CN116858211A - Intelligent construction site personnel positioning method, system, device and electronic equipment - Google Patents
Intelligent construction site personnel positioning method, system, device and electronic equipment Download PDFInfo
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The application provides a method, a system, a device and electronic equipment for positioning intelligent building site personnel, wherein the method for positioning the intelligent building site personnel comprises the following steps: creating initial positioning information of a target person according to physical positioning information of the target person; acquiring visual positioning information of the target personnel, matching the visual positioning information with the initial positioning information, and creating a target personnel trace; acquiring physical positioning information and visual positioning information in real time, respectively matching the physical positioning information and the visual positioning information with the target personnel trails, and generating fusion positioning information according to a matching result; and updating the target personnel trails according to the fusion positioning information. The application can combine the physical positioning information and the visual positioning information of the personnel, improve the positioning effect, bring the height information of the target personnel after the visual positioning information is introduced, improve the three-dimensional positioning capability and realize the continuous positioning and track tracking of the target personnel.
Description
Technical Field
The application relates to the technical field of intelligent construction sites, in particular to a method, a system, a device and electronic equipment for positioning personnel on an intelligent construction site.
Background
The intelligent building site (Smart Construction Site) is used for realizing the intellectualization, automation and informatization of engineering project management by applying the technical means of modern information technology, the Internet of things, big data analysis, artificial intelligence and the like. The intelligent construction site aims at improving construction efficiency, safety and sustainability, reducing cost, reducing resource waste and improving engineering quality. To constructor in the wisdom building site, need carry out real-time positioning to carry out intelligent management, improve the efficiency of construction, and reduce the security risk.
At present, in personnel positioning management of intelligent construction sites, particularly indoor or small-range construction sites, only hardware positioning means such as Bluetooth positioning, wi-Fi positioning and the like are generally adopted, so that the positioning accuracy is low, the situation of positioning interruption easily occurs, and the personnel positioning with a visual long time sequence cannot be realized. In addition, in a complex indoor construction site scene, the positioning accuracy of the independent hardware positioning such as Bluetooth positioning, wi-Fi positioning and the like in the vertical direction is low, and the three-dimensional positioning capability is poor.
Disclosure of Invention
Aiming at the problems in the prior art, the application provides a method, a system, a device and electronic equipment for positioning intelligent building site personnel.
The application provides a method for positioning personnel on an intelligent construction site, which comprises the following steps: creating initial positioning information of a target person according to physical positioning information of the target person; acquiring visual positioning information of the target personnel, matching the visual positioning information with the initial positioning information, and creating a target personnel trace; acquiring physical positioning information and visual positioning information in real time, respectively matching the physical positioning information and the visual positioning information with the target personnel trails, and generating fusion positioning information according to a matching result; and updating the target personnel trails according to the fusion positioning information.
According to the intelligent building site personnel positioning method provided by the application, the fusion positioning information is generated according to the matching result, and the intelligent building site personnel positioning method comprises the following steps: if the visual positioning information and/or the physical positioning information of the target personnel are successfully matched with the track of the target personnel, generating fusion positioning information according to the visual positioning information and the physical positioning information of the target personnel; if the visual positioning information and the physical positioning information of the target personnel are both failed to match with the target personnel, the next round of updating time sequence is entered.
According to the intelligent building site personnel positioning method provided by the application, the generation of the fusion positioning information according to the matching result further comprises the step of carrying out weighted fusion on the visual positioning information and the physical positioning information of the target personnel to generate the fusion positioning information if the visual positioning information and the physical positioning information of the target personnel are successfully matched with the target personnel track; if only the physical positioning information of the target personnel is successfully matched with the target personnel trace, generating fusion positioning information according to the physical positioning information of the target personnel; if only the visual positioning information of the target personnel is successfully matched with the target personnel trace, generating fusion positioning information according to the visual positioning information of the target personnel.
According to the intelligent building site personnel positioning method provided by the application, if the generation of the fusion positioning information according to the matching result also comprises the step of deleting the target personnel trace if the visual positioning information and the physical positioning information both exceed a preset period threshold value with the continuous matching failure time sequence; otherwise, the target personnel trails in the matching failure time sequence are supplemented according to the target personnel trails before and after the matching failure time sequence.
According to the intelligent building site personnel positioning method provided by the application, the physical positioning information comprises the identification information and the horizontal position information of the target personnel; the visual positioning information, the fusion positioning information and the target personnel footprint comprise the identity identification information, the horizontal position information and the height information of the target personnel.
According to the intelligent building site personnel positioning method provided by the application, when the height information is missing in the target personnel track of any time sequence, the height information in the target personnel track of the time sequence is supplemented according to the height information in the front time sequence and the rear time sequence of the time sequence.
According to the intelligent building site personnel positioning method provided by the application, the step of acquiring the visual positioning information in real time comprises the following steps: and acquiring target personnel images acquired by a plurality of cameras, and matching the target personnel in the cameras based on a target matching algorithm to obtain visual positioning information of the target personnel.
The application also provides an intelligent building site personnel positioning system for positioning personnel in an intelligent building site, which comprises: a positioning data acquisition end and a target person positioning end, wherein,
the positioning data acquisition end is communicated with the target person positioning end and is used for acquiring physical positioning information and visual positioning information of the target person and sending the physical positioning information and the visual positioning information to the target person positioning end;
the target person positioning end communicates with the positioning data acquisition end and is used for executing the method of any one of the above.
The application also provides an intelligent construction site personnel positioning device, which comprises:
the initial positioning module is used for creating initial positioning information of the target personnel according to the physical positioning information of the target personnel;
the track creation module is used for acquiring visual positioning information of the target personnel, matching the visual positioning information with the initial positioning information and creating a track of the target personnel;
the fusion positioning module is used for acquiring physical positioning information and visual positioning information in real time, respectively matching the physical positioning information and the visual positioning information with the target personnel trails, and generating fusion positioning information according to a matching result;
and the track updating module is used for updating the track of the target personnel according to the fusion positioning information.
The present application also provides an electronic device including: the device comprises a processor, a memory and a communication bus, wherein the processor and the memory complete communication with each other through the communication bus; the memory stores computer program instructions executable by the processor, which when read and executed by the processor, perform any of the above-described intelligent worksite personnel positioning methods.
According to the intelligent site personnel positioning method provided by the application, the physical positioning information and the visual positioning information of personnel in the site are combined, so that higher positioning precision can be brought, the hardware positioning and the visual positioning have advantages and limitations respectively, the overall positioning precision can be improved by combining the physical positioning information and the visual positioning, the positioning effect has stronger robustness, the risk that a single positioning mode is influenced by abnormal conditions can be reduced, the problems of poor positioning precision and positioning interruption caused by positioning failure of the physical positioning or the visual positioning can be effectively avoided, the height information of the target personnel can be brought after the visual positioning information is introduced, the three-dimensional positioning capability is improved, and the intelligent site personnel positioning method can be suitable for space complex intelligent site positioning scenes, and continuous positioning and track tracking of the target personnel can be realized.
Drawings
FIG. 1 is a flow chart of a method for positioning personnel at an intelligent construction site according to an embodiment of the present application;
FIG. 2 is a schematic diagram of matching physical positioning information with visual positioning information according to an embodiment of the present application;
FIG. 3 is a schematic diagram of an intelligent worksite personnel positioning system according to an embodiment of the present application;
FIG. 4 is a schematic diagram of an intelligent worksite personnel positioning device according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
It should be noted that the terms "first," "second," and the like in the embodiments of the present application are used for distinguishing between similar features and not necessarily for indicating a relative importance, quantity, or sequence.
The terms "exemplary" or "such as" and the like, as used in relation to embodiments of the present application, are used to denote examples, illustrations, or descriptions. Any embodiment or design described herein as "exemplary" or "for example" should not be construed as preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "such as" is intended to present related concepts in a concrete fashion.
In the description of the embodiments of the present application, the term "and/or" is merely an association relationship describing an association object, and indicates that three relationships may exist, for example, a and/or B may indicate: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.
At present, in the related art, the positioning mode of the target personnel in the smart city mainly uses a hardware positioning mode, positioning hardware is assembled on the body of the target personnel or on the carried equipment, then positioning is performed by using positioning equipment matched with the positioning hardware, and the following methods are generally used under the limitations of use cost and site conditions:
(1) GPS positioning: the Global Positioning System (GPS) is a satellite-based positioning system, which is mainly used in an outdoor environment. In an open area of the intelligent building site, GPS positioning can still provide auxiliary information for personnel positioning, and in an indoor environment, GPS signals can be shielded or attenuated, so that positioning accuracy is low; in open outdoor environments, GPS positioning accuracy is typically in the range of 3-10 meters. Under indoor or shelter from more environment, the precision can receive the influence, probably can reduce to tens meters even worse, more can not effectively carry out accurate location to the height of target personnel.
(2) Bluetooth positioning: bluetooth positioning is an indoor positioning technology based on bluetooth beacon devices. Personnel positioning can be achieved through signal strength or arrival time differences between equipment carried by the target personnel and surrounding Bluetooth beacon equipment. The accuracy of bluetooth positioning is affected by beacon device layout, signal propagation, and environmental interference, typically in the range of 1-10 meters.
(3) Wi-Fi positioning: wi-Fi positioning is a Wireless Local Area Network (WLAN) based positioning technology. By measuring the signal strength or time difference between the equipment carried by the person and the surrounding wireless access points, the person can be positioned. Wi-Fi positioning performs better in indoor environments and has high compatibility. The accuracy of Wi-Fi positioning is also affected by wireless access point layout, signal propagation, and environmental interference, typically in the range of 5-15 meters.
(4) RFID positioning: radio Frequency Identification (RFID) positioning is a positioning technology based on radio frequency communication. By assigning RFID tags to personnel and installing RFID readers, monitoring of personnel locations can be achieved. RFID positioning is suitable for short range positioning scenarios. RFID positioning: the accuracy of RFID positioning is affected by tag and reader performance, signal propagation, and environmental interference, and is typically in the range of 1-5 meters. The method has the following defects: the positioning accuracy is low, and the situation of positioning interruption easily occurs, so that the positioning of personnel with long visual time sequences cannot be realized. In addition, in a complex indoor site scene, the positioning accuracy in the vertical direction is low, and the stereoscopic positioning ability is poor.
Based on the above, the embodiment of the application provides an intelligent construction site personnel positioning method, which combines hardware positioning information with visual positioning information, can provide a positioning means with higher precision and stronger robustness, can perform height direction positioning, and realizes continuous positioning and track tracking of target personnel.
Referring to fig. 1, an embodiment of the present application provides a method for positioning personnel on an intelligent construction site, including:
step S110: creating initial positioning information of the target personnel according to the physical positioning information of the target personnel;
step S120: acquiring visual positioning information of the target personnel, matching the visual positioning information with the initial positioning information, and creating a target personnel trace;
step S130: acquiring physical positioning information and visual positioning information in real time, respectively matching the physical positioning information and the visual positioning information with the target personnel trails, and generating fusion positioning information according to a matching result;
step S140: and updating the target personnel trace according to the fusion positioning information.
Specifically, the physical location information in this embodiment is location information obtained based on a physical location device, such as GPS location information or bluetooth location information or Wi-Fi location information or RFID location information, and the embodiment is not limited to the above physical location information. For convenience of description, the physical location device in the embodiment of the present application uses bluetooth location information as an example. Each target person can carry a Bluetooth tag on the body, bluetooth positioning beacons can be arranged in the intelligent building site in advance to obtain physical positioning information of the Bluetooth tag, and the obtained physical positioning information matched with the identity of the target person in the intelligent building site is the physical positioning information of the target person. It should be noted that, in this embodiment, bluetooth positioning information is used to describe the present embodiment, and physical positioning information not representing the smart site personnel positioning method of this embodiment must be bluetooth positioning information, and only a means for obtaining similar physical positioning information of the target personnel in a similar manner is adopted, which can be regarded as an implementation mode of the present application
Specifically, in this embodiment, the visual positioning information is visual positioning information of the target person, which is obtained by acquiring an image of the worksite through an image acquisition device in the intelligent worksite, identifying and positioning the target person in the image, and matching the identity of the target person in the intelligent worksite. The image acquisition equipment can be a plurality of monocular cameras or binocular cameras which are arranged in the intelligent building site, and can completely acquire and target-identify images of all areas in the intelligent building site and position the images.
Further specifically, the application obtains the information of the target personnel in the intelligent construction site through a plurality of monocular cameras or binocular cameras, and confirms the visual positioning information of the target personnel. Firstly, people in an intelligent building site can be identified through a neural network image identification technology, and the identity of the people is confirmed and matched with the identity identification information bound with the physical positioning equipment. And, it can use monocular camera to compose binocular vision system, or use binocular camera directly to form stereo vision system simulating human binocular vision principle, it is composed of two imaging sensors (cameras) which are separated by a certain distance in horizontal direction, similar to two eyes of human. The binocular camera captures two images (left and right images) of the same scene, and calculates depth information of objects in the scene through a stereo matching algorithm, so that perception of a three-dimensional space is realized, and three-dimensional positioning information of a target person is obtained.
In an intelligent building site, a binocular vision system or a binocular camera is often arranged in the same area to identify at different angles, and targets identified by different binocular vision systems and binocular cameras are required to be matched and unified to form visual positioning information which is output uniformly. Specifically, the target matching may be performed by algorithms such as a feature matching algorithm, an appearance matching algorithm, a motion consistency algorithm, and the like. Taking a feature matching algorithm as an example, for an image acquired by each camera, visual features (such as SIFT, SURF, ORB, etc.) of the targets may be extracted, and then the targets of different cameras may be matched using a feature matching algorithm (such as FLANN, brite Force matching, etc.). The calculation process can be calculated by a binocular vision system, a matching algorithm and a positioning algorithm pre-carried by a binocular camera, and the information can also be uploaded to an edge calculation gateway or a cloud calculation platform for calculation.
In addition, because the hardware positioning information and the visual positioning information may create time differences, network Time Protocol (NTP) or other time synchronization methods may be used to ensure time synchronization, ensuring that all devices collect and process data using the same time stamp. The time synchronization means is not limited to network time protocol, and can also process Bluetooth positioning data and image recognition results which are incompletely aligned in time by using a caching and interpolation method in the data fusion process through data caching and interpolation; or the processing speed of the Bluetooth positioning data and the image identification data can be optimized by adopting the optimized data processing speed to reduce the time difference. For example, edge computing devices can be employed to reduce network latency, using efficient neural network models (e.g., mobileNet) to reduce image recognition time.
Based on the above equipment, in this embodiment, for convenience in calculation and personnel positioning, the physical positioning information includes identification information and horizontal position information of the target personnel; the visual positioning information, the fusion positioning information and the target personnel footprint comprise the identity identification information, the horizontal position information and the height information of the target personnel. The present embodiment is merely exemplary, and the specific content of the positioning information is not limited to the above information.
In the steps S110 to S120, the bluetooth positioning beacon on the target person is used to obtain the physical positioning information to create initial positioning information, specifically, an empty initial positioning information is created through the unique identification information which is bound with the target person information in the bluetooth positioning beacon, then the visual positioning information is obtained, the target person is confirmed in the visual positioning information, the visual positioning information of the target person is used as the initial positioning information, and the target person track is created according to the location positioning information. Specifically, if a person A enters an intelligent building site with a Bluetooth tag a, unique identification information which is bound with target person information is bound on the Bluetooth tag, after a Bluetooth positioning beacon in the intelligent building site acquires a signal of the person A, blank initial positioning information of the person A is created, then visual positioning information of the person A is matched in the visual positioning information and is input into the initial positioning information, and finally target person trails of the person A are created according to the initial positioning information.
In step S130, specifically, the target personnel footprint time sequence of the personnel a is created with initial positioning information, the next time sequence is T1, physical positioning information and visual positioning information of the target personnel of T1 are obtained in real time, and are respectively matched with the target personnel footprint, and fusion positioning information of the personnel a is generated according to the matching result, then in S140, the target personnel footprint of the T1 time sequence is updated according to the fusion positioning information of the T1 time sequence of the personnel a.
According to the intelligent site personnel positioning method provided by the application, the physical positioning information and the visual positioning information of personnel in the site are combined, so that higher positioning precision can be brought, the hardware positioning and the visual positioning have advantages and limitations respectively, the overall positioning precision can be improved by combining the physical positioning information and the visual positioning, the positioning effect has stronger robustness, the risk that a single positioning mode is influenced by abnormal conditions can be reduced, the problems of poor positioning precision and positioning interruption caused by positioning failure of the physical positioning or the visual positioning can be effectively avoided, the height information of the target personnel can be brought after the visual positioning information is introduced, the three-dimensional positioning capability is improved, and the intelligent site personnel positioning method can be suitable for space complex intelligent site positioning scenes, and continuous positioning and track tracking of the target personnel can be realized.
In an optional embodiment, in order to effectively match the hardware positioning information with the visual positioning information, and further improve the positioning effect, the generating the fused positioning information according to the matching result includes: if the visual positioning information and/or the physical positioning information of the target personnel are successfully matched with the track of the target personnel, generating fusion positioning information according to the visual positioning information and the physical positioning information of the target personnel; if the visual positioning information and the physical positioning information of the target personnel are failed to match with the trails of the target personnel, the next round of updating time sequence is entered.
Specifically, if the visual positioning information and/or the physical positioning information of the target person are successfully matched with the track of the target person, the successful matching refers to the existence of the information of the target person in the physical positioning information and/or the visual positioning information. Taking personnel A as an example, acquiring physical positioning information and visual positioning information of a target person in the time sequence of T1, if the physical positioning information of the target person is acquired, matching the physical positioning information with the trace of the target person successfully, otherwise, failing to match; if the visual positioning information of the target person is obtained, the visual positioning information is successfully matched with the track of the target person, otherwise, the matching is failed. For easy understanding, an example of a matching failure is given, if a bluetooth beacon of a person a is disconnected at a time sequence T1, physical location information of a target person cannot be obtained at the time sequence T1; if the Bluetooth signal time delay of the personnel A at the T1 time sequence causes that the server cannot acquire the physical positioning information of the T1 time sequence in time during processing, the processing time limit of the time sequence is exceeded, and the physical positioning information of the target personnel cannot be acquired at the T1 time sequence; if the visual target of the person a is not recognized in the visual information of the T1 timing sequence, the visual positioning information thereof cannot be acquired in the T1 timing sequence.
In this embodiment, for the situation that bluetooth disconnection or visual recognition cannot be easily performed in a complex smart site space scene, the embodiment can generate fusion positioning information by using physical/visual redundancy, so as to position target personnel, and the method has strong robustness and high reliability.
In an optional embodiment, the specific way to specifically generate the fused positioning information after the matching is successful is as follows: in the generating of the fusion positioning information according to the matching result, if the visual positioning information and the physical positioning information of the target personnel are successfully matched with the track of the target personnel, the visual positioning information and the physical positioning information of the target personnel are subjected to weighted fusion to generate the fusion positioning information; if only the physical positioning information of the target person is successfully matched with the track of the target person, generating fusion positioning information according to the physical positioning information; if only the visual positioning information of the target person is successfully matched with the track of the target person, generating fusion positioning information according to the visual positioning information.
Further, in order to improve accuracy of fusion positioning information when the simultaneous matching is successful, if both the visual positioning information and the physical positioning information of the target person are successfully matched with the track of the target person, weighting and fusing are performed on the visual positioning information and the physical positioning information of the target person to generate fusion positioning information, and the specific fusion step can introduce the positioning range of the physical positioning information and the visual positioning information to respectively perform weighted fusion on different conditions:
the method comprises the steps of obtaining physical positioning information and a positioning range of visual positioning information, wherein the positioning range of the physical positioning information is a positioning range formed by drawing a circle by taking horizontal position information of the physical positioning information as a circle center and taking a maximum physical positioning error as a radius, and the positioning range of the visual positioning information is a positioning range formed by drawing a circle by taking horizontal position information of the visual positioning information as a circle center and taking a maximum visual positioning error as a radius;
if the positioning range of the visual positioning information is contained in the positioning range of the physical positioning information, generating fusion positioning information according to the visual positioning information; if the positioning range of the visual positioning information is partially overlapped with the positioning range of the physical positioning information, calculating fusion weights according to the size of the overlapped areas, and carrying out weighted fusion according to the visual positioning information and the physical positioning information to generate fusion positioning information; if the positioning range of the visual positioning information is not overlapped with the positioning range of the physical positioning information, generating fusion positioning information according to the visual positioning information.
Further specifically, if the positioning range of the visual positioning information is partially overlapped with the positioning range of the physical positioning information, calculating a fusion weight according to the size of the overlapped area, and performing weighted fusion according to the visual positioning information and the physical positioning information, wherein the specific mode for generating the fusion positioning information is as follows:
P f ＝H·P h +V·P v
wherein P is f To fuse the target personnel horizontal position information in the positioning information, P h For the target personnel level position information, P, in the physical positioning information v For the target person horizontal position information in the visual positioning information, H, V is a first weight and a second weight, respectively, and h+v=1.
Based on the positioning accuracy of the visual positioning information, in this embodiment, it is preferable that:
wherein, as shown in FIG. 2, D is P h 、P v Distance d of (d) 1 Is P h Distance to intersecting chord of positioning range of visual positioning information and positioning range of physical positioning information, d 2 Is P v Distance to intersecting chord of the positioning range of the visual positioning information and the positioning range of the physical positioning information.
In this embodiment, aiming at different matching situations of physical positioning information and visual positioning information with a target personnel trace, fusion matching can be performed in a targeted manner to form corresponding fusion positioning information, hardware positioning and visual positioning can provide data with different error ranges, the data can cooperate with each other to provide more details about the target positioning information, and the method has a wide application range and high positioning precision.
In an optional embodiment, if the visual positioning information and the physical positioning information both match the target personnel trace when the continuous matching failure time sequence exceeds the preset period threshold value in the fusion positioning information generated according to the matching result, deleting the target personnel trace; otherwise, the target personnel trails in the matching failure time sequence are supplemented according to the target personnel trails before and after the matching failure time sequence.
Specifically, interpolation algorithms such as linear interpolation, polynomial interpolation, spline interpolation and the like can be used for supplementing the target personnel trace in the matching failure time sequence, for example, if the T3 time sequence exists, the visual positioning information and the physical positioning information of the target personnel A are both failed to match with the target personnel trace T3 time sequence, the front and rear time sequences T2 and T4 are successfully matched and corresponding target personnel traces are generated, and then the horizontal position information and the height position information of the T2 and T4 target personnel traces can be used for carrying out linear interpolation to obtain the target personnel trace of the T3 time sequence, so that the supplementing is completed. The present embodiment is merely an example, and the interpolation method is not limited to interpolation algorithms such as linear interpolation, polynomial interpolation, and spline interpolation, and the data used for interpolation is not limited to sequential data one step before and one after the default sequential.
In the embodiment, for the data interval condition occurring in the complex intelligent building site workpiece, the application can carry out the compensation of default data, and improve the continuity and smoothness of the target personnel trace, thereby reducing the abrupt change and discontinuous condition, which is very important for the positioning of the intelligent building site personnel, can also keep the real-time performance and response speed of positioning data, and fully utilizes the existing information, thereby leading the compensation data to have certain reliability; and when the positioning data are seriously lost and the continuous matching failure time sequence exceeds a preset period threshold, the target personnel are judged to be separated from the intelligent building site, positioning prompt can be realized through prompt or alarm actions, and the positioning intelligence is improved.
In an alternative embodiment, because the time sequence only uses the hardware positioning information to generate the fusion positioning information, the height information in the updated row trace is missing, and in order to ensure the three-dimensional space continuity of positioning, when the height information in the target personnel row trace of any time sequence is missing, the height information in the target personnel row trace of the time sequence is supplemented according to the height information in the front and rear time sequences of the time sequence.
Specifically, if the time sequence T7 exists, only the physical positioning information of the target person A is successfully matched with the track of the target person when the time sequence T7 exists, and fusion positioning information is generated according to the physical positioning information; and visual positioning information in the time sequences T6 and T8 is successfully matched with the target personnel trace, linear interpolation can be carried out by utilizing the height position information of the T6 and T8 target personnel trace, the height position information of the T7 time sequence is obtained, and the height position information of the time sequence of the filling T7 is completed.
In the embodiment, for the situation of the height position information data interval in the complex intelligent construction site workpiece, the default height information can be supplemented, the three-dimensional positioning of the target personnel is realized, and the continuity and smoothness of the track of the target personnel are improved.
In an alternative embodiment, the step of obtaining the visual positioning information comprises: and acquiring target personnel images acquired by the cameras, and matching the target personnel in the cameras based on a target matching algorithm to obtain visual positioning information of the target personnel. For example, a plurality of people are respectively identified in a plurality of cameras (monocular or binocular), and the identity information and the positioning information of the people identified in the plurality of cameras can be matched and unified through means such as feature matching, appearance matching and the like, so that the visual positioning information of the target people is obtained.
Referring to fig. 3, based on the same inventive concept, an embodiment of the present application further provides an intelligent worksite personnel positioning system 200 for positioning personnel in an intelligent worksite, the system includes: a positioning data acquisition end 210 and a target person positioning end 220;
the positioning data acquisition end 210 is in communication with the target person positioning end 220, and is used for acquiring physical positioning information and visual positioning information of a target person and sending the physical positioning information and the visual positioning information to the target person positioning end 220;
the target person locating terminal 220 communicates with the locating data collecting terminal 210, and is configured to perform any one of the above-mentioned intelligent construction site person locating methods.
Referring to fig. 4, based on the same inventive concept, an embodiment of the present application further provides an intelligent worksite personnel positioning apparatus 300, which includes:
an initial positioning module 310, configured to create initial positioning information of a target person according to physical positioning information of the target person;
the trace creation module 320 is configured to obtain visual positioning information of the target person, match the visual positioning information with the initial positioning information, and create a trace of the target person;
the fusion positioning module 330 is configured to obtain physical positioning information and visual positioning information in real time, match the physical positioning information and the visual positioning information with the target personnel trails respectively, and generate fusion positioning information according to a matching result;
and a trace updating module 340, configured to update the target personnel trace according to the fused positioning information.
Fig. 5 is a schematic diagram of an electronic device according to an embodiment of the present application, where an electronic device 400 includes: processor 410, memory 420, and communication interface 430, which are interconnected and communicate with each other by a communication bus 440 and/or other forms of connection mechanisms (not shown).
The memory 420 includes one or more (only one shown), which may be volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory. The nonvolatile memory may be a read-only memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an electrically Erasable EPROM (EEPROM), or a flash memory. The volatile memory may be random access memory (random access memory, RAM) which acts as an external cache. By way of example, and not limitation, many forms of RAM are available, such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous DRAM (SLDRAM), and direct memory bus RAM (DR RAM). It should be noted that the memory of the apparatus and methods described herein is intended to comprise, without being limited to, these and any other suitable types of memory.
The processor 410 includes one or more (only one shown) which may be a chip. For example, it may be a field programmable gate array (fieldprogrammable gate array, FPGA), an application specific integrated chip (application specific integrated circuit, ASIC), a system on chip (SoC), a central processing unit (central processor unit, CPU), a Network Processor (NP), a digital signal processing circuit (digital signal processor, DSP), a microcontroller (micro controller unit, MCU), a programmable controller (programmable logic device, PLD) or other integrated chip.
Communication interface 430 includes one or more (only one shown) that may be used to communicate directly or indirectly with other devices for data interaction. For example, communication interface 430 may be an ethernet interface; may be a mobile communications network interface, such as an interface of a 3G, 4G, 5G network; or may be other types of interfaces with data transceiving functionality.
One or more computer program instructions may be stored in memory 420 that may be read and executed by processor 410 to implement the intelligent worksite personnel location method and other desired functions provided by embodiments of the present application.
It is to be understood that the configuration shown in fig. 5 is merely illustrative, and that electronic device 400 may also include more or fewer components than those shown in fig. 5, or have a different configuration than that shown in fig. 5. The components shown in fig. 5 may be implemented in hardware, software, or a combination thereof.
The embodiment of the application also provides a computer readable storage medium, and the computer readable storage medium is stored with computer program instructions, and when the computer program instructions are read and run by a processor of a computer, the intelligent construction site personnel positioning method provided by the embodiment of the application is executed. For example, a computer-readable storage medium may be implemented as memory 420 in electronic device 400 in FIG. 5.
It should be understood that, in various embodiments of the present application, the sequence numbers of the foregoing processes do not mean the order of execution, and the order of execution of the processes should be determined by the functions and internal logic thereof, and should not constitute any limitation on the implementation process of the embodiments of the present application.
Those of ordinary skill in the art will appreciate that the various illustrative modules and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
It will be clearly understood by those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described system, apparatus and module may refer to corresponding procedures in the foregoing method embodiments, which are not repeated herein.
In the several embodiments provided by the present application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the above-described device embodiments are merely illustrative, e.g., the division of the modules is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple modules or components may be combined or integrated into another device, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interface, indirect coupling or communication connection of devices or modules, electrical, mechanical, or other form.
The modules described as separate components may or may not be physically separate, and components shown as modules may or may not be physically separate, i.e., may be located in one device, or may be distributed over multiple devices. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional module in the embodiments of the present application may be integrated in one device, or each module may exist alone physically, or two or more modules may be integrated in one device.
In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using a software program, it may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in accordance with embodiments of the present application are produced in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by a wired (e.g., coaxial cable, fiber optic, digital subscriber line (Digital Subscriber Line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device including one or more servers, data centers, etc. that can be integrated with the medium. The usable medium may be a magnetic medium (e.g., a floppy Disk, a hard Disk, a magnetic tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a Solid State Disk (SSD)), or the like.
The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. An intelligent worksite personnel positioning method, which is characterized by comprising the following steps:
creating initial positioning information of a target person according to physical positioning information of the target person;
acquiring visual positioning information of the target personnel, matching the visual positioning information with the initial positioning information, and creating a target personnel trace;
acquiring physical positioning information and visual positioning information in real time, respectively matching the physical positioning information and the visual positioning information with the target personnel trails, and generating fusion positioning information according to a matching result;
and updating the target personnel trails according to the fusion positioning information.
2. The intelligent worksite personnel positioning method according to claim 1, wherein the generating the fusion positioning information according to the matching result comprises:
if the visual positioning information and/or the physical positioning information of the target person are successfully matched with the target person trace, generating the fusion positioning information according to the visual positioning information and the physical positioning information; if the visual positioning information and the physical positioning information of the target personnel are not matched with the target personnel, the next round of updating time sequence is entered.
3. The intelligent worksite personnel positioning method according to claim 2, wherein the generating fusion positioning information according to the matching result further comprises:
if the visual positioning information and the physical positioning information of the target person are successfully matched with the target person trace, weighting and fusing the visual positioning information and the physical positioning information of the target person to generate fused positioning information;
if only the physical positioning information of the target person is successfully matched with the target person trace, generating the fusion positioning information according to the physical positioning information of the target person;
and if only the visual positioning information of the target person is successfully matched with the target person trace, generating the fusion positioning information according to the visual positioning information of the target person.
4. The intelligent worksite personnel positioning method according to claim 2, wherein the generating fusion positioning information according to the matching result further comprises:
if the visual positioning information and the physical positioning information are both matched with the target personnel trace continuously when the failure time sequence exceeds a preset period threshold, deleting the target personnel trace; otherwise, the target personnel trails in the matching failure time sequence are supplemented according to the target personnel trails before and after the matching failure time sequence.
5. The smart worksite personnel positioning method according to any one of claims 1 to 4, wherein the physical positioning information includes identification information of the target personnel, horizontal position information; the visual positioning information, the fusion positioning information and the target personnel footprint comprise the identity identification information, the horizontal position information and the height information of the target personnel.
6. The method according to claim 5, wherein when the height information is missing in the target person trace at any one time, the height information in the target person trace at the time is supplemented according to the height information in the time sequence before and after the time sequence.
7. The intelligent worksite personnel positioning method according to claim 1, wherein the acquiring visual positioning information in real time comprises:
and acquiring the target personnel images acquired by the cameras, and matching the target personnel in the cameras based on a target matching algorithm to acquire the visual positioning information of the target personnel.
8. An intelligent worksite personnel positioning system for positioning a target personnel in an intelligent worksite, the system comprising: a positioning data acquisition end and a target person positioning end, wherein,
the positioning data acquisition end is communicated with the target person positioning end and is used for acquiring physical positioning information and visual positioning information of the target person and sending the physical positioning information and the visual positioning information to the target person positioning end;
the target person positioning end communicates with the positioning data acquisition end for performing the method according to any one of claims 1-7.
9. An intelligent worksite personnel positioning device, characterized in that the device comprises: the system comprises an initial positioning module, a trace creation module, a fusion positioning module and a trace updating module, wherein,
the initial positioning module is used for creating initial positioning information of the target personnel according to the physical positioning information of the target personnel;
the track creation module is used for acquiring visual positioning information of the target personnel, matching the visual positioning information with the initial positioning information and creating a track of the target personnel;
the fusion positioning module is used for acquiring physical positioning information and visual positioning information in real time, respectively matching the physical positioning information and the visual positioning information with the target personnel trails, and generating fusion positioning information according to a matching result;
and the track updating module is used for updating the track of the target personnel according to the fusion positioning information.
10. An electronic device, the electronic device comprising: the device comprises a processor, a memory and a communication bus, wherein the processor and the memory complete communication with each other through the communication bus; the memory stores program instructions executable by the processor, the processor invoking the program instructions to perform the method of any of claims 1-7.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310417412.4A CN116858211A (en) | 2023-04-19 | 2023-04-19 | Intelligent construction site personnel positioning method, system, device and electronic equipment |
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| CN202310417412.4A CN116858211A (en) | 2023-04-19 | 2023-04-19 | Intelligent construction site personnel positioning method, system, device and electronic equipment |
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