WO2023124054A1

WO2023124054A1 - Method and apparatus for monitoring physical world on basis of digital twins, and storage medium

Info

Publication number: WO2023124054A1
Application number: PCT/CN2022/108915
Authority: WO
Inventors: 黄晓庆; 王勇; 陈原; 马世奎
Original assignee: 达闼机器人股份有限公司
Priority date: 2021-12-29
Filing date: 2022-07-29
Publication date: 2023-07-06
Also published as: CN114373047B; CN114373047A

Abstract

The embodiments of the present invention provide a method and apparatus for monitoring the physical world on the basis of digital twins, and a storage medium, the method comprising: a first terminal determining a target object in an initial surveillance picture, wherein the target object is an object in the initial surveillance picture which object satisfies a preset privacy condition; according to target attributes of the target object, generating a simulated object matching the target attributes; and constructing a target simulated surveillance camera picture on the basis of the initial surveillance picture and the simulated object; acquiring in real-time behavior data of the simulated object in the target simulated surveillance camera picture; sending, in real-time to a second terminal, the target simulated surveillance camera picture obtained in real time, and thus allowing the second terminal to perform effective real-time monitoring of the physical world without exposing target objects such as human beings and special facilities; The present solution can convert service spaces, people, objects and behaviors to digital twins, such that monitoring personnel at a remote second terminal see a completely-desensitized digital twin scene, thus effectively putting an end to the problem of leaked private data.

Description

A method, device and storage medium for monitoring the physical world based on digital twins

cross reference

This application refers to the Chinese patent application No. 202111644554.1 entitled "A Method, Device and Storage Medium for Monitoring the Physical World Based on Digital Twins" submitted on December 29, 2021, which is incorporated by reference in its entirety into this application.

technical field

The embodiment of the present application relates to the technical field of image processing, and specifically relates to a method, device and storage medium for monitoring the physical world based on a digital twin.

Background technique

With the increasing popularity of smart life, a large number of sensing devices, especially cameras, are approaching people's daily life. For example, cameras are deployed in various public places for monitoring security. However, the monitoring data obtained by monitoring involves user privacy, and data desensitization methods are usually used, such as converting the color video of the camera to grayscale video, or mosaicing the face and other technical means.

Although these technical means can alleviate the impact of privacy leakage, they cannot completely solve the privacy problem.

Contents of the invention

The embodiment of the present application provides a method, device, and storage medium for monitoring the physical world based on digital twins, which can perform digital twinning on service places, people, objects, and behaviors, and what the monitoring personnel at the remote second terminal can see is completely Desensitized digital twin scenarios can effectively prevent privacy data leakage.

In the first aspect, the embodiment of the present application provides a method for monitoring the physical world based on a digital twin from the perspective of a first terminal (for example, a party that digitally models the physical world), the method including:

Determining the target object in the initial monitoring screen, the target object is an object in the initial monitoring screen that meets the preset privacy conditions;

generating a simulated object matching the target attribute according to the target attribute of the target object;

Based on the initial monitoring picture and the simulated object, constructing a target simulation monitoring camera picture;

Obtaining the behavior data of the simulated object in the target simulated monitoring camera picture in real time;

The real-time acquired target simulation monitoring camera picture is sent to the second terminal in real time.

In some embodiments, the target object is a human being, and generating a simulated object matching the target attribute according to the target attribute of the target object includes:

Acquiring first sensing data, where the first sensing data is mobility data of the target object in the initial monitoring frame;

converting the first sensory data into first structured data, and determining a first sensitive model matching the first structured data;

Desensitizing and replacing the first structured data according to a first desensitizing strategy preset by the first sensitive model to obtain a first 3D model corresponding to the target object;

The first 3D model is used as the simulation object in the target simulation monitoring camera drawing.

In some embodiments, the first structured data includes the first real-time pose data of the target object, and after obtaining the first 3D model corresponding to the target object, the method further includes:

updating the first 3D model according to the first real-time pose data;

endowing the first 3D model with physical characteristics matching the first real-time pose data in real time;

Based on the physical characteristics matched with the first real-time pose data, predict and deduce the trajectory of the target object, and correct the pose data of the target object, so as to update the first 3D model in real time.

In some embodiments, the method further includes: after obtaining the first 3D model corresponding to the target object, the method further includes:

receiving an interaction instruction from the second terminal, where the interaction instruction is used to instruct to display at least one object attribute of the target object;

Responding to the interaction instruction, acquiring at least one object attribute of the target object from the initial monitoring screen;

Updating at least one attribute of the object into the first 3D model, so as to update the simulated monitoring camera picture of the target;

Sending the updated simulated monitoring camera picture of the target to the second terminal.

In some embodiments, the target object includes at least one sensitive facility, and the generating a simulated object matching the target attribute according to the target attribute of the target object includes:

Acquiring second sensing data, where the second sensing data is attribute data and/or mobility data of the at least one sensitive facility in the initial monitoring screen;

converting the second sensory data into second structured data, and determining a second sensitive model matching the second structured data;

performing concealment processing on the second structured data according to a second desensitization strategy preset by the second sensitivity model;

Or, desensitize and replace the second structured data according to the second desensitization strategy to obtain a second 3D model corresponding to the target object, and use the second 3D model as the target simulation monitoring The camera draws pictures for the simulated objects.

In the second aspect, the embodiment of the present application provides a method for monitoring the physical world based on a digital twin from the perspective of a second terminal (for example), wherein the method is applied to a second terminal, and the method includes:

Real-time reception of target simulation monitoring camera drawing from the first terminal; wherein, the target simulation monitoring camera picture is constructed based on the initial monitoring picture and the simulated object, the simulated object is generated according to the target attribute of the target object and is related to the target Attribute matching; the target object is an object that meets preset privacy conditions in the initial monitoring screen;

Displaying the simulated monitoring camera picture of the target.

In some embodiments, the method also includes:

receiving an interaction instruction from a supervising user, where the interaction instruction is used to instruct to display at least one object attribute of the target object;

sending the interaction instruction to the first terminal;

The updated simulated monitoring camera picture of the target is received from the first terminal, wherein the simulated monitoring camera picture of the target is that the first terminal updates at least one object attribute of the target object to the The first 3D model is updated to get;

The updated simulated monitoring camera picture of the target is displayed.

In the third aspect, the embodiment of the present application also provides a monitoring device, the monitoring device includes:

A processing module, configured to determine a target object in the initial monitoring screen, where the target object is an object in the initial monitoring screen that meets preset privacy conditions; according to the target attribute of the target object, generate a Simulation object; Based on the initial monitoring picture and the simulation object, construct a target simulation monitoring camera picture;

The transceiver module is used to acquire the behavior data of the simulated object in the simulated monitoring camera picture of the target in real time; and send the simulated monitoring camera picture of the target acquired in real time to the second terminal in real time.

In a fourth aspect, the embodiment of the present application further provides a monitoring device, the monitoring device includes a transceiver module, a processing module and a display module, the processing module is used to control the transceiver operation of the transceiver module, and to control the The display operation of the display module:

Wherein, the transceiver module is used to receive the target simulation monitoring camera drawing from the first terminal in real time; wherein, the target simulation monitoring camera picture is constructed based on the initial monitoring picture and the simulated object, and the simulated object is constructed according to the target object The target attribute is generated and matched with the target attribute; the target object is an object that meets the preset privacy conditions in the initial monitoring screen;

The display module is used for displaying the simulated monitoring camera picture of the target received by the transceiver module.

In the fifth aspect, the embodiment of the present application also provides a processing device, including a processor and a memory, and a computer program is stored in the memory. When the processor invokes the computer program in the memory, it executes any digital-based Steps in a method to twin monitor the physical world.

In the fourth aspect, the embodiment of the present application also provides a computer-readable storage medium, the computer-readable storage medium stores a plurality of instructions, and the instructions are suitable for being loaded by the processor, so as to execute any one based on the method provided by the embodiment of the present application. Steps in a method for a digital twin to monitor the physical world.

It can be concluded from the above that in the embodiment of the present application, the first terminal determines the target object in the initial monitoring screen, and the target object is an object in the initial monitoring screen that meets the preset privacy conditions; according to the target object target attribute, generating a simulated object matching the target attribute; based on the initial monitoring picture and the simulated object, constructing a target simulation monitoring camera picture; obtaining the behavior of the simulated object in the target simulation monitoring camera picture in real time Data; real-time acquisition of target simulation monitoring camera images is sent to the second terminal in real time, so that the second terminal can effectively monitor the physical world in real time without exposing targets such as humans and special facilities. , Objects, and behaviors are digitally twinned, and the monitors at the remote second terminal see a completely desensitized digital twin scene, which can effectively prevent privacy data leakage.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings that need to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application. For those skilled in the art, other drawings can also be obtained based on these drawings without any creative effort.

Figure 1 is a schematic flow diagram of a method for monitoring the physical world based on digital twins in this application;

Fig. 2 is a schematic diagram of a scenario of mapping between the digital world and the physical world in this application;

FIG. 3 is a schematic structural diagram of the monitoring device 20 in this application;

Fig. 4 is a schematic structural diagram of the monitoring device 30 in this application;

Fig. 5 is a schematic structural diagram of the processing equipment of the present application.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the application with reference to the drawings in the embodiments of the application. Apparently, the described embodiments are only some of the embodiments of the application, not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making creative efforts belong to the scope of protection of this application.

In the following description, specific embodiments of the present application will be described with reference to steps and symbols executed by one or more computers, unless otherwise stated. Therefore, these steps and operations will be mentioned several times to be executed by a computer, and the computer execution referred to in the embodiment of the present application includes the operation of a computer processing unit by an electronic signal representing data in a structured form. This operation transforms the data or maintains it at a location in the computer's memory system that can reconfigure or otherwise alter the operation of the computer in a manner well known to testers in the art. The data structures maintained by the data are physical locations in the memory that have certain characteristics defined by the data format. However, the principle of the present application is described in the above text, which is not meant to be a limitation, and testers in the field will understand that the various steps and operations described below can also be implemented in hardware.

The principles of the present application operate with numerous other general purpose or special purpose computing, communication environments or configurations. Examples of well-known computing systems, environments, and configurations suitable for use in this application may include, but are not limited to, handheld phones, personal computers, servers, multiprocessor systems, microcomputer-based systems, mainframe computers, and A distributed computing environment, including any of the above systems or devices.

The terms "first", "second" and "third" in this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "include" and "have", as well as any variations thereof, are intended to cover a non-exclusive inclusion.

First of all, before introducing the embodiments of the present application, first introduce the relevant content of the present application about the application background.

The method provided by this application for monitoring the physical world based on digital twins involves digital twin systems. Digital twins make full use of data information such as physical models, sensor updates, and operation history, and integrate multi-disciplinary, multi-physical quantities, multi-scale, and multi-probability simulation processes. Mapping is carried out in the virtual space, and then reflects the whole life cycle process of the corresponding physical equipment.

Model the physical equipment in the physical world, digitize the physical world through the model, and then map the physical world to the virtual world through the model to build a bridge between the physical world and the virtual world. In the process of controlling the physical equipment in the physical space in the virtual space, real-time data exchange is performed in the virtual space and the physical space, and it supports real-time data synchronization and historical data query functions.

The executor of the method for monitoring the physical world based on digital twins provided by this application may be the device provided by this application, or a processing device such as a server device, a physical host, a vehicle terminal or a user equipment (User Equipment, UE) integrating the device, Wherein, the device can be realized by means of hardware or software, and the UE can specifically be a terminal device such as a smart phone, a tablet computer, a notebook computer, a palmtop computer, a desktop computer, or a personal digital assistant (Personal Digital Assistant, PDA).

Next, the method for monitoring the physical world based on the digital twin provided by this application will be introduced.

Referring to FIG. 1 , FIG. 1 shows a schematic flowchart of a method for monitoring the physical world based on digital twins in this application, and the method is applied to remote monitoring. The method provided in this application may specifically include the following steps:

101. The first terminal determines a target object in an initial monitoring screen.

Wherein, the target object is any object in the initial monitoring screen that conforms to the preset privacy policy, such as service places, people, objects, behaviors, etc. The embodiment of the present application does not limit any possible form of the target object.

In some implementation manners, the target object may be an object meeting a preset privacy condition in the initial monitoring screen. Wherein, the preset privacy condition can be set on the first terminal side, specifically, the preset privacy condition can include at least one of the following items:

The target audience is human;

The target object is a sensitive facility;

The target object is a sensitive flag.

Among them, human beings can be non-public figures, minors, or sensitive figures or important figures appearing in the monitoring screen, which is not limited in this embodiment of the present application.

Sensitive facilities can be military industry, enterprise internal scientific research and test operation platform, security equipment, monitoring mobile station, etc., which are not limited in the embodiment of this application. Sensitive signs can be geographical signs of special units, or signs related to security equipment within enterprises, etc., which are not limited in this embodiment of the application.

102. The first terminal generates a simulated object matching the target attribute according to the target attribute of the target object.

Wherein, the analog object is a digitized object. For example, when the target object is a human being, the simulated object can be a simulated digital human being; for example, when the target object is a sensitive facility, the simulated object is a general facility or is covered; Sexual symbols may be covered up.

The following describes the process of generating simulated objects from the perspective of human beings and sensitive facilities:

1. When the target object is human

In some implementation manners, the generating a simulated object matching the target attribute according to the target attribute of the target object includes:

converting the first sensory data into first structured data, and determining a first sensitive model matching the first structured data from a preset 3D model library;

It can be seen that in the embodiment of the present application, by converting the target human in the initial monitoring picture into a digital type of analog object, on the one hand, it can be replaced by a digital human at the source of the initial monitoring picture, so as to avoid being blocked during the transmission of the initial monitoring picture The attacker steals; on the other hand, it can also ensure that the monitoring personnel who perform remote monitoring on the remote second terminal can prevent these monitoring personnel from directly seeing the actual situation in the initial monitoring screen when they understand the actual situation of the scene where the camera is located. Target objects, to prevent more people from seeing the actual target objects or reduce the risk of leaking the actual target objects, so that these monitoring personnel only need to pay attention to the actual behavior track, layout, scene changes and other situations of the monitoring objects in the monitoring screen.

In some other implementations, the first structured data may include the first real-time pose data of the target object. In the digital twin world, a 3D model is created or updated according to the relative pose of the target person or object, and endowed with corresponding physical properties. Specifically, after obtaining the first 3D model corresponding to the target object, the method further includes:

updating the first 3D model according to the first real-time pose data;

It can be seen that through this embodiment, motion trajectory prediction and deduction based on physical characteristics can be supported, and the relative pose of the target person or object can be corrected. For example, the recognized person or object floats in the air for a long time. Objects will be modified to be placed on the ground or other objects on the ground.

In other embodiments, 3D rendering technology can also be used to render the digital twin world in real time according to the observer's perspective and field of view. Operators can perform real-time roaming and interactive interactions in the digital twin world, so as to realize remote monitoring of the target scene or manual auxiliary work in the ring. The method also includes: after obtaining the first 3D model corresponding to the target object, the method also includes:

For example, if you click on the reconstructed 3D digital pedestrian, various attributes of the recognition can be displayed, such as height, whether to wear a hat, male or female, age, whether to carry weapons, whether the behavior is compliant, and the trajectory of the movement.

2. When the target object includes at least one sensitive facility,

It can be seen that in the embodiment of the present application, by converting the sensitive facilities in the initial monitoring picture into digital analog objects, on the one hand, it can be replaced with digital facilities or icons at the source of the initial monitoring picture, which can avoid the process of transmitting the initial monitoring picture. On the other hand, it can also ensure that the monitoring personnel who perform remote monitoring on the remote second terminal can prevent these monitoring personnel from directly seeing the original monitoring screen when they understand the actual situation of the scene where the camera is located. In order to avoid fewer people seeing or reduce the risk of leakage, these monitoring personnel only need to pay attention to the actual state changes, moving tracks, layout, scene changes and other situations of the monitoring objects in the monitoring screen.

103. The first terminal constructs a target simulated surveillance camera picture based on the initial surveillance picture and the simulated object.

Specifically, 1:1 digital modeling of the real physical world can be carried out. The modeling method is relatively mature, involving model-based flipping based on 2D drawings, modeling based on oblique photography of drones, and using mobile devices (such as equipped with lidar) ) for modeling or professional robots for modeling. A comparative schematic diagram shown in FIG. 2 may be referred to.

104. The first terminal acquires the behavior data of the simulated object in the target simulated monitoring camera picture in real time.

Correspondingly, in order to obtain the behavior data of the target object (ie, the simulated object) in real time, corresponding sensing devices can be deployed in the target monitoring area to sense the dynamic events of interest in real time and reconstruct them in the digital twin world. For example, if you are more concerned about pedestrian trajectories in the park monitoring scene, you can deploy cameras within the possible range of pedestrian activities to detect, identify, and locate target pedestrians through cameras. After the behavior data of the target pedestrian is obtained, it will also be correspondingly updated to the 3D model of the simulated object, and displayed in the target simulated monitoring camera screen with real-time dynamics.

105. The first terminal sends to the second terminal in real time the simulated monitoring camera image of the target acquired in real time.

Correspondingly, the second terminal receives the target simulation monitoring camera drawing from the first terminal in real time; wherein, the target simulation monitoring camera picture is constructed based on the initial monitoring picture and the simulation object, and the simulation object is based on the target attribute of the target object Generated and matched with the target attribute; the target object is an object in the initial monitoring screen that meets preset privacy conditions;

106. The second terminal displays the simulated surveillance camera image of the target.

In some embodiments, the method also includes:

sending the interaction instruction to the first terminal;

The updated simulated monitoring camera picture of the target is displayed.

Through the technical solutions provided in the embodiments of this application, the following technical effects are obtained:

1. Compared with the existing technologies that cannot do without camera video or point cloud data, the embodiment of the present application uses AI perception reconstruction technology to no longer need to display the corresponding real-world video or point cloud;

2. Use the desensitization model library to desensitize and replace the dynamically identified models to avoid privacy leakage; that is, the displayed digital twin must be a desensitized and compliant digital virtual world;

3. Compared with the digital twins in the existing technology (such as 51world, SmartEarth), which mainly display virtual static scenes, they lack real-time reconstruction and update of dynamic scenes, and lack of physical characteristics and power control of digital twins simulation simulation. The embodiment of the present application can realize the simulation of the physical characteristics and power control of the digital twin, and the second terminal controls the target simulation monitoring camera picture at the remote end.

In order to better implement the method of the present application, the embodiment of the present application also provides a monitoring device 20 and a monitoring device 30 for implementing the above-mentioned method of monitoring the physical world based on a digital twin.

Please refer to FIG. 3. FIG. 3 is a schematic structural diagram of the monitoring device 20 of the present application, wherein the monitoring device 20 may specifically include the following structure:

The processing module 201 is configured to determine the target object in the initial monitoring screen, the target object is an object in the initial monitoring screen that meets the preset privacy conditions; according to the target attribute of the target object, generate a target object that matches the target attribute. The simulated object; Based on the initial monitoring picture and the simulated object, build a target simulated monitoring camera picture;

The transceiving module 202 is configured to acquire the behavior data of the simulated object in the simulated monitoring camera picture of the target in real time; and send the simulated monitoring camera picture of the target acquired in real time to the second terminal in real time.

In one embodiment, the target object is a human being, and the processing module 201 is specifically used for:

Obtaining first sensing data through the transceiver module 202, where the first sensing data is mobility data of the target object in the initial monitoring screen;

In one embodiment, the first structured data includes first real-time pose data of the target object, and after the processing module 201 obtains the first 3D model corresponding to the target object, it is further used to:

updating the first 3D model according to the first real-time pose data;

In one embodiment, after the processing module 201 obtains the first 3D model corresponding to the target object, it is further configured to:

receiving an interaction instruction from the second terminal through the transceiver module 202, where the interaction instruction is used to instruct to display at least one object attribute of the target object;

The updated simulated monitoring camera picture of the target is sent to the second terminal through the transceiver module 202 .

In an embodiment, the target object includes at least one sensitive facility, and the processing module 201 is specifically configured to:

Acquire second sensing data through the transceiver module 202, where the second sensing data is attribute data and/or mobility data of the at least one sensitive facility in the initial monitoring screen;

Please refer to FIG. 4. FIG. 4 is a schematic structural diagram of a monitoring device 30 of the present application, wherein the monitoring device 30 may specifically include a transceiver module 301, a processing module 302 and a display module 303, and the processing module 302 is used to control the transceiver The transceiver operation of the module 301, and the display operation for controlling the display module:

Wherein, the transceiver module 301 is configured to receive the target simulation monitoring camera drawing from the first terminal in real time; wherein, the target simulation monitoring camera picture is constructed based on the initial monitoring picture and the simulated object, and the simulated object is constructed according to the target The target attribute of the object is generated and matched with the target attribute; the target object is an object in the initial monitoring screen that meets preset privacy conditions;

The display module 303 is configured to display the simulated monitoring camera image of the target received by the transceiver module 301 .

In one embodiment, the transceiver module 301 is also used for:

sending the interaction instruction to the first terminal;

The display module 303 is further configured to display the updated simulated monitoring camera image of the target.

The present application also provides a processing device. Referring to FIG. 5, FIG. 5 shows a schematic structural diagram of the processing device of the present application. Specifically, the processing device provided in the present application includes a processor, and the processor is used to execute the computer program stored in the memory. The steps in the embodiments corresponding to Fig. 1 and Fig. 2 are implemented; or, the processor is used to execute the computer program stored in the memory to realize the functions of the modules in the embodiments corresponding to Fig. 3 or Fig. 4 .

Exemplarily, a computer program can be divided into one or more modules/units, and one or more modules/units are stored in a memory and executed by a processor to complete the present application. One or more modules/units may be a series of computer program instruction segments capable of accomplishing specific functions, and the instruction segments are used to describe the execution process of the computer program in the computer device.

A processing device may include, but is not limited to, a processor, memory. Those skilled in the art can understand that the illustration is only an example of a processing device, and does not constitute a limitation to the processing device, and may include more or less components than those shown in the illustration, or combine some components, or different components, such as processing The device may also include an input and output device, a network access device, a bus, etc., and a processor, a memory, an input and output device, and a network access device are connected through the bus.

The processor can be a central processing unit (Central Processing Unit, CPU), or other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc. The processor is the control center of the processing device, and uses various interfaces and lines to connect various parts of the entire processing device.

The memory can be used to store computer programs and/or modules, and the processor implements various functions of the computer device by running or executing the computer programs and/or modules stored in the memory and calling data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, at least one application program required by a function (such as a sound playback function, an image playback function, etc.); Data created by the use of the device (such as audio data, video data, etc.), etc. In addition, the memory can include high-speed random access memory, and can also include non-volatile memory, such as hard disk, internal memory, plug-in hard disk, smart memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card , flash card (Flash Card), at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device.

The display screen is used for displaying characters of at least one character type output by the input and output unit.

Those skilled in the art can clearly understand that for the convenience and brevity of the description, the specific working process of the above-described device, processing equipment and corresponding modules can refer to the descriptions in the embodiments corresponding to Fig. 1 and Fig. 2, The details will not be repeated here.

Those of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructions, or by instructions controlling related hardware, and the instructions can be stored in a computer-readable storage medium, and is loaded and executed by the processor.

To this end, the embodiment of the present application provides a computer-readable storage medium, which stores a plurality of instructions that can be loaded by the processor to perform the steps in the embodiment of the present application as shown in Figure 1. The specific operations Reference may be made to the descriptions in the embodiments corresponding to FIG. 1 and FIG. 2 , and details are not repeated here.

Wherein, the computer-readable storage medium may include: a read-only memory (ROM, Read Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and the like.

Because the instructions stored in the computer-readable storage medium can execute the steps in the embodiment corresponding to Figure 1 and Figure 2 of this application, therefore, the steps in the embodiment corresponding to Figure 1 and Figure 2 of this application can be realized For the beneficial effects that can be achieved, see the previous description for details, and will not be repeated here.

The above is a detailed introduction to a risk detection method, device and storage medium provided by this application. In the embodiment of this application, specific examples are used to illustrate the principle and implementation of this application. The description of the above embodiment is only for help Understand the method of this application and its core idea; at the same time, for those skilled in the art, according to the idea of this application, there will be changes in the specific implementation and scope of application. In summary, the content of this specification should not understood as a limitation of the application.

Claims

A method for monitoring the physical world based on a digital twin, wherein the method is applied to a first terminal, and the method includes:

Determining the target object in the initial monitoring screen, the target object is an object in the initial monitoring screen that meets the preset privacy conditions;

generating a simulated object matching the target attribute according to the target attribute of the target object;

Based on the initial monitoring picture and the simulated object, constructing a target simulation monitoring camera picture;

Obtaining the behavior data of the simulated object in the target simulated monitoring camera picture in real time;

The real-time acquired target simulation monitoring camera picture is sent to the second terminal in real time.
The method according to claim 1, wherein the target object is a human being, and generating a simulated object matching the target attribute according to the target attribute of the target object comprises:

Acquiring first sensing data, where the first sensing data is mobility data of the target object in the initial monitoring frame;

converting the first sensory data into first structured data, and determining a first sensitive model matching the first structured data;

Desensitizing and replacing the first structured data according to a first desensitizing strategy preset by the first sensitive model to obtain a first 3D model corresponding to the target object;

The first 3D model is used as the simulation object in the target simulation monitoring camera drawing.
The method according to claim 2, wherein the first structured data includes first real-time pose data of the target object, and after obtaining the first 3D model corresponding to the target object, the Methods also include:

updating the first 3D model according to the first real-time pose data;

endowing the first 3D model with physical characteristics matching the first real-time pose data in real time;

Based on the physical characteristics matched with the first real-time pose data, predict and deduce the trajectory of the target object, and correct the pose data of the target object, so as to update the first 3D model in real time.
The method according to claim 2 or 3, wherein the method further comprises: after obtaining the first 3D model corresponding to the target object, the method further comprises:

receiving an interaction instruction from the second terminal, where the interaction instruction is used to instruct to display at least one object attribute of the target object;

Responding to the interaction instruction, acquiring at least one object attribute of the target object from the initial monitoring screen;

Updating at least one attribute of the object into the first 3D model, so as to update the simulated monitoring camera picture of the target;

Sending the updated simulated monitoring camera picture of the target to the second terminal.
The method according to claim 1, wherein the target object includes at least one sensitive facility, and generating a simulated object matching the target attribute according to the target attribute of the target object comprises:

acquiring second sensing data, where the second sensing data is attribute data and/or mobility data of the at least one sensitive facility in the initial monitoring screen;

converting the second sensory data into second structured data, and determining a second sensitive model matching the second structured data;

performing concealment processing on the second structured data according to a second desensitization strategy preset by the second sensitivity model;

Or, desensitize and replace the second structured data according to the second desensitization strategy to obtain a second 3D model corresponding to the target object, and use the second 3D model as the target simulation monitoring The camera draws pictures for the simulated objects.
A method for monitoring the physical world based on a digital twin, wherein the method is applied to a second terminal, and the method includes:

Real-time reception of target simulation monitoring camera drawing from the first terminal; wherein, the target simulation monitoring camera picture is constructed based on the initial monitoring picture and the simulated object, the simulated object is generated according to the target attribute of the target object and is related to the target Attribute matching; the target object is an object that meets preset privacy conditions in the initial monitoring screen;

Displaying the simulated monitoring camera picture of the target.
The method according to claim 6, further comprising:

receiving an interaction instruction from a supervising user, where the interaction instruction is used to instruct to display at least one object attribute of the target object;

sending the interaction instruction to the first terminal;

The updated simulated monitoring camera picture of the target is received from the first terminal, wherein the simulated monitoring camera picture of the target is that the first terminal updates at least one object attribute of the target object to the The first 3D model is updated to get;

The updated simulated monitoring camera picture of the target is displayed.
A monitoring device, characterized in that the monitoring device comprises:

A processing module, configured to determine a target object in the initial monitoring screen, where the target object is an object in the initial monitoring screen that meets preset privacy conditions; according to the target attribute of the target object, generate a Simulation object; Based on the initial monitoring picture and the simulation object, construct a target simulation monitoring camera picture;

The transceiver module is used to acquire the behavior data of the simulated object in the simulated monitoring camera picture of the target in real time; and send the simulated monitoring camera picture of the target acquired in real time to the second terminal in real time.
A monitoring device, characterized in that the monitoring device includes a transceiver module, a processing module and a display module, the processing module is used to control the transceiver operation of the transceiver module and the display operation of the display module:

Wherein, the transceiver module is used to receive the target simulation monitoring camera drawing from the first terminal in real time; wherein, the target simulation monitoring camera picture is constructed based on the initial monitoring picture and the simulated object, and the simulated object is constructed according to the target object The target attribute is generated and matched with the target attribute; the target object is an object that meets the preset privacy conditions in the initial monitoring screen;

The display module is used for displaying the simulated monitoring camera picture of the target received by the transceiver module.
A processing device, characterized in that it includes a processor and a memory, and a computer program is stored in the memory, and when the processor invokes the computer program in the memory, it executes any one of claims 1 to 5. method, or perform the method as claimed in claim 6 or 7.
A computer-readable storage medium, characterized in that the computer-readable storage medium stores a plurality of instructions, and the instructions are suitable for being loaded by a processor to perform the method according to any one of claims 1 to 5 , or execute the method as claimed in claim 6 or 7.