CN109660944A - A kind of identity device and localization method of grid WIFi probe positioning candid photograph - Google Patents
A kind of identity device and localization method of grid WIFi probe positioning candid photograph Download PDFInfo
- Publication number
- CN109660944A CN109660944A CN201910111649.3A CN201910111649A CN109660944A CN 109660944 A CN109660944 A CN 109660944A CN 201910111649 A CN201910111649 A CN 201910111649A CN 109660944 A CN109660944 A CN 109660944A
- Authority
- CN
- China
- Prior art keywords
- grid
- probe
- target
- grid equipment
- module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
-
- 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
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W8/00—Network data management
- H04W8/22—Processing or transfer of terminal data, e.g. status or physical capabilities
Landscapes
- Engineering & Computer Science (AREA)
- Signal Processing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Multimedia (AREA)
- Databases & Information Systems (AREA)
- Image Analysis (AREA)
Abstract
The identity device and localization method, identity device captured the present invention relates to a kind of positioning of grid WIFi probe include: at least three grid equipments (11) for being spaced apart from each other setting；The grid equipment (11) includes MCU support plate (111), it is connected and is used to obtain the camera (112) of image, the WIFI probe (113) being connected with the MCU support plate (111) with the MCU support plate (111)；The camera (112) and the WIFI probe (113) are electrically connected to each other with the MCU support plate (111) respectively.Use cost of the present invention is low, wide coverage, can capture from multiple directions to target, meets the requirement to Motion parameters.
Description
Technical field
The present invention relates to the identity devices that monitoring device technical field more particularly to a kind of positioning of grid WIFi probe are captured
And localization method.
Background technique
With progress of the epoch, monitoring field electronic technology also develops therewith, the design direction of various products all towards
Intelligentized direction is developed, and existing monitoring device only has conventional supervisory function bit mostly, is merely able to carry out using video camera
A kind of monitoring device with automatic tracking function is badly in need of in imaging monitoring and recording now.
For example, the Chinese patent of Publication No. CN108366345A discloses, " a kind of WiFi probe automatically tracks intelligence
Ball " relies on " automatic tracking module of ball machine MCU connection " i.e. WIFI probe, should " WIFI probe 3 antennas of outfit, by right
3 antennas receive signal intensive analysis comparison, judge the general location and the direction of motion of target " to target carry out with
Track." when there is destination-mac address to enter in detection range, ball machine carries out target lock-on according to this terminal moving direction, and tracks mesh
Target motion profile and real-time grasp shoot picture, uploading pictures and warning message are to upper level platform ".However, camera
Ball machine inner space be it is very small, with this lay the spacing of 3 WIFI probe antennas just very close to；These three antennas as a result,
The mobile terminal signal intensity of its detected destination-mac address is with regard to very close.Position based on the three signal strengths comparative analysis
Calculating is set almost to be difficult to carry out.In addition, these three WIFI probe antennas, compare if laying outside ball machine and being detached from spacing
Far, then they can be improved with the cost that the sophisticated electronic cable of ball machine MCU connect or wirelessly communicated connection.
Meanwhile the tracking of rotation up and down of the camera ball machine, it needs servo motor to drive rotation dress by belt
Set carry out angular adjustment, it is also necessary to configure power level module and motor control module；This needs to pay material cost, this company
There is the combination control cost of belt, machinery, motor to be also required to pay.Even more important, three-dimensional image can not be provided in the program
The function three-dimensional of candid photograph captures the function of image recognition.This three-dimensional video capture can realize that three angle directions are grabbed without dead angle
It claps, and then can realize that three-dimensional captures image recognition, as long as mobile phone holder is captured by positioning three-dimensional, always it is able to achieve each angle
Facial image identification；However, single ball machine camera of the program but can only an angle capture, can not accomplish back side facial image
Identification.
Summary of the invention
The identity device and localization method captured the purpose of the present invention is to provide a kind of positioning of grid WIFi probe, are realized
To the tracking of the motion profile of target and real-time grasp shoot picture in region.
For achieving the above object, the present invention provides a kind of identity device that the positioning of grid WIFi probe is captured, comprising:
At least three are spaced apart from each other the grid equipment of setting；
The grid equipment includes MCU support plate, is connected and is used to obtain the camera of image with the MCU support plate, with
The WIFI probe that the MCU support plate is connected；
The camera and the WIFI probe are electrically connected to each other with the MCU support plate respectively.
According to an aspect of the present invention, actuating mechanism is provided between the camera and the MCU support plate；
The actuating mechanism is fixedly supported upon on the MCU support plate, and it is used to drive the camera rotation and/or line
Property it is mobile.
According to an aspect of the present invention, the MCU support plate is provided with MCU chip, mutually electric with the MCU chip respectively
The grid relating module of connection, probe mesh module, space-time uniformity module, positioning identifier module, three-dimensional capture module, mode is known
Other module, trajectory prediction module.
According to an aspect of the present invention, the grid relating module, for detecting and being associated in the identity device
Each grid equipment；
The probe mesh module for detecting each grid equipment in the identity device, and is created and is detected
The relative coordinate between the grid equipment arrived；
The space-time uniformity module, the spacetime coordinate system for the unified identity device；
The positioning identifier module, for positioning and identifying the target position in the identity device investigative range；
The three-dimensional captures module, the figure that the camera for obtaining all grid equipments in the identity device is absorbed
Picture；
The pattern recognition module identifies the target position in the identity device investigative range for cloud collaboration
Target image；
The trajectory prediction module, for predicting the shift position of the target and generating prediction locus.
According to an aspect of the present invention, the MCU chip is micro-control unit system level chip.
According to an aspect of the present invention, the MCU chip is ARM chip.
According to an aspect of the present invention, the WIFI probe is at least provided with an antenna.
According to an aspect of the present invention, further includes: hanging apparatus, the hanging apparatus include: the first lifting part, and second
Lifting part and connecting rod for connecting first lifting part and the second lifting part；
The quantity of the grid equipment is identical as the total quantity of first lifting part and second lifting part.
According to an aspect of the present invention, described connecting rod one end and first lifting part are rotatablely connected, the other end
For the free end extended to separate first lifting part direction；
Second lifting part and the body of rod of the connecting rod are slidably connected.
For achieving the above object, the present invention provides a kind of localization method, comprising:
S1. the position of each grid equipment in the identity device is arranged in region, and the grid equipment is connected into structure
At probe grid；
S2. within the scope of the probe grid, opposite position of each grid equipment relative to same target is obtained respectively
Coordinate is set, and obtains the positioning coordinate of the target based on the relative position coordinates；
S3. within the scope of the probe grid, each grid equipment is obtained respectively for the opposite of target shooting
Scene image, and based on the relative scene image and the space-time scene description for positioning coordinate and obtaining the target.
According to an aspect of the present invention, further includes:
S4. the trajectory predictions description of the target is generated based on the positioning coordinate and the space-time scene description.
According to an aspect of the present invention, in step S1, comprising:
S11. all grids in the identity device are set using the grid relating module on the grid equipment
It is standby to be connected with each other；
S12. the mutual opposite seat of the grid equipment is established using the probe mesh module on the grid equipment
Mark system；
S13. the spacetime coordinate system of the identity device is established using the space-time uniformity module on the grid equipment.
According to an aspect of the present invention, include: in step S11
S111. the MCU chip of the grid equipment reads the mark of WIFI probe on pre-stored each grid equipment
Information；
S112. being read by the WIFI probe of the grid equipment whether there is the identification information in investigative range, if
It is no, then the position of the grid equipment is adjusted, until reading all identification informations；
S113. the grid relating module is connected with each other by the WIFI probe, establishes the probe grid.
According to an aspect of the present invention, in step S12, the MCU chip of the grid equipment passes through the probe grid
Module reads the signal strength of the WIFI probe of each grid equipment and creates the relative coordinate using point-to-point mode,
Include:
S121. in the identity device grid equipment is chosen to read described in composition by point-to-point mode
The identification information and signal strength of each WIFI probe of probe grid；
S122. judge whether signal strength described in remaining described grid equipment is the company of maintenance with the grid equipment of selection
The lowest signal intensity connect, if so, the position for recording the corresponding WIFI probe is mesh coordinate；
S123. it using the WIFI probe location of the grid equipment of selection as coordinate origin, and is sat according to the grid
Mark constructs the relative coordinate system of the probe grid.
According to an aspect of the present invention, in step S13, the creation of spacetime coordinate system, packet are carried out for same target
It includes:
S131. the MCU chip of each grid equipment positions on the grid equipment between camera and the target
First relative coordinate；
S132. the MCU chip of each grid equipment positions on the grid equipment between WIFI probe and the target
The second relative coordinate；
S133. first relative coordinate and the superposition of the second relative coordinate are mapped to as exhausted by the space-time uniformity module
To in the same spatial coordinate system of coordinate system, and time identifier is assigned in the spatial coordinate system and constructs the space-time
Coordinate system.
According to an aspect of the present invention, in step S2, the MCU chip of the grid equipment is by measuring each grid
The network interface card signal strength for the mobile terminal that the same target of equipment acquisition is held；Pass through the positioning identifier mould of the grid equipment
Block carries out metering to the network interface card signal strength and obtains metric results；It is obtained according to the metric results and identifies the target and existed
Position coordinates within the scope of the probe grid.
According to an aspect of the present invention, the probe grid is the triangle probe net that three grid equipments are constituted
Lattice include: in step S2
S21. the coordinate for defining three vertex positions of the probe grid being made of the grid equipment is respectively G1
(x1, y1, z1), G2 (x2, y2, z2), G3 (x3, y3, z3), defining position coordinates of the target in the probe grid is A1
(a1, a2, a3)；
S22. the vertex G2 that the target is d1, the probe grid at a distance from the vertex G1 of the probe grid is defined
Distance be d2, at a distance from the vertex G3 of the probe grid be d3；
S23. the network interface card signal strength for defining the mobile terminal for the target that the vertex G1 of the probe grid is measured is
P1, the network interface card signal strength of the mobile terminal for the target that the vertex G2 of the probe grid is measured are p2, the probe net
The network interface card signal strength of the mobile terminal for the target that the vertex G3 of lattice is measured is p3,
S24. the vertex position of the probe grid and the relational expression of the target position are established:
D1=(a1, a2, a3)-(x1, y1, z1),
D2=(a1, a2, a3)-(x2, y2, z2),
D3=(a1, a2, a3)-(x3, y3, z3),
D1:d2:d3=1/p1:1/p2:1/p3；
S25. the position coordinates for obtaining the target are solved according to the relational expression in step S24.
According to an aspect of the present invention, in step S24, the relational expression can be with are as follows:
D1:d2:d3=1/p1:1/p2:1/p3.
According to an aspect of the present invention, in step S3, comprising:
S31. the three-dimensional of each grid equipment captures module and obtains image that camera absorbs same target and will
Described image is uploaded to unified network server, wherein the network server by each grid equipment the mode
Identification module is constituted；
S32. the grid service server is identified and is synthesized according to described image, generates the target in the probe net
Scene image within the scope of lattice, the pattern recognition module of the grid equipment obtain the scene image, and by the scene figure
As carrying out unification with the spacetime coordinate system, space-time scene is constructed；
S33. step S31-S32 is repeated, the multiple space-time scene compositions that will acquire constitute the time space field of the target
Scene describing.
According to an aspect of the present invention, include: in step S4
S41. the trajectory prediction module of grid equipment target according to the positioning coordinate prediction point-by point of the target
All location tracks, and generate prediction locus and be uploaded to the grid service server；
S42. the grid service server predicts the target in the space-time coordinates with the prediction locus node-by-node algorithm
The space-time position coordinate of system, and the space-time position coordinate and the space-time scene are subjected to unification, construct spatio-temporal prediction scene；
S43. step S41-S42 is repeated, multiple spatio-temporal prediction scenes are combined point by point and obtain the target
Trajectory predictions description.
A kind of scheme according to the present invention, by the module of different function being arranged in grid equipment for realizing the present invention
Grid equipment multifunctionality, not only realize the mutual stabilization networking of grid equipment of the invention, but also can be real
Now to the probe grid wide coverage formed after grid equipment networking.Spy can be accurately obtained by the probe grid of building
The movement position of target in needle grid overlay area and path, realize the accurate positionin to target.In addition, of the invention
In grid equipment, camera and probe are arranged independently of each other.Pair by above-mentioned setting, in grid equipment of the invention
Each component has well-to-do installation site, and avoid causes the antenna installation volume of WIFI probe to be limited since space is small, protects
Having demonstrate,proved the present invention can be realized the detectivity of range, keep the scope of application of the invention big.
A kind of scheme according to the present invention, by the way that WIFI probe to be provided separately with camera, the antenna installed thereon is not
It is limited by the space of installation site, therefore, it, which only needs to be arranged a high powered antenna, as needed can be realized on a large scale
Detectivity has saved use cost of the invention.Of course, it is possible to be properly added the number of antenna according to actual service condition
It measures (for example, two, three etc.), so that it is of the invention using more flexible, while maintenance is also helped, save maintenance
Cost.
A kind of scheme according to the present invention, identity device of the invention can carry out networking by multiple grid equipments, from
And keep usability of the invention higher, and especially there are more construction areas of various shelters, such as cell etc..Pass through networking
Mode, can not only realize the monitoring identification in a wide range of, and can continue by multiple angles to same target
Monitoring, avoids blocking for barrier, keeps lasting monitoring performance of the invention excellent.Simultaneously as using multiple grid equipments
Therefore the mode of networking can also omit the driving device of driving cam movement on camera, also can according to need and add
Add the driving device of driving cam movement, not only Scheme Choice is flexible, but also being capable of effectively save use cost of the invention.
A kind of scheme according to the present invention, identity device of the invention can carry out networking by multiple grid equipments, into
And capturing without dead angle for multiple directions may be implemented in it, is automatic identification (e.g., the face knowledge of the invention that can be realized to target
Not), to make of the invention to be more suitable for intelligentized requirement.
Detailed description of the invention
Fig. 1 schematically shows a kind of structure chart of the identity device of embodiment according to the present invention；
Fig. 2 schematically shows a kind of structure chart of the grid equipment of embodiment according to the present invention；
Fig. 3 schematically shows a kind of fitting arrangement of the grid equipment of embodiment according to the present invention.
Specific embodiment
It, below will be to embodiment in order to illustrate more clearly of embodiment of the present invention or technical solution in the prior art
Needed in attached drawing be briefly described.It should be evident that the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skills without creative efforts, can also be according to these
Attached drawing obtains other attached drawings.
When being described for embodiments of the present invention, term " longitudinal direction ", " transverse direction ", "upper", "lower", " preceding ",
" rear ", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", orientation or positional relationship expressed by "outside" are based on phase
Orientation or positional relationship shown in the drawings is closed, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore above-mentioned term cannot
It is interpreted as limitation of the present invention.
The present invention is described in detail with reference to the accompanying drawings and detailed description, embodiment cannot go to live in the household of one's in-laws on getting married one by one herein
It states, but therefore embodiments of the present invention are not defined in following implementation.
As shown in Figure 1, a kind of embodiment according to the present invention, what a kind of grid WIFi probe positioning of the invention was captured
Identity device, the grid equipment 11 for being spaced apart from each other setting including at least three.In the present embodiment, it is provided in identity device
Three grid equipments 11.Certainly four, five or more be may be arranged as.In the present embodiment, each grid equipment
11 structure setting is identical.Certainly, the structure of each grid equipment 11 is also possible to different, can be realized identical
Function.It can be wirelessly connected with each other between each grid equipment 11, and each grid equipment 11
It is electrically connected to each other with the same grid service server.
As shown in Fig. 2, a kind of embodiment according to the present invention, grid equipment 11 of the invention includes MCU support plate 111,
It is connected and is used to obtain the camera 112 of image, the WIFI probe 113 being connected with MCU support plate 111 with MCU support plate 111.
In the present embodiment, camera 112 and WIFI probe 113 are electrically connected to each other with MCU support plate 111 respectively.In present embodiment
In, actuating mechanism 114 is provided between camera 112 and MCU support plate 111, actuating mechanism 114 is fixedly supported upon MCU support plate 111
On, and it is used to drive the rotation of camera 112 and/or linear movement.Camera 112 is driven to act by actuating mechanism 114, from
And target can be imaged in a big way, guarantee to match with the investigative range of identity device of the invention, makes this
Invention, without dead angle, positions more quick and precisely target in investigative range.
As shown in Fig. 2, a kind of embodiment according to the present invention, MCU support plate 111 is provided with MCU chip 1111, grid closes
Gang mould block 1112, probe mesh module 1113, space-time uniformity module 1114, positioning identifier module 1115, three-dimensional capture module
1116, pattern recognition module 1117, trajectory prediction module 1118.In the present embodiment, grid relating module 1112, probe net
Lattice module 1113, space-time uniformity module 1114, positioning identifier module 1115, three-dimensional capture module 1116, pattern recognition module
1117 and trajectory prediction module 1118 be electrically connected to each other respectively with MCU chip 1111.In the present embodiment, grid relating module
1112, each grid equipment 11 for detecting and in association identification device；Probe mesh module 1113, for detecting identity device
In each grid equipment 11, and create the relative coordinate between the grid equipment 11 that detects；Space-time uniformity module 1114 is used
In the spacetime coordinate system of unifying identifier device；Positioning identifier module 1115, for positioning simultaneously Identification device investigative range
Interior target position；Three-dimensional captures module 1116, and the camera 112 for obtaining all grid equipments 11 in identity device is taken the photograph
The image taken；Pattern recognition module 1117, the target for the target position in cloud collaboration identification marking device investigative range
(for example, mobile device holder) image is received the image that camera 112 absorbs, and is identified using CNN algorithm for pattern recognition
Target (for example, mobile device holder), pattern recognition module 1117 have uniform grid spacetime coordinate, uniform grid server
The function that pattern-recognition calculates, unified mobile phone holder three-dimensional identifies；Trajectory prediction module 1118, for predicting the movement of target
Position simultaneously generates prediction locus.By above-mentioned setting, by be arranged in grid equipment 11 module of different function for realizing
The multifunctionality of grid equipment 11 of the invention not only realizes the mutual stabilization networking of grid equipment 11 of the invention,
And it can be realized to the probe grid wide coverage formed after 11 networking of grid equipment.It can by the probe grid of building
Movement position and the path for accurately obtaining the target in probe grid overlay area, realize the accurate positionin to target.Separately
Outside, in grid equipment 11 of the invention, camera 112 and WIFI probe 113 are arranged independently of each other.It is set by above-mentioned
It sets, has well-to-do installation site to each component in grid equipment 11 of the invention, avoiding causes since space is small
The antenna installation volume of WIFI probe 113 is limited, and be ensure that the present invention can be realized the detectivity of range, is made of the invention
The scope of application is big.
A kind of embodiment according to the present invention, each grid equipment 11 are interrelated by grid relating module 1112
When, each tagging letter of other composition grid equipments that default storage is read by the MCU chip 1111 in grid equipment 11 first
Cease (i.e. the address Mac), then call MCU support plate 111 on the electrical interface by the WIFI probe 113 reading laid it is other
Whether the identification information (i.e. the address Mac) of grid equipment exists in investigative range, if there is no then adjusting grid equipment 11
The position of itself or other grid equipments 11, including spacing and angle, until reading all Mac of other grid equipments 11
Until address.In the present embodiment, WIFI probe 113 is the WiFi probe of associated antenna, and probe grid is using three
The triangle probe grid that WIFI probe 113 and its associated antenna are set up.
A kind of embodiment according to the present invention, probe mesh module 1113 have point-to-point creation probe grid is opposite to sit
Target function.In the present embodiment, the MCU chip 1111 of current grid equipment 11 is by reading other grid equipments 11
The point-to-point relative coordinate creation of the probe grid can be realized in the signal strength of WIFI probe 113.
A kind of embodiment according to the present invention, space-time uniformity module 1114 have unified probe grid spacetime coordinate system
Function, that is, be directed to same target measurement object.In the present embodiment, MCU support plate 111 passes through the opposite seat of camera 112
Position (the first relative coordinate i.e. between acquisition camera 112 and target) is demarcated, (i.e. with the coordinate setting of probe grid relative coordinate
Obtain the second relative coordinate between WIFI probe 113 and target), and the positioning of two relative coordinates is all superimposed and is mapped to system
One spatial coordinate system (i.e. absolute coordinate system), and with the time of synchronization record assignment in same target measurement object,
Realize the record description of spacetime coordinate system.
There is metering to obtain and identify the locating spy of target for a kind of embodiment according to the present invention, positioning identifier module 1115
The function of the coordinate of needle grid position.In the present embodiment, the MCU chip 1111 of current grid equipment 11 is visited by metering
The signal that three WiFi probes 113 of needle grid acquire the network interface card for the mobile terminal (for example, mobile phone) that same target is held respectively is strong
Degree, obtains three different signal strengths at this time, to realize that metering obtains and identifies the position of probe grid locating for the target
Set coordinate.
A kind of embodiment according to the present invention, three-dimensional, which captures module 1116, has acquisition probe grid vertex position respectively
Grid equipment 11 on the taken the photograph image of camera 112 function in the present embodiment, the MCU chip of current grid equipment 11
1111 capture the scene image in self-view path by itself camera 112, and other two grid equipments 11 use same work
Make step, realizes the scene image for capturing other two kinds of angular paths, and then realize the scene image these three angular paths
It uploads uniform grid server and realizes that three-dimensional captures the function of convergence.In the present embodiment, grid service server is uniformly to be associated with
The pattern recognition module 1117 of three identity devices makes the server of uniform grid calculating.
A kind of embodiment according to the present invention, pattern recognition module 1117 identify the identity device for cloud collaboration
Target (for example, mobile device holder) image of target position in investigative range.In the present embodiment, pattern-recognition mould
Block 1117 has unified probe grid spacetime coordinate, uniform grid server mode identification calculating, unified hand target three-dimensional identification
Function.In the present embodiment, grid service server realizes unified net by calculating separately the passed data of three grid equipments 11
The function that the same target pattern identification of lattice spacetime coordinate calculates.In the present embodiment, three passed data of grid equipment 11 are
The data and respective camera 112 for positioning target location coordinate take the photograph the scene image data for capturing respective angular path.
A kind of embodiment according to the present invention, trajectory prediction module 1118 have all location tracks of prediction point-by point target
Function.In the present embodiment, grid service server is by calculating prediction mesh point by point with LSTM with upper module and its work step
The position coordinates of spacetime coordinate system are marked on, and realize that the trajectory predictions description of space-time scene is captured in the identification of target three-dimensional point by point.
A kind of embodiment according to the present invention, MCU chip 1111 are micro-control unit system level chip (SOC), can also
To be referred to as system on chip.In the present embodiment, MCU chip 1111 is ARM chip.By using above-mentioned setting, power consumption
Low, performance is good, can sufficiently realize the long-life steady operation of the present invention in outdoor environment, ensure that performance of the invention is excellent
It is different.In the present embodiment, MCU chip 1111 constitutes microcomputer system together with MCU support plate 111, on the MCU support plate 111
MCU chip 1111 will sequentially read grid relating module 1112, probe mesh module 1113, space-time uniformity module thereon after electricity
1114, positioning identifier module 1115, three-dimensional capture module 1116, pattern recognition module 1117, trajectory prediction module 1118, thus
Complete mutual electrical connection.
As shown in Fig. 2, a kind of embodiment according to the present invention, WIFI probe 113 is at least provided with an antenna.At this
In embodiment, WIFI probe 113 is provided with an antenna.By the way that WIFI probe 113 and camera 112 are provided separately,
The antenna of upper installation is not limited by the space of installation site, and therefore, it only needs to be arranged a high powered antenna i.e. as needed
Large-scale detectivity can be achieved, saved use cost of the invention.Of course, it is possible to be fitted according to actual service condition
When the quantity (for example, two, three etc.) of addition antenna, so that it is of the invention using more flexible, it also helps simultaneously
Maintenance, has saved maintenance cost.
As shown in figure 3, a kind of embodiment according to the present invention, identity device of the invention, further includes: hanging apparatus
12.In the present embodiment, hanging apparatus 12 is for installing grid equipment 11, and it is higher that grid equipment 11 is fixed on roof etc.
Position.In the present embodiment, hanging apparatus 12 includes: the first lifting part 121, the second lifting part 122 and for connecting
The connecting rod 123 of first lifting part 121 and the second lifting part 122.In the present embodiment, the first lifting part 121 and second is hung
The total quantity of piece installing 122 is identical as the quantity of grid equipment 11.It is shown in Figure 3, with first lifting part 121 and two
It is illustrated for two lifting parts 122.In the present embodiment, there are three grid equipment 11 is equally also provided with, wherein one is chosen
A grid equipment 11 is connected with the lifting end of 121 lower end of the first lifting part, under remaining grid equipment 11 and the second lifting part 122
The lifting end at end is connected.
As shown in figure 3, a kind of embodiment according to the present invention, 123 one end of connecting rod and the rotation of the first lifting part 121 connect
It connects, the other end is to the free end extended far from 121 direction of the first lifting part.In the present embodiment, the first lifting part 121
After being fixedly connected with roof etc., connecting rod 123 can only rotate on the first lifting part 121, and the second lifting part 122 and connecting rod
123 body of rod is slidably connected.By adjusting position of second lifting part 122 in connecting rod 123, can conveniently adjust
Relative distance between first lifting part 121 and the second lifting part 122.Meanwhile the folder mutual by adjusting connecting rod 123
Angle can conveniently and efficiently realize the adjustment of the relative distance between the second lifting part 122.By adjusting the first lifting part
121 and second lifting part 122 relative position when, the position of grid equipment 11 is also adjusted accordingly, ensure that of the invention
The Fast Installation of identity device.By using aforesaid way, the installation accuracy of identity device of the invention is high, and position is easy to adjust
Quickly, and the stability after having adjusted is high.
Below in conjunction with attached drawing, to identity device of the invention by taking three grid equipments 11 form triangle probe grid as an example
Localization method is described in detail.
It should be pointed out that in Fig. 1, for convenience of description, by the distribution code name of three grid equipments 11 be G1, G2 and
G3, the method for salary distribution are to be randomly assigned.
A kind of embodiment according to the present invention, localization method of the invention include:
S1. the position of each grid equipment 11 in identity device is arranged in region, and grid equipment 11 is connected and composed into spy
Needle grid；
S2. within the scope of probe grid, relative position coordinates of each grid equipment 11 relative to same target are obtained respectively,
And the positioning coordinate of target is obtained based on relative position coordinates；
S3. within the scope of probe grid, the relative scene image that each grid equipment 11 is directed to target shooting is obtained respectively, and
The space-time scene description of target is obtained based on relative scene image and positioning coordinate.
A kind of embodiment according to the present invention, localization method of the invention further include:
S4. the trajectory predictions description of target is generated based on positioning coordinate and space-time scene description.
A kind of embodiment according to the present invention, in step S1, comprising:
S11. using the grid relating module 1112 on grid equipment 11 by 11 phase of all grid equipments in identity device
It connects.In the present embodiment, comprising:
S111. the MCU chip 1111 of grid equipment 11 reads the mark of WIFI probe 113 on pre-stored each grid equipment 11
Know information.Shown in Figure 1, in the present embodiment, G1 is any selection, then the MCU chip 1111 in G1 is read first
Take other respective identification informations of grid equipment G2, G3 (i.e. the address Mac) of default storage.
S112. being read by the WIFI probe 113 of grid equipment 11 whether there is identification information in investigative range, if it is not,
The position for then adjusting grid equipment 11, until reading all identification informations；In the present embodiment, the MCU chip 1111 in G1
The electrical interface being connected with WIFI probe 113 on MCU support plate 111 is called, arranged G2 is read by WIFI probe 113
It whether there is with the address Mac of G3, if there is no the position for then adjusting G1 itself or G2, G3, including spacing and angle, always
Until reading all addresses Mac G2, G3.
S113. grid relating module 1112 is connected with each other by WIFI probe 113, establishes probe grid.
S12. the mutual opposite seat of grid equipment 11 is established using the probe mesh module 1113 on grid equipment 11
Mark system.In the present embodiment, the MCU chip 1111 of grid equipment 11 reads each grid by probe mesh module 1113 and sets
The signal strength of standby 11 WIFI probe 113 simultaneously creates relative coordinate using point-to-point mode, comprising:
S121. the grid equipment 11 chosen in identity device reads composition probe grid by point-to-point mode
The identification information and signal strength of each WIFI probe 113.In the present embodiment, the grid equipment 11 of selection is G1, the MCU of G1
Chip 1111 reads the address probe 113Mac WiFi and the signal strength of G2, G3 using point-to-point mode.
S122. judge whether remaining 11 signal strength of grid equipment is to connect most for maintenance with the grid equipment of selection 11
Low signal intensity (i.e. adjacent mesh equipment 11 keeps the signal strength being stably connected under maximum distance), if so, record phase
The position for answering WIFI probe 113 is mesh coordinate.In the present embodiment, the signal of the WiFi probe 113 of G2, G3 is judged with G1
Whether intensity is the lowest signal intensity for maintaining connection, if so, the position coordinates in probe grid of record G2, G3.If
It is no, then the position of WIFI probe 113 is continued to move to, until intensity reaches lowest signal intensity.
S123. using 113 position of WIFI probe of the grid equipment of selection 11 as coordinate origin, and according to mesh coordinate structure
Build the relative coordinate system of probe grid.In the present embodiment, using the position of G1 as coordinate origin, with the position of G2 and G3
Coordinate constructs the relative coordinate system of the triangle probe grid.
S13. the spacetime coordinate system of identity device is established using the space-time uniformity module 1114 on grid equipment 11.At this
In embodiment, the creation of spacetime coordinate system is carried out for same target, comprising:
S131. the MCU chip 1111 of each grid equipment 11 positions the between camera 112 and target on grid equipment 11
One relative coordinate；
S132. the MCU chip 1111 of each grid equipment 11 positions on grid equipment 11 between WIFI probe 113 and target
Second relative coordinate；
S133. the first relative coordinate and the superposition of the second relative coordinate are mapped to the same space by space-time uniformity module 1114
In coordinate system (spatial coordinate system is absolute coordinate system), and time identifier is assigned (for example, mesh in spatial coordinate system
The scene image of mark at a time) building spacetime coordinate system.It is shown in Figure 1, the first relative coordinate and second is opposite
Coordinate superposition be mapped in the same space coordinate system after, the coordinate of each grid equipment become G1 (x1, y1, z1), G2 (x2, y2,
Z2) G3 (x3, y3, z3), and same target measurement object is recorded with the same time based on the coordinate, realize spacetime coordinate system
Unified record description.
A kind of embodiment according to the present invention, in step S2, the MCU chip 1111 of grid equipment 11 is by measuring each net
Network interface card signal strength (such as mobile phone, removable computer, the plate electricity for the mobile terminal held of same target that lattice equipment 11 acquires
Brain etc.)；Metering is carried out to network interface card signal strength by the positioning identifier module 1115 of grid equipment 11 and obtains metric results；According to
Metric results obtain and identify position coordinates of the target within the scope of probe grid.
In the present embodiment, probe grid is the triangle probe grid that three grid equipments 11 are constituted, and is wrapped in step S2
It includes:
S21. three vertex positions (i.e. the position of WIFI probe 113) for the probe grid being made of grid equipment 11 are defined
Coordinate be respectively G1 (x1, y1, z1), G2 (x2, y2, z2), G3 (x3, y3, z3), define position of the target in probe grid
Coordinate is A1 (a1, a2, a3)；
S22. define target be at a distance from the vertex G1 of probe grid d1, probe grid vertex G2 distance be d2,
Be d3 at a distance from the vertex G3 of probe grid；
S23. the network interface card signal strength for defining the mobile terminal for the target that the vertex G1 of probe grid is measured is p1, probe net
The network interface card signal strength of the mobile terminal for the target that the vertex G2 of lattice is measured is p2, the target that the vertex G3 of probe grid is measured
The network interface card signal strength of mobile terminal is p3,
S24. the vertex position of probe grid and the relational expression of target position are established.In the present embodiment, each mesh
When the position difference of target point, the signal strength that the antenna 115 of 3 WIFI probes 113 receives it is also different, scene
Each of point there is one group of signal strength to be corresponding to it；Moreover, d1, d2, d3 and p1, p2, p3 are in inverse ratio, i.e. signal
Intensity is stronger, distance is closer, and signal strength is weaker, distance is remoter；So following calculation formula can be established:
D1=(a1, a2, a3)-(x1, y1, z1),
D2=(a1, a2, a3)-(x2, y2, z2),
D3=(a1, a2, a3)-(x3, y3, z3),
D1:d2:d3=1/p1:1/p2:1/p3.
Alternatively, in step S24, relational expression can be with are as follows:
D1:d2:d3=1/p1:1/p2:1/p3.
S25. the position coordinates for obtaining target are solved according to the relational expression in step S24.In the present embodiment, above-mentioned public affairs
Only target A1 (a1, a2, a3) is unknown in formula.Therefore, the position of target A1 can be obtained by above-mentioned formula.If target
A1 is moved to another coordinate (b1, b2, b3), and target can be obtained by, which repeating the above steps, is moved to another seat target value, leads to
Cross above-mentioned solution procedure, can it is accurate and it is detailed obtain target in probe grid in eastern track, not only accurately, and conveniently
Fast.
A kind of embodiment according to the present invention, in step S3, comprising:
S31. the three-dimensional of each grid equipment 11 captures module 1116 and obtains the image that camera 112 absorbs same target
And image is uploaded to unified grid service server.In the present embodiment, the camera that the MCU chip 1111 of G1 passes through itself
112 clap the scene image of self-view path i1, and G2 and G3 execute identical candid photograph movement, realize and capture other 2 kinds of angle roads
The scene image of diameter i2, i3, and then realize and the scene image of these three angular paths i1, i2, i3 are uploaded grid service server S's
Three-dimensional captures the function of convergence.In the present embodiment, network server by each grid equipment 11 pattern recognition module 1117
Interrelated composition.
S32. grid service server is identified and is synthesized according to image, generates scene figure of the target within the scope of probe grid
The pattern recognition module 1117 of picture, grid equipment 11 obtains scene image, and scene image and spacetime coordinate system are united
One, construct space-time scene.In the present embodiment, pattern recognition module 1117 has uniform grid spacetime coordinate, uniform grid
The function of server S pattern-recognition calculating, the identification of unified goal three-dimensional, the uniform grid server S is by calculating separately three
The passed data of WIFI probe 113 realize the function that the same target A1 pattern-recognition of uniform grid spacetime coordinate calculates.In this implementation
In mode, three passed data of WIFI probe 113 are imaged in the data and respective grid equipment 11 for position target location coordinate
The scene image data of first 112 respective angular path i1, i2, i3 captured.
In the present embodiment, comprising:
S321. the uniform grid server S calculates identification target A1 on three angle roads using CNN algorithm for pattern recognition
The scene image of diameter i1, i2, i3,
S322., three orientations synthesis is navigated to the position coordinates of the unified probe grid spacetime coordinate system of target A1
A1 (a1, a2, a3) is above；
S323. on the mobile phone location coordinate A1 (a1, a2, a3) of unified probe grid spacetime coordinate system, mesh is realized
Space-time scene description is captured in the three-dimensional identification for marking every position.
S33. step S31-S32 is repeated, the multiple space-time scene compositions that will acquire constitute the space-time scene description of target.
A kind of embodiment according to the present invention includes: in step S4
S41. the trajectory prediction module 1118 of grid equipment 11 positions all of coordinate prediction point-by point target according to target
Location track, and generate prediction locus and be uploaded to grid service server；
S42. grid service server calculates prediction target in the space-time of spacetime coordinate system with LSTM point by point with prediction locus
Coordinate is set, and space-time position coordinate and space-time scene are subjected to unification, constructs spatio-temporal prediction scene；
S43. step S41-S42 is repeated, the track that multiple spatio-temporal prediction scenes are combined to acquisition target point by point is pre-
Survey description.
Identity device is captured in a kind of grid WIFi probe positioning proposed by the present invention according to the solution of the present invention, by including
The grid equipment of same composition, feature include that the grid equipment includes MCU support plate, which is connected separately with camera
With the WIFi probe of associated antenna, which includes that the mechanical structure to achieve a fixed connection connects with the electronics for realizing communication connection
Mouthful, feature further includes that the MCU support plate of the grid equipment has MCU chip, also includes grid relating module, probe grid mould
Block, space-time uniformity module, positioning identifier module, three-dimensional capture module, pattern recognition module, trajectory prediction module, and pass through this
The working principle of inventive embodiments, achieves the object of the present invention.
Above content is only the example of concrete scheme of the invention, for the equipment and structure of wherein not detailed description, is answered
When being interpreted as that the existing common apparatus in this field and universal method is taken to be practiced.
The above is only a schemes of the invention, are not intended to restrict the invention, for those skilled in the art
For, the invention may be variously modified and varied.All within the spirits and principles of the present invention, it is made it is any modification, etc.
With replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (20)
1. a kind of identity device that the positioning of grid WIFi probe is captured characterized by comprising at least three are spaced apart from each other setting
Grid equipment (11)；
The grid equipment (11) includes MCU support plate (111), is connected with the MCU support plate (111) and for obtaining image
Camera (112), the WIFI probe (113) being connected with the MCU support plate (111)；
The camera (112) and the WIFI probe (113) are electrically connected to each other with the MCU support plate (111) respectively.
2. identity device according to claim 1, which is characterized in that the camera (112) and the MCU support plate
(111) actuating mechanism (114) are provided between；
The actuating mechanism (114) is fixedly supported upon on the MCU support plate (111), and it is used to drive the camera (112)
Rotation and/or linear movement.
3. identity device according to claim 2, which is characterized in that the MCU support plate (111) is provided with MCU chip
(1111), grid relating module (1112), the probe mesh module being electrically connected to each other respectively with the MCU chip (1111)
(1113), space-time uniformity module (1114), positioning identifier module (1115), three-dimensional capture module (1116), pattern recognition module
(1117), trajectory prediction module (1118).
4. identity device according to claim 3, which is characterized in that the grid relating module (1112), for detecting
And it is associated with each grid equipment (11) in the identity device；
The probe mesh module (1113) for detecting each grid equipment (11) in the identity device, and creates
With the relative coordinate between the grid equipment (11) that detects；
The space-time uniformity module (1114), the spacetime coordinate system for the unified identity device；
The positioning identifier module (1115), for positioning and identifying the target position in the identity device investigative range；
The three-dimensional captures module (1116), for obtaining the camera of all grid equipments (11) in the identity device
(112) image absorbed；
The pattern recognition module (1117) identifies the target position in the identity device investigative range for cloud collaboration
The target image set；
The trajectory prediction module (1118), for predicting the shift position of the target and generating prediction locus.
5. identity device according to claim 4, which is characterized in that the MCU chip (1111) is micro-control unit system
Irrespective of size chip.
6. identity device according to claim 5, which is characterized in that the MCU chip (1111) is ARM chip.
7. identity device according to any one of claims 1 to 6, which is characterized in that the WIFI probe (113) at least sets
It is equipped with an antenna.
8. identity device according to claim 7, which is characterized in that further include: hanging apparatus (12), the hanging apparatus
It (12) include: the first lifting part (121), the second lifting part (122) and for connecting first lifting part (121) and second
The connecting rod (123) of lifting part (122)；
The total quantity of the quantity of the grid equipment (11) and first lifting part (121) and second lifting part (122)
It is identical.
9. identity device according to claim 8, which is characterized in that hung with described first described connecting rod (123) one end
Piece installing (121) rotation connection, the other end are to the free end extended far from the first lifting part (121) direction；
Second lifting part (122) and the body of rod of the connecting rod (123) are slidably connected.
10. a kind of localization method using the described in any item identity devices of claim 1-9, comprising:
S1. the position of each grid equipment (11) in the identity device is arranged in region, and even by the grid equipment (11)
It connects and constitutes probe grid；
S2. within the scope of the probe grid, opposite position of each grid equipment (11) relative to same target is obtained respectively
Coordinate is set, and obtains the positioning coordinate of the target based on the relative position coordinates；
S3. within the scope of the probe grid, each grid equipment (11) is obtained respectively for the opposite of target shooting
Scene image, and based on the relative scene image and the space-time scene description for positioning coordinate and obtaining the target.
11. localization method according to claim 10, which is characterized in that further include:
S4. the trajectory predictions description of the target is generated based on the positioning coordinate and the space-time scene description.
12. localization method described in 0 or 11 according to claim 1, which is characterized in that in step S1, comprising:
It S11. will be all described in the identity device using the grid relating module (1112) on the grid equipment (11)
Grid equipment (11) is connected with each other；
S12. using the probe mesh module (1113) on the grid equipment (11) establish the grid equipment (11) mutually it
Between relative coordinate system；
S13. the spacetime coordinate of the identity device is established using the space-time uniformity module (1114) on the grid equipment (11)
System.
13. localization method according to claim 12, which is characterized in that include: in step S11
S111. the MCU chip (1111) of the grid equipment (11) reads WIFI on pre-stored each grid equipment (11)
The identification information of probe (113)；
S112. it is read in investigative range by the WIFI probe (113) of the grid equipment (11) and is believed with the presence or absence of the mark
Breath, if it is not, the position of the grid equipment (11) is then adjusted, until reading all identification informations；
S113. the grid relating module (1112) is connected with each other by the WIFI probe (113), establishes the probe net
Lattice.
14. localization method according to claim 13, which is characterized in that in step S12, the grid equipment (11)
MCU chip (1111) reads the WIFI probe (113) of each grid equipment (11) by the probe mesh module (1113)
Signal strength and the relative coordinate is created using point-to-point mode, comprising:
S121. in the identity device grid equipment (11) is chosen to read described in composition by point-to-point mode
The identification information and signal strength of each WIFI probe (113) of probe grid；
S122. judge whether remaining described signal strength of the grid equipment (11) is dimension with the grid equipment (11) of selection
The lowest signal intensity of connection is held, if so, the position for recording the corresponding WIFI probe (113) is mesh coordinate；
S123. using WIFI probe (113) position of the grid equipment (11) of selection as coordinate origin, and according to the net
Lattice coordinate constructs the relative coordinate system of the probe grid.
15. localization method according to claim 14, which is characterized in that in step S13, carry out space-time for same target
The creation of coordinate system, comprising:
S131. the MCU chip (1111) of each grid equipment (11) position on the grid equipment (11) camera (112) with
The first relative coordinate between the target；
S132. the MCU chip (1111) of each grid equipment (11) positions WIFI probe (113) on the grid equipment (11)
The second relative coordinate between the target；
S133. first relative coordinate and the superposition of the second relative coordinate are mapped to conduct by the space-time uniformity module (1114)
In the same spatial coordinate system of absolute coordinate system, and in the spatial coordinate system assign time identifier building it is described when
Empty coordinate system.
16. localization method according to claim 15, which is characterized in that in step S2, the MCU of the grid equipment (11)
The network interface card signal for the mobile terminal that chip (1111) is held by the same target of each grid equipment (11) acquisition of metering
Intensity；Metering is carried out to the network interface card signal strength by the positioning identifier module (1115) of the grid equipment (11) and obtains meter
Measure result；It is obtained according to the metric results and identifies position coordinates of the target within the scope of the probe grid.
17. localization method according to claim 16, which is characterized in that the probe grid is three grid equipments
(11) the triangle probe grid constituted includes: in step S2
S21. the coordinate for defining three vertex positions of the probe grid being made of the grid equipment (11) is respectively G1
(x1, y1, z1), G2 (x2, y2, z2), G3 (x3, y3, z3), defining position coordinates of the target in the probe grid is A1
(a1, a2, a3)；
S22. define the target be at a distance from the vertex G1 of the probe grid d1, the probe grid vertex G2 away from
From being d2, at a distance from the vertex G3 of the probe grid be d3；
S23. the network interface card signal strength for defining the mobile terminal for the target that the vertex G1 of the probe grid is measured is p1, institute
The network interface card signal strength for stating the mobile terminal for the target that the vertex G2 of probe grid is measured is p2, the top of the probe grid
The network interface card signal strength of the mobile terminal for the target that point G3 is measured is p3,
S24. the vertex position of the probe grid and the relational expression of the target position are established:
D1=(a1, a2, a3)-(x1, y1, z1),
D2=(a1, a2, a3)-(x2, y2, z2),
D3=(a1, a2, a3)-(x3, y3, z3),
D1:d2:d3=1/p1:1/p2:1/p3；
S25. the position coordinates for obtaining the target are solved according to the relational expression in step S24.
18. localization method according to claim 17, which is characterized in that in step S24, the relational expression can be with are as follows:
D1:d2:d3=1/p1:1/p2:1/p3.
19. localization method described in 7 or 18 according to claim 1, which is characterized in that in step S3, comprising:
S31. the three-dimensional of each grid equipment (11) is captured module (1116) acquisition camera (112) and is absorbed to same target
Image and described image is uploaded to unified network server, wherein the network server is by each grid equipment
(11) the pattern recognition module (1117) is constituted；
S32. the grid service server is identified and is synthesized according to described image, generates the target in the probe grid model
Interior scene image is enclosed, the pattern recognition module (1117) of the grid equipment (11) obtains the scene image, and will be described
Scene image and the spacetime coordinate system carry out unification, construct space-time scene；
S33. step S31-S32, the multiple space-time scene compositions that will acquire are repeated, the space-time scene for constituting the target is retouched
It states.
20. localization method according to claim 19, which is characterized in that include: in step S4
S41. the trajectory prediction module (1118) of the grid equipment (11) is according to the positioning coordinate prediction point-by point institute of the target
All location tracks of target are stated, and generates prediction locus and is uploaded to the grid service server；
S42. the grid service server predicts the target in the spacetime coordinate system with the prediction locus node-by-node algorithm
Space-time position coordinate, and the space-time position coordinate and the space-time scene are subjected to unification, construct spatio-temporal prediction scene；
S43. step S41-S42 is repeated, multiple spatio-temporal prediction scenes are combined to the rail for obtaining the target point by point
Mark prediction description.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910111649.3A CN109660944A (en) | 2019-02-12 | 2019-02-12 | A kind of identity device and localization method of grid WIFi probe positioning candid photograph |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910111649.3A CN109660944A (en) | 2019-02-12 | 2019-02-12 | A kind of identity device and localization method of grid WIFi probe positioning candid photograph |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109660944A true CN109660944A (en) | 2019-04-19 |
Family
ID=66121188
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910111649.3A Pending CN109660944A (en) | 2019-02-12 | 2019-02-12 | A kind of identity device and localization method of grid WIFi probe positioning candid photograph |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109660944A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112788742A (en) * | 2019-11-08 | 2021-05-11 | 杭州海康威视系统技术有限公司 | Positioning method, device, system, equipment and storage medium |
| CN113093258A (en) * | 2020-01-08 | 2021-07-09 | 中国石油天然气集团有限公司 | Ocean node space positioning data processing method and device |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103745615A (en) * | 2014-01-08 | 2014-04-23 | 赵伟 | Smart camera and WiFi (wireless fidelity) location positioning-based park parking space navigation system |
| CN106027959A (en) * | 2016-05-13 | 2016-10-12 | 深圳先进技术研究院 | Video recognizing-tracking-positioning system based on position linear fitting |
| CN106303398A (en) * | 2015-05-12 | 2017-01-04 | 杭州海康威视数字技术股份有限公司 | monitoring method, server, system and image collecting device |
| CN106772234A (en) * | 2017-02-10 | 2017-05-31 | 武汉大学 | The method and system that a kind of camera is followed the trail of with electromagnetic wave co-located |
| CN107529221A (en) * | 2017-08-22 | 2017-12-29 | 上海兴容信息技术有限公司 | A kind of follow-up analysis system and method for combination video monitoring and Wi Fi positioning |
| CN108366345A (en) * | 2018-02-12 | 2018-08-03 | 天津天地伟业信息系统集成有限公司 | A kind of WiFi probes are from motion tracking intelligent sphere |
| CN108474859A (en) * | 2017-08-15 | 2018-08-31 | 深圳市大疆创新科技有限公司 | positioning system and its building method |
| CN108917762A (en) * | 2018-05-16 | 2018-11-30 | 珠海格力电器股份有限公司 | Method, system, storage medium and the house system of electric appliance positioning |
-
2019
- 2019-02-12 CN CN201910111649.3A patent/CN109660944A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103745615A (en) * | 2014-01-08 | 2014-04-23 | 赵伟 | Smart camera and WiFi (wireless fidelity) location positioning-based park parking space navigation system |
| CN106303398A (en) * | 2015-05-12 | 2017-01-04 | 杭州海康威视数字技术股份有限公司 | monitoring method, server, system and image collecting device |
| CN106027959A (en) * | 2016-05-13 | 2016-10-12 | 深圳先进技术研究院 | Video recognizing-tracking-positioning system based on position linear fitting |
| CN106772234A (en) * | 2017-02-10 | 2017-05-31 | 武汉大学 | The method and system that a kind of camera is followed the trail of with electromagnetic wave co-located |
| CN108474859A (en) * | 2017-08-15 | 2018-08-31 | 深圳市大疆创新科技有限公司 | positioning system and its building method |
| CN107529221A (en) * | 2017-08-22 | 2017-12-29 | 上海兴容信息技术有限公司 | A kind of follow-up analysis system and method for combination video monitoring and Wi Fi positioning |
| CN108366345A (en) * | 2018-02-12 | 2018-08-03 | 天津天地伟业信息系统集成有限公司 | A kind of WiFi probes are from motion tracking intelligent sphere |
| CN108917762A (en) * | 2018-05-16 | 2018-11-30 | 珠海格力电器股份有限公司 | Method, system, storage medium and the house system of electric appliance positioning |
Non-Patent Citations (2)
| Title |
|---|
| 孟祥磊;干莽;张婷;宋占伟;: "基于WIFI的嵌入式目标定位与检视终端", 吉林大学学报(信息科学版), no. 05 * |
| 闫兴亚;陆可;刘伟;: "基于WiFi定位技术的增强现实室内向导研究与应用", 计算机应用与软件, no. 05 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112788742A (en) * | 2019-11-08 | 2021-05-11 | 杭州海康威视系统技术有限公司 | Positioning method, device, system, equipment and storage medium |
| CN113093258A (en) * | 2020-01-08 | 2021-07-09 | 中国石油天然气集团有限公司 | Ocean node space positioning data processing method and device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110769986B (en) | Method, system and equipment for drawing wireless communication signal to guide mobile robot | |
| US8760521B2 (en) | Calibration of large camera networks | |
| US11218687B2 (en) | Apparatus and method for generating a representation of a scene | |
| CN108839016B (en) | Robot inspection method, storage medium, computer equipment and inspection robot | |
| CN108737793A (en) | Use camera network moving object tracking | |
| JPWO2003102706A1 (en) | Remote operation robot and robot self-position identification method | |
| CN109660944A (en) | A kind of identity device and localization method of grid WIFi probe positioning candid photograph | |
| JP2016177640A (en) | Video monitoring system | |
| Nguyen et al. | On assessing the positioning accuracy of Google Tango in challenging indoor environments | |
| JP2011039968A (en) | Vehicle movable space detection device | |
| CN110910460A (en) | Method and device for acquiring position information and calibration equipment | |
| Aliakbarpour et al. | An efficient algorithm for extrinsic calibration between a 3d laser range finder and a stereo camera for surveillance | |
| WO2016143325A1 (en) | Camera system and control method therefor, and electronic device and control program therefor | |
| CN105865440A (en) | Target object positioning method, processing server and target object positioning system | |
| CN108204787A (en) | The sensing of the position based on optical sensor of radio frequency imaging device | |
| CN108965791A (en) | One kind passing through robot AR camera and internet of things equipment exchange method and system | |
| JP4227037B2 (en) | Imaging system and calibration method | |
| KR20170058612A (en) | Indoor positioning method based on images and system thereof | |
| JP5974819B2 (en) | Auxiliary imaging device and program | |
| JP4978027B2 (en) | Robot remote control system | |
| Rekleitis et al. | Automated calibration of a camera sensor network | |
| CN208689169U (en) | A kind of indoor three-dimensional mapping device based on single line laser radar and target | |
| CN111551179A (en) | Indoor navigation method and device, terminal and readable storage medium | |
| US11943539B2 (en) | Systems and methods for capturing and generating panoramic three-dimensional models and images | |
| CN209982737U (en) | Three-dimensional recognition snapshot device using grid probe for positioning |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |