CN110873874B - Monitoring perimeter setting method, radar system and electronic equipment - Google Patents
Monitoring perimeter setting method, radar system and electronic equipment Download PDFInfo
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- CN110873874B CN110873874B CN201810996196.2A CN201810996196A CN110873874B CN 110873874 B CN110873874 B CN 110873874B CN 201810996196 A CN201810996196 A CN 201810996196A CN 110873874 B CN110873874 B CN 110873874B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
Abstract
The embodiment of the invention provides a monitoring perimeter setting method, a radar system and electronic equipment, wherein the monitoring perimeter setting method comprises the following steps: detecting a plurality of detection objects at different preset positions in a region to be monitored to determine target points corresponding to the detection objects in a radar monitoring view; connecting target points in the radar monitoring view to form a closed area; and setting the frame of the closed area in the radar monitoring view as a monitoring perimeter. Through the scheme, the monitoring perimeter can be set in the radar system.
Description
Technical Field
The invention relates to the technical field of security protection, in particular to a monitoring perimeter setting method, a radar system and electronic equipment.
Background
With the continuous development of science and technology, electronic technologies play an increasingly important role in perimeter security protection, and various perimeter security technologies, such as video monitoring technologies, infrared correlation technologies, electronic fences, and the like, are emerging continuously. According to the traditional perimeter security technology, perimeter setting of an intrusion monitoring area can be completed through installation layout of sensors, or the perimeter setting of the intrusion monitoring area can be completed based on video information visualization of the monitoring area. For example, in technologies such as infrared correlation and electronic fence, perimeter setting is performed by laying sensors according to an intrusion monitoring area to be protected actually; in the video monitoring technology, a camera can provide an image picture of a monitored place, and only the perimeter of a specific intrusion monitoring area needs to be defined on a video image.
However, the conventional perimeter security technology has the problems of low protection level, easiness in crossing or avoiding, easiness in being limited by environments such as terrain conditions and the like, unsuitability for severe weather conditions and the like, so that the regional intrusion radar monitoring technology is operated. As the radar has the advantages of strong penetration capability, high sensitivity and the like, the regional intrusion radar monitoring technology has the advantages of high sensitivity, strong environmental interference resistance, long detection distance, low comprehensive cost and the like as a new technical means of perimeter security.
The area intrusion radar monitoring technology is similar to a video monitoring technology, and can monitor a large space in an intrusion monitoring area, but the radar cannot provide image information of a monitoring scene and only can provide target information (such as distance information, speed information, direction information and the like of a target) in the monitoring scene. In the area intrusion radar monitoring technology, a monitoring perimeter cannot be set neither by laying sensors nor by defining the monitoring perimeter on a video image as in the video monitoring technology, resulting in difficulty in setting the monitoring perimeter in a radar system.
Disclosure of Invention
The embodiment of the invention aims to provide a monitoring perimeter setting method, a radar system and electronic equipment, so as to realize the setting of the monitoring perimeter in the radar system. The specific technical scheme is as follows:
in a first aspect, an embodiment of the present invention provides a monitoring perimeter setting method, where the method includes:
detecting a plurality of detection objects at different preset positions in a region to be monitored, and determining target points of the detection objects in a radar monitoring view, wherein the radar monitoring view is a two-dimensional view based on a radar coordinate system;
connecting target points in the radar monitoring view to form a closed area;
setting a frame of the closed area in the radar monitoring view as a monitoring perimeter.
Optionally, the preset shape of the region to be monitored is a polygon; the preset position is the position of the intersection point of each side of the polygon.
Optionally, the determining, by detecting a plurality of detection objects located at different preset positions in the area to be monitored, target points of the plurality of detection objects in the radar monitoring view includes:
transmitting a radar detection signal;
receiving an echo signal corresponding to the radar detection signal;
according to the echo signals, measuring to obtain distance information and direction information of a plurality of detection objects at different preset positions in a region to be monitored;
and determining target points corresponding to the plurality of detection objects at positions corresponding to the distance information and the direction information of the plurality of detection objects in the radar monitoring view according to the distance information and the direction information of the plurality of detection objects and the preset proportional relation between the radar coordinate system of the radar monitoring view and the space coordinate system of the area to be monitored.
Optionally, the connecting target points in the radar monitoring view to form a closed area includes:
and connecting target points in the radar monitoring view according to the preset shape of the area to be monitored to form a closed area.
Optionally, after setting a frame of the closed region in the radar monitoring view as a monitoring perimeter, the method further includes:
acquiring a first coordinate of each detection object in a space coordinate system of the area to be monitored and a second coordinate of each target point in a radar coordinate system of the radar monitoring view;
calculating a coordinate transformation matrix based on a preset coordinate transformation relation according to each first coordinate and each second coordinate;
when the object in the area to be monitored is detected, determining the actual coordinate of the object in the space coordinate system of the area to be monitored according to the coordinate of the object in the radar coordinate system of the radar monitoring view and the coordinate conversion matrix corresponding to the object and based on the preset coordinate conversion relation.
In a second aspect, an embodiment of the present invention provides a radar system, where the radar system includes: a radar device and an electronic device;
the radar equipment is used for detecting a plurality of detection objects at different preset positions in an area to be monitored; sending the detection result to the electronic equipment;
the electronic device is used for determining information of target points, corresponding to the plurality of detection objects, for displaying in a radar monitoring view according to detection results of the radar device, wherein the radar monitoring view is a two-dimensional view based on a radar coordinate system; connecting target points in the radar monitoring view to form a closed area; setting a frame of the closed area in the radar monitoring view as a monitoring perimeter, and obtaining information of the monitoring perimeter for displaying.
Optionally, the electronic device is further configured to:
and displaying the radar monitoring view, and displaying the target points and the monitoring perimeter in the radar monitoring view according to the information of the target points and the information of the monitoring perimeter.
Optionally, the system further includes: a display device;
the electronic device is further configured to send the determined information of each target point and the information of the monitoring perimeter to the display device, so that the display device displays the radar monitoring view, and display each target point and the monitoring perimeter in the radar monitoring view according to the information of each target point and the information of the monitoring perimeter.
Optionally, the preset shape of the region to be monitored is a polygon; the preset position is the position of the intersection point of each side of the polygon.
Optionally, the radar device is specifically configured to:
transmitting a radar detection signal;
receiving an echo signal corresponding to the radar detection signal;
according to the echo signals, measuring to obtain distance information and direction information of a plurality of detection objects at different preset positions in a region to be monitored;
when the electronic device determines, according to the detection result of the radar device, the target points of the multiple detected objects in the radar monitoring view, the electronic device is specifically configured to implement:
and determining target points corresponding to the plurality of detection objects at positions corresponding to the distance information and the direction information of the plurality of detection objects in the radar monitoring view according to the distance information and the direction information of the plurality of detection objects and the preset proportional relation between the radar coordinate system of the radar monitoring view and the space coordinate system of the area to be monitored.
Optionally, when the electronic device is used to connect target points in the radar monitoring view to form a closed area, the electronic device is specifically configured to implement:
and connecting target points in the radar monitoring view according to the preset shape of the area to be monitored to form a closed area.
Optionally, the electronic device is further configured to implement:
acquiring a first coordinate of each detection object in a space coordinate system of the area to be monitored and a second coordinate of each target point in a radar coordinate system of the radar monitoring view;
calculating a coordinate transformation matrix based on a preset coordinate transformation relation according to each first coordinate and each second coordinate;
when the object in the area to be monitored is detected, determining the actual coordinate of the object in the space coordinate system of the area to be monitored according to the coordinate of the object in the radar coordinate system of the radar monitoring view and the coordinate conversion matrix corresponding to the object and based on the preset coordinate conversion relation.
In a third aspect, an embodiment of the present invention provides an electronic device, including a processor and a memory, wherein,
the memory is used for storing a computer program;
the processor is configured to implement the method steps of the first aspect of the embodiment of the present invention when executing the computer program stored in the memory.
According to the monitoring perimeter setting method, the radar system and the electronic device, the radar system detects a plurality of detection objects at different preset positions in a region to be monitored, determines target points of the detection objects in a radar monitoring view, connects the target points in the radar monitoring view to form a closed region, and sets a frame of the closed region in the radar monitoring view as the monitoring perimeter. The detection object is an object mark located at a preset position in the area to be monitored, a closed area can be formed by determining and connecting target points of the detection object in the radar monitoring view, the frame of the closed area is a monitoring perimeter, and the monitoring perimeter is set in a radar system.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a PPI view of the prior art;
FIG. 2 is a diagram illustrating an exemplary configuration of a radar system according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart of a monitoring perimeter setting method according to an embodiment of the invention;
FIG. 4 is a schematic flow chart illustrating a monitoring perimeter setting method according to another embodiment of the present invention;
fig. 5 is a diagram illustrating a structure of an electronic device according to an embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to realize the setting of the monitoring perimeter in the radar system, the embodiment of the invention provides a monitoring perimeter setting method, a radar system and electronic equipment.
The terms in the examples of the present invention are explained as follows:
millimeter wave radar: the radar is a radar which works in millimeter wave band detection, has strong capability of penetrating fog, smoke and dust, and has the characteristics of all weather and all day long.
PPI (flat panel display) view is the most common radar display. The radar antenna is usually displayed in the center of the screen, and when the radar antenna scans for a week at a certain elevation angle, the distribution of the target objects around the radar and the echo intensity thereof can be displayed in the form of polar coordinates, as shown in fig. 1, the radar indicates that the target exists in the directions of 10 o 'clock and 11 o' clock. In practical applications, most radars do not have the function of rotational scanning, and the field of view of these radars is generally a sector area smaller than 180 °.
Monitoring regional invasion: when an illegal target enters a monitoring area set by a user, the monitoring system can monitor and track the invading target and generate an alarm.
Detecting object marks: the radar target can be obviously reflected, and then the radar can detect the radar and generate an object target with a remarkable target.
Next, a description will be first given of a monitoring perimeter setting method provided in an embodiment of the present invention.
The main implementation of the monitoring perimeter setting method provided in the embodiment of the present invention is a radar system as shown in fig. 2, and the radar system may include a radar device 210 and an electronic device 220, where the electronic device 220 may include a display screen for displaying a radar monitoring view, and the radar device 210 may be a millimeter wave radar device, a microwave radar device, a photoelectric radar device, and the like. The thick line in fig. 2 represents that information interaction between the radar device 210 and the electronic device 220 is realized through a data bus, which is, of course, only an example of the realization of information interaction, and information interaction between the radar device 210 and the electronic device 220 may also be realized through wireless communication.
As shown in fig. 3, a monitoring perimeter setting method provided in an embodiment of the present invention may include the following steps:
s301, detecting a plurality of detection objects at different preset positions in the area to be monitored, and determining target points corresponding to the detection objects in the radar monitoring view.
The detection object marks are a plurality of object marks which are positioned at different preset positions in an actual area to be monitored, and the detection object marks can obviously reflect radar signals and are detected by a radar and generate obvious targets. The radar system can determine target points of a plurality of detection objects in a radar monitoring view through detection of the detection objects. The radar monitoring view is based on a two-dimensional view of a radar coordinate system, namely a PPI view, and is used for displaying radar detection results.
When intrusion monitoring is performed, the area to be monitored is a specific area in an actual monitoring scene, for example, the area to be monitored may be an area where a Y building on a XXX link is located. In general, the region to be detected can be approximated by a polygon, which encompasses all the areas to be monitored. By installing the radar equipment of the radar system, the effective detection view field of the radar equipment can completely cover the area to be monitored.
Optionally, the preset shape of the region to be monitored is a polygon; the preset position is the position of the intersection point of each side of the polygon.
In order to enable the set monitoring perimeter to cover the area to be detected to the maximum extent, a plurality of detecting objects can be arranged at the intersection points of each side of the polygon formed by the area to be monitored, for example, if the area to be monitored is rectangular, at least four detecting objects respectively positioned at four intersection points are arranged. Of course, the setting of the detecting object is not limited to the number of intersection points equal to each side of the polygon, but also can be larger than the number of intersection points, so that the accuracy of setting the monitoring perimeter can be further improved.
Optionally, S301 may specifically be: transmitting a radar detection signal; receiving an echo signal corresponding to a radar detection signal; according to the echo signals, measuring to obtain distance information and direction information of a plurality of detection objects at different preset positions in the area to be monitored; and determining target points corresponding to the plurality of detection objects at positions corresponding to the distance information and the direction information of the plurality of detection objects in the radar monitoring view according to the distance information and the direction information of the plurality of detection objects and the preset proportional relation between the radar coordinate system of the radar monitoring view and the space coordinate system of the area to be monitored.
The radar system can transmit a radar detection signal through the radar device 210, the radar detection signal is used for detecting distance information and direction information between the radar system and a detection object, after the radar device 210 transmits the radar detection signal, if the radar device reaches the detection object, an echo signal can be reflected, according to the echo intensity, receiving interval and the like of the echo signal, the distance information and the direction information between each detection object and the radar system can be obtained through measurement, and as a certain proportional relation exists between a radar coordinate system of a radar monitoring view and a space coordinate system of an actual region to be monitored, according to the distance information and the direction information of each detection object, according to the proportional relation, a target point corresponding to each detection object can be determined at a position corresponding to the distance information and the direction information of each detection object in the radar monitoring view.
And S302, connecting target points in the radar monitoring view to form a closed area.
After the target points corresponding to the detection object marks are determined in the radar monitoring view, a closed area can be formed by connecting the target points, the closed area is an area to be monitored, which needs to be subjected to intrusion monitoring, of the radar system, if the target points in the radar monitoring view are many, multiple connection modes can occur when the target points are connected, and the formed closed areas are different.
In order to enable the closed region to be more approximate to the actual region to be monitored, S302 may specifically be: and connecting target points in the radar monitoring view according to the preset shape of the area to be monitored to form a closed area.
The preset shape of the area to be monitored is a preset shape, usually a polygon, each target point is connected according to the preset shape, the formed closed area is closer to the actual area to be monitored, and the setting accuracy of the monitoring perimeter can be ensured.
And S303, setting a frame of the closed area in the radar monitoring view as a monitoring perimeter.
The closed area obtained by the connection of the target points is the area to be monitored, which needs to be subjected to intrusion monitoring, of the radar system, and therefore, the frame of the closed area can be set as a monitoring perimeter.
In the area intrusion radar monitoring technology, mapping from a physical coordinate system of an area to be monitored to a radar detection result coordinate system can be generally established through a matching relation between a target at a known position in an actual physical space and coordinates of a target point on a radar monitoring view output by a radar after the target is detected by the radar. According to the radar detection principle, after the radar system is fixedly installed, an object (u, v) at a certain position on the ground in the actual physical space and a target coordinate (x) output by the object on a radar monitoring view with the radar as the origin after the object is detected by the radarr,yr) The following relations exist between the following components:
where H is a 3 x 3 coordinate transformation matrix. The coordinate transformation matrix H in equation (1) varies with the radar system and its installation parameters. Once the radar system installation parameters are determined, H is also determined. Theoretically, when the perimeter of the radar system is set, the coordinate set of the perimeter of the area to be monitored in the actual space and the formula (1) should be used to calculate the corresponding area coordinate set of the monitoring perimeter in the radar coordinate system, so as to set the monitoring perimeter in the radar system. In fact, when the monitoring perimeter is set, the coordinate conversion matrix H needs to be obtained through complicated calibration, and therefore, in the embodiment of the invention, the coordinate conversion matrix H does not need to be calibrated, and the position of the detection object in the radar monitoring view output by the radar equipment is directly determined only by setting a plurality of detection objects at preset positions in the area to be monitored, so that the setting of the monitoring perimeter is realized.
Optionally, after S303, the monitoring perimeter setting method provided in the embodiment of the present invention may further perform the following steps: acquiring a first coordinate of each detection object in a space coordinate system of a region to be monitored and a second coordinate of each target point in a radar coordinate system of a radar monitoring view; calculating a coordinate transformation matrix based on a preset coordinate transformation relation according to each first coordinate and each second coordinate; when an object in the area to be monitored is detected, the actual coordinates of the object in the space coordinate system of the area to be monitored are determined based on a preset coordinate conversion relation according to the coordinates of the object in the radar coordinate system of the radar monitoring view and the coordinate conversion matrix corresponding to the object.
After the monitoring perimeter is set, the coordinates of each end point of the monitoring perimeter in the space coordinate system of the area to be monitored and the coordinates in the radar coordinate system of the radar monitoring view can be obtained, and the first coordinates can be understood as the preset coordinates because the detection object is preset in the area to be monitored, so that the coordinate conversion matrix H can be approximately converted based on the preset coordinate conversion relation shown in the formula (1), and when the object in the area to be monitored is detected, the actual coordinates of the object in the area to be monitored can be approximately determined according to the coordinates and H corresponding to the object in the radar monitoring view based on the formula (1), and the actual positioning of the object target is more beneficial.
By applying the embodiment, the radar system detects a plurality of detection objects at different preset positions in the area to be monitored, determines corresponding target points of the plurality of detection objects in the radar monitoring view, connects the target points in the radar monitoring view to form a closed area, and sets a frame of the closed area in the radar monitoring view as a monitoring perimeter. The detection object is an object mark located at a preset position in the area to be monitored, a closed area can be formed by determining and connecting target points of the detection object in the radar monitoring view, the frame of the closed area is a monitoring perimeter, and the monitoring perimeter is set in a radar system.
As shown in fig. 4, another monitoring perimeter setting method provided in the embodiment of the present invention specifically includes the following steps:
in the first step, the radar system is securely mounted.
And secondly, judging whether the area to be monitored is completely covered, if so, executing the third step, and otherwise, returning to the first step.
The radar equipment of the radar system is fixedly installed, so that the effective detection view field of the radar equipment can completely cover the area to be monitored.
And thirdly, setting a detection object on the actual area to be monitored.
And fourthly, determining the target point of each detection object in the PPI view output by the radar equipment.
And setting detection objects detected by the radar on key position points of the area to be monitored, and determining the positions of the detection objects in a PPI view output by the radar equipment. The selection of the key position points of the region to be monitored is determined according to the shape of the region to be monitored, and the intersection points of all sides of the polygonal region are generally selected.
And fifthly, connecting the target points in the PPI view to form a closed area.
And connecting the position points of each detection object in the PPI view output by the radar equipment according to the actual shape of the region to be monitored to form a closed region with the shape similar to that of the actual region to be monitored.
Sixthly, the radar system saves the closed area in the PPI view.
And the radar system stores the closed area obtained in the third step in the PPI view output by the radar device, namely the monitoring perimeter setting of the radar system is completed.
According to the embodiment of the invention, the purpose of defining the monitoring perimeter in the radar system is achieved by arranging the detecting object with the known position on the region to be monitored in the radar field of view and then connecting the target point, corresponding to the detecting object, on the PPI view output by the radar equipment. And moreover, the calibration of a conversion matrix from a radar system to an actual space coordinate system can be avoided, and the monitoring perimeter corresponding to an actual region to be monitored can be visually defined in a PPI view output by radar equipment conveniently and quickly.
In the radar system shown in fig. 2, a radar device 210 for detecting a plurality of detection objects at different preset positions in an area to be monitored; sending the detection result to the electronic device 220; the electronic device 220 is configured to determine, according to a detection result of the radar device 210, information of target points, which are used for displaying and correspond to the plurality of detection objects, in a radar monitoring view, where the radar monitoring view is a two-dimensional view based on a radar coordinate system; connecting target points in the radar monitoring view to form a closed area; setting a frame of the closed area in the radar monitoring view as a monitoring perimeter, and obtaining information of the monitoring perimeter for displaying.
Optionally, the electronic device 220 may be further configured to: and displaying the radar monitoring view, and displaying the target points and the monitoring perimeter in the radar monitoring view according to the information of the target points and the information of the monitoring perimeter.
The electronic device 220 may include a display screen having a display function, after the radar system is installed, the radar monitoring view shown in fig. 1 is displayed on the display screen, and if the radar device 210 detects an object, a target point of the object in the radar monitoring view may be determined by the electronic device 220, so that the target point, such as a bright point in fig. 1, may be displayed in the radar monitoring view on the display screen according to information of the target point. The display screen may also show the monitoring perimeter in the radar monitoring view according to information of the monitoring perimeter set by the electronic device 220.
Optionally, the system may further include: a display device.
The electronic device 220 may be further configured to send the determined information of each target point and the information of the monitoring perimeter to the display device, so that the display device displays the radar monitoring view, and display each target point and the monitoring perimeter in the radar monitoring view according to the information of each target point and the information of the monitoring perimeter.
The radar system may further comprise a display device separate from the electronic device, which has the same function as the display screen described above and will not be described in detail herein.
Optionally, the preset shape of the region to be monitored may be a polygon; the preset position may be a position where an intersection of each side of the polygon is located.
Optionally, the radar device 210 may be specifically configured to: transmitting a radar detection signal; receiving an echo signal corresponding to the radar detection signal; and according to the echo signals, measuring to obtain distance information and direction information of a plurality of detection objects at different preset positions in the area to be monitored.
When the electronic device 220 determines the target points of the multiple detected objects in the radar monitoring view according to the detection result of the radar device, it may specifically be configured to implement: and determining target points corresponding to the plurality of detection objects at positions corresponding to the distance information and the direction information of the plurality of detection objects in the radar monitoring view according to the distance information and the direction information of the plurality of detection objects and the preset proportional relation between the radar coordinate system of the radar monitoring view and the space coordinate system of the area to be monitored.
Optionally, when the electronic device 220 connects the target points in the radar monitoring view to form a closed area, the method may specifically be used to implement: and connecting target points in the radar monitoring view according to the preset shape of the area to be monitored to form a closed area.
Optionally, the electronic device 220 may further be configured to implement: acquiring a first coordinate of each detection object in a space coordinate system of the area to be monitored and a second coordinate of each target point in a radar coordinate system of the radar monitoring view; calculating a coordinate transformation matrix based on a preset coordinate transformation relation according to each first coordinate and each second coordinate; when the object in the area to be monitored is detected, determining the actual coordinate of the object in the space coordinate system of the area to be monitored according to the coordinate of the object in the radar coordinate system of the radar monitoring view and the coordinate conversion matrix corresponding to the object and based on the preset coordinate conversion relation.
The radar system can also comprise an audible and visual alarm which is used for prompting the invasion of the target by a buzzer or a lighting alarm mode when the invasion of the target into the area to be monitored is detected.
As shown in fig. 5, an embodiment of the present invention also provides an electronic device, which may include a processor 501 and a memory 502.
The memory 502 is used for storing computer programs;
the processor 501 is configured to implement all the steps of the monitoring perimeter setting method when executing the program stored in the memory 502.
The Memory may include a RAM (Random Access Memory) or an NVM (Non-Volatile Memory), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the radar control processor.
The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also a DSP (Digital Signal Processing), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component.
The thick line in fig. 5 represents that the processor 501 and the memory 502 implement information interaction through a data bus, which is, of course, only an example of implementation of information interaction, and the processor 501 and the memory 502 may also implement information interaction through wireless communication.
By applying the embodiment, the processor of the electronic device determines the corresponding target points of the plurality of detection objects in the radar monitoring view according to the detection results of the plurality of detection objects at different preset positions in the area to be monitored by the radar device, connects the target points in the radar monitoring view to form the closed area, and sets the frame of the closed area in the radar monitoring view as the monitoring perimeter. The detection object is an object mark located at a preset position in the area to be monitored, a closed area can be formed by determining and connecting target points of the detection object in the radar monitoring view, the frame of the closed area is a monitoring perimeter, and the monitoring perimeter is set in a radar system.
In addition, corresponding to the monitoring perimeter setting method provided in the foregoing embodiment, an embodiment of the present invention provides a machine-readable storage medium, in which a computer program is stored, and the computer program, when executed by a processor in an electronic device, implements all the steps of the monitoring perimeter setting method provided in the embodiment of the present invention.
In this embodiment, the machine-readable storage medium stores a computer program that executes the monitoring perimeter setting method provided in the embodiment of the present invention when running, so that it is possible to implement: according to detection results of a plurality of detection objects positioned at different preset positions in an area to be monitored by radar equipment, determining corresponding target points of the plurality of detection objects in a radar monitoring view, connecting the target points in the radar monitoring view to form a closed area, and setting a frame of the closed area in the radar monitoring view as a monitoring perimeter. The detection object is an object mark located at a preset position in the area to be monitored, a closed area can be formed by determining and connecting target points of the detection object in the radar monitoring view, the frame of the closed area is a monitoring perimeter, and the monitoring perimeter is set in a radar system.
For the embodiments of the radar system, the electronic device and the machine-readable storage medium, the contents of the methods involved are basically similar to the foregoing embodiments of the methods, so the description is simple, and the relevant points can be referred to the partial description of the embodiments of the methods.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the radar system, the electronic device, and the machine-readable storage medium embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and in relation to the description, reference may be made to some portions of the method embodiments.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (13)
1. A monitoring perimeter setting method, comprising:
detecting a plurality of detection objects at different preset positions in a region to be monitored, and determining target points of the detection objects in a radar monitoring view, wherein the radar monitoring view is a two-dimensional view based on a radar coordinate system;
connecting target points in the radar monitoring view to form a closed area;
setting a frame of the closed area in the radar monitoring view as a monitoring perimeter.
2. The method according to claim 1, characterized in that the predetermined shape of the area to be monitored is a polygon; the preset position is the position of the intersection point of each side of the polygon.
3. The method according to claim 1, wherein the determining target points of a plurality of detected objects in the radar monitoring view by detecting the plurality of detected objects at different preset positions in the area to be monitored comprises:
transmitting a radar detection signal;
receiving an echo signal corresponding to the radar detection signal;
according to the echo signals, measuring to obtain distance information and direction information of a plurality of detection objects at different preset positions in a region to be monitored;
and determining target points corresponding to the plurality of detection objects at positions corresponding to the distance information and the direction information of the plurality of detection objects in the radar monitoring view according to the distance information and the direction information of the plurality of detection objects and the preset proportional relation between the radar coordinate system of the radar monitoring view and the space coordinate system of the area to be monitored.
4. The method of claim 1, wherein the connecting target points in the radar monitoring view to form an enclosed area comprises:
and connecting target points in the radar monitoring view according to the preset shape of the area to be monitored to form a closed area.
5. The method of claim 1, wherein after the setting a border of the enclosed area in the radar monitoring view as a monitoring perimeter, the method further comprises:
acquiring a first coordinate of each detection object in a space coordinate system of the area to be monitored and a second coordinate of each target point in a radar coordinate system of the radar monitoring view;
calculating a coordinate transformation matrix based on a preset coordinate transformation relation according to each first coordinate and each second coordinate;
when the object in the area to be monitored is detected, determining the actual coordinate of the object in the space coordinate system of the area to be monitored according to the coordinate of the object in the radar coordinate system of the radar monitoring view and the coordinate conversion matrix corresponding to the object and based on the preset coordinate conversion relation.
6. A radar system, characterized in that the system comprises: a radar device and an electronic device;
the radar equipment is used for detecting a plurality of detection objects at different preset positions in an area to be monitored; sending the detection result to the electronic equipment;
the electronic device is used for determining information of target points, corresponding to the plurality of detection objects, for displaying in a radar monitoring view according to detection results of the radar device, wherein the radar monitoring view is a two-dimensional view based on a radar coordinate system; connecting target points in the radar monitoring view to form a closed area; setting a frame of the closed area in the radar monitoring view as a monitoring perimeter, and obtaining information of the monitoring perimeter for displaying.
7. The system of claim 6, wherein the electronic device is further configured to:
and displaying the radar monitoring view, and displaying the target points and the monitoring perimeter in the radar monitoring view according to the information of the target points and the information of the monitoring perimeter.
8. The system of claim 6, further comprising: a display device;
the electronic device is further configured to send the determined information of each target point and the information of the monitoring perimeter to the display device, so that the display device displays the radar monitoring view, and display each target point and the monitoring perimeter in the radar monitoring view according to the information of each target point and the information of the monitoring perimeter.
9. The system according to claim 6, characterized in that the preset shape of the area to be monitored is a polygon; the preset position is the position of the intersection point of each side of the polygon.
10. The system according to claim 6, characterized in that said radar device is specifically configured to:
transmitting a radar detection signal;
receiving an echo signal corresponding to the radar detection signal;
according to the echo signals, measuring to obtain distance information and direction information of a plurality of detection objects at different preset positions in a region to be monitored;
when the electronic device determines, according to the detection result of the radar device, the target points of the multiple detected objects in the radar monitoring view, the electronic device is specifically configured to implement:
and determining target points corresponding to the plurality of detection objects at positions corresponding to the distance information and the direction information of the plurality of detection objects in the radar monitoring view according to the distance information and the direction information of the plurality of detection objects and the preset proportional relation between the radar coordinate system of the radar monitoring view and the space coordinate system of the area to be monitored.
11. The system according to claim 6, wherein the electronic device, when implementing the connection to the target points in the radar monitoring view to form an enclosed area, is specifically configured to implement:
and connecting target points in the radar monitoring view according to the preset shape of the area to be monitored to form a closed area.
12. The system of claim 6, wherein the electronic device is further configured to implement:
acquiring a first coordinate of each detection object in a space coordinate system of the area to be monitored and a second coordinate of each target point in a radar coordinate system of the radar monitoring view;
calculating a coordinate transformation matrix based on a preset coordinate transformation relation according to each first coordinate and each second coordinate;
when the object in the area to be monitored is detected, determining the actual coordinate of the object in the space coordinate system of the area to be monitored according to the coordinate of the object in the radar coordinate system of the radar monitoring view and the coordinate conversion matrix corresponding to the object and based on the preset coordinate conversion relation.
13. An electronic device comprising a processor and a memory, wherein,
the memory is used for storing a computer program;
the processor, when executing the computer program stored in the memory, is configured to perform the method steps of any of claims 1-5.
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| CN111551907B (en) * | 2020-05-12 | 2023-06-13 | 浙江大华技术股份有限公司 | Defense area planning processing method and device |
| CN112068079A (en) * | 2020-08-28 | 2020-12-11 | 森思泰克河北科技有限公司 | Defense area dividing method and device for security radar, terminal and storage medium |
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