WO2020057083A1 - 警卫线路安保方法和计算机存储介质 - Google Patents
警卫线路安保方法和计算机存储介质 Download PDFInfo
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- WO2020057083A1 WO2020057083A1 PCT/CN2019/079613 CN2019079613W WO2020057083A1 WO 2020057083 A1 WO2020057083 A1 WO 2020057083A1 CN 2019079613 W CN2019079613 W CN 2019079613W WO 2020057083 A1 WO2020057083 A1 WO 2020057083A1
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- security
- point
- point camera
- positioning information
- vehicle
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- 238000000034 method Methods 0.000 title claims abstract description 55
- 230000015654 memory Effects 0.000 claims description 32
- 238000004590 computer program Methods 0.000 claims description 7
- 238000004422 calculation algorithm Methods 0.000 claims description 5
- 238000012545 processing Methods 0.000 description 23
- 230000006870 function Effects 0.000 description 12
- 238000012544 monitoring process Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000003384 imaging method Methods 0.000 description 2
- 230000003213 activating effect Effects 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0044—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by providing the operator with a computer generated representation of the environment of the vehicle, e.g. virtual reality, maps
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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
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
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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
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
Definitions
- the invention relates to the technical field of security of security, in particular to a method of security of security lines and a computer storage medium.
- the current security of the security line usually tells the location of the security guidance team in real time through intercom, and the command center checks the surrounding video of the security guidance vehicle in real time through the two-dimensional map based on the information of the intercom to conduct security command. Or by installing a 4G image transmission device with GPS positioning on the security guidance vehicle, the real-time screen of the security guidance vehicle is transmitted back to the command center in real time, and the position of the guidance vehicle is displayed in real time on a two-dimensional or three-dimensional map, and the real-time trajectory is displayed.
- the command center receives the GPS positioning information sent back by the guidance vehicle, automatically obtains the surrounding cameras based on the positioning information, and opens it in advance to quickly understand the surrounding dynamics.
- the prior art lacks a vantage point monitoring and cannot follow a guided vehicle in the vantage point monitoring screen.
- the guided vehicle enters from one high point camera range to another high point camera range, automatic switch of the high point camera cannot be realized, which is inconvenient. Carry out security work on guard lines.
- the present invention provides a security line security method.
- the method can follow the security guidance vehicle in a command point monitoring screen, quickly understand the surrounding dynamics of the security guidance vehicle, and facilitate the development of security work on the security line.
- the present invention provides a security line security method.
- the method includes: receiving positioning information of a security guidance vehicle and generating a security guidance vehicle trajectory; searching for the periphery of the security guidance vehicle according to the positioning information The low-point camera and the high-point camera and feedback the search information; according to the search information, the searched high-point camera is turned on to locate the security guidance vehicle.
- a low-point camera can shoot a security guided vehicle and the surrounding environment in real time, and a high-point camera performs a high-point shooting of the security guided vehicle, thereby realizing the follow-up function of the high-point camera and facilitating security.
- the personnel quickly understand the surrounding environment, and carry out the security work of the guard line more intuitively and effectively.
- the positioning information is GPS positioning information.
- the receiving the positioning information of the security guidance vehicle and generating the security guidance vehicle trajectory includes: receiving the positioning information of the security guidance vehicle in real time; and inputting the positioning information to a map according to the map.
- the positioning information generates the security guided vehicle trajectory in real time.
- the map is a two-dimensional map or a three-dimensional map.
- the searching for the low-point camera and the high-point camera around the security guided vehicle according to the positioning information and feeding back the search information includes: calculating the periphery of the security guided vehicle in real time according to the positioning information. A low-point camera within a first predetermined range, and inputting search information of the security guided vehicle about the low-point camera to a multi-video playback window.
- the multi-video playback window plays low-point videos of the security guided vehicle and the low-point cameras in the surroundings in real time.
- the method further comprises: real-time calculating a high-point camera within a second predetermined range around the security guided vehicle according to the positioning information, and comparing the security guided vehicle and the high point The search information of the camera is input to the high-point video playback window.
- the first predetermined range is 50m-150m
- the second predetermined distance is 1000m-2000m.
- the turning on the searched high-point camera to locate the security guidance vehicle according to the search information includes: the high-point video player automatically opens according to the received search information The high point camera is found, and the high point camera is positioned to the security guidance vehicle.
- the method further comprises: using a GPS-to-PT algorithm to convert the GPS coordinates of the guided vehicle into PT coordinates to realize the positioning of the security guided vehicle by the high-point camera.
- an embodiment of the present invention provides a computer storage medium including one or more computer instructions, and the one or more computer instructions implement the method according to any one of the foregoing when executed.
- FIG. 1 is a flowchart of a security line security method according to an embodiment of the present invention.
- FIG. 2 is a schematic diagram of a security line security device according to an embodiment of the present invention.
- FIG. 3 is a schematic diagram of an electronic device according to an embodiment of the present invention.
- Security line security device 200 signal receiving module 210; data processing module 220; control module 230;
- Memory 310 operating system 311; application 312;
- Processor 320 network interface 330; input device 340; hard disk 350; display device 360.
- a security line security method 100 includes: receiving positioning information of a security guided vehicle and generating a trajectory of the security guided vehicle; and searching for a low-point camera and a high point around the security guided vehicle according to the positioning information. Point the camera and feed back the search information. Based on the search information, turn on the searched high-point camera to locate the security guidance vehicle.
- the positioning information of the security guidance vehicle is received, and the positioning of the security guidance vehicle is generated as a real-time security guidance vehicle trajectory. Then, based on the positioning information, the low-point camera and the high-point camera around the security guided vehicle are automatically searched and the information is fed back.
- the low-point camera captures the security guided vehicle and its surroundings, and the camera of the high-point camera follows the security to guide the vehicle. High point camera following function.
- a low-point camera can take a real-time picture of a security guided vehicle and the surrounding environment, and a high-point camera performs a high-point photograph of the security guided vehicle, thereby realizing a high-point camera to follow Function, it is convenient for security personnel to quickly understand the surrounding environment, and more intuitive and effective security line security work.
- the positioning information is (Global Positioning System, Global Positioning System) positioning information
- the GPS positioning information is accurate and easy to obtain.
- receiving the positioning information of the security guidance vehicle and generating the security guidance vehicle trajectory includes activating a guard line security function, receiving the positioning information of the security guidance vehicle in real time, and inputting the positioning information to a map according to the map.
- the positioning information generates the security guided vehicle trajectory in real time.
- the map may be a two-dimensional map or a three-dimensional map.
- the positioning information is input to a two-dimensional map or a three-dimensional map, and the two-dimensional map or three-dimensional map generates the security guided vehicle trajectory in real time based on the GPS positioning information.
- the searching for the low-point camera and the high-point camera around the security guided vehicle according to the positioning information and feeding back the search information includes: calculating the periphery of the security guided vehicle in real time according to the positioning information. A low-point camera within a first predetermined range, and inputting search information of the security guided vehicle about the low-point camera to a multi-video playback window.
- the method further comprises: the multi-video playback window playing a low-point video of the security guided vehicle and the low-point camera in the surroundings in real time.
- the method further comprises: real-time calculating a high-point camera within a second predetermined range around the security guided vehicle according to the positioning information, and inputting search information of the security guided vehicle and the high-point camera Give high point video playback window.
- the first predetermined range may be 50m-150m, and the second predetermined distance may be 1000m-2000m. Therefore, the first predetermined range can ensure the imaging effect of the low-point camera, and the second predetermined distance can ensure the high-point monitoring and tracking effect of the high-point camera.
- the turning on the searched high-point camera to locate the security guidance vehicle according to the search information includes: the high-point video player automatically opens the searched location according to the received search information.
- the high point camera is positioned, and the high point camera is positioned to the security guidance vehicle.
- the multi-video playback window plays the security guided vehicle and the low-point video captured by the low-point camera within the first predetermined range in real time
- the high-point video playback window plays the security-guided vehicle within the second predetermined range.
- the high point video shot by the high point camera as the security guided vehicle moves, when the next high point camera closer to the security guided vehicle appears, the high point camera automatically switches.
- the method further includes: using a GPS-to-PT algorithm to convert the GPS coordinates of the guided vehicle to PT coordinates to realize the positioning of the security guided vehicle by the high-point camera.
- the PT coordinate is an abbreviation of pan-tilt coordinate, which represents a lateral angle and a pitch angle of the camera.
- the high-point video playback window automatically turns on the high-point camera according to the received information.
- the GPS-to-PT algorithm is used to convert the GPS coordinates of the guide vehicle to PT coordinates, and the high-point camera is positioned to the position of the guide vehicle. Car following function.
- an embodiment of the present invention also provides a computer storage medium, where the computer storage medium includes one or more computer instructions, and the one or more computer instructions, when executed, implement any of the security line security methods described above. 100.
- the computer storage medium stores a computer program, and when the computer program is executed by a processor, the processor is caused to execute any one of the security line security methods 100 described above.
- an embodiment of the present invention further provides a security line security device 200.
- the security line security device 200 includes a signal receiving module 210, a data processing module 220, and a control module 230.
- the signal receiving module 210 receives the positioning information of the security guided vehicle
- the data processing module 220 generates a trajectory of the security guided vehicle according to the positioning information, and searches for a low level around the security guided vehicle according to the positioning information.
- the point camera and the high point camera feed back search information
- the control module 230 receives the search information and controls the high point camera to turn on to locate the security guidance vehicle according to the search information.
- the guard line security device 200 is mainly composed of a signal receiving module 210, a data processing module 220, and a control module 230.
- the signal receiving module 210 receives the positioning information of the security guided vehicle in real time
- the data processing module 220 generates the positioning information of the security guided vehicle trajectory
- the data processing module 220 searches for the security guided vehicle based on the received positioning information.
- the surrounding low-point camera and high-point camera feed back the search information to the control module 230.
- the control module 230 receives the search information to control the camera of the high-point camera to the position of the security guidance vehicle, thereby realizing the function of the high-point camera to follow the vehicle.
- the security guidance vehicle positioning information is received through the signal receiving module 210, and the data processing module 220 generates a security guidance vehicle trajectory and searches for a low-point camera and a high-point camera around it to control
- the module 230 controls the positioning of the camera of the high-point camera to the security guidance vehicle, and realizes the function of the high-point camera to follow the vehicle, which facilitates security personnel to quickly understand the surrounding environment and carry out the security work of the guard line more intuitively and effectively.
- the positioning information is GPS (Global Positioning System) positioning information
- GPS positioning information is accurate and easy to obtain.
- the data processing module 220 includes a first processing module for receiving the positioning information and inputting the positioning information to a map, and the map generates a security guide based on the positioning information in real time. Car tracks.
- the map may be a two-dimensional map or a three-dimensional map.
- the first data processing module 220 inputs the GPS positioning information to a two-dimensional map or a three-dimensional map.
- the two-dimensional map or three-dimensional map generates the security guided vehicle in real time based on the GPS positioning information. Track.
- the data processing module 220 further includes a second processing module, the second processing module is configured to receive the positioning information and calculate the first surrounding area of the security guidance vehicle according to the positioning information in real time.
- a low-point camera within a predetermined range, and the search information of the security guided vehicle about the low-point camera is input to a multi-video playback window.
- the second processing module simultaneously calculates the low-point cameras in the first predetermined range (the first predetermined range can be set) in real time according to the received GPS positioning information, and guides the vehicle and the low-point camera information in the first predetermined range. Input to multi-video playback window.
- the multi-video playback window plays low-point videos of the security guided vehicle and the low-point camera within a first predetermined range in real time, so that security personnel can know the security guided vehicle and its surroundings at any time.
- the data processing module 220 further includes a third processing module, the third processing module is configured to receive the positioning information and calculate the real-time surrounding area of the security guidance vehicle according to the positioning information in real time. Two high-point cameras within a predetermined range, and input search information of the security guidance vehicle and the high-point camera to a high-point video playback window.
- the third processing module calculates the surrounding high point camera in real time based on the received GPS positioning information, and inputs the high point camera information and the guidance vehicle GPS positioning information to the high point video playback window.
- the high-point camera can automatically switch to realize the function of the high-point camera automatically following the security guidance vehicle.
- the first predetermined range may be 50m-150m, and the second predetermined distance may be 1000m-2000m. Therefore, the first predetermined range can ensure the imaging effect of the low-point camera, and the second predetermined distance can ensure the high-point monitoring and tracking effect of the high-point camera.
- control module 230 automatically opens the searched high point camera according to the search information received by the high point video player, and locates the high point camera to all The security guide vehicle.
- the multi-video playback window plays the security guided vehicle and the low-point video captured by the low-point camera within the first predetermined range in real time
- the high-point video playback window plays the security-guided vehicle within the second predetermined range
- the high point video shot by the high point camera as the security guided vehicle moves, when the next high point camera closer to the security guided vehicle appears, the high point camera automatically switches.
- control module 230 further includes a calculation module.
- the calculation module uses a GPS-to-PT algorithm to convert the GPS coordinates of the guide vehicle into PT coordinates, so as to implement the high-point camera to the Positioning of security guided vehicles.
- an embodiment of the present invention provides an electronic device 300 including a memory 310 and a processor 320, where the memory 310 is used to store one or more computer instructions, and the processor 320 is used to call and execute The one or more computer instructions, thereby implementing the method 100 of any one of the above.
- the electronic device 300 includes a processor 320 and a memory 310 in which computer program instructions are stored, and when the computer program instructions are executed by the processor, the processor 320 Perform method 100 as described above.
- the electronic device 300 further includes a network interface 330, an input device 340, a hard disk 350, and a display device 360.
- the above interfaces and devices can be interconnected through a bus architecture.
- the bus architecture may be any number of interconnected buses and bridges. Specifically, one or more central processing units (CPUs) represented by the processor 320 and various circuits of the one or more memories represented by the memory 310 are connected together.
- the bus architecture can also connect various other circuits such as peripherals, voltage regulators, and power management circuits. It can be understood that the bus architecture is used to implement connection and communication between these components.
- the bus architecture also includes a power bus, a control bus, and a status signal bus, which are all well known in the art, so they will not be described in detail herein.
- the network interface 330 may be connected to a network (such as the Internet, a local area network, etc.), obtain related data from the network, and may be stored in the hard disk 350.
- a network such as the Internet, a local area network, etc.
- the input device 340 may receive various instructions input by an operator, and send the instructions to the processor 320 for execution.
- the input device 340 may include a keyboard or a pointing device (for example, a mouse, a trackball, a touch pad, or a touch screen).
- the display device 360 may display a result obtained by the processor 320 executing an instruction.
- the memory 310 is configured to store data such as programs and data necessary for operating the operating system, and intermediate results during calculation by the processor 320.
- the memory 310 in the embodiment of the present invention may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memory.
- the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or Flash.
- the volatile memory may be a random access memory (RAM), which is used as an external cache.
- RAM random access memory
- the memory 310 of the devices and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.
- the memory 310 stores the following elements, executable modules or data structures, or a subset of them, or their extended set: an operating system 311 and an application program 312.
- the operating system 311 includes various system programs, such as a framework layer, a core library layer, and a driver layer, etc., and is used to implement various basic services and process hardware-based tasks.
- the application program 312 includes various application programs, such as a browser, and is used to implement various application services.
- a program for implementing the method of the embodiment of the present invention may be included in the application program 312.
- the processor 320 invokes and executes the application programs and data stored in the memory 310, specifically, the programs or instructions stored in the application program 312, receives the positioning information of the security guided vehicle and generates the security guided vehicle. According to the trajectory, a low-point camera and a high-point camera around the security guided vehicle are searched according to the positioning information and the search information is fed back. Based on the search information, the searched high-point camera is opened to locate the security guided vehicle.
- the method disclosed in the foregoing embodiments of the present invention may be applied to the processor 320, or implemented by the processor 320.
- the processor 320 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method may be completed by using hardware integrated logic circuits or instructions in the form of software in the processor 320.
- the above processor 320 may be a general-purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, and discrete hardware
- DSP digital signal processor
- ASIC application specific integrated circuit
- FPGA off-the-shelf programmable gate array
- a component can implement or execute various methods, steps, and logic block diagrams disclosed in the embodiments of the present invention.
- a general-purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
- the steps of the method disclosed in combination with the embodiments of the present invention may be directly implemented by a hardware decoding processor, or may be performed by using a combination of hardware and software modules in the decoding processor.
- the software module may be located in a mature storage medium such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, and the like.
- the storage medium is located in the memory 310, and the processor 320 reads information in the memory 310 and completes the steps of the foregoing method in combination with its hardware.
- the embodiments described herein may be implemented by hardware, software, firmware, middleware, microcode, or a combination thereof.
- the processing unit can be implemented in one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), and field programmable gate arrays (FPGAs).
- ASICs application-specific integrated circuits
- DSPs digital signal processors
- DSPDs digital signal processing devices
- PLDs programmable logic devices
- FPGAs field programmable gate arrays
- the techniques described herein can be implemented through modules (e.g., procedures, functions, etc.) that perform the functions described herein.
- Software codes may be stored in a memory and executed by a processor.
- the memory may be implemented in the processor or external to the processor.
- the processor 320 is further configured to read the computer program and execute any one of the foregoing methods.
- the disclosed methods and devices may be implemented in other ways.
- the device embodiments described above are only schematic.
- the division of the unit is only a logical function division.
- multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not implemented.
- the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, which may be electrical, mechanical or other forms.
- each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may be separately physically included, or two or more units may be integrated into one unit.
- the above integrated unit may be implemented in the form of hardware, or in the form of hardware plus software functional units.
- the above integrated unit implemented in the form of a software functional unit may be stored in a computer-readable storage medium.
- the above software functional unit is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute some steps of the transmitting and receiving method according to the embodiments of the present invention.
- the foregoing storage media include: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc. The medium.
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Abstract
Description
Claims (12)
- 一种警卫线路安保方法,其特征在于,所述方法包括:接收安保引导车的定位信息并生成安保引导车轨迹;根据所述定位信息搜索所述安保引导车周边的低点摄像机和高点摄像机并反馈搜索信息;根据所述搜索信息,打开搜索到的高点摄像机定位所述安保引导车。
- 根据权利要求1所述的方法,其特征在于,所述定位信息为GPS定位信息。
- 根据权利要求2所述的方法,其特征在于,所述接收安保引导车的定位信息并生成安保引导车轨迹,包括:实时接收安保引导车的定位信息;将所述定位信息输入给地图,所述地图根据所述定位信息实时生成安保引导车轨迹。
- 根据权利要求3所述的方法,其特征在于,所述地图为二维地图或三维地图。
- 根据权利要求2所述的方法,其特征在于,所述根据所述定位信息搜索所述安保引导车周边的低点摄像机和高点摄像机并反馈搜索信息,包括:根据所述定位信息实时计算所述安保引导车周边第一预定范围内的低点摄像机,并将所述安保引导车关于所述低点摄像机的搜索信息输入给多视频播放窗口。
- 根据权利要求5所述的方法,其特征在于,还包括:所述多视频播放窗口实时播放所述安保引导车及周边的所述低点摄像机的低点视频。
- 根据权利要求5所述的方法,其特征在于,还包括:根据所述定位信息实时计算所述安保引导车周边第二预定范围内的高点摄像机,并将所述安保引导车和所述高点摄像机的搜索信息输入给高点视频播放窗口。
- 根据权利要求7所述的方法,其特征在于,所述第一预定范围范围为50m-150m,所述第二预定范围为1000m-2000m。
- 根据权利要求7所述的方法,其特征在于,所述根据所述搜索信息,打开搜索到的高点摄像机定位所述安保引导车,包括:所述高点视频播放器根据接收到的所述搜索信息,自动打开搜索到的所述高点摄像机,并将所述高点摄像机定位至所述安保引导车。
- 根据权利要求9所述的方法,其特征在于,还包括:利用GPS转PT算法,将所述引导车的GPS坐标转换成PT坐标,实现所述高点摄像机对 所述安保引导车的定位。
- 一种警卫线路安保装置,其特征在于,包括处理器、存储器以及存储在所述存储器中且被配置为由所述处理器执行的计算机程序,所述处理器执行所述计算机程序时实现如权利要求1至10中任意一项所述的警卫线路安保方法。
- 一种计算机存储介质,其特征在于,包括一条或多条计算机指令,所述一条或多条计算机指令在执行时实现如权利要求1-10中任一项所述的警卫线路安保方法。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
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EP19749170.7A EP3651455A1 (en) | 2018-09-19 | 2019-03-26 | Method for arranging security patrol route and computer storage medium |
US16/613,447 US20210247761A1 (en) | 2018-09-19 | 2019-03-26 | Guard route security method and computer readable storage medium |
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CN201811092947.4 | 2018-09-19 | ||
CN201811092947.4A CN109327679A (zh) | 2018-09-19 | 2018-09-19 | 警卫线路安保方法和计算机存储介质 |
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WO2020057083A1 true WO2020057083A1 (zh) | 2020-03-26 |
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PCT/CN2019/079613 WO2020057083A1 (zh) | 2018-09-19 | 2019-03-26 | 警卫线路安保方法和计算机存储介质 |
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US (1) | US20210247761A1 (zh) |
EP (1) | EP3651455A1 (zh) |
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WO (1) | WO2020057083A1 (zh) |
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CN109327679A (zh) * | 2018-09-19 | 2019-02-12 | 高新兴科技集团股份有限公司 | 警卫线路安保方法和计算机存储介质 |
CN116091899B (zh) * | 2023-04-12 | 2023-06-23 | 中国铁塔股份有限公司 | 车辆跟踪方法、***、装置、电子设备及可读存储介质 |
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CN105245851A (zh) * | 2015-10-27 | 2016-01-13 | 太原市公安局 | 一种视频监控*** |
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CN105204505A (zh) * | 2015-09-22 | 2015-12-30 | 深圳先进技术研究院 | 一种基于扫地机器人定位视频采集和制图的***及方法 |
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CN105847755B (zh) * | 2016-05-12 | 2018-06-15 | 中国电子科技集团公司第二十八研究所 | 警卫任务中道路监控视频随引导车位置切换的方法 |
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- 2019-03-26 EP EP19749170.7A patent/EP3651455A1/en not_active Withdrawn
- 2019-03-26 US US16/613,447 patent/US20210247761A1/en not_active Abandoned
- 2019-03-26 WO PCT/CN2019/079613 patent/WO2020057083A1/zh unknown
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US20170344017A1 (en) * | 2016-05-25 | 2017-11-30 | Fuji Xerox Co., Ltd. | Mobile robot indoor localization and navigation system and method |
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EP3651455A1 (en) | 2020-05-13 |
US20210247761A1 (en) | 2021-08-12 |
CN109327679A (zh) | 2019-02-12 |
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