CN106454228A - Human face identification based video monitor intelligentizing network system - Google Patents
Human face identification based video monitor intelligentizing network system Download PDFInfo
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- CN106454228A CN106454228A CN201610835453.5A CN201610835453A CN106454228A CN 106454228 A CN106454228 A CN 106454228A CN 201610835453 A CN201610835453 A CN 201610835453A CN 106454228 A CN106454228 A CN 106454228A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/16—Human faces, e.g. facial parts, sketches or expressions
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/74—Circuitry for compensating brightness variation in the scene by influencing the scene brightness using illuminating means
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
- H05B45/00—Circuit arrangements for operating light-emitting diodes [LED]
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Abstract
The invention relates to a human face identification based video monitor intelligentizing network system, comprising a plurality of lamp posts distributed in streets and blocks, each lamp post provided with a video monitoring device. Each lamp post is further provided with a wireless communication module. The video monitoring device is suitable to send a video image to a cloud computing platform through the wireless communication module. The video monitoring device is suitable to determine whether there is a human figure image in the video image or not; if there exists a human figure image, the facial part of the human figure image experiences focusing. The network system and the working method of the invention make full use of lamp posts, expand the functions of the traditional lamp posts and combine the video monitoring with the lamp posts. The video images photographed by each lamp post are sent to a cloud computing platform at a cloud end to be analyzed and processed so as to prevent terrorism and riots. Therefore, to the largest degree, terrorism and riots can be contained in the buds. Therefore, the system and the method play an important role in curbing terrorism.
Description
Technical field
The present invention relates to a kind of video monitoring intellectuality Skynet system based on recognition of face and its method of work.
Background technology
" sky net monitoring system "（Referred to as：Skynet system）It is using being arranged on taking the photograph in a large number of the ground such as streets and lanes, indoor and outdoor
As head constitutes monitoring network, it is the magic weapon that crime in the street is hit by Public Security Organss, is the strong backing of urban public security.
Video monitoring system at present, particularly life outdoor videos monitoring system coverage rate more and more higher, by video monitoring system
Probably combine with anti-, the means such as video image can be passed through and catch investigation clue, look into the evidence of crime of goods suspect, prison can be made
Control video camera initiative recognition, forecast, exposures, confirmation crime, change is passively recorded a video as initiative alarming, can help investigator in magnanimity
Fast and accurately location hint information in video data, shortens cracking of cases time, lifting cracking of cases efficiency, and can save and be used for
The police strength of video surveillance management about 80%.Actively prevent carrying out sabotage and make trouble of " vicious power ".Thus to greatest extent sudden and violent probably activity
It is contained in bud, for guaranteeing not meet accident, something terrible happens plays a significant role.
Content of the invention
It is an object of the invention to provide a kind of video monitoring intellectuality Skynet system based on recognition of face and its work side
Method, is combined with video monitoring with the lamppost using LED street lamp, improves the distribution of video monitoring, eliminates prison as far as possible
Control dead angle.
In order to solve above-mentioned technical problem, the invention provides a kind of Skynet system, including：If being distributed in the main line of block
Lamp or the lamppost of traffic lights, each lamppost is separately installed with the video monitoring apparatus being connected with a control module and lamppost channel radio
News module；Described video monitoring apparatus are suitable to send video image to cloud computing platform by lamppost wireless communication module.Road
Lamp holder on lamp or traffic lights（Preferably LED）It is connected on lamppost by a connecting rod, lamp holder and/or connecting rod are suitable to rotate；Institute
State video monitoring apparatus to be suitable to judge whether there is human body image in described video image, if there is human body image, to this people
Face part in body image is focused, and controls described lamp holder and/or connecting rod rotation, so that described lamp holder is towards this people simultaneously
Human body direction in body image, to increase the face brightness of this human body.Video monitoring apparatus are provided with flash lamp, to supervise in video
Control device completes to focus on face and face brightness is less than during preset value and opens flash lamp.
It is provided with face identification system, by the people in the video image of described video monitoring apparatus in cloud computing platform
Body image carries out recognition of face, with the facial image obtaining, records the attribute of this facial image simultaneously（Including obtain image when
Between, place, position in described video image etc.）；Then the facial image obtaining recognition of face and its attribute transfer are extremely
In the data base of public security bureau.
Further, described lamppost is additionally provided with alarm device, and in described video monitoring apparatus, photographic head is suitable to pass through
Control module controls head so that it is turned to；The video image that described cloud computing platform is suitable to each video monitoring apparatus are shot is carried out
Identification, if it is determined that abnormal, then its warning is controlled by control module；Described cloud computing platform is further adapted for setting corresponding video monitoring
The video image that device is gathered mix line and area-of-interest, when have object enter mix line and area-of-interest when, by taking the photograph
As head carries out this object being tracked shoot.
Further, described lamppost is additionally provided with the shutdown depressed place for parking unmanned plane, and is provided with unmanned on this unmanned plane
Machine control system；Described unmanned aerial vehicle control system includes：Airborne processor module, the airborne nothing being connected with airborne processor module
Line communication module and video capture module；Described unmanned aerial vehicle control system is suitable to lead to the video image of shooting by airborne wireless
News module and lamppost wireless communication module communicate, to send to cloud computing platform；When the video monitoring apparatus quilt on a certain lamppost
Block, or after fault, or loss target, cloud computing platform starts unmanned plane and target is tracked monitor.On described shutdown depressed place
It is provided with the energy dispensing device for wireless charging, unmanned plane is provided with the energy acceptance device for wireless charging, energy
The power input of dispensing device is connected with described battery, and energy acceptance device is used for the on-board batteries on unmanned plane are filled
Electricity.
Another kind of optional scheme is that described shutdown depressed place is provided with generating laser, unmanned plane is provided with light cell, no
Man-machine when being parked on described shutdown depressed place, on laser transmitter projects laser to light cell, light cell is to the airborne electricity on unmanned plane
Pond is charged.
Light cell can adopt multi-crystal silicon film solar battery and amorphous silicon thin-film solar cell etc., and preferably CIS is thin
Film battery（Abbreviation CIS）, polycrystal membrane battery, cadmium sulphide membrane battery, cadmium telluride polycrystalline hull cell, the organic film sun
One of energy battery etc..
Using wireless charging device, can be induction, magnetic field resonance type or radio waves type.Using radio
During waves wireless charging device, energy dispensing device is microwave launcher, and energy acceptance device is microwave receiving device.Using
Wireless charging standard have four kinds：Qi standard, Power Matters Alliance (PMA) standard, Alliance for
Wireless Power (A4WP) standard, iNPOFi technology.Airborne processor module controls the work of energy acceptance device.Described
The middle and upper part of lamppost, top or bottom are provided with battery（Battery can be arranged on side in or beyond lamppost）；Described rectilinear magnetic suspension
Wind-driven generator and solar photovoltaic assembly pass through wind-light complementary system to battery（Can be nickel-cadmium cell, Ni-MH battery, lithium from
Sub- battery, lead battery, lithium iron battery, preferably energy-storage lithium battery, Ni-MH battery）It is charged.
Further, at one, the video monitoring apparatus of lamppost photograph a target, and the prison just away from this lamppost for this target
During control area, described cloud computing platform, according to the position of target, assigns unmanned plane this target to be tracked monitor；Described unmanned plane
It is additionally provided with the path optimizing system being connected with airborne processor module and aircraft power system；Described path optimizing system is suitable to obtain
The real time data of wind between get Ge building, and set up air channel net between the building of city；After unmanned plane obtains target location, described path optimization
System is suitable to select unmanned plane to fly to the optimal path of this target location according to air channel net between the building of city；Described path optimizing system
Including：Map memory module, GPS module and the gyro for detecting unmanned plane during flying attitude being connected with airborne processor module
Instrument；Wherein said aircraft power system includes：The horizontal power mechanism being controlled by airborne processor module and Vertical Dynamic mechanism；
Wherein said horizontal power mechanism is located at fuselage, and includes：Flat spin paddle mechanism；Described Vertical Dynamic mechanism includes：Right
Claim the vertical spin paddle mechanism at left and right wing；Described vertical spin paddle mechanism includes at least one vertical spin oar, is used for
Vertical spin paddle mechanism is hung on the suspension arrangement below wing, described vertical spin oar is suitable to drive by corresponding micromachine
Dynamic rotation；Described suspension arrangement includes：It is suitable to the first angle fine setting motor making vertical spin oar tilt forward or backward, and
Make the second angle fine setting motor that vertical spin oar tilts to the left or to the right；Wherein said first, second angle adjustment motor and
Micromachine is controlled by airborne processor module, to adjust inclination angle and the vertical spin oar of vertical spin oar according to flight attitude
Rotating speed；And, described unmanned plane is additionally provided with for detecting the wind transducer of met crosswind and wind speed sensing in flight course
Device, and the wind direction of crosswind suffered by current unmanned plane and air speed data are sent to airborne processor module；Described airborne processor
Module is suitable to the wind direction and air speed data according to crosswind, adjusts the inclination angle of vertical spin oar and the vertical, rotating speed of horizontal propeller,
Carry out video image acquisition to stablize current flight attitude；And if, the wind direction of crosswind and wind speed contribute to flying, reducing and hang down
Straight propeller and/or the rotating speed of horizontal propeller.
Further, the wing of described unmanned plane is coated with photovoltaic cell, described path optimizing system is further adapted for obtaining respectively
Real-time lighting intensity between building, and described path optimizing system select optimal path when, if two or more road
Section has wind between the building of identical data, then the section of real-time lighting maximum intensity is selected in optimal path；Described path optimization
System is further adapted for obtaining the cloud layer data in city overhead, and when selecting optimal path, avoids the section of overcast area；And
Described video capture module is suitable to shoot building panorama, and identifies the height of this building by cloud computing platform；When unmanned
In sleety weather flight, described path optimizing system is suitably selected for the leeward section of building as unmanned plane on optimum road to machine
Path selection in footpath；And make the height less than this building for the flying height of unmanned plane, to block sleet.
Further, described airborne processor module is also connected with the charge and discharge control module in unmanned plane, and described charge and discharge
Electric control module is suitable to send on-board batteries electricity to airborne processor module, and when on-board batteries electricity is less than a setting value
When, described airborne processor module controls unmanned plane to stop to the high region of an intensity of illumination, with by described photovoltaic cell to machine
Carry battery to be charged；Or described airborne processor module controls unmanned plane to stop to the larger region of a wind-force, with by wind
Dynamic horizontal propeller and/or vertical spin oar produce electric energy and on-board batteries are charged；Wherein said vertical spin oar is suitable to
By first, second angle adjustment motor adjustable inclination.
Another aspect, present invention also offers a kind of method of work of described Skynet system, by cloud computing platform pair
Target in the video image of each video monitoring apparatus is tracked.
Further, before being tracked by the target in the video image to each video monitoring apparatus for the cloud computing platform, need
Target is identified, and recognition methodss include：
Described cloud computing platform is suitable to be identified by property data base of having a fist fight and fighting incident occurs in video image；Described have a fist fight spy
Levy data base to include：The motion frequency eigenvalue of human body trick, direction of motion clutter eigenvalue；If human body in video image
The motion frequency of trick and direction of motion clutter are matched with individual features value in property data base, then judge this video figure
As in have a fist fight behavior；Described cloud computing platform is further adapted for detecting that crowd massing is abnormal, that is, described cloud computing platform is suitable to carry
Take out the crowd's area in image and the number in crowd, to calculate Per capita area, if Per capita area is less than preset value, sentence
Determine this crowded；Described cloud computing platform be further adapted for setting the video image that gathered of corresponding video supervising device mix line and
Area-of-interest, when mixing line and area-of-interest when there being object to enter, carries out this object being tracked shoot by photographic head；
Described cloud computing platform is further adapted for calculating the movement locus in video pictures, to judge whether to occur reverse row in video pictures
Enter；Described cloud computing platform is further adapted for recording each feature in stationary video image, when other features occur in this video image,
Features described above is identified.
Further, described lamppost is additionally provided with the shutdown depressed place for parking unmanned plane, and is provided with unmanned on this unmanned plane
Machine control system；Described unmanned aerial vehicle control system includes：Airborne processor module, the airborne nothing being connected with airborne processor module
Line communication module and video capture module；Described unmanned aerial vehicle control system is suitable to lead to the video image of shooting by airborne wireless
News module and lamppost wireless communication module communicate, to send to cloud computing platform；When the video monitoring apparatus quilt on a certain lamppost
Block, or after fault, or loss target, cloud computing platform starts unmanned plane and target is tracked monitor.
Further, at one, the video monitoring apparatus of lamppost photograph a target, and the prison just away from this lamppost for this target
During control area, described cloud computing platform, according to the position of target, assigns unmanned plane this target to be tracked monitor；Unmanned plane passes through
Path optimizing system flies to unmanned plane to select to some paths of this target location, to obtain optimal path.
The invention has the beneficial effects as follows, this Skynet system and its method of work make full use of LED street lamp lamppost, have expanded biography
The function of system lamppost, video monitoring is combined with lamppost, and the video image that each lamppost shoots sends to the cloud meter positioned at high in the clouds
Calculate platform to be analyzed and process, realization is anti-probably, anti-riot purpose, thus to greatest extent sudden and violent probably activity is contained in rudiment shape
State, containment terrorist forces play a significant role.
Brief description
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the theory diagram of the Skynet system of the present invention；
Fig. 2 is the structural representation of LED street lamp lamppost of the present invention；
Fig. 3 is the unmanned aerial vehicle (UAV) control theory diagram of the present invention；
Fig. 4 is the structural representation of the unmanned plane of the present invention；
Fig. 5 is the unmanned plane during flying track schematic diagram planned of path optimizing system of the present invention.
In figure：Video monitoring apparatus 1, shut down depressed place 2, unmanned plane 3, horizontal power mechanism 31, horizontal propeller 311, vertical
Actuating unit 32, vertical spin oar 321, micromachine 322, wing 333, suspension arrangement 34, first angle fine setting motor 341,
Second angle fine setting motor 342, fuselage 35, photovoltaic cell 36.
Specific embodiment
In conjunction with the accompanying drawings, the present invention is further detailed explanation.These accompanying drawings are the schematic diagram of simplification, only with
Illustration illustrates the basic structure of the present invention, and therefore it only shows the composition relevant with the present invention.
Embodiment 1
As shown in Figures 1 to 5, a kind of Skynet system of the present invention, including：It is distributed in the lamppost of some LED street lamp of block, respectively
Video monitoring apparatus 1 are separately installed with lamppost；And lamppost wireless communication module is additionally provided with lamppost；Described video monitoring dress
Put, lamppost wireless communication module is connected with a control module；Described video monitoring apparatus are suitable to by lamppost wireless communication module
Video image is sent to cloud computing platform.
It is additionally provided with alarm device on described lamppost, and in described video monitoring apparatus, photographic head is suitable to by control module
Head is controlled so that it is turned to；The video image that described cloud computing platform is suitable to each video monitoring apparatus are shot is identified, if
Judge abnormal, its warning can be controlled by control module, if such as but not limited to cloud computing platform passes through video image identification
After judging that photographic head is maliciously blocked, alarm device is controlled to be reported to the police by control module；Described cloud computing platform is further adapted for
Set the video image that corresponding video supervising device is gathered mixes line and area-of-interest, mixes line when there being object to enter and sense is emerging
During interesting region, carry out this object being tracked shoot by photographic head.
Shutdown depressed place for parking unmanned plane is additionally provided with described lamppost, and unmanned aerial vehicle (UAV) control system is provided with this unmanned plane
System；Described unmanned aerial vehicle control system includes：Airborne processor module, the airborne wireless communication mould being connected with airborne processor module
Block and video capture module；Described unmanned aerial vehicle control system be suitable to by shoot video image pass through airborne wireless communication module with
Lamppost wireless communication module communicates, to send to cloud computing platform；When the video monitoring apparatus on a certain lamppost are blocked, or therefore
After barrier, or loss target, cloud computing platform starts unmanned plane and target is tracked monitor.
Further preferred scheme is, the lamp holder on street lamp or traffic lights（Preferably LED）Lamp is connected to by a connecting rod
On post, lamp holder and/or connecting rod are suitable to rotate；Described video monitoring apparatus are suitable to judge whether there is human body in described video image
Image, if there is human body image, is focused to the face part in this human body image, control simultaneously described lamp holder and/or
Connecting rod rotates, so that described lamp holder is towards the human body direction in this human body image, to increase the face brightness of this human body.Video is supervised
Control device is provided with flash lamp, is dodged with opening when video monitoring apparatus complete focusing face and face brightness is less than preset value
Light lamp.
It is provided with face identification system, by the people in the video image of described video monitoring apparatus in cloud computing platform
Body image carries out recognition of face, with the facial image obtaining, records the attribute of this facial image simultaneously（Including obtain image when
Between, place, position in described video image etc.）；Then the facial image obtaining recognition of face and its attribute transfer are extremely
In the data base of public security bureau.
Cover on described shutdown depressed place and can open in unmanned plane VTOL；Specifically, if unmanned plane flies back, shut down
The upper lid in depressed place is opened, and after unmanned plane is shut down, upper lid is closed again；One end of described upper lid is provided with rotating shaft, and this rotating shaft is driven by one
Motor drives and rotates, and described motor is by control module control, after cloud computing platform sends unmanned plane during flying instruction, described
Control module controls motor so that lid is opened.Described control module such as but not limited to adopt flush bonding processor and
Motor-drive circuit is constituted.
At one, the video monitoring apparatus of lamppost photograph a target, and this target just away from this lamppost monitored space when,
Described cloud computing platform, according to the position of target, assigns unmanned plane this target to be tracked monitor；Described unmanned plane is additionally provided with
The path optimizing system being connected with airborne processor module and aircraft power system；Described path optimizing system is suitable to obtain each building
Between wind real time data, and set up air channel net between the building of city；After unmanned plane obtains target location, described path optimizing system is fitted
Air channel net selects unmanned plane to fly to the optimal path of this target location between according to city building.Described cloud computing platform obtains target
The method of position is such as but not limited to carried out greatly by the particular location of the lamppost of the installation video monitoring apparatus of this photographic subjects
Body positions, and the angle according to video monitoring apparatus shooting or distance are accurately positioned further.
Each lamppost is not needed to be equipped with unmanned plane in practice, can be unmanned in one region configuration one frame of setting
Machine, this unmanned plane is suitable to follow the tracks of the target captured by the video monitoring apparatus of one's respective area.
Obtain unmanned plane by path optimizing system to fly to the optimal path of target location, make full use of in air channel between each building
Between building, the wind direction of wind, improves flight speed, reduces flight energy consumption.
Specifically, the air channel data acquisition such as but not limited to by being distributed between each high building for the real time data of wind between each building
Node obtains, and described air channel data acquisition node includes：The wind speed for detecting wind wind speed between building being installed between building senses
The wind transducer of wind wind direction between Qi He building, and the modal processor that is connected with this air velocity transducer and wind transducer and no
Wire module, wind speed, wind direction data will wirelessly send to unmanned plane, is divided with carrying out data by path optimizing system
Analysis, and then set up air channel between the building of city.
Unmanned plane, after obtaining airbound target position, is analyzed air channel between the corresponding building in city that flight path is experienced, and is advised
Mark the most rational flight path, as optimal path.
Specifically, between the building of city between the Wang Yige building of air channel air channel intersection point be node, and according to two adjacent sections point between
Building between the wind speed in air channel, wind direction data carry out Path selection, that is, choose wind between the corresponding building that wind direction is matched to flight path
Road, as the selection section of optimal path, makes unmanned plane reach target location as far as possible in the case of with the wind, is carried with reaching
High flight speed, reduces the purpose of fuel consumption；Though or selecting against the wind but wind speed is little, distance is short section.Specifically can lead to
Cross when setting corresponding limit value, such as contrary wind state, specific wind speed rank is digitized, such as 1 grade, 2 grades etc., distance
10 meters, 20 meters or 30 meters etc. can be set, for example, set section alternative condition as no more than 2 grades of wind speed, distance is less than 20 meters
When, this section can be selected, then, during optimum path planning, if a certain section meets above-mentioned condition, can be selected this
Section adds to optimal path.
As shown in figure 3, obtain unmanned plane from original position A to the mulitpath of target location E, and according to each path institute phase
Between the building closing, the wind direction in air channel screens to path, so that unmanned plane is tried one's best in air channel between building with the wind and flies, such as A to B,
B to C, C to D, D to E, and each hollow arrow represents the wind direction in air channel between corresponding building respectively.
Preferably, described path optimizing system includes：The map memory module that is connected with airborne processor module, GPS mould
Block and the gyroscope for detecting unmanned plane during flying attitude；Specifically, the airborne processor module in described unmanned plane is also connected with
There is map memory module, airborne processor module is suitable to the optimal path of reception and cartographic information match, so that unmanned plane
Flown according to optimal path, by GPS module and gyroscope, flight path, flight attitude are repaiied in flight course
Just, control, to improve, the stability shooting.
Wherein said aircraft power system includes：The horizontal power mechanism 31 that controlled by airborne processor module and vertically moving
Force mechanisms 32；Wherein said horizontal power mechanism 31 is located at fuselage 35, and includes：Flat spin paddle mechanism；Described vertically move
Force mechanisms 32 include：It is symmetrically set in vertical spin oar 321 mechanism at left and right wing 33；Described vertical spin oar 321 mechanism bag
Include at least one vertical spin oar 321, for vertical spin oar 321 mechanism being hung on the suspension arrangement 34 of wing 33 lower section, institute
State vertical spin oar 321 to be suitable to drive rotation by corresponding micromachine 322；Described suspension arrangement 34 includes：It is suitable to make vertically
The first angle fine setting motor 341 that propeller 321 tilts forward or backward（As F1 direction in Fig. 5）, and make vertical spin oar
The second angle fine setting motor 342 that 321 tilt to the left or to the right（As F2 direction in Fig. 5）；Wherein said first, second angle is micro-
Motor and micromachine 322 is adjusted to be controlled by airborne processor module, to adjust inclining of vertical spin oar 321 according to flight attitude
Angle and the rotating speed of vertical spin oar 321, the hovering of suitable high-altitude or the corresponding flight attitude of holding control, and then improve image taking
Definition.
In Fig. 5, a vertical spin oar 321 includes two vertical spin oars 321, and is symmetrical arranged in front and back, therefore, similarly
Finely tune motor 342 including two second angles, this two second angle fine setting motors 342 are suitable to by the control of airborne processor module
Synchronous axial system.
Described unmanned plane is additionally provided with for detecting the wind transducer of met crosswind and air velocity transducer in flight course, institute
State wind transducer and air velocity transducer is suitable to send the wind direction of crosswind suffered by current unmanned plane and air speed data to airborne place
Reason device module；Described airborne processor module is suitable to the wind direction according to crosswind and air speed data, adjusts inclining of vertical spin oar 321
Angle and the vertical, rotating speed of horizontal propeller, to stablize current flight attitude, and then obtain stable video image.
If unmanned plane flies between building in city, crosswind belongs to one kind of wind between building.
Specifically, described wind transducer and air velocity transducer are used for recording unmanned plane actual acquisition in flight course
The wind direction of crosswind and air speed data, and then by the inclination angle of vertical spin oar 321, that is, front or rear, left or right is adjusted, and combine vertical
Directly, the rotating speed of horizontal propeller, to play the effect of stabilized flight attitude, and if crosswind is conducive to flight, can also fit
When the rotating speed reducing horizontal propeller, with saves energy.
For example unmanned plane westerly flies from east, if running into the crosswind of southwestward, airborne processor module is suitable to adjust
The inclination angle of vertical spin oar 321, that is, southwester direction tilts, to offset the crosswind of the southwestward shadow to unmanned plane during flying route
Ring；And, according to wind speed size, change the rotating speed of vertical spin oar 321.Unmanned plane keeps stable hovering attitude, with low coverage
From pressing close to high level, realize to unmanned plane collision probability being reduced with the monitoring of floor.
Wherein, described airborne processor module is such as but not limited to using the process of the Duo-Core Architecture with DSP and ARM
Device, it would however also be possible to employ the mode of dsp processor and arm processor collaborative work.
Preferably, the wing of described unmanned plane is coated with photovoltaic cell, described path optimizing system is further adapted for obtaining respectively
Real-time lighting intensity between building, and described path optimizing system select optimal path when, if two or more road
Section has wind between the building of identical data, then the section of real-time lighting maximum intensity is selected in optimal path.
Further, described path optimizing system is further adapted for obtaining the cloud layer data in city overhead, and is selecting optimal path
When, avoid the section of overcast area；And described video capture module is suitable to shoot building panorama, and put down by cloud computing
Platform identifies the height of this building；When unmanned plane is in sleety weather flight, described path optimizing system is suitably selected for building
Leeward section as unmanned plane the Path selection in optimal path；And make the flying height of unmanned plane be less than this building
Height, to block sleet.
Preferably, described airborne processor module is also connected with the charge and discharge control module in unmanned plane, and described charge and discharge
Electric control module is suitable to send on-board batteries electricity to airborne processor module, and when on-board batteries electricity is less than a setting value
When, described airborne processor module controls unmanned plane to stop to the high region of an intensity of illumination, with by described photovoltaic cell to machine
Carry battery to be charged；Or described airborne processor module controls unmanned plane to stop to the larger region of a wind-force, with by wind
Dynamic horizontal propeller and/or vertical spin oar produce electric energy and on-board batteries are charged；Wherein said vertical spin oar is suitable to
By first, second angle adjustment motor adjustable inclination, to obtain maximum wind power, improve wind power generation efficiency.Specifically, described
Charge and discharge control module is suitable to carry out after complementation, on-board batteries being charged by wind-force and the produced electric energy of solar energy, described fills
The corresponding wind light mutual complementing module that control of discharge module can pass through prior art is realized.
Embodiment 2
On the basis of embodiment 1, the method for work of above-mentioned Skynet system, that is, pass through cloud computing platform to each video monitoring apparatus
Target in video image is tracked.
Before being tracked by the target in the video image to each video monitoring apparatus for the cloud computing platform, target need to be entered
Row identification, the method that target is carried out with image recognition can be realized by the prior art with regard to image procossing.Preferably, right
Additionally provide a kind of preferred recognition methodss in identification, the present embodiment, that is,
Described cloud computing platform is suitable to be identified by property data base of having a fist fight and fighting incident occurs in video image；
Described have a fist fight property data base include：The motion frequency eigenvalue of human body trick, direction of motion clutter eigenvalue；
If the motion frequency of human body trick and direction of motion clutter and individual features value in property data base in video image
Match, then judge to have a fist fight in this video image behavior；
Specifically, identify the trick of the people in video image by video identification technology of the prior art, motion frequency is special
Value indicative is specially the motion frequency of trick, such as one minute number of oscillations；Direction of motion clutter eigenvalue is specially trick
The track swinging and amplitude, such as track does not have rule and amplitude is bigger than normal, then judge behavior of having a fist fight.
Preferably, can also be identified by video identification technology of the prior art the face of people in video image,
Chest and leg, and judge whether behavior according to the collision occurrence rate of trick and face, chest and leg.
Described cloud computing platform is further adapted for detecting that crowd massing is abnormal, that is, described cloud computing platform is suitable to extract in image
Crowd's area and crowd in number, to calculate Per capita area, if Per capita area be less than preset value, judge that this crowd gathers around
Squeeze.
Described cloud computing platform is further adapted for setting mixing line and feeling emerging of the video image that corresponding video supervising device is gathered
Interesting region, when mixing line and area-of-interest when there being object to enter, carries out this object being tracked shoot by photographic head.
Described cloud computing platform is further adapted for calculating the movement locus in video pictures, to judge whether occur in video pictures
Reverse traveling；Specifically, according to the arrow instruction of road, cloud computing platform judges whether the people in video pictures drives in the wrong direction, or root
Keep to the right according to traffic rules and judge the normally travel direction in this section, then judged by the driving trace of the people in video pictures
Whether people drives in the wrong direction.
Described cloud computing platform is further adapted for recording each feature in stationary video image, special when occurring other in this video image
When levying, features described above is identified；Specifically, in record stationary video image, each feature is specially in video image picture
Object, putting position etc., if other objects enter video pictures in, cloud computing platform quickly catches, it is identified and
Demarcate, reminder alarm, send warning if necessary.
Shutdown depressed place for parking unmanned plane is additionally provided with described lamppost, and unmanned aerial vehicle (UAV) control system is provided with this unmanned plane
System；Described unmanned aerial vehicle control system includes：Airborne processor module, the airborne wireless communication mould being connected with airborne processor module
Block and video capture module；Described unmanned aerial vehicle control system be suitable to by shoot video image pass through airborne wireless communication module with
Lamppost wireless communication module communicates, to send to cloud computing platform；When the video monitoring apparatus on a certain lamppost are blocked, or therefore
After barrier, or loss target, cloud computing platform starts unmanned plane and target is tracked monitor.
At one, the video monitoring apparatus of lamppost photograph a target, and this target just away from this lamppost monitored space when,
Described cloud computing platform, according to the position of target, assigns unmanned plane this target to be tracked monitor；It is excellent that unmanned plane passes through path
Change system flies to unmanned plane to select to some paths of this target location, to obtain optimal path.
Further, unmanned plane flies to unmanned plane to some paths of target location to select by path optimizing system,
Included with the method obtaining optimal path：
Obtain the real time data of wind between each building, and set up air channel net between the building of city；After unmanned plane obtains target location, unmanned plane
Interior airborne processor module is suitable to select unmanned plane to fly to this target according to air channel net between the building of city by path optimizing system
The optimal path of position.
Photovoltaic cell is coated with the wing of described unmanned plane, described path optimizing system is further adapted for obtaining the reality between each building
When intensity of illumination；Described path optimizing system select optimal path when, if two or more section has identical number
According to building between wind, then the section of real-time lighting maximum intensity is selected in optimal path.Wherein real-time lighting data can be passed through
Place light sensor in the data acquisition node of air channel, to obtain the real-time lighting intensity between building.
Described path optimizing system is further adapted for obtaining the cloud layer data in city overhead, and when selecting optimal path, avoids
The section of overcast area；Wherein, described cloud layer data is suitable to obtain by meteorological satellite, or by local multiple meteorological sight
Examine the whistle to obtain in real time.
Described airborne processor module is suitable to identify the height of this building according to building panorama；When unmanned plane is in sleet
During weather flight, described path optimizing system be suitably selected for the leeward section of building as unmanned plane the road in optimal path
Footpath selects；And make unmanned plane flying height be less than this building height, to block sleet, can improve shooting effect and
Image stabilization is made to be imaged.
Described method of work also includes：The inclination angle of vertical spin oar 321 and the method bag of rotating speed are adjusted according to flight attitude
Include：Described airborne processor module is suitable to control first angle fine setting motor 341 to drive vertical spin oar 321 to turn forward, with
Horizontal propeller work in time control controlling the water circulation flat spin paddle mechanism, to shorten the time that unmanned plane reaches the cruising altitude setting, and
In unmanned plane while reaching Cruising Altitude, meet its cruising speed.
Described unmanned plane is additionally provided with for detecting the wind transducer of met crosswind and air velocity transducer in flight course, institute
State wind transducer and air velocity transducer is suitable to send the wind direction of crosswind suffered by current unmanned plane and air speed data to airborne place
Reason device module；Described airborne processor module is suitable to the wind direction according to crosswind and air speed data, adjusts inclining of vertical spin oar 321
Angle and the vertical, rotating speed of horizontal propeller, carry out video image acquisition to stablize current flight attitude.
Specifically, described airborne processor module is suitable to the wind direction according to crosswind and air speed data, adjusts vertical spin oar
321 inclination angle and the vertical, rotating speed of horizontal propeller, to stablize the method bag that current flight attitude carries out video image acquisition
Include：If unmanned plane hovers in the air, horizontal propeller quits work, and vertical spin oar 321 works, described airborne processor
Module is suitable to the wind direction and air speed data according to crosswind, changes inclination angle and the rotating speed of vertical spin oar 321, with steadily hovering appearance
State；If unmanned plane cruises, described airborne processor module is suitable to the wind direction according to crosswind and air speed data, changes vertical spin oar
321 inclination angle and rotating speed, to keep cruising altitude.
Specific implementation process：If unmanned plane is controlling hovering, if running into crosswind westerly, vertical spin oar 321 from east
Inclination angle correspond to cross-wind direction, to offset the impact to unmanned plane during flying attitude for the crosswind, and adjusted according to the wind speed of crosswind and hang down
The rotating speed of straight propeller 321.
Described airborne processor module is suitable to judge whether the wind direction of crosswind and wind speed contribute to flying, if contributing to flying
OK, then reduce the rotating speed of vertical spin oar 321 and/or horizontal propeller 311, saves energy, improve the cruise mileage of unmanned plane.
With the above-mentioned desirable embodiment according to the present invention for enlightenment, by above-mentioned description, relevant staff is complete
Entirely various change and modification can be carried out in the range of without departing from this invention technological thought.The technology of this invention
The content that property scope is not limited in description it is necessary to determine its technical scope according to right.
Claims (10)
1. a kind of Skynet system is it is characterised in that include：It is distributed in the lamppost of some street lamps of block, each lamppost is pacified respectively
Equipped with the video monitoring apparatus being connected with a control module and lamppost wireless communication module；
Described video monitoring apparatus are suitable to send video image to cloud computing platform by lamppost wireless communication module；
The lamp holder of street lamp is connected on lamppost by a connecting rod, and lamp holder and connecting rod are suitable to rotate；Described video monitoring apparatus are suitable to
Judge whether there is human body image in described video image, if there is human body image, to the face part in this human body image
It is focused, control described lamp holder and connecting rod rotation simultaneously, so that described lamp holder is towards the human body direction in this human body image, with
Increase the face brightness of this human body；
Video monitoring apparatus are provided with flash lamp, with video monitoring apparatus complete to focus on face and face brightness be less than default
Flash lamp is opened during value.
2. Skynet system according to claim 1 is it is characterised in that be provided with face identification system in cloud computing platform, with
Human body image in the video image of described video monitoring apparatus is carried out recognition of face；
It is additionally provided with alarm device on described lamppost, and in described video monitoring apparatus, photographic head is suitable to by control module control
Head makes it turn to；
The video image that described cloud computing platform is suitable to each video monitoring apparatus are shot is identified, if it is determined that abnormal, then lead to
Cross control module and control its warning；
What described cloud computing platform was further adapted for setting the video image that gathered of corresponding video supervising device mixes line and region of interest
Domain, when mixing line and area-of-interest when there being object to enter, carries out this object being tracked shoot by photographic head.
3. Skynet system according to claim 2 is it is characterised in that be additionally provided with for parking unmanned plane on described lamppost
Shut down, on depressed place, and this unmanned plane, unmanned aerial vehicle control system is installed；
Described unmanned aerial vehicle control system includes：Airborne processor module, the airborne wireless communication being connected with airborne processor module
Module and video capture module；
Described unmanned aerial vehicle control system is suitable to for the video image shooting to pass through airborne wireless communication module and lamppost wireless telecommunications
Module communication, to send to cloud computing platform；
When the video monitoring apparatus on a certain lamppost are blocked, or after fault, or loss target, cloud computing platform starts unmanned plane
Target is tracked monitor；
Described shutdown depressed place is provided with generating laser, and unmanned plane is provided with light cell, when unmanned plane is parked on described shutdown depressed place,
To light cell, light cell is charged laser transmitter projects laser to the on-board batteries on unmanned plane.
4. Skynet system according to claim 3 it is characterised in that
At one, the video monitoring apparatus of lamppost photograph a target, and this target just away from this lamppost monitored space when, described
Cloud computing platform, according to the position of target, assigns unmanned plane this target to be tracked monitor；
Described unmanned plane is additionally provided with the path optimizing system being connected with airborne processor module and aircraft power system；
Described path optimizing system is suitable to obtain the real time data of wind between each building, and sets up air channel net between the building of city；Work as unmanned plane
After obtaining target location, described path optimizing system is suitable to select unmanned plane to fly to this target location according to air channel net between the building of city
Optimal path；
Described path optimizing system includes：The map memory module that is connected with airborne processor module, GPS module and be used for detecting
The gyroscope of unmanned plane during flying attitude；Wherein
Described aircraft power system includes：The horizontal power mechanism being controlled by airborne processor module and Vertical Dynamic mechanism；Its
In
Described horizontal power mechanism is located at fuselage, and includes：Flat spin paddle mechanism；
Described Vertical Dynamic mechanism includes：It is symmetrically set in the vertical spin paddle mechanism at left and right wing；
Described vertical spin paddle mechanism includes at least one vertical spin oar, for hanging on vertical spin paddle mechanism below wing
Suspension arrangement, described vertical spin oar be suitable to by corresponding micromachine drive rotate；
Described suspension arrangement includes：It is suitable to the first angle fine setting motor making vertical spin oar tilt forward or backward, and make
The second angle fine setting motor that vertical spin oar tilts to the left or to the right；Wherein
Described first, second angle adjustment motor and micromachine are controlled by airborne processor module, with according to flight attitude
Adjust the inclination angle of vertical spin oar and the rotating speed of vertical spin oar；
And, described unmanned plane is additionally provided with for detecting the wind transducer of met crosswind and air velocity transducer in flight course,
And send the wind direction of crosswind suffered by current unmanned plane and air speed data to airborne processor module；
Described airborne processor module is suitable to the wind direction according to crosswind and air speed data, adjusts the inclination angle of vertical spin oar and hangs down
Directly, the rotating speed of horizontal propeller, carries out video image acquisition to stablize current flight attitude；
And if, the wind direction of crosswind and wind speed contribute to flying, reducing the rotating speed of vertical spin oar and/or horizontal propeller.
5. Skynet system according to claim 4 is it is characterised in that be coated with photovoltaic electric on the wing of described unmanned plane
Pond, described path optimizing system is further adapted for obtaining the real-time lighting intensity between each building；
Described path optimizing system select optimal path when, if two or more section has between the building of identical data
Wind, then the section of real-time lighting maximum intensity is selected in optimal path；
Described path optimizing system is further adapted for obtaining the cloud layer data in city overhead, and when selecting optimal path, avoids cloud layer
The section of the area of coverage；And
Described video capture module is suitable to shoot building panorama, and identifies the height of this building by cloud computing platform；
When unmanned plane is in sleety weather flight, described path optimizing system is suitably selected for the leeward section of building as unmanned
Path selection in optimal path for the machine, and make the height less than this building for the flying height of unmanned plane, to block sleet.
6. Skynet system according to claim 5 it is characterised in that described airborne processor module also with unmanned plane in
Charge and discharge control module is connected, and described charge and discharge control module is suitable to send on-board batteries electricity to airborne processor die
Block, and when on-board batteries electricity is less than a setting value, described airborne processor module controls unmanned plane to stop to an intensity of illumination
High region, to be charged to on-board batteries by described photovoltaic cell；Or described airborne processor module controls unmanned plane
Stop to the larger region of a wind-force, so that horizontal propeller and/or vertical spin oar generation electric energy are blown to on-board batteries by wind
It is charged；Wherein
Described vertical spin oar is suitable to by first, second angle adjustment motor adjustable inclination.
7. a kind of method of work of Skynet system as claimed in claim 1 it is characterised in that
It is tracked by the target in the video image to each video monitoring apparatus for the cloud computing platform.
8. Skynet system according to claim 7 method of work it is characterised in that
Before being tracked by the target in the video image to each video monitoring apparatus for the cloud computing platform, target need to be known
Not, and recognition methodss include：
Described cloud computing platform is suitable to be identified by property data base of having a fist fight and fighting incident occurs in video image；
Described have a fist fight property data base include：The motion frequency eigenvalue of human body trick, direction of motion clutter eigenvalue；
If the motion frequency of human body trick and direction of motion clutter and individual features value in property data base in video image
Match, then judge to have a fist fight in this video image behavior；
Described cloud computing platform is further adapted for detecting that crowd massing is abnormal, that is,
Described cloud computing platform is suitable to extract the number in crowd's area and the crowd in image, to calculate Per capita area,
If Per capita area is less than preset value, judge that this is crowded；
What described cloud computing platform was further adapted for setting the video image that gathered of corresponding video supervising device mixes line and region of interest
Domain, when mixing line and area-of-interest when there being object to enter, carries out this object being tracked shoot by photographic head；
Described cloud computing platform is further adapted for calculating the movement locus in video pictures, to judge whether occur in video pictures inversely
Advance；
Described cloud computing platform is further adapted for recording each feature in stationary video image, when other features in this video image
When, features described above is identified.
9. the method for work of Skynet system according to claim 8 is it is characterised in that be additionally provided with for stopping on described lamppost
Put the shutdown depressed place of unmanned plane, and on this unmanned plane, unmanned aerial vehicle control system is installed；
Described unmanned aerial vehicle control system includes：Airborne processor module, the airborne wireless communication being connected with airborne processor module
Module and video capture module；
Described unmanned aerial vehicle control system is suitable to for the video image shooting to pass through airborne wireless communication module and lamppost wireless telecommunications
Module communication, to send to cloud computing platform；
When the video monitoring apparatus on a certain lamppost are blocked, or after fault, or loss target, cloud computing platform starts unmanned plane
Target is tracked monitor.
10. Skynet system according to claim 9 method of work it is characterised in that
At one, the video monitoring apparatus of lamppost photograph a target, and this target just away from this lamppost monitored space when, described
Cloud computing platform, according to the position of target, assigns unmanned plane this target to be tracked monitor；
Unmanned plane flies to unmanned plane to some paths of this target location to select by path optimizing system, to obtain optimum
Path.
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