A method, device, storage medium and electronic device for retrieving a target device

Abstract

Embodiments of the present application disclose a method and device for finding a target device, a storage medium and an electronic device. The method comprises: determining the number of cameras that meet distance threshold constraint conditions; wherein the distance threshold constraint conditions are used to represent that the target device exists within the positioning range of the cameras; the cameras have signal receiving and transmitting functions; if the number of cameras does not meet the camera number constraint conditions, determining at least four camera auxiliary positioning positions according to a pre-configured rule, calculating the first distance between the at least four camera auxiliary positioning positions, and calculating the second distance between the at least four camera auxiliary positioning positions and the target device; and determining the spatial position of the target device according to the first distance and the second distance. The technical solution can position a single target device based on the camera cloud platform rotation function, and can solve the problem that the number of cameras near the target device is too small to be insufficient for spatial positioning.

Description

Technical Field

[0001] This application relates to the field of Internet of Things (IoT) positioning technology, and in particular to a method, apparatus, storage medium, and electronic device for retrieving a target device. Background Technology

[0002] Mobile devices such as smartphones and watches are now an indispensable part of our lives and work. However, due to their usage scenarios and the need for convenience, these devices are often small and easy to lose, especially in scenarios where the device is silent and covered by other objects, making it difficult to find the target device quickly.

[0003] In existing technologies, cameras that support 3D imaging and UWB (Ultra-Wide Band) functionality are combined with UWB technology and identity recognition matching methods to locate indoor target devices.

[0004] However, this method has limitations on the number of target devices, requiring at least two, and it cannot solve the problem of insufficient spatial positioning due to a small number of cameras near the target device. Summary of the Invention

[0005] This application provides a method, apparatus, storage medium, and electronic device for retrieving a target device. Based on the camera gimbal rotation function, it can locate a single target device and solve the problem that the number of cameras near the target device is too small to provide sufficient spatial positioning.

[0006] In a first aspect, embodiments of this application provide a method for retrieving a target device, the method comprising:

[0007] The number of cameras that meet the distance threshold constraint is determined; wherein the distance threshold constraint is used to characterize the presence of a target device within the positioning range of the camera; the camera has the function of receiving and transmitting signals;

[0008] If the number of cameras does not meet the camera number constraint, then at least four camera auxiliary positioning positions are determined according to the pre-configured rules, and a first distance between the at least four camera auxiliary positioning positions is calculated, and a second distance between the at least four camera auxiliary positioning positions and the target device is calculated.

[0009] Based on the first distance and the second distance, the spatial location of the target device is determined for positioning the target device.

[0010] Secondly, embodiments of this application provide an apparatus for retrieving a target device, the apparatus comprising:

[0011] A camera quantity determination module is used to determine the number of cameras that meet the distance threshold constraint condition; wherein, the distance threshold constraint condition is used to characterize the presence of a target device within the positioning range of the camera; the camera has the function of receiving signals and transmitting signals;

[0012] The distance calculation module is used to determine at least four camera-assisted positioning positions according to pre-configured rules if the number of cameras does not meet the camera number constraint, and to calculate a first distance between the at least four camera-assisted positioning positions and a second distance between the at least four camera-assisted positioning positions and the target device.

[0013] The target device spatial location determination module is used to determine the spatial location of the target device based on the first distance and the second distance, so as to locate the target device.

[0014] Thirdly, embodiments of this application provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method for retrieving a target device as described in embodiments of this application.

[0015] Fourthly, embodiments of this application provide an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the method for retrieving a target device as described in embodiments of this application.

[0016] The technical solution provided in this application determines the number of cameras that meet the distance threshold constraint. If the number of cameras does not meet the camera number constraint, at least four camera auxiliary positioning positions are determined according to pre-configured rules, and a first distance between the at least four camera auxiliary positioning positions and a second distance between the at least four camera auxiliary positioning positions and the target device are calculated. Then, the spatial position of the target device is determined based on the first and second distances. This technical solution can locate a single target device based on the camera pan-tilt rotation function and can solve the problem that the number of cameras near the target device is too small to provide sufficient spatial positioning. Attached Figure Description

[0017] Figure 1 This is a flowchart of the method for retrieving a target device provided in Embodiment 1 of this application;

[0018] Figure 2 This is a schematic diagram of the cloud monitoring platform provided in Embodiment 1 of this application;

[0019] Figure 3 This is a schematic diagram of the camera gimbal rotation position provided in Embodiment 1 of this application;

[0020] Figure 4This is a schematic diagram of the rotation position of another camera gimbal provided in Embodiment 1 of this application;

[0021] Figure 5 This is a schematic diagram of the rotation position of another camera gimbal provided in Embodiment 1 of this application;

[0022] Figure 6 This is a schematic diagram of the process of retrieving the target device provided in Embodiment 2 of this application;

[0023] Figure 7 This is a flowchart of triggering the retrieval of the target device provided in Embodiment 2 of this application;

[0024] Figure 8 This is a flowchart of the time-based location-based target device retrieval provided in Embodiment 2 of this application;

[0025] Figure 9 This is a flowchart of the spatial positioning-based target device retrieval provided in Embodiment 2 of this application;

[0026] Figure 10 This is a schematic diagram of the device for retrieving the target device provided in Embodiment 3 of this application;

[0027] Figure 11 This is a schematic diagram of the structure of an electronic device provided in Embodiment 5 of this application. Detailed Implementation

[0028] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the application and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present application, not the entire structure.

[0029] Before discussing the exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe the steps as sequential processes, many of these steps can be performed in parallel, concurrently, or simultaneously. Furthermore, the order of the steps can be rearranged. The process can be terminated when its operation is complete, but may also have additional steps not included in the figures. The process can correspond to a method, function, procedure, subroutine, subroutine, etc.

[0030] Example 1

[0031] Figure 1This is a flowchart of a method for retrieving a target device provided in Embodiment 1 of this application. This embodiment is applicable to the retrieval of small and easily lost devices. The method can be executed by the device for retrieving the target device provided in this embodiment. The device can be implemented by software and / or hardware and can be integrated into devices such as smart terminals used to determine the spatial location of the device.

[0032] like Figure 1 As shown, the method for retrieving the target device includes:

[0033] S110. Determine the number of cameras that meet the distance threshold constraint; wherein, the distance threshold constraint is used to characterize the presence of a target device within the positioning range of the camera; the camera has the function of receiving signals and transmitting signals;

[0034] In this embodiment, the target device can refer to a small mobile device that supports a single UWB antenna. For example, the target device can be a mobile phone, a watch, or other similar device. The camera is a camera with signal receiving and signal transmitting functions; for example, the camera can be an infrared camera, a wireless camera, or the like. Preferably, the camera can be a camera that supports a single UWB antenna.

[0035] For example, Figure 2 This is a schematic diagram of the cloud monitoring platform provided in Embodiment 1 of this application, as shown below. Figure 2 As shown, the cloud monitoring platform consists of a cloud platform server, UWB cameras, target device client software, and other client software. The cloud platform server collects and processes data and requests from the cameras and client software. The UWB cameras capture real-time video and store recordings, maintain network communication with the cloud platform server, and support UWB signal transmission for target device location. The target device client software, pre-installed on the target device, supports basic monitoring services, maintains network communication with the cloud platform server, and additionally supports UWB signal transmission for target device location. Other client software can be web-based PC clients, other client applications, etc., responsible for basic monitoring services and maintaining network communication with the cloud platform server; they are not involved in UWB location services.

[0036] The server stores information about devices successfully logged into each account, distinguishing different devices logged into the same account. The server also stores device status, including "normal" and "pending retrieval," with "normal" being the default. Each device's status is independent. Users can manually modify the device status, or the status can be automatically modified when a device meets predetermined scenario requirements. For example, if a device has been powered off for an extended period, its status will automatically be changed to "pending retrieval."

[0037] In this embodiment, the target device is configured with a system whitelist to ensure that the client software can continue to run in the background; it supports determining whether the device meets the predetermined scenario requirements and automatically triggers the reporting to the server to modify the status; under normal circumstances, it only supports communication and positioning with UWB cameras bound to this account; when awaiting retrieval, it supports communication and positioning with all UWB cameras.

[0038] In this solution, the UWB camera configuration includes default UWB signal reception and default UWB signal transmission. Each time the distance between the camera and the target device is calculated, the time point and the camera's pan-tilt position are recorded simultaneously. Specifically, when communicating with a regular device, the system checks if the account is bound to it; if so, UWB signal transmission is enabled, the distance between the two devices is calculated, and the statistical information is reported to the server; otherwise, the system discards the request and does not respond. When communicating with a device to be retrieved, the system directly reports to the server, along with its pan-tilt capabilities and GPS positioning capabilities. Upon confirming the request to locate and retrieve the target device with the server, UWB signal transmission is enabled, and the distance between the two devices is calculated. The UWB antenna is mounted at a fixed position on the circumference of the camera body and can rotate with the pan-tilt unit; the circumferential distance can be determined based on the device model.

[0039] In this solution, UWB positioning also has errors, and the error increases with distance. Therefore, a distance threshold is set to limit the allowable error. If the error exceeds this threshold, it means the error is beyond the acceptable range and the camera is discarded due to lack of positioning value. Thus, the number of cameras that meet the distance threshold constraint can be determined based on the distance between the camera and the target device.

[0040] S120. If the number of cameras does not meet the camera number constraint, then according to the pre-configured rules, at least four camera auxiliary positioning positions are determined, and a first distance between the at least four camera auxiliary positioning positions is calculated, and a second distance between the at least four camera auxiliary positioning positions and the target device is calculated.

[0041] In this solution, the camera number constraint can be set according to the requirements of the 3D spatial model construction. Optionally, the camera number constraint can be set to be greater than or equal to four, that is, when the number of cameras is greater than or equal to four, the camera number constraint is satisfied; when the number of cameras is less than four, the camera number constraint is not satisfied.

[0042] In this embodiment, the pre-configured rules can refer to rules that configure the gimbal rotation position of the cameras based on the number of cameras. For example, if there are 3 cameras, the gimbal rotation position of 1 camera can be configured.

[0043] The camera-assisted positioning includes the camera's pan-tilt-zoom (PTZ) rotation position and the camera's own position. When the number of cameras does not meet the camera count constraint, the PTZ rotation position can be determined based on pre-configured rules to compensate for the camera discrepancies. The PTZ refers to a mounting platform composed of two AC motors, capable of horizontal and vertical movement. The camera's PTZ can be controlled to rotate to different positions to monitor the target device. The PTZ rotation position can be determined in real-time or pre-defined.

[0044] In this embodiment, if the number of cameras is less than four, multiple camera-assisted positioning positions can be determined through pre-configured rules. For example, if there is only one camera, four camera-assisted positioning positions can be determined for target device positioning.

[0045] In this scheme, the first distance is used to characterize the distance between camera-assisted positioning positions. If there are four camera-assisted positioning positions, then six first distances are calculated.

[0046] In this technical solution, optionally, at least four camera-assisted positioning positions are determined according to pre-configured rules, including:

[0047] Determine that at least one of the cameras supports the gimbal distance statistics mode, and based on the number of cameras, determine the assisted positioning positions of at least four cameras in response to a server request.

[0048] In this embodiment, after determining the number of cameras, different camera gimbal rotation positions are selected according to the server request. Based on the camera gimbal rotation positions and the camera's own position, at least four auxiliary positioning positions for the cameras are determined. The cameras are those that support gimbal distance statistics mode.

[0049] By determining the location of cameras for auxiliary positioning, the problem of insufficient spatial positioning due to a lack of cameras near the target device can be solved.

[0050] In this technical solution, optionally, based on the number of cameras, in response to a server request, at least four camera-assisted positioning positions are determined, including:

[0051] Based on the number of cameras, in response to a server request, the gimbal rotation position of at least one camera is obtained, and based on the gimbal rotation position and the camera's own position, at least four auxiliary positioning positions for the cameras are determined; wherein, the auxiliary positioning positions for the cameras include the gimbal rotation position and the camera's own position.

[0052] In this embodiment, the server request can be sent to a single camera to select different gimbal rotation positions, or it can be sent to multiple cameras simultaneously to select different gimbal rotation positions. Optionally, if there is one camera, the gimbal rotation positions of four cameras are determined based on the server request; if there are two cameras, the gimbal rotation positions of at least two cameras are determined based on the server request; and if there are three cameras, the gimbal rotation position of at least one camera is determined based on the server request.

[0053] For example, Figure 3 This is a schematic diagram of the camera gimbal rotation position provided in Embodiment 1 of this application. Figure 3 As shown, when the server requests two statistical points, two points with a fixed diameter on the circumference are selected as the pan-tilt-zoom (PTZ) positions for the camera. The diameter of the current PTZ camera is 10-20 centimeters.

[0054] For example, Figure 4 This is a schematic diagram of the rotation position of another camera gimbal provided in Embodiment 1 of this application. For example... Figure 4 As shown, when the number of statistical points requested by the server is 3, three points of the equilateral triangle are selected as the gimbal rotation positions of the camera.

[0055] For example, Figure 5 This is a schematic diagram of the rotation position of another camera gimbal provided in Embodiment 1 of this application. For example... Figure 5 As shown, when the number of statistical points requested by the server is 4, the four points of the circumferential equilateral quadrilateral are selected as the pan-tilt rotation positions of the camera.

[0056] In this solution, if the camera does not support the PTZ distance statistics mode, the server will not obtain the required distance statistics results and will be unable to determine the spatial location of the target device, prompting the user that the spatial positioning has failed.

[0057] By selecting different gimbal rotation positions for the cameras, the problem of insufficient spatial positioning due to a limited number of cameras near the target device can be solved. Furthermore, increasing the distance between different gimbal rotation positions for the same camera can reduce errors.

[0058] In this technical solution, optionally, calculating the first distance between the at least four camera-assisted positioning positions includes:

[0059] In the case that the at least two camera-assisted positioning positions belong to different cameras, in response to a server request, an ultra-wideband signal is sent, and a first distance between the at least two camera-assisted positioning positions is calculated;

[0060] If the at least two camera-assisted positioning positions belong to the same camera, then a first distance between the at least two camera-assisted positioning positions is determined based on a preset position distance relationship;

[0061] Accordingly, calculating the second distance between the at least four camera-assisted positioning positions and the target device includes:

[0062] In response to a server request, an ultra-wideband signal is sent to the target device, and a second distance between the target device and the positions of at least four camera-assisted positioning devices is calculated.

[0063] Among them, ultra-wideband technology uses nanosecond-level non-sinusoidal narrow pulse wireless data transmission, achieving centimeter-level positioning accuracy, consuming far less energy than existing WiFi / Bluetooth transmission technologies, and having stronger penetration.

[0064] In this embodiment, the preset position distance relationship can refer to the distance between the gimbal rotation positions of two cameras within the same camera, which can be determined based on the circumference of the camera gimbal. In this solution, when the camera auxiliary positioning positions belong to different cameras, the server request is confirmed, and security identification is completed with nearby UWB cameras. The distance between the camera auxiliary positioning positions is obtained by calculating the transmission time of the UWB signal, i.e., the first distance. Similarly, the distance between the camera auxiliary positioning positions and the target device is obtained by calculating the transmission time of the UWB signal, i.e., the second distance. When the camera auxiliary positioning positions belong to the same camera, the first distance between at least two camera auxiliary positioning positions can be directly determined based on the size of the camera gimbal.

[0065] By using ultra-wideband signals to calculate the distance between at least two camera-assisted positioning positions, as well as the distance between the camera-assisted positioning positions and the target device, a single target device can be located based on the camera pan-tilt rotation function.

[0066] S130. Determine the spatial location of the target device based on the first distance and the second distance for positioning the target device.

[0067] In this embodiment, if there are four cameras assisting in positioning, six first distances are calculated. A three-dimensional model is constructed based on these six first distances, and the spatial position of the target device is determined based on the three-dimensional model and second distances. Conventional algorithms can be used to construct the three-dimensional model based on the distances; this embodiment does not impose specific limitations.

[0068] In this technical solution, optionally, after determining the number of cameras near the target device that meet the distance threshold constraint, the method further includes:

[0069] If the number of cameras meets the camera number constraint, a three-dimensional model is constructed based on the distance between the positions of at least two cameras, and the spatial position of the target device is determined based on the three-dimensional model and the distance between the camera positions and the target device.

[0070] In this solution, the server obtains the positions of at least four cameras and the distances between them, allowing it to directly construct a 3D model. The spatial location of the target device is then determined using this 3D model and displayed in conjunction with live video feed.

[0071] A single target device can be located by obtaining the distance between the positions of at least two cameras and the distance between the camera's own position and the target device.

[0072] The technical solution provided in this application determines the number of cameras that meet the distance threshold constraint. If the number of cameras does not meet the camera number constraint, at least four camera auxiliary positioning positions are determined according to pre-configured rules, and a first distance between the at least four camera auxiliary positioning positions and a second distance between the at least four camera auxiliary positioning positions and the target device are calculated. Then, based on the first and second distances, the spatial position of the target device is determined for positioning the target device. By implementing this technical solution, a single target device can be positioned based on the camera pan-tilt rotation function, and the problem of insufficient number of cameras near the target device for spatial positioning can be solved.

[0073] Example 2

[0074] Figure 6 This is a schematic diagram illustrating the process of retrieving a target device according to Embodiment 2 of this application. Embodiment 2 further optimizes Embodiment 1. Specifically, the optimization involves determining the number of cameras near the target device that meet the distance threshold constraint, including: if the target device is in a state of pending retrieval, determining the target distance between the camera's own position and the target device; if the target distance meets the distance threshold constraint, incrementing the camera count by one until all target distance determinations are completed, thus obtaining the number of cameras. Details not described in this embodiment can be found in Embodiment 1. Figure 6 As shown, the method includes the following steps:

[0075] S610. If the target device is in the state of pending retrieval, determine the target distance between the camera's own position and the target device.

[0076] In this embodiment, the target device's status can be changed to "pending retrieval" in response to modifications made by other client software; alternatively, the status can be set to "pending retrieval" automatically based on changes made by the target device itself. The server then changes the target device's status.

[0077] In this embodiment, after the camera confirms the server request and the target device completes security identification, the distance between the two is calculated to obtain the target distance between the camera's own position and the target device, and then the distance is reported to the server.

[0078] Optionally, in this technical solution, the method further includes:

[0079] The system provides routine statistical information for determining the presence of a target device; wherein, the routine statistical information includes a time point, gimbal location, and device distance.

[0080] If it exists, determine whether the camera pan-tilt position is continuously changing;

[0081] If so, control the camera to stop rotating the gimbal and return to the preset historical gimbal position to determine the distance between it and the target device, thus obtaining the third distance;

[0082] If the third distance has not changed continuously, then provide the earliest time point when it has not changed continuously, the historical gimbal position when it has not changed continuously, and the third distance when it has not changed continuously;

[0083] If the third distance continues to change, the user will be prompted that the target device is moving continuously, and the current time, current gimbal position, and current distance between the camera and the target device will be provided.

[0084] In this solution, the preset historical gimbal position can be the position where the camera gimbal last stopped. The preset historical gimbal position can be adjusted according to user selection.

[0085] The routine statistical information includes time points, gimbal locations, and device distances. The camera maintains communication with nearby target devices logged into the account, and the time points, gimbal locations, and device distances are statistically analyzed and reported to the server.

[0086] In this embodiment, if normal statistical information exists, the system continues to determine whether the camera pan-tilt position has changed. If the camera pan-tilt position has changed, the camera stops rotating and returns to a preset historical pan-tilt position. Then, the distance between the camera and the target device at that position is calculated. The system also determines whether the distance between the camera and the target device at that position is continuously changing. If it is not continuously changing, and the target device is stationary, the system provides the earliest time point in time when the camera was at the historical pan-tilt position without continuous change, the pan-tilt position without continuous change, and the distance between the camera and the target device without continuous change. In other words, the server can use normal statistical information to determine the earliest time point when the target device was at that position. The user can then use this time point to query recordings or recall information to assist in locating the target device. If the camera pan-tilt position has not changed, the system directly determines whether the distance between the camera and the target device at that position is continuously changing. If it is not continuously changing, and both the camera and the target device are stationary, the system provides the earliest time point in time when the camera was at the preset historical pan-tilt position, the unchanged pan-tilt position, and the unchanged distance between the camera and the target device.

[0087] In this solution, if the third distance keeps changing while the target device is moving, the latest time point, gimbal position, and distance between the camera and the target device will be provided.

[0088] By analyzing the time point, the position of the pan-tilt unit, and the distance between them, the video recording can be viewed based on that time to help locate the target device.

[0089] S620. If the target distance meets the distance threshold constraint, the camera count is incremented by one until all target distances are determined, and the number of cameras is obtained.

[0090] In this solution, camera positioning has inherent errors, and these errors increase with distance. Therefore, a distance threshold is set to account for the allowable error. If the distance exceeds this threshold, the error is considered to be beyond the acceptable range, rendering the camera unusable. In other words, the distance threshold constraint can be set based on the camera's positioning requirements. For example, a distance threshold constraint of 10 meters can be set. If the calculated target distance is less than or equal to 10 meters, the distance threshold constraint is met; if the calculated target distance is less than 10 meters, the distance threshold constraint is not met. In this embodiment, the server determines whether a camera meets the distance threshold constraint based on the target distance. If it does, the camera count is incremented by one until all target distances are determined, yielding the number of cameras that meet the distance threshold constraint.

[0091] S630. If the number of cameras does not meet the camera number constraint, then according to the pre-configured rules, at least four camera auxiliary positioning positions are determined, and a first distance between the at least four camera auxiliary positioning positions is calculated, and a second distance between the at least four camera auxiliary positioning positions and the target device is calculated.

[0092] S640. Determine the spatial location of the target device based on the first distance and the second distance for positioning the target device.

[0093] For example, Figure 7 This is a flowchart of triggering the retrieval of the target device provided in Embodiment 2 of this application, as follows: Figure 7 As shown, the camera maintains communication with nearby target devices logged into the same account, recording time points, gimbal positions, and device distances, and reporting this data to the server. The server then changes the target device status to "pending retrieval." The system checks the regular statistical information to determine if the target device exists. If it does, the target device is retrieved based on time-based location; otherwise, it is retrieved based on spatial location.

[0094] For example, Figure 8 This is a flowchart of the time-based location-based target device retrieval provided in Embodiment 2 of this application, as follows: Figure 8 As shown, the following steps are used to trigger the retrieval of the target device:

[0095] Step 1: Determine if the rotation position of the UWB camera pan-tilt unit is continuously changing; if yes, proceed to Step 2; if not, proceed to Step 3.

[0096] Step 2: Control the UWB camera to stop the gimbal rotation and return to the preset historical gimbal position in normal statistical information to determine the distance between it and the target device, thus obtaining the third distance;

[0097] Step 3: Determine if the third distance is continuously changing; if yes, proceed to step 4; if no, proceed to step 5.

[0098] Step 4: Prompt the user that the target device is moving continuously, and provide the current time, current gimbal position, and current distance between the camera and the target device.

[0099] Step 5: Determine the earliest time to maintain the third distance, i.e., provide historical time points, historical gimbal positions, and the third distance that has not changed continuously. If the user chooses to continue querying the next possible time point, steps 2-5 can be executed repeatedly.

[0100] For example, Figure 9 This is a flowchart of the spatial positioning-based target device retrieval provided in Embodiment 2 of this application, as follows: Figure 9 As shown, the following steps are used to trigger the retrieval of the target device:

[0101] Step 1: The UWB camera confirms the server request, completes security identification with the target device, and calculates the distance between them;

[0102] Step 2: The UWB camera confirms the server request, completes security identification with nearby UWB cameras, and calculates the distance between them;

[0103] Step 3: The UWB camera collects the distance between itself and the target device, as well as the distance between itself and other UWB cameras targeting the same target device, and reports this information to the server;

[0104] Step 4: The server filters the number of cameras that meet the distance threshold constraint.

[0105] Step 5: Determine if the number of cameras meets the camera number constraint. If not, proceed to step 6; if yes, proceed to step 10.

[0106] Step 6: Determine if the UWB camera supports PTZ distance statistics mode; if yes, proceed to step 7; if no, proceed to step 9.

[0107] Step 7: Based on the number of cameras, respond to the server request and determine the location of at least four cameras to assist in positioning;

[0108] Step 8: Calculate the first distance between at least four camera-assisted positioning positions, and calculate the second distance between the at least four camera-assisted positioning positions and the target device; determine the spatial position of the target device based on the first and second distances;

[0109] Step 9: The prompt indicates that the UWB positioning conditions are not met and the spatial location of the target device has failed to be located.

[0110] Step 10: Construct a 3D model based on the distance between the positions of at least two cameras, and determine the spatial position of the target device based on the 3D model and the distance between the camera positions and the target device.

[0111] The technical solution provided in this application, if the target device is in a state of "to be retrieved," determines the normal statistical information of whether the target device exists; if it does not exist, it determines the target distance between the camera and the target device; if the target distance meets the distance threshold constraint, it controls the camera count to increment by one until all target distances are determined, thus obtaining the number of cameras; if the number of cameras does not meet the camera number constraint, it determines at least four camera auxiliary positioning positions according to pre-configured rules, calculates the first distance between the at least four camera auxiliary positioning positions, and calculates the second distance between the at least four camera auxiliary positioning positions and the target device; then, based on the first and second distances, it determines the spatial position of the target device. By implementing this technical solution, a single target device can be located based on the camera pan-tilt rotation function, and it can solve the problem of insufficient number of cameras near the target device for spatial positioning.

[0112] Example 3

[0113] Figure 10 This is a schematic diagram of the device for retrieving the target device provided in Embodiment 3 of this application, as shown below. Figure 10 As shown, the device for retrieving the target device includes:

[0114] The camera quantity determination module 1010 is used to determine the number of cameras that meet the distance threshold constraint condition; wherein, the distance threshold constraint condition is used to characterize the presence of a target device within the positioning range of the camera; the camera has the function of receiving signals and transmitting signals;

[0115] The distance calculation module 1020 is used to determine at least four camera auxiliary positioning positions according to pre-configured rules if the number of cameras does not meet the camera number constraint condition, and to calculate a first distance between the at least four camera auxiliary positioning positions and a second distance between the at least four camera auxiliary positioning positions and the target device.

[0116] The target device spatial location determination module 1030 is used to determine the spatial location of the target device based on the first distance and the second distance, so as to locate the target device.

[0117] In this technical solution, optionally, the distance calculation module 1020 includes:

[0118] A camera-assisted positioning location determination unit is used to determine that at least one of the cameras supports the gimbal distance statistics mode, and in response to a server request, determine the assisted positioning locations of at least four cameras based on the number of cameras.

[0119] In this technical solution, optionally, the camera-assisted positioning location determination unit is specifically used for:

[0120] Based on the number of cameras, in response to a server request, the gimbal rotation position of at least one camera is obtained, and based on the camera gimbal rotation position and the camera's own position, at least four auxiliary positioning positions for the cameras are determined, wherein the auxiliary positioning positions for the cameras include the camera gimbal rotation position and the camera's own position.

[0121] In this technical solution, optionally, the distance calculation module 1020 also includes:

[0122] The first distance calculation unit is used to send an ultra-wideband signal in response to a server request when the at least two camera-assisted positioning positions belong to different cameras, and calculate the first distance between the at least two camera-assisted positioning positions.

[0123] The first distance determination unit is used to determine a first distance between at least two camera-assisted positioning positions based on a preset position distance relationship when the at least two camera-assisted positioning positions belong to the same camera.

[0124] The second distance calculation unit is used to respond to a server request by sending an ultra-wideband signal to the target device and calculating the second distance between the target device and the positions of at least four camera-assisted positioning devices.

[0125] In this technical solution, optionally, the camera quantity determination module 1010 includes:

[0126] The target distance determination unit is used to determine the target distance between the camera's own position and the target device if the target device's status is "to be retrieved".

[0127] The camera count unit is used to control the camera count to increment by one if the target distance meets the distance threshold constraint condition, until all target distance judgments are completed, and then obtain the camera count.

[0128] In this technical solution, optionally, the camera quantity determination module 1010 also includes:

[0129] A routine statistical information judgment unit is used to determine whether the target device has routine statistical information, wherein the routine statistical information includes time point, gimbal position and device distance;

[0130] The camera pan-tilt-zoom rotation position determination unit is used to determine whether the camera pan-tilt-zoom rotation position is continuously changing if it exists.

[0131] The third distance calculation unit is used to control the camera to stop rotating the pan-tilt unit and return to the preset historical pan-tilt position if the condition is met, to determine the distance between the camera and the target device and obtain the third distance.

[0132] The previous information providing unit is used to provide the earliest time point when the third distance did not change, the historical gimbal position when the third distance did not change, and the third distance when the third distance did not change continuously, if the third distance does not change continuously.

[0133] The current information providing unit is used to prompt the user that the target device is continuously moving if the third distance continues to change, and to provide the current time point, the current gimbal position, and the current distance between the camera and the target device.

[0134] Optionally, in this technical solution, the device further includes:

[0135] The spatial relative position calculation module is used to construct a three-dimensional model based on the distance between the positions of at least two cameras if the number of cameras meets the camera number constraint condition, and to determine the spatial position of the target device based on the three-dimensional model and the distance between the camera positions and the target device.

[0136] The above-mentioned products can perform the methods provided in the embodiments of this application, and have the corresponding functional modules and beneficial effects of performing the methods.

[0137] Example 4

[0138] This application also provides a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to perform a method for retrieving a target device, the method comprising:

[0139] The number of cameras that meet the distance threshold constraint is determined; wherein the distance threshold constraint is used to characterize the presence of a target device within the positioning range of the camera; the camera has the function of receiving and transmitting signals;

[0140] If the number of cameras does not meet the camera number constraint, then at least four camera auxiliary positioning positions are determined according to the pre-configured rules, and a first distance between the at least four camera auxiliary positioning positions is calculated, and a second distance between the at least four camera auxiliary positioning positions and the target device is calculated.

[0141] Based on the first distance and the second distance, the spatial location of the target device is determined for positioning the target device.

[0142] Storage medium – any type of memory device or storage device. The term “storage medium” is intended to include: mounting media, such as CD-ROM, floppy disk, or magnetic tape devices; computer system memory or random access memory, such as DRAM, DDR RAM, SRAM, EDO RAM, Rambus RAM, etc.; non-volatile memory, such as flash memory, magnetic media (e.g., hard disk or optical storage); registers or other similar types of memory elements, etc. Storage medium may also include other types of memory or combinations thereof. Furthermore, storage medium may reside in a computer system in which a program is executed, or it may reside in a different second computer system connected to the computer system via a network (such as the Internet). The second computer system can provide program instructions to the computer for execution. The term “storage medium” can include two or more storage media that may reside in different locations (e.g., in different computer systems connected via a network). Storage medium may store program instructions (e.g., specifically implemented as a computer program) that can be executed by one or more processors.

[0143] Of course, the computer-executable instructions provided in the embodiments of this application are not limited to the operation of retrieving the target device as described above, but can also perform related operations in the method of retrieving the target device provided in any embodiment of this application.

[0144] Example 5

[0145] This application provides an electronic device that can integrate the device for retrieving target devices provided in this application. Figure 11 This is a schematic diagram of the structure of an electronic device provided in Embodiment 5 of this application. Figure 11 As shown, this embodiment provides an electronic device 1100, which includes: one or more processors 1120; and a storage device 1110 for storing one or more programs. When the one or more programs are executed by the one or more processors 1120, the one or more processors 1120 implement the method for retrieving a target device provided in this application embodiment. The method includes:

[0146] The number of cameras that meet the distance threshold constraint is determined; wherein the distance threshold constraint is used to characterize the presence of a target device within the positioning range of the camera; the camera has the function of receiving and transmitting signals;

[0147] If the number of cameras does not meet the camera number constraint, then at least four camera auxiliary positioning positions are determined according to the pre-configured rules, and a first distance between the at least four camera auxiliary positioning positions is calculated, and a second distance between the at least four camera auxiliary positioning positions and the target device is calculated.

[0148] Based on the first distance and the second distance, the spatial location of the target device is determined for positioning the target device.

[0149] Of course, those skilled in the art will understand that the processor 1120 also implements the technical solution of the method for retrieving the target device provided in any embodiment of this application.

[0150] Figure 11 The electronic device 1100 shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0151] like Figure 11 As shown, the electronic device 1100 includes a processor 1120, a storage device 1110, an input device 1130, and an output device 1140; the number of processors 1120 in the electronic device can be one or more. Figure 11 Taking a processor 1120 as an example; the processor 1120, storage device 1110, input device 1130, and output device 1140 in the electronic device can be connected via a bus or other means. Figure 11 Taking the connection between China and Israel via bus 1150 as an example.

[0152] Storage device 1110, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and module units, such as the program instructions corresponding to the method for retrieving the target device in the embodiments of this application.

[0153] Storage device 1110 may primarily include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a function; the data storage area may store data created based on terminal usage. Furthermore, storage device 1110 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some instances, storage device 1110 may further include memory remotely located relative to processor 1120, and these remote memories can be connected via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0154] Input device 1130 can be used to receive input digital, character, or voice information, and to generate key signal inputs related to user settings and function control of the electronic device. Output device 1140 may include electronic devices such as a display screen and a speaker.

[0155] The electronic device provided in this application embodiment can achieve the purpose of locating a single target device and can solve the problem that the number of cameras near the target device is too small to provide sufficient spatial positioning.

[0156] The apparatus, storage medium, and electronic device provided in the above embodiments can execute the method for retrieving the target device provided in any embodiment of this application, and have the corresponding functional modules and beneficial effects for executing the method. Technical details not described in detail in the above embodiments can be found in the method for retrieving the target device provided in any embodiment of this application.

[0157] Note that the above are merely preferred embodiments and the technical principles employed in this application. Those skilled in the art will understand that this application is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of this application. Therefore, although this application has been described in detail through the above embodiments, this application is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of this application, the scope of which is determined by the scope of the appended claims.

Claims

1. A method for retrieving a target device, characterized in that, include: The number of cameras that meet the distance threshold constraint is determined; wherein the distance threshold constraint is used to characterize the presence of a target device within the positioning range of the camera; the camera has the function of receiving and transmitting signals; If the number of cameras does not meet the camera number constraint, then at least four camera auxiliary positioning positions are determined according to the pre-configured rules, and a first distance between the at least four camera auxiliary positioning positions is calculated, and a second distance between the at least four camera auxiliary positioning positions and the target device is calculated. Based on the first distance and the second distance, the spatial location of the target device is determined for positioning the target device; Based on pre-configured rules, at least four camera-assisted positioning positions are determined, including: It is determined that at least one of the cameras supports the gimbal distance statistics mode. Based on the number of cameras, in response to a server request, the gimbal rotation position of at least one camera is obtained. Based on the gimbal rotation position and the camera's own position, at least four auxiliary positioning positions for the cameras are determined. The auxiliary positioning positions for the cameras include the gimbal rotation position and the camera's own position. Specifically, when the number of statistical points requested by the server is 2, two points with a fixed diameter of the circumference are selected as the pan-tilt rotation positions of the camera; when the number of statistical points requested by the server is 3, three points of an equilateral triangle on the circumference are selected as the pan-tilt rotation positions of the camera; and when the number of statistical points requested by the server is 4, four points of an equilateral quadrilateral on the circumference are selected as the pan-tilt rotation positions of the camera.

2. The method according to claim 1, characterized in that, Calculating the first distance between the at least four camera-assisted positioning positions includes: In the case that the at least two camera-assisted positioning positions belong to different cameras, in response to a server request, an ultra-wideband signal is sent, and a first distance between the at least two camera-assisted positioning positions is calculated; If the at least two camera-assisted positioning positions belong to the same camera, then the first distance between the at least two camera-assisted positioning positions is determined based on a preset position distance relationship; Accordingly, calculating the second distance between the at least four camera-assisted positioning positions and the target device includes: In response to a server request, an ultra-wideband signal is sent to the target device, and a second distance between the target device and the positions of at least four camera-assisted positioning devices is calculated.

3. The method according to claim 1, characterized in that, Determine the number of cameras near the target device that meet the distance threshold constraint, including: If the target device is in the state of pending retrieval, then determine the target distance between the camera's own position and the target device; If the target distance meets the distance threshold constraint, the camera count is incremented by one until all target distances are determined, thus obtaining the number of cameras.

4. The method according to claim 1, characterized in that, After determining the number of cameras near the target device that meet the distance threshold constraint, the method further includes: If the number of cameras meets the camera number constraint, a three-dimensional model is constructed based on the distance between the positions of at least two cameras, and the spatial position of the target device is determined based on the three-dimensional model and the distance between the camera positions and the target device.

5. The method according to claim 1, characterized in that, The method further includes: The routine statistical information for determining whether the target device exists includes a time point, gimbal location, and device distance. If it exists, determine whether the camera pan-tilt position is continuously changing; If so, control the camera to stop rotating the gimbal and return to the preset historical gimbal position to determine the distance between it and the target device, thus obtaining the third distance; If the third distance has not changed continuously, then provide the earliest time point when it has not changed continuously, the historical gimbal position when it has not changed continuously, and the third distance when it has not changed continuously; If the third distance continues to change, the user will be prompted that the target device is moving continuously, and the current time, current gimbal position, and current distance between the camera and the target device will be provided.

6. A device for retrieving a target device, characterized in that, include: A camera quantity determination module is used to determine the number of cameras that meet the distance threshold constraint condition; wherein, the distance threshold constraint condition is used to characterize the presence of a target device within the positioning range of the camera; the camera has the function of receiving signals and transmitting signals; The distance calculation module is used to determine at least four camera-assisted positioning positions according to pre-configured rules if the number of cameras does not meet the camera number constraint, and to calculate a first distance between the at least four camera-assisted positioning positions and a second distance between the at least four camera-assisted positioning positions and the target device. The target device spatial location determination module is used to determine the spatial location of the target device based on the first distance and the second distance, so as to locate the target device; The distance calculation module includes: A camera-assisted positioning position determination unit is used to determine that at least one of the cameras supports the gimbal distance statistics mode, and in response to a server request based on the number of cameras, obtain the gimbal rotation position of at least one camera, and determine at least four camera-assisted positioning positions based on the camera gimbal rotation position and the camera's own position, wherein the camera-assisted positioning positions include the camera's gimbal rotation position and the camera's own position. Specifically, when the number of statistical points requested by the server is 2, two points with a fixed diameter of the circumference are selected as the pan-tilt rotation positions of the camera; when the number of statistical points requested by the server is 3, three points of an equilateral triangle on the circumference are selected as the pan-tilt rotation positions of the camera; and when the number of statistical points requested by the server is 4, four points of an equilateral quadrilateral on the circumference are selected as the pan-tilt rotation positions of the camera.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by the processor, the program implements the method for retrieving the target device as described in any one of claims 1-5.

8. An electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method for retrieving the target device as described in any one of claims 1-5.

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