CN-114187350-B - Method and device for retrieving target equipment, storage medium and electronic equipment

CN114187350BCN 114187350 BCN114187350 BCN 114187350BCN-114187350-B

Abstract

The embodiment of the application discloses a method and a device for retrieving target equipment, a storage medium and electronic equipment. The method comprises the steps of determining the number of cameras meeting a distance threshold constraint condition, wherein the distance threshold constraint condition is used for representing that target equipment exists in a positioning range of the cameras, the cameras have the functions of receiving signals and sending the signals, determining at least four auxiliary positioning positions of the cameras according to a preset rule if the number of the cameras does not meet the constraint condition of the number of the cameras, calculating first distances among the at least four auxiliary positioning positions of the cameras, calculating second distances among the at least four auxiliary positioning positions of the cameras and the target equipment, and determining the spatial position of the target equipment according to the first distances and the second distances. According to the technical scheme, the single target device can be positioned based on the rotation function of the camera holder, and the problem that the number of cameras nearby the target device is too small to be positioned in space can be solved.

Inventors

ZHANG XIAOLIN
ZHANG ZIZHONG

Assignees

浙江宇视科技有限公司
浙江宇视科技有限公司

Dates

Publication Date: 20260421
Application Date: 20211207
Priority Date: 20211207

Claims (8)

1. A method of retrieving a target device, comprising: determining the number of cameras meeting a distance threshold constraint condition, wherein the distance threshold constraint condition is used for representing that target equipment exists in the positioning range of the cameras; If the number of cameras does not meet the constraint condition of the number of cameras, determining at least four auxiliary positioning positions of the cameras according to a pre-configuration rule, calculating first distances among the at least four auxiliary positioning positions of the cameras, and calculating second distances between the at least four auxiliary positioning positions of the cameras and target equipment; determining a spatial position of the target device according to the first distance and the second distance, so as to be used for positioning the target device; determining at least four auxiliary positioning positions of the cameras according to a pre-configuration rule comprises: Determining at least one camera supporting cradle head distance counting mode, responding to a server request according to the number of cameras, obtaining a cradle head rotating position of at least one camera, and determining at least four camera auxiliary positioning positions based on the cradle head rotating position of the camera and the position of the camera, wherein the camera auxiliary positioning positions comprise the cradle head rotating position of the camera and the position of the camera; the method comprises the steps of selecting two points with fixed diameters of a circumference as the rotation position of a holder of a camera when the number of statistic points requested by a server is 2, selecting three points with equilateral triangles of the circumference as the rotation position of the holder of the camera when the number of statistic points requested by the server is 3, and selecting four points with equilateral quadrilaterals of the circumference as the rotation position of the holder of the camera when the number of statistic points requested by the server is 4.
2. The method of claim 1, wherein calculating a first distance between the at least four camera assisted positioning locations comprises: Under the condition that the at least two camera auxiliary positioning positions belong to different cameras, responding to a server request, sending an ultra-wideband signal, and calculating to obtain a first distance between the at least two camera auxiliary positioning positions; Under the condition that the at least two auxiliary positioning positions of the cameras belong to the same camera, determining a first distance of the at least two auxiliary positioning positions of the cameras based on a preset position distance relation; Correspondingly, calculating the second distance between the auxiliary positioning positions of the at least four cameras and the target equipment comprises the following steps: And responding to the server request, sending an ultra-wideband signal to the target equipment, and calculating to obtain second distances between the auxiliary positioning positions of the at least four cameras and the target equipment.
3. The method of claim 1, wherein determining the number of cameras near the target device that meet the distance threshold constraint comprises: If the state of the target equipment is to be retrieved, determining a target distance between the position of the camera and the target equipment; And if the target distance accords with the distance threshold constraint condition, controlling the camera to count by one until all target distance judgment is finished, and obtaining the number of cameras.
4. The method of claim 1, wherein after determining the number of cameras near the target device that meet the distance threshold constraint, the method further comprises: if the number of cameras meets the constraint condition of the number of cameras, a three-dimensional model is built according to the distance between the positions of at least two cameras, and the spatial position of the target device is determined according to the three-dimensional model and the distance between the positions of the cameras and the target device.
5. The method according to claim 1, wherein the method further comprises: Judging whether the target equipment exists or not, wherein the normal statistical information comprises a time point, a holder position and an equipment distance; if yes, judging whether the rotation position of the camera holder is continuously changed; If yes, the camera is controlled to stop rotating the cradle head, the camera returns to the preset historical cradle head position, the distance between the camera and the target equipment is determined, and a third distance is obtained; If the third distance is not continuously changed, providing the earliest time point which is not continuously changed, the historical holder position which is not continuously changed and the third distance which is not continuously changed; and if the third distance is continuously changed, prompting the user that the target equipment continuously moves, and providing the current time point, the current holder position and the distance between the current camera and the target equipment.
6. An apparatus for retrieving a target device, comprising: The camera number determining module is used for determining the number of cameras meeting the distance threshold constraint condition, wherein the distance threshold constraint condition is used for representing that target equipment exists in the positioning range of the cameras; The distance calculation module is used for determining at least four camera auxiliary positioning positions according to a pre-configuration rule if the number of cameras does not meet the constraint condition of the number of cameras, calculating first distances among the at least four camera auxiliary positioning positions and calculating second distances between the at least four camera auxiliary positioning positions and target equipment; The target equipment space position determining module is used for determining the space position of the target equipment according to the first distance and the second distance so as to be used for positioning the target equipment; Wherein, the distance calculation module includes: The camera auxiliary positioning position determining unit is used for determining at least one camera supporting tripod head distance counting mode, responding to a server request according to the number of cameras, obtaining a tripod head rotating position of at least one camera, and determining at least four camera auxiliary positioning positions based on the camera tripod head rotating position and the camera self position, wherein the camera auxiliary positioning positions comprise the tripod head rotating position of the camera and the camera self position; the method comprises the steps of selecting two points with fixed diameters of a circumference as the rotation position of a holder of a camera when the number of statistic points requested by a server is 2, selecting three points with equilateral triangles of the circumference as the rotation position of the holder of the camera when the number of statistic points requested by the server is 3, and selecting four points with equilateral quadrilaterals of the circumference as the rotation position of the holder of the camera when the number of statistic points requested by the server is 4.
7. A computer readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements a method of retrieving a target device according to any one of claims 1-5.
8. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of retrieving a target device as claimed in any one of claims 1-5 when the computer program is executed.

Description

Method and device for retrieving target equipment, storage medium and electronic equipment Technical Field The embodiment of the application relates to the technical field of positioning of the Internet of things, in particular to a method and a device for retrieving target equipment, a storage medium and electronic equipment. Background Mobile devices such as mobile phones and watches are an indispensable part of life and work, but due to requirements on use scenes and convenience, the devices are often small and easy to lose, and particularly the devices are silent and have scenes covered by other objects, so that the target devices are difficult to retrieve quickly. In the prior art, a camera supporting three-dimensional imaging and UWB (UltraWide Band ) functions is combined, and an indoor target device is positioned by utilizing a UWB technology and an identification matching method. However, the method has a limit on the number of target devices, more than two are required, and the problem that the number of cameras nearby the target devices is too small to be positioned in space cannot be solved. Disclosure of Invention The embodiment of the application provides a method and a device for retrieving target equipment, a storage medium and electronic equipment, which can be used for positioning single target equipment based on a camera holder rotation function and solving the problem that the number of cameras nearby the target equipment is too small to be positioned in space. In a first aspect, an embodiment of the present application provides a method for retrieving a target device, where the method includes: determining the number of cameras meeting a distance threshold constraint condition, wherein the distance threshold constraint condition is used for representing that target equipment exists in the positioning range of the cameras; If the number of cameras does not meet the constraint condition of the number of cameras, determining at least four auxiliary positioning positions of the cameras according to a pre-configuration rule, calculating first distances among the at least four auxiliary positioning positions of the cameras, and calculating second distances between the at least four auxiliary positioning positions of the cameras and target equipment; And determining the spatial position of the target equipment according to the first distance and the second distance, so as to be used for positioning the target equipment. In a second aspect, an embodiment of the present application provides an apparatus for retrieving a target device, where the apparatus includes: The camera number determining module is used for determining the number of cameras meeting the distance threshold constraint condition, wherein the distance threshold constraint condition is used for representing that target equipment exists in the positioning range of the cameras; The distance calculation module is used for determining at least four camera auxiliary positioning positions according to a pre-configuration rule if the number of cameras does not meet the constraint condition of the number of cameras, calculating first distances among the at least four camera auxiliary positioning positions and calculating second distances between the at least four camera auxiliary positioning positions and target equipment; And the target equipment space position determining module is used for determining the space position of the target equipment according to the first distance and the second distance so as to be used for positioning the target equipment. In a third aspect, an embodiment of the present application provides a computer readable storage medium having stored thereon a computer program, which when executed by a processor, implements a method for retrieving a target device according to an embodiment of the present application. In a fourth aspect, an embodiment of the present application provides an electronic device, including a memory, a processor, and a computer program stored on the memory and capable of being executed by the processor, where the processor executes the computer program to implement a method for retrieving a target device according to the embodiment of the present application. The technical scheme provided by the embodiment of the application comprises the steps of determining the number of cameras meeting the distance threshold constraint condition, determining at least four auxiliary positioning positions of the cameras according to a preset rule if the number of the cameras does not meet the camera number constraint condition, calculating first distances among the at least four auxiliary positioning positions of the cameras, calculating second distances between the at least four auxiliary positioning positions of the cameras and target equipment, and determining the spatial position of the target equipment according to the first distances and the second distances. According to the technical scheme, the si