Real-time tracking and intercepting method and system based on tracking viscoelasticity

Abstract

The invention discloses a real-time tracking and intercepting method and system based on tracking viscoelasticity, and the method comprises the steps: converting geographic position information into digital data, and constructing a Dijkstra algorithm node matrix; acquiring the position of a to-be-intercepted vehicle in real time through a real-time tracking module, and predicting a prediction node to which the to-be-intercepted vehicle is going; substituting the prediction node and the position of the to-be-intercepted vehicle into a police force distribution model to obtain a police force distribution scheme; and substituting the police force scheduling scheme into the path planning model to obtain the shortest path of police force movement, and sending the shortest path to the user side. According to the technical scheme, geographic position information is converted into digital data in real time, a Dijkstra algorithm node matrix is constructed, a police force distribution scheme is obtained through a police force distribution model, then the shortest path of police force movement is obtained through a path planning model, and the data is transmitted to a vehicle terminal or a mobile terminal provided with a user side. Data updating and sharing can be synchronously carried out, and police force distribution and path distribution of each police force can be carried out.

Description

Technical Field

[0001] The present invention relates to the field of tracking and interception technology, and in particular to a real-time tracking and interception system based on tracking viscoelastics. Background Art

[0002] There are few studies and applications of real-time tracking technology using satellite navigation. However, tracking technology is very important in military and other aspects. After searching relevant literature, we found that there are very few systems based on navigation and other related technologies for tracking and intercepting. The existing police force allocation and route planning are all done manually or in separate systems. There is no overall system and data link for real-time tracking and interception, which can synchronously update and share data, allocate police force and allocate routes for each police force. Summary of the invention

[0003] The main purpose of the present invention is to provide a real-time tracking and interception system based on tracking sticky bombs, aiming to solve the existing problems of police force allocation and path allocation of each police force in real-time tracking and interception situations.

[0004] To achieve the above-mentioned purpose, the present invention proposes a real-time tracking and interception system based on tracking viscoelastics, comprising the following steps:

[0005] Convert geographic location information into digital data and construct the Dijkstra algorithm node matrix;

[0006] The real-time tracking module is used to obtain the location of the vehicle to be intercepted in real time, and to predict the node to which the vehicle to be intercepted will go;

[0007] Substitute the predicted nodes and the positions of the vehicles to be intercepted into the police force allocation model to obtain the police force allocation plan;

[0008] Substitute the police dispatch plan into the path planning model to obtain the shortest path for police movement, and send the shortest path to the user end.

[0009] Preferably, the step of converting the geographical location information into digital data and constructing a Dijkstra algorithm node matrix includes:

[0010] Initialize and import positioning images, real-time geographic longitude and latitude data;

[0011] Generate graph G based on direct connections between nodes;

[0012] Iterate the Dijkstra algorithm to solve the distance generation matrix between each node;

[0013] Determine whether there are isolated nodes generated;

[0014] If so, return to the step to generate the node matrix and graph G based on the direct connection between the nodes;

[0015] If not, output and construct the Dijkstra algorithm node matrix.

[0016] Preferably, the step of outputting and constructing the Dijkstra algorithm node matrix includes:

[0017] Generate the shortest path traversal between any nodes;

[0018] Import the latest position of the vehicle to be intercepted, obtain the latest tracking position data, and determine whether the offset relative to the original position is greater than 5%;

[0019] If so, the latest position of the vehicle to be intercepted is used as the end point, the shortest path for the police force to move is obtained, and the shortest path is sent to the user end.

[0020] Preferably, the steps of initializing and importing positioning images and real-time geographic longitude and latitude data include:

[0021] Initialize and import the high-definition positioning image, filter it through the image filter, and form a grayscale image through grayscale transformation;

[0022] By performing image enhancement and superposition operations and image attenuation and difference operations on grayscale image pixels in the interval [0, 255], image cyclic difference processing is performed;

[0023] The nodes containing the traffic network are initially obtained, and then morphological filtering is performed through the edge operator.

[0024] Obtain each image with only nodes left, perform image binarization processing, obtain the image binary matrix containing the nodes, and establish the adjacency matrix between the nodes through matrix dimensionality reduction and scaling.

[0025] Preferably, the police force allocation model includes:

[0026]

[0027]

[0028] in, S ij represents the time it takes for the police force at the jth node to arrive at the ith node; V represents the moving speed of the police force, W j represents the workload of the police force at the jth location, Represents the average workload of all police forces.

[0029] Preferably, the police force allocation model further includes:

[0030]

[0031] Among them, W j represents the workload of the police force at the jth location, Represents the average workload of all police forces.

[0032] Preferably, the step of substituting the police force dispatch plan into the path planning model, obtaining the shortest path for police force movement, and sending the shortest path to the user end includes:

[0033] Calculate the number of edges and vertices of the graph from the data file, initialize the graph G, and construct the graph G according to the data structure of the graph;

[0034] Obtain the starting node and the end node from the police dispatch plan, and determine whether the intermediate nodes to be passed are greater than 0;

[0035] If so, then obtain the intermediate nodes in sequence through the starting node and the end node to generate the shortest path node sequence;

[0036] The shortest path and distance between every two adjacent nodes are calculated by Djkstra algorithm to generate the shortest path and distance of the police mobile station;

[0037] And send the shortest path to the user end.

[0038] Preferably, the step of obtaining intermediate nodes in sequence through the starting node and the end node to generate the shortest path sequence includes:

[0039] Connect a dotted line between the start node and the end node;

[0040] Compare the angles between the connected nodes around the starting node and this dotted line;

[0041] Get the connection node with the smallest angle as the middle node;

[0042] Determine whether the intermediate node is connected to the terminal node;

[0043] If not, the intermediate node is recorded in the shortest path sequence, and the intermediate node is used as the starting node, and the process returns to step 1 through which a dotted line is connected between the starting node and the end node;

[0044] If so, generate the shortest path node sequence.

[0045] Preferably, any of the above tracker-based real-time tracking and interception methods is applied, including a tracker module, a user module, and a real-time tracking module, a police force allocation module, a path planning module and a data analysis module arranged on a server; the real-time tracking module is used to be fixed on the tracked object and transmit the tracking location information to the server, the user module is used to be installed on the user device and obtain information from the server, the police force allocation module is used to allocate police force for mobilization according to the police force information and the tracking location information, and the path planning module performs path planning according to the police force information, tracking location and mobilization information and sends the path information to the user module.

[0046] Preferably, the tracker module includes a positioning unit, a power supply unit, a communication unit, a control unit and an adhesion unit, the positioning unit includes a BGM7014 Beidou positioning module, the communication unit includes an M5311 module, and the adhesion unit includes fluororubber and ethyl acetate.

[0047] In the technical solution of the present invention, the geographic location information is converted into digital data in real time, the Dijkstra algorithm node matrix is ​​constructed, the police force allocation plan is obtained through the police force allocation model, and then the shortest path for police force movement is obtained through the path planning model. The data is then transmitted to a vehicle terminal or a mobile terminal equipped with a user terminal, and data can be updated and shared synchronously, and police force allocation and path allocation of each police force can be performed. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0049] Figure 1 It is a flow chart of the real-time tracking and interception method based on tracking viscoelastics of the present invention.

[0050] Figure 2 The figure is a flow chart of the graph generation of the real-time tracking and interception method based on tracking viscoelastics of the present invention.

[0051] Figure 3 The figure is a schematic diagram of the path planning process of the real-time tracking and interception method based on tracking viscoelastics of the present invention.

[0052] Figure 4 A schematic diagram of intermediate node selection for the real-time tracking and interception method based on tracking viscoelastics of the present invention.

[0053] Figure 5It is a schematic diagram of path planning of one embodiment of the real-time tracking and interception method based on tracking sticky bombs of the present invention.

[0054] Figure 6 It is a flow chart of a real-time tracking and interception method based on tracking viscoelastics with a judgment process according to the present invention.

[0055] Figure 7 It is a schematic diagram of the application transmission structure of the real-time tracking and interception method based on tracking viscoelastics of the present invention.

[0056] Figure 8 It is a structural schematic diagram of the real-time tracking and interception system based on tracking viscoelastics of the present invention.

[0057] Fig. 9 It is a schematic diagram of the structure of the tracker module of the real-time tracking and interception system based on tracking viscoelastics of the present invention.

[0058] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0059] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0060] In addition, in the present invention, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0061] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0062] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in the field can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0063] Please refer to Figure 1-Figure 9 The present invention proposes a real-time tracking and interception system based on tracking viscoelastics, comprising the following steps:

[0064] S100, converting geographical location information into digital data and constructing a Dijkstra algorithm node matrix;

[0065] S200, obtaining the position of the vehicle to be intercepted in real time through the real-time tracking module, and predicting the predicted node to which the vehicle to be intercepted will go;

[0066] S300, substituting the predicted node and the position of the vehicle to be intercepted into the police force allocation model to obtain a police force allocation plan;

[0067] S400: Substitute the police dispatch plan into the path planning model to obtain the shortest path for police movement, and send the shortest path to the user end.

[0068] In the technical solution of the present invention, the geographic location information is converted into digital data in real time, the Dijkstra algorithm node matrix is ​​constructed, the police force allocation plan is obtained through the police force allocation model, and then the shortest path for police force movement is obtained through the path planning model. The data is then transmitted to a vehicle terminal or a mobile terminal equipped with a user terminal, and data can be updated and shared synchronously, and police force allocation and path allocation of each police force can be performed.

[0069] Specifically, the position of the vehicle to be intercepted after being attached with tracking sticky bombs will be detected by Beidou satellite positioning. After detecting the information, the Beidou satellite will transmit the signal back to the ground satellite receiver. The receiver will pass the information to the Internet cloud and then transmit the data to the real-time tracking platform built by the enterprise through the Internet. The positioning information will be processed, and the containment plan and the shortest interception path will be sent to the 5G base station through the Internet cloud. The 5G base station will perform low-latency transmission processing and pass the information to the police car that is being tracked and about to be intercepted at a higher rate, and track and navigate through the existing on-board Beidou navigation.

[0070] The real-time police force mobilization system (allocation model) is an intelligent system that uses a 0-1 integer programming model. When the police select the stationed police force in the city according to the movement information of the person to be intercepted in the city and the combat needs, when the vehicle to be intercepted appears, the decision on the mobilization of police force is completed. This system can analyze the actual data, solve the objective function in the planning model, call the particle swarm algorithm to solve the objective function, and realize the mobilization of police force. In the cloud platform, the planned police force is set as the star node and enters the shortest path allocation system to complete the allocation of our police force.

[0071] Please refer to Figure 6 In another embodiment of the present invention, the step of S100 includes:

[0072] S110, initializing and importing positioning images, real-time geographic longitude and latitude data;

[0073] S120, generating a graph G based on direct node connections;

[0074] S130, loop iterating Dijkstra algorithm to solve the distance generation matrix between each node;

[0075] S140, determining whether an isolated node is generated;

[0076] If yes, execute step S150 and return to step S120;

[0077] If not, execute step S160 to output and construct the Dijkstra algorithm node matrix.

[0078] In another embodiment of the present invention, the step S160 includes:

[0079] S161, generate the shortest path traversal between any nodes;

[0080] S162, import the latest position of the vehicle to be intercepted, obtain the latest tracking position data, and determine whether the offset relative to the original position is greater than 5%;

[0081] If yes, execute step S163, take the latest position of the vehicle to be intercepted as the end point, obtain the shortest path for the police force to move, and send the shortest path to the user end.

[0082] Specifically, the optimized Dijkstra algorithm uses GIS technology, Beidou positioning technology and actual street information to iterate the shortest path to be solved, and finally obtains the global shortest path.

[0083] The improved algorithm can significantly reduce the running time and adapt to the actual police arrest operation. In order to improve the adaptability of the Dijkstra algorithm to the actual situation, it can cooperate with the Beidou navigation positioning to generate the path and the 0-1 police force planning model and the optimal intelligent particle swarm algorithm mentioned later. Based on the generation of the final navigation path,

[0084] Please refer to Figure 2 In another embodiment of the present invention, the steps of initializing and importing positioning images and real-time geographic longitude and latitude data include:

[0085] S111, initializing and importing the high-definition positioning image, filtering it through an image filter, and forming a grayscale image through grayscale transformation;

[0086] S112, performing image cyclic difference processing by performing image enhancement superposition operation and image attenuation difference operation on grayscale image pixels in the interval [0, 255];

[0087] S113, initially obtain the nodes containing the traffic network, and then perform morphological filtering through the edge operator,

[0088] S114, obtaining each image with only nodes left, performing image binarization processing to obtain an image binary matrix containing the nodes, and performing matrix dimension reduction and scaling to establish an adjacency matrix between the nodes.

[0089] Specifically, in the cloud platform, in order to facilitate machine decision-making, it is necessary to convert the Beidou positioning geographic information into graph data composed of nodes. The Beidou navigation system can provide real-time positioning images. The positioned high-definition images are filtered by image filters and grayscale images are formed by grayscale transformation. The grayscale image pixels are subjected to image enhancement and superposition operations in the interval [0,255] and image attenuation and difference operations. The two are subjected to image cyclic difference processing to preliminarily obtain the nodes containing the transportation network. Morphological filtering is then performed through the edge operator to obtain the images of only the nodes. After image binarization processing, the image binary matrix containing the nodes is obtained. After matrix dimensionality reduction and scaling, the adjacency matrix between the nodes is established. By processing the matrix, it is decomposed into node combinations and a node graph is drawn.

[0090] In another embodiment of the present invention, the police force allocation model includes:

[0091]

[0092] in, S ij represents the time it takes for the police force at the jth node to arrive at the ith node; V represents the moving speed of the police force, W j represents the workload of the police force at the jth location, Represents the average workload of all police forces.

[0093] Specifically, we assume that there are multiple police forces deployed within 3km around some nodes, and planning is carried out based on the police workload and response time so that each node is governed by only one police force. In order to simplify the problem, we only consider establishing a police dispatch model based on the original police force.

[0094] Constraints:

[0095] 1. The constraints on each police force are not idle, so that every node can be covered by the police force platform, which can constrain it to at least govern the nodes in its own area.

[0096] 2. Each node is constrained by the police force it is located under.

[0097] 3. The time for police response shall not exceed 2 minutes.

[0098] The planning model is established above. This model is a typical planning problem. The particle swarm algorithm is based on its constraints on independent variables.

[0099] Step 1: Randomly initialize the particle population, that is, initialize all particles in the population

[0100] The velocity and position of (feasible solution);

[0101] Step 2: Evaluate the particle population according to the fitness function;

[0102] Step 3: Update the individual extreme value of the particle;

[0103] Step 4: Update the particle group extreme value;

[0104] Step 5: Iterate the speed and position according to equations (1) and (2);

[0105] Step 6: Repeat Step 2 to Step 5 until the condition for the algorithm to stop iterating is met.

[0106] For the nodes, only the two-week situations of being under police jurisdiction and not under police jurisdiction can be designed with 0-1 variables.

[0107] The optimized Dijkstra algorithm uses GIS technology, Beidou positioning technology and the actual 17 information of the streets to iterate the shortest path that needs to be solved, and finally obtains the global shortest path. Then, the route navigation is performed by screening the targets according to the needs. The improved algorithm can greatly reduce the running time and adapt to the actual police arrest operations.

[0108] In order to improve the adaptability of the Dijkstra algorithm to actual conditions, and to cooperate with the Beidou navigation positioning to generate paths and the 0-1 police force planning model and the optimized intelligent particle swarm algorithm discussed later, we start from the generation of the final navigation path.

[0109] In another embodiment of the present invention, the police force allocation model further includes:

[0110]

[0111] Among them, W j represents the workload of the police force at the jth location, represents the average workload of all police officers, C i Represents the annual crime rate of node i.

[0112] Specifically, in order to make the workload of police forces in various locations more balanced, the coefficient of variation of the workload of each police force can be minimized. The smaller the value, the more balanced the workload of each platform.

[0113] Please refer to Figure 3 In another embodiment of the present invention, the steps of substituting the police force dispatch plan into the path planning model, obtaining the shortest path for the police force to move, and sending the shortest path to the user end include:

[0114] Calculate the number of edges and vertices of the graph from the data file, initialize the graph G, and construct the graph G according to the data structure of the graph;

[0115] Obtain the starting node and the end node from the police dispatch plan, and determine whether the intermediate nodes to be passed are greater than 0;

[0116] If so, then obtain the intermediate nodes in sequence through the starting node and the end node to generate the shortest path node sequence;

[0117] The shortest path and distance between every two adjacent nodes are calculated by Djkstra algorithm to generate the shortest path and distance of the police mobile station;

[0118] And send the shortest path to the user end.

[0119] Specifically, the above-mentioned optimized Dijkstra algorithm and greedy theory are used to split the shortest path to be solved into three parts, namely, the Dijkstra algorithm is optimized to solve the shortest path from the starting point to the intermediate node, the shortest path from the end point to the intermediate node, and the shortest path between the intermediate nodes, and finally form the global shortest path, and then the target route is selected according to the demand.

[0120] Please refer to Figure 4In another embodiment of the present invention, the step of obtaining intermediate nodes in sequence through the starting node and the end node to generate the shortest path sequence includes:

[0121] Connect a dotted line between the start node and the end node;

[0122] Compare the angles between the connected nodes around the starting node and this dotted line;

[0123] Get the connection node with the smallest angle as the middle node;

[0124] Determine whether the intermediate node is connected to the terminal node;

[0125] If not, the intermediate node is recorded in the shortest path sequence, and the intermediate node is used as the starting node, and the process returns to step 1 through which a dotted line is connected between the starting node and the end node;

[0126] If so, generate the shortest path node sequence.

[0127] Specifically, the Dijkstra algorithm is optimized based on the greedy theory: when actual city managers conduct problem inspections, they often conduct an overall inspection in the area first, record the problems and locations of each street, and then manage them by re-inspecting at regular intervals. When re-inspecting at fixed points, they often rely on experience to plan routes, and are unable to quickly plan the shortest inspection route, resulting in a certain amount of resource waste. In addition, when encountering emergency situations on the streets that need to be handled by managers, a method for quickly planning the shortest route is also needed.

[0128] Among the many shortest path planning algorithms, the Dijkstra algorithm is widely used in various scenarios. However, the traditional Dijkstra algorithm cannot obtain the shortest path through multiple candidate nodes, and the algorithm takes a long time and is inefficient, which seriously wastes computer resources. Therefore, this project uses the improved Dijkstra algorithm15 to perform shortest path planning. Using the greedy theory, the original planning problem is divided into several sub-problems that are easy to solve with the Dijkstra algorithm. First, the local shortest distance is obtained for each sub-problem, and finally the global shortest path of the original problem is obtained.

[0129] Obtain the opposite path between A and I, connect a dotted line between A and I, compare the angle between the connection points around A and this dotted line, take the line with the smallest angle as the next route, and put them into the node stack waiting to pass in order from large to small. If the angle between AD and AI is the smallest, replace A with D, and then connect I. Repeat the above method to find a shortest path from A to I in a short time. 0. Using the above optimized Dijkstra algorithm and greedy theory, the shortest path to be solved is divided into three parts, namely, optimizing the Dijkstra algorithm to solve the shortest path from the starting point to the intermediate node, the shortest path from the end point to the intermediate node, and the shortest path between the intermediate nodes, and finally forming the global shortest path, and then selecting the target route according to the demand.

[0130] In another embodiment of the present invention: Assume that the vehicle to be intercepted is at node 18 and will leave the city through node 37, and the police force is distributed at nodes 17, 3, 36, 25, 22, and 9. At this time, the Dijkstra

[0131] The algorithm obtains the path between any nodes, allowing the stationed police to quickly arrive at Pass 37 to complete the interception. The following is an application example using a node diagram of a certain area (the asterisks are where the police are stationed, and the triangles are where the vehicles need to be intercepted):

[0132] Please refer to Figure 8 and 9 , a real-time tracking and interception system based on tracking sticky elastics, applying any of the above tracker-based real-time tracking and interception methods, including a tracker module, a user module and a real-time tracking module, a police force allocation module, a path planning module and a data analysis module set on a server; the real-time tracking module is used to be fixed on the tracked object and transmit the tracking location information to the server, the user module is used to be installed on the user device and obtain information from the server, the police force allocation module is used to allocate police force for mobilization according to the police force information and tracking location information, and the path planning module performs path planning according to the police force information, tracking location and mobilization information and sends the path information to the user module.

[0133] Specifically, the tracking sticky-elastic system designed based on Beidou navigation consists of three parts: real-time tracking system, police force allocation system, and path planning system. During interception, in the event of an escape of the vehicle to be intercepted, the tracking sticky-elastic system can achieve the most optimized and rapid global police force dispatch and police force encirclement, and can always monitor the movement of the vehicle to be intercepted to ensure the safety of the police car during the pursuit.

[0134] Please refer to Fig. 9In another embodiment of the present invention, the tracker module includes a positioning unit, a power supply unit, a communication unit, a control unit and an adhesion unit, the positioning unit includes a BGM7014 Beidou positioning module, the communication unit includes an M5311 module, and the adhesion unit includes fluororubber and ethyl acetate.

[0135] Specifically, the structure of the tracking viscoelastic is shown in the following six parts, among which Beidou navigation positioning provides high-precision positioning information, and the RFID module complements the function of the Beidou navigation positioning module based on its ability to achieve indoor positioning. In the implementation of the positioning signal, an infinite radio frequency module is used to send the signal to a nearby base station, and then enter the cloud and the enterprise server, and the server calculates and allocates the tracking path for the user. In the design of the tracking viscoelastic, fluororubber, which is easy to obtain raw materials, and ethyl acetate, which is easy to prepare, are used to manufacture highly adsorbent materials.

[0136] More specifically, the STM32L0 series devices implement five low-power modes, using ultra-low-power oscillators and voltage regulators to significantly reduce the low-frequency power consumption of the microcontroller. The minimum operating power supply voltage for the on-chip analog functions is 1.8V. The minimum operating voltage for digital functions is 1.65V, which can extend the battery life when the battery voltage is low. This system uses the STM32L051C8T6RM microcontroller to ensure that the controller does not consume a lot of power when it is dormant, and complete the control of the remaining modules.

[0137] Beidou positioning module can be used to achieve positioning, timing, short message and other functions. This system uses BGM7014 Beidou positioning module, which is a Beidou communication four-in-one patch module developed based on Beidou RDSS chip. The module includes low noise amplifier, power amplifier, RF chip and baseband chip. BGM7014 adopts stamp sticker package. The module is small in size, high in integration, low in power consumption and very simple in external interface. It is mainly used in Beidou handheld devices with high requirements on size and power consumption.

[0138] In this system, we use BGM7014 to locate and track the vehicle to be intercepted. When the signal is weak, we use Beidou short message service to send the tracking target location information to the server.

[0139] The NB-IOT field is an emerging technology that supports cellular data connections of low-power devices in wide area networks, also known as low-power wide area networks (LPWAN). NB-IOT has a long standby time, which can ensure efficient connection of devices with high network connection requirements. NB-IOT devices have a long battery life and can be directly deployed on GSM networks, UMTS networks or LTE networks to reduce deployment costs and achieve smooth upgrades. This system uses the M5311 wireless communication module, which is a high-performance, low-power NB-IOT wireless communication module that meets the technical specifications of China Mobile's cellular Internet of Things general modules and has the smallest size among similar products in the world. M5311 supports FOTA, ONENET protocols, built-in SIM chips, and AA dry battery power supply, providing developers with a wealth of external interfaces and protocol stacks to provide complete NB-IOT data transmission services.

[0140] In this system, we use M5311 module to track the viscoelastic access to the WAN.

[0141] In the selection of viscoelastic materials, considering the high adhesion of the materials and the easy availability of raw materials, fluororubber (F2602) was used as an adhesive and ethyl acetate was used as a solvent to prepare an adhesive solution for polymer bonded explosives (PBX). The preparation process has few by-products, the raw materials are easy to obtain, and the application value is high. When the adhesive solution cools down, the tracker is embedded in it, and the whole is placed in a spherical mold to complete the design of the viscoelastic. When intercepting a vehicle to be intercepted, just throw the viscoelastic at the vehicle quickly, and with the adsorption force of the high viscoelastic tracking viscoelastic surface on the metal body, it can be firmly adsorbed on the vehicle that is about to escape.

[0142] In the selection of the above communication modules, low power consumption characteristics are met. Considering that button lithium batteries are generally available in two types: rechargeable and non-rechargeable. Rechargeable ones include 3.6V rechargeable lithium-ion button batteries (LIR series) and 3V rechargeable lithium-ion button batteries (ML or VL series); non-rechargeable ones include 3V lithium-manganese button batteries (CR series) and 1.5V alkaline zinc-manganese button batteries (LR and SR series). According to the working voltage of each chip and taking into account the recycling characteristics of the equipment, we choose 3.6V rechargeable lithium batteries.

[0143] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. All equivalent structural changes made using the contents of the present invention's specification and drawings, or directly / indirectly applied in other related technical fields, are included in the patent protection scope of the present invention.

Claims

1. A real-time tracking and interception method based on a tracker, characterized in that: The steps include: Convert geographic location information into digital data and construct the Dijkstra algorithm node matrix; The real-time tracking module is used to obtain the location of the vehicle to be intercepted in real time, and to predict the node to which the vehicle to be intercepted will go; Substitute the predicted nodes and the positions of the vehicles to be intercepted into the police force allocation model to obtain the police force allocation plan; Substitute the police dispatch plan into the path planning model to obtain the shortest path for police movement, and send the shortest path to the user end.

2. The real-time tracking and interception method based on tracking viscoelastics as claimed in claim 1, characterized in that: The step of converting the geographical location information into digital data and constructing a Dijkstra algorithm node matrix includes: Initialize and import positioning images, real-time geographic longitude and latitude data; Generate graph G based on direct connections between nodes; Iterate the Dijkstra algorithm to solve the distance generation matrix between each node; Determine whether there are isolated nodes generated; If so, return to the step to generate the node matrix and graph G based on the direct connection between the nodes; If not, output and construct the Dijkstra algorithm node matrix.

3. The real-time tracking and interception system based on tracking viscoelastics as claimed in claim 2, characterized in that: The steps of outputting and constructing the Dijkstra algorithm node matrix include: Generate the shortest path traversal between any nodes; Import the latest position of the vehicle to be intercepted, obtain the latest tracking position data, and determine whether the offset relative to the original position is greater than 5%; If so, the latest position of the vehicle to be intercepted is used as the end point, the shortest path for the police force to move is obtained, and the shortest path is sent to the user end.

4. The real-time tracking and interception system based on tracking viscoelastics as claimed in claim 2, characterized in that: The steps of initializing and importing positioning images and real-time geographic longitude and latitude data include: Initialize and import the high-definition positioning image, filter it through the image filter, and form a grayscale image through grayscale transformation; By performing image enhancement and superposition operations and image attenuation and difference operations on grayscale image pixels in the interval [0, 255], image cyclic difference processing is performed; The nodes containing the traffic network are initially obtained, and then morphological filtering is performed through the edge operator. Obtain each image with only nodes left, perform image binarization processing, obtain the image binary matrix containing the nodes, and establish the adjacency matrix between the nodes through matrix dimensionality reduction and scaling.

5. The real-time tracking and interception system based on tracking viscoelastics as claimed in claim 1, characterized in that: The police force allocation model includes: in, S ij represents the time it takes for the police force at the jth node to arrive at the ith node; V represents the moving speed of the police force, W j represents the workload of the police force at the jth location, Represents the average workload of all police forces.

6. The real-time tracking and interception system based on tracking viscoelastics as claimed in claim 5, characterized in that: The police force allocation model also includes: Among them, W j represents the workload of the police force at the jth location, Represents the average workload of all police forces.

7. The real-time tracking and interception system based on tracking viscoelastics as described in any one of claims 1 to 6, characterized in that: The steps of substituting the police dispatch plan into the path planning model, obtaining the shortest path for police movement, and sending the shortest path to the user end include: Calculate the number of edges and vertices of the graph from the data file, initialize the graph G, and construct the graph G according to the data structure of the graph; Obtain the starting node and the end node from the police dispatch plan, and determine whether the intermediate nodes to be passed are greater than 0; If so, then obtain the intermediate nodes in sequence through the starting node and the end node to generate the shortest path node sequence; The shortest path and distance between every two adjacent nodes are calculated by Djkstra algorithm to generate the shortest path and distance of the police mobile station; And send the shortest path to the user end.

8. The real-time tracking and interception system based on tracking viscoelastics as claimed in claim 7, characterized in that: The step of obtaining intermediate nodes in sequence through the starting node and the end node to generate the shortest path sequence includes: Connect a dotted line between the start node and the end node; Compare the angles between the connected nodes around the starting node and this dotted line; Get the connection node with the smallest angle as the middle node; Determine whether the intermediate node is connected to the terminal node; If not, the intermediate node is recorded in the shortest path sequence, and the intermediate node is used as the starting node, and the process returns to step 1 through which a dotted line is connected between the starting node and the end node; If so, generate the shortest path node sequence.

9. A real-time tracking and interception system based on a tracker, characterized in that: The application is a real-time tracking and interception method based on a tracker as described in any one of claims 1 to 8, comprising a tracker module, a user module, and a real-time tracking module, a police force allocation module, a path planning module, and a data analysis module arranged on a server; the real-time tracking module is used to be fixed on the tracked object and transmit the tracking location information to the server, the user module is used to be installed on the user device and obtain information from the server, the police force allocation module is used to allocate police force for mobilization according to the police force information and the tracking location information, and the path planning module performs path planning according to the police force information, the tracking location, and the mobilization information and sends the path information to the user module.

10. The real-time tracking and interception system based on tracking viscoelastics as claimed in claim 9, characterized in that: The tracker module includes a positioning unit, a power supply unit, a communication unit, a control unit and an adhesion unit. The positioning unit includes a BGM7014 Beidou positioning module, the communication unit includes an M5311 module, and the adhesion unit includes fluororubber and ethyl acetate.

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