Target tracking method, device, equipment and storage medium based on Bluetooth positioning

Abstract

The present invention discloses a target tracking method, device, equipment and storage medium based on Bluetooth positioning, which belongs to the field of personnel positioning technology. The method comprises obtaining regional information of a target area; constructing a segmentation map according to the regional information of the target area; constructing a camera map according to the constructed segmentation map; locating the coordinates of the target person in the target area in real time, and calling different cameras to monitor the target person according to the real-time coordinates of the target person. The present invention can automatically divide the monitoring area of ​​the camera without complicated calculations, which is convenient and fast; at the same time, it does not require a large number of police forces to check the monitoring. When an emergency occurs, the system can automatically switch the monitoring screen of the located person, saving manpower; in addition, due to the combination of Bluetooth positioning and video monitoring, the video screen of the located person can be seen at any time while accurately locating the position of the person, and the on-site situation can be tracked in time with high accuracy.

Description

Technical Field

[0001] The present invention belongs to the technical field of personnel positioning, and more specifically, relates to a target tracking method, device, equipment and storage medium based on Bluetooth positioning. Background Art

[0002] In the prevention, control and personnel management work in some places, video surveillance and personnel positioning are important regulatory means that are currently widely used.

[0003] Conventional methods for monitoring the behavior of target objects include: one is to use camera monitoring, connect multiple cameras in the location of the target object to a unified monitoring platform and display them on a spliced ​​large screen or a local PC, and monitor the actions of people with human eyes. Although this method of staring at the monitoring screen with human eyes can obtain the activities of the monitored personnel to a certain extent, it has the following disadvantages: 1. The labor cost is too high, the ability to browse the monitoring is limited, and the monitoring police deployed in the same time period cannot cover all the monitoring screens; 2. In an emergency, such as when a person escapes, it is difficult for humans to quickly track the action path of the located person by viewing the monitoring of multiple sections, delaying the opportunity to capture.

[0004] Another method is to make the target wear a positioning device to visualize the positioning of the personnel. The system can track the movement route of the personnel at all times by detecting the positioning coordinates of the positioned personnel. This method does not require a large number of police forces to track the supervisor in real time. However, its disadvantages are: the specific activities of the personnel cannot be seen in real time through the video, and the on-site situation cannot be accurately judged.

[0005] Therefore, the above two methods for solving the real-time monitoring of personnel actions have some limitations, and the recognition degree in special scenarios is still lacking. Summary of the invention

[0006] 1. Problems to be solved

[0007] In view of the problems existing in the prior art, the present invention provides a target tracking method, device, equipment and storage medium based on Bluetooth positioning. The method deploys Bluetooth positioning base stations in some target areas, and makes the target personnel wear positioning bracelets. The positioning system collects data and returns it to the server; at the same time, multiple cameras are deployed in the target area, and an algorithm is used to divide the area that can be monitored by each camera. At the same time, the data collected by the Bluetooth positioning system is associated with each camera. When a person is within the area of ​​a camera, the screen of the camera is switched to realize the dynamic real-time tracking function of the camera.

[0008] 2. Technical solution

[0009] To solve the above problems, the present invention adopts the following technical solutions.

[0010] As one aspect of the present application, a target tracking method based on Bluetooth positioning is provided, comprising the following steps:

[0011] Step S100, obtaining area information of the target area, wherein the area information at least includes terrain information of the target area, the number of cameras in the target area, installation positions, monitoring viewing angles, and installation angles;

[0012] Step S200: construct a segmentation map according to the area information of the target area, wherein the segmentation map includes a plurality of area segmentation lines, and the plurality of area segmentation lines divide the target area into a plurality of areas;

[0013] Step S300: construct a camera map according to the constructed segmentation map, wherein the camera map includes a plurality of cameras, and a monitoring area of ​​each camera corresponds to at least one segmented area in the segmentation map;

[0014] Step S400: locate the coordinates of the target person in the target area in real time, and call different cameras to monitor the target person according to the real-time coordinates of the target person.

[0015] Preferably, in step S100, regional information of the target area is obtained, and the regional information at least includes terrain information of the target area, the number of cameras in the target area, installation positions, monitoring viewing angles, and installation angles, which specifically include:

[0016] Step S110, obtaining terrain information of the target area, wherein the terrain information of the target area at least includes polygonal terrain and convex polygonal terrain;

[0017] Step S120: Divide the target area into regions according to the terrain information of the target area.

[0018] Furthermore, it specifically includes:

[0019] Step S121, determine whether the terrain information of the target area is a polygon; if yes, proceed to step S122; otherwise, proceed to step S123;

[0020] Step S122, determining whether the terrain information of the target area is a convex polygon terrain; if yes, no processing is required; otherwise, the target area is directly divided into regions;

[0021] Step S123: first circumscribe the target area with a polygon, and then divide the target area into regions.

[0022] Preferably, in step S200, constructing a segmentation map according to the area information of the target area specifically includes:

[0023] Step S210: constructing cameras in the map according to the number, installation location, monitoring viewing angle, and installation angle of cameras in the target area information;

[0024] Step S220: If there are at least two cameras, connect the cameras in pairs in the map, and make a perpendicular bisector of the connection lines of the cameras connected in pairs, and use the perpendicular bisector of the connection lines of the cameras connected in pairs as the area dividing line;

[0025] Step S230, further dividing the target area according to the area segmentation line;

[0026] Step S240: Mark the center points of all the divided regions and mark the serial number of each region.

[0027] Furthermore, in step S240, the center points of all the divided regions are marked and the serial number of each center point of the region is marked, which also includes:

[0028] The region division line is subjected to region determination so that any pixel point on the region division line has only one region serial number.

[0029] Furthermore, it specifically includes:

[0030] Step S241, finding out the serial number values ​​of pixels corresponding to all area segmentation lines;

[0031] Step S242, taking each pixel on the region dividing line as the center, expanding outward to form an n×n matrix until a non-zero element appears in the matrix, and then stopping the expansion; wherein the serial number of the regional pixel value outside the region dividing line in each region is the serial number of the region to which each pixel belongs, and the serial number value of the corresponding pixel of all region dividing lines is 0 by default;

[0032] Step S243, extract all non-zero elements, take the mode of the array to replace the original value, and use it as the regional target sequence number value of the point;

[0033] Step S244, traverse the pixels of all the segmentation lines in sequence, replace all of them with the mode value of all elements in each matrix with non-zero elements, and use it as the area serial number of the point.

[0034] Preferably, in step S300, a camera map is constructed according to the constructed segmentation map, wherein the camera map includes a plurality of cameras, and the monitoring area of ​​each camera corresponds to at least one segmented area in the segmentation map, which specifically includes:

[0035] Step S310, calculate the distance between the center point of each area and each camera, sort the obtained distance array according to the distance from small to large, and sort the indexes of the camera numbers corresponding to the sorting to obtain the index number array of the cameras from near to far of the center point of any area;

[0036] Step S320, calculating the coordinate vector of the center point of each area and the camera, and performing dot multiplication of the coordinate vector and the two viewing angle vectors of the camera respectively to obtain two angle values;

[0037] Step S330, according to the angle value and the coordinates of the center point of the region and the index array of the camera, the coordinates of the center point of the region of any region and the index array of the camera are sequentially determined from front to back to determine whether the center point of the region is within the monitoring angle of the camera; if so, proceed to step S340;

[0038] Step S340: color the area and output the area where any coordinate point is located and the camera corresponding to the area.

[0039] Further, in step S330, according to the angle value and the coordinates of the center point of the area and the index array of the camera, the coordinates of the center point of the area of ​​any area and the index array of the camera are sequentially determined from front to back to determine whether the center point of the area is within the monitoring angle of the camera, which specifically includes:

[0040] Step S331: According to the angle value and the coordinates of the center point of the region and the index array of the camera, the coordinates of the center point of any region and the index array of the camera are sequentially determined from front to back; if the sum of two angle values ​​obtained by performing dot multiplication of the coordinate vectors of the center point of each region and the camera and the two viewing angle vectors of any camera is equal to the viewing angle of the camera, then the center point of the region is within the viewing angle of the camera;

[0041] Step S332: If the coordinates of the camera closest to the area and the coordinate vector of the center point of the area meet the above conditions, it is determined that the center point of the area belongs to the range of the camera, the loop is exited, and the next center point of the area is determined; if the above conditions are not met, the coordinates of the next camera and the coordinate vector of the middle point of the area are determined according to the distance sorting until the loop is exited.

[0042] As a second aspect of the present application, a target tracking device based on Bluetooth positioning is provided, comprising:

[0043] A collection module for collecting regional information of a target area, wherein the regional information includes at least terrain information of the target area, the number of cameras in the target area, installation positions, monitoring viewing angles, and installation angles;

[0044] A first construction module is used to construct a segmentation map according to the area information of the target area, wherein the segmentation map includes a plurality of area segmentation lines, and the plurality of area segmentation lines divide the target area into a plurality of areas;

[0045] A second building block is used to obtain real-time supervision data of a target person, wherein the real-time supervision data of the target person includes at least one of spatial activity data, associated item data, and mental health risk data of the target person;

[0046] A judgment module, used to construct a camera map according to the constructed segmentation map, wherein the camera map includes a plurality of cameras, and a monitoring area of ​​each camera corresponds to at least one segmented area in the segmentation map;

[0047] And a calling module is used to locate the coordinates of the target person in the target area in real time, and call different cameras to monitor the target person according to the real-time coordinates of the target person.

[0048] As a third aspect of the present application, a target tracking device based on Bluetooth positioning is provided, comprising:

[0049] Memory for storing computer programs;

[0050] A processor is used to implement the steps of the target tracking method based on Bluetooth positioning as described in any of the above items when executing the computer program.

[0051] As a fourth aspect of the present application, a computer-readable storage medium is provided, characterized in that a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of target tracking based on Bluetooth positioning as described in any of the above items are implemented.

[0052] 3. Beneficial effects

[0053] Compared with the prior art, the present invention has the following beneficial effects:

[0054] The present invention first obtains the regional information of the target area, and then constructs a segmentation map according to the regional information of the target area; at the same time, according to the constructed segmentation map, a camera map is constructed, wherein the camera map includes multiple cameras, and the monitoring area of ​​each camera corresponds to at least one segmented area in the segmentation map; finally, the coordinates of the target person in the target area are located in real time, and different cameras are called to monitor the target person according to the real-time coordinates of the target person. Compared with the conventional method, in the present invention, the user can only input the position, angle and other information of the camera, and then the corresponding area division method can be generated with one key, without complicated calculations, which is convenient and fast; at the same time, a large number of police forces are not required to check the monitoring. When an emergency occurs, the system can automatically switch the monitoring screen of the located person, saving manpower; in addition, due to the combination of Bluetooth positioning and video monitoring, the video screen of the located person can be seen at any time while the position of the person is accurately located, and the on-site situation can be tracked in time with high accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 A schematic diagram of a target tracking method based on Bluetooth positioning in one embodiment of the present invention;

[0056] Figures 2 to 5 A schematic diagram of the regional division of different terrains in one embodiment of the present invention;

[0057] Figures 6 to 9 It is a schematic diagram of the operation of constructing a segmentation map in one embodiment of the present invention;

[0058] Figures 10-12 It is a schematic diagram of the operation of constructing a camera map in one embodiment of the present invention. DETAILED DESCRIPTION

[0059] The following is a further detailed description of the target tracking method, device, equipment and storage medium based on Bluetooth positioning disclosed in the present invention in conjunction with the accompanying drawings and specific embodiments. It should be noted that the technical features or combinations of technical features described in the following embodiments should not be considered isolated, and they can be combined with each other to achieve better technical effects. In the drawings of the following embodiments, the same reference numerals appearing in each drawing represent the same features or components, which can be applied to different embodiments. Therefore, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0060] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the invention. Any modification of the structure, change of the proportion relationship or adjustment of the size should fall within the scope of the technical content disclosed by the invention without affecting the effects and purposes that can be achieved by the invention. The scope of the preferred embodiments of the present invention includes other implementations, in which the functions can be performed in a substantially simultaneous manner or in a reverse order according to the functions involved, which should be understood by those skilled in the art of the technical field to which the embodiments of the present invention belong.

[0061] Techniques, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods, and devices should be considered part of the authorization specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0062] Example 1

[0063] like Figures 1 to 12 As shown, as one of the embodiments of the present application, a target tracking method based on Bluetooth positioning is provided to divide the area that each camera can monitor, and at the same time associate the data collected by the Bluetooth positioning system with each camera. When a person is within the area of ​​a certain camera, the screen of the camera is switched to realize the dynamic real-time tracking function of the camera.

[0064] The method comprises:

[0065] Step S100, obtaining area information of the target area, wherein the area information at least includes terrain information of the target area, the number of cameras in the target area, installation positions, monitoring viewing angles, and installation angles;

[0066] Step S200: construct a segmentation map according to the area information of the target area, wherein the segmentation map includes a plurality of area segmentation lines, and the plurality of area segmentation lines divide the target area into a plurality of areas;

[0067] Step S300: construct a camera map according to the constructed segmentation map, wherein the camera map includes a plurality of cameras, and a monitoring area of ​​each camera corresponds to at least one segmented area in the segmentation map;

[0068] Step S400: locate the coordinates of the target person in the target area in real time, and call different cameras to monitor the target person according to the real-time coordinates of the target person.

[0069] In this embodiment, the target area may be some supervision places, and the target person may be the supervised person in the supervision place.

[0070] In the above scheme, through the configuration management of the target area geographic information, the interaction of the positioning engine's basic positioning data, the camera area division algorithm, the positioning data and the camera real-time switching algorithm, the camera area division algorithm and the camera real-time switching algorithm are superimposed on the framework of the basic positioning system to achieve real-time monitoring of personnel.

[0071] In a preferred embodiment, in step S100, the area information of the target area is obtained, and the area information at least includes the terrain information of the target area, the number of cameras in the target area, the installation position, the monitoring angle and the installation angle, which specifically includes:

[0072] Step S110, obtaining terrain information of the target area, wherein the terrain information of the target area at least includes polygonal terrain and convex polygonal terrain;

[0073] Step S120: Divide the target area into regions according to the terrain information of the target area.

[0074] Furthermore, it specifically includes:

[0075] Step S121, determine whether the terrain information of the target area is a polygon; if yes, proceed to step S122; otherwise, proceed to step S123;

[0076] Step S122, determining whether the terrain information of the target area is a convex polygon terrain; if yes, no processing is required; otherwise, the target area is directly divided into regions;

[0077] Step S123: first circumscribe the target area with a polygon, and then divide the target area into regions.

[0078] Please refer to Figures 2 to 5 For target areas with different terrains, in this embodiment, the camera areas under different terrains are first divided into regions. When the terrain information of the target area is a polygon, for example Figure 2 When the terrain is a single rectangular terrain or two continuous rectangular terrains, one or two rectangular rooms can be directly divided; Figure 3 When the terrain is circular, draw a circumscribed rectangle for the circular terrain; please refer to Figure 4-5 For convex curve terrain, make the circumscribed rectangle of the terrain; for concave curve terrain, improper camera installation position will lead to blind spots. At this time, the camera installation position should be considered, additional cameras should be added, or the camera installation angle should be reasonably arranged, and then the subsequent area division algorithm should be combined for area division.

[0079] In a preferred embodiment, in step S200, constructing a segmentation map according to the area information of the target area specifically includes:

[0080] Step S210: construct the camera in the map according to the number, installation position, monitoring view angle and installation angle of the camera in the target area area information; when constructing the segmented map, the number, position, monitoring view angle and installation angle of the camera required indoors can be determined as needed, and constructed in the map, such as Figures 6-7 Shown are schematic diagrams of the arrangement and viewing angles of two and four cameras respectively;

[0081] Step S220: If there are at least two cameras, connect the cameras in pairs in the map, and make a perpendicular bisector of the connection lines of the two cameras connected in pairs, and use the perpendicular bisector of the connection lines of the two cameras connected in pairs as the area dividing line, such as Figure 8 As shown;

[0082] Step S230, further dividing the target area according to the area segmentation line;

[0083] Step S240: Mark the center points of all the areas after the area division and mark the serial number of each area. Mark the center points of all the areas and mark the serial numbers. The marking of the center point means that the entire area is marked. Fig. 9 shown.

[0084] Furthermore, in step S240, the center points of all the divided regions are marked and the serial number of each center point of the region is marked, which also includes:

[0085] The region division line is subjected to region determination so that any pixel point on the region division line has only one region serial number.

[0086] Furthermore, it specifically includes:

[0087] Step S241, finding out the serial number values ​​of pixels corresponding to all area segmentation lines;

[0088] Step S242, taking each pixel on the region dividing line as the center, expanding outward to form an n×n matrix until a non-zero element appears in the matrix, and then stopping the expansion; wherein the serial number of the regional pixel value outside the region dividing line in each region is the serial number of the region to which each pixel belongs, and the serial number value of the corresponding pixel of all region dividing lines is 0 by default;

[0089] Step S243, extract all non-zero elements, take the mode of the array to replace the original value, and use it as the regional target sequence number value of the point;

[0090] Step S244, traverse the pixels of all the segmentation lines in sequence, replace all of them with the mode value of all elements in each matrix with non-zero elements, and use it as the area serial number of the point.

[0091] Preferably, in step S300, a camera map is constructed according to the constructed segmentation map, wherein the camera map includes a plurality of cameras, and the monitoring area of ​​each camera corresponds to at least one segmented area in the segmentation map, which specifically includes:

[0092] Step S310, calculate the distance from the center point of each area to each camera, sort the obtained distance array according to the distance from small to large, and sort the indexes of the camera numbers corresponding to the sorting to obtain the index number array of the cameras from near to far of the center point of any area; illustratively, after calculating the distance for area 1, sorting from small to large to obtain the camera index (1, 2, 3, 4), which means that area 1 is closest to camera 1, camera 2 is second, and camera 4 is farthest;

[0093] Step S320, calculating the coordinate vector of the center point of each area and the camera, and performing dot multiplication of the coordinate vector and the two viewing angle vectors of the camera respectively to obtain two angle values;

[0094] Step S330, according to the angle value and the coordinates of the center point of the region and the index array of the camera, the coordinates of the center point of the region of any region and the index array of the camera are sequentially determined from front to back to determine whether the center point of the region is within the monitoring angle of the camera; if so, proceed to step S340;

[0095] Step S340: color the area and output the area where any coordinate point is located and the camera corresponding to the area. Figures 11-12 , respectively, are the coloring of the area where the dividing line is not determined and the coloring of the area where the dividing line is determined.

[0096] In a preferred embodiment, reference Fig.10 In step S330, according to the angle value and the coordinates of the center point of the region and the index array of the camera, the coordinates of the center point of the region of any region and the index array of the camera are sequentially determined from front to back to determine whether the center point of the region is within the monitoring angle of the camera, which specifically includes:

[0097] Step S331: According to the angle value and the coordinates of the center point of the region and the index array of the camera, the coordinates of the center point of any region and the index array of the camera are sequentially determined from front to back; if the sum of two angle values ​​obtained by performing dot multiplication of the coordinate vectors of the center point of each region and the camera and the two viewing angle vectors of any camera is equal to the viewing angle of the camera, then the center point of the region is within the viewing angle of the camera;

[0098] Step S332: If the coordinates of the camera closest to the area and the coordinate vector of the center point of the area meet the above conditions, it is determined that the center point of the area belongs to the range of the camera, the loop is exited, and the next center point of the area is determined; if the above conditions are not met, the coordinates of the next camera and the coordinate vector of the middle point of the area are determined according to the distance sorting until the loop is exited.

[0099] In step S400, the coordinates of the target person in the target area are located in real time, and different cameras are called to monitor the target person according to the real-time coordinates of the target person. More specifically, when the target person wears a positioning bracelet and enters the camera supervision area, the positioning system collects data and returns it to the server. The server determines which area the person belongs to through the map and turns on the camera in the area; when the target person leaves or enters the supervision area of ​​other cameras, other cameras are called to monitor the person.

[0100] In this embodiment, a target tracking method based on Bluetooth positioning is used, by deploying Bluetooth positioning base stations in some target areas, making the target personnel wear positioning bracelets, and the positioning system collects data and returns it to the server; at the same time, multiple cameras are deployed in the target area, and an algorithm is used to divide the area that each camera can monitor, and the data collected by the Bluetooth positioning system is associated with each camera. When a person is within the area of ​​a camera, the camera's screen is switched to realize the camera's dynamic real-time tracking function.

[0101] In another preferred embodiment, please refer to Figure 2 , provides a target tracking device based on Bluetooth positioning, comprising:

[0102] A collection module for collecting regional information of a target area, wherein the regional information includes at least terrain information of the target area, the number of cameras in the target area, installation positions, monitoring viewing angles, and installation angles;

[0103] A first construction module is used to construct a segmentation map according to the area information of the target area, wherein the segmentation map includes a plurality of area segmentation lines, and the plurality of area segmentation lines divide the target area into a plurality of areas;

[0104] A second building block is used to obtain real-time supervision data of a target person, wherein the real-time supervision data of the target person includes at least one of spatial activity data, associated item data, and mental health risk data of the target person;

[0105] A judgment module, used to construct a camera map according to the constructed segmentation map, wherein the camera map includes a plurality of cameras, and a monitoring area of ​​each camera corresponds to at least one segmented area in the segmentation map;

[0106] And a calling module is used to locate the coordinates of the target person in the target area in real time, and call different cameras to monitor the target person according to the real-time coordinates of the target person.

[0107] The functions of the various functional modules of the target tracking device based on Bluetooth positioning described in the embodiment of the present invention can be specifically implemented according to the method in the above method embodiment. The specific implementation process can refer to the relevant description of the above method embodiment, which will not be repeated here.

[0108] The target tracking device based on Bluetooth positioning mentioned above is described from the perspective of functional modules. Furthermore, the present application also provides a target tracking device based on Bluetooth positioning, which is described from the perspective of hardware. The device includes a memory for storing a computer program; a processor for executing the computer program to implement the steps of the anti-suicide warning method based on Bluetooth positioning as described in any of the above items.

[0109] Among them, the processor may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). The processor may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor may also include an AI (Artificial Intelligence) processor, which is used to process computing operations related to machine learning.

[0110] The memory may include one or more computer-readable storage media, which may be non-transitory. The memory may also include high-speed random access memory, and non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In this embodiment, the memory is at least used to store the following computer program, wherein, after the computer program is loaded and executed by the processor, the computer program is executed by the processor to implement the steps of a target tracking method based on Bluetooth positioning as described in any of the above items. In addition, the resources stored in the memory may also include an operating system and data, etc., and the storage method may be temporary storage or permanent storage. Among them, the operating system may include Windows, Unix, Linux, etc. The data may include but is not limited to data corresponding to the test results, etc.

[0111] The functions of the various functional modules of the target tracking device based on Bluetooth positioning described in the embodiment of the present invention can be specifically implemented according to the method in the above method embodiment. The specific implementation process can refer to the relevant description of the above method embodiment, which will not be repeated here.

[0112] From the above, it can be seen that an embodiment of the present invention is a target tracking device based on Bluetooth positioning, including positioning geographic information configuration management, positioning basic data interaction of the positioning engine, camera area division algorithm, positioning data and camera real-time switching algorithm, which is used to superimpose the camera area division algorithm and the camera real-time switching algorithm on the framework of the basic positioning system to realize real-time monitoring of personnel.

[0113] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0114] Relevant persons in the art may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented with electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Relevant persons in the art may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0115] The above is a detailed introduction to a target tracking method based on Bluetooth positioning provided by the present application. This article uses specific examples to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present invention, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the scope of protection of the claims of this application.

[0116] The examples described in the present invention are merely descriptions of the preferred implementation modes of the present invention, and are not intended to limit the concept and scope of the present invention. Without departing from the design concept of the present invention, various modifications and improvements made to the technical solutions of the present invention by engineers and technicians in this field should all fall within the protection scope of the present invention.

Claims

1. A target tracking method based on Bluetooth positioning, characterized in that: The following steps are involved: Step S100, obtaining area information of the target area, wherein the area information at least includes terrain information of the target area, the number of cameras in the target area, installation positions, monitoring viewing angles, and installation angles; Step S200: construct a segmentation map according to the area information of the target area, wherein the segmentation map includes a plurality of area segmentation lines, and the plurality of area segmentation lines divide the target area into a plurality of areas; Step S300: construct a camera map according to the constructed segmentation map, wherein the camera map includes a plurality of cameras, and a monitoring area of ​​each camera corresponds to at least one segmented area in the segmentation map; Step S400: locating the coordinates of the target person in the target area in real time, and calling different cameras to monitor the target person according to the real-time coordinates of the target person; In step S100, the area information of the target area is obtained, and the area information at least includes the terrain information of the target area, the number of cameras in the target area, the installation position, the monitoring angle and the installation angle, which specifically includes: Step S110, obtaining terrain information of the target area, wherein the terrain information of the target area at least includes polygonal terrain and convex polygonal terrain; Step S120, dividing the target area into regions according to the terrain information of the target area; Step S121, determine whether the terrain information of the target area is a polygon; if yes, proceed to step S122; otherwise, proceed to step S123; Step S122, determining whether the terrain information of the target area is a convex polygon terrain; if yes, no processing is required; otherwise, the target area is directly divided into regions; Step S123, first circumscribe the target area with a polygon, and then divide the target area into regions; In step S200, the segmentation map is constructed according to the area information of the target area, which specifically includes: Step S210: constructing cameras in the map according to the number, installation location, monitoring viewing angle, and installation angle of cameras in the target area information; Step S220: If there are at least two cameras, connect the cameras in pairs in the map, and make a perpendicular bisector of the connection lines of the cameras connected in pairs, and use the perpendicular bisector of the connection lines of the cameras connected in pairs as the area dividing line; Step S230, further dividing the target area according to the area segmentation line; Step S240, marking the center points of all the divided regions and marking the serial number of each region; In step S240, the center points of all the divided regions are marked and the serial number of each region center point is marked, which also includes: The region division line is subjected to region determination so that any pixel point on the region division line has only one region serial number.

2. The target tracking method based on Bluetooth positioning according to claim 1, characterized in that: Specifically include: Step S241, finding out the serial number values ​​of pixels corresponding to all area segmentation lines; Step S242, taking each pixel on the region dividing line as the center, expanding outward to form an n×n matrix until a non-zero element appears in the matrix, and then stopping the expansion; wherein the serial number of the regional pixel value outside the region dividing line in each region is the serial number of the region to which each pixel belongs, and the serial number value of the corresponding pixel of all region dividing lines is 0 by default; Step S243, extract all non-zero elements, take the mode of all non-zero elements to replace the original value, and use it as the target sequence number value of the region where the mode replaces the original value; Step S244, traverse the pixels of all the segmentation lines in turn, replace all of them with the majority values ​​of all elements in each matrix with non-zero elements, and use the majority values ​​as the region numbers to replace the original values.

3. The target tracking method based on Bluetooth positioning according to claim 1, characterized in that: In step S300, a camera map is constructed according to the constructed segmentation map, wherein the camera map includes a plurality of cameras, and the monitoring area of ​​each camera corresponds to at least one segmented area in the segmentation map, which specifically includes: Step S310, calculate the distance between the center point of each area and each camera, sort the obtained distance array according to the distance from small to large, and sort the indexes of the camera numbers corresponding to the sorting to obtain the index number array of the cameras from near to far of the center point of any area; Step S320, calculating the coordinate vector of the center point of each area and the camera, and performing dot multiplication of the coordinate vector and the two viewing angle vectors of the camera respectively to obtain two angle values; Step S330, according to the angle value and the coordinates of the center point of the region and the index array of the camera, the coordinates of the center point of the region of any region and the index array of the camera are sequentially determined from front to back to determine whether the center point of the region is within the monitoring angle of the camera; if so, proceed to step S340; Step S340, coloring the area, and outputting the area where any coordinate point is located, and the camera corresponding to the area; In step S330, according to the angle value and the coordinates of the center point of the area and the index array of the camera, the coordinates of the center point of the area of ​​any area and the index array of the camera are sequentially determined from front to back to determine whether the center point of the area is within the monitoring angle of the camera, which specifically includes: Step S331: According to the angle value and the coordinates of the center point of the region and the index array of the camera, the coordinates of the center point of any region and the index array of the camera are sequentially determined from front to back; if the sum of two angle values ​​obtained by performing dot multiplication of the coordinate vectors of the center point of each region and the camera and the two viewing angle vectors of any camera is equal to the viewing angle of the camera, then the center point of the region is within the viewing angle of the camera; Step S332: If the coordinates of the camera closest to the area and the coordinate vector of the center point of the area meet the conditions, it is determined that the center point of the area belongs to the range of the camera, the loop is exited, and the next center point of the area is determined; if the conditions are not met, the coordinates of the next camera and the coordinate vector of the midpoint of the area are determined in order of distance until the loop is exited.

4. A target tracking device based on Bluetooth positioning, characterized in that: The target tracking method based on Bluetooth positioning according to any one of claims 1 to 3 includes: A collection module, used to obtain regional information of a target area, wherein the regional information includes at least terrain information of the target area, the number of cameras in the target area, installation positions, monitoring viewing angles, and installation angles; A first construction module is used to construct a segmentation map according to the area information of the target area, wherein the segmentation map includes a plurality of area segmentation lines, and the plurality of area segmentation lines divide the target area into a plurality of areas; A second building block is used to obtain real-time supervision data of a target person, wherein the real-time supervision data of the target person includes at least one of spatial activity data, associated item data, and mental health risk data of the target person; A judgment module, used to construct a camera map according to the constructed segmentation map, wherein the camera map includes a plurality of cameras, and a monitoring area of ​​each camera corresponds to at least one segmented area in the segmentation map; And a calling module is used to locate the coordinates of the target person in the target area in real time, and call different cameras to monitor the target person according to the real-time coordinates of the target person.

5. A target tracking device based on Bluetooth positioning, characterized by: include: Memory for storing computer programs; A processor, configured to implement the steps of the target tracking method based on Bluetooth positioning as described in any one of claims 1 to 3 when executing the computer program.

6. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of target tracking based on Bluetooth positioning as described in any one of claims 1 to 3 are implemented.

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