CN108303673A - A kind of UWB 3 D positioning systems based on video auxiliary positioning - Google Patents
A kind of UWB 3 D positioning systems based on video auxiliary positioning Download PDFInfo
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- CN108303673A CN108303673A CN201810100407.XA CN201810100407A CN108303673A CN 108303673 A CN108303673 A CN 108303673A CN 201810100407 A CN201810100407 A CN 201810100407A CN 108303673 A CN108303673 A CN 108303673A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0284—Relative positioning
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
- A61B5/0205—Simultaneously evaluating both cardiovascular conditions and different types of body conditions, e.g. heart and respiratory condition
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/05—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves
- A61B5/053—Measuring electrical impedance or conductance of a portion of the body
- A61B5/0531—Measuring skin impedance
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
- A61B5/6802—Sensor mounted on worn items
- A61B5/681—Wristwatch-type devices
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/74—Details of notification to user or communication with user or patient ; user input means
- A61B5/746—Alarms related to a physiological condition, e.g. details of setting alarm thresholds or avoiding false alarms
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/14—Determining absolute distances from a plurality of spaced points of known location
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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Abstract
The invention discloses a kind of UWB 3 D positioning systems based on video auxiliary positioning, including at least central server, three-dimensional localization subsystem and camera in home for destitute each region space are set, wherein, three-dimensional localization subsystem includes at least four base station for detecting UWB label positions, base station and camera position are fixedly installed and cover whole region space, and camera is used to record the monitoring video information of corresponding region and is transmitted to central server；Central server carries out processing analysis in real time to acquired data information, records the location information of UWB labels, and carry out location confirmation by video location algorithm to the video information that the corresponding thecamera head in the band of position comes.Technical solution using the present invention can further increase the positioning accuracy of old man, improve the response speed of unusual condition, optimize the way to manage in home for destitute, improve the efficiency of management.
Description
Technical field
The present invention relates to the communication technology, video location identification technology and field of computer technology more particularly to one kind to be based on
The UWB 3 D positioning systems of video auxiliary positioning.
Background technology
As China progresses into aged society, endowment discusses topic warmly as China.Home for destitute is as most important endowment
One of form will carry the social responsibility of bigger.Currently, home for destitute scale constantly expands, traditional home for destitute management mode
It is difficult that each region and the situation of each old man are arrived in supervision, and old man is abnormal (tumble, morbidity etc.), if sent out not in time
Now and provide corresponding relief, it will cause serious consequence or even threat to life safety.Therefore, existing endowment service exists
How potential management danger and security risk improve the home for destitute efficiency of management and provide more good endowment service, become
The hot spot of current research.
In order to improve the efficiency of management, current home for destitute facility is gradually improved, such as using indoor locating system, video monitoring
The technologies such as system, Intelligent bracelet, however, the prior art only will be above-mentioned technically simple applied to home for destitute scene, each system is each
From to fight, Synergy is not formed, the application demand in home for destitute in practice cannot be met well.Specifically, home for destitute
Have in regional space compared with multi-obstacle avoidance, being easy to generate multipath effect in signals transmission influences positioning accuracy and multiple
Old man can have some impact on accuracy of identification when assembling, and traditional positioning method cannot be satisfied actual demand；Meanwhile one is supported
Old institute old man quantity is all very big according to transmission and treating capacity in tens to hundreds of unequal numbers, and existing utility rings old man's unusual condition
Answer speed slower；On the other hand, prior art Intelligent bracelet used for positioning usually only setting three axis attitude sensor is as old
The identification of people's unusual condition increases the operating pressure of administrative staff instead however, which rate of false alarm is higher.
Therefore in view of the drawbacks of the prior art, it is really necessary to propose a kind of technical solution to solve skill of the existing technology
Art problem.
Invention content
In view of this, it is necessory to provide a kind of UWB 3 D positioning systems based on video auxiliary positioning, it is applied to endowment
Institute's occasion can further increase the positioning accuracy of old man, improve the response speed of unusual condition, optimize the manager in home for destitute
Formula improves the efficiency of management.
In order to overcome the deficiencies of existing technologies, technical scheme is as follows：
A kind of UWB 3 D positioning systems based on video auxiliary positioning include at least central server, are arranged in home for destitute
The three-dimensional localization subsystem and camera in each region space, wherein the three-dimensional localization subsystem is used for including at least four
Detect the base station of UWB label positions, wherein at least three base stations are in same level and at least at least one base station setting exists
Other than the plane and close to ceiling region；The base station and camera position are fixedly installed and cover whole region space, institute
Camera is stated to be used to record the monitoring video information of corresponding region and be transmitted to central server；The base station includes at least base station
Main control module and UWB range finder modules, the UWB range finder modules are for measuring end-to-end distance；
Wantonly three base stations form a distance measuring unit, for measuring the distance between base station and old man wears with oneself
The distance between UWB labels and each base station and the rough location information that UWB labels are obtained by trilateration algorithm, in system
Multiple rough location information that multiple distance measuring units obtain obtain UWB label position information by calculating；The position of the UWB labels
Confidence breath includes at least plan position information and elevation information；
One of base station is connected with central server as master base station, remaining is assistant base station, the assistant base station
Ranging information for being obtained is sent to master base station；The master base station is used to the location information of UWB labels being sent to institute
State central server；
The central server carries out processing analysis in real time, the position letter of record UWB labels to acquired data information
Breath, and location confirmation is carried out by video location algorithm to the video information that the corresponding thecamera head in the band of position comes；
When judging that unusual condition occur in UWB labels, the central server warns the location of UWB labels information in real time, and
Control the scene that corresponding camera turns to simultaneously recording exceptional position.
In the above-mentioned technical solutions, UWB tag locations are realized by UWB three-dimensional localizations, not only increases positioning accuracy, together
When by obtain label residing for spatial altitude and in this, as one of the important parameter judged extremely, effectively reduce abnormal
False alarm rate.
Meanwhile the response of positioning accuracy and anomalous event is further improved as auxiliary positioning using video information
Speed.
Further include bracelet subsystem as a preferred technical solution, the bracelet subsystem is for realizing old man's exception shape
Condition and monitoring position comprising the Intelligent bracelet and mobile terminal that each old man carries or wears, the mobile terminal with
Wirelessly access central server；The Intelligent bracelet includes at least bracelet main control module, UWB labels, acceleration sensing
Device and biologic resistance resistance sensor, the UWB labels have unique mark；The acceleration transducer is for acquiring old man's shifting
Dynamic acceleration information, the biologic resistance resistance sensor are used to acquire the skin power information of old man；The Intelligent bracelet and shifting
Wirelessly carry out data transmission between dynamic terminal, and then the sensor information acquired is sent to central server.
In above-mentioned technical proposal, the biography of location information and heat transfer agent is realized respectively by independent two data channel
It is defeated, so as to which data transmission pressure is effectively relieved.
In addition, the present invention realizes the data transmission of Intelligent bracelet and central server by mobile terminal, so as to have
Effect reduces the power consumption of Intelligent bracelet, makes it have longer stand-by time.
Sensor information of the central server to the Intelligent bracelet of acquisition, UWB labels as a preferred technical solution,
Location information and monitoring video information carry out in real time handle and judge whether old man unusual condition occurs with this.
Further include network communication module as a preferred technical solution, the master base station and camera pass through network communication
Module accesses the central server.
The mobile terminal is smart mobile phone as a preferred technical solution, between the Intelligent bracelet and mobile terminal
Carried out data transmission in a manner of bluetooth；APP programs are set in the mobile terminal, Intelligent bracelet is corresponded to for recording it in real time
Sensor information consulted at any time so as to old man.
The Intelligent bracelet further includes optics heart rate sensor as a preferred technical solution, the optics sensing heart rate
Device is used to acquire the heart rate signal of old man.
The Intelligent bracelet further includes feedback button as a preferred technical solution, and the feedback button is then used for old
It is genuinely convinced in central server alert or when suggested alert notice is wrong when people's unusual condition occurs
Business device sends out feedback information.
In above-mentioned technical proposal, by the setting of feedback button, can further increase the response speed of unusual condition with
And when avoiding abnormal false alarm human resources waste.
The biologic resistance resistance sensor is measured using LM4041 and LMP2231 elements as a preferred technical solution,
Skin resistance changes to obtain skin power information.
In above-mentioned technical proposal, using biologic resistance resistance sensor as one of the important parameter judged extremely, improve
The precision of abnormality detection.
The position of institute base station is for 0.5-1 meters from wall and 2-3 meters liftoff as a preferred technical solution,.
Further include monitoring mobile terminal as a preferred technical solution, it is genuinely convinced in the monitoring mobile terminal remote access
Business device and the data information for obtaining corresponding old man in real time.
Compared with prior art, the present invention is deposited video information, label information and base station information by central server
Enter in database and local memory space, and real-time update information.Administrative staff can be by the management software of terminal to old
Label entrained by people carries out locating query, understands old man's coordinate position in real time；It is real-time by calling the camera in each room
Each room senior activity situation is solved, meanwhile, further improve positioning accuracy using video information.Save traditional home for destitute pipe
Manpower needed for reason method and time cost, optimize the management service level and staffing effectiveness in home for destitute, while also can
The happy and auspicious living environment of safety and more humane endowment environment are provided for old man.
Description of the drawings
Fig. 1 is the system architecture block diagram of the present invention.
Fig. 2 is three-dimensional localization subsystem structure schematic diagram in the present invention.
Fig. 3 is architecture of base station schematic diagram in the present invention.
Fig. 4 is Intelligent bracelet structural schematic diagram in the present invention.
Fig. 5 is bracelet subsystem structure schematic diagram in the present invention.
Fig. 6 is the system architecture diagram of another embodiment of the present invention.
Following specific embodiment will be further illustrated the present invention in conjunction with above-mentioned attached drawing.
Specific implementation mode
Technical solution provided by the invention is described further below with reference to attached drawing.
In the application environment in home for destitute, old man can be because the people of surrounding or object cause to block now when moving or sitting quietly
As being had an impact to the precision of video identification.Accuracy of identification can be had some impact on when multiple old men assemble.Meanwhile it managing
Reason personnel but can not possibly be with respect to every old man of every nook and cranny, therefore brings potential management danger and security risk.
For this purpose, a kind of UWB 3 D positioning systems based on video auxiliary positioning of framework of the present invention, establish a set of indoor positioning
System and camera monitoring system, for old man's abnormal (tumble, morbidity etc.), information data is collected and analysis, can be applied to support
Old institute or other similar environment.Below under simple introduction, some prior arts employed in the present invention.
First, the development of technology makes various circles of society gradually increase high-precision wireless location demand.Indoor positioning skill
Art has some similitudes compared with outdoor positioning technology, but indoor environment is complicated, and localizing environment is severe, the interior space generally compared with
It is small, and there is serious multipath effect and reflexes, this requires corresponding indoor positioning algorithms to the Shandong of various errors
Stick is eager to excel.Super-broadband tech (Ultra Wide Band, UWB) is that a kind of novel radio electricity that tool has great prospects for development is logical
Letter technology has been considered to one of ten big technologies of future communications.Ultra wide band has great bandwidth, can realize short distance
The data transmission of high-speed.It not only has higher temporal resolution, and has stronger anti-multipath fading ability, high-precision
It is of considerable interest in the ranging and positioning of degree.
And on the other hand, it is sensitive to safety requirements that video monitoring has been widely used in airport, bank, railway station etc. now
Occasion, but its effect is extremely limited, because they are typically to record the output result of video camera, works as abnormal conditions
After (vehicle in such as parking lot is stolen) occurs, security personnel just observes the fact that occur by the result of record, but is often
When it is late.And intelligent monitor system can then automatically analyze the video data of cameras capture, when there is abnormal operation hair
When raw, system can be discovered and send out alarm to Security Personnel in time, to avoid the generation of crime, while can also save big
The human and material resources and financial resources of amount.It may be said that the hot spot that the human action identification based on video is computer vision field is asked
Topic.It can be seen that the technology applies the safety that can significantly promote old man in home for destitute.
With the development of radio network technique, facility is provided for people at more and more aspects.Bluetooth technology is mesh
The highly advanced radio network technique of previous item, it can replace cable by one based on low cost, short-range wireless link
The computer and communication equipment for determining range connect, and realize the quick interconnection between distinct device, are primarily adapted for use in data biography
The not high mobile device of defeated rate requirement and portable equipment.Current Bluetooth technology is not only only applicable to WPAN, but
The indigo plant of " three-in-one " of collection IEEE 802.15.1 conventional Bluetooths, IEEE802.11 physical layers and MAC layer and Wibree standards
Tooth.
In the prior art, the infrastructure in home for destitute also has using above-mentioned technology, but is generally only simple set, each
System or independent operating, video monitoring system and 3 D positioning system are fought separately, and there is no form Synergy；Therefore,
The prior art simultaneously underuses existing facility and improves operational efficiency, therefore, the present invention proposes a kind of based on video auxiliary positioning
UWB 3 D positioning systems, so as to effectively improve positioning accuracy and anomalous event response speed.
Referring to Fig. 1, it is shown the system architecture diagram of the UWB 3 D positioning systems the present invention is based on video auxiliary positioning, it should
System includes at least central server, the three-dimensional localization subsystem and camera in home for destitute each region space is arranged, wherein
Each regional space at least be arranged one three-dimensional localization subsystem and at least one camera, and three-dimensional localization subsystem is used for pair
The regions such as each room, toilet, corridor, dining room, stair are positioned, and upper computer software and client are run on central server
Terminal software, the data for receiving camera and base station transmission, and the real time data sent to base station is parsed and is become
It changes processing to obtain three dimensional space coordinate data and acquire barycenter, be stored in local MySQL database.The video that camera is sent
Data carry out action recognition, judge motion state residing for old man, feed back to positioning unit, auxiliary coordinate location determination, and will receive
To video data be saved in local storage space.Client terminal can be with operation management software to data in MySQL database
Carry out extract real-time, and the real-time update position displaing coordinate point on software map.It simultaneously can also be to the prison in each room
Control video recording is called, and observes old man's body movement situation.
Referring to Fig. 2, it is shown the block architecture diagram of three-dimensional localization subsystem in the present invention, including at least four are used to detect
The base station of UWB label positions, wherein label is carried by each old man, and at least three base stations are in same level and extremely
Few one is arranged in ceiling；Base station and camera position fixed setting, once installation, position immobilizes, and base station
Will be 0.5-1 meters from wall, it is 2-3 meters liftoff.Camera is arranged on liftoff 2.5-3.5 meters of wall, and covering whole region space to the greatest extent may be used
All target areas can be monitored.Camera is used to record the monitoring video information of corresponding region and is transmitted to central server；
The base station include at least base station main control module and UWB range finder modules, the UWB range finder modules for measure it is end-to-end away from
From；
Wantonly three base stations form a distance measuring unit, for measuring the distance between base station and old man wears with oneself
The distance between UWB labels and each base station and the rough location information that UWB labels are obtained by trilateration algorithm, in system
Multiple rough location information that multiple distance measuring units obtain obtain UWB label position information by calculating；The position of the UWB labels
Confidence breath includes at least plan position information and elevation information；
One of base station is connected with central server as master base station, remaining is assistant base station, the assistant base station
Ranging information for being obtained is sent to master base station；The master base station is for collecting all label informations and other base stations letter
Breath, then by obtaining the distance between base station i and base station j (0≤i to measurement data real-time resolving<J≤3), base station m and mark
Sign the distance between n (0≤m≤3, n>0), and by the location information of UWB labels it is sent to the central server.
Central server carries out processing analysis in real time to acquired data information, records the location information of UWB labels, with
And location confirmation is carried out by video location algorithm to the video information that the corresponding thecamera head in the band of position comes；Wherein,
Central server carries out the sensor information of the Intelligent bracelet of acquisition, the location information of UWB labels and monitoring video information
It handles in real time and judges whether old man unusual condition occurs with this.It is genuinely convinced in described when judging that unusual condition occur in UWB labels
Business device warns the location of UWB labels information in real time, and controls the scene that corresponding camera turns to simultaneously recording exceptional position.
In the above-mentioned technical solutions, UWB tag locations are realized by UWB three-dimensional localizations, not only increases positioning accuracy, together
When by obtain label residing for spatial altitude and in this, as one of the important parameter judged extremely, effectively reduce abnormal
False alarm rate.
Meanwhile the response of positioning accuracy and anomalous event is further improved as auxiliary positioning using video information
Speed.
In a preferred embodiment, further include network communication module, network communication module is for completing and PC equipment
Communication, the master base station and camera access the central server by network communication module.
Referring to Fig. 3, it is shown the structural schematic diagram of base station in the present invention, includes at least base station main control module and UWB rangings
Module, the UWB range finder modules are for measuring end-to-end distance；Certainly further include power module, LED indication module, reset
The compositions such as circuit.The data of UWB range finder modules acquisition can be read in base station main control module, and UWB range finder modules can measure end-to-end
Distance, the master base station are connected with central server, for the location information of UWB labels to be sent to the center service
Device；LED indication module can the working condition current to module show, reset circuit provide in the case of system exception just
Beginningization function.
In a preferred embodiment, further include bracelet subsystem, for realizing old man's unusual condition and monitoring position,
Referring to Fig. 4, show the configuration diagram of bracelet subsystem comprising the Intelligent bracelet that each old man carries or wears with
Mobile terminal, the mobile terminal wirelessly access central server；Intelligent bracelet for acquiring aged health in real time
Information, the mobile terminal wirelessly access central server；Integrated wireless communication module in mobile terminal, for
The mode of WIFI or 4G accesses central server.
In above-mentioned technical proposal, the biography of location information and heat transfer agent is realized respectively by independent two data channel
It is defeated, so as to which data transmission pressure is effectively relieved.
In addition, the present invention realizes the data transmission of Intelligent bracelet and central server by mobile terminal, so as to have
Effect reduces the power consumption of Intelligent bracelet, makes it have longer stand-by time.
In a preferred embodiment, mobile terminal is smart mobile phone, and Intelligent bracelet is respectively provided with indigo plant with mobile terminal
Tooth communication module, is carried out data transmission in a manner of bluetooth.
In a preferred embodiment, APP programs are set in the mobile terminal, old man is added in data and is compiled
Number, the sensor information of Intelligent bracelet is corresponded to so that old man consults understanding body reason situation at any time for recording it in real time, is led to simultaneously
It crosses wireless communication module and transfers data to central server.
Referring to Fig. 5, it is shown the structural schematic diagram of Intelligent bracelet, bracelet main control module is included at least, UWB labels, accelerates
Sensor and biologic resistance resistance sensor are spent, the UWB labels have unique mark；The acceleration transducer is for acquiring
Old man's translational acceleration information, the biologic resistance resistance sensor are used to acquire the skin power information of old man；The intelligence hand
The sensor information for wirelessly carrying out data transmission between ring and mobile terminal, and then being acquired is genuinely convinced in being sent to
Business device.
In a preferred embodiment, the Intelligent bracelet further includes optics heart rate sensor, the optics heart rate
Sensor is used to acquire the heart rate signal of old man.
In a preferred embodiment, the Intelligent bracelet further includes feedback button, and the feedback button is then used for
When old man's unusual condition occurs to central server alert or when suggested alert notice is wrong in
Central server sends out feedback information.If old man's shock, button can not be clicked situations such as can not seriously taking action by falling or falling ill, lead to
It crosses the information such as skin power information and translational acceleration information and judges whether unusual condition occur.
By the setting of feedback button, the response speed of unusual condition can be further increased and avoid abnormal false alarm
When human resources waste.
In a preferred embodiment, the biologic resistance resistance sensor utilizes LM4041 and LMP2231 elements
Skin resistance variation is measured to obtain skin power information.Skin power information is a mood physical signs of human body, in exception
In the case of, which necessarily varies widely；For example, its significantly change, necessarily corresponds to old man's mood swing fierceness, it is greatly general
It is abnormal that tumble, epilepsy, heart disease etc. occur for rate old man.In the prior art, judge whether occur only with translational acceleration information
It is abnormal, however translational acceleration information only reflects the motion state of old man, can not effectively reflect whether to occur abnormal.The present invention
By skin power information and translational acceleration information collectively as the criterion of abnormality detection, to substantially increase abnormal shape
The accuracy of detection of state.
In a preferred embodiment, referring to Fig. 6, it show the system architecture frame of another embodiment of the present invention
Figure, further includes monitoring mobile terminal, and the monitoring mobile terminal remote accesses central server and obtains corresponding old man's in real time
Data information, to which family members or guardian can remotely understand old man the home for destitute the case where at any time.
The course of work of lower present system is described in detail again below, specifically comprises the following steps：
Step (1)：In 4 base stations of space configuration to be measured, 4 base stations cover entire space to be measured as possible, are arranged in from wall
0.5-1 meters, liftoff 2-3 meters of wall edge, and each base station is not conllinear non-coplanar, thus can be very good reception and is covered
Label signal in region.The parameters such as the distance between the distance between base station and base station, base station and label are obtained by measurement,
These parameters are packaged into the data frame format of suitable network transmission by certain regulation, are sent in the form of data flow.
Camera position is then set in space to be measured, on liftoff 2.5-3.5 meters of wall, monitors all mesh as far as possible
Mark region.Determine that the essential informations such as its corresponding ID, IP, room floor are stored in MySQL database.Real time monitoring is regarded
Frequency is transferred to central server by network communication module in the form of video flowing.
Step (2)：Data receiver software is installed on central server, it can each room master of real-time reception after the running software
The real time monitoring video data that the location data and camera that base station transmits transmit.
Location data is parsed and is converted, between acquisition the distance between label and each base station, base station and base station
Distance is based on these parameters, and every three base stations can calculate the real-time three-dimensional coordinate of outgoing label according to three side location algorithms, this is
Four base stations of system arrangement can obtain the real-time three-dimensional coordinate of four labels, and it is exactly needed for us then to seek the barycenter of this four points
The label three-dimensional coordinate point wanted, these coordinate informations is sequentially stored into local MySQL database.
The position of target old man in video is confirmed by video location algorithm to transmitting the video data come, so
The real-time status of old man is judged with action recognition algorithm afterwards, (such as has tea if old man is stationary, chat and do not move
State) result is then fed back into three side location algorithms, enable it not continue temporarily to calculate, and it is to maintain the number of coordinates of previous state
According to avoid positioning accuracy problem caused by coordinate data fluctuates caused by the influence of other factors in environment.If old man
It is moved according to certain orientation, then can obtain its moving direction by action recognition algorithm, data feedback is returned into tag coordinate meter
Calculate module contrast conting as a result, judging whether calculated movement locus is identical as the direction of video identification, if different again
Coordinates computed.Then monitor video is stored in central server designated storage area.
Step (3)：Client terminal starts locating and displaying with management software, and tag coordinate data are carried from database in real time
It takes, is shown in the form of coordinate points in the map of management software, and start to constantly update tag coordinate point data.Base station is sat at this time
Punctuate data are also extracted from MySQL database, are shown on map.And administrative staff can be recorded a video with checking monitoring, in real time
Observe senior activity's situation in each room.
Following items location technology can be achieved in the present invention：(1) old man's real time position is obtained：The position of old man includes old man institute
Room and old man relative tertiary location information in the room, location information includes x, y, z three-dimensional space position information,
The track of old man's real time position variation is shown in room floor plan or floor plan etc. simultaneously.(2) monitoring old man position
Set exception：The old man's location information for limiting leaving zone of action range prompts and alarm, to old man's quantity in room into
Row statistics calculates, during the break between (such as night), if detect in room old man's quantity and should have quantity it is inconsistent when, to not
The old man for returning to room prompts and alarm, and carries out location finding and display to default old man.(3) administrative staff are helped
Old man position is accurately positioned：The location information of acquisition is passed to central server by master base station, and passes through three side location algorithms
After obtaining real-time position information, the information of old man is shown in client software (including app) or webpage etc., is managed
Personnel can accurately find old man position in real time.(4) judge whether old man may occur accident：If old man's daily routines duration
Time stays in motionless in improper relaxing area, and when periphery is without other old men, prompts old man position.(5) to
Track old man's video location：The UWB location informations of analysis tracking old man, central server is by contrast judgement target old man in video
In position, and be aided with video human face identification technology and judge whether object is the mankind, if so, call camera to its in real time with
Track；Otherwise fitting old man position is compared again.(6) judge old man's motion state：Central server will by action recognition algorithm
The monitor video data that camera is sent carry out analyzing processing, judge whether the motion state of old man is static, if then by information
Three side location algorithms are fed back to, it is made no longer to carry out coordinate calculating, keep old man's coordinate points position constant.If movement, compares mark
Whether the movement locus for signing coordinate result of calculation is identical as the direction of video identification, if it is different, feedback information gives tag coordinate meter
Module is calculated, coordinate is recalculated.(7) old man's coordinate precision is improved：Three base stations can determine a tag coordinate
Location point, this system are obtained with four position coordinates using four labels, their barycenter of seeking them, and institute's invocation point is made
For old man's real time position, and it is aided with video identification, coordinate points fluctuation problem caused by error can be reduced and improves positioning accuracy.
The explanation of above example is only intended to facilitate the understanding of the method and its core concept of the invention.It should be pointed out that pair
For those skilled in the art, without departing from the principle of the present invention, the present invention can also be carried out
Some improvements and modifications, these improvement and modification are also fallen within the protection scope of the claims of the present invention.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest range caused.
Claims (10)
1. a kind of UWB 3 D positioning systems based on video auxiliary positioning, which is characterized in that including at least central server, set
Set the three-dimensional localization subsystem and camera in home for destitute each region space, wherein the three-dimensional localization subsystem includes extremely
Few four base stations for detecting UWB label positions, wherein at least three base stations are in same level and at least one base station
It is arranged other than the plane and close to ceiling region；The base station and camera position are fixedly installed and cover whole region sky
Between, the camera is used to record the monitoring video information of corresponding region and is transmitted to central server；It at least wraps the base station
Base station main control module and UWB range finder modules are included, the UWB range finder modules are for measuring end-to-end distance；
Wantonly three base stations form a distance measuring unit, the UWB marks for measuring the distance between base station and old man wears with oneself
It signs the distance between each base station and obtains the rough location information of UWB labels by trilateration algorithm, it is multiple in system
Multiple rough location information that distance measuring unit obtains obtain UWB label position information by calculating；Believe the position of the UWB labels
Breath includes at least plan position information and elevation information；
One of base station is connected with central server as master base station, remaining is assistant base station, and the assistant base station is used for
The ranging information obtained is sent to master base station；The master base station be used for by the location information of UWB labels be sent to it is described in
Central server；
The central server carries out processing analysis in real time to acquired data information, records the location information of UWB labels, with
And location confirmation is carried out by video location algorithm to the video information that the corresponding thecamera head in the band of position comes；Work as judgement
When unusual condition occur in UWB labels, the central server warns the location of UWB labels information in real time, and controls phase
Camera is answered to turn to the scene of simultaneously recording exceptional position.
2. the UWB 3 D positioning systems according to claim 1 based on video auxiliary positioning, which is characterized in that further include
Bracelet subsystem, the bracelet subsystem is for realizing old man's unusual condition and monitoring position comprising each old man takes with oneself
Band or the Intelligent bracelet worn and mobile terminal, the mobile terminal wirelessly access central server；The intelligence
Bracelet includes at least bracelet main control module, UWB labels, acceleration transducer and biologic resistance resistance sensor, the UWB labels
With unique mark；The acceleration transducer is for acquiring old man's translational acceleration information, the biologic resistance resistance sensing
Device is used to acquire the skin power information of old man；Data biography is wirelessly carried out between the Intelligent bracelet and mobile terminal
It is defeated, and then the sensor information acquired is sent to central server.
3. the UWB 3 D positioning systems according to claim 1 or claim 2 based on video auxiliary positioning, which is characterized in that in described
Central server carries out the sensor information of the Intelligent bracelet of acquisition, the location information of UWB labels and monitoring video information real
When handle and judge whether old man unusual condition occurs with this.
4. the UWB 3 D positioning systems according to claim 1 or claim 2 based on video auxiliary positioning, which is characterized in that further include
Network communication module, the master base station and camera access the central server by network communication module.
5. the UWB 3 D positioning systems based on video auxiliary positioning according to claim 2, which is characterized in that the movement
Terminal is smart mobile phone, is carried out data transmission in a manner of bluetooth between the Intelligent bracelet and mobile terminal；It is described mobile whole
APP programs are set in end, the sensor information of Intelligent bracelet is corresponded to so that old man consults at any time for recording it in real time.
6. the UWB 3 D positioning systems based on video auxiliary positioning according to claim 2, which is characterized in that the intelligence
Bracelet further includes optics heart rate sensor, and the optics heart rate sensor is used to acquire the heart rate signal of old man.
7. the UWB 3 D positioning systems based on video auxiliary positioning according to claim 2, which is characterized in that the intelligence
Bracelet further includes feedback button, and the feedback button is then used to send out alarm to central server when old man's unusual condition occurs
Information sends out feedback information when suggested alert notice is wrong to central server.
8. the UWB 3 D positioning systems based on video auxiliary positioning according to claim 2, which is characterized in that the biology
Electric resistivity sensor measures skin resistance variation to obtain skin power information using LM4041 and LMP2231 elements.
9. the UWB 3 D positioning systems according to claim 1 or claim 2 based on video auxiliary positioning, which is characterized in that institute base station
Position be 0.5-1 meters from wall and 2-3 meters liftoff.
10. the UWB 3 D positioning systems according to claim 1 or claim 2 based on video auxiliary positioning, which is characterized in that also wrap
Include monitoring mobile terminal, the monitoring mobile terminal remote access central server and the data letter for obtaining corresponding old man in real time
Breath.
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| CN201810100407.XA CN108303673A (en) | 2018-02-01 | 2018-02-01 | A kind of UWB 3 D positioning systems based on video auxiliary positioning |
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| CN201810100407.XA Pending CN108303673A (en) | 2018-02-01 | 2018-02-01 | A kind of UWB 3 D positioning systems based on video auxiliary positioning |
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| CN109756678A (en) * | 2019-01-24 | 2019-05-14 | 深圳玛蒂莲文化投资发展有限公司 | A kind of indoor positioning tracking system and its in bar, the application of KTV |
| CN109965883A (en) * | 2019-04-16 | 2019-07-05 | 中国计量大学上虞高等研究院有限公司 | It is dropped to and heartbeat mutation bracelet detection method and system based on indoor positioning |
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| CN113573017A (en) * | 2021-07-06 | 2021-10-29 | 石家庄扬天科技有限公司 | Construction site condition monitoring system and monitoring method |
| CN113573017B (en) * | 2021-07-06 | 2023-12-12 | 石家庄扬天科技有限公司 | Construction site condition monitoring system and monitoring method |
| CN113865584A (en) * | 2021-08-24 | 2021-12-31 | 知微空间智能科技(苏州)有限公司 | UWB three-dimensional object finding method and device based on visual inertial odometer |
| CN113865584B (en) * | 2021-08-24 | 2024-05-03 | 知微空间智能科技(苏州)有限公司 | UWB three-dimensional object searching method and device based on visual inertial odometer |
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