and the clamping groove are matched to fix the protective plate 211 and the support plate 31. After the protective plate 211 is connected with the support plate 31, a closed protective cavity is formed, and the sensing assembly is located in the protective cavity. The inner side of the protective plate 211 is not in contact with the outer side of the main body shell 201, and an air gap of 0.5 mm is formed therebetween.

[0080] The protective plate 211 is made of polytetrafluoroethylene, which has certain toughness and wear resistance. The outer surface of the protective plate 211 is covered with a transparent hydrophobic coating, and the coating is evenly attached to the surface of the protective plate 211 without affecting the penetration of the infrared signal.

[0081] Among the plurality of sensing assemblies arranged on the peripheral side of the mounting plate 14, an angle α is formed between the center line of any one sensing assembly and the center line of the adjacent sensing assembly, and the value of α is in the range of 30° to 90°. The irradiation range of each sensing assembly is in the form of a fan shape, and the angle of the fan shape is β, and the value of β is in the range of 120° to 150°. The fan-shaped irradiation areas S1 and S2 of the two adjacent sensing assemblies partially overlap, and the corresponding angle of the overlapping part is Y, and the value of Y is 15° to 45°. Through such a layout, the irradiation ranges of the plurality of sensing assemblies can cover the area on the peripheral side of the mounting plate 14.

[0082] As Figure 2 , Figure 7 , Figure 8As shown, one end of the mounting frame 12 is provided with a mounting sleeve 16, the mounting sleeve 16 is integrally formed with the mounting frame 12, the mounting plate 14 is covered on the opening surface of the mounting sleeve 16 through a screw, forming a mounting cavity, the mounting cavity is provided with a motor 17, the motor 17 is fixed on the inner wall of the mounting sleeve 16 through a support, the bearing is arranged in the mounting plate 14, the outer ring of the bearing is interference fit with the mounting plate 14, the bottom of the rotating table 41 is provided with a lug, the lug is integrally formed with the rotating table 41, the lug is arranged in the inner ring of the bearing, and the shaft end of the motor 17 is connected with the lug through a shaft coupling;

[0083] An annular sliding groove 18 is formed on the upper surface of the mounting plate 14, and a plurality of groups of rolling beads 19 are uniformly arranged on the bottom of the rotating table 41, the rolling beads 19 are mounted on the bottom of the rotating table 41 through a support, the rolling beads 19 are clamped in the annular sliding groove 18, and the rotating table 41 drives the rolling beads 19 to roll in the annular sliding groove 18 when rotating;

[0084] An oil injection pipe 42 is formed on the side wall of the mounting sleeve 16, the oil injection pipe 42 is communicated with the inside of the mounting sleeve 16, the oil injection pipe 42 is provided with an oil inlet and an oil outlet at two ends respectively, the oil inlet is located outside the mounting sleeve 16, and the oil outlet is located inside the mounting sleeve 16, an oil inlet cavity is arranged in the rotating table 41, the oil inlet cavity is a cavity formed in the inside of the rotating table 41, an oil inlet hole 43 and a plurality of oil outlet holes 44 are formed on the rotating table 41, one end of the oil inlet hole 43 is communicated with the oil inlet cavity, and the other end penetrates through the bottom of the rotating table 41, one end of the oil outlet hole 44 is communicated with the oil inlet cavity, and the other end penetrates to the surface of the lug and the mounting position of the rolling bead 19 at the bottom of the rotating table 41, the oil inlet cavity is communicated with the outside through the oil inlet hole 43 and the oil outlet hole 44;

[0085] When the rotating table 41 rotates to one side by 60°, the oil outlet is aligned and penetrated with the oil inlet hole 43, the oil inlet is connected with the oil supply equipment outside through a pipeline, and the oil outlet and the oil inlet hole 43 are both provided with rubber membranes connected with flaps, one end of the rubber membrane is fixed, and the other end is reversibly turned, forming a one-way valve structure, so that the lubricating oil can only flow from the oil outlet into the oil inlet hole 43.

[0086] As shown in the figure, Figure 9 The control method of the controller for the monitoring device includes the following steps:

[0087] Step S1: acquiring infrared radiation intensity data based on the pyroelectric sensor 202, acquiring vibration frequency data based on the piezoelectric sensor 203, and generating a dual-mode verification result based on the infrared radiation intensity data and the vibration frequency data;

[0088] Specifically, the pyroelectric sensor 202 monitors the infrared radiation intensity in the environment in real time, converts the detected infrared signal into an electrical signal and transmits it to the controller, and the controller processes the electrical signal to obtain the infrared radiation intensity data. The piezoelectric sensor 203 simultaneously detects the low-frequency vibration in the environment, converts the vibration signal into an electrical signal and transmits it to the controller, and the controller processes it to obtain the vibration frequency data.

[0089] The controller has preset infrared radiation intensity threshold and vibration frequency threshold, which are determined based on the human body's own radiation and activity characteristics. The infrared radiation intensity threshold refers to the infrared radiation range of the human body at a regular distance, and is adaptively adjusted in combination with the environmental background radiation to distinguish between the human body and environmental interference; the vibration frequency threshold range is determined according to the low-frequency vibration characteristics generated by human body activities, covering the vibration frequencies of most human body movements, while avoiding high-frequency or low-frequency interference vibrations in the environment. In addition, the threshold will be dynamically calibrated regularly according to environmental changes to ensure the accuracy of human body perception in different scenarios.

[0090] When the infrared radiation intensity data exceeds the infrared radiation intensity threshold, and the vibration frequency data is within the preset vibration frequency range, an "effective" dual-mode verification result is generated; when the infrared radiation intensity data does not exceed the infrared radiation intensity threshold, or the vibration frequency data is not within the preset vibration frequency range, an "invalid" dual-mode verification result is generated.

[0091] For example, if the preset infrared radiation intensity threshold is a certain value, and the vibration frequency range is 10-50 Hz, when the infrared radiation intensity data detected by the pyroelectric sensor 202 exceeds the threshold, and the vibration frequency detected by the piezoelectric sensor 203 is 30 Hz, the controller generates an "effective" verification result; if the infrared radiation intensity data does not exceed the threshold, even if the vibration frequency is 30 Hz, an "invalid" verification result is still generated.

[0092] Step S2: determining the target trigger area based on the dual-mode verification result, generating spatial positioning coordinates based on the installation position of the sensing component, and outputting preliminary steering instructions to the motor 17 and the electric lifting rod 13 based on the spatial positioning coordinates;

[0093] Specifically, when the dual-mode verification result is "effective", the controller determines that the area where the sensing component triggering the result is located as the target trigger area. The controller has pre-stored installation position information of each sensing component, including its angular position on the installation plate 14 and the distance from the center of the installation plate 14.

[0094] According to these installation position information, the controller generates the spatial positioning coordinates corresponding to the target trigger area through a coordinate conversion algorithm, and the coordinates are established with the installation base point of the monitoring device as the origin.

[0095] The core logic of the coordinate conversion algorithm is: a three-dimensional rectangular coordinate system is established with the installation base point of the monitoring device as the origin (X-axis along the horizontal right, Y-axis along the horizontal forward, Z-axis vertically upward), and the installation position information (polar coordinate parameters) of the sensing component is converted into the coordinate value in the coordinate system. The specific steps are:

[0096] Extract the installation polar coordinate parameters of the sensing component: polar angle θ (horizontal angle with the positive direction of X-axis), polar radius r (horizontal distance from the installation base point), installation height h (vertical height relative to the origin);

[0097] Calculate the horizontal coordinate: , ;

[0098] Determine the vertical coordinate: Z = h;

[0099] Integrate to get the spatial positioning coordinates (X, Y, Z), which directly reflect the position of the target triggering area in three-dimensional space relative to the installation base point.

[0100] Then, the controller calculates the angle that the motor 17 needs to rotate and the length that the electric lifting rod 13 needs to extend according to the spatial positioning coordinates, generates a preliminary steering instruction and transmits it to the motor 17 and the electric lifting rod 13 respectively, to drive the two to act.

[0101] For example, if the triggered sensing component is located at 30° direction of the installation plate 14, 20 cm away from the center, the controller calculates and outputs a 30° rotation instruction to the motor 17 and a 5 cm extension instruction to the electric lifting rod 13.

[0102] Step S3: Based on the triggering time sequence and signal intensity difference value of multiple sensing components, the target moving track is constructed, the steering speed parameter is corrected according to the track curvature, and the preliminary steering instruction is dynamically optimized based on the corrected steering speed parameter;

[0103] Specifically, when multiple sensing components trigger the "effective" dual-mode verification result in sequence, the controller records the triggering time of each sensing component to obtain the triggering time sequence. At the same time, the controller obtains the signal intensity data transmitted by each sensing component, and calculates the signal intensity difference value of the adjacent two sensing components.

[0104] According to the triggering time sequence and the installation position of each sensing component, the position of the target at different time points is determined, and the distance change of the target from each sensing component is reflected in combination with the signal intensity difference value, and these position points are connected to construct the target moving track. The controller performs curve fitting on the track to calculate the curvature of each point on the track.

[0105] The quantitative relationship between signal strength and distance follows the attenuation law of electromagnetic wave propagation, and a logarithmic distance path loss model is adopted: let the signal strength detected by the induction component be S, and the distance between the target and the induction component be d, then the two satisfy the relationship , wherein is the signal strength reference value when the reference distance (1 m) is taken, and n is the attenuation factor (2.0-2.5 for indoor environment and 3.0-4.0 for outdoor environment according to the environment setting).

[0106] Based on this, the signal strength difference value of adjacent induction components is , which is transformed as , that is, the distance ratio of the target to the two induction components can be determined through the signal strength difference value. Combined with the installation spacing of the induction components (a known fixed value), the actual distance of the target at different time points can be accurately calculated using the principle of triangular positioning, and then the position coordinates are corrected, so that the mobile trajectory constructed is more consistent with the real path.

[0107] When the trajectory curvature is less than 15° / m, the original steering speed parameters of the motor 17 and the electric lifting rod 13 are maintained;

[0108] When the trajectory curvature is between 15°-30° / m, the steering speed parameter is reduced by 20%; when the trajectory curvature is greater than 30° / m, the steering speed parameter is reduced by 50% and the pre-judgment steering mode is started.

[0109] In the pre-judgment steering mode, the controller fits a parabolic equation based on the trajectory data of the previous 3 sampling points, calculates the next position of the target in advance by 500 ms according to the equation, outputs a pre-steering instruction, so that the field center of the monitoring body 11 always leads the target position by 0.5 m, and then dynamically optimizes the preliminary steering instruction.

[0110] For example, if the curvature of the target moving trajectory is 20° / m, the rotation speed of the motor 17 and the extension speed of the electric lifting rod 13 are reduced by 20%; if the curvature is 40° / m, the speed is reduced by 50% and the pre-judgment mode is started to adjust the orientation of the monitoring body 11 in advance.

[0111] Step S4: When the target moving trajectory exceeds the current monitoring body 11 field of view range, a linkage control instruction is generated to synchronously adjust the horizontal rotation angle of the motor 17 and the extension amount of the electric lifting rod 13;

[0112] Specifically, the controller compares the target moving track with the field of view range parameter of the monitoring body 11 in real time. When a point on the target moving track exceeds the field of view range, it is determined that the target is about to or has left the monitoring. At this time, the controller re-calculates the horizontal angle that the motor 17 needs to rotate additionally and the length that the electric lifting rod 13 needs to extend or retract additionally, generates linkage control instructions, and sends them to the motor 17 and the electric lifting rod 13, so that the two cooperate to expand the field of view range of the monitoring body 11 to recapture the target.

[0113] For example, when the target moves to the right beyond the current field of view of the monitoring body 11, the controller instructs the motor 17 to rotate to the right by a certain angle, and instructs the electric lifting rod 13 to extend or retract to adjust the pitch angle of the monitoring body 11, to ensure that the target reenters the field of view.

[0114] The control method of the controller for the monitoring device further comprises:

[0115] S11: Obtain the dual-mode verification result and the installation azimuth angle of each sensing component, and generate a space trigger matrix based on the installation azimuth angle and the verification result;

[0116] Specifically, the controller communicates with each sensing component to obtain the dual-mode verification result of each sensing component in real time, and simultaneously calls the pre-stored installation azimuth angle of each sensing component. The installation azimuth angle is the angle of the sensing component relative to the center of the installation plate 14.

[0117] The controller establishes a polar coordinate system with the center of the installation plate 14 as the origin. The dimension of the space trigger matrix is determined by the number of sensing components and the azimuth angle interval: assuming that there are N groups of sensing components installed in the device (corresponding to N rows in the matrix), the installation azimuth angle interval of adjacent sensing components is 30° (i.e. 0°, 30°, 60°…330°, corresponding to 12 columns in the matrix), forming an N×12 matrix structure. The mapping relationship between the “1” and “0” marks in the matrix and the actual space region is that the azimuth angle value of the horizontal coordinate directly corresponds to the physical direction of the circumference of the installation plate 14 (for example, 30° corresponds to the space region in the 30° direction clockwise of the installation plate 14), and the sensing component number of the vertical coordinate corresponds to the installation position of the specific component. When a sensing component detects an effective signal in a certain azimuth angle region, the cell marked with the intersection of the component number and the azimuth angle in the matrix is marked with “1”, and if no effective signal is detected, it is marked with “0”. The space trigger matrix generated in this way can intuitively reflect the triggering situation of the sensing components in each physical direction.

[0118] S12: When a single sensing component triggers a dual-mode signal, extract the number information of the component, generate a first directional instruction based on the number information and a pre-set region mapping table, and control the rotating table 41 to turn to the corresponding region at a speed of 1° / ms;

[0119] Specifically, when only one position in the space trigger matrix is marked as "1", it is determined that a single sensing component triggers the dual-mode signal, and the controller extracts the number of the sensing component. The preset region mapping table stores the correspondence between the sensing component number and the corresponding monitoring region, and the controller determines the monitoring region corresponding to the triggering component according to the mapping table.

[0120] Then, the controller calculates the angle of rotation of the rotating table 41 required to turn from the current position to the region, generates a first orientation instruction, instructs the rotating table 41 to rotate to the corresponding region at a speed of 1° / ms, and aligns the monitoring body 11 to the region.

[0121] For example, if the sensing component numbered 3 triggers, the region mapping table shows that it corresponds to the northeast region, and the controller calculates that the rotating table 41 needs to rotate 30°, then generates an instruction to make the rotating table 41 rotate 30° to the northeast region at a speed of 1° / ms.

[0122] S13: When the two adjacent sensing components trigger at the same time, calculate the signal intensity ratio and the phase difference of the vibration signal of the two components, determine the target deviation direction based on the ratio, generate a second tracking instruction, and control the rotating table 41 to rotate along an arc trajectory at a speed of 0.5° / ms, and real-time calibrate the turning angle during the rotation process;

[0123] Specifically, when two adjacent positions in the space trigger matrix are marked as "1" at the same time, it is determined that the two adjacent sensing components trigger at the same time. The controller respectively acquires the signal intensity data transmitted by the two sensing components and the low-frequency vibration signal detected by the piezoelectric sensor 203, calculates the signal intensity ratio of the two (i.e. the signal intensity data of one component divided by the signal intensity data of the other component), and at the same time, through frequency spectrum analysis of the vibration signals of the two sensing components, the phase difference of the vibration signal is calculated (taking the vibration signal detected by the piezoelectric sensor 203 as the object, because the infrared signal has no phase characteristic).

[0124] If the ratio is greater than 1, it means that the sensing component on the side with stronger signal intensity deviates towards the target; if the ratio is less than 1, it means that the sensing component on the side with weaker signal intensity deviates towards the target; if the ratio is equal to 1, it means that the target is located in the middle position between the two components. Combined with the phase difference of the vibration signal, the consistency of the target position can be verified (when the phase difference is less than 30°, it is further confirmed that the target is in the continuous region between the two components). Based on this, after determining the target deviation direction, the controller generates a second tracking instruction, instructing the rotating table 41 to rotate along an arc trajectory at a speed of 0.5° / ms, and in the rotation process, the controller constantly adjusts the rotation angle according to the signal intensity data and the vibration signal phase difference transmitted by the two sensing components in real time, realizing real-time calibration of the turning angle.

[0125] The target moving track is constructed based on the trigger timing and signal strength difference of multiple groups of sensing components, the turning speed parameter is corrected according to the track curvature, and the preliminary turning instruction is dynamically optimized based on the corrected turning speed parameter, including:

[0126] The target moving speed is calculated based on the trigger time difference and installation interval of the sensing components, and the target distance is estimated combining the vibration signal amplitude attenuation coefficient;

[0127] Specifically, when multiple sensing components are triggered in sequence, the controller records the trigger time of the adjacent two sensing components, and the difference between the two is the trigger time difference. At the same time, the installation interval between the two sensing components is called, and the installation interval is the straight-line distance of the two components on the installation plate 14.

[0128] The target moving speed is equal to the installation interval divided by the trigger time difference. The vibration signal will attenuate during propagation, and the vibration signal amplitude attenuation coefficient is related to the distance. The controller has a preset corresponding relationship between the vibration signal amplitude and the distance, and the distance between the target and the sensing component can be estimated according to the vibration signal amplitude detected by the piezoelectric sensor 203 and the vibration signal amplitude attenuation coefficient.

[0129] When the track curvature is less than 15° / m, the turning speed is maintained; when the track curvature is 15°-30° / m, the turning speed is reduced by 20%; and when the track curvature is greater than 30° / m, the turning speed is reduced by 50% and the pre-turning mode is started;

[0130] In the pre-turning mode, a parabolic equation is fitted based on the track data of the first three sampling points, and a pre-turning instruction is output 500ms in advance, so that the field center of the monitoring body 11 always leads the target position by 0.5m;

[0131] Specifically, the controller samples the target moving track to obtain the coordinates and time information of multiple sampling points. The track curvature between adjacent sampling points is calculated, and the turning speed is adjusted according to the curvature. In the pre-turning mode, the coordinate data of the first three sampling points is taken and substituted into the parabolic equation for fitting to obtain the parabolic track equation of the target movement.

[0132] According to the equation, the position of the target after 500ms is calculated, a pre-turning instruction is generated to make the field center of the monitoring body 11 move to the position in advance, and the field center always leads the target position by 0.5m, ensuring that the target is continuously within the monitoring range.

[0133] When three or more sensing components are triggered at the same time, the control method further includes:

[0134] The vibration signal peak value of each sensing component is extracted, the main trigger component is determined based on the peak value size sorting, and the installation position of the main trigger component is taken as the reference to generate a fan-shaped coverage area;

[0135] Specifically, when the dual-mode verification results of three or more sensing components are all "valid", the controller extracts the peak values of the vibration signals transmitted by each sensing component. These peak values are sorted in descending order, and the sensing component with the largest peak value is determined as the main trigger component.

[0136] A fan-shaped coverage area is generated by taking the installation position of the main trigger component as the vertex and expanding a certain angle to both sides based on its fan-shaped irradiation angle. This area covers the monitoring ranges corresponding to all triggered sensing components.

[0137] The signal phase difference of adjacent components is calculated, and when the phase difference is less than 30°, it is determined as the same target group, and the monitoring body 11 is controlled to shoot in wide-angle mode.

[0138] Specifically, the controller performs phase analysis on the vibration signals transmitted by the adjacent two triggered sensing components and calculates the signal phase difference between them. When the phase difference is less than 30°, it means that the vibrations detected by these sensing components originate from the same area of the target, and it is determined as the same target group. At this time, the controller instructs the monitoring body 11 to switch to wide-angle mode and shoot the fan-shaped coverage area in panoramic mode.

[0139] When the phase difference is greater than 30°, it is determined as a scattered target, and the round-patrol scanning mode is started, and the shooting time of each target is allocated according to the signal intensity proportion.

[0140] In the round-patrol scanning mode, the characteristic parameters of the current target are automatically recorded after each target switching is completed, and when the same characteristic parameters are detected again, 50% of the shooting time is preferentially allocated. The characteristic parameters include the infrared radiation area and the vibration frequency distribution.

[0141] Specifically, when the signal phase difference of adjacent components is greater than 30°, it is determined as a scattered target, and the controller starts the round-patrol scanning mode. The signal intensity of each triggered component is calculated as a proportion of the total signal intensity of all triggered components, and the shooting time of each target by the monitoring body 11 is allocated according to this proportion.

[0142] The determination criteria for "the same characteristic parameters" are: the deviation of the infrared radiation area does not exceed ±15% of the first recorded value, and the spectral overlap degree of the vibration frequency distribution is not less than 70% (i.e. the overlapping part of the frequency range where the energy is concentrated in the two frequency spectra accounts for ≥70%). When both of the above conditions are met, it is determined as a target with the same characteristic parameters, ensuring the consistency and accuracy of repeated identification.

[0143] During the round tour, the controller automatically records the infrared radiation area and vibration frequency distribution of each target as characteristic parameters and stores them. When the characteristic parameters of a target are detected again, the target is assigned 50% of the total shooting time, ensuring that it is monitored.

[0144] It should be noted that the foregoing description of the embodiments of the application has been presented for the purposes of illustration and description. It is not intended to be exhaustive or to limit the embodiments of the application to the precise form described, and many modifications, variations, and alternatives are possible.

Claims

1. A security monitoring device based on human perception, comprising a monitoring body (11) and a mounting rack (12) for mounting the monitoring body (11), characterized in that: one end of the mounting rack (12) is rotatably connected with a rotating table (41), the monitoring body (11) is connected with the rotating table (41) through a hinged structure, the monitoring body (11) is rotatable up and down about the center line through the hinged structure, and a controller for controlling the monitoring device is arranged on the mounting rack (12); one side of the rotating table (41) is provided with an electric lifting rod (13), one end of the electric lifting rod (13) is connected with the rotating table (41), and the other end is rotatably connected with the monitoring body (11); an installation plate (14) is arranged between the rotating table (41) and the mounting rack (12), a plurality of support frames (15) are arranged on the periphery of the installation plate (14), and a sensing assembly is arranged on the support frame (15); the sensing assembly comprises a main shell (201), a pyroelectric sensor (202) for detecting human infrared radiation signals, and a piezoelectric sensor (203) for detecting low-frequency vibration signals, the pyroelectric sensor (202) and the piezoelectric sensor (203) are arranged in the main shell (201), and a control board (204) for controlling the sensing assembly is arranged in the main shell (201), the control board (204) is electrically connected with the pyroelectric sensor (202), the piezoelectric sensor (203) and the controller respectively; the control method of the controller for the monitoring device comprises the following steps: S1: obtaining infrared radiation intensity data based on the pyroelectric sensor (202), obtaining vibration frequency data based on the piezoelectric sensor (203), and generating a dual-mode verification result based on the infrared radiation intensity data and the vibration frequency data; S2: based on the dual-mode verification result, when the dual-mode verification result is "valid", determining that the region where the sensing assembly triggering the "valid" result is the target triggering region, combining the installation position of each sensing assembly stored in advance, generating the spatial positioning coordinates corresponding to the target triggering region through the coordinate conversion algorithm, outputting the preliminary steering instruction to the motor (17) and the electric lifting rod (13) based on the spatial positioning coordinates, and the preliminary steering instruction includes the steering speed; S3: constructing a target moving track based on the triggering time sequence and signal intensity difference of a plurality of sensing assemblies, correcting the steering speed parameter according to the track curvature, and dynamically optimizing the preliminary steering instruction based on the corrected steering speed parameter; S4: when the target moving track exceeds the current monitoring body (11) field of view range, a linkage control instruction is generated, and the horizontal rotation angle of the motor (17) and the extension amount of the electric lifting rod (13) are adjusted synchronously.

2. The security monitoring device based on human perception according to claim 1, characterized in that: ​ The support frame (15) is provided with a rotating support plate (31), the main body shell (201) is installed on the support plate (31), the support plate (31) and the support frame (15) are clamped with a limiting block (32), an upward supporting force is formed through the limiting block (32), and a 25° included angle is formed between the support plate (31) and the support frame (15); The support plate (31) is provided with a traction rope (33), one end of the traction rope (33) is provided with a stud (34), a threaded hole is formed in the support frame (15), the stud (34) is arranged in the threaded hole, a downward pulling force is formed between the stud (34) and the traction rope (33), and the support plate (31) and the support frame (15) clamp the limiting block (32); One end of the main body shell (201) is provided with an irradiation opening, and an installation area is arranged in the interior, a light transmission mirror (205) is arranged in the irradiation opening, an installation frame (206) is arranged in the installation area, the pyroelectric sensor (202) is installed in the installation frame (206), and an irradiation direction is towards the light transmission mirror (205).

3. The security monitoring device based on human perception according to claim 2, characterized in that: The pyroelectric sensor (202), the piezoelectric sensor (203) and the control board (204) are all located in the installation area, a silica gel ring (207) for enhancing a vibration signal is arranged outside the light transmission mirror (205), and a clamping groove is formed in the irradiation opening, and the silica gel ring (207) is clamped in the clamping groove; The main body shell (201) is provided with a first mounting seat (208) and a second mounting seat (209), the first mounting seat (208) is located below the pyroelectric sensor (202), the piezoelectric sensor (203) is clamped in the first mounting seat (208), the second mounting seat (209) is located at one end of the main body shell (201) away from the irradiation opening, and the control board (204) is clamped on the second mounting seat (209); A radial protrusion is arranged on the silica gel ring (207), and the protrusion is connected with the piezoelectric sensor (203) through a conducting element.

4. The security monitoring device based on human perception according to claim 3, characterized in that: A signal output end of the piezoelectric sensor (203) is connected with the pyroelectric sensor (202) through a metal spring (210); When the piezoelectric sensor (203) and the pyroelectric sensor (202) both detect effective signals, the metal spring (210) generates resonance through double signal superposition, and an alarm is triggered; When one of the piezoelectric sensor (203) and the pyroelectric sensor (202) detects an effective signal, the metal spring (210) does not generate vibration, and an alarm is not triggered, thereby forming a double condition verification structure; The conducting element is a tungsten wire; The metal spring (210) is made of beryllium copper. 5.The security monitoring device based on human perception according to claim 2, characterized in that: a protective plate (211) is arranged above the support plate (31), the protective plate (211) is connected with the support plate (31) to form a protective cavity, the sensing assembly is located in the protective cavity, and an air gap of 0.5 mm is formed between the protective plate (211) and the main body shell (201); the protective plate (211) is made of polytetrafluoroethylene material and is covered with a transparent hydrophobic coating on the outside of the protective plate (211); an angle α is formed between the sensing assembly and the center line of the adjacent sensing assembly, the angle α is 30° to 90°, the sensing assembly irradiation range is arranged in a fan shape, the fan angle is β, the angle β is 120° to 150°, and the overlapping angle Y of adjacent fan-shaped regions (S1, S2) is 15° to 45°. 6.The security monitoring device based on human perception according to claim 1, characterized in that: one end of the mounting bracket (12) is provided with a mounting sleeve (16), the mounting plate (14) is covered on the opening surface of the mounting sleeve (16) to form a mounting cavity, a motor (17) is arranged in the mounting cavity, a bearing is arranged in the mounting plate (14), a protrusion is arranged at the bottom of the rotating table (41), the protrusion is arranged in the bearing, and the shaft end of the motor (17) is connected with the protrusion; a plurality of groups of rolling beads (19) are arranged at the bottom of the rotating table (41), and the rolling beads (19) are clamped in the annular sliding groove (18); an oil injection pipe (42) is arranged on the mounting sleeve (16), two ends of the oil injection pipe (42) are respectively provided as an oil inlet and an oil outlet, an oil inlet cavity is arranged in the rotating table (41), an oil inlet hole (43) and a plurality of oil outlet holes (44) are arranged on the rotating table (41), the oil inlet cavity is connected with the outside through the oil inlet hole (43) and the oil outlet holes (44), and the oil outlet holes (44) are located at the protrusion and the rolling beads (19); when the rotating table (41) rotates to one side by 60°, the oil outlet and the oil inlet hole (43) are connected, the oil inlet is connected with an oil supply device outside, rubber membranes connected with flaps are arranged at the oil outlet and the oil inlet hole (43) to form a one-way valve structure.

7. The human perception based security monitoring device as claimed in claim 1, wherein, The control method of the controller on the monitoring device further comprises: acquiring the dual-mode verification result and the installation azimuth angle of each sensing assembly, generating a space trigger matrix based on the installation azimuth angle and the verification result; when a single sensing assembly triggers a dual-mode signal, the number information of the assembly is extracted, a first directional instruction is generated based on the number information and a preset region mapping table, and the rotating table (41) is controlled to rotate to the corresponding region at a speed of 1° / ms; when two adjacent sensing assemblies are triggered at the same time, the signal intensity ratio of the two assemblies is calculated, a second tracking instruction is generated based on the ratio to determine the target deviation azimuth, and the rotating table (41) is controlled to rotate along an arc-shaped track at a speed of 0.5° / ms, and the rotating angle is calibrated in real time during the rotating process.

8. The human perception based security monitoring device as claimed in claim 1, wherein, The trigger timing and signal strength difference of the multiple groups of sensing components are used to construct the target moving track, the turning speed parameter is corrected according to the track curvature, the preliminary turning instruction is dynamically optimized based on the corrected turning speed parameter, and the optimization includes: The trigger time difference and installation interval of the sensing components are used to calculate the target moving speed, and the target distance is estimated by combining the vibration signal amplitude attenuation coefficient; When the track curvature is less than 15° / m, the turning speed is maintained unchanged; When the track curvature is 15°-30° / m, the turning speed is reduced by 20%; When the track curvature is greater than 30° / m, the turning speed is reduced by 50% and the pre-judgment turning mode is started; In the pre-judgment turning mode, a parabolic equation is fitted based on the track data of the first three sampling points, and a pre-turning instruction is output 500ms in advance, so that the field center of the monitoring body (11) always leads the target position by 0.5m.

9. The human perception based security monitoring device as claimed in claim 1, wherein, When three or more sensing components are triggered at the same time, the control method further includes: The vibration signal peak value of each sensing component is extracted, the main trigger component is determined based on the peak value size sorting, and the installation position of the main trigger component is used as the reference to generate a sector coverage area; The signal phase difference of adjacent components is calculated, and when the phase difference is less than 30°, it is determined as the same target group, and the monitoring body (11) is controlled to shoot in wide-angle mode; When the phase difference is greater than 30°, it is determined as a scattered target, and the wheel scanning mode is started, and the shooting time of each target is allocated according to the signal intensity proportion; In the wheel scanning mode, each time a target switching is completed, the characteristic parameters of the current target are automatically recorded, and when the same characteristic parameters are detected again, 50% of the shooting time is preferentially allocated; The characteristic parameters include infrared radiation area and vibration frequency distribution.

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