Security monitoring method and device for equipment linkage, electronic equipment and storage medium

Abstract

The embodiment of the invention relates to an equipment linkage security and protection monitoring method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining a three-dimensional model of a building, and enabling the building to be provided with first security and protection equipment and second security and protection equipment; determining a first mapping pose of the first security and protection device in the three-dimensional model and a second mapping pose of the second security and protection device in the three-dimensional model; determining whether the first security and protection equipment and the second security and protection equipment belong to linkage equipment or not based on the first mapping pose and the second mapping pose; under the condition that the first security and protection equipment and the second security and protection equipment belong to linkage equipment, determining motion information of a security and protection target detected by the first security and protection equipment; and based on the motion information, controlling second security and protection equipment to perform security and protection monitoring on the security and protection target. Therefore, the complexity of linkage of the control equipment in a security and protection monitoring scene can be reduced.

Description

Technical Field

[0001] This application relates to the field of security, and in particular to a security monitoring method, device, electronic equipment and storage medium with device linkage. Background Technology

[0002] In daily life, users may purchase multiple security devices, such as surveillance cameras, intrusion detectors, and alarm systems. In related technologies, multiple security devices typically operate independently for security monitoring, or they can be linked together for control based on user-defined control strategies and linkage conditions.

[0003] However, in scenarios involving the coordinated control of multiple security devices, users typically need to spend a significant amount of time and effort setting up the aforementioned control strategies and coordination conditions, a process that is exceptionally complex.

[0004] It is evident that reducing the complexity of control device linkage in security monitoring scenarios is a technical issue worthy of attention. Summary of the Invention

[0005] In view of this, in order to solve some or all of the above-mentioned technical problems, embodiments of this application provide a security monitoring method, device, electronic device and storage medium with device linkage.

[0006] In a first aspect, embodiments of this application provide a security monitoring method involving device linkage, the method comprising:

[0007] Obtain a three-dimensional model of the building, wherein the building is equipped with a first security device and a second security device;

[0008] A first mapping pose of the first security device in the three-dimensional model and a second mapping pose of the second security device in the three-dimensional model are determined, wherein the first mapping pose represents the pose of the first security device mapped to the three-dimensional model and the second mapping pose represents the pose of the second security device mapped to the three-dimensional model.

[0009] Based on the first mapped pose and the second mapped pose, determine whether there is an intersection between the first monitoring area of ​​the first security device and the second monitoring area of ​​the second security device, so as to obtain the determination result;

[0010] Based on the determination result, it is determined whether the first security device and the second security device are linked devices;

[0011] When the first security device and the second security device are part of the linked devices, determine the motion information of the security target detected by the first security device;

[0012] Based on the motion information, the second security device is controlled to perform security monitoring on the security target.

[0013] In one possible implementation, the first mapped pose includes a first position and a first orientation of the first security device mapped onto the 3D model, and the second mapped pose includes a second position and a second orientation of the second security device mapped onto the 3D model; and

[0014] The step of determining whether there is an intersection between the first monitoring area of ​​the first security device and the second monitoring area of ​​the second security device based on the first mapped pose and the second mapped pose includes:

[0015] Based on the first position, the first posture, and the first monitoring parameters of the first security device, the first monitoring area of ​​the first security device is determined to be mapped to the three-dimensional model;

[0016] Based on the second position, the second posture, and the second monitoring parameters of the second security device, the second monitoring area of ​​the second security device is determined to be mapped to the three-dimensional model;

[0017] Determine whether there is an overlap between the first monitoring area and the second monitoring area; and

[0018] The step of determining whether the first security device and the second security device are linked devices based on the determination result includes:

[0019] If the determination result indicates that the first monitoring area and the second monitoring area have an intersection area, then the first security device and the second security device are determined to be linked devices.

[0020] If the determination result indicates that there is no intersection between the first monitoring area and the second monitoring area, then the first security device and the second security device are determined not to be part of the linkage device.

[0021] In one possible implementation, determining whether the first monitoring area and the second monitoring area have an overlapping area includes:

[0022] Determine the first projection of the first monitoring area onto a preset plane;

[0023] Determine the second projection of the second monitoring area onto the preset plane;

[0024] Determine whether there is an overlapping area between the first projection and the second projection;

[0025] In the case where the first projection and the second projection have an overlapping area, it is determined that the first monitoring area and the second monitoring area have an intersection area;

[0026] If there is no overlapping area between the first projection and the second projection, it is determined that there is no intersection area between the first monitoring area and the second monitoring area.

[0027] The preset plane is parallel to the ground plane and mapped to the plane in the three-dimensional model.

[0028] In one possible implementation, determining the first mapped pose of the first security device in the 3D model and the second mapped pose of the second security device in the 3D model includes:

[0029] Display the three-dimensional model;

[0030] The detection includes a first operation and a second operation for the displayed 3D model, wherein the first operation is used to determine the mapping pose of the first security device in the 3D model, and the second operation is used to determine the mapping pose of the second security device in the 3D model.

[0031] Upon detecting the first operation, the mapping pose indicated by the first operation is determined as the first mapping pose of the first security device in the three-dimensional model;

[0032] Upon detecting the second operation, the mapping pose indicated by the second operation is determined as the second mapping pose of the second security device in the three-dimensional model.

[0033] In one possible implementation, the first operation is used to mark the mapped pose of the first security device in the 3D model, and the second operation is used to mark the mapped pose of the second security device in the 3D model; and

[0034] Determining the mapped pose of the first operation instruction as the first mapped pose of the first security device in the three-dimensional model includes:

[0035] The mapping pose of the first operation instruction mark is determined as the first mapping pose of the first security device in the three-dimensional model; and

[0036] The step of determining the mapped pose of the second operation instruction as the second mapped pose of the second security device in the three-dimensional model includes:

[0037] The mapping pose of the second operation instruction mark is determined as the second mapping pose of the second security device in the three-dimensional model.

[0038] In one possible implementation, the three-dimensional model includes: a first initial pose of the first security device and a second initial pose of the second security device; a first operation is used to adjust the first initial pose in the three-dimensional model, and a second operation is used to adjust the second initial pose in the three-dimensional model; and

[0039] Determining the mapped pose of the first operation instruction as the first mapped pose of the first security device in the three-dimensional model includes:

[0040] Adjust the first initial pose according to the adjustment method indicated by the first operation instruction;

[0041] The adjusted first initial pose is determined as the first mapped pose of the first security device in the three-dimensional model; and

[0042] The step of determining the mapped pose of the second operation instruction as the second mapped pose of the second security device in the three-dimensional model includes:

[0043] Adjust the second initial pose according to the adjustment method indicated by the second operation instruction;

[0044] The adjusted second initial pose is determined as the second mapped pose of the second security device in the three-dimensional model.

[0045] In one possible implementation, the second security device is a pan-tilt-zoom (PTZ) camera, and the motion information includes the motion trajectory of the security object; and

[0046] The step of controlling the second security device to perform security monitoring on the security target based on the motion information includes:

[0047] Based on the motion trajectory included in the motion information, the initial position of the security target in the monitoring area of ​​the second security device is determined;

[0048] The field of view of the second security device is controlled to move to the initial position so that the second security device can perform security monitoring on the security target.

[0049] In one possible implementation, the motion information further includes the motion speed of the security object; and

[0050] Before the field of view of the second security device is moved to the initial position, after determining the initial position of the security target in the monitoring area of ​​the second security device based on the motion trajectory included in the motion information, the method further includes:

[0051] Based on the motion information including the motion trajectory and the motion speed, determine the first time when the security target moves to the initial position; and

[0052] The control of the field of view of the second security device to move to the initial position includes:

[0053] The field of view of the second security device is controlled to move to the initial position at a second time earlier than the first time or at the first time.

[0054] Secondly, embodiments of this application provide a security monitoring device with device linkage, the device comprising:

[0055] An acquisition unit is used to acquire a three-dimensional model of a building, wherein a first security device and a second security device are installed on the building;

[0056] The first determining unit is used to determine the first mapping pose of the first security device in the three-dimensional model and the second mapping pose of the second security device in the three-dimensional model, wherein the first mapping pose represents the pose of the first security device mapped to the three-dimensional model and the second mapping pose represents the pose of the second security device mapped to the three-dimensional model.

[0057] The second determining unit is used to determine whether there is an intersection between the first monitoring area of ​​the first security device and the second monitoring area of ​​the second security device based on the first mapping pose and the second mapping pose, so as to obtain a determination result;

[0058] The third determining unit is used to determine, based on the determining result, whether the first security device and the second security device are linked devices;

[0059] The fourth determining unit is used to determine the motion information of the security target detected by the first security device when the first security device and the second security device are the linked devices;

[0060] The control unit is used to control the second security device to perform security monitoring on the security target based on the motion information.

[0061] In one possible implementation, the first mapped pose includes a first position and a first orientation of the first security device mapped onto the 3D model, and the second mapped pose includes a second position and a second orientation of the second security device mapped onto the 3D model; and

[0062] The step of determining whether there is an intersection between the first monitoring area of ​​the first security device and the second monitoring area of ​​the second security device based on the first mapped pose and the second mapped pose includes:

[0063] Based on the first position, the first posture, and the first monitoring parameters of the first security device, the first monitoring area of ​​the first security device is determined to be mapped to the three-dimensional model;

[0064] Based on the second position, the second posture, and the second monitoring parameters of the second security device, the second monitoring area of ​​the second security device is determined to be mapped to the three-dimensional model;

[0065] Determine whether there is an overlap between the first monitoring area and the second monitoring area; and

[0066] The step of determining whether the first security device and the second security device are linked devices based on the determination result includes:

[0067] If the determination result indicates that the first monitoring area and the second monitoring area have an intersection area, then the first security device and the second security device are determined to be linked devices.

[0068] If the determination result indicates that there is no intersection between the first monitoring area and the second monitoring area, then the first security device and the second security device are determined not to be part of the linkage device.

[0069] In one possible implementation, determining whether the first monitoring area and the second monitoring area have an overlapping area includes:

[0070] Determine the first projection of the first monitoring area onto a preset plane;

[0071] Determine the second projection of the second monitoring area onto the preset plane;

[0072] Determine whether there is an overlapping area between the first projection and the second projection;

[0073] In the case where the first projection and the second projection have an overlapping area, it is determined that the first monitoring area and the second monitoring area have an intersection area;

[0074] If there is no overlapping area between the first projection and the second projection, it is determined that there is no intersection area between the first monitoring area and the second monitoring area.

[0075] The preset plane is parallel to the ground plane and mapped to the plane in the three-dimensional model.

[0076] In one possible implementation, determining the first mapped pose of the first security device in the 3D model and the second mapped pose of the second security device in the 3D model includes:

[0077] Display the three-dimensional model;

[0078] The detection includes a first operation and a second operation for the displayed 3D model, wherein the first operation is used to determine the mapping pose of the first security device in the 3D model, and the second operation is used to determine the mapping pose of the second security device in the 3D model.

[0079] Upon detecting the first operation, the mapping pose indicated by the first operation is determined as the first mapping pose of the first security device in the three-dimensional model;

[0080] Upon detecting the second operation, the mapping pose indicated by the second operation is determined as the second mapping pose of the second security device in the three-dimensional model.

[0081] In one possible implementation, the first operation is used to mark the mapped pose of the first security device in the 3D model, and the second operation is used to mark the mapped pose of the second security device in the 3D model; and

[0082] Determining the mapped pose of the first operation instruction as the first mapped pose of the first security device in the three-dimensional model includes:

[0083] The mapping pose of the first operation instruction mark is determined as the first mapping pose of the first security device in the three-dimensional model; and

[0084] The step of determining the mapped pose of the second operation instruction as the second mapped pose of the second security device in the three-dimensional model includes:

[0085] The mapping pose of the second operation instruction mark is determined as the second mapping pose of the second security device in the three-dimensional model.

[0086] In one possible implementation, the three-dimensional model includes: a first initial pose of the first security device and a second initial pose of the second security device; a first operation is used to adjust the first initial pose in the three-dimensional model, and a second operation is used to adjust the second initial pose in the three-dimensional model; and

[0087] Determining the mapped pose of the first operation instruction as the first mapped pose of the first security device in the three-dimensional model includes:

[0088] Adjust the first initial pose according to the adjustment method indicated by the first operation instruction;

[0089] The adjusted first initial pose is determined as the first mapped pose of the first security device in the three-dimensional model; and

[0090] The step of determining the mapped pose of the second operation instruction as the second mapped pose of the second security device in the three-dimensional model includes:

[0091] Adjust the second initial pose according to the adjustment method indicated by the second operation instruction;

[0092] The adjusted second initial pose is determined as the second mapped pose of the second security device in the three-dimensional model.

[0093] In one possible implementation, the second security device is a pan-tilt-zoom (PTZ) camera, and the motion information includes the motion trajectory of the security object; and

[0094] The step of controlling the second security device to perform security monitoring on the security target based on the motion information includes:

[0095] Based on the motion trajectory included in the motion information, the initial position of the security target in the monitoring area of ​​the second security device is determined;

[0096] The field of view of the second security device is controlled to move to the initial position so that the second security device can perform security monitoring on the security target.

[0097] In one possible implementation, the motion information further includes the motion speed of the security object; and

[0098] Before the field of view of the second security device is moved to the initial position, after determining the initial position of the security target in the monitoring area of ​​the second security device based on the motion trajectory included in the motion information, the device further includes:

[0099] The fifth determining unit is configured to determine, based on the motion trajectory and motion speed included in the motion information, the first time the security target moves to the initial position; and

[0100] The control of the field of view of the second security device to move to the initial position includes:

[0101] The field of view of the second security device is controlled to move to the initial position at a second time earlier than the first time or at the first time.

[0102] Thirdly, embodiments of this application provide an electronic device, including:

[0103] Memory, used to store computer programs;

[0104] A processor is configured to execute a computer program stored in the memory, and when the computer program is executed, to implement any embodiment of the security monitoring method for device linkage described in the first aspect of this application.

[0105] Fourthly, embodiments of this application provide a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, it implements the method of any embodiment of the security monitoring method for device linkage as described in the first aspect above.

[0106] Fifthly, embodiments of this application provide a computer program product, the computer program product including computer-readable code, which, when executed on a device, causes a processor in the device to implement the method of any embodiment of the device-linked security monitoring method described in the first aspect above.

[0107] The security monitoring method for device linkage provided in this application embodiment can acquire a three-dimensional model of a building, wherein a first security device and a second security device are installed on the building. Then, a first mapped pose of the first security device in the three-dimensional model and a second mapped pose of the second security device in the three-dimensional model are determined. The first mapped pose represents the pose of the first security device mapped onto the three-dimensional model, and the second mapped pose represents the pose of the second security device mapped onto the three-dimensional model. Then, based on the first and second mapped poses, it is determined whether there is an intersection between the first monitoring area of ​​the first security device and the second monitoring area of ​​the second security device to obtain a determination result. Based on the determination result, it is determined whether the first and second security devices are linked devices. Subsequently, if the first and second security devices are linked devices, the motion information of the security target detected by the first security device is determined. Then, based on the motion information, the second security device is controlled to perform security monitoring on the security target. Therefore, by mapping the poses of the two security devices installed on the building onto the building's 3D model, it can be determined whether the two security devices are linked devices. Then, if the two security devices are linked devices, they can be linked to control each other for security monitoring. This can reduce the complexity of controlling the linkage of devices in security monitoring scenarios. Attached Figure Description

[0108] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0109] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0110] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0111] Figure 1 A flowchart illustrating a device-linked security monitoring method provided in an embodiment of this application;

[0112] Figure 2 A flowchart illustrating another device-linked security monitoring method provided in this application embodiment;

[0113] Figure 3A A flowchart illustrating another device-linked security monitoring method provided in this application embodiment;

[0114] Figure 3B A schematic diagram illustrating the process of constructing a three-dimensional model in a security monitoring method with device linkage provided in an embodiment of this application;

[0115] Figure 3C A schematic diagram of the intersection area between the first monitoring area and the second monitoring area in a device-linked security monitoring method provided in an embodiment of this application;

[0116] Figure 4 This is a schematic diagram of the structure of a security monitoring device with device linkage provided in an embodiment of this application;

[0117] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0118] Various exemplary embodiments of this application will now be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of this application.

[0119] Those skilled in the art will understand that the terms "first" and "second" in the embodiments of this application are only used to distinguish different steps, devices or modules, and do not represent any specific technical meaning, nor do they indicate the logical order between them.

[0120] It should also be understood that in this embodiment, "multiple" can refer to two or more, and "at least one" can refer to one, two or more.

[0121] It should also be understood that any component, data or structure mentioned in the embodiments of this application can generally be understood as one or more unless explicitly defined or given contrary guidance in the context.

[0122] Furthermore, the term "and / or" in this application is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this application generally indicates that the preceding and following related objects have an "or" relationship.

[0123] It should also be understood that the description of the various embodiments in this application emphasizes the differences between the various embodiments, and the similarities or similarities can be referred to each other. For the sake of brevity, they will not be described in detail.

[0124] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the scope of this application and its application or use.

[0125] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0126] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0127] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. To facilitate understanding of the embodiments of this application, the application will be described in detail below with reference to the accompanying drawings and embodiments. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0128] To address the technical problem of reducing the complexity of control device linkage in security monitoring scenarios, this application provides a security monitoring method, device, electronic equipment, and storage medium for device linkage, which can reduce the complexity of control device linkage in security monitoring scenarios.

[0129] Figure 1 This is a flowchart illustrating a device-linked security monitoring method provided in an embodiment of this application. This method can be applied to one or more electronic devices such as security monitoring devices, smartphones, laptops, desktop computers, portable computers, and servers that are linked to each other. Furthermore, the executing entity of this method can be hardware or software. When the executing entity is hardware, it can be one or more of the aforementioned electronic devices. For example, a single electronic device can execute this method, or multiple electronic devices can cooperate with each other to execute this method. When the executing entity is software, this method can be implemented as multiple software programs or software modules, or as a single software program or software module. No specific limitations are made here.

[0130] like Figure 1 As shown, the method specifically includes:

[0131] Step 101: Obtain a three-dimensional model of the building, wherein the building is equipped with a first security device and a second security device.

[0132] In this embodiment, a building can be a place for people to live, work, study, entertain, and engage in various activities. As an example, a building can include, but is not limited to: residential buildings, such as apartments and villas; commercial buildings, such as shopping malls and office buildings; public buildings, such as libraries, museums, and stadiums; and industrial buildings, such as factories and warehouses.

[0133] Security equipment can be a collective term for various devices and systems that ensure the safety of people, property, and the environment inside and around a building. For example, security equipment may include, but is not limited to: surveillance cameras, intrusion detectors, and alarm systems.

[0134] The first security device and the second security device can be two different security devices installed on the building. As an example, the first security device and the second security device can be two pan-tilt cameras installed on the building.

[0135] The 3D model can be a digital 3D representation of the aforementioned building. The 3D model obtained in step 101 may include only the 3D model of the building, or the 3D model obtained in step 101 may also include the 3D model of the building, the 3D model of the first security device, and the 3D model of the second security device.

[0136] As an example, a 3D model can be constructed in the following way:

[0137] First, guide the user to take photos (e.g., videos) around the aforementioned building (e.g., a house), as well as the installation points of the first and second security devices, to capture images of the building's interior and surroundings from all angles.

[0138] Subsequently, 3D reconstruction technologies such as SLAM (Simultaneous Localization and Mapping) were used to construct 3D models of the buildings.

[0139] Specifically, the process begins with feature extraction: features are extracted from the captured image data, such as corner points and edges. Next, data association and matching are performed: the features of the data to be associated and matched are compared with features in the previously constructed 3D model to determine the relative position and orientation of the image acquisition device in space. Then, pose estimation is performed: based on the results of data association and matching, the position and orientation (including position coordinates and rotation angle) of the image acquisition device at each moment are estimated. Finally, the 3D model is constructed: newly acquired data is integrated into the existing 3D model, gradually refining and updating the model.

[0140] Step 102: Determine the first mapping pose of the first security device in the three-dimensional model and the second mapping pose of the second security device in the three-dimensional model, wherein the first mapping pose represents the pose of the first security device mapped to the three-dimensional model, and the second mapping pose represents the pose of the second security device mapped to the three-dimensional model.

[0141] In this embodiment, the first mapping pose of the first security device in the three-dimensional model can be determined by the relative pose between the first security device and the building; and the second mapping pose of the second security device in the three-dimensional model can be determined by the relative pose between the second security device and the building.

[0142] Furthermore, if the 3D model obtained in step 101 includes a 3D model of a building, a 3D model of the first security device, and a 3D model of the second security device, a coordinate system containing the 3D model obtained in step 101 can be constructed first. Then, the pose of the 3D model of the first security device in the aforementioned coordinate system is determined to obtain the first mapped position; the pose of the 3D model of the second security device in the aforementioned coordinate system is determined to obtain the second mapped position.

[0143] Alternatively, other methods can be used to perform step 102 above, as described below, which will not be elaborated here.

[0144] Step 103: Based on the first mapped pose and the second mapped pose, determine whether there is an intersection between the first monitoring area of ​​the first security device and the second monitoring area of ​​the second security device, so as to obtain the determination result.

[0145] In this embodiment, the first monitoring area can represent the monitoring area obtained after mapping the actual monitoring area of ​​the first security device to the three-dimensional model; or it can represent the actual monitoring area of ​​the first security device.

[0146] The second monitoring area can represent the monitoring area obtained after mapping the actual monitoring area of ​​the second security device onto the three-dimensional model; or it can represent the actual monitoring area of ​​the second security device.

[0147] In the case where the first monitoring area can represent the monitoring area obtained after mapping the actual monitoring area of ​​the first security device to the three-dimensional model, the second monitoring area represents the monitoring area obtained after mapping the actual monitoring area of ​​the second security device to the three-dimensional model; in the case where the first monitoring area represents the actual monitoring area of ​​the first security device, the second monitoring area represents the actual monitoring area of ​​the second security device.

[0148] Here, various methods can be used to determine whether there is an overlap between the first monitoring area of ​​the first security device and the second monitoring area of ​​the second security device, based on the first mapping pose and the second mapping pose.

[0149] As an example, the first and second mapped poses can be input into a pre-trained decision model to determine whether there is an intersection between the first and second monitoring regions.

[0150] The aforementioned determination model can represent the correspondence between the first mapped pose, the second mapped pose, and the discrimination information. The discrimination information can indicate whether there is an intersection between the first monitoring area and the second monitoring area.

[0151] The aforementioned discrimination model can be a convolutional neural network or other model trained using training samples that include a first mapping pose, a second mapping pose, and discrimination information. Alternatively, it can be a formula or table representing the correspondence between the first mapping pose, the second mapping pose, and the discrimination information.

[0152] In addition, other methods can be used to determine whether there is an overlap between the first monitoring area of ​​the first security device and the second monitoring area of ​​the second security device, based on the first and second mapped poses. Please refer to the description below for details, which will not be elaborated here.

[0153] Step 104: Based on the determination result, determine whether the first security device and the second security device are linked devices.

[0154] In this embodiment, the linkage device can refer to devices that can cooperate with each other to jointly carry out security monitoring.

[0155] Here, various methods can be used to determine whether the first security device and the second security device are linked devices based on the first mapping pose and the second mapping pose.

[0156] In some optional implementations of this embodiment, the first mapped pose includes a first position and a first posture of the first security device mapped onto the 3D model. The second mapped pose includes a second position and a second posture of the second security device mapped onto the 3D model.

[0157] The first position can represent the location of the first security device mapped onto the three-dimensional model. For example, the first position can be represented by coordinates.

[0158] The first attitude can represent the attitude of the first security device mapped onto the 3D model. For example, the first position may include, but is not limited to, the pitch angle, yaw angle, etc. of the first security device mapped onto the 3D model.

[0159] The second position can represent the location of the second security device mapped onto the three-dimensional model. For example, the second position can be represented using coordinates.

[0160] The second attitude can represent the attitude of the second security device mapped onto the 3D model. For example, the second position may include, but is not limited to, the pitch angle, yaw angle, etc., of the second security device mapped onto the 3D model.

[0161] Based on this, the method can be adopted to determine whether the first security device and the second security device are linked devices based on the first mapped pose and the second mapped pose:

[0162] The first step is to determine the first monitoring area in the three-dimensional model to which the first security device is mapped, based on the first position, the first posture, and the first monitoring parameters of the first security device.

[0163] The first monitoring parameter may include, but is not limited to, monitoring distance and monitoring angle.

[0164] When the first security device is a camera, the first monitoring parameter may include focal length, resolution, etc.

[0165] In the second step, based on the second position, the second attitude, and the second monitoring parameter of the second security device, determine the second monitoring area of the second security device mapped to the three-dimensional model.

[0166] Among them, the second monitoring parameter may include but is not limited to: monitoring distance, monitoring angle of view, etc.

[0167] When the second security device is a camera, the second monitoring parameter may include focal length, resolution, etc.

[0168] In the third step, determine whether there is an intersection area between the first monitoring area and the second monitoring area.

[0169] In the fourth step, when there is an intersection area between the first monitoring area and the second monitoring area, determine that the first security device and the second security device are linked devices; when there is no intersection area between the first monitoring area and the second monitoring area, determine that the first security device and the second security device do not belong to the linked devices.

[0170] It can be understood that in the above optional implementation manners, it is possible to determine whether two security devices are linked devices by determining whether there is an intersection area between the two monitoring areas of the two security devices mapped to the three-dimensional model. In this way, it is possible to more accurately determine whether two security devices are linked devices. Furthermore, when the two security devices are linked devices, the two security devices can be more accurately controlled in a linked manner.

[0171] In some application scenarios of the above optional implementation manners, the following method may be adopted to determine whether there is an intersection area between the first monitoring area and the second monitoring area:

[0172] In the first step, determine the first projection of the first monitoring area on a preset plane.

[0173] Among them, the first projection may be the projection of the first monitoring area on the preset plane.

[0174] In the second step, determine the second projection of the second monitoring area on the preset plane.

[0175] Among them, the second projection may be the projection of the second monitoring area on the preset plane.

[0176] In the third step, determine whether there is an overlapping area between the first projection and the second projection.

[0177] Fourth step: if the first projection and the second projection have an overlapping area, determine that the first monitoring area and the second monitoring area have an intersection area; if the first projection and the second projection do not have an overlapping area, determine that the first monitoring area and the second monitoring area do not have an intersection area.

[0178] The preset plane is parallel to the ground plane and mapped to the plane in the three-dimensional model.

[0179] In some cases, the first security device and the second security device described above are of the same type; for example, both the first security device and the second security device may be cameras. The device parameters (e.g., focal length, angle of view) of the first security device and the second security device are the same. The difference in installation height between the first security device and the second security device is less than or equal to a preset height threshold.

[0180] It is understandable that in the above application scenario, the existence of an intersection between the two 3D monitoring areas can be determined by checking whether their projections on a preset plane overlap. This improves the efficiency of determining whether two 3D monitoring areas intersect.

[0181] Alternatively, bounding box detection or spatial segmentation methods can be used to determine whether there is an intersection between the first monitoring area and the second monitoring area.

[0182] In addition, the first and second mapped poses can be input into a pre-trained discrimination model to determine whether the first security device and the second security device are linked devices.

[0183] The aforementioned discrimination model can represent the correspondence between the first mapped pose, the second mapped pose, and the discrimination information. The discrimination information indicates whether the first security device and the second security device are linked devices. The aforementioned discrimination model can be a convolutional neural network trained using training samples that include the first mapped pose, the second mapped pose, and the discrimination information.

[0184] Step 105: If the first security device and the second security device are part of the linked devices, determine the motion information of the security target detected by the first security device.

[0185] In this embodiment, the security target can be any target (object) detected by the first security device. As an example, the first security device can detect people, vehicles, animals, etc.

[0186] Motion information can represent the movement of security targets. As an example, motion information may include, but is not limited to: movement trajectory, movement speed, movement position, and movement direction.

[0187] Step 106: Based on the motion information, control the second security device to perform security monitoring on the security target.

[0188] In this embodiment, various methods can be used to control the second security device to perform security monitoring on the security target based on the motion information.

[0189] In some optional implementations of this embodiment, the second security device is a PTZ camera, and the motion information includes the motion trajectory of the security object.

[0190] Based on this, the second security device can be controlled to perform security monitoring on the security target using the motion information, as follows:

[0191] The first step is to determine the initial position of the security target in the monitoring area of ​​the second security device based on the motion trajectory included in the motion information.

[0192] The initial position refers to the first position of the security target when it enters the monitoring area of ​​the second security device.

[0193] Here, the future trajectory of a security object can be predicted by its actual operating trajectory in historical time. Thus, the first intersection of the future trajectory with the monitoring area of ​​the second security device can be used as the initial position of the security target in the monitoring area of ​​the second security device.

[0194] The second step is to control the field of view of the second security device to move (e.g., rotate or move a certain distance) to the initial position so that the second security device can perform security monitoring on the security target.

[0195] It is understood that, in the above-mentioned optional implementation methods, the initial position of the security target in the monitoring area of ​​the second security device can be determined in advance through the above-mentioned movement trajectory, and then the field of view of the second security device can be controlled to move to the initial position in advance. Compared with controlling the field of view of the second security device only after the security target enters the monitoring area of ​​the second security device, the timeliness of the second security device in monitoring the security target can be improved.

[0196] Optionally, the motion information includes the position and direction of movement of the security target. Based on this, the second security device can be controlled to perform security monitoring on the security target using the motion information:

[0197] The first step is to determine the first intersection point with the monitoring area of ​​the second security device during the movement from the stated position along the stated direction.

[0198] The second step is to control the field of view of the second security device to move to the location of the intersection point, so that the second security device can perform security monitoring on the security target.

[0199] In some application scenarios of the above-mentioned optional implementation methods, the motion information also includes the motion speed of the security object.

[0200] Based on this, before the field of view of the second security device is moved to the initial position, after determining the initial position of the security target in the monitoring area of ​​the second security device based on the motion trajectory included in the motion information, the first time when the security target moves to the initial position can also be determined based on the motion trajectory and the motion speed included in the motion information.

[0201] The first time can refer to the time it takes for the security target to move to the initial position.

[0202] Based on this, the field of view of the second security device can be controlled to move to the initial position in the following way: the field of view of the second security device is controlled to move to the initial position at a second time earlier than the first time or at the first time.

[0203] The second time can be a time earlier than the first time.

[0204] It is understood that in the above application scenario, the field of view of the second security device can be moved to the initial position at the same time or before the security target moves to the initial position. This improves the timeliness of the second security device's monitoring of the security target.

[0205] The security monitoring method for device linkage provided in this application embodiment can acquire a three-dimensional model of a building, wherein a first security device and a second security device are installed on the building. Then, a first mapped pose of the first security device in the three-dimensional model and a second mapped pose of the second security device in the three-dimensional model are determined. The first mapped pose represents the pose of the first security device mapped onto the three-dimensional model, and the second mapped pose represents the pose of the second security device mapped onto the three-dimensional model. Then, based on the first and second mapped poses, it is determined whether there is an intersection between the first monitoring area of ​​the first security device and the second monitoring area of ​​the second security device to obtain a determination result. Based on the determination result, it is determined whether the first and second security devices are linked devices. Subsequently, if the first and second security devices are linked devices, the motion information of the security target detected by the first security device is determined. Then, based on the motion information, the second security device is controlled to perform security monitoring on the security target. Therefore, by mapping the poses of the two security devices installed on the building onto the building's 3D model, it can be determined whether the two security devices are linked devices. Then, if the two security devices are linked devices, they can be linked to control each other for security monitoring. This can reduce the complexity of controlling the linkage of devices in security monitoring scenarios.

[0206] Figure 2 This is a flowchart illustrating another device-linked security monitoring method provided in an embodiment of this application.

[0207] like Figure 2 As shown, the method specifically includes:

[0208] Step 201: Obtain a three-dimensional model of the building, wherein the building is equipped with a first security device and a second security device.

[0209] In this embodiment, step 201 and Figure 1 Step 101 in the corresponding embodiment is basically the same, and will not be repeated here.

[0210] Step 202: Display the three-dimensional model.

[0211] In this embodiment, the entity executing the device-linked security monitoring method can have a display screen. Therefore, the aforementioned three-dimensional model can be displayed on the display screen so that the user can view and operate the three-dimensional model.

[0212] Step 203: Detect a first operation and a second operation for the displayed 3D model, wherein the first operation is used to determine the mapping pose of the first security device in the 3D model, and the second operation is used to determine the mapping pose of the second security device in the 3D model.

[0213] In this embodiment, for example, the first operation may be that a user or other object inputs the mapped pose of the first security device in the 3D model. The second operation may be that a user or other object inputs the mapped pose of the second security device in the 3D model.

[0214] In some optional implementations of this embodiment, the first operation is used to mark the mapped pose of the first security device in the three-dimensional model. The second operation is used to mark the mapped pose of the second security device in the three-dimensional model.

[0215] Based on this, the mapping pose of the first operation indication mark can be determined as the first mapping pose of the first security device in the three-dimensional model in the following manner; and the mapping pose of the second operation indication mark can be determined as the second mapping pose of the second security device in the three-dimensional model.

[0216] It is understandable that, among the above optional implementation methods, the first and second mapping poses can be marked in the 3D model, which can more quickly determine the more accurate mapping poses of the first security device and the second security device.

[0217] Optionally, the first operation may also involve inputting a first coordinate and a first angle. The first coordinate represents the coordinates of the first security device mapped to the coordinate system of the 3D model. The first angle represents the attitude angle of the first security device mapped to the 3D model. The second operation may also involve inputting a second coordinate and a second angle. The second coordinate represents the coordinates of the second security device mapped to the coordinate system of the 3D model. The second angle represents the attitude angle of the second security device mapped to the 3D model.

[0218] Furthermore, the first operation can also be inputting a first voice message. The first voice message represents the pose of the first security device mapped onto the 3D model. The second operation can also be inputting a second voice message. The second voice message represents the pose of the second security device mapped onto the 3D model. For example, the first operation could be inputting the voice message "The first security device is in the center of the roof, and its security area is to its due north." The second operation could be inputting the voice message "The second security device is in the center of the roof, and its security area is to its due north."

[0219] In some optional implementations of this embodiment, the three-dimensional model includes: a first initial pose of the first security device and a second initial pose of the second security device. The first operation is used to adjust the first initial pose in the three-dimensional model. The second operation is used to adjust the second initial pose in the three-dimensional model.

[0220] The first initial pose can be the mapped pose of the first security device determined during the construction of the 3D model, or the mapped pose of the first security device determined before the user or other object performs the first operation. The second initial pose can be the mapped pose of the second security device determined during the construction of the 3D model, or the mapped pose of the second security device determined before the user or other object performs the second operation.

[0221] Based on this, the mapped pose of the first operation instruction can be determined as the first mapped pose of the first security device in the three-dimensional model in the following manner:

[0222] The first step is to adjust the first initial pose according to the adjustment method specified in the first operation instruction.

[0223] For example, the first operation described above can be achieved by dragging the position represented by the first initial pose on the three-dimensional model, and / or rotating the posture represented by the first initial pose, or by modifying the parameter value of the first initial pose.

[0224] The second step is to determine the adjusted first initial pose as the first mapped pose of the first security device in the three-dimensional model.

[0225] Furthermore, the mapped pose of the second operation instruction can also be determined as the second mapped pose of the second security device in the three-dimensional model in the following manner:

[0226] The first step is to adjust the second initial pose according to the adjustment method specified in the second operation instruction.

[0227] The second operation can be achieved by dragging the position represented by the second initial pose on the three-dimensional model and / or rotating the posture represented by the second initial pose, or by modifying the parameter value of the second initial pose.

[0228] The second step is to determine the adjusted second initial pose as the second mapped pose of the second security device in the three-dimensional model.

[0229] It is understandable that, in the above optional implementation methods, after the initial pose has been obtained, it can be further adjusted to improve the accuracy of the first mapped pose and the second mapped pose.

[0230] Step 204: If the first operation is detected, the mapping pose indicated by the first operation is determined as the first mapping pose of the first security device in the three-dimensional model, wherein the first mapping pose represents the pose of the first security device mapped to the three-dimensional model.

[0231] Step 205: If the second operation is detected, the mapping pose indicated by the second operation is determined as the second mapping pose of the second security device in the three-dimensional model, wherein the second mapping pose represents the pose of the second security device mapped to the three-dimensional model.

[0232] Step 206: Based on the first mapped pose and the second mapped pose, determine whether there is an intersection between the first monitoring area of ​​the first security device and the second monitoring area of ​​the second security device, so as to obtain the determination result.

[0233] In this embodiment, step 206 and Figure 1 Step 103 in the corresponding embodiment is basically the same, and will not be repeated here.

[0234] Step 207: Based on the determination result, determine whether the first security device and the second security device are linked devices.

[0235] In this embodiment, step 207 and Figure 1 Step 104 in the corresponding embodiment is basically the same, and will not be repeated here.

[0236] Step 208: If the first security device and the second security device are part of the linked devices, determine the motion information of the security target detected by the first security device.

[0237] In this embodiment, step 208 and Figure 1 Step 105 in the corresponding embodiment is basically the same, and will not be repeated here.

[0238] Step 209: Based on the motion information, control the second security device to perform security monitoring on the security target.

[0239] In this embodiment, step 209 and Figure 1 Step 106 in the corresponding embodiment is basically the same, and will not be repeated here.

[0240] It should be noted that, in addition to the contents described above, this embodiment may also include... Figure 1 The corresponding technical features described in the corresponding embodiments, thereby achieving Figure 1 For details on the technical effects of the security monitoring method involving the interconnected devices shown, please refer to [link / reference needed]. Figure 1The relevant descriptions are presented concisely and will not be elaborated upon here.

[0241] The security monitoring method for device linkage provided in this application embodiment obtains a first mapping pose and a second mapping pose by performing a first operation and a second operation on a displayed 3D model. This can improve the accuracy of the first mapping pose and the second mapping pose, and thus improve the accuracy of device linkage control in security monitoring scenarios.

[0242] The embodiments of this application are described below by way of example. However, it should be noted that the embodiments of this application may have the features described below, but the following description does not constitute a limitation on the protection scope of the embodiments of this application.

[0243] In a home setting, users may purchase multiple cameras (corresponding to the aforementioned security devices) to monitor every corner of their home. Currently, these cameras only record video and perform AI (Artificial Intelligence) detection and tracking after the target (i.e., the aforementioned security target) enters the camera's observation area (i.e., the aforementioned monitoring area). Due to the limited field of view of the camera (especially telephoto cameras), it is impossible to fully cover the entire process from the appearance to the disappearance of the target, which can easily lead to missed recordings and late triggering, resulting in incomplete and discontinuous events and an inability to observe the target from all angles.

[0244] In view of this, this solution uses 3D (three-dimensional) videos of users' own houses taken by themselves to create a 3D model of the user scene (i.e., the above-mentioned 3D model), and marks the positions of the cameras (i.e., the above-mentioned first mapping pose and second mapping pose). Based on the 3D base map and camera position layout, it realizes camera linkage recording, achieving more intelligent camera linkage for the target scene and more comprehensive security protection.

[0245] In related technologies, the position of a camera (i.e., the aforementioned security device) in the house model (i.e., the aforementioned three-dimensional model of the building) is not determined through video modeling (i.e., the aforementioned first mapping pose and second mapping pose), and the positions of other cameras are determined based on the interrelationships between cameras.

[0246] Specifically, see Figure 3A , Figure 3A This is a flowchart illustrating another security monitoring method involving device linkage provided in an embodiment of this application.

[0247] This method includes the following steps:

[0248] 1. By guiding users to take video shots around the house (i.e., the aforementioned building) and the installation points of the equipment (i.e., the aforementioned first security device and second security device), the user's home scene can be captured from all angles.

[0249] 2. Achieve 3D reconstruction of user scenes using SLAM and other 3D reconstruction technologies. Input video data, then perform feature extraction, association, position and pose estimation, and coordinate system transformation to build a 3D model, namely the aforementioned 3D model.

[0250] The process of 3D mapping (i.e., constructing the aforementioned three-dimensional model) can be described as follows: Figure 3B As shown.

[0251] 3. Through the mobile APP (Application) interface, the user can manually mark and adjust the installation position and posture (i.e., the first and second security devices mentioned above) of the device in the 3D model. The posture information can be obtained from the camera sensor to determine the relative position and angle information of the device (i.e., the first and second mapping postures mentioned above).

[0252] 4. Map the detection and tracking path (i.e., the motion path mentioned above) information into the 3D model. Here, the camera's intrinsic and distortion parameters are known parameters. The camera's extrinsic parameters can be determined through user calibration. Using the camera's pose (rotation matrix and translation vector), the points in the camera coordinate system are transformed into the spatial coordinate system.

[0253] The image coordinates (u,v) can be converted to camera coordinates (X) using the following formula: c ,Y c Z c ,1):

[0254]

[0255] In Formula 1 above, K represents the intrinsic parameter matrix of the camera. The extrinsic parameter matrix of the camera describes its position and orientation in the world coordinate system (i.e., spatial coordinate system), and is represented by the rotation matrix. Translation vector (t) x ,t y ,t z )Sure.

[0256] Where, r 11 r 21 r 31 r 12 r 22 r 32 r 13 r 23 r 33, , and represent the matrix elements in the rotation matrix, respectively. Suppose a camera in 3D space has undergone a certain rotation and translation relative to the world coordinate system. If its rotation angle around the X-axis is θ, then the corresponding rotation matrix is: If its rotation angle around the Y-axis is φ, then the corresponding rotation matrix is: If its rotation angle around the Z-axis is ψ, then the corresponding rotation matrix is:

[0257] t x t y t z These represent the vector elements of the translation vector. t x t represents the unit length of translation of the camera in the X direction. y t represents the unit length of translation of the camera in the Y direction. z This represents the unit length of translation of the camera in the Z direction.

[0258] Then, the following formula two can be used to calculate the camera coordinates (X... c ,Y c Z c 1) Transform to spatial coordinates (X w ,Y w Z w ,1)

[0259]

[0260] In Formula 2, the same parameters (symbols) as in Formula 1 can represent the same meaning, and will not be repeated here.

[0261] 5. Automatically find common viewing areas (i.e., the intersection areas mentioned above), capture user walking path patterns, and automatically link devices.

[0262] Once the 3D model is built and the camera positions and poses are marked in the 3D model, the relationship between the cameras can be established by calculating the distances and viewing angles between them. If two cameras share a common field of view, the relationship between them can be established. Figure 3C When camera A is looking down, the viewing angle and viewing distance (assuming a human figure can be clearly seen at 15m) are fixed. By calculating the relative positions of A and B, we can determine whether their viewing sectors intersect, thus determining whether they can be linked.

[0263] It should be noted that, in addition to the contents described above, this embodiment may also include the technical features described in the above embodiments, thereby achieving the technical effect of the security monitoring method with device linkage shown above. For details, please refer to the above description. For the sake of brevity, it will not be elaborated here.

[0264] The security monitoring method for device linkage provided in this application embodiment constructs a three-dimensional model of the user's home scene through videos taken by the user, locates the mapping pose of the device in the three-dimensional model, and combines the position information of the three-dimensional model to better coordinate the linkage of multiple devices and achieve a better user experience.

[0265] Figure 4 This is a schematic diagram of a security monitoring device with device linkage provided in an embodiment of this application. Specifically, it includes:

[0266] The acquisition unit 401 is used to acquire a three-dimensional model of a building, wherein a first security device and a second security device are installed on the building;

[0267] The first determining unit 402 is used to determine the first mapping pose of the first security device in the three-dimensional model and the second mapping pose of the second security device in the three-dimensional model, wherein the first mapping pose represents the pose of the first security device mapped to the three-dimensional model and the second mapping pose represents the pose of the second security device mapped to the three-dimensional model.

[0268] The second determining unit 403 is used to determine whether there is an intersection between the first monitoring area of ​​the first security device and the second monitoring area of ​​the second security device based on the first mapping pose and the second mapping pose, so as to obtain a determination result;

[0269] The third determining unit 404 is used to determine, based on the determining result, whether the first security device and the second security device are linked devices;

[0270] The fourth determining unit 405 is used to determine the motion information of the security target detected by the first security device when the first security device and the second security device are the linked devices;

[0271] The control unit 406 is used to control the second security device to perform security monitoring on the security target based on the motion information.

[0272] In one possible implementation, the first mapped pose includes a first position and a first orientation of the first security device mapped onto the 3D model, and the second mapped pose includes a second position and a second orientation of the second security device mapped onto the 3D model; and

[0273] The step of determining whether there is an intersection between the first monitoring area of ​​the first security device and the second monitoring area of ​​the second security device based on the first mapped pose and the second mapped pose includes:

[0274] Based on the first position, the first posture, and the first monitoring parameters of the first security device, the first monitoring area of ​​the first security device is determined to be mapped to the three-dimensional model;

[0275] Based on the second position, the second posture, and the second monitoring parameters of the second security device, the second monitoring area of ​​the second security device is determined to be mapped to the three-dimensional model;

[0276] Determine whether there is an overlap between the first monitoring area and the second monitoring area; and

[0277] The step of determining whether the first security device and the second security device are linked devices based on the determination result includes:

[0278] If the determination result indicates that the first monitoring area and the second monitoring area have an intersection area, then the first security device and the second security device are determined to be linked devices.

[0279] If the determination result indicates that there is no intersection between the first monitoring area and the second monitoring area, then the first security device and the second security device are determined not to be part of the linkage device.

[0280] In one possible implementation, determining whether the first monitoring area and the second monitoring area have an overlapping area includes:

[0281] Determine the first projection of the first monitoring area onto a preset plane;

[0282] Determine the second projection of the second monitoring area onto the preset plane;

[0283] Determine whether there is an overlapping area between the first projection and the second projection;

[0284] In the case where the first projection and the second projection have an overlapping area, it is determined that the first monitoring area and the second monitoring area have an intersection area;

[0285] If there is no overlapping area between the first projection and the second projection, it is determined that there is no intersection area between the first monitoring area and the second monitoring area.

[0286] The preset plane is parallel to the ground plane and mapped to the plane in the three-dimensional model.

[0287] In one possible implementation, determining the first mapped pose of the first security device in the 3D model and the second mapped pose of the second security device in the 3D model includes:

[0288] Display the three-dimensional model;

[0289] The detection includes a first operation and a second operation for the displayed 3D model, wherein the first operation is used to determine the mapping pose of the first security device in the 3D model, and the second operation is used to determine the mapping pose of the second security device in the 3D model.

[0290] Upon detecting the first operation, the mapping pose indicated by the first operation is determined as the first mapping pose of the first security device in the three-dimensional model;

[0291] Upon detecting the second operation, the mapping pose indicated by the second operation is determined as the second mapping pose of the second security device in the three-dimensional model.

[0292] In one possible implementation, the first operation is used to mark the mapped pose of the first security device in the 3D model, and the second operation is used to mark the mapped pose of the second security device in the 3D model; and

[0293] Determining the mapped pose of the first operation instruction as the first mapped pose of the first security device in the three-dimensional model includes:

[0294] The mapping pose of the first operation instruction mark is determined as the first mapping pose of the first security device in the three-dimensional model; and

[0295] The step of determining the mapped pose of the second operation instruction as the second mapped pose of the second security device in the three-dimensional model includes:

[0296] The mapping pose of the second operation instruction mark is determined as the second mapping pose of the second security device in the three-dimensional model.

[0297] In one possible implementation, the three-dimensional model includes: a first initial pose of the first security device and a second initial pose of the second security device; a first operation is used to adjust the first initial pose in the three-dimensional model, and a second operation is used to adjust the second initial pose in the three-dimensional model; and

[0298] Determining the mapped pose of the first operation instruction as the first mapped pose of the first security device in the three-dimensional model includes:

[0299] Adjust the first initial pose according to the adjustment method indicated by the first operation instruction;

[0300] The adjusted first initial pose is determined as the first mapped pose of the first security device in the three-dimensional model; and

[0301] The step of determining the mapped pose of the second operation instruction as the second mapped pose of the second security device in the three-dimensional model includes:

[0302] Adjust the second initial pose according to the adjustment method indicated by the second operation instruction;

[0303] The adjusted second initial pose is determined as the second mapped pose of the second security device in the three-dimensional model.

[0304] In one possible implementation, the second security device is a pan-tilt-zoom (PTZ) camera, and the motion information includes the motion trajectory of the security object; and

[0305] The step of controlling the second security device to perform security monitoring on the security target based on the motion information includes:

[0306] Based on the motion trajectory included in the motion information, the initial position of the security target in the monitoring area of ​​the second security device is determined;

[0307] The field of view of the second security device is controlled to move to the initial position so that the second security device can perform security monitoring on the security target.

[0308] In one possible implementation, the motion information further includes the motion speed of the security object; and

[0309] Before the field of view of the second security device is moved to the initial position, after determining the initial position of the security target in the monitoring area of ​​the second security device based on the motion trajectory included in the motion information, the device further includes:

[0310] The fifth determining unit (not shown in the figure) is used to determine, based on the motion trajectory and motion speed included in the motion information, the first time when the security target moves to the initial position; and to control the field of view of the second security device to move to the initial position, including:

[0311] The field of view of the second security device is controlled to move to the initial position at a second time earlier than the first time or at the first time. The device-linked security monitoring device provided in this embodiment can be as follows: Figure 4The security monitoring device shown can execute all the steps of the security monitoring method with interconnected devices described above, thereby achieving the technical effects of the security monitoring method with interconnected devices described above. For details, please refer to the relevant descriptions above. For the sake of brevity, it will not be elaborated here.

[0312] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 5 The illustrated electronic device 500 includes at least one processor 501, a memory 502, at least one network interface 504, and other user interfaces 503. The various components in the electronic device 500 are coupled together via a bus system 505. It is understood that the bus system 505 is used to implement communication between these components. In addition to a data bus, the bus system 505 also includes a power bus, a control bus, and a status signal bus. However, for clarity, ... Figure 5 The general designated all buses as Bus System 505.

[0313] The user interface 503 may include a display, keyboard, or clicking device (e.g., mouse, trackball, touchpad, or touchscreen).

[0314] It is understood that the memory 502 in the embodiments of this application can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced Synchronous DRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), and Direct Rambus RAM (DRRAM). The memory 502 described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0315] In some implementations, memory 502 stores elements, executable units or data structures, or subsets thereof, or extended sets thereof: operating system 5021 and application program 5022.

[0316] The operating system 5021 includes various system programs, such as the framework layer, core library layer, and driver layer, used to implement various basic business functions and handle hardware-based tasks. The application program 5022 includes various applications, such as a media player and a browser, used to implement various application functions. Programs implementing the methods of this application embodiment can be included in application program 5022.

[0317] In this embodiment, by calling the program or instructions stored in memory 502, specifically the program or instructions stored in application program 5022, processor 501 executes the method steps provided in each method embodiment, including, for example:

[0318] Obtain a three-dimensional model of the building, wherein the building is equipped with a first security device and a second security device;

[0319] A first mapping pose of the first security device in the three-dimensional model and a second mapping pose of the second security device in the three-dimensional model are determined, wherein the first mapping pose represents the pose of the first security device mapped to the three-dimensional model and the second mapping pose represents the pose of the second security device mapped to the three-dimensional model.

[0320] Based on the first mapped pose and the second mapped pose, determine whether there is an intersection between the first monitoring area of ​​the first security device and the second monitoring area of ​​the second security device, so as to obtain the determination result;

[0321] Based on the determination result, it is determined whether the first security device and the second security device are linked devices;

[0322] When the first security device and the second security device are part of the linked devices, determine the motion information of the security target detected by the first security device;

[0323] Based on the motion information, the second security device is controlled to perform security monitoring on the security target.

[0324] The methods disclosed in the embodiments of this application can be applied to or implemented by processor 501. Processor 501 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the integrated logic circuit of the hardware in processor 501 or by instructions in the form of software. The processor 501 may be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this application can be directly embodied in the execution of a hardware decoding processor, or executed by a combination of hardware and software units in the decoding processor. The software units may be located in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. The storage medium is located in memory 502. Processor 501 reads the information in memory 502 and, in conjunction with its hardware, completes the steps of the above method.

[0325] It is understood that the embodiments described herein can be implemented in hardware, software, firmware, middleware, microcode, or a combination thereof. For hardware implementation, the processing unit can be implemented in one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), general-purpose processors, controllers, microcontrollers, microprocessors, other electronic units for performing the functions described above in this application, or combinations thereof.

[0326] For software implementation, the techniques described herein can be implemented by units that perform the functions described above. The software code can be stored in memory and executed by a processor. The memory can be implemented within the processor or external to the processor.

[0327] The electronic device provided in this embodiment may be as follows: Figure 5 The electronic device shown can execute all the steps of the security monitoring method with interconnected devices described above, thereby achieving the technical effect of the security monitoring method with interconnected devices described above. For details, please refer to the relevant descriptions above. For the sake of brevity, further details are not provided here.

[0328] This application also provides a storage medium (computer-readable storage medium). This storage medium stores one or more programs. The storage medium may include volatile memory, such as random access memory; it may also include non-volatile memory, such as read-only memory, flash memory, hard disk, or solid-state drive; and it may also include combinations of the above types of memory.

[0329] When one or more programs in the storage medium can be executed by one or more processors to realize the above-mentioned security monitoring method of device linkage executed on the electronic device side.

[0330] The processor described above is used to execute a device-linked security monitoring program stored in memory to implement the following steps of a device-linked security monitoring method executed on the electronic device side:

[0331] Obtain a three-dimensional model of the building, wherein the building is equipped with a first security device and a second security device;

[0332] A first mapping pose of the first security device in the three-dimensional model and a second mapping pose of the second security device in the three-dimensional model are determined, wherein the first mapping pose represents the pose of the first security device mapped to the three-dimensional model and the second mapping pose represents the pose of the second security device mapped to the three-dimensional model.

[0333] Based on the first mapped pose and the second mapped pose, determine whether there is an intersection between the first monitoring area of ​​the first security device and the second monitoring area of ​​the second security device, so as to obtain the determination result;

[0334] Based on the determination result, it is determined whether the first security device and the second security device are linked devices;

[0335] When the first security device and the second security device are part of the linked devices, determine the motion information of the security target detected by the first security device;

[0336] Based on the motion information, the second security device is controlled to perform security monitoring on the security target.

[0337] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0338] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented in hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0339] It should be understood that the terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “described” as used herein may also include the plural forms. The terms “comprising,” “including,” “containing,” and “having” are inclusive and therefore indicate the presence of the stated features, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein are not construed as requiring them to be performed in a particular order described or illustrated unless the order of performance is explicitly indicated. It should also be understood that additional or alternative steps may be used.

[0340] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A security monitoring method involving device linkage, characterized in that, The method includes: Obtain a three-dimensional model of the building, wherein the building is equipped with a first security device and a second security device; A first mapping pose of the first security device in the three-dimensional model and a second mapping pose of the second security device in the three-dimensional model are determined, wherein the first mapping pose represents the pose of the first security device mapped to the three-dimensional model and the second mapping pose represents the pose of the second security device mapped to the three-dimensional model. Based on the first mapped pose and the second mapped pose, determine whether there is an intersection between the first monitoring area of ​​the first security device and the second monitoring area of ​​the second security device, so as to obtain the determination result; Based on the determination result, it is determined whether the first security device and the second security device are linked devices; When the first security device and the second security device are part of the linked devices, determine the motion information of the security target detected by the first security device; Based on the motion information, the second security device is controlled to perform security monitoring on the security target.

2. The method according to claim 1, characterized in that, The first mapping pose includes the first position and first posture of the first security device mapped to the 3D model, and the second mapping pose includes the second position and second posture of the second security device mapped to the 3D model; as well as The step of determining whether there is an intersection between the first monitoring area of ​​the first security device and the second monitoring area of ​​the second security device based on the first mapped pose and the second mapped pose includes: Based on the first position, the first posture, and the first monitoring parameters of the first security device, the first monitoring area of ​​the first security device is determined to be mapped to the three-dimensional model; Based on the second position, the second posture, and the second monitoring parameters of the second security device, the second monitoring area of ​​the second security device is determined to be mapped to the three-dimensional model; Determine whether there is an overlap between the first monitoring area and the second monitoring area; and The step of determining whether the first security device and the second security device are linked devices based on the determination result includes: If the determination result indicates that the first monitoring area and the second monitoring area have an intersection area, then the first security device and the second security device are determined to be linked devices. If the determination result indicates that there is no intersection between the first monitoring area and the second monitoring area, then the first security device and the second security device are determined not to be part of the linkage device.

3. The method according to claim 2, characterized in that, Determining whether the first monitoring area and the second monitoring area have an overlapping area includes: Determine the first projection of the first monitoring area onto a preset plane; Determine the second projection of the second monitoring area onto the preset plane; Determine whether there is an overlapping area between the first projection and the second projection; In the case where the first projection and the second projection have an overlapping area, it is determined that the first monitoring area and the second monitoring area have an intersection area; If there is no overlapping area between the first projection and the second projection, it is determined that there is no intersection area between the first monitoring area and the second monitoring area. The preset plane is parallel to the ground plane and mapped to the plane in the three-dimensional model.

4. The method according to claim 1, characterized in that, Determining the first mapped pose of the first security device in the 3D model and the second mapped pose of the second security device in the 3D model includes: Display the three-dimensional model; The detection includes a first operation and a second operation for the displayed 3D model, wherein the first operation is used to determine the mapping pose of the first security device in the 3D model, and the second operation is used to determine the mapping pose of the second security device in the 3D model. Upon detecting the first operation, the mapping pose indicated by the first operation is determined as the first mapping pose of the first security device in the three-dimensional model; Upon detecting the second operation, the mapping pose indicated by the second operation is determined as the second mapping pose of the second security device in the three-dimensional model.

5. The method according to claim 4, characterized in that, The first operation is used to mark the mapping pose of the first security device in the three-dimensional model, and the second operation is used to mark the mapping pose of the second security device in the three-dimensional model; as well as Determining the mapped pose of the first operation instruction as the first mapped pose of the first security device in the three-dimensional model includes: The mapping pose of the first operation instruction mark is determined as the first mapping pose of the first security device in the three-dimensional model; and The step of determining the mapped pose of the second operation instruction as the second mapped pose of the second security device in the three-dimensional model includes: The mapping pose of the second operation instruction mark is determined as the second mapping pose of the second security device in the three-dimensional model.

6. The method according to claim 4, characterized in that, The three-dimensional model includes: a first initial pose of the first security device and a second initial pose of the second security device; the first operation is used to adjust the first initial pose in the three-dimensional model, and the second operation is used to adjust the second initial pose in the three-dimensional model; and Determining the mapped pose of the first operation instruction as the first mapped pose of the first security device in the three-dimensional model includes: Adjust the first initial pose according to the adjustment method indicated by the first operation instruction; The adjusted first initial pose is determined as the first mapped pose of the first security device in the three-dimensional model; and The step of determining the mapped pose of the second operation instruction as the second mapped pose of the second security device in the three-dimensional model includes: Adjust the second initial pose according to the adjustment method indicated by the second operation instruction; The adjusted second initial pose is determined as the second mapped pose of the second security device in the three-dimensional model.

7. The method according to any one of claims 1-6, characterized in that, The second security device is a PTZ camera, and the motion information includes the motion trajectory of the security object; as well as The step of controlling the second security device to perform security monitoring on the security target based on the motion information includes: Based on the motion trajectory included in the motion information, the initial position of the security target in the monitoring area of ​​the second security device is determined; The field of view of the second security device is controlled to move to the initial position so that the second security device can perform security monitoring on the security target.

8. The method according to claim 7, characterized in that, The motion information also includes the movement speed of the security object; and Before the field of view of the second security device is moved to the initial position, after determining the initial position of the security target in the monitoring area of ​​the second security device based on the motion trajectory included in the motion information, the method further includes: Based on the motion information including the motion trajectory and the motion speed, determine the first time when the security target moves to the initial position; and The control of the field of view of the second security device to move to the initial position includes: The field of view of the second security device is controlled to move to the initial position at a second time earlier than the first time or at the first time.

9. A security monitoring device with interconnected equipment, characterized in that, The device includes: An acquisition unit is used to acquire a three-dimensional model of a building, wherein a first security device and a second security device are installed on the building; The first determining unit is used to determine the first mapping pose of the first security device in the three-dimensional model and the second mapping pose of the second security device in the three-dimensional model, wherein the first mapping pose represents the pose of the first security device mapped to the three-dimensional model and the second mapping pose represents the pose of the second security device mapped to the three-dimensional model. The second determining unit is used to determine whether there is an intersection between the first monitoring area of ​​the first security device and the second monitoring area of ​​the second security device based on the first mapping pose and the second mapping pose, so as to obtain a determination result; The third determining unit is used to determine, based on the determining result, whether the first security device and the second security device are linked devices; The fourth determining unit is used to determine the motion information of the security target detected by the first security device when the first security device and the second security device are the linked devices; The control unit is used to control the second security device to perform security monitoring on the security target based on the motion information.

10. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor is configured to execute a computer program stored in the memory, wherein when the computer program is executed, it implements the security monitoring method for device linkage as described in any one of claims 1-8.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the security monitoring method for device linkage as described in any one of claims 1-8.

Images