CN109996182B - Positioning method, device and system based on combination of UWB positioning and monitoring - Google Patents
Positioning method, device and system based on combination of UWB positioning and monitoring Download PDFInfo
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- CN109996182B CN109996182B CN201910318533.7A CN201910318533A CN109996182B CN 109996182 B CN109996182 B CN 109996182B CN 201910318533 A CN201910318533 A CN 201910318533A CN 109996182 B CN109996182 B CN 109996182B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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Abstract
The invention relates to the technical field of positioning, and particularly discloses a positioning method based on UWB positioning and monitoring combination, wherein the positioning method comprises the following steps: setting dangerous area authority and judging a fence; counting the number of the in-out dangerous areas; acquiring the number of the in-out dangerous areas; judging the number of the positioned targets entering and exiting the dangerous area counted by the UWB positioning tags and the number of the positioned targets entering and exiting the dangerous area counted by the monitoring device; and if the number of the positioned objects entering and exiting the dangerous area counted by the UWB positioning tags is not less than the number of the positioned objects entering and exiting the dangerous area counted by the monitoring device, determining that the number of the positioned objects entering and exiting the dangerous area counted by the UWB positioning tags is the number of the positioned objects actually entering and exiting the dangerous area. The invention also discloses a positioning device and a system based on the combination of UWB positioning and monitoring. The positioning method based on the combination of UWB positioning and monitoring can effectively manage the safety of workers.
Description
Technical Field
The invention relates to the technical field of positioning, in particular to a positioning method based on combination of UWB positioning and monitoring, a positioning device based on combination of UWB positioning and monitoring and a positioning system based on combination of UWB positioning and monitoring, wherein the positioning device based on combination of UWB positioning and monitoring comprises the positioning device.
Background
In factory production, some dangerous areas exist, the requirement for real-time positioning of personnel is more and more, and the traditional camera monitoring mode can not meet the requirements for factory informatization and intellectualization. On the other hand, the safety production is the first work of enterprise production and is also an important index for assessing an enterprise.
At present, some dangerous areas are monitored by a camera and entrance guard mode in a factory. Because the camera discerns to have certain error rate, there is the error in personnel's business turn over statistics, also can't carry out effective management to staff's safety.
Disclosure of Invention
The present invention is directed to solve at least one of the technical problems in the prior art, and provides a positioning method based on combination of UWB positioning and monitoring, a positioning device based on combination of UWB positioning and monitoring, and a positioning system based on combination of UWB positioning and monitoring including the positioning device based on combination of UWB positioning and monitoring, so as to solve the problems in the prior art.
As a first aspect of the present invention, there is provided a positioning method based on a combination of UWB positioning and monitoring, wherein the positioning method based on a combination of UWB positioning and monitoring comprises:
setting a dangerous area authority corresponding to the UWB positioning tag and setting a dangerous area entering and exiting judgment fence;
counting the number of the positioned objects entering and exiting the dangerous area through the judgment fence according to the dangerous area authority corresponding to the UWB positioning tag;
acquiring the number of the positioned targets entering and exiting the dangerous area counted by the monitoring device;
judging the size between the number of the positioned targets entering and exiting the dangerous area counted by the UWB positioning tags and the number of the positioned targets entering and exiting the dangerous area counted by the monitoring device;
and if the number of the positioned objects entering and exiting the dangerous area counted by the UWB positioning tags is not less than the number of the positioned objects entering and exiting the dangerous area counted by the monitoring device, determining that the number of the positioned objects entering and exiting the dangerous area counted by the UWB positioning tags is the number of the positioned objects actually entering and exiting the dangerous area.
Preferably, the counting, according to the hazardous area authority corresponding to the UWB locating tag, the number of the located objects entering and exiting the hazardous area through the decision fence includes:
judging whether the positioned target enters a dangerous area or not according to a vector inner product method;
if the positioned targets are judged to enter the dangerous area, counting the number of the positioned targets entering the dangerous area;
and otherwise, counting the number of positioned targets leaving the dangerous area.
Preferably, the counting of the number of the located objects entering and exiting the dangerous area through the decision fence according to the dangerous area authority corresponding to the UWB locating tag further includes performing, after the step of deciding that the located objects enter the dangerous area:
judging whether the positioned target has the authority to enter a dangerous area or not through the UWB positioning tag;
if the positioned target is judged to have the authority of entering the dangerous area, recording the information of the positioned target entering the dangerous area;
otherwise, an alarm signal of non-admittance entrance is sent out.
Preferably, the determining, by the UWB positioning tag, whether the located object has the right to enter the dangerous area includes:
and judging whether the identity of the positioned target accords with the authentication of the access control system or not through the access control system, and judging whether the position of the positioned target is consistent with the position of the access control system or not through the UWB positioning tag.
Preferably, the determining whether the located target enters the dangerous area according to the vector inner product method includes:
selecting a direction of entering a danger area as a reference vector at the decision fence;
recording a first coordinate of a positioned target entering a danger area at the decision fence;
recording second coordinates of the positioned target when leaving the danger area at the decision fence;
calculating an actual vector from the first coordinate to the second coordinate;
calculating an included angle between the reference vector and the actual vector;
calculating an inner product between the reference vector and the actual vector according to the included angle to obtain an inner product result;
judging whether the inner product result is greater than 0;
if the inner product result is larger than 0, judging that the positioned target enters a dangerous area;
and if the inner product result is less than 0, judging that the positioned target leaves the dangerous area.
Preferably, if the number of the located objects entering and exiting the dangerous area counted by the UWB locating tag is not less than the number of the located objects entering and exiting the dangerous area counted by the monitoring device, determining that the number of the located objects entering and exiting the dangerous area counted by the UWB locating tag is the number of the located objects actually entering and exiting the dangerous area includes:
judging whether the number of the positioned targets entering and exiting the dangerous area counted by the UWB positioning tags is equal to the number of the positioned targets entering and exiting the dangerous area counted by the monitoring device or not;
if the number of the positioned objects entering and exiting the dangerous area counted by the UWB positioning tags is equal to the number of the positioned objects entering and exiting the dangerous area counted by the monitoring device, determining the number of the positioned objects entering and exiting the dangerous area counted by the UWB positioning tags as the number of the positioned objects actually entering and exiting the dangerous area;
if the number of the positioned targets entering and exiting the dangerous areas counted by the UWB positioning tags is not equal to the number of the positioned targets entering and exiting the dangerous areas counted by the monitoring device, judging whether the number of the positioned targets entering and exiting the dangerous areas counted by the UWB positioning tags is larger than the number of the positioned targets entering and exiting the dangerous areas counted by the monitoring device or not;
and if the number of the positioned objects entering and exiting the dangerous area counted by the UWB positioning tags is larger than the number of the positioned objects entering and exiting the dangerous area counted by the monitoring device, determining that the number of the positioned objects entering and exiting the dangerous area counted by the UWB positioning tags is the number of the positioned objects actually entering and exiting the dangerous area.
Preferably, if the number of the located objects entering and exiting the dangerous area counted by the UWB locating tag is not less than the number of the located objects entering and exiting the dangerous area counted by the monitoring device, determining that the number of the located objects entering and exiting the dangerous area counted by the UWB locating tag is the number of the located objects actually entering and exiting the dangerous area further includes:
and if the number of the positioned targets entering and exiting the dangerous area counted by the UWB positioning tags is not more than the number of the positioned targets entering and exiting the dangerous area counted by the monitoring device, determining that the number of the positioned targets entering and exiting the dangerous area counted by the monitoring device is the number of the positioned targets actually entering and exiting the dangerous area, and sending out an alarm signal that no card enters the dangerous area.
Preferably, the monitoring device comprises a binocular camera.
As a second aspect of the present invention, there is provided a positioning apparatus based on UWB positioning and monitoring in combination, wherein the positioning apparatus based on UWB positioning and monitoring in combination comprises:
the setting module is used for setting a dangerous area authority corresponding to the UWB positioning tag and setting a dangerous area entering and exiting judgment fence;
the first judgment module is used for counting the number of the positioned targets entering and exiting the dangerous area through the judgment fence according to the dangerous area authority corresponding to the UWB positioning tag;
the acquisition module is used for acquiring the number of the positioned targets entering and exiting the dangerous area counted by the monitoring device;
the second judgment module is used for judging the size between the number of the positioned targets entering and exiting the dangerous area counted by the UWB positioning tags and the number of the positioned targets entering and exiting the dangerous area counted by the monitoring device;
and the determining module is used for determining the number of the positioned objects entering and exiting the dangerous area counted by the UWB positioning tags as the number of the positioned objects actually entering and exiting the dangerous area if the number of the positioned objects entering and exiting the dangerous area counted by the UWB positioning tags is not less than the number of the positioned objects entering and exiting the dangerous area counted by the monitoring device.
As a third aspect of the present invention, there is provided a positioning system based on UWB positioning and monitoring, wherein the positioning system based on UWB positioning and monitoring comprises: UWB location basic station, UWB location label, access control system, monitoring device and the preceding positioner based on UWB location combines with the control, UWB location label with UWB location basic station communication connection, UWB location basic station, access control system and monitoring device all with positioner communication connection based on UWB location combines with the control.
According to the positioning method based on combination of UWB positioning and monitoring, the number of the positioned targets entering and exiting the dangerous area is realized through the UWB positioning tags and the monitoring device, the problem that personnel without cards in the dangerous area enter the monitoring in the prior art is solved, and the safety of workers can be effectively managed.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a flowchart of a positioning method based on UWB positioning and monitoring provided by the present invention.
Fig. 2 is a flow chart for counting the passing of a located object into and out of a dangerous area through a UWB locating tag according to the present invention.
FIG. 3 is a flowchart of a method for determining whether a target is located in or out of a dangerous area according to the present invention.
Fig. 4 is a flowchart of a method for counting the entrance and exit of a located object into and out of a dangerous area by combining a UWB locating object and a monitoring device provided by the invention.
Fig. 5 is a block diagram of a positioning apparatus based on UWB positioning and monitoring provided by the present invention.
Fig. 6 is a block diagram of a positioning system based on UWB positioning and monitoring provided by the present invention.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
As a first aspect of the present invention, there is provided a positioning method based on UWB positioning and monitoring, wherein, as shown in fig. 1, the positioning method based on UWB positioning and monitoring comprises:
s110, setting dangerous area authorities corresponding to the UWB positioning tags and setting dangerous area access judgment fences;
s120, counting the number of the positioned targets entering and exiting the dangerous area through the judgment fence according to the dangerous area authority corresponding to the UWB positioning tag;
s130, acquiring the number of the positioned targets entering and exiting the dangerous area counted by the monitoring device;
s140, judging the quantity between the quantity of the positioned targets entering and exiting the dangerous area counted by the UWB positioning tags and the quantity of the positioned targets entering and exiting the dangerous area counted by the monitoring device;
and S150, if the number of the positioned objects entering and exiting the dangerous area counted by the UWB positioning tags is not less than the number of the positioned objects entering and exiting the dangerous area counted by the monitoring device, determining that the number of the positioned objects entering and exiting the dangerous area counted by the UWB positioning tags is the number of the positioned objects actually entering and exiting the dangerous area.
According to the positioning method based on combination of UWB positioning and monitoring, the number of the positioned targets entering and exiting the dangerous area is realized through the UWB positioning tags and the monitoring device, the problem that personnel without cards in the dangerous area enter the monitoring in the prior art is solved, and the safety of workers can be effectively managed.
Specifically, the counting, according to the hazardous area authority corresponding to the UWB positioning tag, the number of the positioned objects entering and exiting the hazardous area through the determination fence includes:
judging whether the positioned target enters a dangerous area or not according to a vector inner product method;
if the positioned targets are judged to enter the dangerous area, counting the number of the positioned targets entering the dangerous area;
and otherwise, counting the number of positioned targets leaving the dangerous area.
Specifically, the counting of the number of the located objects entering and exiting the dangerous area through the decision fence according to the dangerous area authority corresponding to the UWB locating tag further includes performing, after the step of deciding that the located objects enter the dangerous area:
judging whether the positioned target has the authority to enter a dangerous area or not through the UWB positioning tag;
if the positioned target is judged to have the authority of entering the dangerous area, recording the information of the positioned target entering the dangerous area;
otherwise, an alarm signal of non-admittance entrance is sent out.
Specifically, the determining, by the UWB locating tag, whether the located object has the right to enter the dangerous area includes:
and judging whether the identity of the positioned target accords with the authentication of the access control system or not through the access control system, and judging whether the position of the positioned target is consistent with the position of the access control system or not through the UWB positioning tag.
Specifically, the determining whether the located target enters the dangerous area according to the vector inner product method includes:
selecting a direction of entering a danger area as a reference vector at the decision fence;
recording a first coordinate of a positioned target entering a danger area at the decision fence;
recording second coordinates of the positioned target when leaving the danger area at the decision fence;
calculating an actual vector from the first coordinate to the second coordinate;
calculating an included angle between the reference vector and the actual vector;
calculating an inner product between the reference vector and the actual vector according to the included angle to obtain an inner product result;
judging whether the inner product result is greater than 0;
if the inner product result is larger than 0, judging that the positioned target enters a dangerous area;
and if the inner product result is less than 0, judging that the positioned target leaves the dangerous area.
The following describes the management of the access of a located object to a dangerous area by a UWB locating tag according to the present invention in detail with reference to fig. 2 and 3.
(1) Personnel and corresponding authorities are allocated to the UWB positioning tags, and entrance and exit judgment fences are set at entrances and exits of the dangerous areas.
(2) When a positioned target enters a fence area, firstly, the in and out judgment of the positioned target is carried out, and the judgment method adopts a vector inner product method.
When passing through the fence area, selecting a reference vector a in the direction of entering the area; recording the coordinate P1(X1, Y1) of the entering fence and recording the coordinate P2(X2, Y2) of the leaving fence, calculating the vector b from P1 to P2 to obtain the included angle theta of the two vectors.
The vectors a and b are inner-multiplied to obtain a value Z:
if Z is greater than 0, it follows that vector b and vector a are in the same direction, so the targeted object is an entry behavior.
If Z is less than 0, it follows that vector b and vector a are in opposite directions, so the located target is a leave behavior.
(3) And when the positioned target is an entrance behavior, judging whether the positioned target has the authority of entering the tunnel, if so, recording the related information of the entrance target, and if not, sending an entrance alarm of a non-admittance person. When the located target is the leaving behavior, the related information of the leaving target is recorded.
(4) And (4) counting the list and the number of the entering and leaving personnel for calibrating the binocular camera and managing the personnel.
Specifically, if the number of the located objects entering and exiting the dangerous area counted by the UWB locating tag is not less than the number of the located objects entering and exiting the dangerous area counted by the monitoring device, determining that the number of the located objects entering and exiting the dangerous area counted by the UWB locating tag is the number of the located objects actually entering and exiting the dangerous area includes:
judging whether the number of the positioned targets entering and exiting the dangerous area counted by the UWB positioning tags is equal to the number of the positioned targets entering and exiting the dangerous area counted by the monitoring device or not;
if the number of the positioned objects entering and exiting the dangerous area counted by the UWB positioning tags is equal to the number of the positioned objects entering and exiting the dangerous area counted by the monitoring device, determining the number of the positioned objects entering and exiting the dangerous area counted by the UWB positioning tags as the number of the positioned objects actually entering and exiting the dangerous area;
if the number of the positioned targets entering and exiting the dangerous areas counted by the UWB positioning tags is not equal to the number of the positioned targets entering and exiting the dangerous areas counted by the monitoring device, judging whether the number of the positioned targets entering and exiting the dangerous areas counted by the UWB positioning tags is larger than the number of the positioned targets entering and exiting the dangerous areas counted by the monitoring device or not;
and if the number of the positioned objects entering and exiting the dangerous area counted by the UWB positioning tags is larger than the number of the positioned objects entering and exiting the dangerous area counted by the monitoring device, determining that the number of the positioned objects entering and exiting the dangerous area counted by the UWB positioning tags is the number of the positioned objects actually entering and exiting the dangerous area.
Specifically, if the number of the located objects entering and exiting the dangerous area counted by the UWB locating tag is not less than the number of the located objects entering and exiting the dangerous area counted by the monitoring device, determining that the number of the located objects entering and exiting the dangerous area counted by the UWB locating tag is the number of the located objects actually entering and exiting the dangerous area further includes:
and if the number of the positioned targets entering and exiting the dangerous area counted by the UWB positioning tags is not more than the number of the positioned targets entering and exiting the dangerous area counted by the monitoring device, determining that the number of the positioned targets entering and exiting the dangerous area counted by the monitoring device is the number of the positioned targets actually entering and exiting the dangerous area, and sending out an alarm signal that no card enters the dangerous area.
Preferably, the monitoring device comprises a binocular camera.
The statistics provided by the present invention for the number of located objects entering and exiting the hazardous area are described in detail below with reference to fig. 4.
A binocular camera personnel identification and statistics system is adopted for the monitoring device, and the number of personnel entering and exiting can be counted by the binocular camera.
Considering the situation that the binocular camera can have misrecognition statistics after the light becomes dark and the possibility that irrelevant people enter a dangerous area under some situations, the method solves the problem by using a mode of fusion judgment of UWB positioning and the binocular camera.
Specifically, (1) an in-out judgment fence area is set for UWB positioning and binocular camera identification;
(2) UWB positioning binocular cameras respectively count the number of people entering and exiting respectively, and assume that UWB counting number of people entering is a and the number of people entering is b.
(3) and a and b are compared, if a is equal to b, the statistics of the number of people counted at two sides is consistent, the number of people entering the binocular camera is increased by a (b), if a is greater than b, the binocular camera is used for counting error, calibration is carried out, a is used as the actual number of people entering the binocular camera, the number of people entering the binocular camera is increased by a, if a is less than b, the situation that people without the card enter the dangerous area is shown, the number of people entering the binocular camera is increased by b, meanwhile, an alarm is given out, and corresponding acousto-.
(4) The leaving processing logic is consistent with the entering logic, the judgment criterion is reversed when the comparison is carried out, and in addition, the acousto-optic alarm does not need to be started.
It should be noted that, an entrance guard system is equipped for entrance and exit linkage management, the entrance guard and the UWB positioning respectively identify the identity of a person, and when the double authentication of the entrance guard and the UWB is passed, the person is permitted to enter a dangerous area.
Personnel are positioned in real time in a dangerous area of a factory through UWB technology, the safety supervision of the personnel is carried out by counting the motion state of a positioned object, and the falling alarm, the SOS alarm, the long-time stay alarm and the abnormal off-line alarm of the positioned personnel can be completed.
It should be noted that the sound and light alarm system is equipped and used in cooperation with the positioning system, and is triggered when there is an alarm. And a monitoring camera is arranged in the monitoring area and linked with the alarm, and when the alarm occurs, a monitoring picture is quickly called so that a worker can timely process the alarm.
And finally, the system is deployed on a server and used for position display, video monitoring, system management, alarm management, report management and the like.
Therefore, the positioning method based on the combination of UWB positioning and monitoring solves the problem that people mistakenly identify the traditional binocular camera in dark light; the problem that personnel without cards enter supervision in a dangerous area of a factory is solved; the system solves the problem of monitoring the real-time positions of personnel in the dangerous area of the production factory, can effectively count the personnel activity condition in the area in real time, performs behavior analysis and ensures the personnel safety.
As a second aspect of the present invention, there is provided a positioning apparatus based on UWB positioning and monitoring, wherein, as shown in fig. 5, the positioning apparatus 100 based on UWB positioning and monitoring comprises:
a setting module 110, where the setting module 110 is configured to set a dangerous area authority corresponding to the UWB positioning tag and set a dangerous area entering and exiting determination fence;
a first judging module 120, where the first judging module 120 is configured to count, according to a dangerous area authority corresponding to the UWB locating tag, the number of located targets entering and exiting a dangerous area through a decision fence;
an obtaining module 130, where the obtaining module 130 is configured to obtain the number of the located target entering and exiting the dangerous area counted by the monitoring apparatus;
a second judging module 140, where the second judging module 140 is configured to judge a size between the number of the located target entering and exiting the dangerous area counted by the UWB locating tag and the number of the located target entering and exiting the dangerous area counted by the monitoring device;
a determining module 150, wherein the determining module 150 is configured to determine that the number of the located objects entering and exiting the dangerous area counted by the UWB locating tag is the number of the located objects actually entering and exiting the dangerous area, if the number of the located objects entering and exiting the dangerous area counted by the UWB locating tag is not less than the number of the located objects entering and exiting the dangerous area counted by the monitoring device.
According to the positioning device based on combination of UWB positioning and monitoring, the number of the positioned targets entering and exiting the dangerous area is realized through the UWB positioning tags and the monitoring device, the problem that personnel without cards in the dangerous area enter the monitoring in the prior art is solved, and the safety of workers can be effectively managed.
For the working principle of the positioning apparatus based on combination of UWB positioning and monitoring provided by the present invention, reference may be made to the foregoing description of the positioning method based on combination of UWB positioning and monitoring, and details are not described herein again.
As a third aspect of the present invention, there is provided a positioning system based on UWB positioning and monitoring, wherein as shown in fig. 6, the positioning system based on UWB positioning and monitoring comprises: UWB location basic station, UWB location label, access control system, monitoring device and the preceding positioner based on UWB location combines with the control, UWB location label with UWB location basic station communication connection, UWB location basic station, access control system and monitoring device all with positioner communication connection based on UWB location combines with the control.
According to the positioning system based on combination of UWB positioning and monitoring, the number of the positioned targets entering and exiting the dangerous area is realized through the UWB positioning tags and the monitoring device, the problem that personnel without cards in the dangerous area enter the monitoring in the prior art is solved, and the safety of workers can be effectively managed.
For the working principle of the positioning system based on the combination of UWB positioning and monitoring provided by the present invention, reference may be made to the foregoing description of the positioning method based on the combination of UWB positioning and monitoring, and details are not repeated here.
It will be understood that the above embodiments are merely exemplary embodiments taken to illustrate the principles of the present invention, which is not limited thereto. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit and substance of the invention, and these modifications and improvements are also considered to be within the scope of the invention.
Claims (9)
1. A positioning method based on combination of UWB positioning and monitoring is characterized in that the positioning method based on combination of UWB positioning and monitoring comprises the following steps:
setting a dangerous area authority corresponding to the UWB positioning tag and setting a dangerous area entering and exiting judgment fence;
counting the number of the positioned objects entering and exiting the dangerous area through the judgment fence according to the dangerous area authority corresponding to the UWB positioning tag;
acquiring the number of the positioned targets entering and exiting the dangerous area counted by the monitoring device;
judging the size between the number of the positioned targets entering and exiting the dangerous area counted by the UWB positioning tags and the number of the positioned targets entering and exiting the dangerous area counted by the monitoring device;
if the number of the positioned objects entering and exiting the dangerous area counted by the UWB positioning tags is not less than the number of the positioned objects entering and exiting the dangerous area counted by the monitoring device, determining the number of the positioned objects entering and exiting the dangerous area counted by the UWB positioning tags as the number of the positioned objects actually entering and exiting the dangerous area;
wherein, the counting of the number of the positioned targets entering and exiting the dangerous area through the judgment fence according to the dangerous area authority corresponding to the UWB positioning tag comprises:
judging whether the positioned target enters a dangerous area or not according to a vector inner product method;
if the positioned targets are judged to enter the dangerous area, counting the number of the positioned targets entering the dangerous area;
and otherwise, counting the number of positioned targets leaving the dangerous area.
2. The positioning method based on the combination of UWB positioning and monitoring as claimed in claim 1, wherein the counting the number of the positioned objects entering and exiting the dangerous area through the decision fence according to the dangerous area authority corresponding to the UWB positioning tag further comprises after the step of deciding that the positioned object enters the dangerous area:
judging whether the positioned target has the authority to enter a dangerous area or not through the UWB positioning tag;
if the positioned target is judged to have the authority of entering the dangerous area, recording the information of the positioned target entering the dangerous area;
otherwise, an alarm signal of non-admittance entrance is sent out.
3. The positioning method based on the combination of UWB positioning and monitoring as claimed in claim 2, wherein the determining whether the positioned object has the right to enter the dangerous area by the UWB positioning tag comprises:
and judging whether the identity of the positioned target accords with the authentication of the access control system or not through the access control system, and judging whether the position of the positioned target is consistent with the position of the access control system or not through the UWB positioning tag.
4. The positioning method based on the combination of UWB positioning and monitoring as claimed in claim 1, wherein the determining whether the positioned object enters the danger zone according to the vector inner product method comprises:
selecting a direction of entering a danger area as a reference vector at the decision fence;
recording a first coordinate of a positioned target entering a danger area at the decision fence;
recording second coordinates of the positioned target when leaving the danger area at the decision fence;
calculating an actual vector from the first coordinate to the second coordinate;
calculating an included angle between the reference vector and the actual vector;
calculating an inner product between the reference vector and the actual vector according to the included angle to obtain an inner product result;
judging whether the inner product result is greater than 0;
if the inner product result is larger than 0, judging that the positioned target enters a dangerous area;
and if the inner product result is less than 0, judging that the positioned target leaves the dangerous area.
5. The positioning method based on the combination of UWB positioning and monitoring as claimed in claim 1, wherein if the number of located objects entering and exiting the dangerous area counted by the UWB positioning tag is not less than the number of located objects entering and exiting the dangerous area counted by the monitoring device, determining that the number of located objects entering and exiting the dangerous area counted by the UWB positioning tag is the number of located objects actually entering and exiting the dangerous area comprises:
judging whether the number of the positioned targets entering and exiting the dangerous area counted by the UWB positioning tags is equal to the number of the positioned targets entering and exiting the dangerous area counted by the monitoring device or not;
if the number of the positioned objects entering and exiting the dangerous area counted by the UWB positioning tags is equal to the number of the positioned objects entering and exiting the dangerous area counted by the monitoring device, determining the number of the positioned objects entering and exiting the dangerous area counted by the UWB positioning tags as the number of the positioned objects actually entering and exiting the dangerous area;
if the number of the positioned targets entering and exiting the dangerous areas counted by the UWB positioning tags is not equal to the number of the positioned targets entering and exiting the dangerous areas counted by the monitoring device, judging whether the number of the positioned targets entering and exiting the dangerous areas counted by the UWB positioning tags is larger than the number of the positioned targets entering and exiting the dangerous areas counted by the monitoring device or not;
and if the number of the positioned objects entering and exiting the dangerous area counted by the UWB positioning tags is larger than the number of the positioned objects entering and exiting the dangerous area counted by the monitoring device, determining that the number of the positioned objects entering and exiting the dangerous area counted by the UWB positioning tags is the number of the positioned objects actually entering and exiting the dangerous area.
6. The positioning method based on the combination of UWB positioning and monitoring as claimed in claim 5, wherein if the number of located objects entering and exiting the dangerous area counted by the UWB positioning tag is not less than the number of located objects entering and exiting the dangerous area counted by the monitoring device, determining that the number of located objects entering and exiting the dangerous area counted by the UWB positioning tag is the number of located objects actually entering and exiting the dangerous area further comprises:
and if the number of the positioned targets entering and exiting the dangerous area counted by the UWB positioning tags is not more than the number of the positioned targets entering and exiting the dangerous area counted by the monitoring device, determining that the number of the positioned targets entering and exiting the dangerous area counted by the monitoring device is the number of the positioned targets actually entering and exiting the dangerous area, and sending out an alarm signal that no card enters the dangerous area.
7. The UWB positioning and monitoring based positioning method of claim 1, wherein the monitoring device comprises a binocular camera.
8. A positioning apparatus based on UWB positioning and monitoring combination, for implementing the positioning method based on UWB positioning and monitoring combination according to any one of claims 1 to 7, wherein the positioning apparatus based on UWB positioning and monitoring combination comprises:
the setting module is used for setting a dangerous area authority corresponding to the UWB positioning tag and setting a dangerous area entering and exiting judgment fence;
the first judgment module is used for counting the number of the positioned targets entering and exiting the dangerous area through the judgment fence according to the dangerous area authority corresponding to the UWB positioning tag;
the acquisition module is used for acquiring the number of the positioned targets entering and exiting the dangerous area counted by the monitoring device;
the second judgment module is used for judging the size between the number of the positioned targets entering and exiting the dangerous area counted by the UWB positioning tags and the number of the positioned targets entering and exiting the dangerous area counted by the monitoring device;
and the determining module is used for determining the number of the positioned objects entering and exiting the dangerous area counted by the UWB positioning tags as the number of the positioned objects actually entering and exiting the dangerous area if the number of the positioned objects entering and exiting the dangerous area counted by the UWB positioning tags is not less than the number of the positioned objects entering and exiting the dangerous area counted by the monitoring device.
9. A positioning system based on UWB positioning and monitoring, wherein the positioning system based on UWB positioning and monitoring comprises: UWB location base station, UWB location label, access control system, monitoring device and claim 8 the positioner based on UWB location combines with the control, UWB location label with UWB location base station communication connection, UWB location base station, access control system and monitoring device all with positioner based on UWB location combines with the control communication connection.
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