CN113884097A - Full-space dynamic detection risk area defining method and system and safety early warning method - Google Patents
Full-space dynamic detection risk area defining method and system and safety early warning method Download PDFInfo
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Abstract
The invention provides a total space dynamic detection risk area dividing method, which comprises the steps of obtaining path azimuth information and path positioning information of a mobile terminal in a space, inputting the path azimuth information and the path positioning information into a terminal and converting the path azimuth information and the path positioning information into a mobile terminal signal; acquiring multiple groups of three-dimensional path information of the mobile terminal by using a plurality of sensing terminals in the space, recording the three-dimensional path information into the terminal and converting the three-dimensional path information into sensing terminal signals; calculating a moving end target coordinate and a sensing end target coordinate, and performing coordinate correction on the sensing end target coordinate by using the moving end target coordinate; generating a moving track of a moving end target and a moving track of a sensing end target, and performing path composition on the moving track of the moving end target and the moving track of the sensing end target; and dividing a dynamic detection reliable area and a dynamic detection risk area according to the compounded moving track of the moving end target and the moving track of the sensing end target. By the method, serial application of a plurality of dynamic sensing ends and visualization of dynamic sensing range can be realized.
Description
Technical Field
The invention relates to the technical field of dynamic sensing, in particular to a method and a system for delimiting a full-space dynamic detection risk area and a safety early warning method.
Background
In recent years, with the importance of people on life and property and public safety, modern buildings are usually designed with dynamic sensing terminals indoors to detect indoor actions.
At present, the dynamic sensing end on the market is mostly single device, but in the practical application scene, domestic space is many spaces, and commercial space is mostly big space, consequently causes the management of dynamic sensing end comparatively complicated, and the not good defect of scope utilization ratio is listened simultaneously for dynamic sensing end is difficult to promote in a large scale under the restriction of this type of scene.
In addition, one of the radar detection technologies of dynamic sensing is sensitive to detecting mobile objects, and it is difficult to reflect non-mobile objects such as walls and furniture on the interface of the application end, so that users cannot know whether the radar completely covers the range to be detected and further generates detection dead angles in a general installation situation.
Therefore, it is very important to provide a full-space detection method, system and security early warning method that can break through the limitation of the application scenario and have a visual detection range.
Disclosure of Invention
In order to solve the technical problems that dynamic sensing is limited by application scenes and detection dead angles are easily generated in the prior art, the invention provides a method, a system and a safety early warning method for delimiting a full-space dynamic detection risk area, which are used for solving the technical problems so as to realize that dynamic sensing breaks through the limitation of the application scenes and the detection range is visualized.
According to a first aspect of the present application, a method for defining a full-space dynamic risk detection region is provided, including:
acquiring path azimuth information and path positioning information of a mobile terminal in space, recording the path azimuth information and the path positioning information into a terminal, and converting the path azimuth information and the path positioning information into a mobile terminal signal;
enabling the mobile terminal to detour in the space, acquiring multiple groups of three-dimensional path information of the mobile terminal by using multiple sensing terminals in the space, inputting the multiple groups of three-dimensional path information into the terminal and converting the multiple groups of three-dimensional path information into sensing terminal signals;
respectively calculating a moving end target coordinate and a sensing end target coordinate according to the moving end signal and the sensing end signal, and carrying out coordinate correction on the sensing end target coordinate by using the moving end target coordinate;
generating a moving end target moving track and a sensing end target moving track according to the detour path of the moving end in the space, and performing path compounding on the moving end target moving track and the sensing end target moving track;
and dividing a dynamic detection reliable area and a dynamic detection risk area according to the compounded moving track of the moving end target and the moving track of the sensing end target.
The method for delimiting the full-space dynamic detection risk region can provide a dynamic detection reliable region and a dynamic detection risk region (namely a dynamic detection dead angle) in the full space of a user by serially applying the sensing ends of a plurality of positions (multiple spaces) in the full space, thereby visualizing the dynamic detection range; the multiple sensing ends after being connected in series can unify the triggering events of the multiple sensing ends in the space and can record the events more completely, so that the application scene limitation of the existing dynamic sensing is broken through.
Preferably, the step of acquiring the path position information and the path positioning information of the mobile terminal in the space specifically includes:
acquiring path azimuth information of a moving end in a space by using a gyroscope configured on the moving end, and acquiring path positioning information of the moving end in the space by using an indoor positioning technology;
the step of acquiring the multiple sets of three-dimensional path information of the moving end by using the multiple sensing ends in the space specifically includes:
and a plurality of sensing ends acquire a plurality of groups of three-dimensional path information of the mobile end in the space by utilizing a three-dimensional positioning technology.
Preferably, the moving end signal is a UWB signal, the sensing end signal is a radar signal, and the step of calculating the moving end target coordinate and the sensing end target coordinate according to the moving end signal and the sensing end signal specifically includes:
processing the UWB signal to obtain a mobile terminal target coordinate, wherein the mobile terminal target coordinate is a UWB target coordinate;
and processing the radar signals, and performing human shape clustering by using a radar clustering algorithm, wherein the circle center coordinate of the human shape clustering is the target coordinate of the sensing end.
Preferably, the step of performing coordinate correction on the sensing end target coordinate by using the moving end target coordinate specifically includes:
and performing difference operation on the circle center coordinates of the humanoid clusters and UWB target coordinates, and compensating the difference operation results back to the humanoid clusters, so that the circle center coordinates of the humanoid clusters are consistent with the UWB target coordinates.
Because the positioning precision of the radar is poor, and the positioning precision of the UWB is high, the coordinates of the circle center of the human figure cluster are corrected through the UWB target coordinates, and a more accurate target coordinate of the sensing end can be obtained.
Preferably, before the step of compensating the difference operation result back to the human-shaped cluster, the method further includes:
and judging whether the distance between the circle center coordinate of the humanoid cluster and the UWB target coordinate is larger than a margin, if so, compensating the difference value operation result back to the humanoid cluster, and if not, failing to correct.
By the method, data in an error range allowed by UWB and radar positioning technologies are reserved, data with large errors are abandoned, the fact that the difference between the spherical center coordinate of the humanoid cluster measured by the sensing end and the coordinate of the actual moving end is large, and the difference between the detour path of the moving end in space measured by the sensing end and the actual moving end is large is prevented.
Preferably, the moving track of the moving end target is a UWB target moving track, the moving track of the sensing end target is a humanoid clustering moving track, and the step of dividing a dynamic risk detection region according to the combined moving track of the moving end target and the sensing end target moving track specifically includes:
and judging whether the compounded UWB target moving track and the compounded humanoid clustering moving track are completely compounded or not, if so, no dynamic detection risk exists, and if not, connecting head and tail end points of the track which cannot be compounded, so that a closed dynamic detection risk area is formed in the non-compounded area.
Because the UWB target moving track is measured when the moving end detours in the whole space, and the humanoid clustering moving track is measured by the sensing end after the moving end enters the sensing area, the part which can not be compounded by the UWB target moving track and the humanoid clustering moving track can be known to be measured outside the sensing area, and the dynamic sensing risk area can be defined by connecting the track head end points and the tail end points of the track compound part of the UWB target moving track and the humanoid clustering moving track.
Preferably, before the step of dividing a dynamic risk detection region according to the combined moving end target movement trajectory and the sensing end target movement trajectory, the method further includes:
acquiring a moving direction reference signal of the moving end in the space;
and integrating the moving direction reference signal into the combined UWB target moving track and the humanoid clustering moving track so as to output the UWB target moving track and the humanoid clustering moving track with directions.
By integrating the moving direction reference signal into the combined UWB target moving track and the humanoid clustering moving track, the moving direction of the moving end in the space can be known.
Preferably, the step of acquiring a moving direction reference signal of the moving end in the space specifically includes:
and acquiring a moving signal of the moving end in the space by using a gravity sensor and an electronic compass sensor which are configured on the moving end, and processing the moving signal to acquire a moving direction reference signal of the moving end in the space.
Preferably, the method further comprises the following steps:
and connecting the starting points of the moving tracks of the moving end targets to form a closed area, and outwards stretching the edge line of the closed area for N distances to form the intelligent virtual wall surface.
Because the mobile terminal bypasses along the edge of the space, after the starting points of the target moving tracks of the mobile terminal are connected to form a closed area, the area can be known to be the range in which the space can move, and then an intelligent virtual wall surface is constructed according to the closed area, so that the map information of the space can be acquired. For example, when the user walks around a plurality of rooms in a home, the layout of each room in the room can be roughly known according to the constructed intelligent virtual wall surface, so that the spatial layout of the room is visualized.
According to a second aspect of the present application, a system for full-space dynamic risk area detection is provided, which includes:
the mobile terminal signal acquisition unit is configured to acquire path azimuth information and path positioning information of a mobile terminal in space, record the path azimuth information and the path positioning information into a terminal and convert the path azimuth information and the path positioning information into a mobile terminal signal;
the sensing terminal signal acquisition units are configured to acquire multiple sets of three-dimensional path information of the moving terminal in the process that the moving terminal detours along the space, and record the multiple sets of three-dimensional path information into the terminal and convert the three-dimensional path information into sensing terminal signals;
the coordinate correction unit is configured to calculate a moving end target coordinate and a sensing end target coordinate according to the moving end signal and the sensing end signal respectively, and perform coordinate correction on the sensing end target coordinate by using the moving end target coordinate;
the path compounding unit is configured to generate a moving end target moving track and a sensing end target moving track according to a detour path of the moving end in the space, and perform path compounding on the moving end target moving track and the sensing end target moving track;
and the dynamic detection risk area dividing unit is configured for dividing a dynamic detection reliable area and a dynamic detection risk area according to the combined moving track of the moving end target and the moving track of the sensing end target.
The system reduces the overall software and hardware development cost, greatly improves the economic benefit, improves the practical surface conditions required by large-scale commercial use of the dynamic sensing technology, and further multiplies the conversion of technical value.
Preferably, the method further comprises the following steps:
and the gateway equipment is configured and used for realizing communication among the mobile terminal signal acquisition unit, the sensing terminal signal acquisition unit, the coordinate correction unit, the path combination unit and the dynamic detection risk area division unit.
According to a third aspect of the present application, a safety precaution method for a dynamic detection reliable region divided by a full-space dynamic detection risk region dividing method in a space is provided, which includes:
and sensing the moving path of the object in the dynamic detection reliable area by using the plurality of sensing ends, and alarming when the sensing ends detect that the moving path of the object exceeds the target track of the moving end.
The application provides a total space dynamic detection risk area dividing method, a system and a safety early warning method, a plurality of sensing ends are respectively installed on a plurality of positions in a space, a user holds a mobile end to detour along the edge of the space to be detected, the mobile end and the sensing ends acquire dynamic path information of the mobile end, gateway equipment transmits the dynamic path information to a terminal, the terminal performs path correction and path composition on the dynamic path information, an intelligent virtual wall is constructed according to the moving track of the mobile end, and a dynamic detection reliable area and a dynamic detection risk area in the space are divided, so that a map and a dynamic detection coverage area of the space are acquired on the terminal, and the serial application of the sensing ends and the visualization of the dynamic detection range are realized. Meanwhile, the sensing end senses the moving path of the object in the dynamic detection reliable area, and the sensing end alarms when the moving path of the object exceeds the target track of the moving end.
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The accompanying drawings are included to provide a further understanding of the embodiments and are incorporated in and constitute a part of this specification. The drawings illustrate embodiments and together with the description serve to explain the principles of the invention. Other embodiments and many of the intended advantages of embodiments will be readily appreciated as they become better understood by reference to the following detailed description. The elements of the drawings are not necessarily to scale relative to each other. Like reference numerals designate corresponding similar parts.
FIG. 1 is a block diagram of a system for full-space dynamic risk area delineation according to an embodiment of the present invention;
FIG. 2 is a communication logic diagram of a full-space active risk area detection system according to an embodiment of the present invention;
FIG. 3 is a logical diagram of information for a full-space active risk area delineation system according to an embodiment of the present invention;
FIG. 4 is a diagram of an applied architecture of a system for full-space dynamic risk area detection according to an embodiment of the present invention;
FIG. 5 is a flowchart of a method for full-space dynamic risk area delineation according to an embodiment of the present invention;
FIG. 6 is a flow chart illustrating path correction for a method for full-space active risk area delineation according to an embodiment of the present invention;
FIG. 7 is a comparison chart of a path calibration before and after a full-space dynamic risk area detection method according to an embodiment of the present invention;
FIG. 8 is a flow chart of path composition of a method for full-space dynamic risk area delineation according to an embodiment of the present invention;
FIG. 9 is a schematic diagram of a dynamic detection process in a single space according to one embodiment of the invention;
FIG. 10 is a schematic diagram illustrating the definition of risk regions for dynamic detection in a single space according to one embodiment of the present invention;
FIG. 11 is a diagram illustrating a dynamic detection process in multiple spaces according to one embodiment of the present invention;
FIG. 12 is a schematic diagram illustrating the delineation of multiple intra-spatial risk zones according to one embodiment of the present invention;
FIG. 13 is a flowchart of constructing a smart virtual wall according to one embodiment of the present invention;
FIG. 14 is a block diagram of a home scenario in which the method for full-space dynamic risk area delineation is applied according to an embodiment of the present invention;
FIG. 15 is a block diagram of an application of the method for full-space dynamic risk area delineation in a commercial scenario according to an embodiment of the present invention;
fig. 16 is a flowchart of a safety precaution method according to an embodiment of the invention.
Description of reference numerals: 1. a mobile terminal signal acquisition unit; 2. a sensing end signal acquisition unit; 3. a coordinate correction unit; 4. a path composition unit; 5. a dynamic risk area detection and division unit; 6. a gateway device; 7. a smart phone; 8. a sub MCU dynamic sensor; 9. a master MCU dynamic sensor; 10. a cloud end; 11. a router; 12. a sensing end; 121. dynamically detecting a reliable area; 122. sensing a moving track of the end target; 13. a mobile terminal; 131. moving the target moving track of the moving end; 14. and dynamically detecting the risk area.
Detailed Description
Features and exemplary embodiments of various aspects of the present invention will be described in detail below, and in order to make objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention. It will be apparent to one skilled in the art that the present invention may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present invention by illustrating examples of the present invention.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. The term "comprising", without further limitation, means that the element so defined is not excluded from the list of additional identical elements in a process, method, article, or apparatus that comprises the element.
Fig. 1 is a system block diagram of a total space dynamic risk area delineation system according to an embodiment of the present invention, and as shown in fig. 1, the total space dynamic risk area delineation system includes:
the mobile terminal signal acquisition unit 1 is configured to acquire path azimuth information and path positioning information of a mobile terminal in a space, and record the path azimuth information and the path positioning information into a terminal and convert the path azimuth information and the path positioning information into a mobile terminal signal;
the multiple sensing end signal acquisition units 2 are configured to acquire multiple sets of three-dimensional path information of the mobile end in the process that the mobile end detours along the space, and record the multiple sets of three-dimensional path information into the terminal and convert the multiple sets of three-dimensional path information into sensing end signals;
the coordinate correction unit 3 is configured to calculate a moving end target coordinate and a sensing end target coordinate according to the moving end signal and the sensing end signal respectively, and perform coordinate correction on the sensing end target coordinate by using the moving end target coordinate;
the path compounding unit 4 is configured to generate a moving end target moving track and a sensing end target moving track according to a detour path of the moving end in the space, and perform path compounding on the moving end target moving track and the sensing end target moving track;
a dynamic detection risk area dividing unit 5 configured to divide a dynamic detection reliable area and a dynamic detection risk area according to the combined moving end target moving track and sensing end target moving track;
the gateway device 6 is configured to implement communication between the mobile terminal signal acquiring unit 1, the multiple sensing terminal 12 signal acquiring units 2, the coordinate correcting unit 3, the path combining unit 4, and the dynamic detection risk area dividing unit 5.
Specifically, a plurality of sensing terminals are respectively installed at a plurality of positions in a space, a user holds a mobile terminal to detour along the edge of the space to be detected, the mobile terminal and the sensing terminals acquire dynamic path information of the mobile terminal, the gateway device 6 transmits the dynamic path information to the terminal, the terminal performs path correction and path composition on the dynamic path information, an intelligent virtual wall is constructed according to the moving track of the mobile terminal, a dynamic detection reliable area and a dynamic detection risk area in the space are divided, a map and a dynamic detection coverage area of the space are acquired on the terminal, and then the serial application of the sensing terminals and the visualization of the dynamic detection range are realized.
Fig. 2 is a communication logic diagram of a system for full-space dynamic risk area detection according to an embodiment of the present invention, as shown in fig. 2, in this embodiment: the mobile terminal is a smart phone 7 with a positioning function, and in other embodiments, the mobile terminal may also be a wearable device with a positioning function, such as a smart watch; the sensing end includes but is not limited to an MCU dynamic sensor, and the MCU dynamic sensor includes a sub MCU dynamic sensor 8 and a mother MCU dynamic sensor 9, the sub MCU dynamic sensor 8 communicates with the gateway device 6 through the mother MCU dynamic sensor 9, in other embodiments, the sub MCU dynamic sensor 8 can also communicate with the gateway device 6 directly; gateway device 6 includes, but is not limited to, router 11; the terminal is a cloud 10, such as a computer, a laptop, or an ipad, and in other embodiments, the terminal may also be a local device. Meanwhile, as will be understood by those skilled in the art, the smart phone 7 of the present embodiment communicates with the router 11 in a wireless manner, but the MCU dynamic sensor may communicate with the router 11 in a wired manner or a wireless manner.
FIG. 3 is a logical diagram of information for a full-space dynamic risk area delineation system according to an embodiment of the present invention;
FIG. 4 is a diagram illustrating an architecture of an applied technology of a system for full-space dynamic risk area delineation according to an embodiment of the present invention;
as shown in fig. 3 and 4, in this embodiment, the smartphone 7 obtains the path position information in the space through its own configured gyroscope, and then obtains the path positioning information in the space with the help of the UWB indoor positioning technology and the assistance of the sensing terminal, and uploads the path position information and the path positioning information to the cloud 10. In other embodiments, other indoor positioning technologies such as BLE may be used, and are not further limited herein. In the process that a user holds the smart phone 7 to detour along the edge of a space, the sub-MCU dynamic sensor 8 acquires three-dimensional path information of the smart phone 7 in the space by using a radar three-dimensional positioning technology, and uploads the three-dimensional path information to the cloud 10 through the main MCU dynamic sensor 9 and the router 11. In other embodiments, other three-dimensional positioning techniques such as ToF, Structured light, and the like may also be employed. Finally, the cloud 10 receives the path azimuth information, the path positioning information, and the three-dimensional path information, and performs path correction and path composition on the three kinds of information, thereby obtaining a map of the space and a dynamic detection coverage.
According to the invention, the MCU dynamic sensor is matched with the basic and mature indoor positioning technical function of the current intelligent mobile equipment, so that the overall software and hardware development cost is reduced and the economic benefit is greatly improved. And the application scene limitation of the existing dynamic sensing end is broken through, the practical surface condition required by large-scale commercial use of the technology is improved, and further the technical value conversion is doubled.
Based on the above system for delimiting a risk area for full-space dynamic detection, the present invention further provides a method for delimiting a risk area for full-space dynamic detection, fig. 5 shows a flowchart of the method for delimiting a risk area for full-space dynamic detection according to an embodiment of the present invention, and as shown in fig. 5, the method for detecting includes the following steps:
s1, acquiring path azimuth information and path positioning information of the mobile terminal in space, recording the path azimuth information and the path positioning information into a terminal and converting the path azimuth information and the path positioning information into a mobile terminal signal;
s2, enabling the mobile terminal to detour in the space, acquiring multiple groups of three-dimensional path information of the mobile terminal by using multiple sensing terminals in the space, recording the multiple groups of three-dimensional path information into a terminal, and converting the multiple groups of three-dimensional path information into sensing terminal signals;
s3, respectively calculating a moving end target coordinate and a sensing end target coordinate according to the moving end signal and the sensing end signal, and carrying out coordinate correction on the sensing end target coordinate by using the moving end target coordinate;
s4, generating a moving end target moving track and a sensing end target moving track according to the detour path of the moving end in the space, and performing path compounding on the moving end target moving track and the sensing end target moving track;
and S5, dividing a dynamic detection reliable area and a dynamic detection risk area according to the compounded moving end target moving track and sensing end target moving track.
In this embodiment, the method for delimiting the full-space dynamic detection risk region can provide a dynamic detection reliable region and a dynamic detection risk region in the full space of the user, so as to visualize the dynamic detection range; the multiple sensing ends after being connected in series can unify the triggering events of the multiple sensing ends in the space and can record the events more completely, so that the application scene limitation of the existing dynamic sensing is broken through. The space includes but is not limited to a family room and a shopping mall.
It should be noted that the above-mentioned dynamic detection reliable region represents a region that can be detected by the sensing end in space, and the dynamic detection risk region represents a detection blind region (detection dead angle) of the sensing end in space.
Optionally, in a specific embodiment, the terminal includes, but is not limited to, a cloud device and a local device. The cloud end can be a computer, a portable computer and an ipad, and the local end equipment can be a television and the like.
Optionally, in a specific embodiment, the mobile terminal includes, but is not limited to, a smart phone and a smart watch, the path direction information of the mobile terminal is obtained by using a gyroscope in the mobile terminal, meanwhile, the path positioning information of the mobile terminal is obtained by using an indoor positioning technology, and the mobile terminal can upload the path direction information and the path positioning information to the terminal in a wireless communication manner. The indoor positioning technology includes, but is not limited to BLE, UWB indoor positioning technology.
Optionally, in a specific embodiment, the sensing terminal includes, but is not limited to, a combination of a sub-MCU dynamic sensor and a mother MCU dynamic sensor, and the sub-MCU dynamic sensor and the mother MCU dynamic sensor acquire three-dimensional path information of the mobile terminal by using a three-dimensional positioning technology, and upload the three-dimensional path information to the terminal through the gateway device. Three-dimensional positioning techniques include, but are not limited to, Radar, ToF, and Structured light; gateway devices include, but are not limited to, routers.
It should be noted that the steps S1 and S2 are not in sequence, and both steps may be performed simultaneously. In the embodiment, the UWB indoor positioning technology is adopted in combination with the Radar three-dimensional positioning technology, so that the method for defining the total-space dynamic detection risk region of the present invention will be described below based on the two technologies.
Specifically, fig. 6 shows a path calibration flowchart of a method for determining a risk area for full-space dynamic detection according to an embodiment of the present invention, as shown in fig. 6, a mobile-end signal in this embodiment corresponds to a UWB signal, and a sensing-end signal corresponds to a radar signal. Because the positioning precision of the radar is poor and the positioning precision of the UWB is high, the coordinate of the sensing end target is corrected through the target coordinate of the moving end, and a more accurate target coordinate of the sensing end is obtained. And correcting the target coordinates of each sensing end on the detour path of the moving end, so that the whole path correction is completed. The step S3 specifically includes:
s301, the UWB signal is processed, and S302 is executed.
S302, UWB target coordinates are generated, and the process proceeds to S401.
And the UWB target coordinate is the mobile terminal target coordinate.
While executing S301, S302, the following steps are performed:
s311, the radar signal is processed, and S312 is executed.
And S312, performing human shape clustering by using a radar algorithm.
The radar positioning has certain error, so the target coordinate of the sensing end is actually the center coordinate of the humanoid cluster.
After all the steps are completed, the following steps are carried out:
and S32, performing difference operation on the coordinates of the circle center of the humanoid cluster and the coordinates of the UWB target, and executing S33.
S33, judging whether the distance between the circle center coordinate of the humanoid cluster and the UWB target coordinate is larger than a margin, if so, executing S34; if not, S35 is executed.
S34, the correction fails, and the data is erroneous. This data is discarded because the error is large.
S35, successfully correcting, compensating the difference value operation result back to the human-shaped cluster, enabling the center coordinates of the human-shaped cluster to be consistent with the UWB target coordinates, and executing S402.
Namely, the mobile terminal finishes the correction of the coordinate of the sensing terminal to obtain a more accurate human-shaped clustering coordinate.
Fig. 7 shows a comparison chart before and after path correction of the total space motion detection risk region delineation method according to an embodiment of the present invention, as shown in fig. 7, assuming that the UWB target coordinates (based on the center of the circle) are (X1, Y1), the accuracy of the UWB positioning technology is ± 5cm, the center coordinates of the humanoid cluster are (X2, Y2), and the accuracy of the radar positioning technology is ± 15cm, and the margin is 20 cm. If the absolute value of X2-X1 or the absolute value of Y2-Y1 is larger than 20cm, the distance between the center coordinates of the humanoid cluster and the UWB target coordinates is larger than a margin, and the data is wrong; and otherwise, correcting the human shape cluster to ensure that the center coordinates of the human shape cluster are consistent with the UWB target coordinates.
Fig. 8 is a flow chart illustrating path recombination of a method for full-space dynamic risk area delineation according to an embodiment of the present invention, as shown in fig. 8, the step S4 specifically includes:
s401, generating a UWB target moving track according to the movement of the moving end.
And the UWB target moving track is the moving end target moving track.
While executing S401, the step of:
and S402, generating a humanoid clustering movement track according to the movement of the mobile terminal.
The humanoid clustering moving track is the sensing end target moving track.
After all the steps are completed, the following steps are carried out:
and S41, carrying out composite processing on the human-shaped clustering moving track and the UWB target moving track.
The composite processing specifically includes determining whether or not the both track distances are larger than a margin (20cm), and since it has been determined once in the coordinate correction in step S3, it may not be determined again in this step.
S42, judging whether the humanoid cluster moving track and the UWB target moving track are completely compounded, if so, executing a step S43; if not, step S44 is executed.
S43, no risk of dynamic detection.
And S44, connecting the head and tail ends of the track of the non-composite part, thereby forming the closed dynamic detection risk area in the non-composite area.
And after the target coordinates of the sensing end are corrected by the target coordinates of the moving end, comparing the moving track of the target of the sensing end with the moving track of the target of the moving end. The target moving track of the sensing end is generated by positioning the movement of the moving end, so that the part of the track where the target moving track of the sensing end and the target moving track of the moving end cannot be compounded is a dynamic detection blind area, and a dynamic detection risk area can be obtained in an un-compounded area by connecting the head end and the tail end of the track where the target moving track of the sensing end and the target moving track of the moving end cannot be compounded. Accordingly, another part is the dynamic detection reliable region.
FIG. 9 is a diagram illustrating a dynamic detection process in a single space according to an embodiment of the present invention;
FIG. 10 is a schematic diagram illustrating the definition of risk regions for dynamic detection in a single space according to an embodiment of the present invention;
as shown in fig. 9 and 10, only one sensing tip 12 is usually required in a single space, and the sensing tip 12 has a fixed-size and unknown sensing area in the space. The user holds the mobile terminal 13 (e.g. a smart phone) to make a round-trip along the edge of the space, so as to generate a mobile terminal target movement track 131 (i.e. a UWB target movement track) in the space. When the moving end 13 enters the sensing region, under the positioning sensing of the sensing end 12, the moving end 13 generates a sensing end target moving track 122 (i.e. a humanoid cluster moving track) in the sensing region 121. Connecting the moving end target moving track 131 with the track head-to-tail end points of the non-composite part of the sensing end target moving track 122 can obtain a closed dynamic detection risk region 14 outside the sensing region, and the other part corresponds to the dynamic detection reliable region 121, i.e. the above-mentioned unknown sensing region. Therefore, it should be understood by those skilled in the art that the dynamic detection risk region 14 is defined similarly to the subtraction of the moving-end target movement locus 131 and the sensing-end target movement locus 122 for a single space, and therefore the path correction of the sensing-end target movement locus 122 in the step S3 is not required.
FIG. 11 is a diagram illustrating a process of dynamic detection in multiple spaces according to an embodiment of the present invention;
FIG. 12 is a schematic diagram illustrating the delineation of multiple intra-spatial dynamic risk zones according to an embodiment of the invention;
as shown in fig. 11 and 12, a plurality of sensing terminals 12 are respectively connected in series in a plurality of spaces, and each sensing terminal 12 has a corresponding sensing region (unknown) in a corresponding space. The user holds the mobile terminal 13 (e.g. a smart phone) to make a circle around the edges of the spaces, so as to generate a mobile terminal target movement track 131 (i.e. a UWB target movement track) in the spaces. When the moving terminal 13 enters the sensing regions in the respective spaces, under the positioning sensing of the sensing terminal 12, the moving terminal 13 generates a sensing terminal target moving track 122 (i.e. a humanoid cluster moving track) in the corresponding sensing region 121, and the plurality of spaces correspond to the plurality of sensing terminal target moving tracks 122. However, because the sensing terminals 12 do not have position information, and the positions of the sensing terminals 12 are not known, the sensing terminal target moving tracks 122 in the sensing regions cannot be connected, and thus cannot be combined into a continuous sensing terminal target moving track 122. Through the path correction in the step S3 and the path composition in the step S4, the multiple sensing terminals 12 can more accurately know the positions of each other, so that the multiple sensing terminal target movement tracks 122 are combined into a continuous sensing terminal target movement track 122, and then the moving terminal target movement track 131 and the sensing terminal target movement track 122 are subtracted in a single space, so as to connect the head and tail ends of the non-composite part of the moving terminal target movement track 131 and the sensing terminal target movement track 122, thereby obtaining a closed dynamic detection risk region 14, while the other part corresponds to the dynamic detection reliable region 121, i.e., the unknown sensing region.
With reference to fig. 11, it should be noted that, since the plurality of sensing terminals 12 are connected in series, the space around which the moving terminal 13 moves does not have the risk region 14, and thus the feature of dynamically detecting the risk region 14 is not shown in the figure.
With continued reference to fig. 8, before the above step S41 and step S42, the following steps are further included:
s4a1, acquiring a moving signal of the moving end in the space, processing the moving signal, and executing the step S4a 2.
Specifically, the movement signal can be obtained through a gravity sensor and an electronic compass sensor configured in the mobile terminal (such as a smart phone).
S4a2, generating a moving direction reference signal of the moving end in the space, and executing the step S4a 3.
And S4a3, outputting the UWB target movement track with the direction and the humanoid clustering movement track, and executing S42.
And acquiring a moving direction reference signal of the moving end in the space through a gravity sensor and an electronic compass sensor in the moving end, so that the moving direction of the moving end in the space is more specifically known.
Fig. 13 is a flowchart illustrating a process of constructing an intelligent virtual wall according to an embodiment of the present invention, and as shown in fig. 13, after step S401 is executed, the method further includes the following steps:
s4b1, connecting the starting points of the UWB target moving tracks to form a closed area, and executing the step S4b 2.
S4b2, the edge line of the closed region is stretched outward by a distance of N to form a wall surface edge line, and step S4b3 is performed.
In this embodiment, N is 30 cm.
And S4b3, forming an intelligent virtual wall surface.
Because the mobile terminal bypasses along the edge of the space, a closed area is formed by connecting the starting points of the UWB target moving track (namely the moving track of the mobile terminal target), and an intelligent virtual wall is constructed, so that a movable range area in the space can be obtained, and map information in the whole space is provided for a user. For example, when the user walks around a plurality of rooms in a home, the layout of each room in the room can be roughly known according to the constructed intelligent virtual wall surface, so that the spatial layout of the room is visualized.
Fig. 14 is a block diagram illustrating an application of the total-space dynamic risk area detection method in the home scenario according to an embodiment of the present invention, and as shown in fig. 14, the detection of the total-space dynamic risk area detection method in the home scenario of the embodiment includes, but is not limited to:
old people fall 14 a: the old people can fall down in various falling fields hidden in the home, such as bathrooms, carpet-paved living rooms, bedrooms, staircases and the like. Whether a person falls is detected through the sensing end, if the person falls is detected, the falling position is notified and informed, and whether the person falling is an old person can be judged by enabling the old person to wear a mobile end device (such as smart watch, smart tag and the like).
Old and young leave home 14 c: the elderly with lost intelligence and the children who are out of home can have safety problems when the guardian is not accompanied, and if the specific people are detected to be out of home independently, the safety problems can be reported immediately. The lost-intelligence old people and children can carry the mobile terminal device which is recognized by the sensing terminal, and when the mobile terminal device detects that the person carrying the mobile terminal device leaves home alone, the terminal can immediately report the situation.
Fig. 15 is a block diagram illustrating an application of the total-space dynamic risk area detection method in a commercial scene according to an embodiment of the present invention, and as shown in fig. 15, the detection in the commercial scene by the total-space dynamic risk area detection method of the present embodiment includes, but is not limited to:
Space saving 15 b: and judging that no person in the space can automatically close the equipment in the space, and acquiring the long-term use efficiency information of the space use state as a resource allocation suggestion. Whether a person exists in the space is judged through mobile terminal equipment (for example, BLE intelligent workcards) with identity recognition.
Personnel management and control 15 c: the personnel moving state analysis work efficiency can be obtained by matching the BLE positioning name card, and the permission of entering a specific work area can be controlled.
Epidemic situation management and control 15 d: the personnel moving state can be obtained by matching with a BLE positioning nameplate, and the rapid frame rows and the contact list thereof can prevent the spreading of epidemic situation in real time.
The present invention further provides a safety pre-warning method for a dynamic detection reliable region partitioned by the full-space dynamic detection risk region partitioning method in space, and fig. 16 shows a flowchart of the safety pre-warning method according to an embodiment of the present invention, as shown in fig. 16, the safety pre-warning method includes the following steps:
s4b4, the plurality of sensing terminals sense the moving path of the object in the dynamic detection reliable region, and execute step S4b 5.
S4b5, whether the moving path of the monitoring object at the sensing end exceeds the moving track of the target at the moving end or not is detected, if yes, S4b6 is executed; if not, then S4b7 is performed.
And S4b6, giving an alarm.
And S4b7, normal condition.
The safety early warning method can be used in the application range of a household scene and a commercial scene by combining the full-space dynamic risk area detection and demarcation method, such as monitoring whether the elderly with lost intelligence and the infants leave the home independently and whether thieves invade the household scene or not.
It should be noted that, for the situation of intrusion by a thief, specific implementation methods include, but are not limited to: a conventional inlet and a conventional outlet are defined on the intelligent virtual wall surface, the sensing end monitors whether an object enters or exits the space from the conventional inlet and the conventional outlet, and if yes, the intrusion of a thief is judged. Because under normal conditions, indoor personnel all pass in and out from the conventional inlet and the conventional outlet of the space, when the sensing end detects that the personnel pass in and out from the unconventional inlet and the unconventional outlet, the personnel can be judged to be external invaders, and at the moment, a safety early warning is sent out, so that a user is reminded.
The invention provides a total space dynamic detection risk area dividing method, a system and a safety early warning method. The sensing terminal acquires three-dimensional positioning information of the mobile terminal in the space in the process of the mobile terminal bypassing, and the three-dimensional path information is recorded into the terminal and converted into a sensing terminal signal. And generating a moving end target coordinate and a sensing end target coordinate according to the moving end signal and the sensing end signal, and correcting the sensing end target by using the moving end target coordinate with higher precision to obtain a more accurate sensing end target coordinate. And generating a moving end target moving track and a sensing end target moving track according to the movement of the moving end, and compounding the two tracks, wherein the part of the two tracks which are not completely compounded is the track of the moving end measured outside the sensing area, so that a closed dynamic detection risk area can be defined by connecting the head and the tail of the partial tracks, and the dynamic detection range is visualized. Meanwhile, the starting points of the target tracks of the whole moving end are connected to form a closed area, the edge line of the closed area is stretched outwards for N distances to form an intelligent virtual wall, and therefore a map in the whole space is provided for a user. Meanwhile, the sensing end senses the moving path of the object in the dynamic detection reliable area, and the sensing end alarms when the moving path of the object exceeds the target track of the moving end.
The invention reduces the whole software and hardware development cost, greatly improves the economic benefit, breaks through the application scene limitation of the existing dynamic sensing end, improves the practical surface condition required by the large-scale commercial use of the technology, and further multiplies the technical value conversion.
In the embodiments of the present application, it should be understood that the disclosed technical contents may be implemented in other ways. The above-described embodiments of the apparatus/system/method are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
It will be apparent to those skilled in the art that various modifications and variations can be made to the embodiments of the present invention without departing from the spirit and scope of the invention. In this way, if these modifications and changes are within the scope of the claims of the present invention and their equivalents, the present invention is also intended to cover these modifications and changes. The word "comprising" does not exclude the presence of other elements or steps than those listed in a claim. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage. Any reference signs in the claims shall not be construed as limiting the scope.
Claims (12)
1. A method for defining a risk area by full-space dynamic detection is characterized by comprising the following steps:
acquiring path azimuth information and path positioning information of a mobile terminal in space, recording the path azimuth information and the path positioning information into a terminal, and converting the path azimuth information and the path positioning information into a mobile terminal signal;
enabling the mobile terminal to detour in the space, acquiring multiple groups of three-dimensional path information of the mobile terminal by using multiple sensing terminals in the space, inputting the multiple groups of three-dimensional path information into the terminal and converting the multiple groups of three-dimensional path information into sensing terminal signals;
respectively calculating a moving end target coordinate and a sensing end target coordinate according to the moving end signal and the sensing end signal, and carrying out coordinate correction on the sensing end target coordinate by using the moving end target coordinate;
generating a moving end target moving track and a sensing end target moving track according to the detour path of the moving end in the space, and performing path compounding on the moving end target moving track and the sensing end target moving track;
and dividing a dynamic detection reliable area and a dynamic detection risk area according to the compounded moving track of the moving end target and the moving track of the sensing end target.
2. The method according to claim 1, wherein the step of acquiring the path position information and the path positioning information of the mobile terminal in the space specifically comprises:
acquiring path azimuth information of a moving end in a space by using a gyroscope configured on the moving end, and acquiring path positioning information of the moving end in the space by using an indoor positioning technology;
the step of acquiring the multiple sets of three-dimensional path information of the moving end by using the multiple sensing ends in the space specifically includes:
and a plurality of sensing ends acquire a plurality of groups of three-dimensional path information of the mobile end in the space by utilizing a three-dimensional positioning technology.
3. The method according to claim 1, wherein the mobile terminal signal is a UWB signal, the sensing terminal signal is a radar signal, and the step of calculating the mobile terminal target coordinate and the sensing terminal target coordinate from the mobile terminal signal and the sensing terminal signal respectively comprises:
processing the UWB signal to obtain a mobile terminal target coordinate, wherein the mobile terminal target coordinate is a UWB target coordinate;
and processing the radar signals, and performing human shape clustering by using a radar clustering algorithm, wherein the circle center coordinate of the human shape clustering is the target coordinate of the sensing end.
4. The method according to claim 3, wherein the step of performing coordinate correction on the sensing end target coordinates by using the moving end target coordinates specifically comprises:
and performing difference operation on the circle center coordinates of the humanoid clusters and UWB target coordinates, and compensating the difference operation results back to the humanoid clusters, so that the circle center coordinates of the humanoid clusters are consistent with the UWB target coordinates.
5. The method of claim 4, further comprising, before the step of compensating the difference operation result back to the humanoid cluster:
and judging whether the distance between the circle center coordinate of the humanoid cluster and the UWB target coordinate is larger than a margin, if so, compensating the difference value operation result back to the humanoid cluster, and if not, failing to correct.
6. The method according to claim 5, wherein the moving end target moving track is a UWB target moving track, the sensing end target moving track is a humanoid clustering moving track, and the step of dividing the dynamic risk detection region according to the combined moving end target moving track and sensing end target moving track specifically comprises:
and judging whether the compounded UWB target moving track and the compounded humanoid clustering moving track are completely compounded or not, if so, no dynamic detection risk exists, and if not, connecting head and tail end points of the track which cannot be compounded, so that a closed dynamic detection risk area is formed in the non-compounded area.
7. The method according to claim 6, wherein before the step of dividing the dynamic risk detection region according to the combined moving-end target moving trajectory and the sensing-end target moving trajectory, the method further comprises:
acquiring a moving direction reference signal of the moving end in the space;
and integrating the moving direction reference signal into the combined UWB target moving track and the humanoid clustering moving track so as to output the UWB target moving track and the humanoid clustering moving track with directions.
8. The method according to claim 7, wherein the step of acquiring the moving direction reference signal of the moving end in the space specifically comprises:
and acquiring a moving signal of the moving end in the space by using a gravity sensor and an electronic compass sensor which are configured on the moving end, and processing the moving signal to acquire a moving direction reference signal of the moving end in the space.
9. The method of claim 1, further comprising:
and connecting the starting points of the moving tracks of the moving end targets to form a closed area, and outwards stretching the edge line of the closed area for N distances to form the intelligent virtual wall surface.
10. A system for full-space dynamic risk area detection, comprising:
the mobile terminal signal acquisition unit is configured to acquire path azimuth information and path positioning information of a mobile terminal in space, record the path azimuth information and the path positioning information into a terminal and convert the path azimuth information and the path positioning information into a mobile terminal signal;
the sensing terminal signal acquisition units are configured to acquire multiple sets of three-dimensional path information of the moving terminal in the process that the moving terminal detours along the space, and record the multiple sets of three-dimensional path information into the terminal and convert the three-dimensional path information into sensing terminal signals;
the coordinate correction unit is configured to calculate a moving end target coordinate and a sensing end target coordinate according to the moving end signal and the sensing end signal respectively, and perform coordinate correction on the sensing end target coordinate by using the moving end target coordinate;
the path compounding unit is configured to generate a moving end target moving track and a sensing end target moving track according to a detour path of the moving end in the space, and perform path compounding on the moving end target moving track and the sensing end target moving track;
and the dynamic detection risk area dividing unit is configured for dividing a dynamic detection reliable area and a dynamic detection risk area according to the combined moving track of the moving end target and the moving track of the sensing end target.
11. The system of claim 10, further comprising:
and the gateway equipment is configured and used for realizing communication among the mobile terminal signal acquisition unit, the sensing terminal signal acquisition unit, the coordinate correction unit, the path combination unit and the dynamic detection risk area division unit.
12. A method for performing security early warning in a space by using a dynamic detection reliable area divided by the method of any one of claims 1 to 9, comprising:
and sensing the moving path of the object in the dynamic detection reliable area by using the plurality of sensing ends, and alarming when the sensing ends detect that the moving path of the object exceeds the target track of the moving end.
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