A personnel positioning system and method based on camera and bluetooth

Abstract

The present application belongs to the field of personnel positioning, and provides a personnel positioning system and method based on cameras and Bluetooth, which comprises obtaining the label information and signal strength of a personnel positioning label, determining the relative distance between a base station and the personnel positioning label; obtaining the personnel image taken by the base station at an angle, determining the angle of the side vertical right triangle formed by the personnel and the base station and the angle of the overhead horizontal right triangle formed by the personnel and the base station based on the camera imaging principle; determining the relative coordinates of the personnel by using trigonometric functions according to the relative distance between the base station and the personnel positioning label, the angle of the side vertical right triangle formed by the personnel and the base station and the angle of the overhead horizontal right triangle formed by the personnel and the base station. The present application obtains multi-angle information of the personnel positioning label by cameras and Bluetooth, and realizes the measurement of different reference points for the same personnel positioning label.

Description

Technical Field

[0001] This invention belongs to the field of personnel positioning technology, specifically relating to a personnel positioning system and method based on a camera and Bluetooth. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] Currently, several systems related to personnel positioning have been invented, such as those using wireless technologies like UWB, LoRa, and Zigbee for ranging and positioning. UWB positioning uses two-way time-of-flight (TOF) ranging and calculates positioning based on distances measured by multiple base stations. It is accurate, but has high deployment costs. LoRa positioning uses time difference of arrival (TDOA). This method requires all base stations and gateways to share the same time reference to reduce positioning errors. It has a wide positioning range but lower accuracy, making it unsuitable for the specific application scenarios of smart construction sites. In Zigbee positioning, the positioning card attempts to communicate with surrounding reference points and records the signal strength. After comparison, the positioning card finds the three closest reference points to achieve positioning, but the accuracy is not high. The above methods mainly achieve two-dimensional positioning. To achieve three-dimensional positioning, the requirements for the number and distribution of base stations and signal accuracy are much higher, and the system deployment cost will increase significantly. For the special scenario of smart construction sites, a system solution is needed that can achieve three-dimensional positioning with acceptable accuracy and at a reasonable cost. Summary of the Invention

[0004] To address the aforementioned issues, this invention proposes a personnel positioning system and method based on a camera and Bluetooth. This invention acquires multi-angle information from personnel positioning tags via a camera and Bluetooth, enabling the calculation of different reference points for the same personnel positioning tag, thereby improving positioning accuracy.

[0005] According to some embodiments, the first solution of the present invention provides a personnel positioning method based on a camera and Bluetooth, which adopts the following technical solution:

[0006] A method for locating people based on a camera and Bluetooth, comprising:

[0007] Obtain the tag information and signal strength of personnel positioning tags to determine the relative distance between the base station and the personnel positioning tags;

[0008] Acquire images of people taken from the perspective of a base station, and determine the angle of the vertical right triangle formed by the person and the base station on the side, which is closer to the base station, and the angle of the horizontal right triangle formed by the person and the base station from above, which is closer to the base station, based on the camera imaging principle.

[0009] The relative coordinates of a person are determined using trigonometric functions based on the relative distance between the base station and the person's location tag, the angle of the vertical right triangle formed by the person and the base station from the side and the angle of the angle closest to the base station, and the angle of the horizontal right triangle formed by the person and the base station from above and the angle of the angle closest to the base station.

[0010] The step of obtaining the signal strength of the personnel location tag and determining the relative distance between the base station and the personnel location tag specifically involves:

[0011] According to the Bluetooth protocol, the relative distance between Bluetooth terminals is calculated by using the correlation between Bluetooth RSSI signal attenuation and distance.

[0012] According to the empirical formula, the relationship between RSSI value and distance D is as follows:

[0013] D = 10^((abs(RSSI)-A) / (10*n))

[0014] D is the calculated distance, RSSI is the signal strength, A is the signal strength when the transmitter and receiver are 1 meter apart, and n is the environmental attenuation factor.

[0015] The process of acquiring personnel images captured from the base station angle, and determining the angle of the vertical right-angled triangle formed by the personnel and the base station (viewed from above) closer to the base station based on the camera imaging principle, specifically involves:

[0016] By utilizing the imaging principle of a camera, the angle factor values ​​of the relative positions of the objects and the camera at each pixel are determined, and a corresponding relationship is established to obtain a database of the correspondence between imaging positions and angles.

[0017] Determine the center position of the person's image based on the pixels of the person's location;

[0018] Based on the center position of the person's image, the pixel-angle correspondence is found to determine the angle of the vertical right triangle formed by the person and the base station on the side, which is closer to the base station, and the angle of the horizontal right triangle formed by the person and the base station on the top view, which is closer to the base station.

[0019] Furthermore, the vertical distance between the person's horizontal plane and the base station is determined by multiplying the relative distance between the base station and the person's location tag by the cosine of the angle of the vertical right triangle formed by the person and the base station that is closest to the base station.

[0020] The horizontal distance between the person and the base station is determined by multiplying the relative distance between the base station and the person's location tag by the sine of the angle of the vertical right triangle formed by the person and the base station on the side closest to the base station.

[0021] Furthermore, the horizontal distance between the personnel and the vertical plane where the base station is located is the distance of the hypotenuse of the horizontal right-angled triangle formed by the personnel and the base station when viewed from above.

[0022] Furthermore, the horizontal distance between the personnel and the base station is determined by multiplying the horizontal distance between the personnel and the base station on the vertical plane and the cosine of the angle of the horizontal right triangle formed by the personnel and the base station from above, which is closer to the base station.

[0023] The vertical distance between the person and the base station is determined by multiplying the horizontal distance between the person and the base station on the vertical plane and the sine of the angle of the horizontal right triangle formed by the person and the base station from above, which is closer to the base station.

[0024] Furthermore, when personnel exceed the safe range set by the base station, the base station detects the personnel's location tag and issues a danger alarm.

[0025] According to some embodiments, a second aspect of the present invention provides a personnel positioning system based on a camera and Bluetooth, employing the following technical solution:

[0026] A personnel positioning system based on camera and Bluetooth includes a personnel positioning camera, a personnel positioning Bluetooth base station, a personnel positioning tag, and a personnel positioning server;

[0027] The Bluetooth base station for personnel positioning is used to obtain the tag information and signal strength of the personnel positioning tag, and to determine the relative distance between the base station and the personnel positioning tag;

[0028] The personnel positioning camera is used to acquire personnel images taken from the angle of the base station, and to determine the angle of the vertical right triangle formed by the personnel and the base station on the side, which is closer to the base station, and the angle of the horizontal right triangle formed by the personnel and the base station on top, which is closer to the base station, based on the imaging principle of the camera.

[0029] The personnel positioning server is used to determine the relative coordinates of a person based on the relative distance between the base station and the personnel positioning tag, the angle of the vertical right triangle formed by the person and the base station and the angle of the angle closest to the base station, and the angle of the horizontal right triangle formed by the person and the base station from above and the angle of the angle closest to the base station, using trigonometric functions.

[0030] The personnel positioning tag is used to communicate with the personnel positioning Bluetooth base station and periodically sends data to the personnel positioning Bluetooth base station; after receiving an alarm signal from the personnel positioning Bluetooth base station, it will provide a voice reminder to the person wearing it.

[0031] The personnel positioning camera and the personnel positioning Bluetooth base station are installed in the same location, and their positioning reference points coincide.

[0032] According to some embodiments, a third aspect of the present invention provides a computer-readable storage medium.

[0033] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of a camera-and-Bluetooth-based personnel location method as described in the first aspect above.

[0034] According to some embodiments, a fourth aspect of the present invention provides a computer device.

[0035] A computer device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of a camera-and-Bluetooth-based personnel positioning method as described in the first aspect above.

[0036] Compared with existing technologies, the advantages of this invention are as follows: Bluetooth ranging itself has relatively high positioning accuracy, generally 2-5 meters, and is easy to deploy and inexpensive, making it the most cost-effective positioning method in the meter-level positioning market. The angle calculation method based on camera pixel distribution has a simple and direct algorithm; once the pixels are determined, the angle value can be retrieved. The combination of these two methods enables three-dimensional personnel positioning, with a minimum configuration of only one camera, one Bluetooth base station, and one Bluetooth beacon, resulting in low overall cost and making it highly suitable for personnel positioning and safety monitoring in smart construction site scenarios.

[0037] This invention can also acquire multi-angle information of personnel positioning tags through multiple cameras and Bluetooth base stations, enabling the calculation of different reference points for the same personnel positioning tag, thereby improving positioning accuracy. Attached Figure Description

[0038] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0039] Figure 1 This is a three-dimensional schematic diagram of the relative positions of personnel and base stations as described in this embodiment of the invention;

[0040] Figure 2 This is a horizontal schematic diagram of the vertical side view of the relative positions of personnel and base stations as described in this embodiment of the invention;

[0041] Figure 3 This is a top-down horizontal schematic diagram of the relative positions of personnel and base stations as described in this embodiment of the invention;

[0042] Figure 4 This is an architecture diagram of a personnel positioning system based on a camera and Bluetooth, as described in an embodiment of the present invention. Detailed Implementation

[0043] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0044] It should be noted that the following detailed description is illustrative and intended to provide further explanation of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0045] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0046] Where there is no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0047] Example 1

[0048] This embodiment provides a method for personnel location based on a camera and Bluetooth. In this embodiment, the method includes the following steps:

[0049] Obtain the tag information and signal strength of personnel positioning tags to determine the relative distance between the base station and the personnel positioning tags;

[0050] Acquire images of people taken from the perspective of a base station, and determine the angle of the vertical right triangle formed by the person and the base station on the side, which is closer to the base station, and the angle of the horizontal right triangle formed by the person and the base station from above, which is closer to the base station, based on the camera imaging principle.

[0051] The relative coordinates of a person are determined using trigonometric functions based on the relative distance between the base station and the person's location tag, the angle of the vertical right triangle formed by the person and the base station from the side and the angle of the angle closest to the base station, and the angle of the horizontal right triangle formed by the person and the base station from above and the angle of the angle closest to the base station.

[0052] The process of acquiring the tag information and signal strength of the personnel positioning tag, and determining the relative distance between the base station and the personnel positioning tag, specifically involves:

[0053] According to Bluetooth 4.x and 5.0 protocols, the relative distance between Bluetooth terminals can be calculated using the correlation between Bluetooth RSSI signal attenuation and distance. The most basic ranging unit consists of two parts: a Bluetooth base station and a Bluetooth beacon. The Bluetooth base station and camera are installed in the same location, while the Bluetooth beacon can be built into the safety helmet of a construction worker.

[0054] Bluetooth beacons broadcast information, and Bluetooth base stations can obtain tag information and RSSI values ​​of nearby Bluetooth beacons. By establishing a correspondence between Bluetooth beacon tag information and worker identification information, and between RSSI values ​​and distance, the distance between the Bluetooth base station and the worker can be calculated.

[0055] According to the empirical formula, the relationship between RSSI value and distance D is as follows:

[0056] D = 10^((abs(RSSI)-A) / (10*n))

[0057] D is the calculated distance, RSSI is the signal strength, A is the signal strength when the transmitter and receiver are 1 meter apart, and n is the environmental attenuation factor. n is the environmental attenuation factor, which is related to the environment; the value of n can be determined through measurement and calibration based on the specific working environment.

[0058] Based on personnel images, image analysis is used to determine personnel numbers, which are then associated with the acquired Bluetooth tag information in the background.

[0059] The process of acquiring personnel images captured from the base station angle, and determining the angle of the vertical right-angled triangle formed by the personnel and the base station (viewed from above) closer to the base station based on the camera imaging principle, specifically involves:

[0060] By utilizing the imaging principle of a camera, the angle factor values ​​of the relative positions of the objects and the camera at each pixel are determined, and a corresponding relationship is established to obtain a database of the correspondence between imaging positions and angles.

[0061] Determine the center position of the person's image based on the pixels of the person's location;

[0062] Based on the center position of the person's image, the pixel-angle correspondence is found to determine the angle of the vertical right triangle formed by the person and the base station on the side, which is closer to the base station, and the angle of the horizontal right triangle formed by the person and the base station on the top view, which is closer to the base station.

[0063] According to the imaging principle of digital cameras, images are generated by sensing and processing by a CCD array. Image pixels are distributed in a dot matrix; for example, a 300W pixel camera's actual image is composed of a 2048*1536 pixel matrix. For a fixed-style, fixed-focal-length camera, if an object's image is always focused on a specific pixel, then the angle factor value in its relative positional relationship remains the same regardless of its distance from the camera. Therefore, once the camera is installed in a standard orientation, an object focused on a specific pixel in the field of view will have a fixed angular relationship with the camera, regardless of its distance. The angle factor value and the imaged pixel are fixedly associated through the following steps.

[0064] For a fixed-focal-length camera of a certain type, the spatial angular correspondence between the object imaged at each pixel and the camera is determined one by one through calibration and approximate calculation.

[0065] The correspondence between pixel coordinates and spatial angles is stored in the database.

[0066] In actual use, once the pixel coordinates are determined, the angle value corresponding to that pixel can be retrieved immediately.

[0067] Even if an object occupies multiple pixels when it is imaged, the image center can be determined by a simple algorithm that finds the center point of each pixel.

[0068] There are already mature solutions for identifying people in the field of view, such as using machine vision to identify the silkscreen number on the safety helmet or the employee's identification QR code on the safety helmet, which can establish a correspondence between employee identification information and camera images.

[0069] Therefore, after obtaining the relative angle information between the base station and the person, it can be combined with the relative distance between the base station and the person's positioning tag to achieve the location positioning of the person.

[0070] For a fixed-focal-length camera of a certain type, if an object's image is always focused on a fixed pixel, then the angle factor value in its relative positional relationship remains the same regardless of its distance from the camera. Therefore, once the camera is installed in a standard orientation, an object focused on a fixed pixel in the field of view will have a fixed angular relationship with the camera, regardless of its distance. The angle factor value and the imaged pixel are fixedly associated through the following steps.

[0071] ① For a fixed-focal-length camera of a certain type, through calibration and approximate calculation, the spatial angular correspondence between the object imaged at each pixel and the camera is determined one by one.

[0072] ② Store the correspondence between pixel coordinates and spatial angles in the database.

[0073] ③ In actual use, once the pixel coordinates are determined, the angle value corresponding to that pixel can be retrieved immediately.

[0074] Even if an object occupies multiple pixels when it is imaged, the image center can be determined by a simple algorithm that finds the center point of each pixel.

[0075] like Figure 1 , Figure 2 , Figure 3 As shown, the personnel positioning camera and the personnel positioning Bluetooth base station are installed in a fixed location with a wide field of view. The personnel positioning camera is responsible for personnel identification, and the personnel positioning Bluetooth base station is responsible for communicating with the personnel positioning server and personnel positioning tags, and measuring distance by detecting signal strength.

[0076] The vertical distance between the person's horizontal plane and the base station is determined by multiplying the relative distance between the base station and the person's location tag by the cosine of the angle of the vertical right triangle formed by the person and the base station that is closest to the base station.

[0077] The horizontal distance between the person and the base station is determined by multiplying the relative distance between the base station and the person's location tag by the sine of the angle of the vertical right triangle formed by the person and the base station on the side closest to the base station.

[0078] like Figure 2 As shown, the horizontal distance L between the personnel and the base station on the vertical plane is a horizontal right-angled triangle formed by the personnel and the base station from above (e.g., ...). Figure 3 The hypotenuse distance L (as shown in the figure).

[0079] In a personnel location process, the personnel location tag first attempts to communicate with the personnel location Bluetooth base station. The personnel location Bluetooth base station then calculates the distance D between the two based on the strength of the received signal. Figure 2 The personnel positioning camera simultaneously locks onto the corresponding personnel and retrieves the angle θ. Figure 2 ) and angle α ( Figure 3 The value of ) can be used to calculate the relative coordinates (X,Y,H) of the current worker relative to the reference point using the following formula.

[0080] H = D × cosθ

[0081] L=D×sinθ, X=L×cosα, Y=L×sinα

[0082] The horizontal distance between the personnel and the base station is determined by multiplying the horizontal distance between the personnel and the base station on the vertical plane and the cosine of the angle closest to the base station in the horizontal right triangle formed by the personnel and the base station from above.

[0083] The vertical distance between the person and the base station is determined by multiplying the horizontal distance between the person and the base station on the vertical plane and the sine of the angle of the horizontal right triangle formed by the person and the base station from above, which is closer to the base station.

[0084] Additionally, it should be noted that the above method for calculating relative coordinates applies when the camera and Bluetooth base station are not on the same horizontal line as the personnel positioning tag. Figure 1 , Figure 3 As shown; when the camera and Bluetooth base station are on a horizontal straight line with the personnel positioning tag, the relative coordinates of the personnel are the vertical projection of the personnel tag and the vertical projection of the side of the relative distance between the personnel tag and the camera.

[0085] When personnel exceed the safe range set by the base station, the base station detects the personnel's location tag and issues a danger alarm.

[0086] To achieve scene coverage and improve personnel positioning accuracy, multiple detection modules consisting of personnel positioning cameras and personnel positioning Bluetooth base stations can be set up within the scene. Different reference points are used to calculate the same personnel positioning tag, and the positioning accuracy is improved by collecting multiple sets of calculation results.

[0087] Regarding the danger alarm function, when the location server detects that a person has entered a set danger area, it will determine the danger situation and immediately send a danger signal to the personnel location Bluetooth base station. After receiving the danger signal, the base station will send an alarm signal to the corresponding tag to remind the staff.

[0088] Example 2

[0089] like Figure 4 As shown, this embodiment provides a personnel positioning system based on a camera and Bluetooth, including a personnel positioning camera, a personnel positioning Bluetooth base station, a personnel positioning tag, and a personnel positioning server;

[0090] The Bluetooth base station for personnel positioning is used to obtain the tag information and signal strength of the personnel positioning tag, and to determine the relative distance between the base station and the personnel positioning tag;

[0091] The personnel positioning camera is used to acquire personnel images taken from the angle of the base station, and to determine the angle of the vertical right triangle formed by the personnel and the base station on the side, which is closer to the base station, and the angle of the horizontal right triangle formed by the personnel and the base station on top, which is closer to the base station, based on the imaging principle of the camera.

[0092] The personnel positioning server is used to determine the relative coordinates of a person based on the relative distance between the base station and the personnel positioning tag, the angle of the vertical right triangle formed by the person and the base station and the angle of the angle closest to the base station, and the angle of the horizontal right triangle formed by the person and the base station from above and the angle of the angle closest to the base station, using trigonometric functions.

[0093] The personnel positioning tag is used to communicate with the personnel positioning Bluetooth base station and periodically sends data to the personnel positioning Bluetooth base station; after receiving an alarm signal from the personnel positioning Bluetooth base station, it will provide a voice reminder to the person wearing it.

[0094] The personnel positioning camera and the personnel positioning Bluetooth base station are installed in the same location, and their positioning reference points coincide.

[0095] The system consists of four parts: personnel positioning cameras, personnel positioning Bluetooth base stations, personnel positioning tags, and personnel positioning servers.

[0096] The personnel positioning camera has a personnel recognition function. The positioning camera identifies the person being measured and retrieves the real-time angle through intelligent image analysis technology, and sends the angle information to the personnel positioning server.

[0097] The personnel positioning Bluetooth base station has the function of communicating with personnel positioning tags. Under normal working conditions, it determines the relative distance (RSSI) with the tag by receiving the signal strength and sends the distance information to the personnel positioning server. After receiving the alarm information sent by the personnel positioning server, it sends an alarm signal to the corresponding tag.

[0098] The personnel positioning tag has the function of communicating with the personnel positioning Bluetooth base station. The tag will periodically send data to the personnel positioning Bluetooth base station, including the personnel information bound to the tag, the data transmission time, etc.; after receiving the alarm signal sent by the personnel positioning Bluetooth base station, it will give a voice reminder to the person wearing it.

[0099] The personnel positioning server has the function of receiving and processing data from personnel positioning Bluetooth base stations and personnel positioning cameras, and has the function of displaying personnel location information, storing personnel historical location information, and identifying and alarming abnormal and dangerous situations.

[0100] Furthermore, regarding the installation locations of each part of the system, the personnel positioning camera and the personnel positioning Bluetooth base station are installed in the same location, and the installation location is required to have a wide field of view to ensure that the positioning reference points of the two coincide and improve positioning accuracy; the personnel positioning tag is installed inside the worker's safety helmet to make it portable and not increase the burden on the worker.

[0101] The system can delineate dangerous areas within the region. When a worker is detected entering a dangerous area, the personnel positioning server will assess the dangerous behavior and, upon confirming the danger, send an alarm signal to the personnel positioning tag via the personnel positioning Bluetooth base station to alert the worker.

[0102] To achieve environmental coverage of smart construction sites, multiple detection modules consisting of personnel positioning cameras and personnel positioning Bluetooth base stations can be installed at different locations in the same scene. A single detection module can achieve the positioning function normally, while multiple detection modules can improve the accuracy of personnel positioning.

[0103] This embodiment provides a personnel positioning system for smart construction sites. The system includes a Bluetooth base station for personnel positioning cameras, a personnel positioning camera, personnel positioning tags, and a personnel positioning server. The Bluetooth base station and the personnel positioning camera need to be installed in the same location. The personnel positioning tags are worn by construction workers. This system enables three-dimensional spatial positioning of personnel in specific scenarios. The personnel positioning tags periodically transmit Bluetooth wireless signals. The Bluetooth base station, acting as the receiver, calculates the distance based on the received signal strength. The personnel positioning camera identifies the person being monitored using intelligent image analysis technology, retrieves the real-time angle, and uploads the information to the personnel positioning server. The personnel positioning server ultimately processes the personnel positioning information and can issue alarms for any abnormal situations. The personnel positioning system provided by this invention has a simple architecture, is cost-effective, and can be applied to personnel positioning in scenarios such as deep foundation pits in smart construction sites.

[0104] The examples and application scenarios implemented by the above modules and corresponding steps are the same, but are not limited to the content disclosed in Embodiment 1 above. It should be noted that the above modules, as part of the system, can be executed in a computer system such as a set of computer-executable instructions.

[0105] The descriptions of each embodiment in the above embodiments have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0106] The proposed system can be implemented in other ways. For example, the system embodiments described above are merely illustrative, and the division of modules described above is only a logical functional division. In actual implementation, there may be other division methods. For example, multiple modules may be combined or integrated into another system, or some features may be ignored or not executed.

[0107] Example 3

[0108] This embodiment provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of a camera- and Bluetooth-based personnel positioning method as described in Embodiment 1 above.

[0109] Example 4

[0110] This embodiment provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the steps in the personnel positioning method based on a camera and Bluetooth as described in Embodiment 1 above.

[0111] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of hardware embodiments, software embodiments, or embodiments combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0112] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0113] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0114] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0115] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc.

[0116] While the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of the present invention are still within the scope of protection of the present invention.

Claims

1. A method for personnel positioning based on a camera and Bluetooth, characterized in that, include: Obtain the tag information and signal strength of personnel positioning tags to determine the relative distance between the base station and the personnel positioning tags; Acquire images of people taken from the perspective of a base station, and determine the angle of the vertical right triangle formed by the person and the base station on the side, which is closer to the base station, and the angle of the horizontal right triangle formed by the person and the base station from above, which is closer to the base station, based on the camera imaging principle. Specifically, by utilizing the imaging principle of a camera, the angle factor values ​​of the relative positions of objects and the camera at each pixel are determined, and a corresponding relationship is established to obtain a database of imaging position and angle correspondence. Based on the pixel position of the person, the imaging center position of the person is determined. Based on the imaging center position of the person, the pixel and angle correspondence is searched to determine the angle of the vertical right triangle formed by the person and the base station on the side, which is closer to the base station, and the angle of the horizontal right triangle formed by the person and the base station on the top view, which is closer to the base station. Based on the relative distance between the base station and the personnel positioning tag, the angle of the vertical right triangle formed by the personnel and the base station and the angle of the angle closest to the base station, and the angle of the horizontal right triangle formed by the personnel and the base station from above and the angle of the angle closest to the base station, the relative coordinates of the personnel are determined using trigonometric functions. Specifically, the vertical distance between the person's horizontal plane and the base station is determined by multiplying the relative distance between the base station and the person's location tag by the cosine of the angle of the vertical right triangle formed by the person and the base station that is closest to the base station. The horizontal distance between the person and the base station is determined by multiplying the relative distance between the base station and the person's location tag by the sine of the angle of the vertical right triangle formed by the person and the base station on the side closest to the base station.

2. The personnel positioning method based on camera and Bluetooth as described in claim 1, characterized in that, The step of obtaining the signal strength of the personnel location tag and determining the relative distance between the base station and the personnel location tag specifically involves: The relative distance between Bluetooth terminals is calculated based on the correlation between Bluetooth RSSI signal attenuation and distance. According to the empirical formula, the relationship between RSSI value and distance D is as follows: D is the calculated distance, RSSI is the signal strength, A is the signal strength when the transmitter and receiver are 1 meter apart, and n is the environmental attenuation factor.

3. The personnel positioning method based on camera and Bluetooth as described in claim 1, characterized in that, The horizontal distance between the personnel and the vertical plane where the base station is located is the distance of the hypotenuse of the horizontal right-angled triangle formed by the personnel and the base station when viewed from above.

4. The personnel positioning method based on camera and Bluetooth as described in claim 3, characterized in that, The horizontal distance between the personnel and the base station is determined by multiplying the horizontal distance between the personnel and the base station on the vertical plane and the cosine of the angle closest to the base station in the horizontal right triangle formed by the personnel and the base station from above. The vertical distance between the person and the base station is determined by multiplying the horizontal distance between the person and the base station on the vertical plane and the sine of the angle of the horizontal right triangle formed by the person and the base station from above, which is closer to the base station.

5. The personnel positioning method based on camera and Bluetooth as described in claim 1, characterized in that, When personnel exceed the safe range set by the base station, the base station detects the personnel's location tag and issues a danger alarm.

6. A personnel positioning system based on a camera and Bluetooth, characterized in that, This includes personnel positioning cameras, personnel positioning Bluetooth base stations, personnel positioning tags, and personnel positioning servers; The Bluetooth base station for personnel positioning is used to obtain the tag information and signal strength of the personnel positioning tag, and to determine the relative distance between the base station and the personnel positioning tag; The personnel positioning camera is used to acquire personnel images taken from the angle of the base station, and to determine the angle of the vertical right triangle formed by the personnel and the base station on the side, which is closer to the base station, and the angle of the horizontal right triangle formed by the personnel and the base station on top, which is closer to the base station, based on the imaging principle of the camera. Specifically, by utilizing the imaging principle of a camera, the angle factor values ​​of the relative positions of objects and the camera at each pixel are determined, and a corresponding relationship is established to obtain a database of imaging position and angle correspondence. Based on the pixel position of the person, the imaging center position of the person is determined. Based on the imaging center position of the person, the pixel and angle correspondence is searched to determine the angle of the vertical right triangle formed by the person and the base station on the side, which is closer to the base station, and the angle of the horizontal right triangle formed by the person and the base station on the top view, which is closer to the base station. The personnel positioning server is used to determine the relative coordinates of a person based on the relative distance between the base station and the personnel positioning tag, the angle of the vertical right triangle formed by the person and the base station and the angle of the angle closest to the base station, and the angle of the horizontal right triangle formed by the person and the base station from above and the angle of the angle closest to the base station, using trigonometric functions. Specifically, the vertical distance between the person's horizontal plane and the base station is determined by multiplying the relative distance between the base station and the person's location tag by the cosine of the angle of the vertical right triangle formed by the person and the base station that is closest to the base station. The horizontal distance between the person and the base station is determined by multiplying the relative distance between the base station and the person's location tag by the sine of the angle of the vertical right triangle formed by the person and the base station that is closest to the base station. The personnel positioning tag is used to communicate with the personnel positioning Bluetooth base station and periodically sends data to the personnel positioning Bluetooth base station; after receiving an alarm signal from the personnel positioning Bluetooth base station, it will provide a voice reminder to the person wearing it. The personnel positioning camera and the personnel positioning Bluetooth base station are installed in the same location, and their positioning reference points coincide.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the steps of a camera and Bluetooth-based personnel positioning method as described in any one of claims 1-5.

8. A computer 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 program, it implements the steps of the personnel positioning method based on camera and Bluetooth as described in any one of claims 1-5.

Images