Monitoring device and method of controlling the same

Abstract

The present disclosure relates to a monitoring device and a control method thereof. The control method includes receiving a range setting instruction of a user, obtaining a moving trajectory of a specified object in a current field of view of the monitoring device in response to the range setting instruction, and determining a target range set by the user according to an area enclosed by the moving trajectory.

Description

Technical Field

[0001] This disclosure relates to the field of monitoring technology, and more specifically, to a monitoring device and its control method. Background Technology

[0002] For surveillance equipment such as security monitoring products, setting the monitoring range is a strong requirement for users. For example, a user can specify that a certain area on the camera's screen should not be monitored; in other words, that area can be blocked. Correspondingly, any object appearing within that area will not trigger an alarm, record video, or send a notification. Conversely, a user can also specify that a certain area on the camera's screen should be monitored. Accordingly, any object appearing within that area will trigger an alarm, record video, or send a notification. Regardless of whether a specific area is monitored, the most important aspect is that the user needs to define a closed area on the camera's screen to specify whether or not to monitor that closed area. Summary of the Invention

[0003] This disclosure provides a control method and monitoring device for a monitoring device, which allows users to monitor the movement of a specified object without specifying the target range in the configuration page, and to accurately obtain the target range expected by the user by using the movement trajectory of the specified object, thereby significantly improving the accuracy and efficiency of monitoring and the user experience.

[0004] According to one aspect of this disclosure, a control method for a monitoring device is provided. The control method includes: receiving a range setting instruction from a user; in response to the range setting instruction, acquiring the movement trajectory of a specified object within the current field of view of the monitoring device; and determining a target range set by the user based on the area enclosed by the movement trajectory.

[0005] In some embodiments, obtaining the movement trajectory of a specified object in the current field of view of a monitoring device may include: during the movement of the specified object, obtaining a set of distance information and a set of angle information of the specified object, wherein each set of distance information includes the distance of the specified object relative to the monitoring device and a timestamp when the distance is obtained, and each set of angle information includes the angle of the specified object relative to the monitoring device and a timestamp when the angle is obtained; and generating the movement trajectory of the specified object based on the set of distance information and the set of angle information.

[0006] In some embodiments, the control method may further include: determining the maximum and minimum distances of trajectory points on the movement trajectory relative to the monitoring device; determining the maximum and minimum angles of trajectory points on the movement trajectory relative to the monitoring device; in response to the target object being located between the maximum and minimum distances and the angle between the target object and the monitoring device being located between the maximum and minimum angles, determining the number of intersections between the vector between the target object and the monitoring device and the movement trajectory; and in response to the number of intersections between the vector and the movement trajectory being odd, determining that the target object is within the target range.

[0007] In some embodiments, the control method may further include: determining that the target object is located within the target range in response to the fact that the number of intersections between the vector and the movement trajectory between the target object and the monitoring device is odd.

[0008] In some embodiments, the angle in the angle information can be obtained based on an image frame including the specified object acquired during the movement of the specified object. Obtaining the angle based on the image frame may include: determining the coordinates of the position point of the specified object in the image frame; determining the direction of the specified object relative to the monitoring device based on the position point coordinates; and using the angle between the direction of the specified object relative to the monitoring device and a reference direction as the angle of the specified object relative to the monitoring device.

[0009] In some embodiments, the reference direction can be one of the two edge lines of the field of view of the monitoring device or the direction of the central axis.

[0010] In some embodiments, generating a movement trajectory of a specified object may include: matching multiple distances in a set of distance information with multiple angles in a set of angle information according to the correspondence of timestamps to obtain multiple location elements, wherein each location element includes a timestamp, a distance associated with the timestamp, and an angle associated with the timestamp; and generating a movement trajectory of the specified object based on the multiple location elements, wherein the movement trajectory forms a closed region.

[0011] In some embodiments, generating a movement trajectory of a specified object begins in response to the specified object's position repeating during the movement process or upon receiving a user command.

[0012] In some embodiments, distance information is acquired through a distance sensor of the monitoring device, and angle information is acquired based on image frames acquired by the camera of the monitoring device. The moving speed of a specified object may be associated with one or more of the following: the distance accuracy of the distance sensor, the detection frequency of the distance sensor, the frame rate of the camera, or the recognition accuracy of the angle information.

[0013] According to another aspect of this disclosure, a monitoring device is provided, comprising: a processor; a memory coupled to the processor; and computer program instructions stored in the memory. The computer program instructions, when executed by the processor, perform the aforementioned control method.

[0014] According to another aspect of this disclosure, a computer program product is provided. This computer program product includes computer program instructions that, when executed by the processor of the monitored device, cause the monitoring device to perform the described method.

[0015] Based on the above embodiments of this disclosure, users can monitor the movement of a specified object and accurately obtain the target range they expect by using the movement trajectory of the specified object, without having to specify the target range in the configuration page. This significantly improves the accuracy and efficiency of monitoring and the user experience. Attached Figure Description

[0016] The above and other objects, features, and advantages of this disclosure will become more apparent from the more detailed description of embodiments thereof in conjunction with the accompanying drawings. The drawings are provided to offer a further understanding of the embodiments of this disclosure and form part of the specification. The drawings, together with the embodiments of this disclosure, are used to explain this disclosure but do not constitute a limitation thereof. In the drawings, unless explicitly stated otherwise, the same reference numerals denote the same parts, steps, or elements.

[0017] Figure 1 A schematic block diagram of a monitoring system in which the methods according to embodiments of the present disclosure can be applied is shown;

[0018] Figure 2 A flowchart illustrating a control method for a monitoring device according to an embodiment of the present disclosure is shown;

[0019] Figure 3 Sub-steps of a control method according to an embodiment of the present disclosure are shown;

[0020] Figure 4 A flowchart illustrating a method for obtaining the angle of a specified object in each image frame relative to a monitoring device according to an embodiment of the present disclosure is shown.

[0021] Figure 5A and Figure 5B Schematic diagrams illustrating the determination of whether a target object is located within a target range according to embodiments of the present disclosure are shown respectively;

[0022] Figure 6 A schematic block diagram of a monitoring device according to some embodiments of the present disclosure is shown; and

[0023] Figure 7 A schematic block diagram of a monitoring device according to another embodiment of the present disclosure is shown.

[0024] Those skilled in the art will understand that the elements in the accompanying drawings are illustrated for simplicity and clarity and are not necessarily drawn to scale. For example, the dimensions of some elements in the illustrations, block diagrams, or flowcharts may be exaggerated relative to other elements to aid in accurate understanding of this embodiment. Detailed Implementation

[0025] The technical solutions of this disclosure will now be clearly and completely described in conjunction with the accompanying drawings. Obviously, the described embodiments are part of, but not all, of the embodiments of this disclosure. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without any creative effort fall within the protection scope of this disclosure.

[0026] In the description of this disclosure, it should be noted that terms such as “first,” “second,” and “third” are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The words “comprising” or “including” mean that the element or object preceding the word covers those elements or objects listed after the word and their equivalents, without excluding other elements or objects.

[0027] In the description of this disclosure, unless otherwise expressly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0028] Furthermore, the technical features involved in the different embodiments of this disclosure described below can be combined with each other, as long as there is no conflict between them.

[0029] As mentioned earlier, users can specify whether to monitor a closed area by selecting it on the camera's view in the configuration page. However, this selection can be inaccurate. For example, a user might intend to select a specific area, but in the configuration page, the selection might be off-center, too small, or include obstacles or walls that shouldn't be included. Such errors can force users to repeatedly enter the configuration page, delete incorrectly selected areas, reselect, and adjust boundary points—a time-consuming and frustrating process. Furthermore, the closed area selected on the camera's view is two-dimensional and lacks a distance dimension, failing to reflect the actual distance between objects within the area and the camera. Therefore, during actual operation, due to the existence of the distance dimension, the actual area monitored or not monitored by the monitoring device may differ from the user's intended area.

[0030] In view of this, the present disclosure provides a control method for a monitoring device, a monitoring device, and a computer program product. This allows users to monitor the movement of a specified object without specifying the target range in a configuration page, and to accurately obtain the user's desired target range using the object's movement trajectory, thereby significantly improving monitoring accuracy and efficiency, as well as the user experience.

[0031] Figure 1 A schematic block diagram of a monitoring system 100 in which methods according to embodiments of the present disclosure may be applied is shown. System 100 may include monitoring device 110, which may include distance sensing devices and camera devices. Figure 1 The image shows multiple objects captured within the field of view of monitoring device 110, such as object 120 and object 130. The user can define a target area within the field of view of monitoring device 110, for example, an enclosed area 140 surrounding object 130, and specify whether monitoring device 110 should monitor that target area or not.

[0032] Understandably, despite Figure 1 Two objects are shown, but this is for illustrative purposes only. The method according to embodiments of this disclosure can be applied to various scenarios, and this disclosure does not limit it. Furthermore, users can set a closed area of ​​any shape at any location as the target area and specify whether to monitor or not monitor the target area; this disclosure also does not limit this.

[0033] Figure 2 A flowchart of a control method 200 for a monitoring device according to an embodiment of the present disclosure is shown. This can be combined with... Figure 1 The control method 200 is described using system 100. This control method 200 can be executed by monitoring device 110.

[0034] like Figure 2 As shown, in step 210, the monitoring device 110 can receive a range setting instruction from the user. For example, the monitoring device 110 can receive the user's range setting instruction through its interactive interface (such as an application (APP) on a mobile phone or a management platform on the web), which can instruct the user to start setting the target range.

[0035] In step 220, the monitoring device 110 may, in response to the aforementioned range setting instruction, acquire the movement trajectory of the specified object within the current field of view of the monitoring device 110. As described above, in embodiments of this disclosure, the movement of the specified object can be monitored and the movement trajectory of the specified object can be used to determine the target range. Upon receiving the user's range setting instruction, the monitoring device 110 can determine that the user is about to begin setting the target range and that a specified object will begin to move. Therefore, in response to the user's range setting instruction, the monitoring device 110 may acquire the movement trajectory of the specified object within the current field of view of the monitoring device 110. In some embodiments, the specified object may be a user, or it may be other types of moving objects controlled by the user, to achieve the setting of the target range through movement.

[0036] In step 230, the monitoring device 110 can determine the target range set by the user based on the area enclosed by the movement trajectory. The target range can be determined based on the area enclosed by the movement trajectory of the specified object, which can be a closed area within the monitorable range of the monitoring device 110. For example, the closed area can be directly determined as the target range, or the final target range can be obtained by adaptive fine-tuning based on the closed area (e.g., appropriately expanding or cropping the closed area). After determining the target range, the user can specify whether to monitor the target range or not. When the target range is monitored, a specific object appearing within the target range (sometimes referred to as the target object in this embodiment) will cause the monitoring device 110 to alarm, record, or push a message. When the target range is not monitored, a target object appearing within the target range will not cause the monitoring device to alarm, record, or push a message. In this way, by determining the target range based on the area enclosed by the movement trajectory of the specified object, the user does not need to specify it through the camera view in the configuration page, reducing the possibility of repeated settings due to misoperation during the specification process, improving the accuracy of the target range setting, and thus significantly improving the accuracy and efficiency of monitoring and the user experience.

[0037] In some embodiments, the user can plan one or more enclosed areas that may or may not be monitored. To enable the monitoring device 110 to determine the target range corresponding to each enclosed area according to the control method 200, a designated object (e.g., a user or a user-controlled moving object) can be initially positioned at the starting point of the edge of the enclosed area. This starting point can be any location on the edge of the enclosed area. Subsequently, the user can send the aforementioned range setting command to the monitoring device 110 via controls such as buttons or through an application interface on a mobile device, and control the designated object to move along the edge of the enclosed area.

[0038] As mentioned above, existing methods of defining a closed area as the target range on the camera's view do not consider the "distance" dimension in three-dimensional space. That is, they do not consider the actual distance between the object within the defined area and the camera, which affects the accuracy of the target range setting. Therefore, in the embodiments of this disclosure, distance information is considered during the acquisition of the movement trajectory of the specified object to improve the accuracy of the target range setting. Furthermore, angle information is also required to acquire the movement trajectory. Figure 3 Sub-steps of step 220 for obtaining a movement trajectory according to an embodiment of this disclosure are shown. Figure 3 As shown, step 220 may include sub-steps 221 and 222. In sub-step 221, during the movement of the specified object, a set of distance information and a set of angle information of the specified object may be acquired. Each piece of distance information in the set of distance information may include the distance of the specified object relative to the monitoring device 110 and a timestamp when the distance was acquired. Each piece of angle information in the set of angle information may include the angle of the specified object relative to the monitoring device 110 and a timestamp when the angle was acquired.

[0039] The designated object can move along a planned closed area at a certain speed. Correspondingly, the monitoring device 110 can acquire the distance information of the designated object during this movement process, and then obtain a set of distance information. SL Each distance information may include the distance of the specified object relative to the monitoring device 110. Li and obtaining distance Li timestamp ti Timestamp ti It can indicate the distance of a specified object relative to monitoring device 110 each time. Li The point in time. The set of distance information can be represented as... SL= {( L1 , t1 ),( L2 , t2 )……( Ln , tn )}(in, Li for ti At any given moment, the distance of the specified object relative to monitoring device 110; 1 ≤ i ≤ n, where n is a set. SL (The amount of distance information in the data). In some embodiments, a first detection frequency may be used. f1 To obtain distance information for a specified object. Correspondingly, the timestamp. ti Can be used with the first detection frequency f1 Related. In some embodiments, ti It can be a time on the order of milliseconds.

[0040] Similarly, the monitoring device 110 can acquire the angle information of the specified object during its movement process, and thus obtain a set of angle information. SA Each angle information may include the angle of the specified object relative to the monitoring device 110. Aj and the angle of acquisition Aj timestamp tj' Timestamp tj' It can indicate the angle of a specified object relative to the monitoring device (110°) each time. Aj The point in time. The set of angle information can be represented as... SA= {( A1 , t1’ ),( A2 , t2’ )……( Am , tm' )}(in, Aj for tj' At any given moment, the angle of the specified object relative to the monitoring device is 110°; 1 ≤ j ≤ m, where m is a set. SA (The amount of angular information in the data).

[0041] In some embodiments, the number of angle information units m can be equal to the number of distance information units n. Alternatively, in other embodiments, the number of angle information units m can be greater than or less than the number of distance information units n. This disclosure does not specifically limit the relationship between m and n.

[0042] Next, in sub-step 222, the monitoring device 110 can base its actions on the collection of distance information. SL and a collection of angle information SAThe system generates a movement trajectory for a specified object. In some embodiments, when the specified object completes its movement along a pre-planned enclosed area, the user can send a completion command to the monitoring device 110, causing the monitoring device 110 to generate the movement trajectory for the specified object. In other embodiments, the monitoring device 110 can also determine whether to start generating a movement trajectory by detecting the position information of the specified object. For example, in response to the specified object's position repeating during the movement, the monitoring device 110 can start generating the movement trajectory for the specified object. In some embodiments, each distance information in the set of distance information may additionally include the angle of the specified object relative to the monitoring device 110. The angle in the distance information can be sensed by a distance sensing device with angle measurement capabilities (e.g., a motion detection sensor), and its accuracy may be less than that of the angle in the angle information. In response to the distance and angle being the same at two timestamps in the set of distance information, the monitoring device 110 can determine that the specified object's position repeating during the movement. In other embodiments, the monitoring device 110 can associate the distance in the distance information with the angle in the angle information based on their respective timestamps, that is, associate distances and angles acquired at the same time. Then, in response to the fact that the distance and angle at the first timestamp are the same as the distance and angle at the second timestamp (i.e., the position of the specified object at the first timestamp and the second timestamp are the same), the monitoring device 110 can determine that the position of the specified object is repeated during the movement process, and the monitoring device 110 can start to perform the action of generating the movement trajectory.

[0043] It is understandable that the above-mentioned "the distance and angle at two timestamps in the set of distance information are the same" and "the distance and angle at the first timestamp are the same as the distance and angle at the second timestamp" do not require that the two being compared are absolutely identical, but rather allow for slight deviations.

[0044] After obtaining the sets of distance information and angle information, the movement trajectory of the specified object can be generated according to any known method. In some embodiments, the monitoring device 110 can divide the set of distance information according to the correspondence between timestamps (i.e., the timestamp when the distance information was obtained and the timestamp when the angle information was obtained). SL A collection of multiple distance and angle information SA Matching is performed from multiple angles to obtain multiple positional elements. PE Each position element PE This includes the timestamp, the distance associated with that timestamp, and the angle associated with that timestamp. For example, location elements. PE1= ( L1, A1 , t1 ), positional element PE2=( L2, A2 , t2 ), ..., positional elements PEk= ( Lk, Ak , tk (where k is the number of location elements). In some embodiments, the number of location elements k may be equal to the number of distance information items n in the set of distance information, or it may be equal to the number of angle information items m in the set of angle information, or k may be less than m and / or n. This disclosure does not specifically limit the number of k. Based on multiple location elements, the monitoring device 110 can generate a movement trajectory of a specified object, and this movement trajectory forms a closed area, such as... Figure 1 The enclosed area is 140.

[0045] Furthermore, the distance information is collected according to the correspondence of timestamps. SL A collection of multiple distance and angle information SA In the process of matching multiple perspectives, slight discrepancies between timestamps are permissible. For example, timestamps in a collection of distance information... tj Timestamps in the set of angle information tj' The deviation between them is within the predetermined range, and the timestamp can be... tj With timestamp tj' Treat them as the same timestamp, and thus associate them with that timestamp. tj The distance and its association with the timestamp tj' The angles are matched to obtain the position elements used to generate the movement trajectory.

[0046] Some existing surveillance equipment already integrates millimeter-wave radar, a sensing device capable of obtaining accurate distances (distance between the object and the camera) to objects (including the specified object and target object mentioned above). However, the angles of the objects obtained by millimeter-wave radar (e.g., the angle between the object and the central axis of the camera) are still inaccurate (e.g., the angle error measured by millimeter-wave radar may be 10 degrees or even higher). Therefore, surveillance equipment integrating millimeter-wave radar can only provide users with a fan-shaped detection range centered on the surveillance equipment. Although users can precisely specify the detection range within or outside a specific distance as the target range, it is still impossible to set a target range that satisfies a specific angle range. At the same time, technologies such as image processing and visual algorithms have been widely developed. Based on the image frames captured by the camera, the angle information of the objects within the image frame (e.g., the angle between the object and the central axis of the camera) can be accurately calculated. Therefore, in the embodiments of this disclosure, a distance sensing device can be used to obtain distance information, a camera device can be used to obtain image frames, and angle information can be obtained based on the image frames.

[0047] The monitoring device 110 may include a distance sensing device and a camera device. In some embodiments, the distance sensing device may be a sensor device such as millimeter-wave radar to obtain the precise distance of an object. A designated object may move along a planned enclosed area at a certain speed. Accordingly, during the movement of the designated object, the monitoring device 110 may obtain the distance of the designated object relative to the monitoring device 110 and the timestamp at which the distance is obtained through the distance sensing device, thereby obtaining distance information. Furthermore, during the movement of the designated object, the monitoring device 110 may also acquire image frames including the designated object and the timestamp at which the image frames are acquired through the camera device, obtain the angle of the designated object relative to the monitoring device 110 based on the image frames, and use the angle and the timestamp at which the image frames are acquired as angle information.

[0048] The monitoring device 110 can, for example, invoke program instructions (including but not limited to artificial intelligence model program instructions) stored in the monitoring device 110 to base its actions on a set of image frames acquired by the camera device. SF Collection of angle information SA In some embodiments, a set of image frames SF In each image frame, the monitoring device 110 can obtain the angle of a specified object in each image frame relative to the monitoring device 110 by calling the program instructions stored in the monitoring device 110. Figure 4 A flowchart illustrating an example method 400 for obtaining the angle of a specified object relative to a monitoring device 110 in each image frame, according to an embodiment of the present disclosure, is shown. For each image frame, such as Figure 4As shown, at step 410, the monitoring device 110 can determine the coordinates of the position point of the specified object in the image frame. At step 420, the monitoring device 110 can determine the direction of the specified object relative to the monitoring device based on the position point coordinates. For example, the monitoring device can convert the position point coordinates into normalized coordinates in the monitoring device coordinate system. The monitoring device coordinate system can be the coordinate system of the specified object on the moving plane (i.e., the plane that defines the monitoring range, also called the "projection plane", for example, the ground), and the projected position point of the monitoring device on the projection plane can be used as the origin of the monitoring device coordinate system. The normalized coordinates of the position point can be the position coordinates of the specified object projected onto the projection plane. The direction of the specified object relative to the monitoring device (i.e., the origin) can be the direction projected into the monitoring device coordinate system. At step 430, the monitoring device 110 can use the angle between the direction of the specified object relative to the monitoring device and the reference direction as the angle of the specified object relative to the monitoring device. In some embodiments, the reference direction is the direction of one of the two edge lines of the field of view of the monitoring device 110 or the direction of the central axis. For example, monitoring device 110 can use the angle between the projection of the specified object's direction and the reference direction onto the projection plane as the angle of the specified object relative to the monitoring device. This is achieved by performing this operation on each image frame. Figure 4 In the operation of method 400, the monitoring device can obtain the angle of the specified object relative to the monitoring device 110 at the timestamp when each image frame is acquired.

[0049] Furthermore, in some embodiments, for each image frame in the image frame set, the monitoring device 110 can use the middle pixel (or any pixel in the image frame) as the origin of the coordinate system and establish a coordinate system C1 in the image frame. The monitoring device 110 can determine the vector between the origin of the coordinate system C1 and the pixel of the target object in the image frame. The monitoring device 110 can determine the angle between this vector and the Y-axis (or X-axis) of the coordinate system and use this angle as the angle of the specified object relative to the monitoring device 110 at the timestamp when the image frame is acquired.

[0050] Then, the monitoring device 110 can combine multiple angles obtained from a set of image frames to obtain a set of angle information. SA In some embodiments, upon receiving the aforementioned range setting instruction, the monitoring device 110 can synchronize the distance sensing device and the camera device, thereby enabling the distance sensing device to enter a detection state at a specific detection frequency and the camera device to enter a detection state at a specific detection frame rate. For example, the detection frequency of the distance sensing device and the detection frame rate of the camera device can have the same value, such as both being 20, i.e., the detection frequency of the distance sensing device is 20Hz, and the detection frame rate of the camera device is 20 frames per second (fps). Alternatively, the detection frequency and the detection frame rate can be integer multiples of each other.

[0051] By synchronizing the distance sensing device and the camera device, the parameters detected by the distance sensing device and the camera device can have the same timestamp, which facilitates the subsequent fusion operation of the distance information set and the angle information set, thereby effectively generating the movement trajectory of the specified object. In some embodiments, the specified object can move at a set speed. This speed can be associated with one or more of the following parameters: the distance accuracy of the distance sensing device in the monitoring device 110, the detection frequency of the distance sensing device, the frame rate of the camera device in the monitoring device 110, or the recognition accuracy of the angle information. For example, the higher the distance accuracy of the distance sensing device, the lower the speed can be; the lower the distance accuracy of the distance sensing device, the higher the speed can be. The higher the detection frequency of the distance sensing device, the higher the speed can be; the lower the detection frequency of the distance sensing device, the lower the speed can be. The higher the frame rate of the camera device, the higher the speed can be; the lower the frame rate of the camera device, the lower the speed can be. The higher the recognition accuracy of the angle information, the lower the speed can be; the lower the recognition accuracy of the angle information, the higher the speed can be.

[0052] By employing the method according to embodiments of this disclosure, users can determine the precise physical location of the specified object's movement by moving the specified object and combining the distance and angle of the specified object relative to the monitoring device, without having to specify the target range in the configuration page. This allows for accurate acquisition of the user's desired target range, thereby significantly improving monitoring accuracy and efficiency as well as the user experience.

[0053] In some embodiments, after the target range is determined, the monitoring device 110 can detect whether the target object is within the target range. Figure 5A A schematic diagram illustrating the determination of whether a target object is within a target range according to some embodiments of the present disclosure is shown.

[0054] In some embodiments, the monitoring device 110 can determine the maximum and minimum distances between trajectory points on the movement trajectory and the monitoring device, and can also determine the maximum and minimum angles between the trajectory points on the movement trajectory and the monitoring device 110. For example... Figure 5AAs shown, the monitoring device 110 is schematically represented as point O, which can be a projection point of the monitoring device 110 on the projection plane defining the target area. The monitoring device 110 also has a field of view formed by a first edge line 502 and a second edge line 504. The range corresponding to the closed region 520 is the target range. This target range can be a polygonal closed region 520. The closed region 520 can be formed by a movement trajectory formed by the movement of a specified object. The closed region can be a closed region formed by directly connecting multiple trajectory points. In addition, the closed region can also be a smoother closed region, such as a circle, formed by fitting multiple trajectory points.

[0055] The monitoring device 110 can determine the maximum and minimum distances between trajectory points on the trajectory and the monitoring device 110 based on the movement trajectory. For example... Figure 5A As shown, the monitoring device 110 can determine that the distance between trajectory point B on the movement trajectory corresponding to the target range and the monitoring device 110 (shown as point O in Figure 5) is the maximum distance. Lmax Furthermore, the distance between trajectory point A on the movement trajectory and monitoring device 110 is the minimum distance. Lmin .

[0056] The monitoring device 110 can determine the maximum and minimum angles of trajectory points on the movement trajectory relative to the monitoring device 110 based on the movement trajectory. As shown in Figure 5, using the first edge line 502 as a reference line, the monitoring device can determine the maximum angle of the trajectory points on the movement trajectory relative to the monitoring device. λmax With minimum angle λmin The trajectory point with the largest angle is D, and the trajectory point with the smallest angle is C.

[0057] In some embodiments, in response to the target object being at its maximum distance relative to the monitoring device 110. Lmax and minimum distance Lmin Between and the target object located at the angle and maximum angle of the monitoring equipment λmax and minimum angle λmin Between the target object and the moving trajectory, the monitoring device 110 can determine the number of intersections between the vector and the moving trajectory. If the number of intersections is odd, the monitoring device 110 can determine that the target object is within the target area. Furthermore, if the number of intersections is even, the monitoring device 110 can determine that the target object is outside the target area.

[0058] For example, in response to detecting a target object, monitoring device 110 can detect the distance of the target object relative to monitoring device 110. L1 For example, monitoring device 110 can obtain the distance using a distance sensor. L1The monitoring device 110 can acquire the distance... L1 and maximum distance Lmax and minimum distance Lmin Comparison. Response to distance. L1 Located at the maximum distance Lmax and minimum distance Lmin Between (i.e., Lmin ≤ L1 ≤ Lmax The monitoring device 110 can further detect the angle of the target object relative to the monitoring device 110. For example, the monitoring device 110 can determine the angle of the target object relative to the monitoring device 110 based on image frames captured by the camera device by calling instructions stored in the monitoring device 110. λ1 The monitoring device 110 can acquire the angle. λ1 With maximum angle λmax and minimum angle λmin Comparison. Response to angle. λ1 Located at the maximum angle λmax and minimum angle λmi Between the target object and the monitoring device 110, the monitoring device 110 can further determine the vector V1 between the target object and the monitoring device. The monitoring device 110 can determine the number of intersections between the vector V1 and the movement trajectory. In response to the number of intersections between the vector V1 and the movement trajectory being odd (e.g., one), the monitoring device 110 can determine that the target object is within the target range. In response to the number of intersections between the vector V1 and the movement trajectory being even (e.g., two), the monitoring device 110 can determine that the target object is outside the target range.

[0059] The following will continue to refer to Figure 5A This describes the process of determining the positional relationship between target objects T1 and T2 and the target range. Taking target object T1 as an example, monitoring device 110 can determine that the distance between target object T1 and the monitoring device is at its maximum. Lmax and minimum distance Lmin Between, and the angle of the target object relative to the monitoring device 110 is at its maximum angle. λmax and minimum angle λmin Between. Monitoring device 110 can further determine the number of intersection points between the vector 552 between the target object T1 and the monitoring device 110 and the movement trajectory, such as Figure 5A As shown, this is an intersection point. Therefore, the monitoring device 110 can determine that the target object T1 is located within the target range 520.

[0060] Taking target object T2 as an example, monitoring device 110 can determine that the distance between target object T2 and monitoring device is at the maximum distance. Lmax and minimum distance Lmin Between, and the angle of the target object relative to the monitoring device 110 is at its maximum angle. λmax and minimum angle λmin Between. Monitoring device 110 can further determine the number of intersections between the vector 554 between the target object T2 and the monitoring device 110 and the movement trajectory, such as Figure 5A As shown, there are two intersection points. Therefore, the monitoring device 110 can determine that the target object T2 is outside the target range 520.

[0061] By targeting the maximum distance relative to the monitoring device Lmax and minimum distance Lmin Between, and at the maximum angle relative to the monitoring equipment λmax and minimum angle λmin Determining the number of intersections between the vector and the movement trajectory of the target object can quickly eliminate objects that are obviously outside the target range, thereby reducing the number of calculations and the amount of computation.

[0062] Alternatively, in other embodiments, the monitoring device 110 can directly determine the number of intersections between the vector and the movement trajectory between the target object and the monitoring device 110, and determine whether the target object is within the target range based on the number of intersections. If there are no intersections between the vector and the movement trajectory between the target object and the monitoring device 110, the monitoring device 110 can determine that the target object is outside the target range. If the number of intersections between the vector and the movement trajectory between the target object and the monitoring device 110 is even, the monitoring device 110 can determine that the target object is outside the target range. If the number of intersections between the vector and the movement trajectory between the target object and the monitoring device 110 is odd, the monitoring device 110 can determine that the target object is within the target range.

[0063] Figure 5B A schematic diagram illustrating the determination of whether a target object is within a target range according to other embodiments of this disclosure is shown. For example... Figure 5B As shown, the vector 552 between target object T1 and monitoring device 110 intersects the movement trajectory at one point. Therefore, monitoring device 110 can determine that target object T1 is within the target range 520. The vector 554 between target object T2 and monitoring device 110 intersects the movement trajectory at two points. Therefore, monitoring device 110 can determine that target object T2 is outside the target range 520. The vector 556 between target object T3 and monitoring device 110 does not intersect the movement trajectory. Therefore, monitoring device 110 can determine that target object T3 is outside the target range 520.

[0064] This disclosure does not limit the location of the target object. The angle of the target object relative to the monitoring device 110 according to the embodiments of this disclosure can be calculated after projecting the target object and the monitoring device onto the same reference plane (i.e., the plane that defines the monitoring range, for example, the ground).

[0065] For a target object located within the target area, the monitoring device 110 can process the target object according to the user's instruction to monitor or not monitor the target area. Specifically, when monitoring the target area, the monitoring device 110 can trigger an alarm, record video, or push a message when the target object appears within the target area. When not monitoring the target area, the monitoring device 110 will not trigger an alarm, record video, or push a message when the target object appears within the target area.

[0066] Figure 5A and Figure 5B The shape, location, and field of view of the closed area corresponding to the target range shown in the diagram are only illustrative, and for the purpose of explanation, this disclosure does not limit the shape, location, and field of view of the closed area corresponding to the target range and the field of view of the monitoring device 110.

[0067] Figure 6 A schematic block diagram of a monitoring device 600 according to some embodiments of the present disclosure is shown. The details of the method embodiments described above are also applicable to... Figure 6 Examples, such as... Figure 6 As shown, the monitoring device 600 may include a distance sensing device 610, a camera device 620, and a processing device 630. The distance sensing device 620 may be configured to acquire a set of distance information of a specified object during its movement, each piece of distance information in the set may include the distance of the specified object relative to the monitoring device and a timestamp when the distance was acquired. The camera device 620 may be configured to acquire a set of image frames including the specified object during its movement. The processing device 630 may be configured to acquire the movement trajectory of the specified object within the current field of view of the monitoring device 600 in response to a user's range setting command. The processing device 630 may also be configured to determine the target range of the monitoring device 600 based on the area enclosed by the movement trajectory of the specified object.

[0068] In some embodiments, obtaining the movement trajectory of a specified object may include: during the movement of the specified object, obtaining a set of distance information and a set of angle information of the specified object, wherein each set of distance information includes the distance of the specified object relative to the monitoring device and a timestamp when the distance is obtained, and each set of angle information includes the angle of the specified object relative to the monitoring device and a timestamp when the angle is obtained; and generating the movement trajectory of the specified object based on the set of distance information and the set of angle information.

[0069] In some embodiments, the processing device 630 may also be configured to determine the maximum and minimum distances of trajectory points on the movement trajectory relative to the monitoring device; determine the maximum and minimum angles of trajectory points on the movement trajectory relative to the monitoring device; in response to the target object being located between the maximum and minimum distances and the angle of the target object relative to the monitoring device being located between the maximum and minimum angles, determine the number of intersections between the vector between the target object and the monitoring device and the movement trajectory; and in response to the number of intersections between the vector and the movement trajectory being odd, determine that the target object is within the target range.

[0070] In some embodiments, the processing device 630 may also be configured to determine that the target object is within the target range in response to the number of intersections between the vector and the movement trajectory between the target object and the monitoring device being odd.

[0071] In some embodiments, the angle in the angle information is obtained based on an image frame including the specified object acquired during the movement of the specified object. Obtaining the angle based on the image frame may include: determining the coordinates of the position point of the specified object in the image frame; determining the direction of the specified object relative to the monitoring device based on the position point coordinates; and using the angle between the direction of the specified object relative to the monitoring device and a reference direction as the angle of the specified object relative to the monitoring device.

[0072] In some embodiments, the reference direction is the direction of one of the two edge lines of the field of view of the monitoring device or the direction of the central axis.

[0073] In some embodiments, generating a movement trajectory of a specified object may include: matching multiple distances in a set of distance information with multiple angles in a set of angle information according to the correspondence of timestamps to obtain multiple location elements, wherein each location element includes a timestamp, a distance associated with the timestamp, and an angle associated with the timestamp; and generating a movement trajectory of the specified object based on the multiple location elements, wherein the movement trajectory forms a closed region.

[0074] In some embodiments, generating the movement trajectory of a specified object begins in response to the repetition of the specified object's position during the movement process or upon receiving a user instruction.

[0075] In some embodiments, distance information is acquired through a distance sensor of the monitoring device, and angle information is acquired based on image frames acquired by the camera of the monitoring device. The moving speed of a specified object may be associated with one or more of the following: the distance accuracy of the distance sensor, the detection frequency of the distance sensor, the frame rate of the camera, or the recognition accuracy of the angle information.

[0076] Figure 7 A schematic block diagram of a monitoring device 700 according to another embodiment of the present disclosure is shown. The monitoring device 700 can be used to perform methods such as those described above. Figure 7 As shown, the monitoring device 700 may include a processor 710 and a memory 720. The processor 710 is communicatively coupled to the memory 720 and configured to cause the monitoring device 700 to perform the methods discussed above. The details of the method embodiments described above also apply to... Figure 7 Examples of implementations.

[0077] Examples of processor 710 may include microprocessors, microcontrollers, digital signal processors (DSPs), field-programmable gate arrays (FPGAs), programmable logic devices (PLDs), state machines, gated logic, discrete hardware circuits, and other suitable hardware configured to perform the various functions described in this disclosure.

[0078] Processor 710 can execute software. Software should be broadly interpreted as instructions, instruction sets, code, code segments, program code, programs, subroutines, software modules, application programs, software applications, software packages, routines, subroutines, objects, executable files, execution threads, procedures, functions, etc., regardless of whether it is referred to as software, firmware, middleware, microcode, hardware description languages, or otherwise. The software may reside on memory 720.

[0079] Memory 720 may be a non-transitory computer-readable medium. Non-transitory computer-readable media include, for example, magnetic storage devices (e.g., hard disks, floppy disks, magnetic stripes), optical disks (e.g., optical discs (CDs) or digital versatile optical discs (DVDs)), smart cards, flash memory devices (e.g., cards, memory cards, or key drives), random access memory (RAM), read-only memory (ROM), programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), registers, removable disks, and any other suitable medium for storing software and / or instructions that can be accessed and read by a computer. Memory 720 may reside in processor 710, be external to processor 710, or be distributed across multiple entities including processor 710. Memory 720 may be embodied in a computer program product. For example, a computer program product may include a computer-readable medium in packaging material. Those skilled in the art will recognize how the functionality described throughout this disclosure can be implemented based on the specific application and overall design constraints imposed on the overall system.

[0080] Furthermore, according to another embodiment of this disclosure, a computer program product is disclosed. As an example, the computer program product may include program instructions that can be executed by a processor of a monitoring device. When executed, the program instructions cause the monitoring device to perform one or more of the processes described above. The details of the method embodiments described above also apply here; for the sake of brevity, details are omitted here.

[0081] The various embodiments described in this disclosure are for illustrative purposes and are not intended to be exhaustive or limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope of the described embodiments. The terminology used herein is chosen to best explain the principles of the embodiments, their practical application, or improvements to techniques found in the market, or to enable those skilled in the art to understand the embodiments disclosed herein.

[0082] Throughout the description and claims of this specification, the word “comprising” and variations thereof, such as “comprising” and “including,” means “including, but not limited to,” and are not intended to exclude, for example, other additives, components, integers, or steps. “Exemplary” means “an example of a preferred or ideal implementation and is not intended to convey its indication.” “Like” is not used in a limiting sense but for interpretive purposes.

[0083] As used in this disclosure, the term "determine" can include a variety of operations. For example, "determine," calculation, operation, processing, derivation, investigation, search (e.g., searching in a table, database, or other data structure), and ascertainment are all considered "determine." Additionally, "determine" also refers to receiving (e.g., receiving information), sending (e.g., sending information), inputting, outputting, and accessing (e.g., accessing data in memory). Furthermore, "determine" can also refer to parsing, selecting, picking, opening, and comparing. In other words, several actions can be considered "determine."

[0084] As used in this disclosure, terms such as “connection,” “coupling,” or any variations thereof refer to any direct or indirect connection or combination between two or more units, which may include situations where one or more intermediate units exist between two units that are “connected” or “coupled” to each other. The coupling or connection between units may be physical or logical, or a combination of both. As used in this disclosure, two units may be considered electrically connected by means of one or more wires, cables, and / or printing, and as numerous non-limiting and non-exhaustive examples, may be “connected” or “coupled” to each other by means of electromagnetic energy in the radio frequency region, microwave region, and / or light (visible and invisible) region, etc.

[0085] The present disclosure has been described in detail above; however, it will be apparent to those skilled in the art that the present disclosure is not limited to the embodiments described herein. The present disclosure may be implemented in modified and altered forms without departing from the spirit and scope of the present disclosure as defined by the claims.

Claims

1. A control method for a monitoring device, the control method comprising: Receive user's range setting instructions; In response to the range setting command, the movement trajectory of the specified object in the current field of view of the monitoring device is obtained; as well as The target range set by the user is determined based on the area enclosed by the movement trajectory.

2. The control method according to claim 1, wherein, The step of obtaining the movement trajectory of the specified object in the current field of view of the monitoring device includes: During the movement of the specified object, a set of distance information and a set of angle information of the specified object are acquired, wherein each piece of distance information includes the distance of the specified object relative to the monitoring device and a timestamp when the distance is acquired, and each piece of angle information includes the angle of the specified object relative to the monitoring device and a timestamp when the angle is acquired; and Based on the set of distance information and the set of angle information, the movement trajectory of the specified object is generated.

3. The control method according to claim 1 further includes: Determine the maximum and minimum distances of trajectory points on the movement trajectory relative to the monitoring device; Determine the maximum and minimum angles of the trajectory points on the movement trajectory relative to the monitoring device; In response to the fact that the distance between the target object and the monitoring device is between the maximum distance and the minimum distance, and the angle between the target object and the monitoring device is between the maximum angle and the minimum angle, the number of intersection points between the vector between the target object and the monitoring device and the movement trajectory is determined; as well as In response to the fact that the number of intersections between the vector and the movement trajectory is odd, it is determined that the target object is located within the target range.

4. The control method according to claim 1 further includes: In response to the fact that the number of intersections between the vector between the target object and the monitoring device and the movement trajectory is odd, it is determined that the target object is located within the target range.

5. The control method according to claim 1, wherein, The angle in the angle information is obtained based on an image frame including the specified object acquired during the movement process of the specified object, and wherein obtaining the angle based on the image frame includes: Determine the coordinates of the position point of the specified object in the image frame; Determine the orientation of the specified object relative to the monitoring device based on the coordinates of the location point; and The angle between the direction of the specified object relative to the monitoring device and the reference direction is taken as the angle of the specified object relative to the monitoring device.

6. The control method according to claim 5, wherein, The reference direction is the direction of one of the two edge lines of the field of view of the monitoring device or the direction of the central axis.

7. The control method according to claim 2, wherein, Generating the movement trajectory of the specified object includes: Based on the timestamp correspondence, multiple distances in the set of distance information are matched with multiple angles in the set of angle information to obtain multiple location elements. Each location element includes a timestamp, a distance associated with the timestamp, and an angle associated with the timestamp. Based on the multiple location elements, a movement trajectory of the specified object is generated, wherein the movement trajectory forms a closed region.

8. The control method according to claim 2, wherein, The generation of the movement trajectory of the specified object begins in response to the repetition of the specified object's position during the movement process or upon receiving a user instruction.

9. The control method according to claim 1, in, The distance information is obtained through the distance sensor of the monitoring device, and the angle information is obtained based on image frames acquired by the camera of the monitoring device. The movement speed of the specified object is associated with one or more of the following: the distance accuracy of the distance sensing device, the detection frequency of the distance sensing device, the frame rate of the camera device, or the recognition accuracy of the angle information.

10. A monitoring device, comprising: processor; Memory coupled to the processor; as well as Computer program instructions stored in the memory, which, when executed by the processor, perform the control method according to any one of claims 1-9.

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