CN117491947A - Object track tracking method, device, equipment and storage medium - Google Patents
Object track tracking method, device, equipment and storage medium Download PDFInfo
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- CN117491947A CN117491947A CN202311842570.0A CN202311842570A CN117491947A CN 117491947 A CN117491947 A CN 117491947A CN 202311842570 A CN202311842570 A CN 202311842570A CN 117491947 A CN117491947 A CN 117491947A
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- 238000012216 screening Methods 0.000 claims description 21
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention relates to the technical field of optical cable monitoring, and discloses an object track tracking method, device, equipment and storage medium, which are used for improving the accuracy of an acquired motion track. Collecting Rayleigh scattering light signals in the grid-type optical cable according to a preset interval duration; acquiring vibration data based on the Rayleigh scattering light signals, and recording the acquisition time period of each vibration data; determining a first line distance of the optical cable of the target object in the first direction and a second line distance of the optical cable in the second direction based on each vibration data; determining positions corresponding to the target object according to the mapping relation between the first line distance and the second line distance in a data mapping coordinate graph; and determining the motion trail of the target object according to the acquisition time period corresponding to each position.
Description
Technical Field
The present invention relates to the field of optical cable monitoring technologies, and in particular, to a method, an apparatus, a device, and a storage medium for tracking an object track.
Background
Currently, the object track tracking method includes a method of detecting an object motion track by inducing electromagnetic changes, detecting an object motion track by acoustic wave transmission time, detecting an object motion track by measuring inertial amounts such as acceleration and angular velocity of an object, and acquiring object motion information by analyzing the object motion track in a video image, wherein electromagnetic induction is easily affected by electromagnetic interference, acoustic wave positioning accuracy receives the influence of acoustic propagation velocity, inertial measurement requires measuring a plurality of inertial amounts, video analysis is easily affected by illumination changes and image processing complexity, and the influence of the above various detection methods can lead to lower accuracy of detection results.
Disclosure of Invention
The invention provides an object track tracking method, device, equipment and storage medium, which are used for solving the problem of low accuracy of an acquired object motion track caused by interference factors such as electromagnetic and illumination in the prior art.
The first aspect of the present invention provides an object trajectory tracking method, including: collecting Rayleigh scattering light signals in a grid-type optical cable according to a preset interval length, wherein the grid-type optical cable is a coordinate grid formed by snakelike extending wiring of the optical cable along a first direction and snakelike extending wiring of the optical cable along a second direction; acquiring vibration data based on the Rayleigh scattering light signals, and recording the acquisition time period of each vibration data, wherein the vibration data is generated by the vibration of the grid type optical cable caused by the target object; determining a first line distance of the optical cable of the target object in the first direction and a second line distance of the optical cable in the second direction based on each vibration data; determining positions corresponding to the target object according to the mapping relation between the first line distance and the second line distance in a data mapping coordinate graph, wherein the data mapping coordinate graph is obtained by carrying out coordinate mapping on the grid-type optical cable; and determining the motion trail of the target object according to the acquisition time period corresponding to each position.
In a possible embodiment, before the collecting the rayleigh scattered light signal in the mesh optical cable according to the preset interval duration, the method further includes: acquiring the number of segments of the optical cable arranged along the first direction, the length of each segment of the optical cable and a first spacing distance between every two segments of the optical cable, and the number of segments of the optical cable arranged along the second direction, the length of each segment of the optical cable and a second spacing distance between every two segments of the optical cable; calculating based on the number of the optical cables arranged along the first direction, the length of each optical cable and the first interval distance to obtain an optical cable in the first direction in the grid-type optical cable; and calculating based on the number of the optical cables arranged along the second direction, the length of each optical cable and the second interval distance to obtain the optical cable in the second direction in the grid-type optical cable.
In a possible embodiment, the determining, based on each vibration data, a first line distance of the optical cable of the target object in the first direction and a second line distance of the optical cable in the second direction includes: denoising each vibration data through a preset threshold value to obtain each target vibration data; screening out a first target vibration signal from the optical cable in the first direction and a second target vibration signal from the optical cable in the second direction based on each target vibration data; a first line distance of the target object is determined based on the first target vibration signal, and a second line distance of the target object is determined based on the second target vibration signal.
In a possible implementation manner, the screening the optical cable in the first direction for the first target vibration signal and the optical cable in the second direction for the second target vibration signal based on each target vibration data includes: dividing each target vibration data into first target vibration data belonging to the optical cable in the first direction and second target vibration data belonging to the optical cable in the second direction; screening a first target vibration signal with the maximum signal intensity from the first target vibration data; and screening the second target vibration signal with the maximum signal intensity from the second target vibration data.
In a possible implementation manner, before the step of determining each position corresponding to the target object according to the mapping relationship between the first line distance and the second line distance in the data mapping coordinate graph, the method further includes: acquiring coordinates of optical cable crossing points in the grid-type optical cable; establishing a data grid matched with the wiring form of the grid-type optical cable based on the coordinates of the optical cable crossing points; and converting the coordinates of the optical cable cross points, and drawing in the data grid based on the converted coordinates of the optical cable cross points to obtain a data mapping coordinate graph.
In a possible implementation manner, the determining each position corresponding to the target object according to the mapping relationship between the first line distance and the second line distance in the data mapping coordinate graph includes: determining an abscissa in the data mapping coordinate graph according to the first line distance; determining an ordinate in the data mapping coordinate graph according to the second line distance; and determining each position corresponding to the target object based on the abscissa and the ordinate.
In a possible implementation manner, the determining the motion trail of the target object according to the acquisition time period corresponding to each position includes: determining the acquisition sequence of each position according to the acquisition time period corresponding to each position; and in the data mapping chart, the positions are connected in a directed manner according to the acquisition sequence, so that the movement track of the target object is obtained.
A second aspect of the present invention provides a trajectory tracking device, comprising: the system comprises an acquisition module, a first control module and a second control module, wherein the acquisition module is used for acquiring Rayleigh scattering light signals in a grid-type optical cable according to a preset interval duration, and the grid-type optical cable is a coordinate grid formed by snakelike extension wiring of the optical cable along a first direction and snakelike extension wiring along a second direction; the processing module is used for acquiring vibration data based on the Rayleigh scattering light signals and recording the acquisition time period of each vibration data, wherein the vibration data is generated by the vibration of the grid-type optical cable caused by the target object; a first determining module for determining a first line distance of the optical cable of the target object in the first direction and a second line distance of the optical cable in the second direction based on each vibration data; the second determining module is used for determining each position corresponding to the target object according to the mapping relation between the first line distance and the second line distance in a data mapping coordinate graph, and the data mapping coordinate graph is obtained by carrying out coordinate mapping on the grid-type optical cable; and the third determining module is used for determining the motion trail of the target object according to the acquisition time period corresponding to each position.
In a possible embodiment, the object trajectory tracking device further comprises: a fourth determining module for obtaining the number of segments of the optical cable arranged along the first direction, the length of each segment of the optical cable and a first spacing distance between each two segments of the optical cable, and the number of segments of the optical cable arranged along the second direction, the length of each segment of the optical cable and a second spacing distance between each two segments of the optical cable; a first calculation module, configured to calculate, based on the number of segments of the optical cables arranged along the first direction, the length of each segment of the optical cable, and the first spacing distance, to obtain an optical cable in the first direction of the grid-type optical cables; and the second calculation module is used for calculating based on the number of the optical cables arranged along the second direction, the length of each optical cable and the second interval distance to obtain the optical cables in the second direction in the grid type optical cables.
In a possible embodiment, the first determining module includes: the processing unit is used for denoising each vibration data through a preset threshold value to obtain each target vibration data; a screening unit for screening out a first target vibration signal from the optical cables in the first direction and a second target vibration signal from the optical cables in the second direction based on each target vibration data; and the determining unit is used for determining a first line distance of the target object based on the first target vibration signal and determining a second line distance of the target object based on the second target vibration signal.
In a possible embodiment, the screening unit is specifically configured to divide each target vibration data into a first target vibration data belonging to the optical cable in the first direction and a second target vibration data belonging to the optical cable in the second direction; screening a first target vibration signal with the maximum signal intensity from the first target vibration data; and screening the second target vibration signal with the maximum signal intensity from the second target vibration data.
In a possible embodiment, the object trajectory tracking device further comprises: the acquisition module is used for acquiring coordinates of optical cable crossing points in the grid-type optical cable; the establishing module is used for establishing a data grid matched with the wiring form of the grid-type optical cable based on the coordinates of the optical cable intersection points; and the drawing module is used for converting the coordinates of the optical cable crossing points, and drawing the coordinates of the optical cable crossing points in the data grid based on the converted coordinates of the optical cable crossing points to obtain a data mapping coordinate graph.
In a possible embodiment, the second determining module is specifically configured to: determining an abscissa in the data mapping coordinate graph according to the first line distance; determining an ordinate in the data mapping coordinate graph according to the second line distance; and determining each position corresponding to the target object based on the abscissa and the ordinate.
In a possible embodiment, the third determining module is specifically configured to: determining the acquisition sequence of each position according to the acquisition time period corresponding to each position; and in the data mapping chart, the positions are connected in a directed manner according to the acquisition sequence, so that the movement track of the target object is obtained.
A third aspect of the present invention provides an object trajectory tracking device comprising: a memory and at least one processor, the memory having instructions stored therein; the at least one processor invokes the instructions in the memory to cause the object trajectory tracking device to perform the object trajectory tracking method described above.
A fourth aspect of the invention provides a computer readable storage medium having instructions stored therein which, when run on a computer, cause the computer to perform the object trajectory tracking method described above.
According to the technical scheme, rayleigh scattering light signals in the grid-type optical cable are collected according to preset interval duration, wherein the grid-type optical cable is a coordinate grid formed by snakelike extension wiring of the optical cable along a first direction and snakelike extension wiring of the optical cable along a second direction; acquiring vibration data based on the Rayleigh scattering light signals, and recording the acquisition time period of each vibration data, wherein the vibration data is generated by the vibration of the grid type optical cable caused by the target object; determining a first line distance of the optical cable of the target object in the first direction and a second line distance of the optical cable in the second direction based on each vibration data; determining positions corresponding to the target object according to the mapping relation between the first line distance and the second line distance in a data mapping coordinate graph, wherein the data mapping coordinate graph is obtained by carrying out coordinate mapping on the grid-type optical cable; and determining the motion trail of the target object according to the acquisition time period corresponding to each position. In the embodiment of the invention, each vibration data is acquired through a preset interval time length, the acquisition time period of each vibration data is recorded, the first line distance of the optical cable of the target object in the first direction and the second line distance of the optical cable in the second direction in the grid optical cable are determined, each position corresponding to the target object is determined based on the mapping relation between the first line distance and the second line distance in the data mapping coordinate graph, and the motion trail of the target object is determined based on the acquisition time period corresponding to each position, so that the interference of factors such as electromagnetic factors, illumination factors and the like is avoided, and the accuracy of the motion trail acquisition is improved.
Drawings
FIG. 1 is a schematic diagram of an embodiment of a method for tracking an object track according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a phase sensitive optical time domain reflectometer according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of another embodiment of an object track tracking method according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a grid-type fiber optic cable arrangement in accordance with an embodiment of the present invention;
FIG. 5 is a schematic view of an object track according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of an embodiment of an object track following apparatus according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of another embodiment of an object track following apparatus according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of an embodiment of an object track following apparatus according to an embodiment of the present invention.
Detailed Description
The embodiment of the invention provides an object track tracking method, device, equipment and storage medium, which are used for positioning an object through a grid type optical cable so as to determine the motion track of the object and improve the accuracy of acquiring the motion track of the object.
The terms "first," "second," "third," "fourth" and the like in the description and in the claims and in the above drawings, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments described herein may be implemented in other sequences than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or apparatus.
It will be appreciated that the execution body of the present invention may be an object track tracking device, and may also be a terminal or a server, which is not limited herein. The embodiment of the invention is described by taking a server as an execution main body as an example.
For ease of understanding, a specific flow of an embodiment of the present invention is described below with reference to fig. 1, where an embodiment of a method for tracking an object track according to an embodiment of the present invention includes:
101. collecting Rayleigh scattering light signals in a grid-type optical cable according to a preset interval length, wherein the grid-type optical cable is a coordinate grid formed by snakelike extending wiring of the optical cable along a first direction and snakelike extending wiring of the optical cable along a second direction;
in this embodiment, a phase sensitive optical time domain reflectometer is used for track tracking detection, as shown in fig. 2, continuous light emitted by a narrow linewidth light source is modulated by a pulse modulator Cheng Maichong and amplified by an optical amplifier, then enters a sensing optical fiber from a circulator, rayleigh scattered light generated in the light pulse propagation process returns to the optical circulator, and is received by a photoelectric detector to generate an electric signal, and a data acquisition card acquires and converts the electric signal into a digital signal and transmits the digital signal to a rear end for processing and display.
The interval duration may be set according to a specific scenario, for example, the interval duration is set to 1s, and vibration data in the mesh optical cable is collected every 1 s. The optical cable is subjected to grid wiring to obtain a grid optical cable, and the grid optical cable can be obtained by carrying out snaking extension wiring on one optical cable in a first direction and snaking extension wiring on the optical cable in a second direction; two optical cables may be used, and the first optical cable may be routed in a serpentine manner in a first direction, and the second optical cable may be routed in a serpentine manner in a second direction, thereby obtaining a mesh optical cable. It should be noted that the serpentine extension may be a square wave extension, a sine wave extension, etc., and the first direction and the second direction may form an included angle of 90 °, 80 °, 60 °, etc., which is not limited herein. In positioning the target object, due to the regular cross arrangement of the optical cables, the abscissa and the ordinate of the position where the target object causes vibration can be obtained from the vibration of the optical cable arranged in the first direction caused by the target object and the vibration of the optical cable arranged in the second direction, thereby determining the position of the target object.
When arranging the optical cables, the optical cables along the first direction can be arranged first, and then the optical cables along the second direction can be arranged; it is also possible to arrange the optical cable in the second direction first and then the optical cable in the first direction.
102. Acquiring vibration data based on Rayleigh scattering light signals, and recording the acquisition time period of each vibration data, wherein the vibration data is generated by the vibration of a grid type optical cable caused by a target object;
the vibration caused by the target object can cause the phase of the Rayleigh scattering light signal to drift, the change of the intensity value of the Rayleigh scattering light is reflected, when the obvious change of the intensity of the Rayleigh scattering light is captured, the vibration signal is extracted, and the line distance of the line position of the vibration signal in the grid type optical cable is determined. In the grid-type optical cable, vibration caused by a target object at one position is loaded into the grid-type optical cable and is reflected into vibration of optical cable positions with different line distances in the grid-type optical cable, so that vibration caused by the target object at one position is loaded into the grid-type optical cable, at least two vibration signals exist, and due to the fact that time for receiving signals of optical fiber positions with different line distances is different, the time for collecting vibration data of one position is a time period, the collecting time period is smaller than the interval duration, and the vibration data comprises at least two vibration signals collected after the target object vibrates at one position at intervals.
103. Determining a first line distance of the optical cable of the target object in a first direction and a second line distance of the optical cable in a second direction based on the respective vibration data;
since there are at least two vibration signals in each vibration data, each vibration data is screened to obtain a first vibration signal caused by the optical cable arranged in the first direction and a second vibration signal caused by the optical cable arranged in the second direction, a first line distance of the target object in the grid-type optical cable is determined based on the first vibration signal, and a second line distance of the target object in the grid-type optical cable is determined based on the second vibration signal.
104. And determining each position corresponding to the target object according to the mapping relation between the first line distance and the second line distance in the data mapping coordinate graph, wherein the data mapping coordinate graph is obtained by carrying out coordinate mapping on the grid-type optical cable.
In the process of wiring the grid-type optical cable, the positions of the optical cable crossing points are recorded, so that the first crossing point along line distance and the second crossing point along line distance corresponding to each crossing point can be determined by searching recorded data, the coordinates of the optical cable crossing points are determined based on the first crossing point along line distance and the second crossing point along line distance, the coordinates of the optical cable crossing points are converted into the coordinates corresponding to the data grid based on a mapping rule, and the optical cable crossing points with the coordinates converted are drawn in the data grid, so that a data mapping coordinate graph is obtained.
And determining an abscissa in the data mapping coordinate graph based on the first line distance, determining an ordinate in the data mapping coordinate graph based on the second line distance, and determining each position corresponding to the target object based on the abscissa and the ordinate.
105. And determining the motion trail of the target object according to the acquisition time period corresponding to each position.
Selecting a time point from the acquisition time periods to represent a corresponding acquisition time period, obtaining the acquisition time points, comparing the acquisition time points, marking the positions according to the time sequence of the acquisition time points, obtaining marking information, and connecting the positions in a directional manner according to the marking information to obtain the movement track of the target object.
For example, the acquisition time points include a first acquisition time point, a second acquisition time point, a third acquisition time point, a fourth acquisition time point and a fifth acquisition time point, wherein the first acquisition time point corresponds to a first position, the second acquisition time point corresponds to a second position, the third acquisition time point corresponds to a third position, the fourth acquisition time point corresponds to a fourth position and the fifth acquisition time point corresponds to a fifth position; comparing the first acquisition time point, the second acquisition time point, the third acquisition time point, the fourth acquisition time point and the fifth acquisition time point, and if the obtained time sequence is: the fourth acquisition time point, the second acquisition time point, the fifth acquisition time point, the first acquisition time point and the third acquisition time point, the fourth position is marked as 1 based on the time sequence of the fourth acquisition time point, the second position is marked as 2 based on the time sequence of the second acquisition time point, the fifth position is marked as 3 based on the time sequence of the fifth acquisition time point, the first position is marked as 4 based on the time sequence of the first acquisition time point, the third position is marked as 5 based on the time sequence of the third acquisition time point, and directional connection of the positions is performed based on the marks of the positions as follows: fourth position, second position, fifth position, first position, third position.
In the embodiment of the invention, each vibration data is acquired through a preset interval time length, the acquisition time period of each vibration data is recorded, the first line distance of the optical cable of the target object in the first direction and the second line distance of the optical cable in the second direction in the grid optical cable are determined, each position corresponding to the target object is determined based on the mapping relation between the first line distance and the second line distance in the data mapping coordinate graph, and the motion trail of the target object is determined based on the acquisition time period corresponding to each position, so that the interference of factors such as electromagnetic factors, illumination factors and the like is avoided, and the accuracy of the motion trail acquisition is improved.
Referring to fig. 3, another embodiment of the object track tracking method according to the present invention includes:
301. collecting Rayleigh scattering light signals in a grid-type optical cable according to a preset interval length, wherein the grid-type optical cable is a coordinate grid formed by snakelike extending wiring of the optical cable along a first direction and snakelike extending wiring of the optical cable along a second direction;
before collecting the rayleigh scattered light signals in the grid-type optical cable according to the preset interval duration, the following steps are further executed: acquiring the number of segments of the optical cable arranged along the first direction, the length of each segment of the optical cable and a first spacing distance between every two segments of the optical cable, and the number of segments of the optical cable arranged along the second direction, the length of each segment of the optical cable and a second spacing distance between every two segments of the optical cable; calculating based on the number of the sections of the optical cables arranged along the first direction, the length of each section of the optical cable and the first interval distance to obtain the optical cable in the first direction in the grid type optical cable; and calculating based on the number of the optical cables arranged along the second direction, the length of each optical cable and the second interval distance, so as to obtain the optical cable in the second direction in the grid type optical cable.
The method can be used for obtaining the engineering layout of the grid-type optical cable and determining the related data of the grid-type optical cable based on the engineering layout, if the grid structure of the grid-type optical cable is formed by extending one optical cable according to a square waveform and the first direction and the second direction are mutually perpendicular, as shown in fig. 4, fig. 4 is a schematic layout diagram of the grid-type optical cable in the embodiment of the invention. If 10 cables are arranged in the first direction, each cable has a length of 55m and a first spacing distance between adjacent cables is 5m, 11 cables are arranged in the second direction, each cable has a length of 55m and a second spacing distance between adjacent cables is 5m, the distances of the cables in the first direction are calculated to be 10×55+5×10=600m, the distances of the cables in the second direction are calculated to be 11×55+5×11=660, the total length of the mesh cables is 600m+660 m=1260 m, and in this embodiment, the cables in the first direction are arranged first and then the cables in the second direction are arranged, so that the cables in the first direction are 0-600m and the cables in the second direction are 600-1260m.
The execution process of collecting the rayleigh scattering optical signals in the grid-type optical cable according to the preset interval duration is similar to the execution process of the step 101, and will not be repeated here.
302. Acquiring vibration data based on Rayleigh scattering light signals, and recording the acquisition time period of each vibration data, wherein the vibration data is generated by the vibration of a grid type optical cable caused by a target object;
the execution of this step 302 is similar to that of the step 102 described above, and will not be described here again.
303. Denoising each vibration data through a preset threshold value to obtain each target vibration data;
and carrying out wavelet decomposition on the vibration signals corresponding to the vibration data to obtain wavelet coefficients of the vibration signals, comparing the wavelet coefficients with a preset threshold value, reserving the wavelet coefficients smaller than the preset threshold value, and carrying out signal reconstruction on the corresponding vibration signals based on the wavelet coefficients smaller than the preset threshold value to obtain the target vibration data.
304. Screening out a first target vibration signal from the optical cable in the first direction and a second target vibration signal from the optical cable in the second direction based on the target vibration data;
dividing each target vibration data into first target vibration data belonging to the optical cable in the first direction and second target vibration data belonging to the optical cable in the second direction; screening a first target vibration signal with the maximum signal intensity from the first target vibration data; and screening the second target vibration signal with the maximum signal intensity from the second target vibration data.
Each target vibration data comprises at least two vibration signals, the line distance of each vibration signal corresponding to each target vibration data in the grid-type optical cable is determined, the at least two vibration signals are divided into the vibration signals of the optical cable in the first direction and the vibration signals of the optical cable in the second direction based on the line distance of each vibration signal in the grid-type optical cable, the signal characteristics of each vibration signal are extracted to obtain characteristic information, the first target vibration signal is screened out from the vibration signals of the optical cable in the first direction based on the characteristic information, and the second target vibration signal is screened out from the vibration signals of the optical cable in the second direction.
The signal characteristic may be amplitude, and the vibration signal with the largest amplitude is determined from the vibration signals of the optical cable in the first direction, so as to obtain a first target vibration signal, and the vibration signal with the largest amplitude is determined from the vibration signals of the optical cable in the second direction, so as to obtain a second target vibration signal.
For example, if the optical cable in the first direction is 0-550m, the optical cable in the second direction is 550-1200m, the target vibration data includes a first vibration signal, a second vibration signal, a third vibration signal and a fourth vibration signal, wherein the first vibration signal, the second vibration signal, the third vibration signal and the fourth vibration signal are sequentially 220m, 240m, 620m and 625m along the line distance in the grid-type optical cable, and since 220m and 240m are in the range of 0-550m, 620m and 625m are in the range of 550-1200m, the first vibration signal and the second vibration signal are determined to belong to the vibration signal in the optical cable in the first direction, the third vibration signal and the fourth vibration signal are determined to be the vibration signal in the optical cable in the second direction, and if the amplitude of the first vibration signal is larger than the amplitude of the second vibration signal, and the amplitude of the third vibration signal is larger than the amplitude of the fourth vibration signal, the first vibration signal is determined to be the first target vibration signal, and the third vibration signal is determined to be the second target vibration signal.
305. Determining a first line distance of the target object based on the first target vibration signal, and determining a second line distance of the target object based on the second target vibration signal;
and extracting the distance corresponding to the position where the phase of the Rayleigh scattering light signal caused by the first target vibration signal drifts, so as to obtain a first line distance, and extracting the distance corresponding to the position where the phase of the Rayleigh scattering light signal caused by the second target vibration signal drifts, so as to obtain a second line distance.
306. Determining each position corresponding to the target object according to the mapping relation between the first line distance and the second line distance in a data mapping coordinate graph, wherein the data mapping coordinate graph is obtained by carrying out coordinate mapping on a grid-type optical cable;
before each position corresponding to the target object is determined according to the mapping relation between the first line distance and the second line distance in the data mapping coordinate graph, the following steps are further executed: acquiring coordinates of optical cable crossing points in the grid-type optical cable; based on the coordinates of the optical cable crossing points, establishing a data grid matched with the wiring form of the grid-type optical cable; and converting the coordinates of the optical cable cross points, and drawing in a data grid based on the converted coordinates of the optical cable cross points to obtain a data mapping coordinate graph.
The preset grid-type optical cable arrangement data comprise a first intersection point along the line and a second intersection point along the line, the first intersection point and the second intersection point are corresponding to each other, coordinates of the optical cable intersection points are formed on the basis of the first intersection point along the line and the second intersection point along the line, the optical cable intersection points are used as the basis for drawing a data mapping coordinate graph, a data grid matched with the wiring form of the grid-type optical cable is established, the drawing pattern of the optical cable intersection points is determined, the optical cable intersection points are subjected to coordinate conversion, and the optical cable intersection points with the coordinate conversion are drawn in the data grid according to the drawing pattern, so that a data mapping coordinate graph is obtained. The drawing pattern may be various patterns such as solid dots, hollow dots, stars, and the like.
Determining an abscissa in the data map based on the first along-line distance; determining an ordinate in the data map based on the second along-line distance; and determining each position corresponding to the target object based on the abscissa and the ordinate.
307. And determining the motion trail of the target object according to the acquisition time period corresponding to each position.
Determining the acquisition sequence of each position according to the acquisition time period corresponding to each position; and (3) carrying out directed connection on each position in the data mapping chart according to the acquisition sequence to obtain the motion trail of the target object.
Selecting a time point from all the acquisition time periods to represent a corresponding acquisition time period to obtain all the acquisition time points, selecting a target acquisition time point as an element of an ordered array, selecting the target acquisition time point as one target acquisition time point selected randomly, taking other acquisition time points except the target acquisition time point as elements of the array to be arranged, randomly selecting the acquisition time point to be compared currently in the array to be arranged, comparing the acquisition time point to be compared with the target acquisition time point, if the acquisition time point to be compared is earlier than the target acquisition time point, arranging the acquisition time point to be compared between the target acquisition time points, if the acquisition time point to be compared is later than the target acquisition time point, taking the target acquisition time point and the acquisition time point to be compared which are ordered as elements of the ordered array, selecting the next acquisition time point to be compared from the array to be arranged, comparing the acquisition time point to be compared with the acquisition time point to be ordered at the last position in the array to be compared, and analogically determining the next acquisition time point to be ordered in the array to be ordered until the next acquisition time point to be ordered is earlier than the last acquisition time point to be ordered in the array to be ordered, and comparing the next acquisition time point to be ordered to the last time point to be ordered in the array to be ordered, and comparing time points to be ordered to the acquisition time point to be ordered at the last time point to be ordered in the last time point to be ordered to be compared to the acquisition time point to be ordered.
The acquisition sequence of each position is determined according to the sequence of each sampling time point, as shown in fig. 5, and each position is connected in a directed manner according to the acquisition sequence in the data map, so as to obtain the motion track of the target object.
In the embodiment of the invention, each vibration data is acquired through a preset interval time length, the acquisition time period of each vibration data is recorded, each vibration data is subjected to denoising processing through a preset threshold value to obtain each target vibration data, a first target vibration signal is screened out from optical cables of each target vibration data in a first direction, a second target vibration signal is screened out from optical cables of each target vibration data in a second direction, a first line distance of a target object is determined based on the first target vibration signal, a second line distance of the target object is determined based on the second target vibration signal, each position corresponding to the target object is determined based on the mapping relation between the first line distance and the second line distance in a data mapping coordinate graph, and the motion trail of the target object is determined based on the acquisition time period corresponding to each position, so that the interference of factors such as electromagnetic factors and illumination is avoided, and the accuracy of motion trail acquisition is improved.
The method for tracking an object track in the embodiment of the present invention is described above, and the following describes an object track tracking device in the embodiment of the present invention, referring to fig. 6, an embodiment of the object track tracking device in the embodiment of the present invention includes:
The acquisition module 601 is configured to acquire rayleigh scattering optical signals in a mesh optical cable according to a preset interval duration, where the mesh optical cable is a coordinate mesh formed by snakelike extending wiring of the optical cable along a first direction and snakelike extending wiring of the optical cable along a second direction;
the processing module 602 is configured to obtain vibration data based on the rayleigh scattering optical signal, and record an acquisition time period of each vibration data, where the vibration data is data generated by the vibration of the grid-type optical cable caused by the target object;
a first determining module 603 for determining a first line distance of the optical cable in the first direction and a second line distance of the optical cable in the second direction of the target object based on the respective vibration data;
a second determining module 604, configured to determine each position corresponding to the target object according to a mapping relationship between the first along-line distance and the second along-line distance in a data mapping coordinate graph, where the data mapping coordinate graph is obtained by performing coordinate mapping on a grid-type optical cable;
the third determining module 605 is configured to determine a motion track of the target object according to the acquisition time period corresponding to each position.
In the embodiment of the invention, each vibration data is acquired through a preset interval time length, the acquisition time period of each vibration data is recorded, the first line distance of the optical cable of the target object in the first direction and the second line distance of the optical cable in the second direction in the grid optical cable are determined, each position corresponding to the target object is determined based on the mapping relation between the first line distance and the second line distance in the data mapping coordinate graph, and the motion trail of the target object is determined based on the acquisition time period corresponding to each position, so that the interference of factors such as electromagnetic factors, illumination factors and the like is avoided, and the accuracy of the motion trail acquisition is improved.
Referring to fig. 7, another embodiment of an object track following apparatus according to an embodiment of the present invention includes:
the acquisition module 601 is configured to acquire rayleigh scattering optical signals in a mesh optical cable according to a preset interval duration, where the mesh optical cable is a coordinate mesh formed by snakelike extending wiring of the optical cable along a first direction and snakelike extending wiring of the optical cable along a second direction;
the processing module 602 is configured to obtain vibration data based on the rayleigh scattering optical signal, and record an acquisition time period of each vibration data, where the vibration data is data generated by the vibration of the grid-type optical cable caused by the target object;
a first determining module 603 for determining a first line distance of the optical cable in the first direction and a second line distance of the optical cable in the second direction of the target object based on the respective vibration data;
a second determining module 604, configured to determine each position corresponding to the target object according to a mapping relationship between the first along-line distance and the second along-line distance in a data mapping coordinate graph, where the data mapping coordinate graph is obtained by performing coordinate mapping on a grid-type optical cable;
the third determining module 605 is configured to determine a motion track of the target object according to the acquisition time period corresponding to each position.
Optionally, the object track following device further includes:
A fourth determining module 606, configured to obtain a number of segments of the optical cable arranged along the first direction, a length of each segment of the optical cable, and a first spacing distance between each two segments of the optical cable, and a number of segments of the optical cable arranged along the second direction, a length of each segment of the optical cable, and a second spacing distance between each two segments of the optical cable;
a first calculating module 607 for calculating, based on the number of segments of the optical cables arranged in the first direction, the length of each segment of the optical cable, and the first spacing distance, optical cables in the first direction among the grid-type optical cables;
a second calculating module 608, configured to calculate, based on the number of segments of the optical cable arranged along the second direction, the length of each segment of the optical cable, and the second spacing distance, to obtain an optical cable in the second direction of the grid-type optical cable.
Optionally, the first determining module 603 includes:
a processing unit 6031 for denoising each vibration data by a preset threshold value to obtain each target vibration data;
a screening unit 6032 for screening out a first target vibration signal from the optical cable in the first direction and a second target vibration signal from the optical cable in the second direction based on the respective target vibration data;
a determining unit 6033 for determining a first line distance of the target object based on the first target vibration signal and a second line distance of the target object based on the second target vibration signal.
Alternatively, the screening unit 6032 may be specifically configured to:
dividing each target vibration data into first target vibration data belonging to the optical cable in the first direction and second target vibration data belonging to the optical cable in the second direction; screening a first target vibration signal with the maximum signal intensity from the first target vibration data; and screening the second target vibration signal with the maximum signal intensity from the second target vibration data.
Optionally, the object track following device further includes:
an obtaining module 609, configured to obtain coordinates of an optical cable intersection point in the grid-type optical cable;
a building module 610, configured to build a data grid matching the wiring form of the grid-type optical cable based on the coordinates of the optical cable intersection points;
the drawing module 611 is configured to convert the coordinates of the optical cable cross points, and draw the coordinates of the optical cable cross points in the data grid based on the converted coordinates of the optical cable cross points, so as to obtain a data mapping coordinate graph.
Optionally, the second determining module 604 may be specifically configured to:
determining an abscissa in the data mapping coordinate graph according to the first line distance; determining an ordinate in the data mapping coordinate graph according to the second line distance; and determining each position corresponding to the target object based on the abscissa and the ordinate.
Optionally, the third determining module 605 may be specifically configured to:
determining the acquisition sequence of each position according to the acquisition time period corresponding to each position; and (3) carrying out directed connection on each position in the data mapping chart according to the acquisition sequence to obtain the motion trail of the target object.
In the embodiment of the invention, each vibration data is acquired through a preset interval time length, the acquisition time period of each vibration data is recorded, each vibration data is subjected to denoising processing through a preset threshold value to obtain each target vibration data, a first target vibration signal is screened out from optical cables of each target vibration data in a first direction, a second target vibration signal is screened out from optical cables of each target vibration data in a second direction, a first line distance of a target object is determined based on the first target vibration signal, a second line distance of the target object is determined based on the second target vibration signal, each position corresponding to the target object is determined based on the mapping relation between the first line distance and the second line distance in a data mapping coordinate graph, and the motion trail of the target object is determined based on the acquisition time period corresponding to each position, so that the interference of factors such as electromagnetic factors and illumination is avoided, and the accuracy of motion trail acquisition is improved.
The object track following device in the embodiment of the present invention is described in detail above in fig. 6 and fig. 7 from the point of view of modularized functional entities, and the object track following apparatus in the embodiment of the present invention is described in detail below from the point of view of hardware processing.
Fig. 8 is a schematic structural diagram of an object track following apparatus according to an embodiment of the present invention, where the object track following apparatus 800 may have a relatively large difference due to different configurations or performances, and may include one or more processors (central processing units, CPU) 810 (e.g., one or more processors) and a memory 820, and one or more storage media 830 (e.g., one or more mass storage devices) storing application programs 833 or data 832. Wherein memory 820 and storage medium 830 can be transitory or persistent. The program stored on the storage medium 830 may include one or more modules (not shown), each of which may include a series of instruction operations for the object trajectory tracking device 800. Still further, the processor 810 may be configured to communicate with the storage medium 830 and execute a series of instruction operations in the storage medium 830 on the object trajectory tracking device 800.
The object trajectory tracking device 800 may also include one or more power supplies 840, one or more wired or wireless network interfaces 850, one or more input/output interfaces 860, and/or one or more operating systems 831, such as Windows Serve, mac OS X, unix, linux, freeBSD, and the like. It will be appreciated by those skilled in the art that the object trajectory tracking device structure shown in fig. 8 is not limiting of the object trajectory tracking device and may include more or fewer components than shown, or may combine certain components, or may be a different arrangement of components.
The present invention also provides an object trajectory tracking device, the computer device including a memory and a processor, the memory storing computer readable instructions that, when executed by the processor, cause the processor to perform the steps of the object trajectory tracking method in the above embodiments. The present invention also provides a computer readable storage medium, which may be a non-volatile computer readable storage medium, or a volatile computer readable storage medium, having stored therein instructions that, when executed on a computer, cause the computer to perform the steps of the object trajectory tracking method.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, which are not repeated herein.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform 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 removable hard disk, a read-only memory (ROM), a random access memory (random access memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. An object trajectory tracking method, characterized in that the object trajectory tracking method comprises:
collecting Rayleigh scattering light signals in a grid-type optical cable according to a preset interval length, wherein the grid-type optical cable is a coordinate grid formed by snakelike extending wiring of the optical cable along a first direction and snakelike extending wiring of the optical cable along a second direction;
acquiring vibration data based on the Rayleigh scattering light signals, and recording the acquisition time period of each vibration data, wherein the vibration data are data generated by the vibration of the grid type optical cable caused by a target object;
determining a first line distance of the optical cable of the target object in the first direction and a second line distance of the optical cable in the second direction based on each vibration data;
Determining positions corresponding to the target object according to the mapping relation between the first line distance and the second line distance in a data mapping coordinate graph, wherein the data mapping coordinate graph is obtained by carrying out coordinate mapping on the grid-type optical cable;
and determining the motion trail of the target object according to the acquisition time period corresponding to each position.
2. The method of tracking an object trajectory according to claim 1, further comprising, prior to said collecting the rayleigh scattered light signal in the fiber optic mesh cable according to the preset interval duration:
acquiring the number of segments of the optical cable arranged along the first direction, the length of each segment of the optical cable and a first spacing distance between every two segments of the optical cable, and the number of segments of the optical cable arranged along the second direction, the length of each segment of the optical cable and a second spacing distance between every two segments of the optical cable;
calculating based on the number of the optical cables arranged along the first direction, the length of each optical cable and the first interval distance to obtain an optical cable in the first direction in the grid-type optical cable;
and calculating based on the number of the optical cables arranged along the second direction, the length of each optical cable and the second interval distance to obtain the optical cable in the second direction in the grid-type optical cable.
3. The object trajectory tracking method of claim 1, wherein the determining a first line distance of the fiber optic cable of the target object in the first direction and a second line distance of the fiber optic cable in the second direction based on each vibration data comprises:
denoising each vibration data through a preset threshold value to obtain each target vibration data;
screening out a first target vibration signal from the optical cable in the first direction and a second target vibration signal from the optical cable in the second direction based on each target vibration data;
a first line distance of the target object is determined based on the first target vibration signal, and a second line distance of the target object is determined based on the second target vibration signal.
4. The object trajectory tracking method of claim 3, wherein the screening out a first target vibration signal in the optical cable in the first direction and a second target vibration signal in the optical cable in the second direction based on each target vibration data comprises:
dividing each target vibration data into first target vibration data belonging to the optical cable in the first direction and second target vibration data belonging to the optical cable in the second direction;
Screening a first target vibration signal with the maximum signal intensity from the first target vibration data;
and screening the second target vibration signal with the maximum signal intensity from the second target vibration data.
5. The object trajectory tracking method of claim 4, further comprising, prior to the step of determining each location corresponding to the target object based on the mapping relationship between the first line distance and the second line distance in the data map coordinate graph:
acquiring coordinates of optical cable crossing points in the grid-type optical cable;
establishing a data grid matched with the wiring form of the grid-type optical cable based on the coordinates of the optical cable crossing points;
and converting the coordinates of the optical cable cross points, and drawing in the data grid based on the converted coordinates of the optical cable cross points to obtain a data mapping coordinate graph.
6. The method according to any one of claims 1 to 5, wherein determining the positions corresponding to the target object according to the mapping relationship between the first line distance and the second line distance in the data map coordinate graph includes:
determining an abscissa in the data mapping coordinate graph according to the first line distance;
Determining an ordinate in the data mapping coordinate graph according to the second line distance;
and determining each position corresponding to the target object based on the abscissa and the ordinate.
7. The object track following method according to claim 1, wherein the determining the motion track of the target object according to the acquisition time period corresponding to each position includes:
determining the acquisition sequence of each position according to the acquisition time period corresponding to each position;
and in the data mapping chart, the positions are connected in a directed manner according to the acquisition sequence, so that the movement track of the target object is obtained.
8. An object trajectory tracking device, comprising:
the system comprises an acquisition module, a first control module and a second control module, wherein the acquisition module is used for acquiring Rayleigh scattering light signals in a grid-type optical cable according to a preset interval duration, and the grid-type optical cable is a coordinate grid formed by snakelike extension wiring of the optical cable along a first direction and snakelike extension wiring along a second direction;
the processing module is used for acquiring vibration data based on the Rayleigh scattering light signals and recording the acquisition time period of each vibration data, wherein the vibration data is generated by the vibration of the grid-type optical cable caused by the target object;
A first determining module for determining a first line distance of the optical cable of the target object in the first direction and a second line distance of the optical cable in the second direction based on each vibration data;
the second determining module is used for determining each position corresponding to the target object according to the mapping relation between the first line distance and the second line distance in a data mapping coordinate graph, and the data mapping coordinate graph is obtained by carrying out coordinate mapping on the grid-type optical cable;
and the third determining module is used for determining the motion trail of the target object according to the acquisition time period corresponding to each position.
9. An object trajectory tracking device, characterized in that the object trajectory tracking device comprises: a memory and at least one processor, the memory having instructions stored therein;
the at least one processor invokes the instructions in the memory to cause the object trajectory tracking device to perform the object trajectory tracking method of any one of claims 1-7.
10. A computer readable storage medium having instructions stored thereon, which when executed by a processor, implement the object trajectory tracking method of any one of claims 1-7.
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| CN111982170A (en) * | 2020-08-27 | 2020-11-24 | 广东工业大学 | Track description method applied to optical fiber sensing system |
| CN112550378A (en) * | 2020-11-26 | 2021-03-26 | 安徽徽一通讯科技有限公司 | Method, system and storage for mapping positions between track accompanying optical cable and track |
| CN116559771A (en) * | 2023-04-27 | 2023-08-08 | 南京大学 | Underwater optical cable space position calibration method based on distributed optical fiber sensing |
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