Small animal detection equipment based on radar and pan-tilt camera technology

Abstract

The utility model relates to small animal detection equipment based on radar and pan-tilt camera technology. The small animal detection equipment comprises a mounting rack, a controller arranged on the mounting rack, a camera unit arranged at the top of the mounting rack, and a radar unit arranged at the bottom of the mounting rack, the camera unit comprises a camera and a holder for adjusting the angle of the camera; the radar unit comprises a radar, a lifting adjusting mechanism for driving the radar to lift and a pitching adjusting mechanism for driving the pitching angle of the radar; the direction and the distance of the small animal can be quickly positioned through the radar, and then the camera is controlled to rotate to a corresponding position through the holder to capture the small animal, so that the position of the small animal can be detected in real time, the camera captures the small animal after directly rotating in place on the holder, blurring of shooting in the rotating process is avoided, and the shooting efficiency is improved. And clear snapshot and subsequent identification are facilitated, so that the detection rate of the small animals can be improved.

Description

Technical Field

[0001] The utility model relates to the field of intrusion monitoring, in particular to a small animal detection device based on radar and pan-tilt camera technology. Background Art

[0002] Video surveillance is an important part of the security solution system. In recent years, with the advancement of computer, network, image processing and transmission technology, video surveillance technology has also made great progress. Intrusion detection is an important part of intelligent video surveillance and is widely used in both military and civilian fields.

[0003] For example, in some special occasions, it is necessary to detect animal intrusion. When an animal intrusion occurs, it is necessary to find the exact location of the invading animal and eliminate the potential risks in the bud to avoid serious accidents. However, the existing animal detection methods mainly rely solely on dynamic monitoring and capture by cameras. For some small animals, they are not easy to be identified because of their small targets within the monitoring range. In addition, the movement speed of small animals is relatively fast, and it is difficult for the camera to keep tracking and capture clearly, resulting in a low detection rate of small animals. Utility Model Content

[0004] The utility model aims to overcome the deficiencies of the prior art and to provide a small animal detection device based on radar and pan-tilt camera technology.

[0005] To achieve the above-mentioned purpose, the technical solution adopted by the utility model is: a small animal detection device based on radar and pan-tilt camera technology, comprising a mounting frame, a controller arranged on the mounting frame, a camera unit arranged on the top of the mounting frame, and a radar unit arranged at the bottom of the mounting frame;

[0006] The camera unit includes a camera and a gimbal for adjusting the camera angle;

[0007] The radar unit comprises a radar, a lifting and lowering adjustment mechanism for driving the radar to rise and fall, and a pitching adjustment mechanism for driving the radar to pitch an angle.

[0008] Preferably, the pitch adjustment mechanism includes a horizontally placed support plate, side plates vertically arranged on both sides of the support plate, a pitch shaft rotatably arranged on the two side plates at both ends, a rotating handle passing through the support plate and threadedly connected to the support plate, and a fastening assembly for locking the pitch shaft; the radar is installed on the pitch shaft; and the rotating handle is against the top of the radar.

[0009] Preferably, the fastening assembly includes a protrusion arranged on the outer side of one of the side plates; one end of the pitch rotation axis extends into the protrusion; and a top screw that can be pressed against the pitch rotation axis is arranged on the protrusion.

[0010] Preferably, the lifting and lowering adjustment mechanism is a vertically placed manual screw slide; the support plate is horizontally and vertically arranged at the driving end of the manual screw slide.

[0011] Preferably, the mounting frame includes a base, a bracket vertically arranged on the base, and a top plate horizontally arranged on the top of the bracket; the controller is arranged on the bracket; the camera unit is arranged on the top plate; and the radar unit is arranged on the base.

[0012] Preferably, both the base and the bracket are provided with mounting holes.

[0013] Due to the application of the above technical solution, the utility model has the following advantages compared with the prior art:

[0014] 1. The utility model can first quickly locate the direction and distance of small animals through radar, and then control the camera to rotate to the corresponding position through the pan-tilt head to capture the image. In this way, the position of small animals can be detected in real time, and the camera can capture the image after the pan-tilt head is directly rotated into place, avoiding blurring of the image during the rotation process, which is conducive to clear capture and subsequent identification, and thus will be able to improve the detection rate of small animals;

[0015] 2. The utility model detects the position information of small animals through radar, which is also beneficial for subsequent operation and maintenance personnel to check and quickly find the exact location of the small animal invasion. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The technical solution of the utility model is further described below in conjunction with the accompanying drawings:

[0017] Attached Figure 1 This is a front view of the small animal detection device based on radar and PTZ camera technology described in the utility model;

[0018] Attached Figure 2 This is a schematic diagram of the structure of the small animal detection device based on radar and PTZ camera technology described in the utility model;

[0019] Attached Figure 3 It is a structural schematic diagram of the radar unit in the utility model;

[0020] Attached Figure 4 It is a structural schematic diagram of the pitch adjustment mechanism in the utility model;

[0021] Attached Figure 5 It is a schematic diagram of the framework flow of the detection system of the utility model;

[0022] Attached Figure 6 This is a main logic diagram of the radar detection part of the utility model;

[0023] Attached Figure 7 This is a logical diagram of the main body of the PTZ control in the utility model;

[0024] Attached Figure 8 This is a logical schematic diagram of the image recognition subject in the utility model.

[0025] Among them: 1. mounting frame; 11. base; 12. bracket; 13. top plate; 14. mounting hole; 2. controller; 3. camera unit; 31. camera; 32. gimbal; 4. radar unit; 41. laser radar; 42. lifting adjustment mechanism; 43. pitch adjustment mechanism; 431. support plate; 432. side plate; 433. pitch axis; 434. rotating handle; 435. protrusion; 436. top screw. DETAILED DESCRIPTION

[0026] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0027] Attached Figure 1-4 The small animal detection device based on radar and PTZ camera technology described in the utility model comprises a mounting frame 1, a controller 2 arranged on the mounting frame 1, a camera unit 3 arranged on the top of the mounting frame 1, and a radar unit 4 arranged at the bottom of the mounting frame 1;

[0028] The camera unit 3 includes a camera 31 and a gimbal 32 for adjusting the angle of the camera 31;

[0029] The radar unit 4 includes a laser radar 41 , a lifting adjustment mechanism 42 for driving the laser radar 41 to rise and fall, and a pitch adjustment mechanism 43 for driving the laser radar 41 to pitch.

[0030] During operation: first, the laser radar 41 is responsible for real-time scanning of the open space. When an abnormal obstacle is detected (it may be a small animal, or it may be a station staff or tool equipment, etc.), the angle and distance information of the obstacle relative to the radar will be given; then it is converted into the corresponding gimbal coordinates through the control room, and the gimbal 32 carrying the camera 31 is controlled to rotate to the corresponding orientation, and then the camera 31 takes a snapshot; the captured picture is subjected to image recognition in the control room to detect whether it is a small animal target. If it is confirmed to be a small animal intrusion incident, an alarm is sent, and the coordinate position of the small animal is recorded for the operation and maintenance personnel to view, so as to take measures at the first time to find the exact position of the invading animal and eliminate the risk hidden dangers in the bud to avoid the occurrence of serious accidents.

[0031] The lifting adjustment mechanism 42 is used to adjust the height of the laser radar 41 to adapt to the size of the detected object in the usage scenario; and the pitch adjustment mechanism 43 is used to adjust the pitch angle of the laser radar 41 to adapt to the irregularity of the installation position in the usage scenario and make fine adjustments to prevent the radar scanning position from being biased upward or downward. For example, the wall may not be vertical, and because the radar scanning distance is far, after being installed on the wall, it may scan obliquely to the distant ceiling.

[0032] Further, if Figure 3 As shown, the pitch adjustment mechanism 43 includes a horizontally placed support plate 431, side plates 432 vertically arranged on both sides of the support plate 431, a pitch shaft 433 rotatably arranged on the two side plates 432 at both ends, a rotating handle 434 passing through the support plate 431 and threadedly connected to the support plate 431, and a fastening assembly for locking the pitch shaft 433; the laser radar 41 is installed on the pitch shaft 433; the rotating handle 434 is against the top of the laser radar 41.

[0033] When the radar scanning position is biased upward or downward, the angle of the laser radar 41 is adjusted by rotating the rotating handle 434; specifically: when the radar scanning position is biased upward, rotate the rotating handle 434 clockwise, and push the laser radar 41 downward by rotating the handle 434 until the radar scanning position reaches a horizontal position, and then lock the pitch axis 433 by the fastening assembly; when the radar scanning position is biased downward, rotate the rotating handle 434 counterclockwise with one hand, and lift the laser radar 41 upward with the other hand, always keeping it in contact with the rotating handle 434 until the radar scanning position reaches a horizontal position, and then lock the pitch axis 433 by the fastening assembly.

[0034] Further, if Figure 4 As shown, the fastening assembly includes a protrusion 435 arranged on the outside of one of the side panels 432; one end of the pitch axis 433 extends into the protrusion 435; the protrusion 435 is provided with a top screw 436 that can be pressed against the pitch axis 433; when working: fastening is achieved by rotating the top screw 436 to press against the pitch axis 433.

[0035] Further, if Figure 2 As shown, the lifting and lowering adjustment mechanism 42 is a vertically placed manual screw slide; the support plate 431 is horizontally and vertically arranged at the driving end of the manual screw slide; when working: the manual screw slide is driven to move up and down by manually rotating the screw of the manual screw slide.

[0036] Further, if Figure 1-2 As shown, the mounting frame 1 includes a base 11, a bracket 12 vertically arranged on the base 11, and a top plate 13 horizontally arranged on the top of the bracket 12; the controller 2 is arranged on the bracket 12; the camera unit 3 is arranged on the top plate 13; and the radar unit 4 is arranged on the base 11.

[0037] Further, if Figure 1-2 As shown, the base 11 and the bracket 12 are both provided with mounting holes 14; during installation: the base 11 can be installed through the mounting holes 14, and the bracket 12 can also be hung and installed, which is suitable for various occasions.

[0038] Further, if Figure 2 As shown, the camera 31 is a network spherical camera, and when installed, the camera 31 is located in front of the bracket 12, with no obstructions on the left and right, and can obtain the maximum field of view.

[0039] The detection system process is as follows: Figure 5 As shown in the figure, after the environment is initialized, the program starts to detect small animals. When small animals appear in the environment, the laser radar can detect the location information of the small animals. This location information will then be sent to the gimbal, and the radar point cloud at the current moment will be stored. The gimbal then controls the camera to move to the corresponding coordinates and capture the picture after focusing. This picture will be sent to the image detection algorithm for small animal recognition. The decision on whether to report the corresponding detection results and trajectory information will be made based on the recognition results.

[0040] The main logic of the radar detection part is as follows:

[0041] like Figure 6 As shown, first, after the machine is started, it will fit the on-site environment, and use the fitted environment as the static standard (called the environmental state). After that, the difference between each frame of radar point cloud and the environmental state is made, and whether a new object has appeared in the environment is judged according to the size of the difference; after the new object appears, the corresponding radar point cloud will change with the environmental state, and these changed point clouds will be clustered, and then a preliminary judgment will be made based on the clustering results whether the object is a small animal; the judgment results are divided into two types (small animals and not small animals). If it is a small animal, the coordinates must be sent to the gimbal. If not, it is considered to be a staff member or a non-dangerous object such as a box, and the program will block such objects (this part needs to be combined with the results of image recognition to assist in the judgment).

[0042] Radar algorithm description:

[0043] The algorithms used in the radar detection part are mainly frame difference and clustering. First, the distance information of the two frames of data is subtracted to get the change points. Then, the change points are clustered to get the number of obstacles and noise points in the environment (category is -1). The noise points are filtered, and then the clustering results whose category is not -1 are integrated into (obstacle category, obstacle coordinates, total number of obstacle points). According to the distance and number of obstacles, it is judged whether the obstacle is a small animal. Next, the distance and number of points are scored and the obstacle coordinates with the largest score are selected for output.

[0044] The frame difference is to obtain the difference between the distance value of the current frame data and the distance value of the environmental state, and judge the point where the environment changes according to the difference of each point, and store these points;

[0045] Then clustering is to cluster these change points according to the distance. Points within a certain range will be clustered into one class. Then, if there are n obstacles in the environment, they will be clustered into n classes from 0 to n-1, and then the n obstacles will be scored one by one to select the obstacle coordinates that should be sent.

[0046] Obstacles that are not small animals are stored in a vector and then counted. If the count exceeds a certain threshold, the range where the obstacle exists is shielded; this shielded range will filter the target in the selected target.

[0047] The main logic of PTZ control is as follows:

[0048] like Figure 7 As shown, when the machine starts running, the module will wait for the laser radar data feedback. When the data is received, the polar coordinates are converted into plane coordinates, and the data are transmitted to the trajectory drawing module to draw the trajectory. The gimbal will judge the current data. Branch one needs to control the gimbal to move to the direction specified by the radar and then capture the image; branch two, the current data does not meet the conditions for controlling the movement of the gimbal and directly captures the data; the captured images must be saved to the local storage space.

[0049] The main logic of image recognition is as follows:

[0050] like Figure 8 As shown in the figure, after the program is started, the algorithm model is initialized and loaded, waiting for the image data to arrive, receiving the image data signal, and sending the data to the model for reasoning analysis; the data information fed back by the model is post-processed to determine whether it is an alarm message. If an alarm message is identified, the post-processed image is spliced ​​with the trajectory map and reported along with the alarm content; otherwise, if there is no alarm content, it is discarded and the next image data analysis is performed.

[0051] Summary: Radar detection, data storage, gimbal control and trajectory drawing are divided into four independent threads, and queues are used for communication between threads; the main thread is the radar detection program, which will cyclically detect point cloud state changes in the environment; if the radar detection does not find abnormal information in the environment, the subsequent other threads will not perform specific operations, and only when the radar detects changes in the environment will other threads perform operations;

[0052] When the radar detects an animal, it stores the coordinates in the coordinate queue. The PTZ control program only reads the last data in the coordinate queue and deletes the first data in the queue each time, ensuring that the latest point of the animal's movement is captured each time.

[0053] When the radar scanning point cloud changes, the data needs to be saved for analysis; here, the data to be stored is also stored in a point cloud queue. The program that stores data only reads the first data in the queue each time, and deletes the first data in the queue after the data is stored. This will not affect the running speed of radar detection.

[0054] When a small animal is detected, the coordinates are stored in the track queue. The track drawing program only reads the first data in the track queue each time and deletes the first data after drawing. In this way, drawing the track will not affect the running speed of other threads.

[0055] The above are only specific application examples of the utility model, and do not constitute any limitation on the protection scope of the utility model. Any technical solution formed by equivalent transformation or equivalent replacement falls within the protection scope of the utility model.

Claims

1. A small animal detection device based on radar and PTZ camera technology, characterized by: It comprises a mounting frame, a controller arranged on the mounting frame, a camera unit arranged on the top of the mounting frame, and a radar unit arranged on the bottom of the mounting frame; The camera unit includes a camera and a gimbal for adjusting the camera angle; The radar unit comprises a radar, a lifting and lowering adjustment mechanism for driving the radar to rise and fall, and a pitching adjustment mechanism for driving the radar to pitch an angle.

2. The small animal detection device based on radar and PTZ camera technology according to claim 1 is characterized in that: The pitch adjustment mechanism includes a horizontally placed support plate, side plates vertically arranged on both sides of the support plate, a pitch shaft rotatably arranged on the two side plates at both ends, a rotating handle passing through the support plate and threadedly connected to the support plate, and a fastening component for locking the pitch shaft; the radar is installed on the pitch shaft; and the rotating handle is against the top of the radar.

3. The small animal detection device based on radar and PTZ camera technology according to claim 2 is characterized in that: The fastening assembly comprises a protrusion arranged on the outer side of one of the side plates; one end of the pitch rotation axis extends into the protrusion; and a top screw which can be pressed against the pitch rotation axis is arranged on the protrusion.

4. The small animal detection device based on radar and PTZ camera technology according to claim 3 is characterized in that: The lifting and lowering adjustment mechanism is a vertically placed manual screw slide; the support plate is horizontally and vertically arranged at the driving end of the manual screw slide.

5. The small animal detection device based on radar and PTZ camera technology according to any one of claims 1 to 4, characterized in that: The mounting frame includes a base, a bracket vertically arranged on the base, and a top plate horizontally arranged on the top of the bracket; the controller is arranged on the bracket; the camera unit is arranged on the top plate; and the radar unit is arranged on the base.

6. The small animal detection device based on radar and PTZ camera technology according to claim 5 is characterized in that: The base and the bracket are both provided with mounting holes.

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