Security and protection system

Abstract

The utility model provides a security and protection system, and the system comprises a first device which comprises a laser radar, and the laser radar is configured to transmit a detection signal to a monitoring region, receive an echo signal reflected by an object in the monitoring region, and output a sensing signal based on a stored first model and the echo signal; wherein the first model is obtained by scanning the monitoring area by the laser radar; a second device; and the control circuit is respectively coupled with the first device and the second device, and is configured to respond to the sensing signal and output a control signal to control the second device.

Description

Technical Field

[0001] This disclosure relates to the field of security technology, and more particularly to a security system. Background Technology

[0002] Existing security systems are susceptible to external factors and have low reliability.

[0003] Therefore, reducing the impact of external factors on security systems and improving their reliability has become a challenge. Utility Model Content

[0004] This disclosure provides a security system that can reduce the impact of external factors on the security system and improve its reliability.

[0005] This disclosure provides a security system, including:

[0006] A first device, comprising a lidar, configured to transmit a detection signal to a monitored area, receive echo signals reflected back by objects within the monitored area, and output a sensing signal based on a stored first model and the echo signals; wherein the first model is obtained by the lidar scanning the monitored area.

[0007] Second device;

[0008] A control circuit, coupled to the first device and the second device respectively, is configured to output a control signal to control the second device in response to the sensing signal.

[0009] Optionally, the sensing signal is adapted to characterize information about a changing target; the information about the changing target includes at least one of the following:

[0010] Change the location of the target;

[0011] The distance to the changing target;

[0012] Change the material of the target.

[0013] Optionally, the sensing signal is also adapted to characterize information about multiple changing targets.

[0014] Optionally, the pose of the second device is adjustable.

[0015] Optionally, when the sensing signal characterizes information about multiple changing targets, the control circuit is configured to output a control signal in response to the sensing signal to control the second device so that the projection area of ​​the second device covers the multiple changing targets.

[0016] Optionally, when the sensing signal characterizes information about multiple changing targets, the control circuit is configured to output a control signal in response to the sensing signal to control multiple second devices whose projection areas intersect with the multiple changing targets.

[0017] Optionally, the control circuit includes at least one of the following:

[0018] A first control device is configured to be coupled to the first device under a preset communication protocol;

[0019] The second control device is configured to be directly coupled to the first device.

[0020] Optionally, the sensing signal is also adapted to characterize the state information of the lidar; the state information of the lidar includes at least one of the following:

[0021] The blinding angle of lidar;

[0022] The blinding location of lidar.

[0023] Optionally, the second device includes at least one of the following:

[0024] Sensing devices;

[0025] Alarm device.

[0026] Optionally, the sensing device includes an image sensing device, which includes at least one of the following: an infrared camera, a thermal imager, or an infrared imager.

[0027] Optionally, the alarm device includes:

[0028] light source;

[0029] Alarm.

[0030] Optionally, the lidar is pre-set to rotate on a turntable and scan the monitoring area to establish the first model.

[0031] Optionally, the security system includes a plurality of first devices, the total field of view of the plurality of first devices covering the monitoring area. Attached Figure Description

[0032] Figure 1 A structural example diagram of a security system consistent with some embodiments of this disclosure is shown.

[0033] Figure 2 A structural example diagram of a lidar consistent with some embodiments of this disclosure is shown.

[0034] Figure 3An example diagram of the projection area of ​​a second device consistent with some embodiments of this disclosure is shown.

[0035] Figure 4 An example diagram of the projection area of ​​one of a plurality of second devices consistent with some embodiments of the present disclosure is shown. Detailed Implementation

[0036] In some security systems, certain devices are susceptible to external factors, which can lead to security vulnerabilities and reduce the reliability of the security system.

[0037] For example, in existing security systems, image sensors typically convert sensed light signals into electrical signals to acquire images of the monitored area. However, image sensors are significantly affected by factors such as ambient light and temperature. Some image sensors produce poor image quality in excessively low or high ambient light conditions. Others generate more noise and lower image clarity in high-temperature environments. Furthermore, some image sensors are susceptible to visual deception and cannot accurately detect objects.

[0038] For example, some devices in existing security systems will malfunction once they are "attacked," and the system will have difficulty detecting it in time.

[0039] Therefore, reducing the impact of external factors on security systems and improving their reliability is of great significance.

[0040] To address the aforementioned problems, this disclosure provides several security systems. These security systems include a first device, a second device, and a control circuit, wherein the first device includes a lidar. The lidar can emit detection signals into the monitored area, receive echo signals reflected back from objects within the monitored area, and output a sensing signal based on a stored first model and the echo signals. The control circuit can respond to the sensing signal and output a control signal to control the second device. On the one hand, the lidar itself is unaffected by external factors such as ambient light and temperature, is not susceptible to visual deception, has high detection accuracy, and because it stores a first model obtained from scanning the monitored area, it can also identify whether it is under attack, thus possessing high reliability. Therefore, it can reduce the impact of external factors on the security system and improve the reliability of the security system. On the other hand, the control circuit responds to the sensing signal and outputs a control signal to control the second device, realizing the linkage between the lidar and the second device, which can improve the comprehensiveness and accuracy of the security system.

[0041] Figure 1 A structural example diagram of a security system consistent with some embodiments of this disclosure is shown. (Refer to...) Figure 1 In some embodiments, the security system 100 may include a first device, a second device 104, and a control circuit 106.

[0042] In some embodiments, the first device includes a lidar 102. The lidar 102 can transmit detection signals to the monitored area, receive echo signals reflected back by objects in the monitored area, and output sensing signals based on a stored first model and the echo signals.

[0043] The control circuit 106 can be coupled to the lidar 102 and the second device 104 respectively, and can output a control signal to control the second device 104 in response to the sensing signal.

[0044] LiDAR 102 can include, but is not limited to, mechanically rotating LiDAR, semi-solid-state LiDAR, or solid-state LiDAR. Semi-solid-state LiDAR can include, but is not limited to, microelectromechanical system (MEMS) LiDAR, rotating mirror LiDAR, tilting mirror LiDAR, or prism LiDAR; solid-state LiDAR can include, but is not limited to, optical phase array (OPA) LiDAR, or flash LiDAR. When a security system includes multiple LiDARs, the types of LiDARs can be the same or different.

[0045] Figure 2 A structural example diagram of a lidar consistent with some embodiments of this disclosure is shown. (Refer to...) Figure 2 The lidar 200 may include a laser 202, a detector 204, and a processing device 206.

[0046] In some embodiments, laser 202 can emit a detection signal into the monitored area, for example, by emitting a laser beam. The emitted laser beam is reflected by an object. Detector 204 can receive the echo signal reflected from the object and convert it into an electrical signal. Processing device 206 can process the electrical signal to obtain a sensing signal.

[0047] In some embodiments, laser 202 may include multiple lasers. Laser 202 may include one or more types of lasers. For example, laser 202 may include semiconductor lasers, fiber lasers, or other types of lasers. For example, semiconductor lasers may include vertical cavity surface emitting lasers (VCSELs), edge emitting lasers (EELs), distributed feedback lasers (DFBs), or similar devices. The above are merely examples, and the embodiments disclosed herein do not limit the type of laser.

[0048] In some embodiments, detector 204 may include multiple detectors. Detector 204 may include one or more detectors. For example, detector 204 may include: a photodetector circuit, a pin photodiode (PINPD), an avalanche photodiode (APD), a single-photon avalanche diode (SPAD), a silicon photomultiplier (SiPM), or similar devices. The above are merely examples, and the types of detectors disclosed in this embodiment are not limited.

[0049] In some embodiments, the processing device 206 may store a first model obtained by scanning the monitored area. In monitoring mode, the processing device 206 may process the echo signal and output a sensing signal based on the stored first model and the echo signal.

[0050] For example, the processing device 206 may include one or more processors and one or more memories.

[0051] Processors may include, but are not limited to, hardware circuits implemented with application-specific integrated circuits (ASICs), programmable logic devices (PLDs), microcontroller units (MCUs), microprocessor units (MPUs), digital signal processors (DSPs), or central processing units (CPUs). For example, hardware circuits implemented with PLDs may include field-programmable gate arrays (FPGAs). When processing device 206 includes multiple processors, the types of processors may be the same or different. For example, processing device 206 may include MCUs and FPGAs. Processing device 206 may include MCUs, FPGAs, and CPUs. Processing device 206 may include MCUs, DSPs, and FPGAs. Alternatively, processing device 206 may include CPUs and FPGAs, and so on. When processing device 206 includes multiple processors, these processors may be configured separately, partially integrated, or fully integrated. For example, processing device 206 may be implemented as a system-on-chip (SOC) or an ASIC.

[0052] Memory may include read-only memory (ROM) or other types of static storage devices capable of storing static information and instructions. Memory may also include random access memory (RAM) or other types of dynamic storage devices capable of storing information and instructions. For example, memory may include static random-access memory (SRAM). SRAM retains its stored data constantly while powered on. SRAM can be used as a cache to improve data access speed.

[0053] In some embodiments, the lidar can pre-scan the monitored area, generate a first model, and store it. The first model can represent the initial state of the monitored area, such as the state when there is no intrusion.

[0054] For example, the processing device 206 can control the lidar to scan the monitored area, receive echo signals, and process them to obtain measurement information for each angle within the lidar's field of view. This measurement information reflects whether there is an object at each angle within the lidar's field of view, the angle of the object when it is present, and the distance between the object and the lidar. Based on this measurement information, the processing device 206 can establish and store a first model.

[0055] In some embodiments, the first model can cover the entire monitoring area. The first model includes measurement information for the entire monitoring area. This facilitates monitoring from all angles of the monitoring area, avoiding gaps or blind spots, and improving the reliability of the security system.

[0056] For example, a lidar can perform repetitive scans. That is, the field of view of each lidar frame is the same, and the lidar repeats the scan of the field of view in the next frame. For instance, if the field of view of the lidar can cover the entire monitoring area, a single lidar can be used to scan the monitoring area, and the measurement information of each angle can be used as a first model and stored in the lidar.

[0057] For example, the field of view of a single LiDAR can only cover a portion of the monitored area. Two or more LiDARs can be used to scan and model the monitored area, obtaining measurement information for the entire area to create a first model.

[0058] In some embodiments, the lidar can be pre-set on a turntable. The turntable can be controlled to rotate, and the lidar can be controlled to scan the monitoring area to build and store a first model. Specifically, a drive device can be set to drive the turntable to rotate. By adjusting the pose of the lidar in the horizontal and vertical directions of the turntable, different directions of the monitoring area can be scanned, further improving the coverage of the monitoring area, thereby further reducing the probability of gaps in the first model.

[0059] For example, the processing unit 206 can control the lidar to perform non-repetitive scanning of the monitored area to establish and store a first model. By employing a non-repetitive scanning method, the lidar's scanning field of view varies across different frames. Through multiple frames scanning with different field of view ranges, different directions within the monitored area can be scanned and detected. This improves the coverage of the monitored area, thereby reducing the probability of gaps in the first model.

[0060] In some embodiments, the first device may include a lidar. The lidar may be positioned at the center of the monitoring area or at a corner of the monitoring area, so that the lidar's field of view can cover the monitoring area.

[0061] In some embodiments, the first device may include multiple lidar units. These lidar units are positioned at different locations within the monitoring area so that their total field of view covers the entire monitoring area.

[0062] In monitoring mode, the first device probes the monitored area and obtains the probe results. These results are then compared with a stored first model. The first device can output a sensing signal if the probe results do not match the data in the first model.

[0063] In some embodiments, the sensing signal can characterize information about a changing target. A changing target refers to a point where a change has occurred relative to the initial state of the monitored area. For example, a changing target could be a target that was not present in the initial state of the monitored area but appears during monitoring. Another example is a target whose material, orientation, distance, or other parameters change relative to the initial state of the monitored area during monitoring.

[0064] For example, sensing signals can characterize information about changing targets, such as their location, distance, and material.

[0065] It is understood that the embodiments disclosed herein do not impose specific limitations on the information of the changing target, and the above embodiments are merely illustrative examples. Those skilled in the art can obtain other information based on the echo signal, such as the speed, attitude, and shape of the changing target.

[0066] In some embodiments, the sensing signal can characterize information about multiple changing targets.

[0067] For example, in monitoring mode, when multiple changing targets appear in the monitoring area, the lidar outputs a sensing signal corresponding to each changing target.

[0068] For example, a sensing signal can be a composite signal that includes multiple sub-signals, each of which represents information about a changing target.

[0069] In some embodiments, the first model is stored in the control circuit. In monitoring mode, the first device probes the monitored area, obtains the probe results, and outputs them as a sensing signal. The control circuit can compare the sensing signal with the stored first model to determine information about the changing target.

[0070] When the sensing signal indicates a changing target, the control circuit can output a control signal to control the second device. For example, if the sensing signal indicates the position and angle of the changing target, the control circuit can control the second device to perform a secondary detection of the changing target. This allows for more detailed detection of the changing target, obtaining more accurate information and improving the precision of the security system.

[0071] In some embodiments, the pose of the second device 104 is adjustable.

[0072] For example, the second device itself is designed to be attitude-adjustable. The second device can adjust its own attitude by adjusting parameters such as pitch angle and azimuth angle.

[0073] For example, the second device can be mounted on the pose adjustment device. The spatial pose of the second device can be changed by adjusting the pose adjustment device. Specifically, a drive device can be set to drive the pose adjustment device to adjust the pose. For example, the pose adjustment device can change the position, pitch angle, azimuth angle, etc. of the second device.

[0074] The control circuit can output control signals to adjust the position and orientation of the second device so that the detection range of the second device covers the changing target.

[0075] In some embodiments, the second device 104 may include a sensing device.

[0076] For example, sensing devices can include image sensing devices. Image sensing devices can include cameras, infrared cameras, thermal imagers, infrared imagers, or similar devices. Cameras form high-resolution images by capturing visible light signals, providing rich detail information about the monitored area. Infrared cameras form images by emitting infrared light and capturing the reflected infrared light, enabling operation in dark environments. Thermal imagers and infrared imagers form temperature distribution maps by capturing the thermal radiation of a target, allowing operation in harsh environments such as fog, haze, rain, and snow.

[0077] For example, the control circuit can output a control signal to adjust the pose of the second device so that its detection range can cover the changing target. The control signal can also control the second device 104 to adjust its focal length based on the position of the changing target and to start imaging.

[0078] In some embodiments, the second device 104 may include an alarm device. The control signal may also control the alarm device to issue a warning.

[0079] For example, the alarm device may include a light source. For example, the light source may include a lamp, and when the lidar 102 detects a changing target, the control circuit 106 may respond to the sensing signal characterizing the information of the changing target by outputting a control signal to turn on the lamp to issue a warning.

[0080] For example, the alarm device may include an alarm. For instance, the alarm may include a buzzer, and when the lidar 102 detects a changing target, the control circuit 106 may respond to the sensing signal characterizing the information of the changing target by outputting a control signal to control the buzzer to turn on and issue a warning.

[0081] It is understood that the embodiments disclosed herein do not impose specific limitations on the second device, and the above embodiments are merely illustrative examples. Those skilled in the art can select different second devices according to the actual security needs of the monitored area.

[0082] In some embodiments, when the sensing signal represents information about multiple changing targets, the control circuit 106 may respond to the sensing signal by outputting a control signal to control the second device so that the projection area of ​​the second device covers the multiple changing targets.

[0083] Figure 3 An example diagram of the projection area of ​​a second device consistent with some embodiments of this disclosure is shown. (Refer to...) Figure 3 In monitoring mode, the lidar 102 identifies multiple changing targets within the monitored area, such as... Figure 3The changing targets 310, 312, and 314 are shown. The projection area 302 is the initial projection area of ​​the second device 300. The projection area 302 covers the changing target 310. The control circuit 106 can determine the optimal monitoring motion path for the second device 300 in response to a sensing signal characterizing information about the changing targets 310, 312, and 314. For example, the control circuit 106 determines... Figure 3 The motion path R shown is [reference needed]. The control circuit 106 can [follow the specified path]. Figure 3 The motion path R shown outputs a control signal to control the second device 300 to rotate along the motion path R. During the rotation, the projection area of ​​the second device 300 continuously changes. Projection area 304 can cover the changing target 312, and projection area 306 can cover the changing target 314. As can be seen, by controlling the projection area of ​​the second device 300 to change with the motion path R, comprehensive monitoring of multiple changing targets within the monitoring area can be achieved, and accurate monitoring information can be obtained.

[0084] In some embodiments of this disclosure, when a sensing signal characterizes information about multiple changing targets, the control circuit 106 may respond to the sensing signal by outputting a control signal to control multiple second devices whose projection area intersects with the multiple changing targets.

[0085] Figure 4 An example diagram of the projection area of ​​one of a plurality of second devices consistent with some embodiments of this disclosure is shown. (Refer to...) Figure 4 In monitoring mode, the lidar 102 identifies multiple changing targets within the monitored area, such as... Figure 4 The variable targets 420 and 422 are shown. Projection area 410 is the projection area of ​​the second device 400. Projection area 412 is the projection area of ​​the second device 402. Projection area 414 is the projection area of ​​the second device 404. Since the variable target 420 is within both projection area 410 and projection area 412, that is, projection areas 410 and 412 intersect with the variable target 420. The variable target 422 is within projection area 414, that is, projection area 414 intersects with the variable target 422. The control circuit 106 can respond to a sensing signal characterizing information about the variable targets 420 and 422, and output a control signal to control a plurality of second devices whose projection areas intersect with the variable targets 420 and 422. For example, Figure 4 The second device 400, second device 402, and second device 404 are shown. As can be seen from the above, by controlling multiple second devices where the projection area intersects with the changing target, comprehensive monitoring of multiple changing targets within the monitoring area can be achieved, and accurate monitoring information can be obtained.

[0086] In the above embodiments, the projection area refers to the effective working range of the second device. For example, if the second device is a light source, the projection area may refer to the area where the light source can provide a specific lighting effect. For example, if the second device is a camera, the projection area may refer to the area that the camera can actually cover and effectively monitor.

[0087] In some embodiments, the sensing signal can characterize the state information of the lidar.

[0088] For example, the sensing signal can characterize information such as the blinding angle and blinding location of the lidar. Lidar may be affected by light sources and may not be able to acquire effective echo signals within a certain field of view. However, based on a stored first model, the lidar can compare the echo signal acquired under monitoring conditions with the first model to obtain a comparison result. Based on this comparison result, it can accurately determine whether the lidar has an abnormal field of view angle where it cannot acquire effective echo signals, i.e., the blinding range. Then, the lidar can determine the blinding angle, blinding location, and other information. Therefore, even if the lidar is "attacked" and blinded, it can still accurately detect such "attacks" and output corresponding sensing signals. The control circuit can respond to this sensing signal and output a control signal to control the corresponding second device to monitor the blinding range, obtaining accurate monitoring information. Therefore, it can reduce the impact of external factors on the security system and improve the reliability, comprehensiveness, and accuracy of the security system.

[0089] In some embodiments, the control circuit may include a first control device, which may be coupled to the lidar under a preset communication protocol.

[0090] For example, the first control device can be the central control system of the security system. The lidar can send sensing signals to the central control system via a preset communication protocol. The central control system can respond to the sensing signals output by the lidar and output control signals to control the second device. In this embodiment, the lidar can send comprehensive sensing signals to the central control system via a preset communication protocol. Based on the acquired comprehensive sensing signals, the central control system can output accurate control signals to control the second device, thus further improving the comprehensiveness and accuracy of the security system.

[0091] In some embodiments, the lidar can transmit sensing signals to the central control system via a CAN bus. Using a CAN bus for data transmission improves the real-time performance and stability of security system communication, while also reducing costs.

[0092] In some embodiments, the lidar can transmit sensing signals to a central control system via Ethernet. Using Ethernet for data transmission is beneficial for the deployment and management of large-scale security systems.

[0093] In some embodiments, the control circuit may include a second control device, which may be directly coupled to the lidar.

[0094] For example, the second control device can be an intermediate control node located between the lidar and the second device. The lidar can directly send sensing signals to the intermediate control node, which can respond to the sensing signals output by the lidar and output control signals to control the second device. In this embodiment, the lidar can directly send sensing signals to the intermediate control node, which can quickly respond to the sensing signals and output control signals to control the second device, thus improving the response speed of the security system.

[0095] In some embodiments, the first control device and the second control device may include at least one of an integrated circuit with processing capabilities, or a processor. For example, the processor may be a central processing unit (CPU), a microprocessor, or a field-programmable gate array (FPGA).

[0096] In some embodiments of this disclosure, the sensing signal may include a level-triggered signal.

[0097] For example, in monitoring mode, when the lidar detects an "attack," it can directly send a high-level signal to the control circuit. The control circuit responds to this high-level signal and outputs a control signal to control the second device. For example, under normal circumstances, the light source is off; the control circuit, responding to this high-level signal, can output a control signal to turn the light source on. As another example, under normal circumstances, the alarm is off; the control circuit, responding to this high-level signal, can output a control signal to turn the alarm on.

[0098] In some embodiments of this disclosure, the sensing signal may include the orientation parameters of the changing target.

[0099] For example, in monitoring mode, a changing target appears within the monitored area. The lidar can send the target's location to the control circuit. Responding to the target's location parameters, the control circuit outputs a control signal to control a second device, causing its projection area to cover the changing target. For instance, under normal circumstances, if the camera's projection area does not cover the changing target, the control circuit, responding to the target's location parameters, can output a control signal to rotate the camera to the target's location, quickly adjust focus, and activate recording mode.

[0100] In this disclosure, unless otherwise expressly specified and limited, ordinal numbers, such as “first”, “second”, etc., are used only to distinguish and describe related objects, and should not be construed as indicating or implying the relative importance or order between related objects. Furthermore, ordinal numbers do not represent the quantity of related objects. For example, “first device” and “second device” can include one device or multiple devices. “Multiple” includes two or more, and other quantifiers are similar.

Claims

1. A security system comprising: a first device comprising a laser radar configured to emit a probe signal to a monitoring area, receive a return signal reflected by an object in the monitoring area, and output a perception signal based on a stored first model and the return signal, wherein the first model is obtained by scanning the monitoring area by the laser radar; a second device; a control circuit coupled to the first device and the second device, respectively, and configured to output a control signal to control the second device in response to the perception signal.

2. The security system of claim 1, wherein the perception signal is adapted to represent information of a changing target, and the information of the changing target comprises at least one of: an orientation of the changing target; a distance of the changing target; a material of the changing target.

3. The security system of claim 1, wherein the perception signal is further adapted to represent information of a plurality of changing targets.

4. The security system of claim 3, wherein a pose of the second device is adjustable.

5. The security system of claim 4, wherein when the perception signal represents information of a plurality of changing targets, the control circuit is configured to output a control signal to control the second device to cover the plurality of changing targets by a projection area of the second device in response to the perception signal.

6. The security system of claim 4, wherein when the perception signal represents information of a plurality of changing targets, the control circuit is configured to output a control signal to control a plurality of the second devices whose projection areas have an intersection with the plurality of changing targets in response to the perception signal.

7. The security system of claim 1, wherein the control circuit comprises at least one of: a first control device configured to couple to the first device under a preset communication protocol; and a second control device configured to directly couple to the first device.

8. The security system of claim 1, wherein the perception signal is further adapted to represent state information of the laser radar, and the state information of the laser radar comprises at least one of: a blind angle of the laser radar; and a blind position of the laser radar.

9. The security system of claim 1, wherein the second device comprises at least one of: a sensing device; and an alarm device.

10. The security system of claim 9, wherein the sensing device comprises an image sensing device comprising at least one of: an infrared camera; a thermal imager; and an infrared imager.

11. The security system of claim 9, wherein the alarm device comprises: a light source; and an alarm.

12. The security system of claim 1, wherein the laser radar is prearranged on a turntable to rotate and scan the monitoring area to establish the first model.

13. The security system of claim 1, wherein the security system comprises a plurality of first devices, and a total field of view of the plurality of first devices covers the monitoring area.

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