CN113115216A - Indoor positioning method, service management server and computer storage medium - Google Patents

Indoor positioning method, service management server and computer storage medium Download PDF

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Publication number
CN113115216A
CN113115216A CN202110199609.6A CN202110199609A CN113115216A CN 113115216 A CN113115216 A CN 113115216A CN 202110199609 A CN202110199609 A CN 202110199609A CN 113115216 A CN113115216 A CN 113115216A
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China
Prior art keywords
target object
historical
position information
camera
cameras
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CN202110199609.6A
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CN113115216B (en
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符哲蔚
邓志吉
刘明
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Zhejiang Dahua Technology Co Ltd
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Zhejiang Dahua Technology Co Ltd
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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
    • 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
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Telephonic Communication Services (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)

Abstract

The application discloses an indoor positioning method, a service management server and a computer storage medium, wherein the indoor positioning method comprises the following steps: acquiring object information of a target object input by a user; the service management server searches a plurality of historical monitoring images matched with the object information in the stored video; respectively identifying a plurality of historical monitoring images to obtain the relative position information of the target object and the cameras corresponding to the plurality of historical monitoring images; obtaining a plurality of historical position information of the target object according to the relative position information of the target object and the camera and the position information of the camera; and forming a historical motion trail of the target object according to the plurality of historical position information of the target object, and sending the historical motion trail to the user terminal for displaying. The indoor positioning method provided by the application can save equipment cost on the premise of ensuring the positioning precision.

Description

Indoor positioning method, service management server and computer storage medium
Technical Field
The present application relates to the field of communications technologies, and in particular, to an indoor positioning method, a service management server, and a computer storage medium.
Background
Currently, a user can locate a current location outdoors through a Global Positioning System (GPS), and the GPS performs location by combining a satellite in space with a triangulation principle, so that location can be performed only by keeping communication with the satellite, which has a relatively high accuracy, but cannot be used in an indoor environment with a shelter above the satellite, and cannot perform location indoors because the GPS cannot be used.
For the above situations, indoor positioning is generally based on technologies such as WIFI, bluetooth, and UWB (Ultra Wide Band ) array, but the positioning technology based on WIFI has a precision of 3-15 meters, a large number of WIFI hotspots need to be additionally deployed, and a mobile terminal must be provided with WIFI; the positioning technology based on Bluetooth has the precision of 2-5 m, and a large number of Bluetooth base stations need to be deployed; the positioning technology based on the UWB array has the precision of 5-30 cm, but a large number of UWB stations need to be deployed, and each positioning needs to be provided with a UWB tag, so that the implementation difficulty and the cost are huge. Therefore, there is a need for an indoor positioning technique that avoids the above-mentioned drawbacks of the indoor positioning technique.
Disclosure of Invention
The technical problem mainly solved by the application is to provide an indoor positioning method, a service management server and a computer storage medium, and equipment cost can be saved on the premise of ensuring positioning accuracy.
In order to solve the technical problem, the application adopts a technical scheme that: there is provided an indoor positioning method, the method comprising: acquiring object information of a target object input by a user; the business management server searches a plurality of historical monitoring images matched with the object information in the stored video; respectively identifying a plurality of historical monitoring images to obtain the relative position information of the target object and the cameras corresponding to the plurality of historical monitoring images; obtaining a plurality of historical position information of the target object according to the relative position information of the target object and the camera and the position information of the camera; and forming a historical motion track of the target object according to the plurality of historical position information of the target object, and sending the historical motion track to a user terminal for displaying.
In order to solve the above technical problem, another technical solution adopted by the present application is: there is provided a service management server, which includes a processor, a memory and a communication circuit, wherein the processor is respectively coupled to the memory and the communication circuit, the memory stores program data, and the processor implements the steps of the method by executing the program data in the memory.
In order to solve the above technical problem, another technical solution adopted by the present application is: there is provided a computer storage medium having stored thereon a computer program executable by a processor to perform the steps of the above method.
The beneficial effect of this application is: the indoor positioning method in the application adopts the image recognition technology to obtain the relative position information of the target object and the camera, so that the position information of the target object is obtained according to the relative position information of the target object and the camera and the position information of the camera, and finally the motion track of the target object is formed according to a plurality of position information of the target object, the positioning of the target object is completed, the whole process does not need to carry any positioning equipment on the target object, and compared with the prior art, a large number of Bluetooth and UWB base stations specially used for positioning do not need to be built, and the equipment cost can be saved on the premise of ensuring the positioning precision.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts. Wherein:
fig. 1 is a schematic flow chart of an embodiment of an indoor positioning method according to the present application;
FIG. 2 is a schematic diagram of an embodiment of an indoor positioning system according to the present application;
FIG. 3 is a schematic structural diagram of another embodiment of an indoor positioning system of the present application;
FIG. 4 is a schematic partial flow diagram of the embodiment of FIG. 1;
FIG. 5 is a schematic structural diagram of an embodiment of a service management server according to the present application;
FIG. 6 is a schematic structural diagram of another embodiment of a service management server according to the present application;
FIG. 7 is a schematic structural diagram of an embodiment of a computer storage medium according to the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that, the indoor positioning method in the present application is executed by a service management server, the service management server establishes a communication connection with a user terminal, such as a mobile phone, a computer, and the like, and the user terminal is installed with an application program corresponding to the service management server, and before the method in the present application is implemented, a user registers on the user terminal through the corresponding application program, so that a target object can be positioned through corresponding application software.
Meanwhile, the indoor positioning method in the application can be applied to indoor positioning and can also be applied to outdoor positioning.
Referring to fig. 1, fig. 1 is a schematic flow chart diagram of an embodiment of an indoor positioning method according to the present application, the method including:
s110: object information of a target object input by a user is acquired.
Specifically, the user inputs object information of the target object on the user terminal (specifically, input through an application installed on the user terminal), and then the user terminal transmits the object information to the service management server (corresponding to the application).
The target object can be a person or an animal waiting positioning object, and the object information can be picture information, character description information and other information capable of representing the characteristics of the target object.
S120: and searching a plurality of historical monitoring images matched with the object information in the stored video by the service management server.
Specifically, the video stored in the service management server may be a video acquired by the camera in real time, that is, at this time, the service management server establishes a communication connection with the camera, and acquires and stores the video acquired by the camera in real time, or the video stored in the service management server may also be a video transmitted by other storage devices, that is, at this time, after the other storage devices obtain the video, the obtained video is transmitted to the service management server, where for convenience of description, the camera transmits the video acquired in real time to the service management server for storage.
For example, when the object information of the target object is an image of the target object, the service management server first identifies the image to obtain the features of the target object, and then searches the stored video for the historical monitoring image with the same features.
S130: and respectively identifying the plurality of historical monitoring images to obtain the relative position information of the target object and the cameras corresponding to the plurality of historical monitoring images.
Specifically, after obtaining a plurality of historical monitoring images, the service management server respectively identifies the plurality of historical monitoring images by using an image identification technology to obtain relative position information of a target object in the historical monitoring images and a camera shooting the historical monitoring images, wherein the relative position information includes, but is not limited to, relative distance, relative orientation information and the like.
S140: and obtaining a plurality of historical position information of the target object according to the relative position information of the target object and the camera and the position information of the camera.
Specifically, the position information of the camera is positioning information when the camera shoots historical monitoring images, so a plurality of historical position information of the target object can be obtained according to the relative position information of the target object and the camera and the position information of the camera.
In an application scenario, the position information of the camera is stored in the service management server by a designer after the camera is installed, and in another application scenario, considering that the position of the camera may move after the camera is installed, and in order to enable the whole method to be applicable to scenes such as camera movement and temporary deployment and control, the position information of the camera can also be position information actively acquired by the service management server, and at this time, in combination with fig. 2, the step of acquiring the position information of the camera specifically includes:
step S1: the service management server acquires the identifications of the multiple cameras corresponding to the multiple historical monitoring images.
Step S2: and sending a positioning request carrying the identifications of the plurality of cameras to the MEC server.
Step S3: and receiving the position information of the plurality of cameras sent by the MEC server.
Specifically, the indoor positioning method in the application scene is based on the 5G technology, and the 5G technology has the technical advantages of high speed, high reliability, low time delay and the like, and can provide favorable conditions for accurate indoor positioning.
It can be understood that, since the method in the application scenario is based on the 5G technology, the camera at this time is integrated with the 5G module and accesses the 5G network.
The identification of the camera and the camera have a one-to-one correspondence relationship, which may be an IP address or an IMSI number of the camera, or a name set for the camera in advance, or the like. Specifically, before executing the method, the operator needs to register the camera on the service management server, and the registered content includes, but is not limited to, an ID number (IP address or IMSI number), a name, a type (e.g., model of the camera, etc.), service details (e.g., area range shot by the camera, etc.), and the like of the camera.
After obtaining a plurality of historical monitoring images, the service management server determines cameras for shooting the plurality of historical monitoring images, then searches for identifiers of the cameras, then generates a positioning request carrying the identifiers of the cameras, and then sends the positioning request to an MEC (Mobile Edge Computing) server to request for acquiring position information of the cameras corresponding to the plurality of historical monitoring images.
After receiving the positioning request, the MEC server recognizes the positioning request to obtain the identifications of a plurality of cameras, then the MEC server sends the identifications of the plurality of cameras to a 5G core network, then the 5G core network sends the identifications of the plurality of cameras to a plurality of 5G indoor base stations, after receiving the identifications, the 5G indoor base stations interact with the corresponding cameras according to the identifications to generate measurement data (specifically, uplink relative arrival time UL-RTOA), then the 5G indoor base stations send the generated measurement data to the 5G core network, the 5G core network sends the measurement data to the MEC server, then the MEC server calculates the positions of the plurality of cameras according to the measurement data generated by the plurality of 5G indoor base stations and the positions of the 5G indoor base stations to obtain the position information of the plurality of cameras, and finally the MEC server sends the position information of the plurality of cameras to a service management server, therefore, the service management server obtains the position information of the plurality of cameras.
As can be seen from the above, in the application scenario, after receiving the object information input by the user, the service management server generates a positioning request through a series of analyses to acquire the position information of the camera from the MEC server, and acquires the position information of the camera through a series of steps, that is, before executing step S140, the service management server needs to request to acquire the position information of the camera.
In order to improve the processing efficiency of the whole method, in another application scenario, before receiving object information of a target object input by a user, the service management server requests to acquire position information of a camera, and in this case, before step S110, the method further includes: the method comprises the steps that a service management server sends a positioning request carrying identifications of a plurality of cameras to an MEC server according to a preset time interval (the preset time interval can be 10 minutes, 30 minutes and the like), wherein the plurality of cameras comprise a plurality of cameras corresponding to a plurality of historical monitoring images; and receiving the position information of the plurality of cameras sent by the MEC server.
Specifically, in the application scenario, before an object of a target object input by a user is not received, the service management server may request to acquire identifiers of multiple cameras, where the multiple cameras may be all cameras registered in the service management server, and a process of requesting to acquire location information of the multiple cameras at this time is similar to the request process, and for details, reference may be made to the process, and details are not described herein again.
In this application scenario, since the position information of the camera is already acquired before step S110, after a plurality of historical monitoring images are acquired in step S120, the position information of the camera corresponding to the plurality of historical monitoring images can be directly searched in the already acquired position information of the camera.
It should be noted that, in the two application scenarios, the process of sending the acquired video to the service management server by the camera is as follows: the camera sends the collected video to an indoor 5G base station, then the 5G base station sends to a 5G core network, the 5G core network sends to an MEC server, and finally the MEC server sends to a service management server.
Meanwhile, it should be noted that, different from the two application scenarios, in other application scenarios, the positioning request sent to the MEC server may be a positioning server that establishes a communication connection with the service management server instead of the service management server, with reference to fig. 3, at this time, the service management server requests the positioning server to acquire the position of the camera, then the positioning server generates the positioning request and sends the positioning request to the MEC server, and after the positioning server acquires the position of the camera, the positioning server sends the position of the camera to the service management server, and at this time, when the camera sends the video acquired in real time to the service management server, the sent video does not pass through the positioning server.
The arrows with filling patterns in fig. 2 and 3 represent the flow history of video data, and the solid arrows represent the flow history of signaling (including positioning request and positioning data).
The above describes the process of the service management server acquiring the position information of the camera, and the following steps after step S140 are described with reference to fig. 1 again.
S150: and forming a historical motion trail of the target object according to the plurality of historical position information of the target object, and sending the historical motion trail to the user terminal for displaying.
Specifically, after a plurality of pieces of historical position information of the target object are acquired, the plurality of pieces of historical position information are marked on a pre-imported map, so that a historical motion track of the target object can be formed and sent to the user terminal, and positioning of the target object is completed.
It can be seen from the above contents that the whole process can be realized without carrying any positioning device on the target object, and compared with the prior art, a large number of bluetooth and UWB base stations specially used for positioning do not need to be built, and the device cost can be saved on the premise of ensuring the positioning accuracy.
In this embodiment, in order to enable the user to see the target object in real time, with reference to fig. 4, the indoor positioning method further includes:
s160: and searching the historical monitoring image closest to the current moment in the plurality of historical monitoring images.
Specifically, the history monitoring image closest to the current time, that is, the latest history monitoring image, is searched for from the plurality of history monitoring images searched in step S120.
S170: and judging whether a target object exists in the monitoring video uploaded in real time by the camera corresponding to the latest historical monitoring image.
If the determination result is yes, the process proceeds to step S181, and if the determination result is no, the process proceeds to step S190.
Specifically, if the determination result is yes, it indicates that the target object is still in the shooting area of the camera corresponding to the latest historical monitoring image, step S181 is executed, otherwise step S190 is executed.
S181: and sending the monitoring video uploaded in real time to a user terminal for displaying.
Specifically, the monitoring video uploaded by the camera corresponding to the latest historical monitoring image is sent to the user terminal, so that the user terminal can see the target object in real time.
S182: and updating the historical motion trail of the target object according to the real-time uploaded monitoring video, and sending the updated historical motion trail to the user terminal for displaying.
Specifically, each frame of image recognition is performed on the monitoring video uploaded in real time or image recognition is performed at certain frame intervals to obtain the relative position information of the target object and the camera, and meanwhile, because the position information of the camera is obtained according to the method, the position information of the target object can be obtained according to the relative position information of the target object and the camera and the position information of the camera, so that the historical motion track of the target object is updated in real time or according to preset intervals and is sent to the user terminal, and the position track of the user is continuously updated.
In other embodiments, there may be only one step S181 and one step S182, and when both steps S181 and S182 exist, there is no necessary order between them.
S190: no treatment is done.
Meanwhile, in the embodiment, when the target object does not exist in the monitoring video uploaded in real time by the camera corresponding to the latest historical monitoring image, it is indicated that the target object is not in the shooting area of the camera corresponding to the latest historical monitoring image, at this time, the camera corresponding to the current location of the target object needs to be determined, therefore, the monitoring image matched with the object information of the target object is searched in all the videos received in real time, the camera corresponding to the monitoring image is used for positioning the corresponding camera for the target object at present, then the historical motion track of the target object is updated in real time according to the monitoring video uploaded by the camera corresponding to the monitoring image in real time, and the updated historical motion track is sent to the user terminal for displaying, therefore, the position track of the target object is continuously updated, wherein the process of updating the historical motion track at the moment comprises the following steps: determining the relative position information of the target object and the camera (identifying each frame of image for the video or identifying the image according to the preset frame number); acquiring the position information of the camera (for a specific process, see the above steps 1 to 3 and related steps); and determining the position information of the target object according to the relative position information of the target object and the camera and the position information of the camera, so as to update the track of the target object according to the position information of the target object.
In another embodiment, when a target object does not exist in a monitored video uploaded in real time by a camera (defined as a first camera for convenience of explanation) corresponding to a latest historical monitored image, considering that the target object does not travel too far in a short time and may be near the first camera, a second camera (one or more) which is at a preset distance range from the first camera is determined, then a monitored image matched with object information of the target object is searched for in a video uploaded by the second camera, if the monitored image is searched for, the track of the target object is updated according to the searched result, and if the monitored image is not searched for, the monitored image matched with the object information of the target object is searched for in all videos received in real time.
In this embodiment, the indoor positioning method further includes:
step S4: and acquiring positioning points selected by a user on the historical track, and determining cameras corresponding to the positioning points.
Step S5: and sending the video of the target object shot by the corresponding camera to the user terminal for displaying.
Specifically, when a user selects a certain positioning point on a user terminal, the service management server identifies the positioning point, and queries the positioning point according to the position of which camera is obtained, the queried camera is a camera corresponding to the positioning point, and then captures a video including a target object from a video uploaded by the camera and sends the video to the user terminal for display, so that for the user, a historical video of the positioning point can be retrieved on a historical motion track for viewing, or after a camera corresponding to the positioning point is determined, a historical monitoring image shot by the camera corresponding to the positioning point can be queried from a plurality of historical monitoring images obtained in step S120, and then the queried historical monitoring image is sent to the user terminal for display.
It should be noted that the indoor positioning method is not necessarily based on the 5G technology, but can also be implemented under the 4G technology, and it is understood that when the method is implemented based on the 4G technology, the indoor positioning system is no longer the system of fig. 2 and 3, and an adaptive change is made.
Referring to fig. 5, fig. 5 is a schematic structural diagram of an embodiment of the service management server according to the present application. The service management server 200 includes a processor 210, a memory 220, and a communication circuit 230, wherein the processor 210 is coupled to the memory 220 and the communication circuit 230, respectively, the memory 220 stores program data, and the processor 210 implements the steps of the indoor positioning method according to any of the embodiments by executing the program data in the memory 220, and the detailed steps can be referred to the embodiments and are not described herein again.
Referring to fig. 6, fig. 6 is a schematic structural diagram of an embodiment of the service management server according to the present application. The service management server 300 includes an acquisition module 310, a search module 320, an identification module 330, a location determination module 340, and a trajectory formation module 350.
The obtaining module 310 is used for obtaining object information of a target object input by a user.
The searching module 320 is connected to the obtaining module 310, and is configured to search the stored video for multiple historical monitoring images matching the object information.
The identification module 330 is connected to the search module 320, and is configured to identify the multiple historical monitoring images respectively, so as to obtain the relative position information of the target object and the cameras corresponding to the multiple historical monitoring images.
The position determining module 340 is connected to the identifying module 330, and configured to obtain a plurality of historical position information of the target object according to the relative position information of the target object and the camera and the position information of the camera.
The track forming module 350 is connected to the position determining module 340, and is configured to form a historical motion track of the target object according to a plurality of historical position information of the target object, and send the historical motion track to the user terminal for displaying.
In an embodiment, the position determining module 340 is further configured to obtain identifiers of multiple cameras corresponding to multiple historical monitoring images, send a positioning request carrying the identifiers of the multiple cameras to the MEC server, and finally receive position information of the multiple cameras sent by the MEC server, where after receiving the positioning request, the MEC server sends the identifiers of the multiple cameras to multiple 5G indoor base stations through a 5G core network, so that the multiple 5G indoor base stations interact with the corresponding cameras according to the identifiers to generate measurement data, and after obtaining the measurement data through the 5G core network, the MEC server obtains the position information of the multiple cameras according to the measurement data and the position information of the multiple 5G indoor base stations.
In an embodiment, the position determining module 340 is further configured to send a positioning request carrying identifiers of multiple cameras to the MEC server according to a preset time interval, where the multiple cameras include multiple cameras corresponding to multiple historical monitoring images, and then receive position information of the multiple cameras sent by the MEC server, where the MEC server sends the identifiers of the multiple cameras to multiple 5G indoor base stations through a 5G core network after receiving the positioning request, so that the multiple 5G indoor base stations interact with the corresponding cameras according to the identifiers to generate measurement data, and after acquiring the measurement data through the 5G core network, the MEC server obtains the position information of the multiple cameras according to the measurement data and the position information of the multiple 5G indoor base stations.
In an embodiment, the searching module 320 is further configured to search a historical monitoring image closest to the current time from among the multiple historical monitoring images, determine whether a target object exists in a monitoring video uploaded in real time by a camera corresponding to the recent historical monitoring image, and if the determination result is yes, the trajectory forming module 350 sends the monitoring video uploaded in real time to the user terminal for displaying.
In an embodiment, the searching module 320 is further configured to search a historical monitoring image closest to the current time from among the multiple historical monitoring images, determine whether a target object exists in a monitoring video uploaded in real time by a camera corresponding to the recent historical monitoring image, if the determination result is yes, the track forming module 350 updates a historical motion track of the target object according to the monitoring video uploaded in real time, and sends the updated historical motion track to the user terminal for displaying.
In an embodiment, the searching module 320 is further configured to, when a target object does not exist in a monitoring video uploaded in real time by a camera corresponding to a latest historical monitoring image, search for a monitoring image matched with the target object in all videos received in real time, update a historical motion trajectory of the target object in real time by the trajectory forming module 350 according to the monitoring video uploaded in real time by the camera corresponding to the monitoring image, and send the updated historical motion trajectory to the user terminal for displaying.
In an embodiment, the obtaining module 310 is further configured to obtain a positioning point selected by a user on a historical track, the searching module 320 determines a camera corresponding to the positioning point, and the track forming module 350 sends a video of a target object shot by the corresponding camera to the user terminal for displaying.
In an embodiment, the service management server 300 further includes a saving module, configured to save the acquired video acquired in real time by the camera.
Referring to fig. 7, fig. 7 is a schematic structural diagram of an embodiment of a computer storage medium according to the present application. The computer storage medium 400 stores a computer program 410, the computer program 410 being executable by a processor to implement the steps of any of the methods described above.
The computer storage medium 400 may be a device that can store the computer program 410, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk, or may be a server that stores the computer program 410, and the server may send the stored computer program 410 to another device for operation, or may self-operate the stored computer program 410.
The above embodiments are merely examples and are not intended to limit the scope of the present disclosure, and all modifications, equivalents, and flow charts using the contents of the specification and drawings of the present disclosure or those directly or indirectly applied to other related technical fields are intended to be included in the scope of the present disclosure.

Claims (10)

1. An indoor positioning method, characterized in that the method comprises:
acquiring object information of a target object input by a user;
the business management server searches a plurality of historical monitoring images matched with the object information in the stored video;
respectively identifying a plurality of historical monitoring images to obtain the relative position information of the target object and the cameras corresponding to the plurality of historical monitoring images;
obtaining a plurality of historical position information of the target object according to the relative position information of the target object and the camera and the position information of the camera;
and forming a historical motion track of the target object according to the plurality of historical position information of the target object, and sending the historical motion track to a user terminal for displaying.
2. The method of claim 1, wherein the step of obtaining a plurality of historical position information of the target object according to the relative position information of the target object and the camera and the position information of the camera is preceded by:
the business management server acquires the identifications of a plurality of cameras corresponding to the plurality of historical monitoring images;
sending a positioning request carrying the identifications of the plurality of cameras to an MEC server;
receiving the position information of the plurality of cameras sent by the MEC server;
after receiving the positioning request, the MEC server sends the identifiers of the cameras to a plurality of 5G indoor base stations through a 5G core network, so that the plurality of 5G indoor base stations interact with the corresponding cameras according to the identifiers to generate measurement data, and after acquiring the measurement data through the 5G core network, the MEC server obtains the position information of the cameras according to the measurement data and the position information of the plurality of 5G indoor base stations.
3. The method according to claim 1, wherein the step of obtaining the object information of the target object input by the user is preceded by:
the service management server sends a positioning request carrying identifications of a plurality of cameras to an MEC server according to a preset time interval, wherein the plurality of cameras comprise a plurality of cameras corresponding to the plurality of historical monitoring images;
receiving the position information of the plurality of cameras sent by the MEC server;
after receiving the positioning request, the MEC server sends the identifiers of the cameras to a plurality of 5G indoor base stations through a 5G core network, so that the plurality of 5G indoor base stations interact with the corresponding cameras according to the identifiers to generate measurement data, and after acquiring the measurement data through the 5G core network, the MEC server obtains the position information of the cameras according to the measurement data and the position information of the plurality of 5G indoor base stations.
4. The method of claim 1, further comprising:
searching a historical monitoring image closest to the current moment in the plurality of historical monitoring images;
judging whether the target object exists in the monitoring video uploaded in real time by the camera corresponding to the latest historical monitoring image;
and if so, sending the real-time uploaded monitoring video to the user terminal for displaying.
5. The method of claim 1, further comprising:
searching a historical monitoring image closest to the current moment in the plurality of historical monitoring images;
judging whether the target object exists in the monitoring video uploaded in real time by the camera corresponding to the latest historical monitoring image;
if the judgment result is yes, updating the historical motion track of the target object according to the real-time uploaded monitoring video, and sending the updated historical motion track to the user terminal for displaying.
6. The method of claim 5, further comprising:
when the target object does not exist in the monitoring video uploaded by the camera corresponding to the recent historical monitoring image in real time, searching the monitoring image matched with the target object in all the videos received in real time;
and updating the historical motion trail of the target object in real time according to the monitoring video uploaded by the camera corresponding to the monitoring image in real time, and sending the updated historical motion trail to the user terminal for displaying.
7. The method of claim 1, further comprising:
acquiring a positioning point selected by a user on the historical track, and determining a camera corresponding to the positioning point;
and sending the video of the target object shot by the corresponding camera to the user terminal for displaying.
8. The method of claim 1, further comprising:
and acquiring and storing the video acquired by the camera in real time.
9. A traffic management server, comprising a processor, a memory and a communication circuit, wherein the processor is respectively coupled to the memory and the communication circuit, the memory stores program data, and the processor executes the program data in the memory to implement the steps of the method according to any one of claims 1-8.
10. A computer storage medium, characterized in that the computer storage medium stores a computer program executable by a processor to implement the steps in the method according to any one of claims 1-8.
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