CN105516653A - Security and protection monitoring system - Google Patents
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- H—ELECTRICITY
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- 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
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B13/00—Burglar, theft or intruder alarms
- G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
- G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
- G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
- G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
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Abstract
Provided in the invention is a security and protection monitoring system comprising a two-dimensional image collection module (001), a two-dimensional displacement sensor collection module (002), and an image analysis module (003). The two-dimensional image collection module (001) is used for obtaining two-dimensional image information under a monitored scene; the two-dimensional displacement sensor collection module (002) is used for obtaining two-dimensional image information under a monitored scene; and the image analysis module (003) is used for receiving the two-dimensional image information and the three-dimensional image information, comparing the two-dimensional image information and the three-dimensional image information with normal image information of a preset monitored scene and analyzing the information, and determining whether the monitored scene is normal by a preset threshold value. According to the invention, the two-dimensional laser displacement sensor module is used for obtaining the three-dimensional image information, so that the accuracy of the monitoring and the environment adaptive capability are improved; and on the basis of the fusion analysis processing of the two-dimensional image and the three-dimensional image, whether the monitored scene is abnormal is determined, thereby reducing the system complexity.
Description
Technical Field
The invention relates to the technical field of integrated circuit design in the field of microelectronics, in particular to a security monitoring system.
Background
The security monitoring system is an independent and complete system which is formed by transmitting video signals in a closed loop by using optical fibers, coaxial cables or microwaves, and shooting, image display and recording. It can real-time, vividly and truly reflect the monitored object, can replace the manual work to carry out long-time monitoring under the severe environment, and is recorded by the video recorder. Meanwhile, the alarm system equipment alarms illegal intrusion.
In the prior art, a security monitoring system mainly collects two-dimensional video images and combines a complex image processing algorithm to perform anomaly detection and alarm. The accuracy and performance of the monitoring system are seriously influenced because the recognition and detection results of the two-dimensional images are greatly influenced by the environment; even more sophisticated systems require high performance processors to implement complex image processing algorithms, greatly increasing the cost of the monitoring system.
Disclosure of Invention
The invention aims to provide a security monitoring system aiming at the defects of the prior art, the security monitoring system adopts a two-dimensional laser displacement sensor, can acquire a part of accurate three-dimensional space point cloud information in a scene, improves the accuracy and the environment adaptability of the monitoring system, reduces the complexity and the equipment cost of the system and improves the flexibility of the system.
The invention provides a security monitoring system, which comprises a two-dimensional image acquisition module, a two-dimensional displacement sensor acquisition module and an image analysis module; the two-dimensional image acquisition module is used for acquiring two-dimensional image information under a monitored scene and sending the two-dimensional image information to the image analysis module; the two-dimensional displacement sensor acquisition module is used for acquiring three-dimensional image information of a specific area in a monitored scene and sending the three-dimensional image information to the image analysis module; and the image analysis module is used for receiving video image information, wherein the video image information comprises two-dimensional image information and three-dimensional image information, analyzing and comparing the video image information with preset normal image information of a monitored scene, and judging whether the monitored scene is abnormal or not through a preset threshold value.
Preferably, the system further comprises a storage module, an alarm module and a display module; the storage module is used for storing the video image information of the monitored scene in real time and storing preset normal image information of the monitored scene; the alarm module is used for receiving the instruction of the image analysis module according to a preset time interval and sending alarm information through an alarm device, and the alarm device comprises an alarm lamp and an alarm horn; and the display module is used for providing an operation interface of the system and displaying the video image information stored by the storage module.
Preferably, the determining whether the monitored scene is abnormal or not by a preset threshold specifically includes: when the difference between the video image information and the normal image information is smaller than a threshold value, judging that the monitored scene is normal, and sending an instruction for storing the video image information to the storage module; when the difference between the video image information and the normal image information is greater than or equal to a threshold value, judging that the monitored scene is abnormal; and triggering the alarm module, marking the abnormal images of the key frames, constructing video index information of the abnormal monitored scene, and sending an instruction for storing the marks and the video index information to the storage module.
Preferably, the receiving, by the alarm module, the instruction of the image analysis module at a preset time interval specifically includes: when the alarm module does not receive the instruction of the image analysis module within a preset time interval, an alarm device is automatically triggered, and meanwhile, the loss of connection information is displayed on the display module.
Preferably, the two-dimensional displacement sensor acquisition module comprises at least one two-dimensional displacement sensor, and the two-dimensional displacement sensor acquisition module comprises a line laser, an image acquisition device and a microprocessor; the line laser is used for receiving a driving instruction of the microprocessor and projecting a light plane to a three-dimensional space, and the light plane is modulated into a light bar by a measured object; the image collector is used for collecting the light bars and acquiring light bar images in real time; and the microprocessor is used for transmitting a driving instruction to the line laser, processing the light bar image and finishing the calculation of the three-dimensional depth information of the measured point.
The two-dimensional laser displacement sensor also comprises a camera, and the relative position relationship between the camera and the line laser must be acquired before the two-dimensional laser displacement sensor is used.
Preferably, the image analysis module comprises: performing first comparison on the two-dimensional image information and preset two-dimensional image information with a normal monitored scene, and when the first comparison result is smaller than a preset second threshold value, indicating that the monitored scene is normal; at the moment, second comparison between the three-dimensional image information and the preset three-dimensional image information with normal monitored scene is not needed; or
When the first comparison result is larger than or equal to the second threshold value, the monitored scene is suspected to be abnormal; at the moment, second comparison is continuously carried out on the three-dimensional image information and the preset three-dimensional image information with a normal monitored scene, and when a second comparison result is smaller than a third threshold value, the monitored scene is normal; and when the second comparison result is greater than or equal to the third threshold value, indicating that the monitored scene is abnormal.
The system of the invention utilizes the two-dimensional laser displacement sensor to obtain the three-dimensional image information, thereby improving the accuracy of the monitoring system and the adaptability to the environment; and whether the monitored scene is abnormal or not is judged by fusion analysis processing of the two-dimensional image and the three-dimensional image, so that the complexity of the system is reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic diagram of a security monitoring system according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a mathematical model of a two-dimensional laser displacement sensor according to an embodiment of the present invention;
fig. 3 is a schematic diagram of an image analysis process according to an embodiment of the present invention;
fig. 4 is a schematic view of another image analysis process according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention.
Fig. 1 is a schematic view of a security monitoring system according to an embodiment of the present invention. As shown in fig. 1, the system includes a two-dimensional image acquisition module 001, a two-dimensional displacement sensor acquisition module 002, an image analysis module 003, a storage module 004, an alarm module 005, and a display module 006.
Specifically, the two-dimensional image acquisition module 001 is configured to acquire two-dimensional image information in a monitored scene and send the two-dimensional image information to the image analysis module 003; the two-dimensional laser displacement sensor acquisition module 002 is used for acquiring three-dimensional image information of a specific area in a monitored scene and sending the three-dimensional image information to the image analysis module 003; the image analysis module 003 is configured to receive video image information, where the video image information includes two-dimensional image information and the three-dimensional image information, analyze and compare the video image information with preset normal image information of a monitored scene, and determine whether the monitored scene is abnormal or not according to a preset threshold.
The storage module 004 is used for storing the video image information of the monitored scene in real time and storing preset normal image information of the monitored scene; the alarm module 005 is used for receiving the instruction of the image analysis module according to a preset time interval and sending alarm information through an alarm device, and the alarm device comprises an alarm lamp and an alarm horn; and the display module 006 is used for providing an operation interface of the system and displaying the video image information stored by the storage module 004.
Specifically, the step of judging whether the monitored scene is abnormal or not through a preset threshold specifically includes: when the difference between the video image information and the normal image information is smaller than a threshold value, it is determined that the monitored scene is normal, and an instruction for storing the video image information is sent to the storage module 004; when the difference between the video image information and the normal image information is greater than or equal to a threshold value, judging that the monitored scene is abnormal; and triggers the alarm module 005, marks the abnormal images of the key frames, constructs the video index information of the abnormal monitored scene, and sends the instruction for storing the marks and the video index information to the storage module 004.
Specifically, the two-dimensional displacement sensor acquisition module 002 includes at least one two-dimensional displacement sensor, and the two-dimensional displacement sensor acquisition includes a line laser, an image acquirer and a microprocessor; the line laser is used for receiving a driving instruction of the microprocessor and projecting a light plane to a three-dimensional space, and the light plane is modulated into a light bar by a measured object; the image collector is used for collecting the light bars and acquiring light bar images in real time; and the microprocessor is used for sending a driving instruction to the line laser and processing the light bar image.
The two-dimensional laser displacement sensor also comprises a camera, and the relative position relationship between the camera and the line laser must be acquired before the two-dimensional laser displacement sensor is used.
Fig. 2 is a schematic diagram of a mathematical model of a two-dimensional laser displacement sensor according to an embodiment of the present invention. As shown in fig. 2, the camera coordinate system in the figure is: o iscXcYcZc(ii) a Image plane coordinate system: ouv are provided. A and B are two points in three-dimensional space, and a and B correspond to imaging points from the space points A and B to an image plane. The image plane is the imaging plane at the camera. A and B have three-dimensional coordinates A (X) in the camera coordinate systema,Ya,Za) And B (X)b,Yb,Zb). On the light plane of the A and B on-line lasers, the two corresponding points on the image plane are the pixel coordinates a (u)a,va) And b (u)b,vb) (ii) a Physical coordinate is a (x)a,ya) And b (x)b,yb)。
It should be noted that the relative position relationship between the camera and the line laser is a system structural parameter of the two-dimensional displacement sensor, and these structural parameters can be designed according to an application scenario, which determines the measurement range and accuracy of the whole two-dimensional displacement measurement system. Other relevant decisive parameters are the quality of the light bars projected by the line laser, and camera-related parameters. The two-dimensional laser displacement sensor has different structural parameters according to different applications, and finally causes the difference of the measurement range, the resolution and the like of the sensor.
Now taking the camera coordinate system as the reference coordinate of the whole system, the relative position relationship between the line laser and the camera can be expressed by the following spatial plane equation: aX + bY + cZ ═ d; selecting a space point A for description, wherein the three-dimensional coordinates of the space point A in a camera coordinate system are as follows: (X)a,Ya,Za) Therefore, the following constraint equation is given: aXa+bYb+cZb＝d(1)。
The two-dimensional coordinates of the camera imaging point corresponding to the space point A under the image plane coordinate system are as follows: a (u)a,va) (ii) a Pixel coordinate (u)a,va) According to camera-related parameters, can be converted into physical coordinates (x)a,ya). The specific relevant parameters include the size of the image CCD, the distortion coefficient of the camera lens and the installation error between the two.
According to the pinhole imaging model, the corresponding relation between the image coordinate and the space coordinate is
Wherein (X, y) is the image coordinate, (X)c,Yc,Zc) Is the three-dimensional space coordinate under the camera coordinate system, and f is the camera focal length.
After obtaining the light bar image, the pixel (u) of the light bar center can be obtained by the image processing technologya,va) And further converted into physical coordinates (x)a,ya). Will (x)a,ya) Substituting into equation set (2) above, there is:
(3) representing a spatial ray ocA; the space point A is the ray ocA point of intersection with the line laser light plane. Solving (1) and (3) to obtain the three-dimensional coordinate (X) of the space point A in the camera coordinate systema,Ya,Za)。
A microprocessor of the two-dimensional laser displacement sensor drives a line laser projector to project a light plane to a three-dimensional space, and a measured object in the three-dimensional space is modulated to obtain a light bar; if the object to be measured is a plane, the light plane is modulated into a continuous light strip, otherwise, the light plane is modulated into a plurality of discontinuous light strips. The line laser can adopt invisible light such as infrared light and the like, and the invisible light bars can be collected by using cameras with corresponding light frequency bands; then, the microprocessor system drives the image collector to collect light bars, and light bar images are obtained in real time; the microprocessor system processes the acquired light bar image by using an image processing technology and extracts the center coordinate of the light bar image; and finally, bringing the extracted light bar image center coordinates into a mathematical model of the two-dimensional laser displacement sensor system, so as to reconstruct the three-dimensional space coordinates of the three-dimensional space point corresponding to the light bar center point and further acquire three-dimensional image information.
As shown in fig. 3, fig. 3 is a schematic diagram of an image analysis process according to an embodiment of the present invention. In the present embodiment, the two-dimensional image and the three-dimensional image are combined together to perform an image analysis process; the image analysis flowchart includes steps S401 to S404:
step S401: acquiring a video image of a monitored scene, wherein the video image comprises a two-dimensional image and a three-dimensional image;
a two-dimensional image acquisition module acquires a two-dimensional image; a two-dimensional displacement sensor acquisition module acquires a three-dimensional image, namely a depth image; the video images are collected in real time, and the video images collected in real time are compared with the prestored normal images of the monitored environment.
The two-dimensional laser displacement sensor is characterized in that the two-dimensional laser displacement sensor collects three-dimensional image information aiming at certain key areas. Because of the limitation of the projection area of the line laser, compared with a two-dimensional image collector, the two-dimensional laser displacement sensor can only collect the depth information of a specific area. Because the fixed position of the two-dimensional displacement sensor can only monitor the depth information on a specific position, for the scene monitored by the omnibearing scene, more areas can be covered by configuring a plurality of displacement sensors, and the depth information of other areas can be acquired by rotating the two-dimensional displacement sensor.
It should be noted that the normal image of the monitored environment is also the reference image. The difference between the reference image and the video image monitored in real time has an allowable range. In the process of multiple image analysis experiments, a critical value exists between the abnormity and the normality of the monitored environment; different monitored environments have different thresholds. That is, different monitored environments have different allowable ranges of differences.
The monitoring environment with strict monitoring requirements, such as cultural relic monitoring and safe deposit boxes of museums, can be set with a lower critical value, and once a small abnormality occurs, warning information is sent out immediately. The monitored environment with lower monitoring requirements can be set to a higher critical value.
Step S402: judging whether the monitoring scene is abnormal or not through a preset threshold value;
and comparing the difference value of the real-time monitored image and the reference image with a preset threshold value. And sending the comparison result to an alarm module within a preset time interval. The result of the comparison includes being greater than or equal to the threshold value and being less than the threshold value; and if the value is larger than or equal to the threshold value, the monitored environment is abnormal, such as people break through abnormally, the position of the cultural relic is changed, and the like. And if the value is less than the threshold value, the monitored environment is normal. This time interval is set according to the application environment of the monitoring system and the user's own needs.
Specifically, the receiving, by the alarm module 005, the instruction of the image analysis module according to the preset time interval specifically includes: when the alarm module 005 does not receive the instruction of the image analysis module within a preset time interval, the alarm device is automatically triggered, and the loss of connection information is displayed on the display module 006.
The image analysis module will send the result of the analysis and comparison, i.e. the instruction information, to the alarm module 005 at a preset time interval. When the alarm module 005 does not receive the instruction information within the preset time interval, it indicates that the monitored environment is abnormal, such as: someone cuts short lines, cuts off power, and the like, and an alarm device is automatically triggered.
Step S403: the monitored scene is normal, and the video is stored;
when the difference value is smaller than the threshold value, it indicates that the monitored scene is normal, and the storage module 004 will automatically store the video image information monitored in real time.
Step S404: and triggering an alarm device, and marking the key frame while preserving the video image to construct a video index.
When the difference value is greater than or equal to the threshold value, it indicates that the monitored environment is abnormal. At the moment, the image analysis module can send instruction information to the alarm module, and the alarm module triggers the alarm device. At the moment, the storage module can store video image information, the image analysis module can mark images of key frames and construct video indexes, so that later-stage video compression and investigation evidence obtaining are facilitated.
When the monitoring system is used for monitoring an office door and window, the security system can be installed at a main entrance of an office, the line laser projects light bars to a gate or a window, once the door or the window is monitored to be opened, the alarm device can be triggered, and abnormal video frames are marked.
When the monitoring system is used for monitoring the cultural relics, the security system can be installed in a space for storing the cultural relics, the line laser projects light bars to the cultural relics, once the monitoring cultural relics are abnormal, the alarm device can be triggered, and abnormal video frames are marked.
Fig. 4 is a schematic view of another image analysis process according to an embodiment of the present invention. As shown, steps S401-S406 are included:
step S401: comparing the two-dimensional image information with preset two-dimensional image information with a normal monitored scene;
the two-dimensional image acquisition module acquires texture images of the whole monitored environment; the two-dimensional laser displacement sensor acquires a depth image of a monitored environment. In the process of video image acquisition, images under the condition of normal scene are respectively selected from the two-dimensional image and the three-dimensional image as reference images. When comparing, the two-dimensional image information monitored in real time is compared with the two-dimensional image information under the condition that the preset scene is normal.
Step S402: whether less than a second threshold;
in the embodiment of the invention, a second threshold value is preset; because the acquired two-dimensional image has the characteristic of a wide acquired area, the two-dimensional image is basically full coverage of the monitored scene.
That is, if the two-dimensional image is not changed, the monitoring scene is certainly normal; if there is a change in the two-dimensional image, the scene is suspected to be abnormal because it is likely to be a disturbance due to normal changes in the environment, such as: indoor environments such as a change in brightness of illumination, outdoor environments such as natural light, wind, and the like. And comparing the three-dimensional image information needing real-time monitoring with the three-dimensional image information under the normal condition of the preset scene.
Therefore, the second threshold value is a value obtained after a plurality of tests. And comparing the comparison result of the two-dimensional image information and the two-dimensional image information with the normal monitored scene with a second threshold value.
Step S403: comparing the three-dimensional image information with the preset three-dimensional image information with a normal monitored scene;
when the comparison result in step S402 is not less than the second threshold, that is, greater than or equal to the second threshold, it indicates that the two-dimensional image information shows a suspected abnormality. However, since the two-dimensional image information is texture information, the detail information of the monitored scene cannot be captured, and thus the two-dimensional image information does not represent an anomaly. At this time, it is necessary to determine depth information presented by the three-dimensional image information of the suspected abnormal area of the monitored scene.
If the two-dimensional image exceeds the second threshold after comparison, the two-dimensional image may be abnormal and may be environmental interference; if the second threshold is not exceeded, it must be normal.
Step S404: the monitored scene is normal
When the comparison result in step S402 is smaller than the second threshold, it indicates that the two-dimensional image information is displayed normally, and at this time, the three-dimensional image information does not need to be determined, thereby saving time.
Step S405: whether less than a third threshold;
the reason for setting the threshold value is the same as that in step S402, and is not described in detail here.
If the three-dimensional image information is not changed, the specific area of the monitored scene is not changed spatially, and the monitored scene is considered to be abnormal.
Step S406: the monitored scene is abnormal;
when the three-dimensional image information is compared with the three-dimensional image information with a normal monitored scene, the comparison result is not less than a third threshold value, namely is greater than or equal to the third threshold value. The monitored scene is judged to be abnormal by utilizing the three-dimensional depth image, so that the monitored scene is abnormal.
Step S404: the monitored scene is normal.
When the determination result of step S405 is yes, that is, less than the third threshold, the monitored scene is normal. At this moment, the two-dimensional image information does not judge that the monitored environment has problems; there is no problem in the judgment of the three-dimensional image information.
It should be noted that, for the configuration mode covered by a plurality of two-dimensional displacement sensors, it is known which region of the monitored scene is suspected to be abnormal through two-dimensional image processing, and then the three-dimensional images of the region are compared, if the three-dimensional images exceed the threshold value, the abnormality is caused, and if the three-dimensional images do not exceed the threshold value, the abnormality is caused.
For the configuration of a single two-dimensional displacement sensor: and rotating the two-dimensional displacement sensor to an area corresponding to the change of the two-dimensional image through motor control, acquiring the depth information of the area, comparing the acquired depth information with the previously stored depth information of the area, and judging that the acquired depth information is abnormal if the acquired depth information is greater than or equal to a third threshold value. In this case, of course, the two-dimensional displacement sensor must be rotated one revolution before use to acquire a three-dimensional image of the entire monitored scene.
The system of the invention utilizes the two-dimensional laser displacement sensor to obtain the three-dimensional image information, thereby improving the accuracy of the monitoring system and the adaptability to the environment; and whether the monitored scene is abnormal or not is judged through the fusion analysis processing of the two-dimensional image and the three-dimensional image, so that the complexity of the system is reduced.
Those of skill would further appreciate that the various illustrative components and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied in hardware, a software module executed by a processor, or a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (7)
1. A security monitoring system is characterized by comprising a two-dimensional image acquisition module (001), a two-dimensional laser displacement sensor acquisition module (002) and an image analysis module (003); wherein,
the two-dimensional image acquisition module (001) is used for acquiring two-dimensional image information under a monitored scene and sending the two-dimensional image information to the image analysis module (003);
the two-dimensional laser displacement sensor acquisition module (002) is used for acquiring three-dimensional image information of a specific area in a monitored scene and sending the three-dimensional image information to the image analysis module (003);
the image analysis module (003) is configured to receive video image information, where the video image information includes the two-dimensional image information and the three-dimensional image information, analyze and compare the video image information with preset normal image information of a monitored scene, and determine whether the monitored scene is abnormal or not according to a preset threshold.
2. The system according to claim 1, further comprising a storage module (004), an alarm module (005), and a display module (006); wherein,
the storage module (004) is used for storing the video image information of the monitored scene in real time and storing the preset normal image information of the monitored scene;
the alarm module (005) is used for receiving the instruction of the image analysis module according to a preset time interval and sending alarm information through an alarm device, and the alarm device comprises an alarm lamp and an alarm horn;
the display module (006) is used for providing an operation interface of the system and displaying the video image information stored by the storage module (004).
3. The system according to claim 2, wherein the image analysis module (003) comprises:
when the difference between the video image information and the normal image information is smaller than a first threshold value, judging that the monitored scene is normal, and sending an instruction for storing the video image information to the storage module (004);
when the difference between the video image information and the normal image information is larger than or equal to a first threshold value, judging that the monitored scene is abnormal; and triggering the alarm module (005), marking the abnormal images of the key frames, constructing video index information of the abnormal monitored scene, and sending an instruction for storing the marks and the video index information to the storage module (004).
4. The system according to claim 2, wherein the receiving of the instructions of the image analysis module by the alarm module (005) at preset time intervals comprises:
when the alarm module (005) does not receive the instruction of the image analysis module within a preset time interval, an alarm device is automatically triggered, and meanwhile, the loss of contact information is displayed on the display module (006).
5. The system of claim 1, the two-dimensional displacement sensor acquisition module (002) comprising at least one two-dimensional displacement sensor, characterized in that the two-dimensional displacement sensor acquisition comprises a line laser, an image acquirer, and a microprocessor; wherein,
the line laser is used for receiving a driving instruction of the microprocessor and projecting a light plane to a three-dimensional space, and the light plane is modulated into a light bar by a measured object;
the image collector is used for collecting the light bars and acquiring light bar images in real time;
and the microprocessor is used for transmitting a driving instruction to the line laser, processing the light bar image and finishing the calculation of the three-dimensional depth information of the measured point.
6. The system of claim 5, wherein the two-dimensional laser displacement sensor further comprises a camera, wherein the two-dimensional laser displacement sensor must determine the relative positional relationship of the camera and the line laser prior to use.
7. The system according to claim 2, wherein the image analysis module (003) comprises:
performing first comparison on the two-dimensional image information and preset two-dimensional image information with a normal monitored scene, and when the first comparison result is smaller than a preset second threshold value, indicating that the monitored scene is normal; at the moment, second comparison between the three-dimensional image information and the preset three-dimensional image information with normal monitored scene is not needed; or
When the first comparison result is larger than or equal to the second threshold value, the monitored scene is suspected to be abnormal; at the moment, second comparison is continuously carried out on the three-dimensional image information and the preset three-dimensional image information with a normal monitored scene, and when a second comparison result is smaller than a third threshold value, the monitored scene is normal; and when the second comparison result is greater than or equal to the third threshold value, indicating that the monitored scene is abnormal.
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