CN109996182A - A kind of localization method, apparatus and system combined based on UWB positioning with monitoring - Google Patents
A kind of localization method, apparatus and system combined based on UWB positioning with monitoring Download PDFInfo
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- CN109996182A CN109996182A CN201910318533.7A CN201910318533A CN109996182A CN 109996182 A CN109996182 A CN 109996182A CN 201910318533 A CN201910318533 A CN 201910318533A CN 109996182 A CN109996182 A CN 109996182A
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- danger zone
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- positioning target
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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
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- 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
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Abstract
The present invention relates to field of locating technology, specifically disclose a kind of localization method combined based on UWB positioning with monitoring, wherein include: setting danger zone permission and judgement fence；The quantity of statistics disengaging danger zone；Obtain the quantity of disengaging danger zone；Judgement positions the size of the quantity that danger zone is passed in and out by positioning target and the quantity that danger zone is passed in and out by positioning target counted by monitoring device of label statistics by UWB；If being not less than the quantity for being passed in and out danger zone by positioning target counted by monitoring device by the quantity for being passed in and out danger zone by positioning target that UWB positions label statistics, it is determined that be the quantity by positioning target of practical disengaging danger zone by the quantity for being passed in and out danger zone by positioning target that UWB positions label statistics.The invention also discloses a kind of positioning devices and system combined based on UWB positioning with monitoring.The localization method provided by the invention combined based on UWB positioning with monitoring can effectively manage the safety of staff.
Description
Technical field
The present invention relates to field of locating technology more particularly to a kind of localization method, bases combined based on UWB positioning with monitoring
In UWB position with monitor the positioning device that is combined and including this based on UWB position with monitor the positioning device combined based on UWB
Position the positioning system combined with monitoring.
Background technique
In plant produced, there are some danger zones, and the demand positioned in real time to personnel is more and more, traditional camera shooting
Head supervision method has not been able to satisfy more and more to plant information, intelligentized demand.On the other hand, safety in production is as enterprise
The primary work of industry production, and the important indicator of one enterprise of examination.
Currently, generally adding the mode of gate inhibition using camera in factory to monitor some danger zones.Because camera identifies
Statistically there is error in personnel's disengaging, also can not effectively be managed the safety of staff in rate that there is a certain error.
Summary of the invention
The present invention is directed at least solve one of the technical problems existing in the prior art, provide it is a kind of based on UWB positioning with
The localization method combined is monitored, the positioning device combined with monitoring is positioned based on UWB and was tied including that should position and monitor based on UWB
The positioning system of the positioning device of conjunction combined based on UWB positioning with monitoring, to solve the problems of the prior art.
As the first aspect of the invention, a kind of localization method combined based on UWB positioning with monitoring is provided, wherein
It is described to include: with the localization method combined is monitored based on UWB positioning
Setting danger zone permission corresponding with UWB positioning label and the disengaging of setting danger zone determine fence；
The corresponding danger zone permission statistics of label is positioned by positioning target by determining that fence passes in and out danger area according to UWB
The quantity in domain；
Obtain the quantity by positioning target disengaging danger zone of monitoring device statistics；
Judgement is united by the quantity for being passed in and out danger zone by positioning target that UWB positions label statistics with by monitoring device
Size between the quantity for being passed in and out danger zone by positioning target of meter；
If being not less than by the quantity for being passed in and out danger zone by positioning target that UWB positions label statistics and passing through monitoring device
The quantity by positioning target disengaging danger zone of statistics, it is determined that being passed in and out by positioning target for label statistics is positioned by UWB
The quantity of danger zone is the quantity by positioning target of practical disengaging danger zone.
Preferably, described to be enclosed by positioning target by determining according to the corresponding danger zone permission statistics of UWB positioning label
Column disengaging danger zone quantity include:
Judge whether danger zone is entered by positioning target according to inner product of vectors method；
If it is determined that being to enter danger zone by positioning target, then the quantity by positioning target into danger zone is counted；
Conversely, then statistics leaves the quantity by positioning target of danger zone.
Preferably, described to be enclosed by positioning target by determining according to the corresponding danger zone permission statistics of UWB positioning label
The quantity of column disengaging danger zone further includes the steps that determining by positioning target into carrying out behind danger zone:
Label, which is positioned, by UWB judges the permission for whether being had into danger zone by positioning target；
If it is determined that having the permission into danger zone by positioning target, then record is entered the letter of danger zone by positioning target
Breath；
Conversely, then issuing the alarm signal of non-admitted entrance.
Preferably, described label is positioned by UWB to judge whether to be had by positioning target the permission into danger zone include:
The certification for whether being met access control system by the identity of positioning target is judged by access control system, and fixed by UWB
Position label judge by the position of positioning target whether the position consistency with access control system.
Preferably, it is described according to inner product of vectors method judge by positioning target whether into danger zone include:
At the judgement fence, the direction into danger zone is selected as reference vector；
The first coordinate when record enters danger zone at the judgement fence by positioning target；
The second coordinate when record leaves danger zone at the judgement fence by positioning target；
Calculate the practical vector of the first coordinate to the second coordinate；
Calculate the angle between the reference vector and the practical vector；
According to the inner product between angle calcu-lation reference vector and practical vector, inner product result is obtained；
Judge whether the inner product result is greater than 0；
If the inner product result is greater than 0, determine it is to enter danger zone by positioning target；
If the inner product result less than 0, determines by positioning target to be to leave danger zone.
Preferably, if the quantity for passing in and out danger zone by positioning target for positioning label statistics by UWB is not less than
The quantity that danger zone is passed in and out by positioning target counted by monitoring device, it is determined that the quilt of label statistics is positioned by UWB
The quantity of positioning target disengaging danger zone is that the quantity by positioning target of practical disengaging danger zone includes:
Judgement passes through monitoring by the way that whether the quantity for passing in and out danger zone by positioning target that UWB positions label statistics is equal to
The quantity by positioning target disengaging danger zone of device statistics；
It is united if being equal to by the quantity for being passed in and out danger zone by positioning target that UWB positions label statistics by monitoring device
The quantity by positioning target disengaging danger zone of meter, it is determined that being passed in and out by positioning target for label statistics is positioned by UWB and is endangered
The quantity in danger zone domain is the quantity by positioning target of practical disengaging danger zone；
If being passed in and out the in varying numbers in passing through monitoring device of danger zone by positioning target by what UWB positioned label statistics
The quantity by positioning target disengaging danger zone of statistics, then judge to position being passed in and out by positioning target for label statistics by UWB
Whether the quantity of danger zone is greater than the quantity that danger zone is passed in and out by positioning target counted by monitoring device；
It is united if being greater than by the quantity for being passed in and out danger zone by positioning target that UWB positions label statistics by monitoring device
The quantity by positioning target disengaging danger zone of meter, it is determined that being passed in and out by positioning target for label statistics is positioned by UWB and is endangered
The quantity in danger zone domain is the quantity by positioning target of practical disengaging danger zone.
Preferably, if the quantity for passing in and out danger zone by positioning target for positioning label statistics by UWB is not less than
The quantity that danger zone is passed in and out by positioning target counted by monitoring device, it is determined that the quilt of label statistics is positioned by UWB
The quantity for positioning target disengaging danger zone is the quantity by positioning target of practical disengaging danger zone further include:
If being not more than by the quantity for being passed in and out danger zone by positioning target that UWB positions label statistics and passing through monitoring device
The quantity by positioning target disengaging danger zone of statistics, it is determined that danger is passed in and out by positioning target by what monitoring device counted
The quantity in region is the quantity by positioning target of practical disengaging danger zone, and issues the alarm for not swarming into danger zone with card
Signal.
Preferably, the monitoring device includes binocular camera.
As the second aspect of the invention, a kind of positioning device combined based on UWB positioning with monitoring is provided, wherein
It is described to include: with the positioning device combined is monitored based on UWB positioning
Setting module, the setting module is for setting danger zone permission corresponding with UWB positioning label and setting
Danger zone disengaging determines fence；
First judgment module, the first judgment module are used to position the corresponding danger zone permission of label according to UWB and unite
Meter is by positioning target by determining that fence passes in and out the quantity of danger zone；
Obtain module, the number by positioning target disengaging danger zone for obtaining module and being used to obtain monitoring device statistics
Amount；
Second judgment module, second judgment module are used to judge through UWB positioning label statistics by positioning target
Size between the quantity of disengaging danger zone and the quantity for being passed in and out danger zone by positioning target for passing through monitoring device statistics；
Determining module, if the determining module is used to pass in and out danger area by positioning target by UWB positioning label statistics
The quantity in domain is not less than the quantity that danger zone is passed in and out by positioning target counted by monitoring device, it is determined that fixed by UWB
The quantity by positioning target disengaging danger zone of position label statistics is the quantity by positioning target of practical disengaging danger zone.
As the third aspect of the invention, a kind of positioning system combined based on UWB positioning with monitoring is provided, wherein
The positioning system combined based on UWB positioning with monitoring includes: UWB locating base station, UWB positioning label, access control system, monitoring
Device and the previously described positioning device combined based on UWB positioning with monitoring, the UWB positioning label and the UWB are positioned
Base station communication connection, the UWB locating base station, access control system and monitoring device are combined based on UWB positioning with monitoring with described
Positioning device communication connection.
The localization method provided by the invention combined based on UWB positioning with monitoring, is positioned label by UWB and monitoring fills
Common realization is set to the quantity for being passed in and out danger zone by positioning target, is solved in danger zone in the prior art not with card personnel
Into the problem of supervision, the safety of staff can effectively be managed.
Detailed description of the invention
The drawings are intended to provide a further understanding of the invention, and constitutes part of specification, with following tool
Body embodiment is used to explain the present invention together, but is not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is the flow chart of the localization method provided by the invention combined based on UWB positioning with monitoring.
Fig. 2 is the flow chart provided by the invention for being passed in and out danger zone by positioning target by UWB positioning label statistics.
Fig. 3 is the method flow diagram that judgement provided by the invention is passed in and out danger zone by positioning target.
Fig. 4 is that provided by the invention counted in conjunction with monitoring device by UWB positioning target passes in and out danger by positioning target
The method flow diagram in region.
Fig. 5 is the structural block diagram of the positioning device provided by the invention combined based on UWB positioning with monitoring.
Fig. 6 is the structural block diagram of the positioning system provided by the invention combined based on UWB positioning with monitoring.
Specific embodiment
Below in conjunction with attached drawing, detailed description of the preferred embodiments.It should be understood that this place is retouched
The specific embodiment stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
As the first aspect of the invention, a kind of localization method combined based on UWB positioning with monitoring is provided, wherein
As shown in Figure 1, the localization method combined based on UWB positioning with monitoring includes:
S110, setting danger zone permission corresponding with UWB positioning label and the disengaging of setting danger zone determine fence；
S120, the corresponding danger zone permission statistics of label is positioned according to UWB by positioning target by determining fence disengaging
The quantity of danger zone；
S130, the quantity by positioning target disengaging danger zone for obtaining monitoring device statistics；
S140, judgement by the quantity of positioning target disengaging danger zone and pass through monitoring by UWB positioning label statistics
Size between the quantity for being passed in and out danger zone by positioning target of device statistics；
If S150, the quantity for being passed in and out danger zone by positioning target for positioning label statistics by UWB, which are not less than, passes through prison
Control the quantity by positioning target disengaging danger zone of device statistics, it is determined that by UWB positioning label statistics by positioning mesh
The quantity of mark disengaging danger zone is the quantity by positioning target of practical disengaging danger zone.
The localization method provided by the invention combined based on UWB positioning with monitoring, is positioned label by UWB and monitoring fills
Common realization is set to the quantity for being passed in and out danger zone by positioning target, is solved in danger zone in the prior art not with card personnel
Into the problem of supervision, the safety of staff can effectively be managed.
Specifically, described to be enclosed by positioning target by determining according to the corresponding danger zone permission statistics of UWB positioning label
Column disengaging danger zone quantity include:
Judge whether danger zone is entered by positioning target according to inner product of vectors method；
If it is determined that being to enter danger zone by positioning target, then the quantity by positioning target into danger zone is counted；
Conversely, then statistics leaves the quantity by positioning target of danger zone.
Specifically, described to be enclosed by positioning target by determining according to the corresponding danger zone permission statistics of UWB positioning label
The quantity of column disengaging danger zone further includes the steps that determining by positioning target into carrying out behind danger zone:
Label, which is positioned, by UWB judges the permission for whether being had into danger zone by positioning target；
If it is determined that having the permission into danger zone by positioning target, then record is entered the letter of danger zone by positioning target
Breath；
Conversely, then issuing the alarm signal of non-admitted entrance.
Specifically, described label is positioned by UWB to judge whether to be had by positioning target the permission into danger zone include:
The certification for whether being met access control system by the identity of positioning target is judged by access control system, and fixed by UWB
Position label judge by the position of positioning target whether the position consistency with access control system.
Specifically, it is described according to inner product of vectors method judge by positioning target whether into danger zone include:
At the judgement fence, the direction into danger zone is selected as reference vector；
The first coordinate when record enters danger zone at the judgement fence by positioning target；
The second coordinate when record leaves danger zone at the judgement fence by positioning target；
Calculate the practical vector of the first coordinate to the second coordinate；
Calculate the angle between the reference vector and the practical vector；
According to the inner product between angle calcu-lation reference vector and practical vector, inner product result is obtained；
Judge whether the inner product result is greater than 0；
If the inner product result is greater than 0, determine it is to enter danger zone by positioning target；
If the inner product result less than 0, determines by positioning target to be to leave danger zone.
Below with reference to shown in Fig. 2 and Fig. 3, label is positioned to by positioning target disengaging danger by UWB to provided by the invention
The management in danger zone domain is described in detail.
(1) label being positioned for UWB and distributing personnel and corresponding authority, in danger zone, entrance setting disengaging judges fence.
(2) it when entering fence area by positioning target, first has to carry out disengaging judgement, judgment method to by positioning target
Using inner product of vectors method.
As the selected reference vector a in direction by fence area, to enter region；Write down the coordinate P1 into fence
(X1, Y1), then the coordinate P2 (X2, Y2) for leaving fence is write down, then the vector b of P1 to P2 is calculated, obtain two vectors
Angle theta.
Vector a and b do inner product, obtain a numerical value Z:
If Z is greater than 0, it follows that vector b and vector a are in same direction, so being to enter behavior by positioning target.
If Z is less than 0, it follows that vector b and vector a in the opposite direction, so being to leave behavior by positioning target.
(3) when being to enter behavior by positioning target, judge the permission for whether being had into tunnel by positioning target, if
Have, record into target relevant information, if not sending non-admitted personnel enters alarm.When being to leave row by positioning target
For when, record leaves the relevant information of target.
(4) statistics, which enters, leaves staff list and quantity, for doing binocular camera calibration, personal management.
Specifically, if the quantity for passing in and out danger zone by positioning target for positioning label statistics by UWB is not less than
The quantity that danger zone is passed in and out by positioning target counted by monitoring device, it is determined that the quilt of label statistics is positioned by UWB
The quantity of positioning target disengaging danger zone is that the quantity by positioning target of practical disengaging danger zone includes:
Judgement passes through monitoring by the way that whether the quantity for passing in and out danger zone by positioning target that UWB positions label statistics is equal to
The quantity by positioning target disengaging danger zone of device statistics；
It is united if being equal to by the quantity for being passed in and out danger zone by positioning target that UWB positions label statistics by monitoring device
The quantity by positioning target disengaging danger zone of meter, it is determined that being passed in and out by positioning target for label statistics is positioned by UWB and is endangered
The quantity in danger zone domain is the quantity by positioning target of practical disengaging danger zone；
If being passed in and out the in varying numbers in passing through monitoring device of danger zone by positioning target by what UWB positioned label statistics
The quantity by positioning target disengaging danger zone of statistics, then judge to position being passed in and out by positioning target for label statistics by UWB
Whether the quantity of danger zone is greater than the quantity that danger zone is passed in and out by positioning target counted by monitoring device；
It is united if being greater than by the quantity for being passed in and out danger zone by positioning target that UWB positions label statistics by monitoring device
The quantity by positioning target disengaging danger zone of meter, it is determined that being passed in and out by positioning target for label statistics is positioned by UWB and is endangered
The quantity in danger zone domain is the quantity by positioning target of practical disengaging danger zone.
Specifically, if the quantity for passing in and out danger zone by positioning target for positioning label statistics by UWB is not less than
The quantity that danger zone is passed in and out by positioning target counted by monitoring device, it is determined that the quilt of label statistics is positioned by UWB
The quantity for positioning target disengaging danger zone is the quantity by positioning target of practical disengaging danger zone further include:
If being not more than by the quantity for being passed in and out danger zone by positioning target that UWB positions label statistics and passing through monitoring device
The quantity by positioning target disengaging danger zone of statistics, it is determined that danger is passed in and out by positioning target by what monitoring device counted
The quantity in region is the quantity by positioning target of practical disengaging danger zone, and issues the alarm for not swarming into danger zone with card
Signal.
Preferably, the monitoring device includes binocular camera.
Statistics provided by the invention is carried out specifically by the quantity of positioning target disengaging danger zone below with reference to Fig. 4
It is bright.
Binocular camera personal identification statistical system is used for monitoring device, binocular camera meeting statistician's disengaging
Quantity.
In view of binocular camera can have the case where misrecognition statistics after dimming, and in some cases
Irrelevant personnel enters the possibility of danger zone, is solved using the mode of UWB positioning and binocular camera fusion judgement.
Specifically, (1) is that UWB positioning and binocular camera identification setting disengaging judge fence area；
(2) UWB positions binocular camera and counts respectively disengaging personnel amount respectively, it is assumed that and it is a that UWB statistics, which enters number,
It is b that binocular camera statistics, which enters number,.
(3) a is compared with b, if a=b, illustrate both sides statistics number when it is consistent, statistics enter number increase a
(b), if a > b, binocular camera statistics is wrong, is calibrated, and uses a as number is actually entered, and increases a into number,
If a <b, illustrates to have and do not swarm into danger zone with card personnel, increase b into number, be simultaneously emitted by alarm, start corresponding acousto-optic
Alarm.
(4) it leaves processing logical AND and enters that logic is consistent, and judgment criterion is reversed when comparing, in addition do not need starting sound
Light alarm.
It should be noted that being equipped with access control system enters and exits linkage management, gate inhibition and UWB positioning are respectively to personnel identity
Identified, when gate inhibition and UWB double authentication by after be just admitted into danger zone.
Personnel are positioned in real time by UWB technology in factory danger zone, by counting by the fortune of positioning object
Dynamic state, the security control of Lai Jinhang personnel can be completed to fall alarm, SOS alarm, for a long time stop to by locating personnel
Alarm, abnormal offline alarm.
It should also be noted that, being equipped with audible and visual alarm system, cooperation positioning system is used, the triggering when there is alarm.Monitoring
Monitoring camera is disposed in region, is linked with alarm, when there is alarm to occur, calls in monitored picture, rapidly so as to staff
Processing in time.
System administration and position show that final system is deployed on a server, show for doing position, video prison
The work such as control, system administration, alarm management, report management.
Therefore, the localization method provided by the invention combined based on UWB positioning with monitoring, is solved traditional binocular camera and existed
The problem of personnel misidentify when dark；Solve the problems, such as that band card personnel do not enter supervision in factory danger zone；Solve production
Personnel's real time position is supervised in factory danger zone, can be counted personnel activity's situation in this area effectively in real time, be done
Behavioural analysis, support personnel's safety.
As the second aspect of the invention, a kind of positioning device combined based on UWB positioning with monitoring is provided, wherein
As shown in figure 5, the positioning device 100 combined based on UWB positioning with monitoring includes:
Setting module 110, the setting module 110 for set with UWB position the corresponding danger zone permission of label with
And the disengaging of setting danger zone determines fence；
First judgment module 120, the first judgment module 120 are used to position the corresponding danger zone of label according to UWB
Permission statistics is by positioning target by determining that fence passes in and out the quantity of danger zone；
Obtain module 130, it is described obtain module 130 be used for obtain monitoring device statistics by positioning target pass in and out danger area
The quantity in domain；
Second judgment module 140, second judgment module 140 are used to judge to position being determined for label statistics by UWB
Between the quantity of position target disengaging danger zone and the quantity for being passed in and out danger zone by positioning target for passing through monitoring device statistics
Size；
Determining module 150, if the determining module 150 is used to position being passed in and out by positioning target for label statistics by UWB
The quantity of danger zone is not less than the quantity that danger zone is passed in and out by positioning target counted by monitoring device, it is determined that passes through
It is practical disengaging danger zone by positioning target that UWB, which positions the quantity by positioning target disengaging danger zone of label statistics,
Quantity.
The positioning device provided by the invention combined based on UWB positioning with monitoring, is positioned label by UWB and monitoring fills
Common realization is set to the quantity for being passed in and out danger zone by positioning target, is solved in danger zone in the prior art not with card personnel
Into the problem of supervision, the safety of staff can effectively be managed.
Working principle about the positioning device provided by the invention combined based on UWB positioning with monitoring is referred to above
Based on UWB positioning with monitor the description of localization method combined, details are not described herein again.
As the third aspect of the invention, a kind of positioning system combined based on UWB positioning with monitoring is provided, wherein
As shown in fig. 6, the positioning system combined based on UWB positioning with monitoring includes: UWB locating base station, UWB positioning label, door
Access control system, monitoring device and it is previously described positioned based on UWB and monitor the positioning device that is combined, the UWB position label and
The UWB locating base station communication connection, the UWB locating base station, access control system and monitoring device are positioned with described based on UWB
The positioning device combined with monitoring communicates to connect.
The positioning system provided by the invention combined based on UWB positioning with monitoring, is positioned label by UWB and monitoring fills
Common realization is set to the quantity for being passed in and out danger zone by positioning target, is solved in danger zone in the prior art not with card personnel
Into the problem of supervision, the safety of staff can effectively be managed.
Working principle about the positioning system provided by the invention combined based on UWB positioning with monitoring is referred to above
Based on UWB positioning with monitor the description of localization method combined, details are not described herein again.
It is understood that the principle that embodiment of above is intended to be merely illustrative of the present and the exemplary implementation that uses
Mode, however the present invention is not limited thereto.For those skilled in the art, essence of the invention is not being departed from
In the case where mind and essence, various changes and modifications can be made therein, these variations and modifications are also considered as protection scope of the present invention.
Claims (10)
1. a kind of localization method combined based on UWB positioning with monitoring, which is characterized in that described to be based on UWB positioning and monitor to tie
The localization method of conjunction includes:
Setting danger zone permission corresponding with UWB positioning label and the disengaging of setting danger zone determine fence；
The corresponding danger zone permission statistics of label is positioned by positioning target by determining that fence passes in and out danger zone according to UWB
Quantity；
Obtain the quantity by positioning target disengaging danger zone of monitoring device statistics；
What judgement was counted by the quantity for being passed in and out danger zone by positioning target of UWB positioning label statistics and by monitoring device
By the size between the quantity of positioning target disengaging danger zone；
It is counted if being not less than by the quantity for being passed in and out danger zone by positioning target that UWB positions label statistics by monitoring device
The quantity by positioning target disengaging danger zone, it is determined that passing through UWB, to position being passed in and out by positioning target for label statistics dangerous
The quantity in region is the quantity by positioning target of practical disengaging danger zone.
2. the localization method according to claim 1 combined based on UWB positioning with monitoring, which is characterized in that the basis
UWB positions the corresponding danger zone permission statistics of label by positioning target by determining that fence passes in and out the quantity packet of danger zone
It includes:
Judge whether danger zone is entered by positioning target according to inner product of vectors method；
If it is determined that being to enter danger zone by positioning target, then the quantity by positioning target into danger zone is counted；
Conversely, then statistics leaves the quantity by positioning target of danger zone.
3. the localization method according to claim 2 combined based on UWB positioning with monitoring, which is characterized in that the basis
The corresponding danger zone permission statistics of UWB positioning label is by positioning target by determining that the quantity of fence disengaging danger zone is also wrapped
It includes and is carried out after the step of determining by positioning target into danger zone:
Label, which is positioned, by UWB judges the permission for whether being had into danger zone by positioning target；
If it is determined that having the permission into danger zone by positioning target, then record is entered the information of danger zone by positioning target；
Conversely, then issuing the alarm signal of non-admitted entrance.
4. the localization method according to claim 3 combined based on UWB positioning with monitoring, which is characterized in that described to pass through
Whether UWB positioning label judges to be had by positioning target the permission into danger zone include:
The certification for whether being met access control system by the identity of positioning target is judged by access control system, and is positioned and marked by UWB
Label judge by the position of positioning target whether the position consistency with access control system.
5. the localization method according to claim 2 combined based on UWB positioning with monitoring, which is characterized in that the basis
Inner product of vectors method judge by positioning target whether into danger zone include:
At the judgement fence, the direction into danger zone is selected as reference vector；
The first coordinate when record enters danger zone at the judgement fence by positioning target；
The second coordinate when record leaves danger zone at the judgement fence by positioning target；
Calculate the practical vector of the first coordinate to the second coordinate；
Calculate the angle between the reference vector and the practical vector；
According to the inner product between angle calcu-lation reference vector and practical vector, inner product result is obtained；
Judge whether the inner product result is greater than 0；
If the inner product result is greater than 0, determine it is to enter danger zone by positioning target；
If the inner product result less than 0, determines by positioning target to be to leave danger zone.
6. the localization method according to claim 1 combined based on UWB positioning with monitoring, which is characterized in that if described logical
The quantity by positioning target disengaging danger zone for crossing UWB positioning label statistics is not less than to be positioned by what monitoring device counted
The quantity of target disengaging danger zone, it is determined that the number that danger zone is passed in and out by positioning target of label statistics is positioned by UWB
Amount is that the quantity by positioning target of practical disengaging danger zone includes:
Judgement passes through monitoring device by the way that whether the quantity for passing in and out danger zone by positioning target that UWB positions label statistics is equal to
The quantity by positioning target disengaging danger zone of statistics；
It is counted if being equal to by the quantity for being passed in and out danger zone by positioning target that UWB positions label statistics by monitoring device
By the quantity of positioning target disengaging danger zone, it is determined that pass in and out danger area by positioning target by UWB positioning label statistics
The quantity in domain is the quantity by positioning target of practical disengaging danger zone；
If being counted by the in varying numbers of danger zone that passed in and out by positioning target that UWB positions label statistics in by monitoring device
By positioning target disengaging danger zone quantity, then judgement by UWB position label statistics by positioning target disengaging danger
Whether the quantity in region is greater than the quantity that danger zone is passed in and out by positioning target counted by monitoring device；
It is counted if being greater than by the quantity for being passed in and out danger zone by positioning target that UWB positions label statistics by monitoring device
By the quantity of positioning target disengaging danger zone, it is determined that pass in and out danger area by positioning target by UWB positioning label statistics
The quantity in domain is the quantity by positioning target of practical disengaging danger zone.
7. the localization method according to claim 6 combined based on UWB positioning with monitoring, which is characterized in that if described logical
The quantity by positioning target disengaging danger zone for crossing UWB positioning label statistics is not less than to be positioned by what monitoring device counted
The quantity of target disengaging danger zone, it is determined that the number that danger zone is passed in and out by positioning target of label statistics is positioned by UWB
Amount is the practical quantity by positioning target for passing in and out danger zone further include:
It is counted if being not more than by the quantity for being passed in and out danger zone by positioning target that UWB positions label statistics by monitoring device
By positioning target disengaging danger zone quantity, it is determined that by monitoring device count by positioning target pass in and out danger zone
Quantity be the quantity by positioning target of practical disengaging danger zone, and issue the alarm that band card does not swarm into danger zone and believe
Number.
8. the localization method according to claim 1 combined based on UWB positioning with monitoring, which is characterized in that the monitoring
Device includes binocular camera.
9. a kind of positioning device combined based on UWB positioning with monitoring, which is characterized in that described to be based on UWB positioning and monitor to tie
The positioning device of conjunction includes:
Setting module, the setting module are dangerous for setting danger zone permission corresponding with UWB positioning label and setting
Region disengaging determines fence；
First judgment module, the first judgment module, which is used to position the corresponding danger zone permission of label according to UWB, counts quilt
Target is positioned by determining that fence passes in and out the quantity of danger zone；
Obtain module, the quantity by positioning target disengaging danger zone for obtaining module and being used to obtain monitoring device statistics；
Second judgment module, second judgment module are used to judge to position being passed in and out by positioning target for label statistics by UWB
Size between the quantity of danger zone and the quantity for being passed in and out danger zone by positioning target for passing through monitoring device statistics；
Determining module, if the determining module is used to pass in and out danger zone by positioning target by UWB positioning label statistics
Quantity is not less than the quantity that danger zone is passed in and out by positioning target counted by monitoring device, it is determined that is positioned and is marked by UWB
The quantity by positioning target disengaging danger zone of label statistics is the quantity by positioning target of practical disengaging danger zone.
10. a kind of positioning system combined based on UWB positioning with monitoring, which is characterized in that described to be based on UWB positioning and monitor to tie
The positioning system of conjunction includes: UWB locating base station, UWB positioning label, access control system, monitoring device and base as claimed in claim 9
In the positioning device that UWB positioning is combined with monitoring, the UWB positioning label and the UWB locating base station are communicated to connect, described
UWB locating base station, access control system and monitoring device with it is described based on UWB positioning with monitor the positioning device communication link that is combined
It connects.
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