An intelligent patrol monitoring method, an electronic device and a storage system

Abstract

The application relates to the technical field of intelligent security and protection, in particular to an intelligent patrol monitoring method, an electronic device and a storage system, which comprises the following steps: obtaining a standard patrol track of a patrol personnel and position data and motion data at each moment; obtaining a maximum deviation track according to the change of the relative distance between the position data of the patrol personnel at each moment and the standard patrol track, the difference of the position data between the current moment and the historical moment and the time interval; obtaining a path update amplitude of the current moment according to the difference of the motion data between the current moment and the historical moment and the position distribution between the position data of the current moment and the destination of the patrol personnel; adjusting the maximum deviation track of the current moment by using the path update amplitude of the current moment, determining a maximum deviation range based on the adjusted deviation track, and monitoring the track of the patrol personnel. The application makes the track monitoring effect of the patrol personnel better and more efficient.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent security, and particularly relates to an intelligent patrol monitoring method, an electronic device and a storage system. BACKGROUND

[0002] Enterprises or production parties need to arrange personnel to patrol in risk-prone areas and important areas to ensure one of the basic measures for site safety, especially in large, complex or high-risk areas. Through patrol, the safety status of each area can be effectively monitored, potential safety hazards can be found in time, and theft, fire, damage or other dangerous events can be avoided. The existing patrol technology is generally a contact type electronic patrol system or an inductive type electronic patrol system, and the main operation logic is to set patrol points on the patrol route in advance, and then the patrol personnel read the patrol points through contact type (patrol rod) or inductive type (NFC technology) during the process of patrolling according to the patrol route.

[0003] In the existing patrol monitoring method, the patrol route and the patrol points of the patrol personnel are monitored, and a warning operation is performed when the patrol personnel deviate from the established patrol route for patrol, wherein the patrol process is monitored in real time by setting a fixed track range allowing the patrol personnel to deviate, which is easily affected by the actual patrol situation of the patrol personnel, so that the monitoring effect of the patrol process warning result is poor. SUMMARY

[0004] In order to solve the technical problem that the track range allowing the patrol personnel to deviate in the existing patrol monitoring method is fixedly set, so that the monitoring effect of the patrol process warning result is poor, the purpose of the present application is to provide an intelligent patrol monitoring method, an electronic device and a storage system, and the technical solution adopted is as follows:

[0005] In the first aspect, the present application provides an intelligent patrol monitoring method, comprising:

[0006] obtaining a standard patrol track of a patrol personnel, and position data and motion data of the patrol personnel at each time, wherein the time includes a current time and a historical time;

[0007] According to the change of the relative distance between the position data of the patrol personnel at each time and the standard patrol track, in combination with the difference of the position data between the current time and the historical time and the time interval, the maximum deviation track of the patrol personnel at the current time is analyzed;

[0008] According to the difference of the motion data between the current time and the historical time of the patrol personnel, and the position distribution between the position data of the current time and the destination of the patrol personnel, the path update amplitude of the current time is obtained;

[0009] The maximum deviation trajectory of the patrol personnel at the current moment is adjusted by using the path update amplitude at the current moment, the maximum deviation range is determined based on the adjusted deviation trajectory, and the trajectory of the patrol personnel is monitored.

[0010] Preferably, the maximum deviation trajectory of the patrol personnel at the current moment is analyzed according to the change of the relative distance between the position data of the patrol personnel at each moment and the standard patrol trajectory, and the difference and time interval between the position data of the current moment and the historical moment, specifically including:

[0011] The patrol trajectory deviation amount at each moment is determined based on the shortest straight line distance between the position data of the patrol personnel at each moment and the standard patrol trajectory.

[0012] The patrol trajectory coverage degree of each historical moment is obtained according to the similarity of the position data between each historical moment and other historical moments of the patrol personnel before the current moment, and the difference of the patrol trajectory deviation amount between each historical moment and other historical moments.

[0013] The balance of the patrol trajectory deviation amount of all historical moments corresponding to the current moment is adjusted according to the patrol trajectory coverage degree of each historical moment and the time interval between the current moment and the historical moment, to obtain the maximum deviation trajectory of the patrol personnel at the current moment.

[0014] Preferably, the maximum deviation trajectory of the patrol personnel at the current moment is analyzed according to the change of the relative distance between the position data of the patrol personnel at each moment and the standard patrol trajectory, and the difference and time interval between the position data of the current moment and the historical moment, specifically including:

[0015] Any one historical moment is taken as a target historical moment, and other historical moments except the target historical moment are recorded as reference historical moments.

[0016] The trajectory correlation parameter of each reference historical moment is determined based on the regional similarity between the position data of the target historical moment and each reference historical moment.

[0017] The deviation difference factor of each reference historical moment is determined based on the difference between the patrol trajectory deviation amount of the target historical moment and the patrol trajectory deviation amount of each reference historical moment.

[0018] The patrol trajectory coverage degree of the target historical moment is determined by accumulating the product of the trajectory correlation parameter and the deviation difference factor of each reference historical moment.

[0019] Preferably, the adjustment of the uniformity of the patrol track deviation amount of all historical time points corresponding to the current time point according to the patrol track coverage degree of each historical time point and the time interval between the current time point and the historical time point, obtains the maximum deviation track of the patrol personnel at the current time point, and specifically includes:

[0020] Determine the time characteristic factor of each historical time point based on the negative correlation coefficient of the time interval between the current time point and each historical time point.

[0021] The product of the time characteristic factor of each historical time point and the patrol track coverage degree is accumulated to determine the reference coverage degree of the current time point, and the value range of the reference coverage degree is [1, 2];

[0022] The product of the average of the patrol track deviation amount of the current time point and all historical time points and the reference coverage degree of the current time point is taken as the maximum deviation track of the patrol personnel at the current time point.

[0023] Preferably, the path update amplitude of the current time point is obtained according to the difference of the motion data of the patrol personnel between the current time point and the historical time point, and the position distribution between the position data of the current time point and the destination, and specifically includes:

[0024] The motion data includes patrol speed and patrol direction, and the direction between the current time point and the destination of the patrol personnel is taken as the target direction of the patrol personnel at the current time point;

[0025] Determine the direction consistency factor of the current time point based on the included angle between the patrol direction and the target direction of the current time point;

[0026] Determine the destination distance factor of the current time point based on the straight line distance between the position data of the current time point and the destination; the ratio of the product of the direction consistency factor of the current time point and the patrol track deviation amount and the destination distance factor is determined as the path autonomous correction index of the current time point;

[0027] According to the difference of the patrol speed between the current time point and each historical time point, the patrol speed characteristic index of the current time point is obtained; the product of the path autonomous correction index of the current time point and the patrol speed characteristic index is taken as the path update amplitude of the patrol personnel at the current time point.

[0028] Preferably, the patrol speed characteristic index of the current time point is obtained according to the difference of the patrol speed between the current time point and each historical time point, and specifically includes:

[0029] The average value of the difference between the patrol speed of each historical time point corresponding to the current time point and the current time point is calculated, and the normalized value of the average value is obtained as the patrol speed characteristic index of the current time point.

[0030] Preferably, the maximum deviation trajectory at the current time is adjusted by using the path update amplitude at the current time, the maximum deviation range is determined based on the adjusted deviation trajectory, and the trajectory of the guard is monitored, specifically including:

[0031] The trajectory correction coefficient at the current time is determined based on the path update amplitude at the current time, and the value range of the trajectory correction coefficient is (0, 2); the product of the trajectory correction coefficient and the maximum deviation trajectory at the current time is taken as the adjusted deviation trajectory at the current time;

[0032] According to the adjusted deviation trajectory at the current time, the maximum deviation range is determined, and the trajectory of the guard is monitored.

[0033] Preferably, the maximum deviation range is determined according to the adjusted deviation trajectory at the current time, and the trajectory of the guard is monitored, specifically including:

[0034] The maximum deviation range is determined with the standard trajectory of the guard as the symmetry axis and the adjusted deviation trajectory at the current time as the symmetry distance; if the position data of the guard at the current time is not within the maximum deviation range, the guard is warned; if the position data of the guard at the current time is within the maximum deviation range, the guard is not warned.

[0035] In a second aspect, the present application provides an intelligent guard monitoring storage system, which is used to realize the steps of an intelligent guard monitoring method, and specifically includes:

[0036] A data acquisition module is used to acquire the standard guard trajectory of the guard, and the position data and motion data of the guard at each time, wherein the time includes the current time and the historical time;

[0037] A deviation trajectory analysis module is used to analyze the maximum deviation trajectory of the guard at the current time according to the change of the relative distance between the position data of the guard at each time and the standard guard trajectory, and the difference and time interval between the position data at the current time and the historical time;

[0038] A path update analysis module is used to obtain the path update amplitude at the current time according to the difference between the motion data of the guard at the current time and the historical time, and the position distribution between the position data at the current time and the destination of the guard;

[0039] A trajectory monitoring module is used to adjust the maximum deviation trajectory at the current time by using the path update amplitude at the current time, determine the maximum deviation range based on the adjusted deviation trajectory, and monitor the trajectory of the guard.

[0040] In a third aspect, the present application provides an electronic device for intelligent patrol monitoring, the device comprising a memory and a processor, wherein the memory is configured to store program codes; the processor is configured to read the program codes stored in the memory and execute an intelligent patrol monitoring method.

[0041] the processor is configured to read the program codes stored in the memory and execute an intelligent patrol monitoring method.

[0042] The embodiments of the present application have at least the following beneficial effects:

[0043] The present application first collects the position data of the patrol personnel for real-time monitoring of the actual patrol trajectory performance of the patrol personnel, and the motion data for real-time monitoring of the actual motion of the patrol personnel. Then, the distance change of the actual patrol trajectory and the standard patrol trajectory, the difference between the current real-time patrol trajectory and the historical data, and the time interval are analyzed, the patrol performance of the current time and the historical data is comprehensively considered, the continuity of the patrol process is fully considered, the problem of low accuracy of the allowed deviation range determined by a single time point is avoided, and the maximum distance of the allowed deviation of the patrol position of the standard patrol personnel from the maximum deviated trajectory is utilized. Further, the objective factor compensation is considered in the presence of information delay, the path correction possibility is predicted through the motion data change and the distance from the destination of the patrol personnel, the size of the correction update is measured, i.e., the path update amplitude is determined, and to some extent, the error caused by part of the time delay can be corrected. Finally, the adjusted maximum deviation range is determined by combining the path update amplitude and the maximum deviated trajectory, the allowed trajectory deviation degree of the patrol personnel is adaptively determined, the trajectory monitoring effect of the patrol personnel is better, and the efficiency is higher. BRIEF DESCRIPTION OF DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, and the advantages thereof, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained without creative labor based on these drawings.

[0045] Figure 1 is a step flow chart of an intelligent patrol monitoring method provided by the present application;

[0046] Figure 2 is a schematic diagram of a reasonable deviation patrol route of a patrol personnel provided by the present application;

[0047] Figure 3 is a schematic diagram of a non-reasonable deviation patrol route of a patrol personnel provided by the present application;

[0048] Figure 4 is a schematic diagram of a standard patrol trajectory of a patrol personnel provided by the present application;

[0049] Figure 5 is a step flow chart of the method for acquiring the maximum deviation trajectory of the current moment provided by the present application;

[0050] Figure 6 is a schematic diagram of an actual patrol route of the patrol personnel provided by the present application;

[0051] Figure 7 is a schematic diagram of another actual patrol route of the patrol personnel provided by the present application;

[0052] Figure 8 is a schematic diagram of still another actual patrol route of the patrol personnel provided by the present application;

[0053] Figure 9 is a step flow chart of the method for acquiring the coverage degree of the patrol trajectory provided by the present application;

[0054] Figure 10 is a sub-step flow chart of step S203 provided by the present application;

[0055] Figure 11 is a step flow chart of the method for acquiring the path update range provided by the present application;

[0056] Figure 12 is a structural schematic diagram of an intelligent patrol monitoring storage system provided by the present application. DETAILED DESCRIPTION

[0057] In order to further explain the technical means and effects adopted by the present application to achieve the predetermined purposes, the following describes in detail the specific embodiments, structures, features and effects of the intelligent patrol monitoring method, electronic device and storage system according to the present application. In the following description, different "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. In addition, the specific features, structures or characteristics in one or more embodiments can be combined in any suitable form.

[0058] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs.

[0059] The specific scheme of the intelligent patrol monitoring method, electronic device and storage system provided by the present application is described in detail below with reference to the accompanying drawings.

[0060] The specific implementation scenario addressed by this invention is as follows: During patrol operations, patrol personnel need to strictly follow a predetermined route to inspect, read patrol points, and collect facial information. However, during the patrol along the predetermined route, certain behavioral deviations occur. These deviations can manifest in two ways: one is a reasonableness deviation, where, due to their own actions or conscious intent, the patrol personnel do not completely align with the predetermined route, even though the actual patrol route effectively monitors the patrol content; for example... Figure 2 As shown, although the patrol personnel did not follow the predetermined route during the patrol, the predetermined route could be effectively monitored in the actual patrol route, so the deviation is reasonable.

[0061] Another type is irrational deviation, where patrol personnel, in order to complete their patrol tasks more quickly, only conduct rapid inspections of patrol points, deviating from the established patrol route and failing to effectively monitor the patrol route; for example... Figure 3 As shown, although the patrol personnel read the patrol points and collected facial information during the patrol process, the actual patrol trajectory could not be monitored according to the predetermined trajectory, which is an unreasonable deviation. Figure 2 and Figure 3 In the diagram, dashed arrows indicate the planned patrol routes of the patrol personnel, while solid arrows indicate the actual patrol routes.

[0062] Please see Figure 1 The diagram illustrates a flowchart of an intelligent patrol monitoring method according to an embodiment of the present invention, which includes the following steps:

[0063] Step S100: Obtain the standard patrol trajectory of the patrol personnel, as well as the location and movement data of the patrol personnel at each moment, including the current moment and historical moments.

[0064] like Figure 4 As shown in this embodiment, the standard patrol route of the patrol personnel is always in a straight line, and the patrol personnel are always in the center of the road during the patrol process, so that they can clearly observe the environment on both sides and achieve the purpose of complete monitoring of the patrol process.

[0065] It can be understood that the guard needs to pass all the patrol points for coverage during the patrol, that is, the guard needs to pass all the patrol points on the guard's patrol path, and the purpose is to read the information of the patrol points. The actual path of the guard during the patrol, no matter how to deviate or randomly, must cover all the contents required to be checked on the established track, which can be repeatedly covered, but cannot exist without coverage. The purpose is to completely check the factory equipment or building on the established route, so as to avoid missing detection.

[0066] First, the behavior information of the guard in this embodiment is collected, specifically including the position data and motion data corresponding to the actual patrol track of the guard at each time, including the current time and the historical time. Among them, the position data is used to represent the coordinate position of the guard at the corresponding data collection time, which can be a GPS signal; the motion data is used to represent the motion state of the guard at the corresponding collection time, including the speed and direction during the motion, that is, the motion data includes the patrol speed and the patrol direction.

[0067] It should be noted that the number of historical times can be set by the implementer according to the specific implementation scene, which is used to comprehensively judge the patrol situation of the current time in combination with the patrol situation of the historical data in the preset time period.

[0068] In some embodiments, in order to monitor the patrol process in real time, a face collection system is also set at the patrol point for verification operation of the guard, which is used to record the information of the guard and avoid the behavior of other personnel replacing the guard clock-in. Herein, no more introduction is made.

[0069] Step S200, according to the change of the relative distance between the position data of the guard at each time and the standard patrol track, in combination with the difference of the position data between the current time and the historical time and the time interval, the maximum deviation track of the guard at the current time is analyzed.

[0070] Considering that the guard has self-awareness, there may be a certain deviation from the established standard patrol track during the patrol. However, if the actual patrol track of the guard does not deviate from the allowed maximum deviation range, that is, the behavior of the guard deviating from the standard patrol track is allowed, and the factory equipment or building can be completely checked within the maximum deviation range, the patrol process of the guard does not need to be warned or interfered.

[0071] In the patrol monitoring process, the purpose of setting the standard patrol track is to enable the patrol personnel to have a standard comparison track for different road sections, so as to achieve effective monitoring of the patrol state. Based on this feature, the deviation state of the actual patrol track of the patrol personnel can be monitored in real time by comparing the deviation between the position data of the patrol personnel at each time and the standard patrol track, and the view range allowed to deviate is measured in combination with the view range coverage of the historical time that has been patrolled, so that the deviation track range of the patrol personnel can be combined with the actual patrol situation, and thus the patrol process of the patrol personnel is more flexible and efficient.

[0072] In some embodiments, as shown in Figure 5 The method for obtaining the maximum deviation track of the patrol personnel at the current time can be implemented by steps S201 to S203.

[0073] In step S201, the patrol track deviation amount at each time is determined based on the shortest straight line distance between the position data of the patrol personnel at each time and the standard patrol track.

[0074] As shown in Figure 4 It can be seen that the standard patrol track is a straight line, and the shortest distance between the position coordinates of the patrol personnel at each time and the straight line in the standard patrol track is obtained by using the position data of the patrol personnel at each time, so as to obtain the patrol track deviation amount at each time. Thus, the patrol track deviation amount represents the straight line deviation distance from the position of the patrol personnel at each time to the standard patrol track.

[0075] It should be noted that the method for obtaining the patrol track deviation amount is essentially to obtain the shortest distance from the coordinate point to the straight line, which is a known technology and will not be described in detail here.

[0076] In the actual patrol process, when the patrol personnel follow the established standard patrol track, as shown in Figure 6 the view range of the patrol personnel can effectively completely patrol the equipment or buildings in the factory area under the current scene. If the actual patrol track of the patrol personnel deviates, the view range of the patrol personnel may not be able to completely cover the patrol range, as shown in Figure 7 With the deviation of the patrol track of the patrol personnel, the view range of the patrol personnel changes, and the patrolable range also changes, resulting in a blind area of the view, and a part of the area cannot be monitored. And the larger the deviation degree of the actual running track of the patrol personnel from the established track, the smaller the effective monitoring range, as shown in Figure 8 .

[0077] Based on this, the patrol track deviation amount refers to the vertical deviation of the patrol personnel relative to the established track. The larger the patrol track deviation amount, the smaller the area that can be effectively monitored by the patrol personnel at the corresponding time.

[0078] Meanwhile, considering that the patrol is a continuous process, the deflection at a certain moment does not mean that the range to be monitored is not effectively patrolled at the instantaneous time point, and it is also possible that the current visual field blind area has been patrolled at a certain historical moment before the moment. Therefore, the embodiment needs to combine the patrol data of the current moment and a preset number of historical moments before the current moment to dynamically analyze the actual patrol situation of the patrol personnel when analyzing the patrol range.

[0079] At this point, the patrol trajectory deviation amount at the current moment and each historical moment can be obtained, providing a data basis for subsequent joint analysis.

[0080] Step S202, according to the similarity of the position data of the patrol personnel between each historical moment and other historical moments before the current moment, and combining the difference of the patrol trajectory deviation amount between each historical moment and other historical moments, the patrol trajectory coverage degree of each historical moment is obtained.

[0081] Firstly, the first aspect quantitatively measures the trajectory range that has been covered by the historical patrol according to the performance and deviation of the actual patrol trajectory of each historical moment in the historical data, and then adaptively judges whether the trajectory deviation at the current moment can realize the full coverage of the trajectory.

[0082] More specifically, as shown in Figure 9 The method for obtaining the patrol trajectory coverage degree can be realized by steps S2021 to S2024.

[0083] Step S2021, taking any historical moment as a target historical moment, and taking other historical moments except the target historical moment as reference historical moments.

[0084] Step S2022, determining the trajectory correlation parameter of each reference historical moment based on the area similarity between the position data of the target historical moment and each reference historical moment.

[0085] The trajectory correlation parameter is used to represent the area commonality of each reference historical moment and the position of the target historical moment. That is, when the reference historical moment and the target historical moment are located in the same area, the contribution degree of the visual field range of the reference historical moment to the visual coverage of the target historical moment is considered. When the reference historical moment and the target historical moment do not belong to the same area, the contribution degree of the visual field range of the reference historical moment to the visual coverage of the target historical moment is not considered.

[0086] As a concrete example, the standard patrol trajectory divides the actual patrol area into a left-side region and a right-side region. Based on location data, it performs a region similarity judgment for each reference historical time. When the reference historical time and the target historical time belong to the same side region, the trajectory association parameter of the reference historical time is set to 1; when the reference historical time and the target historical time do not belong to the same side region, the trajectory association parameter of the historical reference time is set to 0. "Belonging to the same side region" means that the patrol personnel are simultaneously located in the left-side region or simultaneously located in the right-side region at both times.

[0087] Step S2023: Based on the difference between the patrol trajectory deviation at the target historical time and the patrol trajectory deviation at each reference historical time, determine the deviation difference factor for each reference historical time.

[0088] As a concrete example, the deviation difference factor at any reference historical moment can be expressed as: ,in, Indicates the first The deviation of the patrol trajectory at a reference historical moment. This represents the deviation of the patrol trajectory at a specific historical moment. It represents the target historical moment, that is, any historical moment.

[0089] Step S2024: The product of the trajectory association parameters and the deviation difference factor for each reference historical moment is accumulated to determine the coverage of the patrol trajectory at the target historical moment.

[0090] Specifically, the first Taking a specific historical moment as the target historical moment, and using this as an example for illustration, the first... The formula for calculating the coverage of the patrol trajectory at a given historical moment, i.e., the target historical moment, can be specifically expressed as:

[0091]

[0092] in, This indicates the coverage of the patrol trajectory at a specific historical moment. Indicates the first A historic moment, Indicates the first historical moment corresponding to the target A historical moment for reference, This represents the total number of historical moments. Indicates the first Trajectory association parameters at a reference historical moment, Indicates the first The deviation of the patrol trajectory at a reference historical moment. This indicates the deviation of the patrol trajectory at a specific historical moment.

[0093] The small deviation in the patrol trajectory based on historical data indicates that a larger effective field of view and a wider effective monitoring area are achieved when referencing historical data. This is particularly relevant for the first... The more historical moments a patrol trajectory references, the stronger its coverage. A significant deviation in the patrol trajectory based on historical moments indicates a smaller effective field of view and a smaller effective monitoring area at those historical moments. For the [number]th [historical moment]... The more historical moments there are, the weaker the coverage of the patrol route becomes.

[0094] when When, it indicates that the reference historical moment and the target historical moment belong to the same region. When the monitoring capability of the reference historical moment is weaker than that of the target historical moment, the coverage of the reference historical moment over the target historical moment is reduced. When the monitoring capability of the reference historical moment is stronger than that of the target historical moment, the coverage of the reference historical moment over the target historical moment should be enhanced.

[0095] when When the reference historical time and the target historical time do not belong to the same side area, the difference in patrol trajectory deviation does not contribute to the effective monitoring range difference, thus avoiding misjudgment of cross-regional coverage. The coverage calculation of the patrol trajectory can accurately reflect the small patrol trajectory deviation and the standard of historical coverage in the same side area, providing positive support for analyzing the maximum allowable deviation at the current time.

[0096] Step S203: Based on the coverage of the patrol trajectory of the historical time corresponding to the current time and the time interval between the current time and the historical time, adjust the balance of the patrol trajectory deviation of all historical times corresponding to the current time to obtain the maximum deviation trajectory of the patrol personnel at the current time.

[0097] Secondly, based on the trajectory coverage at historical moments, the time distance between historical and current moments is further considered. The closer the historical and current moments are, the greater the likelihood of overlap in the effective coverage of the patrol process, and thus the greater its reference value. Conversely, the further apart the historical and current moments are, the less likely the effective coverage of the patrol processes at those times overlap, and thus the less reference value. Therefore, introducing a time decay weight in the quantification of the maximum deviation trajectory reflects the physical law of the decay of patrol continuity and coverage effectiveness over time.

[0098] In some embodiments, such as Figure 10 As shown, the flowchart of the sub-steps of step S203 can be implemented by steps S2031 to S2033.

[0099] Step S2031: Determine the time characteristic factor of each historical moment based on the negative correlation coefficient between the current moment and each historical moment.

[0100] As a concrete example, let's take any historical moment as an illustration. Time characteristic factors of a historical moment It can be represented as Where t represents the current time, Indicates the current time and the number of... The time interval between historical moments is denoted by exp, which represents an exponential function with the natural constant e as the base.

[0101] Step S2032: The product of the time feature factor and the coverage of the patrol trajectory at each historical moment is accumulated to determine the reference coverage at the current moment.

[0102] As a concrete example, the formula for calculating the reference coverage at the current moment can be expressed as:

[0103]

[0104] in, This indicates the reference coverage at the current moment, where t represents the current moment. This represents the total number of historical moments. Indicates the first The extent to which patrol routes cover historical moments Indicates the first A historic moment, Indicates the first The time characteristic factors of a historical moment This is the normalization function.

[0105] The weighted coverage of patrol trajectories across all historical moments is calculated using a time decay coefficient. This weighted coverage is then used as a reference for the current patrol trajectory. A larger value indicates that a significant portion of the historical patrol path has already been patrolled, allowing for a relatively larger range of trajectory deviation at the current moment. Therefore, the reference coverage value ranges from [1, 2]. Conversely, a smaller reference coverage value indicates poor historical patrol trajectory coverage at the current moment, allowing for a smaller deviation from the standard. The minimum reference coverage value indicates that deviations from the baseline are only permitted. The deviation of the patrol trajectory is dynamically adjusted based on the reference coverage value to ensure monitoring effectiveness.

[0106] Step S2033: The product of the average deviation of the patrol trajectory at the current time and all historical times and the reference coverage at the current time is taken as the maximum deviation trajectory of the patrol personnel at the current time.

[0107] The patrol needs to ensure the continuous coverage of the monitoring area. The historical time interval cannot fill the recent patrol monitoring blind area of the current time, that is, the coverage effectiveness of the historical time has spatial and temporal continuity. With the passage of time, the monitoring target may change, and the coverage reference value of the historical time interval decreases.

[0108] The coverage range of the patrol trajectory overlaps the monitoring area of the current time, and the historical coverage has a strong compensating effect on the current time. Due to the dynamic change of the patrol path or environmental disturbance, the historical coverage area may not overlap the current monitoring area, and its coverage effectiveness is significantly reduced.

[0109] The reference deviation of the current time is characterized by the average patrol trajectory deviation of the current time and all historical times, which comprehensively considers the patrol performance of the current time and a period of historical data, fully considers the continuity of the patrol process, and avoids the low accuracy of the allowed deviation range determined by a single time point. Further, the reference coverage degree is used to adjust the reference deviation of the current time. The smaller the reference coverage degree, the smaller the deviation from the standard patrol trajectory. The larger the reference coverage degree, the larger the deviation from the standard patrol trajectory, which can achieve the purpose of adaptively determining the allowed deviation range.

[0110] Step S300, according to the difference between the motion data of the patrol personnel between the current time and the historical time, and the position distribution between the position data of the current time and the destination of the patrol personnel, the path update amplitude of the current time is obtained.

[0111] Further considering the objective problem that the GPS signal has an update delay that cannot be solved, therefore, the maximum allowed deviation path corresponding to the actual patrol trajectory of the patrol personnel determined by the GPS signal has a high possibility of path error. Taking the first time as an example, according to the actual patrol trajectory of the patrol personnel determined by the GPS signal, it is possible that the time has passed, that is, in the perspective of the patrol personnel, it has already run into the path of the first time, The delay time length is therefore the maximum deviation path of the first time, Therefore, the maximum deviation path of the first time is invalid in essence due to the lag, therefore, the further update of the deviation path is needed on the basis of the maximum deviation trajectory obtained in step S200.

[0112] ​​Based on this feature, considering that the direct influencing factor of the inaccuracy of the maximum deviation trajectory is the objective delay phenomenon of the GPS signal, which causes the trajectory to be unable to be effectively obtained, an advance updating strategy can be proposed based on the maximum deviation trajectory to update the maximum deviation trajectory again, thereby reducing the information influence of the time delay phenomenon on the patrol behavior of the patrol personnel.

[0113] In some embodiments, as shown in FIG. 3, Figure 11 The method for obtaining the path updating amplitude at the current time can be implemented by steps S301 to S303.

[0114] In step S301, the direction between the patrol personnel at the current time and the destination is obtained as the target direction of the patrol personnel at the current time; and based on the included angle between the patrol direction at the current time and the target direction, a direction consistency factor at the current time is determined.

[0115] The motion data of the patrol personnel at each time includes the patrol speed and the patrol direction. Regardless of the degree of trajectory deviation of the patrol personnel, there is only one destination at each current time, which is the next patrol point, and the final destination of all trajectories must be deviated to the next patrol point. Therefore, in this embodiment, the destination is the nearest patrol point that has not been passed by the patrol personnel.

[0116] Based on the coordinate position of the patrol personnel at the current time, the direction between the patrol personnel at the current time and the destination can be determined, that is, the target direction of the patrol personnel at the current time.

[0117] In this embodiment, the cosine value of the included angle between the patrol direction at the current time and the target direction is taken as the direction consistency factor at the current time. It can be understood that the included angle between the two directions ranges from 0° to 180°, so the smaller the included angle between the patrol direction and the target direction, the greater the consistency between the two directions, and at this time, the greater the value of the cosine value, and the greater the value of the direction consistency factor.

[0118] The direction consistency factor represents the consistency between the direction in which the patrol personnel is currently patrolling and the direction from the position of the patrol personnel to the destination at the current time. The greater the consistency, the stronger the autonomous consciousness of the patrol personnel to go to the destination at the current time.

[0119] In step S302, based on the straight-line distance between the position data at the current time and the destination, a destination distance factor at the current time is determined; and the ratio of the product of the direction consistency factor at the current time and the patrol trajectory deviation amount to the destination distance factor is determined as the path autonomous correction index at the current time.

[0120] Because one of the purposes of the patrol process is to exchange information at the patrol point, the closer the patrol personnel are to the next patrol point (i.e., the destination), the greater the possibility of autonomous trajectory correction of the patrol personnel, that is, the higher the autonomous consciousness of the patrol personnel to go to the destination to exchange information. Especially when the current time, the path of the patrol personnel deviates greatly, and the greater the difference in direction from the destination, the farther the distance from the destination position when the deviation continues. At this time, the patrol personnel need to go to the destination faster while ensuring the coverage of the patrol range task requirements, so the possibility of autonomous path correction of the patrol personnel is greater.

[0121] Based on this feature, the expression of the autonomous path correction consciousness of the patrol personnel at the current time is measured. First, the straight-line distance between the position data at the current time and the destination can be taken as the destination distance factor at the current time. It can be understood that the destination distance factor is the Euclidean distance between the coordinate point position of the patrol personnel at the current time and the coordinate point position of the destination, which can reflect the distance relationship between the two.

[0122] The greater the value of the destination distance factor, the farther the straight-line distance between the patrol personnel and the destination, and the smaller the expression of the autonomous correction consciousness of the patrol personnel. Correspondingly, the path autonomous correction index takes a smaller value. Because the distance is farther, the space close to the current position can be patrolled and then directly go to the destination.

[0123] The greater the value of the direction consistency factor, the greater the consistency between the direction in which the patrol personnel is currently patrolling and the direction from the position to the destination. At the same time, the greater the value of the trajectory deviation amount at the current time, the greater the degree of deviation of the patrol personnel from the standard patrol trajectory at the current time, indicating that the willingness of the patrol personnel to autonomously go to the destination is greater, and the path autonomous correction index takes a greater value.

[0124] The path autonomous correction index at the current time represents the degree of possibility and the size of the willingness of the patrol personnel to autonomously correct the path at the current time.

[0125] Step S303, according to the difference between the patrol speed at the current time and each historical time, the patrol speed feature index at the current time is obtained; and the product of the path autonomous correction index at the current time and the patrol speed feature index is taken as the path update amplitude of the patrol personnel at the current time.

[0126] Further, on the basis of the analysis of the possibility of autonomous path correction of the patrol personnel, the degree of adjustment required at the current time is analyzed in combination with the change of the patrol speed of the patrol personnel.

[0127] The first step is to calculate the normalized value of the average difference between the patrol speed at each historical time and the current time, and obtain the patrol speed characteristic index at the current time.

[0128] For the Given the historical moment t and the current moment t, if the th historical moment t... The speed of patrolling at a historical moment The patrol speed is greater than the current time. If the speed difference between the two is greater than 0, it indicates that the patrol personnel have slowed down. This usually occurs when they need to adjust their direction or approach their destination. The current patrol personnel find that they have deviated from the planned trajectory and need to slow down to replan their route and reach their destination more effectively. In other words, in order to accurately reach the next patrol point, they need to slow down and fine-tune their patrol direction in advance. If the first... The speed of patrolling at a historical moment The patrol speed is less than the current time. At this point, the speed difference between the two is less than 0, indicating an acceleration trend. This means that there is no need to correct or ignore the deviation, and the deviation range can be maintained or reduced.

[0129] The second step involves determining the final path update magnitude, which links deceleration with path correction intentions and allows for proactive responses to potential autonomous adjustments. By leveraging the synergistic effect of velocity components and the possibility of autonomous path correction, combined with directional consistency and distance factors, misjudgments based on a single parameter are avoided.

[0130] The maximum deviation trajectory at the current moment is updated by combining the probability of autonomous path correction with the patrol speed parameter. The specific logic is that if the probability of the patrol personnel autonomously correcting the path at the current moment is greater and the patrol personnel's patrol speed increment decreases accordingly, it means that the patrol personnel may have already autonomously updated the trajectory at the time delay. Therefore, a larger trajectory deviation can be given at the current moment, and vice versa.

[0131] Step S400: Using the path update magnitude at the current moment, adjust the maximum deviation trajectory at the current moment, determine the maximum deviation range based on the adjusted deviation trajectory, and monitor the trajectory of the patrol personnel.

[0132] The path update magnitude analysis further examines the patrol personnel's willingness to autonomously correct their paths and their speed change trends. It comprehensively characterizes the degree of trajectory deviation that patrol personnel are allowed to deviate from at the current moment and the degree to which adjustments are necessary. Through behavioral prediction, the allowable trajectory deviation range is dynamically adjusted. Specifically, by analyzing the patrol personnel's directional intentions, speed changes, and distance from their destination, the likelihood of path correction is predicted, which can, to some extent, correct errors caused by time delays. Through the synergistic effect of multiple parameters, the system's robustness in GPS-delayed scenarios is significantly improved.

[0133] Specifically, the greater the value of the path update amplitude at the current time, the greater the degree of adjustment that can be made to the maximum deviation trajectory at the current time, that is, the greater the actual allowed deviation degree. The smaller the value of the path update amplitude at the current time, the smaller the degree of adjustment that can be made to the maximum deviation trajectory at the current time, that is, the smaller the actual allowed deviation degree.

[0134] In a first step, a trajectory correction coefficient at the current time is determined based on the path update amplitude at the current time, and the value range of the trajectory correction coefficient is (0, 2). As a specific example, the trajectory correction coefficient corresponding to the current time is which can be expressed as , wherein the path update amplitude at the current time is is a hyperbolic tangent function, which is used to normalize the value range of the path update amplitude to (-1, 1), so that the value range of the trajectory correction coefficient is (0, 2). The trajectory correction coefficient is used to realize the adaptive adjustment of the allowed trajectory deviation degree, that is, the product of the trajectory correction coefficient and the maximum deviation trajectory at the current time is taken as the adjusted deviation trajectory at the current time.

[0135] In a second step, the maximum deviation range is determined according to the adjusted deviation trajectory at the current time, and the trajectory of the patrol personnel is monitored.

[0136] Specifically, the maximum deviation range is determined with the standard trajectory of the patrol personnel as the symmetry axis and the adjusted deviation trajectory at the current time as the symmetry distance. If the position data of the patrol personnel at the current time is not within the maximum deviation range, the patrol personnel is warned. If the position data of the patrol personnel at the current time is within the maximum deviation range, the patrol personnel is not warned.

[0137] Based on this, by judging whether the actual patrol position at the current time is within the allowed maximum deviation range, if the actual patrol trajectory of the patrol personnel has exceeded the allowed maximum deviation range, a reminder is needed to prompt the patrol personnel to correct the trajectory. If the patrol trajectory of the patrol personnel does not exceed the maximum deviation range, the patrol personnel can perform normal patrol.

[0138] In some embodiments, as shown in Figure 12 an intelligent patrol monitoring storage system is provided, which is used to realize the steps of an intelligent patrol monitoring method, and specifically includes:

[0139] a data acquisition module, configured to acquire a standard patrol trajectory of a patrol personnel, and position data and motion data of the patrol personnel at each time, wherein the time includes a current time and a historical time;

[0140] The off-track analysis module is configured to analyze the maximum off-track of the guard at the current time according to the change of the relative distance between the position data of the guard at each time and the standard guard track, in combination with the difference between the position data at the current time and the historical time and the time interval.

[0141] The path update analysis module is configured to obtain the path update amplitude at the current time according to the difference between the motion data of the guard between the current time and the historical time and the position distribution between the position data at the current time and the destination of the guard.

[0142] The track monitoring module is configured to adjust the maximum off-track at the current time by using the path update amplitude at the current time, to determine the maximum off-track range based on the adjusted off-track, and to monitor the track of the guard.

[0143] In some embodiments, an electronic device for intelligent guard monitoring is provided, and the device includes a memory and a processor, wherein: the memory is configured to store program code;

[0144] The processor is configured to read the program code stored in the memory and execute an intelligent guard monitoring method.

[0145] The above-described embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements for some technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. An intelligent patrol monitoring method, characterized in that, The method includes the following steps: Obtain the standard patrol trajectory of the patrol personnel, as well as the location and movement data of the patrol personnel at each moment, including the current moment and historical moments; Based on the changes in the relative distance between the patrol personnel's location data and the standard patrol trajectory at each moment, and combined with the differences and time intervals between the location data at the current moment and historical moments, we can analyze the patrol personnel's maximum deviation from the trajectory at the current moment. Based on the difference in movement data of patrol personnel between the current moment and historical moments, as well as the location distribution between the current location data and the patrol personnel's destination, the path update magnitude at the current moment is obtained; By utilizing the path update magnitude at the current moment, the maximum deviation trajectory at the current moment is adjusted, and the maximum deviation range is determined based on the adjusted deviation trajectory, thereby enabling the patrol personnel to monitor the trajectory. The method of obtaining the path update magnitude at the current moment based on the difference in movement data of patrol personnel between the current moment and historical moments, and the location distribution between the current moment's location data and the patrol personnel's destination, specifically includes: Based on the shortest straight-line distance between the patrol personnel's location data at each moment and the standard patrol trajectory, the deviation of the patrol trajectory at each moment is determined. The motion data includes patrol speed and patrol direction, and the direction between the patrol personnel and the destination at the current moment is obtained as the target direction of the patrol personnel at the current moment. Determine the direction consistency factor at the current moment based on the angle between the current patrol direction and the target direction; Based on the current location data and the straight-line distance between the destination, the destination distance factor at the current time is determined; the ratio of the product of the current direction consistency factor and the patrol trajectory deviation to the destination distance factor is determined as the path autonomous correction index at the current time. Based on the difference in patrol speed between the current moment and each historical moment, the patrol speed characteristic index for the current moment is obtained; the product of the path self-correction index and the patrol speed characteristic index for the current moment is taken as the path update magnitude of the patrol personnel at the current moment. The process of adjusting the maximum deviation trajectory at the current moment using the path update magnitude at the current moment, determining the maximum deviation range based on the adjusted deviation trajectory, and monitoring the trajectory of patrol personnel specifically includes: The trajectory correction coefficient for the current moment is determined based on the path update magnitude at the current moment, and the value range of the trajectory correction coefficient is (0,2); the product of the trajectory correction coefficient and the maximum deviation trajectory at the current moment is used as the adjusted deviation trajectory at the current moment. Using the standard trajectory of the patrol personnel as the axis of symmetry and the current deviation from the trajectory as the distance of symmetry, the maximum deviation range is determined. If the patrol personnel's position data at the current moment is not within the maximum deviation range, an early warning is issued to the patrol personnel. If the patrol personnel's position data at the current moment is within the maximum deviation range, no early warning is issued to the patrol personnel.

2. The intelligent patrol monitoring method according to claim 1, characterized in that, The method involves analyzing the changes in the relative distance between the patrol personnel's location data at each moment and the standard patrol trajectory, combined with the differences in location data between the current moment and historical moments, as well as the time interval, to determine the patrol personnel's maximum deviation from the trajectory at the current moment. Specifically, this includes: Based on the similarity of the location data of the patrol personnel at each historical time before the current time and other historical times, and combined with the difference in the patrol trajectory deviation between each historical time and other historical times, the coverage of the patrol trajectory at each historical time is obtained. Based on the coverage of each historical patrol trajectory and the time interval between the current moment and historical moments, the balance of the patrol trajectory deviation corresponding to all historical moments at the current moment is adjusted to obtain the maximum deviation trajectory of the patrol personnel at the current moment.

3. The intelligent patrol monitoring method according to claim 2, characterized in that, The degree of patrol trajectory coverage for each historical moment is obtained by considering the similarity of the patrol personnel's location data between each historical moment and other historical moments, combined with the difference in patrol trajectory deviation between each historical moment and other historical moments. Specifically, this includes: Take any historical moment as the target historical moment, and record all other historical moments other than the target historical moment as reference historical moments; Based on the regional similarity between the location data of the target historical time and each reference historical time, the trajectory association parameters of each reference historical time are determined. Based on the difference between the patrol trajectory deviation at the target historical moment and the patrol trajectory deviation at each reference historical moment, the deviation difference factor at each reference historical moment is determined. The coverage of the patrol trajectory at the target historical moment is determined by summing the products of the trajectory association parameters and the deviation difference factor at each reference historical moment.

4. The intelligent patrol monitoring method according to claim 3, characterized in that, The process involves adjusting the balance of patrol trajectory deviations across all historical times based on the coverage of each historical patrol trajectory and the time interval between the current and historical times, to obtain the maximum deviation of the patrol personnel from the current trajectory. This adjustment specifically includes: Based on the negative correlation coefficient between the current time and each historical time, the time characteristic factors of each historical time are determined; The product of the time feature factor and the coverage of the patrol trajectory at each historical moment is accumulated to determine the reference coverage at the current moment, and the value range of the reference coverage is [1,2]. The product of the average deviation of the patrol trajectory at the current moment and all historical moments and the reference coverage at the current moment is taken as the maximum deviation of the patrol personnel from the trajectory at the current moment.

5. The intelligent patrol monitoring method according to claim 1, characterized in that, The process of obtaining the patrol speed characteristic index at the current moment based on the difference in patrol speed between the current moment and each historical moment specifically includes: The normalized value of the average difference between the patrol speed at the current time and the patrol speed at each historical time is calculated to obtain the patrol speed characteristic index at the current time.

6. An intelligent patrol monitoring and storage system, characterized in that, This system is used to implement the steps of the intelligent patrol monitoring method according to any one of claims 1-5, wherein the intelligent patrol monitoring storage system specifically includes: The data acquisition module is used to acquire the standard patrol trajectory of the patrol personnel, as well as the location and movement data of the patrol personnel at each moment, including the current moment and historical moments; The deviation trajectory analysis module is used to analyze the maximum deviation trajectory of the patrol personnel at the current moment based on the change in the relative distance between the patrol personnel's location data and the standard patrol trajectory at each moment, combined with the differences in location data between the current moment and historical moments and the time interval. The path update analysis module is used to obtain the path update magnitude at the current moment based on the difference between the movement data of patrol personnel at the current moment and historical moments, as well as the location distribution between the current location data and the patrol personnel's destination. The trajectory monitoring module is used to adjust the maximum deviation trajectory at the current moment by utilizing the path update magnitude at the current moment, and to determine the maximum deviation range based on the adjusted deviation trajectory, thereby monitoring the trajectory of patrol personnel.

7. An electronic device for intelligent patrol monitoring, characterized in that, The device includes a memory and a processor, wherein: the memory is used to store program code; The processor is used to read the program code stored in the memory and execute the intelligent patrol monitoring method as described in any one of claims 1 to 5.

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