A security full-path positioning system, method, device and storage medium
By combining camera equipment and LoRa signal control equipment to construct a status information matrix, the problems of visual blind spots and insufficient real-time performance in existing security systems are solved, enabling accurate, convenient, and real-time positioning of intruders and enhancing the security of the security system.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- SHANDONG INSPUR SCI RES INST CO LTD
- Filing Date
- 2023-05-08
- Publication Date
- 2026-07-21
AI Technical Summary
Existing security systems are unable to achieve 24/7, full-coverage monitoring, and have problems with blind spots and insufficient real-time performance, resulting in untimely acquisition of intruder location information and failing to meet the high real-time security requirements.
By combining camera equipment and LoRa signal control equipment, a status information matrix is constructed. Intruders are detected through optical flow algorithms and LoRa signals, and Kalman filtering technology is used to track the trajectory of intruders and perform security alarm processing.
It improves the accuracy of intruder identification and the convenience and real-time nature of security positioning, realizing the full-path positioning and trajectory tracking of intruders, and enhancing the security of the security system.
Smart Images
Figure CN116563789B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of monitoring and positioning technology, and in particular to a security full-path positioning system, method, device and storage medium. Background Technology
[0002] Currently, security monitoring in residential areas, substations, chemical plants, military facilities, and important forest areas still primarily relies on personnel patrols combined with fixed surveillance cameras. This approach has two main drawbacks. First, it cannot achieve 24 / 7 security coverage. Human factors such as patrol shift changes and monitoring room staff fatigue can easily lead to oversights and accidents. For example, small animals entering electrical facilities may not be detected in real time, posing a safety hazard such as animals touching live equipment and causing power outages. Second, traditional monitoring systems have blind spots; when the field of vision is briefly obscured, the target is lost, which is a problem with current security systems. Furthermore, current security systems struggle to meet the demand for high real-time performance, lacking the ability to acquire and visualize the real-time location of intruders after detection. In previous security systems, if a problem was detected in video surveillance, staff had to be notified to investigate the intrusion site or other nearby monitoring equipment had to be called in to pinpoint the intruder's location. By this time, the intruder may have already moved, especially when it is in a blind spot, lacking flexibility and real-time capability. Therefore, how to improve the accuracy, convenience, and real-time performance of security systems is an urgent problem that needs to be solved in the field. Summary of the Invention
[0003] In view of this, the purpose of this invention is to provide a security full-path positioning system, method, device, and storage medium, which can track the entire path of an intruder, improve the accuracy of intruder identification, and enhance the convenience, real-time performance, and security of security positioning. The specific solution is as follows:
[0004] Firstly, this application provides a security full-path positioning system, including:
[0005] The first state information matrix construction module is used to acquire current images in real time using a local preset camera device, and determine the state information of the first few intruders based on the acquired images, so as to construct the first state information matrix based on the state information of the first few intruders.
[0006] The second state information matrix construction module is used to collect the current signal state in real time using a local preset LoRa signal control device, to determine the state information of a second plurality of intruders based on the current signal state, and to construct a second state information matrix based on the state information of the second plurality of intruders.
[0007] The path positioning module is used to determine the target intruder and the target intrusion trajectory information based on the first state information matrix and the second state information matrix, and to perform preset security alarm processing.
[0008] Optionally, the first state information matrix construction module includes:
[0009] An intrusion detection unit is used to determine whether there is a target object that meets the preset intrusion conditions in several frames of images acquired.
[0010] An intruder determination unit is used to determine the target object as a first set of intruders when there is a target object in the plurality of frames that meets the preset intruder conditions.
[0011] Optionally, the first state information matrix construction module includes:
[0012] The location information determination unit is used to determine the location information corresponding to the first few intruders and the several frames of images based on the acquired images and using a preset location estimation algorithm.
[0013] The status information determination unit is used to determine the status information of the first plurality of intruders based on the location information corresponding to the first plurality of intruders and the several frames of images respectively.
[0014] Optionally, the path positioning module includes:
[0015] An intruder screening submodule is used to screen out the state information of a third plurality of intruders from the first state information matrix that meets a preset state information matching condition with the state information of the second plurality of intruders in the second state information matrix;
[0016] The intruder determination submodule is used to determine the target intruder based on the third set of intruders and to determine the target intrusion trajectory information based on the status information of the third set of intruders.
[0017] Optionally, the intruder screening submodule includes:
[0018] A similarity calculation unit is used to calculate the similarity between the state information in the first state information matrix and the state information in the second state information matrix;
[0019] An intruder screening unit is used to determine the state information in the first state information matrix whose similarity is greater than a preset similarity threshold as the state information of the third plurality of intruders.
[0020] Optionally, the intruder identification submodule includes:
[0021] The trajectory information determination unit is used to determine the target intrusion trajectory information by using Kalman filtering technology and based on the state information of the third plurality of intruders and the state information in the second state information matrix that meets the preset state information matching condition with the state information of the third plurality of intruders.
[0022] Optionally, the path positioning module includes:
[0023] An intrusion information display unit is used to display the target intruder and the target intrusion trajectory information on a preset human-computer interaction interface for security processing.
[0024] Secondly, this application provides a security full-path positioning method, including:
[0025] The system uses a local preset camera device to capture current images in real time, and determines the status information of the first few intruders based on the captured images, so as to construct a first status information matrix based on the status information of the first few intruders.
[0026] The current signal status is collected in real time using a local preset LoRa signal control device, and the status information of a second plurality of intruders is determined based on the current signal status, and a second status information matrix is constructed based on the status information of the second plurality of intruders;
[0027] Based on the first state information matrix and the second state information matrix, the target intruder and the target intrusion trajectory information are determined, and a preset security alarm is performed.
[0028] Thirdly, this application provides an electronic device, comprising:
[0029] Memory, used to store computer programs;
[0030] A processor is used to execute the computer program to implement the aforementioned security full-path positioning method.
[0031] Fourthly, this application provides a computer-readable storage medium for storing a computer program, which, when executed by a processor, implements the aforementioned security full-path positioning method.
[0032] In this application, the security full-path positioning system includes: a first state information matrix construction module, used to acquire current images in real time using a local preset camera device, and determine the state information of a first plurality of intruders based on the acquired images, so as to construct a first state information matrix based on the state information of the first plurality of intruders; a second state information matrix construction module, used to acquire current signal status in real time using a local preset LoRa signal control device, and determine the state information of a second plurality of intruders based on the current signal status, so as to construct a second state information matrix based on the state information of the second plurality of intruders; and a path positioning module, used to determine the target intruder and the target intrusion trajectory information based on the first state information matrix and the second state information matrix, and to perform preset security alarm processing. Through the above modules, this application can acquire and analyze current images, determine the state information of the first plurality of intruders and obtain the first state information matrix, and obtain the current LoRa signal status.
[0033] The application determines the state information of a second set of intruders and obtains a second state information matrix. Using these two state information matrices, it obtains the target intruder and its intrusion trajectory information, and triggers a security alarm. Thus, in addition to monitoring with camera equipment, this application also utilizes LoRa signals for intruder detection. Based on the first and second state information matrices, it determines the target intruder, improving the accuracy of intruder identification. Furthermore, it can display the intrusion trajectory and location of the target intruder in real time based on the corresponding intrusion trajectory information, enabling full-path tracking of the intruder. This facilitates security personnel in taking security measures against the target intruder, improving the convenience, real-time nature, and security of security positioning. Attached Figure Description
[0034] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.
[0035] Figure 1 A schematic diagram of a security full-path positioning device provided in this application;
[0036] Figure 2 This application provides a schematic diagram of a security full-path positioning process;
[0037] Figure 3 This application provides a schematic diagram of the deployment of a security full-path positioning device;
[0038] Figure 4 A schematic diagram illustrating the location of an intruder in an image, as provided in this application;
[0039] Figure 5 This application provides a schematic diagram for determining the location of an intruder;
[0040] Figure 6 A schematic diagram of Fresnel zone boundary calculation provided in this application;
[0041] Figure 7 A flowchart of a security full-path positioning method provided in this application;
[0042] Figure 8 This application provides a structural diagram of an electronic device. Detailed Implementation
[0043] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0044] Current security monitoring methods are prone to errors that can lead to accidents, have blind spots, and are difficult to implement.
[0045] To meet the requirement of high real-time performance, specifically the lack of real-time location information acquisition and visualization of intruders after detection, this application discloses a security full-path positioning system, which can improve the accuracy of intruder identification and enhance the convenience, real-time performance, and security of security positioning.
[0046] See Figure 1 As shown, an embodiment of the present invention discloses a security full-path positioning system, comprising:
[0047] The first state information matrix construction module 11 is used to acquire the current image in real time using a local preset camera device, and determine the state information of the first plurality of intruders based on the acquired several frames of images, so as to construct the first state information matrix based on the state information of the first plurality of intruders.
[0048] In this embodiment, image information within the current park is acquired in real time using a locally preset camera device. For example, optical flow algorithms and target detection technology can be used to dynamically locate targets for fixed monitoring devices with a large field of view. It is understood that the first state information matrix construction module 11 may specifically include: an intrusion determination unit, used to determine whether there are target objects that meet preset intrusion conditions among the acquired several frames of images; and an intrusion determination unit, used to identify the target object as a first set of intrusions when there are target objects that meet the preset intrusion conditions among the several frames of images. That is, considering that not all images acquired by the locally preset camera device are characterized as intrusions—for example, the images may contain park staff—it would be incorrect to identify staff as intrusions. Therefore, after acquiring several frames of images, a pre-trained intrusion recognition network can be used to identify the several frames of images. When several target objects identified as intrusions are identified among the aforementioned several frames of images, the target objects are identified as the first set of intrusions to obtain the state information of the first set of intrusions.
[0049] It should be noted that the first state information matrix construction module 11 may specifically include: a position information determination unit, used to determine the position information corresponding to the first plurality of intruders and the plurality of image frames respectively based on the acquired image frames and using a preset position estimation algorithm; and a state information determination unit, used to determine the state information of the first plurality of intruders based on the position information corresponding to the first plurality of intruders and the plurality of image frames respectively. That is, after acquiring the image frames, the position information of the first plurality of intruders in each image frame is determined using a preset position estimation algorithm, and then the movement direction, speed, and other information of the first plurality of intruders can be determined based on the position information of the first plurality of intruders in each image frame, thereby obtaining the state information of the first plurality of intruders.
[0050] The second state information matrix construction module 12 is used to collect the current signal status in real time using a local preset LoRa signal control device, determine the state information of a second plurality of intruders based on the current signal status, and construct a second state information matrix based on the state information of the second plurality of intruders.
[0051] In this embodiment, a local preset LoRa (Long Range Radio) signal control device is used to collect the current signal status in real time. The local preset LoRa signal control device includes a LoRa signal transmitter and receiver that can cover the current area. When an intruder invades the current area, the LoRa signal status will change. Based on the current signal status, the status information of a second set of intruders can be determined, and a second status information matrix can be constructed based on the status information of the second set of intruders.
[0052] The path positioning module 13 is used to determine the target intruder and the target intrusion trajectory information based on the first state information matrix and the second state information matrix, and to perform preset security alarm processing.
[0053] In this embodiment, it can be understood that the path positioning module 13 may specifically include: an intruder screening submodule, used to screen out the state information of a third plurality of intruders from the first state information matrix that meets a preset state information matching condition with the state information of the second plurality of intruders in the second state information matrix; and an intruder determination submodule, used to determine the target intruder based on the third plurality of intruders and to determine the target intrusion trajectory information based on the state information of the third plurality of intruders. Specifically, the intruder screening submodule may include: a similarity calculation unit, used to calculate the similarity between the state information in the first state information matrix and the state information in the second state information matrix; and an intruder screening unit, used to determine the state information in the first state information matrix whose similarity is greater than a preset similarity threshold as the state information of the third plurality of intruders. Specifically, the intruder determination submodule may include: a trajectory information determination unit, used to determine the target intrusion trajectory information using Kalman filtering technology and based on the state information of the third plurality of intruders and the state information in the second state information matrix that meets the preset state information matching condition with the state information of the third plurality of intruders. That is, the third set of intruders can be identified by calculating the similarity between the state information in the first state information matrix and the state information in the second state information matrix, and by determining the state information in the first state information matrix whose similarity is greater than a preset similarity threshold as the state information of the third set of intruders. Then, the target intrusion trajectory information can be determined based on the state information of the third set of intruders. Furthermore, the path positioning module may specifically include an intrusion information display unit, used to display the target intruder and the target intrusion trajectory information on a preset human-computer interaction interface for security processing.
[0054] In this embodiment, the security full-path positioning system includes: a first state information matrix construction module, used to acquire current images in real time using a local preset camera device, and determine the state information of a first plurality of intruders based on the acquired several frames of images, so as to base the state of the first plurality of intruders on the state information of the first plurality of intruders.
[0055] The system comprises a first state information matrix and a second state information matrix construction module. The first state information matrix is constructed by using a locally pre-set LoRa signal control device to collect the current signal state in real time, thereby determining the state information of a second set of intruders based on the current signal state, and constructing a second state information matrix based on the state information of the second set of intruders. The second state information matrix is constructed by a path positioning module, which determines the target intruder and its trajectory based on the first and second state information matrices, and performs a pre-set security alarm. Through these modules, this application can acquire and analyze the current image, determine the state information of a first set of intruders and obtain the first state information matrix, acquire the current LoRa signal state, determine the state information of a second set of intruders and obtain the second state information matrix, and obtain the target intruder and its trajectory information through the two state information matrices, and then trigger a security alarm. In this way, in addition to monitoring with camera equipment, this application also uses LoRa signals to detect intruders. Based on the first state information matrix and the second state information matrix, the target intruder is determined, which improves the accuracy of intruder identification. Furthermore, the intrusion trajectory and location of the target intruder can be displayed in real time based on the target intrusion trajectory information corresponding to the target intruder, enabling full-path positioning and tracking of the intruder. This facilitates security personnel in taking security measures against the target intruder, improving the convenience, real-time nature, and security of security positioning.
[0056] The following is combined Figures 2 to 6 This application provides a detailed description of the specific implementation process of a security full-path positioning system.
[0057] like Figure 2 As shown, Figure 2 This is a schematic diagram of a security full-path positioning process disclosed in this application. For example... Figure 3 As shown, firstly, multiple cameras pre-installed in the park collect image information within the monitored area in real time. Optical flow algorithms and target detection technology are used for dynamic target searching over a large field of view. A pre-trained intrusion detection network is then used to identify several frames of images. When several target objects identified as intruders are detected in these frames, they are designated as the first set of intruders. Then, a preset position estimation algorithm is used to determine the position information of the first set of intruders in each frame. Specifically, this can be done as follows: Figure 4 and Figure 5As shown, by determining the distance (Δx, Δy) between the center of the recognition box in the current frame image and the center of the current frame image, and then deriving the position of the target corresponding to the current recognition box relative to the current camera through the geometric relationship between the camera and the ground, where O, X, Y, and Z represent a spatial rectangular coordinate system with the camera as the origin, H represents the height of the camera, L is the straight-line distance between the target P and the origin O, P(X', Y', Z') is the position coordinate of the target P in the above spatial rectangular coordinate system, and α, β, and γ are the angles between the target P and each coordinate axis, respectively. Thus, the volume, position, and other information of the first few intruders can be obtained. Then, based on the position information of the first few intruders in each frame image, the movement direction, movement speed, and other information of the first few intruders can be determined, thereby obtaining the state information of the first few intruders. A first state information matrix is constructed based on the state information of the first few intruders.
[0058] While the camera equipment is operating, LoRa signal transmitters and receivers pre-deployed within the park, covering the current area, are also continuously transmitting and receiving signals. When there are no intruders in the park, the LoRa signal is in a relatively stable state. When an intruder enters the park, the LoRa signal is affected by the intruder, and the signal state changes. The Fresnel zone of the LoRa signal can be used to determine the state information of the intruder. The Fresnel zone refers to a series of curved surfaces formed in space by the signal in wireless communication due to refraction and reflection during transmission. Points on these curved surfaces have the same phase and amplitude, and are therefore called in-phase surfaces. LoRa signal is a long-distance communication signal. Because LoRa signal has a low frequency and a long wavelength, the corresponding Fresnel zone is relatively large. Within the communication range of the LoRa signal, moving objects in the Fresnel zone will affect the state of the signal. By training and learning these influence values in advance, information such as the size, direction of movement, and speed of the object can be obtained.
[0059] like Figure 6 As shown, X and Y are any two LoRa signal transmitters and receivers placed within the park area, and the equations for the n concentric ellipses they form are as follows:
[0060]
[0061] Where L is the radius, H n For high, A n Let |X,Y| = 2L, and |X,P| be the straight-line distance. n |+|Y,P n |=2A n H n 2 =A n2 -L 2 Let |X,Y| represent the Euclidean distance. For a radio signal with wavelength λ, the boundary of the nth Fresnel zone is calculated as follows:
[0062] Boundary n ={P n ,X,Y||X,P n |+|Y,P n |-|X,Y|=nλ / 2}
[0063] Among them, P n Let be a point on the boundary of the nth Fresnel zone. When an intruder is located in different Fresnel zones, its impact on the signal varies. The state information of the Fresnel zone between each LoRa signal receiver and transmitter is extracted to determine the position, volume, velocity, direction, and other information of the intruder, thereby obtaining the state information of the second set of intruders. A second state information matrix is then constructed based on the state information of the second set of intruders.
[0064] The first state information matrix and the second state information matrix can be input into a preset deep learning network for training, and the state information in the first state information matrix and the second state information matrix can be calculated.
[0065] The similarity between state information in the state information matrix is used to determine the state information of the third set of intruders. State information with a similarity greater than a preset similarity threshold in the first state information matrix is identified as the state information of the third set of intruders. The preset similarity threshold can be set according to requirements. For example, state information with a similarity greater than 95% can be identified as the state information of the third set of intruders. Then, Kalman filtering technology is used to determine the target intrusion trajectory information based on the state information of the third set of intruders and the state information in the second state information matrix that meets the preset state information matching condition. In this way, when the camera enters the blind spot, the intruder can continue to be tracked and located via LoRa signal. If the intruder appears in the field of view of other cameras, it can be combined with the previous intrusion trajectory to achieve full-process intruder location. At the same time, the intruder and its intrusion trajectory information are sent to a preset display interface through the network and displayed as a continuous target trajectory, which is convenient for security personnel to promptly drive away and track.
[0066] See Figure 7 As shown, this embodiment of the invention discloses a security full-path positioning method, including:
[0067] Step S11: Use a local preset camera device to collect the current image in real time, and determine the status information of the first few intruders based on the collected images, so as to construct a first status information matrix based on the status information of the first few intruders.
[0068] Step S12: Use a local preset LoRa signal control device to collect the current signal status in real time, determine the status information of the second plurality of intruders based on the current signal status, and construct a second status information matrix based on the status information of the second plurality of intruders.
[0069] Step S13: Determine the target intruder and target intrusion trajectory information based on the first state information matrix and the second state information matrix, and perform preset security alarm processing.
[0070] In this embodiment, a local preset camera device is used to acquire current images in real time, and the status information of a first plurality of intruders is determined based on the acquired images. A first status information matrix is constructed based on the status information of the first plurality of intruders. A local preset LoRa signal control device is used to acquire current signal status in real time, and the status information of a second plurality of intruders is determined based on the current signal status. A second status information matrix is constructed based on the status information of the second plurality of intruders. The target intruder and target intrusion trajectory information are determined based on the first status information matrix and the second status information matrix, and preset security alarm processing is performed. Through the above scheme, this application can acquire and analyze current images, determine the status information of the first plurality of intruders and obtain the first status information matrix, acquire the current LoRa signal status, determine the status information of the second plurality of intruders and obtain the first status information matrix, and acquire the current LoRa signal status to determine the status information of the second plurality of intruders and obtain the first status information matrix.
[0071] The two-state information matrix target obtains the target intruder and its intrusion trajectory information through the aforementioned two state information matrices, and triggers a security alarm. Thus, this application, in addition to monitoring using camera equipment, also utilizes LoRa signals for intruder detection. The target intruder is determined based on the first and second state information matrices, improving the accuracy of intruder identification. Furthermore, the intrusion trajectory and location of the target intruder can be displayed in real time based on the corresponding intrusion trajectory information, enabling full-path tracking of the intruder. This facilitates security personnel in taking security measures against the target intruder, improving the convenience, real-time nature, and security of security positioning.
[0072] In some specific embodiments, determining the state information of the first plurality of intruders based on the acquired frames of images may specifically include:
[0073] Determine whether there is a target object that meets the preset intrusion conditions in several frames of images acquired;
[0074] If a target object that meets the preset intrusion conditions exists in the plurality of frames of images, then the target object is identified as the first plurality of intrusions.
[0075] In some specific embodiments, determining the state information of the first plurality of intruders based on the acquired frames of images may specifically include:
[0076] Based on the collected images and using a preset position estimation algorithm, the position information corresponding to the first few intruders and the images is determined respectively.
[0077] The state information of the first few intruders is determined based on the location information corresponding to the first few intruders and the several frames of images.
[0078] In some specific embodiments, determining the target intruder and target intrusion trajectory information based on the first state information matrix and the second state information matrix may specifically include:
[0079] The state information of a third plurality of intruders that meets the preset state information matching conditions with the state information of the second plurality of intruders in the second state information matrix is selected from the first state information matrix;
[0080] The target intruder is determined based on the third set of intruders, and the target intrusion trajectory information is determined based on the status information of the third set of intruders.
[0081] In some specific embodiments, the step of filtering out the state information of a third plurality of intruders from the first state information matrix that satisfies a preset state information matching condition with the state information of the second plurality of intruders in the second state information matrix may specifically include:
[0082] Calculate the similarity between the state information in the first state information matrix and the state information in the second state information matrix;
[0083] The state information in the first state information matrix whose similarity is greater than a preset similarity threshold is determined as the state information of the third plurality of intruders.
[0084] In some specific embodiments, determining the target intrusion trajectory information based on the state information of the third plurality of intruders may specifically include:
[0085] The target intrusion trajectory information is determined by using Kalman filtering technology and based on the state information of the third plurality of intruders and the state information in the second state information matrix that meets the preset state information matching condition with the state information of the third plurality of intruders.
[0086] In some specific embodiments, the preset security alarm processing may specifically include:
[0087] The target intruder and its intrusion trajectory information are displayed on a preset human-computer interaction interface for security processing.
[0088] Furthermore, embodiments of this application also disclose an electronic device, Figure 8 This is a structural diagram of an electronic device 20 according to an exemplary embodiment. The content of the diagram should not be construed as limiting the scope of this application.
[0089] Figure 8 This is a schematic diagram of the structure of an electronic device 20 provided in an embodiment of this application. Specifically, the electronic device 20 may include: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input / output interface 25, and a communication bus 26. The memory 22 stores a computer program, which is loaded and executed by the processor 21 to implement the relevant steps in the security full-path positioning method disclosed in any of the foregoing embodiments. Alternatively, the electronic device 20 in this embodiment may specifically be a computer.
[0090] In this embodiment, the power supply 23 is used to provide operating voltage for each hardware device on the electronic device 20; the communication interface 24 can create a data transmission channel between the electronic device 20 and external devices, and the communication protocol it follows can be any communication protocol applicable to the technical solution of this application, and is not specifically limited here; the input / output interface 25 is used to acquire external input data or output data to the outside world, and its specific interface type can be selected according to specific application needs, and is not specifically limited here.
[0091] In addition, the memory 22, as a carrier for resource storage, can be a read-only memory, random access memory, disk or optical disk, etc. The resources stored thereon can include operating system 221, computer program 222, etc., and the storage method can be temporary storage or permanent storage.
[0092] The operating system 221 is used to manage and control the various hardware devices on the electronic device 20 and the computer program 222, which may be Windows Server, Netware, Unix, Linux, etc. In addition to including a computer program capable of performing the security full-path positioning method executed by the electronic device 20 as disclosed in any of the foregoing embodiments, the computer program 222 may further include a computer program capable of performing other specific tasks.
[0093] Furthermore, this application also discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, it implements the aforementioned security full-path positioning method. Specific steps of this method can be found in the corresponding content disclosed in the foregoing embodiments, and will not be repeated here.
[0094] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to in the method section.
[0095] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.
[0096] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly by hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.
[0097] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements that constitute such a process, method, article, or apparatus.
[0098] The elements inherent in the device. Without further limitations, an element defined by the phrase "comprising a..." does not exclude the presence of other identical elements in the process, method, article, or device that includes said element.
[0099] The technical solutions provided in this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.
Claims
1. A security full-path positioning system, characterized in that, include: The first state information matrix construction module is used to acquire current images in real time using a local preset camera device, and determine the state information of a first plurality of intruders based on the acquired several frames of images, so as to construct a first state information matrix based on the state information of the first plurality of intruders; wherein, the state information of the first plurality of intruders includes the movement direction and speed information determined based on the position information of the first plurality of intruders in each frame of image; The second state information matrix construction module is used to collect the current signal state in real time using a local preset LoRa signal management device, and to determine the state information of a second plurality of intruders based on the current signal state and the Fresnel zone characteristics of the LoRa signal, and to construct a second state information matrix based on the state information of the second plurality of intruders; wherein, the state information of the second plurality of intruders includes position, volume, velocity and direction information determined based on the state information of the Fresnel zone between each group of LoRa signal receivers and transmitters; The path positioning module is used to determine the target intruder and the target intrusion trajectory information based on the first state information matrix and the second state information matrix, and to perform preset security alarm processing. The path location module includes: An intruder screening submodule is used to screen out the state information of a third plurality of intruders from the first state information matrix that meets a preset state information matching condition with the state information of the second plurality of intruders in the second state information matrix; The intruder determination submodule is used to determine the target intruder based on the third set of intruders and to determine the target intrusion trajectory information based on the status information of the third set of intruders. The intruder screening submodule includes: A similarity calculation unit is used to calculate the similarity between the state information in the first state information matrix and the state information in the second state information matrix; An intruder screening unit is used to determine the state information in the first state information matrix whose similarity is greater than a preset similarity threshold as the state information of the third plurality of intruders; The intruder identification submodule includes: The trajectory information determination unit is used to determine the target intrusion full path trajectory information by using Kalman filtering technology and based on the state information of the third plurality of intruders and the state information in the second state information matrix that meets the preset state information matching condition with the state information of the third plurality of intruders.
2. The security full-path positioning system according to claim 1, characterized in that, The first state information matrix construction module includes: An intrusion detection unit is used to determine whether there is a target object that meets the preset intrusion conditions in several frames of images acquired. An intruder determination unit is used to determine the target object as a first set of intruders when there is a target object in the plurality of frames that meets the preset intruder conditions.
3. The security full-path positioning system according to claim 1, characterized in that, The first state information matrix construction module includes: The location information determination unit is used to determine the location information corresponding to the first few intruders and the several frames of images based on the acquired images and using a preset location estimation algorithm. The status information determination unit is used to determine the status information of the first plurality of intruders based on the location information corresponding to the first plurality of intruders and the several frames of images respectively.
4. The security full-path positioning system according to claim 1, characterized in that, The path location module includes: An intrusion information display unit is used to display the target intruder and the target intrusion trajectory information on a preset human-computer interaction interface for security processing.
5. A security full-path positioning method, characterized in that, include: The system uses a local preset camera device to capture current images in real time, and determines the state information of a number of intruders based on the captured images. A first state information matrix is then constructed based on the state information of the first number of intruders. The state information of the first number of intruders includes the movement direction and speed information determined based on the position information of the first number of intruders in each image frame. The current signal status is collected in real time using a local preset LoRa signal management device. Based on the current signal status and the Fresnel zone characteristics of the LoRa signal, the status information of a second set of intruders is determined. A second status information matrix is constructed based on the status information of the second set of intruders. The status information of the second set of intruders includes position, volume, velocity, and direction information determined based on the status information of the Fresnel zone between each LoRa signal receiver and transmitter. Based on the first state information matrix and the second state information matrix, the target intruder and the target intrusion trajectory information are determined, and a preset security alarm is performed. The step of determining the target intruder and target intrusion trajectory information based on the first state information matrix and the second state information matrix includes: The state information of a third plurality of intruders that meets the preset state information matching conditions with the state information of the second plurality of intruders in the second state information matrix is selected from the first state information matrix; The target intruder is determined based on the third set of intruders, and the target intrusion trajectory information is determined based on the status information of the third set of intruders. The step of filtering out the state information of a third plurality of intruders from the first state information matrix that satisfies a preset state information matching condition with the state information of the second plurality of intruders in the second state information matrix includes: Calculate the similarity between the state information in the first state information matrix and the state information in the second state information matrix; The state information in the first state information matrix whose similarity is greater than a preset similarity threshold is determined as the state information of the third plurality of intruders; The step of determining the target intrusion trajectory information based on the state information of the third plurality of intruders includes: The target intrusion trajectory information is determined by using Kalman filtering technology and based on the state information of the third plurality of intruders and the state information in the second state information matrix that meets the preset state information matching condition with the state information of the third plurality of intruders.
6. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor for executing the computer program to implement the security full-path positioning method as described in claim 5.
7. A computer-readable storage medium, characterized in that, Used to store computer programs, which, when executed by a processor, implement the security full-path positioning method as described in claim 5.