CN109099842A - Indoor positioning and trace tracking system based on optical gate matrix technology - Google Patents
Indoor positioning and trace tracking system based on optical gate matrix technology Download PDFInfo
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- CN109099842A CN109099842A CN201811081521.9A CN201811081521A CN109099842A CN 109099842 A CN109099842 A CN 109099842A CN 201811081521 A CN201811081521 A CN 201811081521A CN 109099842 A CN109099842 A CN 109099842A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/10—Detecting, e.g. by using light barriers
- G01V8/20—Detecting, e.g. by using light barriers using multiple transmitters or receivers
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
- G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
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Abstract
The invention discloses a kind of indoor positioning based on optical gate matrix technology and trace tracking systems, system is arranged and monitored including indoor grating, the interior grating is arranged as horizontal direction indoors or vertical direction arrangement optical gate matrix system, and the monitoring system includes that data generate transmission module and back-end data processing system；The data generation transmission module is connect with the grating reception pipe to be integrated, data generate transmission module and the status information data of grating reception pipe are real-time transmitted to the back-end data processing system, back-end data processing system marks and connects automatically the coordinate position of people or object continuous moving according to relevant information, the real-time motion track of people or object is obtained, and compares recognition and verification with the identity registration situation of the people or object entered the room.System optical gate matrix of the present invention is built simply, and less investment is able to achieve registration, has good promotion prospect.
Description
Technical field
The present invention relates to a kind of indoor positioning and trace tracking system more particularly to a kind of rooms based on optical gate matrix technology
Interior accurate positioning and trace tracking system.
Background technique
For the people or object without special tracking equipment (GPS, RFID etc.), according only to the form of people or object itself
The tracking of indoor positioning and motion track is carried out, mainly uses artificial intelligence Visual identification technology at present, by human body spy
(such as recognition of face) or object external appearance characteristic are levied, carries out image analysis and shift position record, there are following for this method
Disadvantage or deficiency:
1, certain unique identification features of the artificial intelligence Visual identification technology dependent on people or object (such as face, shape are packed)
Identify and judge, therefore, it is necessary to the very more camera of the deployment of different location indoors, with ensure whenever any direction
The identification feature of people or object can be taken；
2, artificial intelligence Visual identification technology need each camera institute in real time it is collected interior people or object movement
Image data is uploaded to backstage and is identified and analyzed, and camera is more and the people or object that enters the room is more, produces
Raw data volume will sharply increase；A large amount of data transmission and calculating demand, will lead to it to network bandwidth and background service
The investment of device configuration etc. is significantly increased, and eventually leads to being significantly increased for backstage hardware cost, O&M cost etc.；
3, for artificial intelligence Visual identification technology, when people or object external appearance characteristic changes (as deliberately pretended, blocking behavior
Deng) when, it may be difficult to it is continuously automatically tracked, the problems such as so as to cause erroneous judgement or loss of data；
4, artificial intelligence Visual identification technology need to record the characteristic of people or object in real time, compare, judging and
Tracking calculates, and since data volume is huge, calculating analysis time is longer, and the equipment generally configured is difficult to realize instant result data
It returns, it is difficult to ensure the timeliness of application.
Summary of the invention
The technical problem to be solved by the present invention is to, overcome defect described above, provide a kind of equipment investment it is few, can be accurate
The indoor accurate position and trace tracking system based on optical gate matrix technology of positioning.
In order to solve the problems, such as techniques described above, the indoor positioning and trace of the present invention based on optical gate matrix technology with
Track system, including indoor grating arrangement and monitoring system, the interior grating are arranged as horizontal direction indoors or vertical direction
It arranges optical gate matrix system, grating transmitting tube and grating reception pipe is subjected to networking, form tool in horizontal plane indoors
There is the optical gate matrix grid of certain density, and position coordinates are carried out to indoor horizontal direction plane according to optical gate matrix grid and are drawn
Point；The monitoring system includes generating transmission module for the data of grating status real time monitor and data generation and transmission, using
It is automatic after carrying out identity registration before people or object enters the room and entering the room to draw grating monitoring data variation track figure
Until people or object leaves indoor back-end data processing system；The data generate transmission module and the grating reception pipe connects
It connects and integrates, when interference of the grating reception pipe by the people or object entered the room, pass through the data and generate and pass
The status information data of grating reception pipe is real-time transmitted to the back-end data processing system, back-end data processing system by defeated module
The identity and grating for the people or object that system enters according to the identity registration situation and mobile continuity principle label of people or object are sat
Cursor position, and the coordinate position of people or object continuous moving is marked and connected automatically, to obtain the real-time movement of people or object
Track, and recognition and verification is compared with the identity registration situation of the people or object entered the room.
Further, indoor horizontal direction of the present invention optical gate matrix arranges that two adjacent surfaces side wall is away from bottom surface 20- indoors
Grating transmitting tube is arranged in 120 ㎝ height, and grating reception pipe, two neighboring institute is arranged in the identical height of opposite other two sides side wall
State spacing between grating transmitting tube or grating reception pipe and be no more than 15 ㎝, by two vertically adjacent to two groups of transmitting tubes and receive
The horizontal rasterizer grid formed between pipe is numbered and networking, carries out accurate rasterizer grid coordinate to indoor horizontal direction and draws
Point, the grating crosspoint in two vertical horizontal directions represents the accurate coordinate position on the horizontal plane.
Further, indoor vertical direction optical gate matrix arrangement of the present invention, roof setting grating transmitting tube indoors,
Grating reception pipe is arranged in ground or grid transmitting tube is arranged in roof setting grating reception pipe, floor；The two neighboring grating hair
Penetrate spacing between pipe or grating reception pipe and be no more than 15 ㎝, by between roof and bottom plate by being formed between transmitting tube and reception pipe
Vertical raster be numbered and networking, accurate rasterizer grid coordinate is carried out to indoor horizontal direction and is divided, every grating water
Square upward projection represents the coordinate position of a horizontal direction.
Further, indoor vertical direction optical gate matrix arrangement of the present invention, the grating transmitting tube and grating reception pipe
It is all disposed within roof, each group of grating transmitting tube and grating reception pipe are installed together one grating range unit of composition, multiple
Grating range unit is arranged in roof and forms grating ranging matrix, in grating ranging matrix between each grating range unit away from
From be no more than 15cm, according to grating range unit the variation of the measurement numerical value of indoor people or object position is realized people or
The positioning and tracking of object horizontal position, meanwhile, according to the shifting of the real-time recorder of measurement numerical value or object in vertical direction
Emotionally condition is realized to the accurate positioning and analytical judgment in people or object indoors horizontal and vertical coordinate position.
Preferably, grating of the present invention uses echelette, the two neighboring grating transmitting tube or grating are received
Spacing between pipe is 5-10 ㎝.
Beneficial effects of the present invention: the present invention uses grating induction technology, the method by setting up indoor optical gate matrix, right
Indoor environment carries out corresponding accurate rasterizer grid coordinate and divides, to realize the company to indoor people or object motion track
Continuous tracking and judgement, its advantages are mainly reflected in the following aspects:
1, the present invention is based on existing grating induction technology, by way of setting up optical gate matrix, realization to indoor people or
The accurate positioning and movement judgement of object.Continuous disturbance when need to only be moved indoors according to people or object to grating itself,
The accurate positioning of indoor people or object and the tracking of motion track can be realized, without according to the certain solid of people or object
Feature is determined to be judged.
2, the sensed data amount of system of the present invention, optical gate matrix is very small, and data volume size remains unchanged, people
Or the reaction of object movement can realize feedback in real time and judgement, crowd used by relatively artificial intelligent video identification technology
Image data (the high definition image data of each 24 frame of second of each camera, and camera quantity crowd of more real-time photography heads
More, data volume is even more that exponentially increases) for, the present invention, which innovates data caused by the optical gate matrix used, can ignore not
Meter fundamentally reduces the dependence of network bandwidth to information transmission, the configuration of background server, only simple data is needed to pass
Defeated and simple analysis calculation method can realize quickly positioning and movement judgement.
3, system of the present invention need to only carry out tracking and identifying for the people that enters the room or object in sequence
Registration in advance (such as in the Self-Services such as unmanned shop scene, can be known by the enabling of mobile phone barcode scanning into registration or face
Not, fingerprint, the modes such as palmmprint carry out the modes such as intelligent registration on doorway), it just no longer needs to carry out people or object after entering the room
Feature identification all will not influence the real-time tracking to it and judgement regardless of what kind of variation occurs for people or object external appearance characteristic,
Increase accuracy.
4, effective control has been obtained due to calculating data volume, so that the real-time return of calculated result can be realized, has reached true
Positive real-time tracking and analytical judgment.
Detailed description of the invention
Fig. 1 is horizontal grating matrix arrangements figure described in embodiment one；
Fig. 2 is horizontal grating matrix principle figure described in embodiment one；
Fig. 3 is vertical raster matrix arrangements figure described in embodiment two；
Fig. 4 is vertical raster matrix principle figure described in embodiment two；
Fig. 5 is vertical raster ranging matrix arrangements figure described in embodiment three；
Fig. 6 is vertical raster ranging matrix principle figure described in embodiment three.
Specific embodiment
Invention is further described in detail with reference to the accompanying drawings and examples.
Invent the indoor positioning and trace tracking system based on optical gate matrix technology, including indoor grating arrangement and prison
Examining system, the interior grating are arranged as horizontal direction indoors or vertical direction arrangement optical gate matrix system, grating are emitted
Pipe and grating reception pipe carry out networking, form the optical gate matrix grid with certain density in horizontal plane indoors, and
Position coordinates division is carried out to indoor horizontal direction plane according to optical gate matrix grid；The monitoring system includes being used for raster-like
Progress identity is stepped on before the data of state real-time monitoring and data generation and transmission generate transmission module, enter the room for people or object
It is automatic after remembering and entering the room to draw grating monitoring data variation track figure until people or object leaves indoor back-end data
Processing system；The data, which generate transmission module and connect with the grating reception pipe, to be integrated, the grating reception pipe by
To the people or object entered the room interference when, generate transmission module for the status information number of grating reception pipe by the data
According to being real-time transmitted to the back-end data processing system, back-end data processing system according to the identity registration situation of people or object and
The identity and raster coordinate locations for the people or object that mobile continuity principle label enters, and people or object is marked and connected automatically
The coordinate position of continuous moving, to obtain the real-time motion track of people or object, and the body with the people or object entered the room
Part registration situation compares recognition and verification.
Further, indoor horizontal direction of the present invention optical gate matrix arranges that two adjacent surfaces side wall is away from bottom surface 20- indoors
Grating transmitting tube is arranged in 120 ㎝ height, and grating reception pipe, two neighboring institute is arranged in the identical height of opposite other two sides side wall
State spacing between grating transmitting tube or grating reception pipe and be no more than 15 ㎝, by two vertically adjacent to two groups of transmitting tubes and receive
The horizontal rasterizer grid formed between pipe is numbered and networking, carries out accurate rasterizer grid coordinate to indoor horizontal direction and draws
Point, the grating crosspoint in two vertical horizontal directions represents the accurate coordinate position on the horizontal plane.
Further, indoor vertical direction optical gate matrix arrangement of the present invention, roof setting grating transmitting tube indoors,
Grating reception pipe is arranged in ground or grid transmitting tube is arranged in roof setting grating reception pipe, floor；The two neighboring grating hair
Penetrate spacing between pipe or grating reception pipe and be no more than 15 ㎝, by between roof and bottom plate by being formed between transmitting tube and reception pipe
Vertical raster be numbered and networking, accurate rasterizer grid coordinate is carried out to indoor horizontal direction and is divided, every grating water
Square upward projection represents the coordinate position of a horizontal direction.
Further, indoor vertical direction optical gate matrix arrangement of the present invention, the grating transmitting tube and grating reception pipe
It is all disposed within roof, each group of grating transmitting tube and grating reception pipe are installed together one grating range unit of composition, multiple
Grating range unit is arranged in roof and forms grating ranging matrix, in grating ranging matrix between each grating range unit away from
From be no more than 15cm, according to grating range unit the variation of the measurement numerical value of indoor people or object position is realized people or
The positioning and tracking of object horizontal position, meanwhile, according to the shifting of the real-time recorder of measurement numerical value or object in vertical direction
Emotionally condition is realized to the accurate positioning and analytical judgment in people or object indoors horizontal and vertical coordinate position.
Preferably, grating of the present invention uses echelette, the two neighboring grating transmitting tube or grating are received
Spacing between pipe is 5-10 ㎝.
Embodiment one: it referring to attached drawing 1-2, is arranged using the optical gate matrix of horizontal direction.The side wall of surrounding is same indoors
Grating is installed to injection device (grating transmitting tube and grating reception pipe), if leaning on the position of a height (away from ground 20-120 ㎝ high)
Wall has object to block, then grating device is installed on the outside of object, it is ensured that grating device is not blocked, two opposite side walls
Grating transmitting tube and grating reception pipe be installed respectively, two neighboring grating transmitting tube or grating reception pipe (such as grating transmitting tube 1 with
2,2 and 3 ... or grating reception pipe 1 and 2,2 and 3 ...) between spacing be no more than 15 ㎝, the grating using it is anti-interference compared with
Good echelette；Indoor horizontal direction carries out accurate coordinate division, when people or object enter the room, is moved through
Cheng Zhonghui interferes the grating on two coordinate directions of horizontal x, y, the interference of the x, y-coordinate position of the grating being interfered
Data set is exactly people or object position；When multiple people or objects enter the same interior, back-end data processing system is first
Independent identity registration and number are first carried out by entering order, the x as caused by the movement of people or object, y-coordinate position are dry
Data set is disturbed all and has the characteristics that a certain range exclusivity and successional, so as to according to the motion track to people or object
Continuity come distinguish two it is close or intersect multiple people or objects, realize multiple people or objects horizontal coordinate position indoors
On accurate positioning.
Embodiment two: it referring to attached drawing 3-4, is arranged using the optical gate matrix of vertical direction, the grating is using anti-interference preferable
Echelette.The floor in space and roof installation by adhering grating are to injection device indoors, on indoor roof and floor respectively
Grating transmitting tube and grating reception pipe are set, every a pair of grating space is less than or equal to 15cm, grating is subjected to networking to injection device,
And the data for connecting grating signal monitoring generate transmission module, and Grating examinations data are real-time transmitted to back-end data processing system
System, the coordinate position that background system is arranged according to optical gate matrix mark and connect automatically the coordinate bit of people or object continuous moving
It sets, to obtain the real-time motion track of people or object.The present embodiment is also according to people or object positioning in the horizontal direction
It can be to the grating on its position in moving process when people or object enter the room with the tracking of motion track
It interferes, the x for the grating being interfered, the interference data set of y-coordinate position are exactly people or object position；When multiple
People or object enters the same interior, also needs first to carry out independent identity registration and number by entering order, due to people or
X caused by the movement of person's object, y-coordinate position interference data set all have the characteristics that a certain range exclusivity and successional,
So as to realize the continuity to the motion track of people or object distinguish two it is close or intersect multiple people or object
Body realizes accurate positioning of multiple people or objects indoors on horizontal coordinate position.
Embodiment three: referring to attached drawing 5-6, being arranged using the optical gate matrix of vertical direction, the grating using it is anti-interference compared with
Good echelette.Grating range unit is installed according to matrix-style on the downside of roof indoors, each range unit includes one
A microgratings transmitting tube and a microgratings reception pipe, the interval between grating range unit, according to different position essences
Degree demand is adjustable, and general passageway spacing is arranged between 8-15cm, needs accurately to monitor the action behavior of people or object
Local spacing be 5-8cm.Grating range unit is subjected to networking according to the planning of interior space coordinate, and connects data and generates biography
Grating range unit measurement data is real-time transmitted to back-end data processing system by defeated module, and background system is according to grating ranging
In matrix measurement data label enter people or object position and the situation of change in vertical direction, and automatically label and
The position range for connecting people or object, to obtain the motion track of people or object, and the height according to people or object indoors
The mutation analysis in direction and the action behavior situation for recording out people or object in various time points.
Grating transmitting tube and reception pipe described in the present embodiment are all disposed within roof, by grating range measurement principle and method come into
The indoor location of row people or object and the judgement of movement.When people or object enter the room, people or object is being moved through
Cheng Zhonghui interferes the measurement data of the roof grating ranging of its position, the x for the grating being interfered, y-coordinate position
The interference data set set is exactly people or object position；And it can be analyzed according to the measurement data of grating range unit
The situation of movement of people or object in vertical direction.Such as: in a certain position, people corresponds to roof range unit measurement number when standing
Value is a value, and it is another value again that numerical value is measured when people squats down, and the hand of people removes and rest on motionless height from stretching
The numerical value that degree measures is all different, thus can analyze the row of people or object in vertical direction according to the variation of these data
For.In this way, judging that the analysis of the situation of change of these real-time measuring datas, indoor people or object exists by background system
When, where, any height region did any movement；Similarly, when multiple people or objects enter the same interior,
It equally first can independently number, the x as caused by the movement of people or object, y-coordinate Position disturbance data set all have
A certain range exclusivity and successional feature, so as to according to realizing the continuity to the motion track of people or object come area
It is divided to two close or multiple people intersected or object, to realize multiple people or objects horizontal and vertical coordinate bit indoors
The accurate positioning set and behavior discriminatory analysis.
The above is only some embodiments of the invention, as long as having used scheme described above, should all fall into of the invention
Protection scope.
Claims (5)
1. indoor positioning and trace tracking system based on optical gate matrix technology, including indoor grating arrangement and monitoring system,
It is characterized in that, the interior grating is arranged as horizontal direction indoors or vertical direction arrangement optical gate matrix system, and grating is sent out
It penetrates pipe and grating reception pipe and carries out networking, the optical gate matrix grid formed in horizontal plane indoors, and according to grating square
Battle array grid carries out position coordinates division to indoor horizontal direction plane；The monitoring system includes being used for grating status real time monitor
And the data of data generation and transmission generate transmission module, enter the room preceding progress identity registration and entrance for people or object
Automatically grating monitoring data variation track figure is drawn behind interior until people or object leaves indoor back-end data processing system；Institute
It states data and generates transmission module and connect and integrate with the grating reception pipe, the grating reception pipe is by entering the room
When the interference of people or object, transmission module is generated by the data and is real-time transmitted to the status information data of grating reception pipe
The back-end data processing system, back-end data processing system are former according to the identity registration situation of people or object and mobile continuity
The identity and raster coordinate locations of the people or object of entrance are then marked, and marks and connect the seat of people or object continuous moving automatically
Cursor position, to obtain the real-time motion track of people or object, and with the identity registration situation of the people or object entered the room into
Row comparison recognition and verification.
2. indoor positioning and trace tracking system according to claim 1 based on optical gate matrix technology, which is characterized in that institute
Indoor horizontal direction optical gate matrix arrangement is stated, two adjacent surfaces side wall emits away from bottom surface 20-120 ㎝ height setting grating indoors
Grating reception pipe is arranged in the identical height of pipe, opposite other two sides side wall, and the two neighboring grating transmitting tube or grating connect
Spacing between closed tube is no more than 15 ㎝, by two vertically adjacent to two groups of horizontal gratings formed between transmitting tube and reception pipe
Grid is numbered and networking, carries out accurate rasterizer grid coordinate to indoor horizontal direction and divides, two vertical level sides
Upward grating crosspoint represents the accurate coordinate position on the horizontal plane.
3. indoor positioning and trace tracking system according to claim 1 based on optical gate matrix technology, which is characterized in that institute
Indoor vertical direction optical gate matrix arrangement is stated, grating reception pipe is arranged in roof setting grating transmitting tube indoors, ground, or
Grating reception pipe is arranged in roof, grid transmitting tube is arranged in floor；Between the two neighboring grating transmitting tube or grating reception pipe
Spacing is no more than 15 ㎝, will be numbered between roof and bottom plate by the vertical raster formed between transmitting tube and reception pipe and group
Net carries out accurate rasterizer grid coordinate to indoor horizontal direction and divides, and the projection in every grating horizontal direction represents one
The coordinate position of horizontal direction.
4. indoor positioning and trace tracking system according to claim 1 based on optical gate matrix technology, which is characterized in that institute
Indoor vertical direction optical gate matrix arrangement is stated, the grating transmitting tube and grating reception pipe are all disposed within roof, each group of grating
Transmitting tube and grating reception pipe are installed together one grating range unit of composition, and multiple grating range units are arranged in roof-shaped
At grating ranging matrix, the distance between each grating range unit is no more than 15cm in grating ranging matrix, is surveyed according to grating
Away from device the variation of the measurement numerical value of indoor people or object position is realized people or object horizontal position positioning and with
Track, meanwhile, according to the situation of movement of the real-time recorder of measurement numerical value or object in vertical direction, realization exists to people or object
Indoor horizontal and accurate positioning and analytical judgment on vertical coordinate position.
5. indoor positioning and trace tracking system according to claim 2,3 or 4 based on optical gate matrix technology, feature
It is, the grating uses echelette, and the spacing between the two neighboring grating transmitting tube or grating reception pipe is 5-10
㎝。
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| CN201811081521.9A CN109099842A (en) | 2018-09-17 | 2018-09-17 | Indoor positioning and trace tracking system based on optical gate matrix technology |
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| CN201811081521.9A CN109099842A (en) | 2018-09-17 | 2018-09-17 | Indoor positioning and trace tracking system based on optical gate matrix technology |
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| CN110610521A (en) * | 2019-10-08 | 2019-12-24 | 云海桥(北京)科技有限公司 | Positioning system and method adopting distance measurement mark and image recognition matching |
| CN110865335A (en) * | 2019-11-20 | 2020-03-06 | 武汉科技大学 | Indoor positioning system and control method |
| CN111442739A (en) * | 2020-04-02 | 2020-07-24 | 上海海洋大学 | Calibration system for underwater three-dimensional imaging of moving water tank and construction method |
| CN113275947A (en) * | 2021-05-24 | 2021-08-20 | 和县隆盛精密机械有限公司 | Intelligent workpiece coordinate measurement and control workbench for numerical control machine tool and use method thereof |
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| CN113671528B (en) * | 2021-08-24 | 2024-02-06 | 浙江乾行信息技术股份有限公司 | Indoor personnel gesture recognition device |
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Application publication date: 20181228 |