CN115273401B - Method and system for automatically sensing falling of person - Google Patents
Method and system for automatically sensing falling of person Download PDFInfo
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
- G08B21/04—Alarms for ensuring the safety of persons responsive to non-activity, e.g. of elderly persons
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- G08B21/043—Alarms for ensuring the safety of persons responsive to non-activity, e.g. of elderly persons based on behaviour analysis detecting an emergency event, e.g. a fall
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- G06V10/25—Determination of region of interest [ROI] or a volume of interest [VOI]
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
- G08B21/04—Alarms for ensuring the safety of persons responsive to non-activity, e.g. of elderly persons
- G08B21/0438—Sensor means for detecting
- G08B21/0476—Cameras to detect unsafe condition, e.g. video cameras
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Abstract
The invention relates to a method and a system for automatically sensing personnel falling, wherein the method is to track personnel in a region with a designated range by sensing equipment and mark key personnel; sensing and judging the falling or suspected falling state of the personnel, and positioning and assisting the falling personnel in a combined mode; correspondingly, the system is provided with a plurality of sensing units in the electronic fence to track the personnel, and the control end is used for processing the information returned by the sensing units, marking key personnel, sensing and judging the falling state or suspected falling state of the personnel, positioning the falling personnel and sending out rescue. The invention carries out hierarchical tracking on personnel, so that the resource is not wasted, and the overall calculation amount is low; acquiring a falling state and/or a suspected falling state of key personnel based on centroid movement and a confidence algorithm, and timely assisting the key personnel; positioning in a combined mode to obtain positioning information faster; is especially suitable for large outdoor open space with blind areas.
Description
Technical Field
The present invention relates to signaling or calling devices; instruction signalling means; the technical field of alarm devices, in particular to a method and a system for automatically sensing falling of personnel.
Background
The intelligent community is a new idea of community management, is a new mode of social management innovation under new situation, fully utilizes the integrated application of new generation information technologies such as the Internet of things, cloud computing and the mobile Internet, and provides a safe, comfortable and convenient modern and intelligent living environment for residents in the community, so that a community with a new management form based on informationized and intelligent social management and service is formed.
With the popularization of intelligent communities, the dependence on informatization is gradually increased, and human-to-human interaction is gradually reduced, so that the intensity of informatization and human care cannot be balanced in many fields, such as an open space in the communities, when people fall down, the people cannot be found for the first time, rescue work is delayed, and when the falling down occurs in old people or children, the consequences are unpredictable.
In the prior art, the fall identification comprises a contact type mode and a non-contact type mode; the contact type identification is probably more effective for children, but is often not accepted by the old, so that the guardian cannot acquire the falling information of the old at the first time; the non-contact identification is often realized by adopting an infrared imaging mode, but due to the limitation of the infrared imaging, the infrared imaging mode cannot fully cover a monitoring field, the communication effect is unstable, and the implementation difficulty is high.
Chinese patent "method and apparatus for fall detection, fall detection system, storage medium" (publication No. CN 114758475A) discloses that by acquiring the status of indoor personnel; under the condition that the indoor personnel are in a falling state, controlling the mobile equipment to move to the position of the indoor personnel; controlling mobile equipment to acquire indoor personnel image information; determining whether the indoor personnel are in a falling state according to the image information; acquiring the state of indoor personnel through equipment with a detection function, and controlling the mobile equipment to perform further identification confirmation under the condition that the indoor user is judged to be in a falling state currently; after the mobile equipment moves to the position of the indoor personnel, acquiring image information of the indoor personnel from multiple angles, and further determining whether the indoor personnel is in a falling state; so as to ensure that the camera can accurately acquire the current state of the user and improve the applicability of the falling detection system.
The Chinese patent 'a non-contact type indoor personnel falling recognition method based on an Internet of things platform' (publication No. CN 112435440A) discloses that captured infrared thermal images comprising indoor personnel thermal information are transmitted to a cloud server in real time through an NB-IoT narrowband wireless communication module, meanwhile, alarm information of personnel falling is returned to a monitoring device installed in an indoor monitoring area, bidirectional wireless connection is realized, no local gateway and no central network are realized, industrial system reliability is realized, and therefore, wide-coverage non-contact type indoor personnel falling recognition is realized without connecting with a home broadband network; the intelligent and rapid falling behavior recognition is realized through the processes of collecting NB-IoT narrowband transmission through infrared thermal images with low resolution, enhancing infrared thermal image resolution, extracting human body posture characteristics, falling and returning falling information to a guardian mobile phone and sending alarm information to an alarm device to send alarm sounds.
However, the above-mentioned techniques focus on indoor space, which has an inherent advantage in resolution of image information, and in fact, they cannot be applied to recognition of falling of a person in an open environment; furthermore, in addition to identifying a fall of a person, rapid positioning of the person in an open outdoor space is also required, which is not possible with the above-described technique.
Disclosure of Invention
The invention solves the problems existing in the prior art and provides a method and a system for automatically sensing the falling of a person.
The technical scheme adopted by the invention is that the method for automatically sensing the falling of the personnel is used for tracking the track of the personnel in the area of the appointed range by sensing equipment and marking key personnel; and sensing and judging the falling state or the suspected falling state of the personnel, and positioning and assisting the falling personnel in a combined mode.
Preferably, the method comprises the steps of:
Step 1: for any sensing device, an initial sensing image in a designated range is obtained as a background image, and an interested region is marked;
step 2: updating a perceived image of the current perceived device, when the difference value between the perceived image at any moment and the background image in the region of interest is larger than a threshold value, performing the next step, otherwise, repeating the step 2;
Step 3: the perceived image at the current moment and the background image are subjected to difference, and a minimum circumscribed rectangle is set for a plurality of image elements with the difference value larger than a threshold value in the region of interest; if the current minimum circumscribed rectangle has displacement in a plurality of subsequent frames, carrying out the next step, otherwise, giving up tracking, and repeating the step 2;
step 4: acquiring the height and width ratio corresponding to the current minimum circumscribed rectangle, if the preset requirement is met, considering the tracking object as a person, carrying out the next step, otherwise, giving up tracking, and repeating the step 2;
Step 5: judging key personnel corresponding to the current minimum circumscribed rectangle, if the key personnel are preset key personnel, marking, and leading the marked personnel in the sequence of the tracking list; in the tracking process, if a falling state and/or a suspected falling state occurs, a combined mode is started to locate and assist falling personnel, otherwise, tracking is continued until the current personnel are sensed by the next sensing equipment or enter a safe area.
Preferably, in the step 5, the key people are old people and children;
Acquiring the displacement speed of a person corresponding to the current minimum circumscribed rectangle, and acquiring other angle circumscribed rectangles of the person corresponding to the current minimum circumscribed rectangle;
If the height and width ratios corresponding to the current minimum circumscribed rectangle and the circumscribed rectangle with other angles meet the preset conditions and the displacement speed is smaller than the preset value, judging that the current person is the old person;
If the height and the width corresponding to the current minimum circumscribed rectangle are within the preset range and the height is within the preset range, judging that the current person is a child.
Preferably, in the step 5, for any minimum bounding rectangle, calibrating the centroid position; and acquiring the acceleration of the centroid corresponding to the minimum circumscribed rectangle in the vertical direction, if the acceleration in the vertical direction jumps, acquiring the height and width ratio of the current minimum circumscribed rectangle, and defining the personnel corresponding to the minimum circumscribed rectangle with the height and width ratio meeting the preset condition as a falling state.
Preferably, in the step 5, if there are dead zones between the specified ranges of any 2 or more sensing devices, the traveling direction of the key person in the sensing device through which the first key person passes is obtained, and the traffic confidence of the corresponding other sensing devices is calculated; if the occurrence of the key person is not perceived by any other perception device in the preset time, judging that the current key person is in a suspected falling state, and positioning the key person falling in sequence by taking the passing confidence as a standard from high to low.
Preferably, the combined mode includes a first positioning mode and a second positioning mode;
The first positioning mode is used for acquiring the falling state or suspected falling state of a person and positioning the falling or suspected falling position information;
The second positioning mode is that other personnel report the situation of the person falling or suspected falling, and position information of the falling or suspected falling is positioned.
Preferably, in the second positioning mode, if a plurality of other persons initiate reporting from different positions, position information and reporting time of the reporting points are obtained, and position area distribution of falling or suspected falling is calculated.
A system for automatically perceiving a fall of a person employing the method, the system comprising:
the sensing units are arranged in the electronic fence and are used for tracking the track of the personnel in the area with the designated range;
the distress positioning units are arranged in the electronic fence and are used for positioning distress on the falling situation of the personnel;
the control end is used for processing the information returned by the sensing unit, marking key personnel, sensing and judging the falling state or suspected falling state of the personnel, positioning the falling personnel and sending out rescue.
Preferably, the sensing unit comprises a camera and an unmanned aerial vehicle; the perceived image of the camera is a continuous image corresponding to the video frame, and the perceived image of the unmanned aerial vehicle is a thermal imaging image; the unmanned aerial vehicle is provided with a sound amplifying unit for realizing voice output in the positioning and rescue process.
Preferably, the distress positioning unit comprises a mobile terminal and a fixed point calling device.
The invention provides a method and a system for automatically sensing personnel falling, wherein the method is to track personnel in a region with a designated range by sensing equipment and mark key personnel; sensing and judging the falling state or suspected falling state of the personnel, and positioning and assisting the falling personnel in a combined mode; correspondingly, the system takes the application range of the electronic fence surrounding system as an induction area, a plurality of sensing units are arranged in the electronic fence, track tracking is carried out on personnel in the area with the appointed range, and a control end is used for processing information returned by the sensing units, marking key personnel, sensing and judging the falling state or suspected falling state of the personnel, positioning and sending out rescue to the falling personnel.
The invention has the beneficial effects that:
(1) The personnel in the designated area range are tracked in a grading manner, important personnel are particularly concerned, the resource waste is avoided, and the overall calculation amount is low;
(2) Acquiring the falling state and/or suspected falling state of key personnel based on centroid movement and a confidence algorithm, so as to ensure that the key personnel can be assisted in time;
(3) In the assistance process, the falling personnel are subjected to combined mode positioning, and positioning information can be acquired more quickly in an outdoor open space;
(4) Is especially suitable for large outdoor open space with blind areas.
Drawings
FIG. 1 is a flow chart of the method of the present invention;
Fig. 2 is a schematic diagram of acceleration jump in embodiment 3 of the present invention, corresponding to the states of normal walking, falling and squatting, respectively;
FIG. 3 is a schematic diagram of example 4 of the present invention;
FIG. 4 is a diagram of a second positioning mode in embodiment 5 of the present invention;
Fig. 5 is a schematic diagram of the system structure of the present invention, and the arrow indicates the direction of signal or data transmission.
Detailed Description
The present invention will be described in further detail with reference to examples, but the scope of the present invention is not limited thereto.
The invention relates to a method for automatically sensing personnel falling, which is used for tracking the track of personnel in a region with a designated range by sensing equipment and marking key personnel; and sensing and judging the falling state or the suspected falling state of the personnel, and positioning and assisting the falling personnel in a combined mode.
In the present invention, the area of the specified range means that for each sensing device, it has the area of the specified range, and the space surrounded by all sensing devices covers the entire area.
In the present invention, the area of the designated area includes an open park and a building interior, and generally does not include an independent living room.
In the present invention, embodiments are presented for practical application of the present method and system.
Example 1
As shown in fig. 1, the method comprises the steps of:
Step 1: for any sensing device, an initial sensing image in a designated range is obtained as a background image, and an interested region is marked;
In step 1, no matter which sensing device is, it needs to obtain a sensing image within a specified range in the sensing process, so that the initial sensing image is necessary as a background image.
In the invention, the perceived area is generally in a downward shooting angle at a high position, so that the monitored perception range is larger in reality, cannot be better concentrated, and more invalid information is easy to appear, and therefore, the perceived image of the perception device is divided into the interested areas, namely, the perceived image is mainly compared with the information in the interested areas, and other interference information such as object falling, background shaking caused by wind and the like are not concerned.
Step 2: updating a perceived image of the current perceived device, when the difference value between the perceived image at any moment and the background image in the region of interest is larger than a threshold value, performing the next step, otherwise, repeating the step 2;
Step 3: the perceived image at the current moment and the background image are subjected to difference, and a minimum circumscribed rectangle is set for a plurality of image elements with the difference value larger than a threshold value in the region of interest; if the current minimum circumscribed rectangle has displacement in a plurality of subsequent frames, carrying out the next step, otherwise, giving up tracking, and repeating the step 2;
In the invention, when the difference value between the sensing image and the background image at any moment is larger than the threshold value, the sensing image and the background image at the moment are required to be subjected to difference, namely pixel points are subjected to difference, the pixel points with the difference value larger than the threshold value are reserved, but the pixel points are pointed to the corresponding extraneous person or object, but the pixel points are obviously not enough, and the boundary of the pixel points is always in a certain degree of missing, so that the reserved pixel points are framed with circumscribed rectangles, and a minimum circumscribed rectangle capable of surrounding and marking the current extraneous person or object is obtained.
In the invention, as the minimum circumscribed rectangle is corresponding to a possible person or an object, whether the current minimum circumscribed rectangle has displacement in a plurality of subsequent frames is judged, if so, the person passes through the method, the subsequent perception judgment is needed, otherwise, the person is the object, and the tracking is abandoned.
In the present invention, the threshold in step 2 needs to be adjusted according to the light change, the image resolution, etc., which is easily understood by those skilled in the art, and may be adjusted by the controller by sensing the light change.
In the present invention, the frames in step 3 typically cover a 5 minute time.
Step 4: acquiring the height and width ratio corresponding to the current minimum circumscribed rectangle, if the preset requirement is met, considering the tracking object as a person, carrying out the next step, otherwise, giving up tracking, and repeating the step 2;
In the invention, the height and width ratio corresponding to the minimum circumscribed rectangle are used for identifying the framed person, animal or light object (the light object can be blown to generate displacement); generally, as a vertically walking human, the height-to-width ratio of the human body is greater than 1, while animals are generally smaller than 1, and the height-to-width ratio of the light object is not fixed and is liable to have large fluctuation in the process of drifting, so that a tracking object can be rapidly identified and the tracking of people is focused on.
Step 5: judging key personnel corresponding to the current minimum circumscribed rectangle, if the key personnel are preset key personnel, marking, and leading the marked personnel in the sequence of the tracking list; in the tracking process, if a falling state and/or a suspected falling state occurs, a combined mode is started to locate and assist falling personnel, otherwise, tracking is continued until the current personnel are sensed by the next sensing equipment or enter a safe area.
In the invention, for key personnel, the tracked weight of the key personnel needs to be increased, so that the first time can be ensured to sense the falling state and/or the suspected falling state of the key personnel, and the key personnel can be timely rescued.
In the invention, all the sensing devices are networked, and when a person leaves the sensing range of the previous sensing device, the next sensing device realizes subsequent tracking after sensing the person; the safe area is generally referred to as an independent, private residence space.
Example 2
On the basis of the embodiment 1, in the step5, the important people are old people and children;
Acquiring the displacement speed of a person corresponding to the current minimum circumscribed rectangle, and acquiring other angle circumscribed rectangles of the person corresponding to the current minimum circumscribed rectangle;
If the height and width ratios corresponding to the current minimum circumscribed rectangle and the circumscribed rectangle with other angles meet the preset conditions and the displacement speed is smaller than the preset value, judging that the current person is the old person;
If the height and the width corresponding to the current minimum circumscribed rectangle are within the preset range and the height is within the preset range, judging that the current person is a child.
In this embodiment, since the elderly and children (generally referred to as independent persons) have a certain difficulty in calling for help after falling down and have longer response time than those of other age groups, the important persons are defined as the elderly and children.
In this embodiment, the determination of whether it is the elderly person is performed by combining the shape and the displacement speed, and generally, the preset conditions that should be satisfied due to the shape characteristics of the elderly person include:
(1) Different height and width ratios can appear from front to back or left to right, which can be obtained by angle transformation of the sensing device;
(2) The height and width of the elderly are generally closer to 1.2.
In this embodiment, the number of other angle-circumscribed rectangles is generally 1-2, and the ratio of the height to the width of the other angle-circumscribed rectangles is greater than the difference of other personnel.
In this embodiment, the old people's determination needs to satisfy that the displacement speed is obviously smaller than the average speed of the adult, and if the above two conditions are satisfied, the current person is determined to be the old people.
In this embodiment, whether the person is a child is determined mainly by the body shape, and in general, the body shape proportion of the child is larger, at this time, the person needs to be screened by the body height, the corresponding person is determined to be the child, and the general body height is defined as 50 cm-130 cm.
Example 3
In the step 5, for any minimum circumscribed rectangle, calibrating the centroid position; and acquiring the acceleration of the centroid corresponding to the minimum circumscribed rectangle in the vertical direction, if the acceleration in the vertical direction jumps, acquiring the height and width ratio of the current minimum circumscribed rectangle, and defining the personnel corresponding to the minimum circumscribed rectangle with the height and width ratio meeting the preset condition as a falling state.
In this embodiment, define the behavior feature at the time of falling:
(1) The mass center generates larger fluctuation in speed in the vertical direction;
(2) The height of the mass center is basically kept unchanged in a short time after the ground is poured;
(3) The height and width ratio of the minimum circumscribed rectangle change obviously after falling, and the minimum circumscribed rectangle falls down generally;
the main situation to be excluded here is the squat condition.
In this embodiment, the centroid corresponding to any person is generally located at the upper waist, that is, let the minimum bounding rectangle be [ x, y, w, h ], x and y be the x coordinate and y coordinate of the lower left corner, w be the width, h be the height, and then the centroid is generally located at (x 1, y 1), where x1=x+0.5w, y1=y+0.45 h;
the mass center positions of the personnel in the continuous three-frame images are recorded, the speed of the personnel in the vertical direction in the current frame can be obtained, and the acceleration of the personnel in the vertical direction in the current frame, namely the speed difference between the current frame and the last frame of the personnel can be obtained through the speed of the current frame and the last frame of the personnel;
When a person is in a normal walking state, the acceleration of the mass center in the vertical direction is in a relatively stable fluctuation state, and when the person falls or squats, the fluctuation of the acceleration of the mass center in the vertical direction is obviously increased; as shown in FIG. 2, the star line shows the change condition of acceleration in the vertical direction when a person walks normally, at this moment, the acceleration in the vertical direction of the centroid fluctuates up and down along with a small range of regular motion, the change condition of acceleration in the vertical direction when the person falls down is shown by the solid line, the two actions of falling down and climbing up from the ground both generate larger fluctuation of acceleration in the vertical direction and are obviously larger than the state when the person walks normally, before the person falls down and does not rise up, the acceleration in the vertical direction only generates small fluctuation, the fluctuation degree is obviously smaller than the fluctuation when the person walks normally, the broken line shows the change condition of acceleration in the vertical direction when the person squats down, and similar to the falling down behavior, the larger fluctuation of speed is generated in the vertical direction; based on this, when the acceleration of the person in the vertical direction is within a preset range, it is determined that a falling behavior may occur;
The value of the ratio of the height to the width of the minimum circumscribed rectangle is reduced in the process of falling and squatting behaviors of personnel, but the ratio of the height to the width of the falling is reduced more obviously, so the falling and squatting behaviors can be further distinguished by setting a threshold value, generally, the threshold value is 0.75, if the threshold value is less than 0.75, the falling is caused, and otherwise, the squatting is caused.
Example 4
In step 5, as shown in fig. 3, if there are blind areas between the designated ranges of any 2 or more sensing devices, the traveling direction of the key person in the sensing device through which the first key person passes is obtained, and the traffic confidence of the corresponding other sensing devices is calculated; if the occurrence of the key person is not perceived by any other perception device in the preset time, judging that the current key person is in a suspected falling state, and positioning the key person falling in sequence by taking the passing confidence as a standard from high to low.
In this embodiment, for a blind area enclosed by any 2 or more sensing devices, such as an O area in the figure, the corresponding possible paths include A, B, C, D, E, F, and assuming that the sensing device through which the first sensing key person passes is the sensing device in the path a, and the travelling direction of the key person in the sensing process is the direction of the solid arrow, the included angles between B, C, D, E, F five paths (generally taking the midpoints of the intersections) and the solid arrow are calculated, and the smaller the angle is, the higher the traffic confidence of the corresponding path is, such as E, D, C, F, B is the confidence sequence of B, C, D, E, F five paths in the figure.
In this embodiment, if none of the other sensing devices senses the occurrence of the important person within a preset time, the current important person is judged to be in a suspected falling state, and the preset time is generally calculated by the walking speed of the current person.
In this embodiment, if it is determined that the person is in the suspected falling state, the important falling person is positioned in sequence with the passing confidence from high to low as a standard, and is more likely to be near the path with high passing confidence, as shown in fig. 2, the region near E is emphasized.
Example 5
The combined mode comprises a first positioning mode and a second positioning mode;
The first positioning mode is used for acquiring the falling state or suspected falling state of a person and positioning the falling or suspected falling position information;
The second positioning mode is that other personnel report the situation of the person falling or suspected falling, and position information of the falling or suspected falling is positioned.
In the second positioning mode, if a plurality of other persons initiate reporting from different positions, position information and reporting time of the reporting points are obtained, and position area distribution of falling or suspected falling is calculated.
In this embodiment, the first positioning mode means that a device for positioning is provided on the person, so that direct positioning can be achieved.
In this embodiment, the second positioning mode refers to positioning by other people, and since a plurality of positioning people may appear, besides the positioning of the mobile terminals of other people is obtained, a fixed-point calling device is often further provided in the smart community, the positioning accuracy of the fixed-point calling device is higher, but the positioning of the mobile terminals around the falling people is often denser, as shown in fig. 4, when positioning is performed in the second positioning mode, the solid circle is the fixed-point calling device, the accuracy is high, the coverage area is large, the confidence is generally higher, and the 2 hollow circles are the positioning and signal coverage surfaces of other people nearby the falling people initiated a call by the mobile terminals, although the accuracy is not as high as that of the fixed-point calling device, but the confidence is more dense, so the confidence can be properly adjusted, and in this case, the positioning from the signal staggered positions of 3 call sources and searching for the falling people are better choices.
As shown in fig. 5, the present invention also relates to a system for automatically sensing a fall of a person using the method, the system comprising:
the sensing units are arranged in the electronic fence and are used for tracking the track of the personnel in the area with the designated range;
the distress positioning units are arranged in the electronic fence and are used for positioning distress on the falling situation of the personnel;
the control end is used for processing the information returned by the sensing unit, marking key personnel, sensing and judging the falling state or suspected falling state of the personnel, positioning the falling personnel and sending out rescue.
The sensing unit comprises a camera and an unmanned aerial vehicle; the perceived image of the camera is a continuous image corresponding to the video frame, and the perceived image of the unmanned aerial vehicle is a thermal imaging image; the unmanned aerial vehicle is provided with a sound amplifying unit for realizing voice output in the positioning and rescue process.
The distress positioning unit comprises a mobile terminal and a fixed-point calling device.
In the present invention, it is apparent that all units in the system have application boundaries, i.e. electronic fences, for enclosing the range of system applications as a sensing area.
In the invention, the camera is used as the sensing unit, so that continuous video images can be acquired, and the unmanned aerial vehicle can carry the far infrared sensor to acquire a thermal imaging image, in particular to a thermal imaging image of a sensing blind area, thereby being convenient for quickly acquiring the positioning of falling personnel.
According to the invention, the sound amplifying unit configured by the unmanned aerial vehicle can be convenient for rescue personnel to call, manually guide ground personnel to rescue, and the like.
In the invention, the mobile terminal generally realizes the help calling positioning by the mobile phone and the built-in positioning function thereof, which is the content easily understood by the person skilled in the art; the fixed-point calling device is generally remote calling equipment arranged in the electronic fence, and is generally connected to the control end through an underground cable, so that accurate positioning and long-term availability are realized.
In order to achieve the above embodiments, a computer readable storage medium is provided, on which an intelligent ladder restraining program based on an ant colony algorithm is stored, which when executed by a processor, implements the intelligent ladder restraining method based on the ant colony algorithm, and mainly solves the problem of disordered ladder riding in the prior art, so that a user can smoothly ride a ladder from a departure layer to an arrival layer in a planning time.
In order to realize the above embodiment, the present invention also relates to a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program, based on the intelligent ladder-approaching method based on the ant colony algorithm.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (5)
1. A method for automatically sensing a fall of a person, comprising: tracking the track of the personnel in the area of the appointed range by using the sensing equipment, marking key personnel, wherein the key personnel are old people and children; sensing and judging the falling state or suspected falling state of the personnel, and positioning and assisting the falling personnel in a combined mode; the method comprises the following steps:
Step 1: for any sensing device, an initial sensing image in a designated range is obtained as a background image, and an interested region is marked;
step 2: updating a perceived image of the current perceived device, when the difference value between the perceived image at any moment and the background image in the region of interest is larger than a threshold value, performing the next step, otherwise, repeating the step 2;
Step 3: the perceived image at the current moment and the background image are subjected to difference, and a minimum circumscribed rectangle is set for a plurality of image elements with the difference value larger than a threshold value in the region of interest; if the current minimum circumscribed rectangle has displacement in a plurality of subsequent frames, carrying out the next step, otherwise, giving up tracking, and repeating the step 2;
step 4: acquiring the height and width ratio corresponding to the current minimum circumscribed rectangle, if the preset requirement is met, considering the tracking object as a person, carrying out the next step, otherwise, giving up tracking, and repeating the step 2;
Step 5: judging key personnel corresponding to the current minimum circumscribed rectangle, acquiring the displacement speed of the personnel corresponding to the current minimum circumscribed rectangle, and acquiring other angle circumscribed rectangles of the personnel corresponding to the current minimum circumscribed rectangle; if the height and width ratios corresponding to the current minimum circumscribed rectangle and the circumscribed rectangle with other angles meet the preset conditions and the displacement speed is smaller than the preset value, judging that the current person is the old person; if the height and the width corresponding to the current minimum circumscribed rectangle are within the preset range and the height is within the preset range, judging that the current person is a child;
If the person is a preset key person, marking, wherein the marked person is arranged in the front of the sequence in the tracking list;
calibrating the centroid position of any minimum circumscribed rectangle; acquiring acceleration of a centroid corresponding to the minimum circumscribed rectangle in the vertical direction, if the acceleration in the vertical direction jumps, acquiring the height and width ratio of the current minimum circumscribed rectangle, and defining a falling state for a person corresponding to the minimum circumscribed rectangle of which the height and width ratio meets a preset condition;
if blind areas exist among the appointed ranges of any 2 or more sensing devices, acquiring the advancing direction of key personnel in the sensing device through which the first key personnel pass, and calculating the passing confidence coefficient of other corresponding sensing devices; if no other sensing equipment senses the occurrence of the key personnel within the preset time, judging that the current key personnel is in a suspected falling state, and sequentially positioning the key personnel falling by taking the passing confidence as a standard from high to low;
In the tracking process, if a falling state and/or a suspected falling state occurs, starting a combined mode to locate and assist falling personnel, otherwise, continuing tracking until the current personnel is perceived by the next perception device or enters a safety area;
The combined mode comprises a first positioning mode and a second positioning mode; the first positioning mode is used for acquiring the falling state or suspected falling state of a person and positioning the falling or suspected falling position information; the second positioning mode is that other personnel report the situation of the person falling or suspected falling, and position information of the falling or suspected falling is positioned.
2. A method of automatically sensing a fall of a person as claimed in claim 1, wherein: in the second positioning mode, if a plurality of other persons initiate reporting from different positions, position information and reporting time of the reporting points are obtained, and position area distribution of falling or suspected falling is calculated.
3. A system for automatically sensing a fall of a person using the method of any one of claims 1 to 2, characterized in that: the system comprises:
the sensing units are arranged in the electronic fence and are used for tracking the track of the personnel in the area with the designated range;
the distress positioning units are arranged in the electronic fence and are used for positioning distress on the falling situation of the personnel;
the control end is used for processing the information returned by the sensing unit, marking key personnel, sensing and judging the falling state or suspected falling state of the personnel, positioning the falling personnel and sending out rescue.
4. A system for automatically perceiving a fall of a person as claimed in claim 3, wherein: the sensing unit comprises a camera and an unmanned aerial vehicle; the perceived image of the camera is a continuous image corresponding to the video frame, and the perceived image of the unmanned aerial vehicle is a thermal imaging image; the unmanned aerial vehicle is provided with a sound amplifying unit for realizing voice output in the positioning and rescue process.
5. A system for automatically perceiving a fall of a person as claimed in claim 3, wherein: the distress positioning unit comprises a mobile terminal and a fixed-point calling device.
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| CN109145696A (en) * | 2017-06-28 | 2019-01-04 | 安徽清新互联信息科技有限公司 | A kind of Falls Among Old People detection method and system based on deep learning |
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| CN111353367A (en) * | 2019-08-19 | 2020-06-30 | 深圳市鸿合创新信息技术有限责任公司 | Face attendance checking method, device, equipment and storage medium based on thermal imaging |
| CN110477925B (en) * | 2019-08-23 | 2022-05-24 | 广东省智能制造研究所 | Fall detection and early warning method and system for elderly people in nursing home |
| US20220406159A1 (en) * | 2020-03-19 | 2022-12-22 | Hitachi, Ltd | Fall Risk Assessment System |
| CN113197568A (en) * | 2021-04-19 | 2021-08-03 | 深圳市安全守护科技有限公司 | Fall reminding method, device, equipment and computer readable storage medium |
| CN113793475A (en) * | 2021-08-05 | 2021-12-14 | 南京信息职业技术学院 | System and method for detecting falling of old people in key area |
| CN113688734B (en) * | 2021-08-25 | 2023-09-22 | 燕山大学 | FPGA heterogeneous acceleration-based old people falling detection method |
| CN114676956A (en) * | 2022-01-04 | 2022-06-28 | 哈尔滨工业大学（威海） | Old man's risk early warning system that tumbles based on multidimensional data fusion |
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| CN109145696A (en) * | 2017-06-28 | 2019-01-04 | 安徽清新互联信息科技有限公司 | A kind of Falls Among Old People detection method and system based on deep learning |
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