CN109343050A - A kind of radar video monitoring method and device - Google Patents
A kind of radar video monitoring method and device Download PDFInfo
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- CN109343050A CN109343050A CN201811306702.7A CN201811306702A CN109343050A CN 109343050 A CN109343050 A CN 109343050A CN 201811306702 A CN201811306702 A CN 201811306702A CN 109343050 A CN109343050 A CN 109343050A
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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
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
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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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
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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
- H04N23/80—Camera processing pipelines; Components thereof
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- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The present invention relates to Radar Technology field more particularly to a kind of radar video monitoring method and devices, which comprises obtains the location information of the target in radar monitoring range；According to the positional information, the ball machine coordinate information of the target is obtained, wherein ball machine coordinate is coordinate used in the camera that connect with the radar communication；The ball machine coordinate information is sent to the camera, so that the camera determines the target position according to the ball machine coordinate information, and shoots to the target in the position；The video image of the target of the camera shooting is obtained, and the video image is merged, radar is obtained and monitors video image.
Description
Technical field
The present invention relates to Radar Technology field more particularly to a kind of radar video monitoring method and devices.
Background technique
Radar is the electronic equipment using electromagnetic wave detection target, and target can be found by the method for radio and is measured
Their spatial position, with the continuous development of Radar Technology, radar is more and more applied in daily life, example
Such as, video surveillance is carried out to the environment that people live using radar, using radar to a certain region such as airport, prison, traffic road
Road carries out video surveillance etc., therefore, how to promote the accuracy of radar video monitoring, is one and the technology solved is needed to ask
Topic.
Summary of the invention
The embodiment of the present invention provides a kind of radar video monitoring method and device, for promoting the accurate of radar video monitoring
Degree.
In a first aspect, a kind of radar video monitoring method provided in an embodiment of the present invention, is applied in radar, comprising:
Obtain the location information of the target in radar monitoring range；
According to the positional information, obtain the ball machine coordinate information of the target, wherein ball machine coordinate be and the radar
Coordinate used in the camera of communication connection；
The ball machine coordinate information is sent to the camera, so that the camera is true according to the ball machine coordinate information
The fixed target position, and the target in the position is shot；
The video image of the target of the camera shooting is obtained, and the video image is merged, is obtained
Radar monitors video image.
Optionally, the location information for obtaining the target in radar monitoring range, specifically includes:
Obtain the echo-signal of the target reflection in radar monitoring range；
The echo-signal is parsed, the location information in radar monitoring range of the target is obtained；
It is described according to the positional information, before the ball machine coordinate information for obtaining the target, the method also includes: really
The fixed target is in the default radar defence area in the radar monitoring range.
Optionally, described that video image is merged, it obtains radar and monitors video image, specifically include:
Preset map image is obtained, the map image includes the radar monitoring range and default radar defence area
It is interior；
By predeterminated position of the video and graph compound in the map image, superimposed video image is obtained；
According to the positional information, the motion profile of the target is identified in the superimposed video image, is formed
Radar monitors video image.
Optionally, the number of the target be it is multiple, and or the camera number be it is multiple when, it is described to institute
Before stating the camera transmission ball machine coordinate information, the method also includes:
According to preset monitoring mechanism, the camera for being used for monitoring objective is determined.
Optionally, be in the number of the target it is multiple, it is described according to preset when the number of the camera is one
Monitoring mechanism determines the camera for being used for monitoring objective, specifically includes:
According to multiple targets from closely to remote sequence at a distance from the radar, or according to the radar monitor multiple mesh
Sequence of the target time after arriving first is monitored the arrangement of priority from high in the end to the multiple target；
The camera is determined according to the monitoring priority sequence from high to low of the multiple target, successively to described more
The monitoring sequence that a target is monitored；
It is described to send the ball machine coordinate information to the camera, obtain the view of the target of the camera shooting
Frequency image, and the video image is merged, it obtains radar and monitors video image specifically:
According to the monitoring priority sequence from high to low of the multiple target, successively sent to the camera described more
The ball machine coordinate information of a target；
The video image of the multiple target of the camera shooting is successively obtained, and to the video of the multiple target
Image is merged, and is obtained radar and is monitored video image.
Optionally, be in the number of the target it is multiple, the number of the camera is multiple, and the number etc. of institute's target
In or less than the camera number when, it is described according to preset monitoring mechanism, determine the camera for being used for monitoring objective, tool
Body includes:
For a target in multiple targets, determine a camera nearest apart from one target to described one
A target is monitored, and determines the camera for monitoring each target in multiple targets altogether；
It is described to send the ball machine coordinate information to the camera, obtain the view of the target of the camera shooting
Frequency image, and the video image is merged, it obtains radar and monitors video image specifically:
The ball machine coordinate information for the target that is corresponding to it is sent to the camera for monitoring each target in multiple targets；
The video image of the multiple target of the multiple camera shooting is obtained, and to the video of the multiple target
Image is merged, and is obtained radar and is monitored video image.
Optionally, be in the number of the target it is multiple, the number of the camera is multiple, and the number of institute's target is big
It is described to determine the camera for being used for monitoring objective according to preset monitoring mechanism when the number of the camera, it is specific to wrap
It includes:
Determined from multiple targets with several the same number of targets of camera, the monitoring of several targets is excellent
First grade is higher than the monitoring priority of remaining target；
According to the sequence of monitoring priority from high to low, determine that multiple cameras are successively monitored the multiple target
Monitoring sequence；
It is described according to preset monitoring machine when the number of the target is one, and the number of the camera is multiple
System determines the camera for being used for monitoring objective, specifically includes:
It is determining to be used to detect the target with the nearest camera of the target range from multiple cameras.
Second aspect, the embodiment of the invention provides a kind of video surveillance radar installations, comprising:
Acquiring unit, for obtaining the location information of the target in radar monitoring range；
Obtaining unit, for according to the positional information, obtaining the ball machine coordinate information of the target, wherein ball machine is sat
It is designated as coordinate used in the camera connecting with the radar communication；
Transmission unit, for sending the ball machine coordinate information to the camera, so that the camera is according to
Ball machine coordinate information determines the target position, and shoots to the target in the position；
The obtaining unit is also used to obtain the video image of the target of the camera shooting, and to the view
Frequency image is merged, and is obtained radar and is monitored video image.
Optionally, the acquiring unit, is used for:
Obtain the echo-signal of the target reflection in radar monitoring range；
The echo-signal is parsed, the location information in radar monitoring range of the target is obtained；
The obtaining unit, is used for: determining that the target is in the default radar defence area in the radar monitoring range.
Optionally, the obtaining unit, is also used to:
Preset map image is obtained, the map image includes the radar monitoring range and default radar defence area
It is interior；
By predeterminated position of the video and graph compound in the map image, superimposed video image is obtained；
According to the positional information, the motion profile of the target is identified in the superimposed video image, is formed
Radar monitors video image.
Optionally, the number of the target be it is multiple, and or the camera number be it is multiple when, it is described to institute
Before stating the camera transmission ball machine coordinate information, the method also includes:
According to preset monitoring mechanism, the camera for being used for monitoring objective is determined.
Optionally, be in the number of the target it is multiple, when the number of the camera is one, the obtaining unit,
It is also used to:
According to multiple targets from closely to remote sequence at a distance from the radar, or according to the radar monitor multiple mesh
Sequence of the target time after arriving first is monitored the arrangement of priority from high in the end to the multiple target；
The camera is determined according to the monitoring priority sequence from high to low of the multiple target, successively to described more
A target is monitored；
The transmission unit, is also used to:
According to the monitoring priority sequence from high to low of the multiple target, successively sent to the camera described more
The ball machine coordinate information of a target；
The obtaining unit, is also used to:
The video image of the multiple target of the camera shooting is successively obtained, and to the video of the multiple target
Image is merged, and is obtained radar and is monitored video image.
Optionally, be in the number of the target it is multiple, the number of the camera is multiple, and the number etc. of institute's target
In or less than the camera number when, the obtaining unit is also used to:
For a target in multiple targets, determine a camera nearest apart from one target to described one
A target is monitored, and determines the camera for monitoring each target in multiple targets altogether；
The transmission unit, is used for:
The ball machine coordinate information for the target that is corresponding to it is sent to the camera for monitoring each target in multiple targets；
The obtaining unit, is also used to:
The video image of the multiple target of the multiple camera shooting is obtained, and to the video of the multiple target
Image is merged, and is obtained radar and is monitored video image.
Optionally, be in the number of the target it is multiple, the number of the camera is multiple, and the number of institute's target is big
When the number of the camera, the obtaining unit is also used to:
Determined from multiple targets with several the same number of targets of camera, the monitoring of several targets is excellent
First grade is higher than the monitoring priority of remaining target；
According to the sequence of monitoring priority from high to low, determine that multiple cameras are successively monitored the multiple target
Monitoring sequence；
When the number of the target is one, and the number of the camera is multiple, the obtaining unit is also used to:
It is determining to be used to detect the target with the nearest camera of the target range from multiple cameras.
The embodiment of the present invention provides a kind of radar video monitoring method, and this method is applied in radar, and then can pass through
The location information of the target in radar monitoring range is obtained, and according to location information, obtains the ball machine coordinate information of target,
In, ball machine coordinate is coordinate used in the camera that connect with radar communication；Then it is directly sent to camera by radar
Ball machine coordinate information, so that control camera alignment target position, shoots target, further, radar is direct
The video image of the target of camera shooting is obtained, and video image is merged, radar is obtained and monitors video image, institute
To reduce the delay of data transmission, and then improve the accuracy of radar video monitoring.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, embodiment will be described below
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment.
Fig. 1 is a kind of application scenarios schematic diagram provided in an embodiment of the present invention；
Fig. 2 is a kind of radar video monitoring method flow chart provided in an embodiment of the present invention；
Fig. 3 provides a kind of radar monitoring video image schematic diagram for the embodiment of the present invention；
Fig. 4 provides another radar for the embodiment of the present invention and monitors video image schematic diagram；
Fig. 5 is a kind of video surveillance radar installations schematic diagram provided in an embodiment of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical solution of the present invention is clearly and completely described, it is clear that described embodiment is skill of the present invention
A part of the embodiment of art scheme, instead of all the embodiments.Based on the embodiment recorded in present specification, this field is general
Logical technical staff every other embodiment obtained without creative efforts, belongs to the technology of the present invention side
The range of case protection.
During concrete practice, it was found by the inventors of the present invention that when the prior art carries out video surveillance using radar, it will
It needs radar data to be transmitted to host computer processing, there is host computer to be sent to video camera after having handled again, and then control video camera
Movement, twice transmittance process delay it is larger and unstable, cause video surveillance accuracy low.
Based on this, the embodiment of the present invention provides a kind of radar video monitoring method, and this method is applied in radar, Jin Erke
To pass through the location information for obtaining the target in radar monitoring range, and according to location information, the ball machine coordinate letter of target is obtained
Breath, wherein ball machine coordinate is coordinate used in the camera that connect with radar communication；Then by radar directly to camera
Ball machine coordinate information is sent, so that control camera alignment target position, shoots target, further, radar
The video image of the target of camera shooting is directly obtained, and video image is merged, radar is obtained and monitors video image,
So reducing the delay of data transmission, and then improve the accuracy of radar video monitoring.
Radar video monitoring method in the embodiment of the present invention can be applied to application scenarios as shown in Figure 1, the application
It include server 10, interchanger 11, video camera 12, the terminal device 13 and radar 14 for being equipped with client, terminal in scene
Equipment 13 can run to be any according to program, and automatic, high speed processing mass data intelligent electronic device, such terminal is set
Standby such as computer, ipad, mobile phone etc., server 10 can be a server, be also possible to the service of several servers composition
Device cluster or cloud computing center.Server 10, interchanger 11, video camera 12, the terminal device 13 and thunder for being equipped with client
By network connection between up to 14, network can be any one in the communication networks such as local area network, wide area network or mobile Internet
Kind.Alternatively possible application scenarios, for example, 12 number of video camera can be to be multiple, server 10 can be thought as PC
(personal computer, personal computer), interchanger 11 can be integrated into radar 14 or video camera 12, certainly, at it
In his possible application scenarios, video camera 12 and interchanger 11 are desirably integrated into radar 14.
It should be noted that application scenarios mentioned above are merely for convenience of understanding spirit and principles of the present invention and showing
Out, the embodiment of the present invention is unrestricted in this regard.On the contrary, the embodiment of the present invention can be applied to applicable any field
Scape.
Below with reference to application scenarios shown in FIG. 1, radar video monitoring method provided in an embodiment of the present invention is said
It is bright.
Referring to FIG. 2, being a kind of radar video monitoring method provided in an embodiment of the present invention, comprising:
Step 101: obtaining the echo-signal of the target reflection in radar monitoring range.
Present invention method is applied in radar, can be by connecting with radar netting before executing step 101
The host computer connect is configured radar, such as setting radar site direction, monitoring rules, the timed task of setting radar etc. are joined
Number, it is, of course, also possible to import map image to radar by host computer, the map image of importing includes radar monitoring range, also
The operation such as radar defence area can be drawn in the map image of importing.
Wherein, host computer can be server or PC machine as shown in Figure 1, it is of course also possible to be other kinds of with place
Manage the equipment such as interchanger etc. of function.Radar monitoring range refers to the sector that the electromagnetic wave detection of radar emission can detect
Region.Radar defence area typically refers to the region defended in radar monitoring range, that is, the target institute for needing to monitor
Region, certainly, in practical applications, can also according to actual needs, be further arranged in radar defence area blind zone and
Warning area, wherein blind zone refers to the region that monitoring is not needed in radar defence area, and warning area is to need to monitor in radar defence area
Region.
In the echo-signal that the embodiment of the present invention, the available target in radar monitoring range of radar are reflected, i.e.,
Radar emission electromagnetic wave is irradiated the target in radar monitoring range, the target in radar monitoring range to radar reflection its
The electromagnetic wave being irradiated to, then, radar can receive the electromagnetic wave of target reflection, i.e., the echo letter in step 101
Number.
Step 102: according to echo-signal, obtaining the location information in radar monitoring range of target.
In practical applications, the number of the target of radar monitoring range internal reflection echo-signal can be able to be one, can also
Can be it is multiple, target number be it is multiple when, the echo-signal that radar can be got includes each target in multiple targets
The echo-signal of reflection.In embodiments of the present invention, radar can according to target reflect echo-signal, calculate obtain target from
The location informations such as distance, range rate (radial velocity), orientation, the height of radar.Wherein, according to the target in location information
With a distance from radar and orientation can obtain coordinate information of the target in radar fix, to describe method, by target in thunder
It is known as radar fix information up to the coordinate information in coordinate.
If the number of target be it is multiple, radar can according to the echo-signal of the reflection of target each in multiple targets, count
The location information of each target is calculated, the radar fix letter of each target according to the location information of each target, can also be obtained
Breath.
Step 103: determining that the target is in the default radar defence area in radar monitoring range.
In embodiments of the present invention, it if depicting radar defence area in the map image imported in radar, that is, presets
When radar puts area, after the location information for obtaining target by step 102, it can also first determine whether target is in preparatory
In the radar defence area of setting, that is, judge whether target is that user needs target in the radar defence area that monitors.
For example, can determine whether a target is in thunder when the number of the target of reflection echo signal is one
In up to the pre-set radar defence area in monitoring range in i.e. default radar defence area, if so then execute step 104, otherwise process
Terminate；When the number of the target of reflection echo signal is multiple, step 103 is to determine in multiple targets in default radar
Several targets in defence area first judge which target is in default radar defence area in this multiple target, if this is multiple
Target is in default radar defence area, then step 104 is executed to each target in this multiple target, if this multiple target has
Partial target is in default radar defence area, then executes step to each target in the partial target in radar defence area
104。
Step 104: according to the location information of target, obtaining the ball machine coordinate information of target, wherein ball machine coordinate for institute
State coordinate used in the camera of radar communication.
It in embodiments of the present invention, can be according to the target in target position information with a distance from radar and orientation can
Coordinate information of the target in radar fix is obtained, it therefore, can basis after determining that target is in default radar defence area
Corresponding relationship between radar fix system and ball machine coordinate system, to target, coordinate information is converted in ball machine in radar fix system
The coordinate information of coordinate system, i.e. ball machine coordinate information, to control the PTZ value of control camera, wherein PTZ value includes camera shooting
The parameters such as level angle, pitching corner, the zoom of head.
For example, the number in the target of reflection echo signal is one, and it is anti-to determine that a target is in default radar
, can be according to the target position information of the target when in area, such as progress coordinate conversion mentioned above obtains the ball machine of the target
Coordinate information；When the number of the target in reflection echo signal is 2, as target 1 and target 2 respectively, and determine 1 He of target
When target 2 is in default radar defence area, it can be sat according to the target position information 1 of the target 1 Ru mentioned above
Mark conversion, obtains the ball machine coordinate information 1 of the target 1；It can be such as mentioned above according to the target position information 2 of the target 2
Coordinate conversion is carried out, the ball machine coordinate information 2 of the target 2 is obtained.
Step 105: according to preset monitoring mechanism, determining the camera for monitoring the target.
In embodiments of the present invention, the number of the target in step 103 in default radar defence area is multiple, and or
When the camera number connecting with radar communication is multiple, it can also determine according to preset monitoring mechanism and be used for monitoring objective
Camera, in embodiments of the present invention, can according to the number of target and the camera number being connect with radar communication, according to
Following methods execute above-mentioned steps 105.
The first situation:
If the number of the target in default radar defence area in step 103 is multiple, the camera connecting with radar communication
When number is one, preset monitoring mechanism be can be according to distance between multiple targets and radar from closely to remote sequence, right
Multiple targets are monitored priority ranking, the target closer apart from radar, and monitoring priority is higher, it is determined that step 105
In, it determines the camera for monitoring the target, specially determines camera according to the monitoring priority of multiple targets from height
To low sequence, successively multiple targets are monitored.
Further preset monitoring mechanism can also be suitable after arriving first according to the time of detections of radar to multiple targets
Sequence is monitored priority to multiple targets and sorts from high to low, needs to illustrate, radar monitors the time of target
Sequencing can usually be characterized by the frame number that target occurs, for example, target 1 occurs in the first frame data, target 2 exists
Second frame data occur, then, radar monitors time of target 1 just prior to monitoring time of target 2；Preset monitoring machine
System can also be that poll is monitored multiple targets.
Second situation:
If the number of the target in step 103 in default radar defence area is 1, the camera connecting with radar communication
When number is multiple, preset monitoring mechanism be can be, and is monitored using the nearest camera of distance objective to target, then really
Determine in step 105, determine the camera for monitoring the target, determines that specially from multi-cam, distance objective is nearest
Target camera shooting, is used for monitoring objective.
The third situation:
If the number of the target in step 103 in default radar defence area is multiple, the camera shooting connecting with radar communication
When head number is multiple, and when the number of target is identical as the number of camera, preset monitoring mechanism be can be, and be multiple mesh
Each target selection in mark camera nearest apart from the target, is monitored the target, it is determined that in step 105, really
Determine the camera for monitoring the target, specially for a target in multiple targets, it is determining with a target away from
From nearest camera for being monitored to a target, so that it is determined that going out for monitoring each target in multiple targets
Camera.
4th kind of situation:
If the number of the target in step 103 in default radar defence area is multiple, the camera shooting connecting with radar communication
Head number be it is multiple when, and the number of target be less than camera number when, preset monitoring mechanism is also possible to for multiple mesh
Each target selection in mark camera nearest apart from the target, is monitored the target, herein just not repeated description.
5th kind of situation:
If the number of the target in step 103 in default radar defence area is multiple, the camera shooting connecting with radar communication
When head number is multiple, and when the number of target is greater than the number of camera, preset monitoring mechanism is also possible to first from multiple
It is selected in target and is higher than remaining target with several the same number of targets of camera, the monitoring priority of several targets
Monitor priority.Wherein, several targets selected can be several targets nearest apart from radar in multiple targets,
It can be in multiple targets several targets of reflection echo signal at first, can also be several randomly selected targets, so
The sequence according to monitoring priority from high to low, the monitoring for determining that multiple cameras are successively monitored multiple targets are suitable afterwards
Sequence, herein just not repeated description.
Step 106: the ball machine coordinate information is sent to the camera, so that the camera carries out the target
Shooting.
In the first situation being described above, i.e., the number in the target for presetting radar defence area is multiple, with radar
The camera number of communication connection is one, and camera is according to the monitoring priority sequence from high to low of multiple targets, according to
It is secondary when being monitored to multiple targets, radar the ball machine coordinate information of the target of the monitoring highest priority can be sent to
Radar communication connection camera, then, the camera receive monitoring highest priority target ball machine coordinate information it
Afterwards, it is capable of determining that the position of the target range camera of monitoring highest priority, and then adjusts camera and turn to the position
Target in face of monitoring highest priority is shot, and the video image of shooting is obtained.Then step 107 can be executed: obtained
The video image of the target of the camera shooting is obtained, and the video image is merged, obtains radar monitoring view
Frequency image.
I.e. camera shoots the target of monitoring highest priority, thus after obtaining the video image of shooting, it can
The video image is sent to radar, radar is after receiving the video image, so that it may melt to the video image
It closes, specific fusion process can be that radar is after receiving video image, the map image of available default typing,
Background image as video flowing, wherein can identify radar monitoring range in map image, i.e., according to radar probe into away from
Walk-off angle degree determines the fan-shaped region of radar monitoring in map image, then indicates according to certain transparency by the sector
Region.
Then, further according to the location information of the target of the monitoring highest priority obtained in step 102, it is preferential to obtain monitoring
The radar fix information of the highest target of grade, then according between radar fix and the map coordinates system of the map icon of typing
The radar fix of the target of the monitoring highest priority is converted into map reference by transformational relation, and then in map image really
The position where the target of the monitoring highest priority is made, and then target identification can be carried out in the position, such as using red
The circle of color identifies the target of monitoring highest priority in the position.Then, the monitoring that the camera that will acquire is sent is excellent
Predeterminated position of the video and graph compound of the first highest target of grade into map image forms radar and monitors video image.
In general, above-mentioned predeterminated position does not block the target for identifying the monitoring highest priority in map image usually
Position, for example, the video and graph compound of the target of the monitoring highest priority sent in the camera that will acquire is to map
The upper left corner in image forms radar monitoring video image as shown in Figure 3.
Then, radar will monitor the ball machine coordinate information of the high target of preferential level, is sent to and connect with radar communication
Camera, so that the target high to the preferential level of the monitoring is shot, thus the mesh that the preferential level of monitoring for obtaining shooting is high
The video image is sent to radar by target video image, camera, and radar is after receiving the video image, so that it may right
The video image is merged, and specific fusion process can be that radar is after receiving the video image, such as side above
Formula is merged to obtain radar monitoring video image, then, is successively carried out to remaining target according to monitoring priority orders
Text processing, herein just not repeated description.
In the second situation being described above, i.e., the number of the target in default radar defence area is 1, logical with radar
The camera number of letter connection is multiple, and determines the target camera shooting nearest for monitoring objective, when being used for monitoring objective, to this
Target camera send target ball machine coordinate information, then, target camera can according to the ball machine coordinate information of target,
Adjustment camera turns to the position and shoots to target, obtains the video image of shooting, then, obtains to radar feedback shooting
The video image obtained, and then merge radar according to the video image of acquisition, it obtains radar and monitors video image,
This, just not repeated description.
In the third situation being described above, i.e., the number of the target in default radar defence area be it is multiple, with radar communication
When the camera number of connection is multiple, and the number of target is identical as the number of camera, and in advance in multiple targets
A target, it is determining to be used to be monitored a target with the nearest camera of a target range, so that it is determined that
Out for when monitoring the camera of each target in multiple targets, what radar can be determined to each target to be used to monitor the target
Camera send the ball machine coordinate information of the target.
For example, the number of the target in default radar defence area is 2, referred to as target 1 and target 2, it is connect with radar communication
When camera number is 2, referred to as camera 1 and camera 2, it is assumed that determine 1 distance objective 1 of camera recently, camera 2
Distance objective 2 recently, then, the ball machine coordinate information 1 of target 1 can be sent to camera 1 respectively by radar, and by target
2 ball machine coordinate information 2 is sent to camera 2, then, camera 1 can determine mesh according to the ball machine coordinate information 1 of target 1
Position 1 where marking, and then adjustment camera turns to the position 1 and shoots to target 1, obtains the video image 1 of shooting,
And the video image 1 that shooting obtains is fed back to radar；Camera 2 can determine target according to the ball machine coordinate information 2 of target 2
The position 2 at place, and then adjustment camera turns to the position 2 and shoots to target 2, obtains the video image 2 of shooting, to
The video image 2 that radar feedback shooting obtains.
Radar can melt video image 1 and video image 2 after receiving video image 1 and video image 2
It closes, such as described above, the map image of default typing can be first obtained, as the background image of video flowing, then, in map
The corresponding fan-shaped region of radar monitoring range is indicated according to certain transparency in image.It is as stated above in map image again
Mode identifies target 1 and target 2, of course, it is possible to target 1 and target be identified with different colours, then, by 1 He of video image
Video image 2 is added in the predeterminated position in map image, forms radar monitoring video image as shown in Figure 4.
In the 4th kind of situation being described above, i.e., the number in the target for presetting radar defence area is multiple, with radar
The camera number of communication connection be it is multiple, and the number of target be less than camera number when and radar be multiple targets
In each target selection camera nearest apart from the target when, radar can be determined to each target for monitoring the mesh
Target camera sends the ball machine coordinate information of the target.
For example, the number of the target in default radar defence area is 2, referred to as target 1 and target 2, it is connect with radar communication
When camera number is 3, referred to as camera 1, camera 2 and camera 3, it is assumed that determine 1 distance objective 1 of camera most
Closely, 3 distance objective 2 of camera is nearest, then, the ball machine coordinate information 1 of target 1 can be sent to camera 1 respectively by radar,
And the ball machine coordinate information 2 of target 2 is sent to camera 3, then, camera 1 can be believed according to the ball machine coordinate of target 1
Breath 1 determines the position 1 where target, and then adjustment camera turns to the position 1 and shoots to target 1, obtains shooting
Video image 1, and the video image 1 that shooting obtains is fed back to radar；Camera 3 can be according to the ball machine coordinate information of target 2
2, determine the position 2 where target, and then adjustment camera 3 turns to the position 2 and shoots to target 2, obtains shooting
Video image 2 feeds back the video image 2 that shooting obtains to radar.Radar after receiving video image 1 and video image 2,
Video image 1 and video image 2 can be merged in the way of being described above, form overlay video image 1 and video
Radar after image 2 monitors video image, herein just not repeated description.
In the 5th kind of situation being described above, i.e., the number in the target for presetting radar defence area is multiple, with radar
When the camera number of communication connection is multiple, and when the number of target is greater than the number of camera, and first from multiple targets
In select and be higher than the monitoring of remaining target with several the same number of targets of camera, the monitoring priority of several targets
Priority determines the prison that multiple cameras are successively monitored multiple targets according to the sequence of monitoring priority from high to low
When survey sequence, radar can first be the camera shooting nearest apart from the target of each target selection in several high targets of priority
After head, radar can send the target by the determining camera for monitoring the target of each target into several targets
Then ball machine coordinate information again sends the ball machine coordinate information of remaining target to be monitored to several targets
The corresponding camera of its quantity is given, to be monitored to remaining target.
For example, the number of the target in default radar defence area is 4, referred to as target 1, target 2, target 3 and target 4, with
When the camera number of radar communication connection is 3, referred to as camera 1, camera 2 and camera 3, it is assumed that according to target with
The nearest selection principle of distance by radar determines the distance target 1 nearest with distance by radar, target 2 and mesh from 4 targets
Then mark 3 determines 1 distance objective 1 of camera recently, recently, 3 distance objective 3 of camera is nearest for 2 distance objective 2 of camera,
So, the ball machine coordinate information 1 of target 1 can be sent to camera 1 respectively by radar, and the ball machine coordinate information 2 of target 2 is sent out
Camera 2 is given, and the ball machine coordinate information 3 of target 3 is sent to camera 3, so as to method as stated above, radar
It obtains the video image 1 of 1 photographic subjects 1 of camera, the video image 2 of 2 photographic subjects 2 of camera and camera 3 and shoots mesh
The video image 3 of mark 3, and video image 1, video image 2 and video image 3 are merged, form overlay video image
1, the radar after video image 2 and video image 3 monitors video image, then, by the ball machine coordinate information 4 of target 4
It is sent to any one camera into camera 3 of camera 1, or is sent to camera 1 to 3 mid-range objectives 4 of camera most
Close camera 3, to be monitored to target 4, radar is in the video image for the target 4 for receiving cam feedback, together
Sample can be merged according to the method described above, obtain fused radar monitoring video image, herein just not repeated description.
Based on the same inventive concept, a kind of video surveillance radar installations, the intelligence of the device are provided in the embodiment of the present invention
The specific implementation of energy household electric appliance control method can be found in the description of above method embodiment part, and overlaps will not be repeated, such as Fig. 5
Shown, which includes:
Acquiring unit 20, for obtaining the location information of the target in radar monitoring range；
Obtaining unit 21, for according to the positional information, obtaining the ball machine coordinate information of the target, wherein ball machine
Coordinate is coordinate used in the camera that connect with the radar communication；
Transmission unit 22, for sending the ball machine coordinate information to the camera, so that the camera is according to institute
It states ball machine coordinate information and determines the target position, and the target in the position is shot；
The obtaining unit is also used to obtain the video image of the target of the camera shooting, and to the view
Frequency image is merged, and is obtained radar and is monitored video image.
Optionally, the acquiring unit, is used for:
Obtain the echo-signal of the target reflection in radar monitoring range；
The echo-signal is parsed, the location information in radar monitoring range of the target is obtained；
The obtaining unit, is used for: determining that the target is in the default radar defence area in the radar monitoring range.
Optionally, the obtaining unit, is also used to:
Preset map image is obtained, the map image includes the radar monitoring range and default radar defence area
It is interior；
By predeterminated position of the video and graph compound in the map image, superimposed video image is obtained；
According to the positional information, the motion profile of the target is identified in the superimposed video image, is formed
Radar monitors video image.
Optionally, the number of the target be it is multiple, and or the camera number be it is multiple when, it is described to institute
Before stating the camera transmission ball machine coordinate information, the method also includes:
According to preset monitoring mechanism, the camera for being used for monitoring objective is determined.
Optionally, be in the number of the target it is multiple, when the number of the camera is one, the obtaining unit,
It is also used to:
According to multiple targets from closely to remote sequence at a distance from the radar, or according to the radar monitor multiple mesh
Sequence of the target time after arriving first is monitored the arrangement of priority from high in the end to the multiple target；
The camera is determined according to the monitoring priority sequence from high to low of the multiple target, successively to described more
A target is monitored；
The transmission unit, is also used to:
According to the monitoring priority sequence from high to low of the multiple target, successively sent to the camera described more
The ball machine coordinate information of a target；
The obtaining unit, is also used to:
The video image of the multiple target of the camera shooting is successively obtained, and to the video of the multiple target
Image is merged, and is obtained radar and is monitored video image.
Optionally, be in the number of the target it is multiple, the number of the camera is multiple, and the number etc. of institute's target
In or less than the camera number when, the obtaining unit is also used to:
For a target in multiple targets, determine a camera nearest apart from one target to described one
A target is monitored, and determines the camera for monitoring each target in multiple targets altogether；
The transmission unit, is used for:
The ball machine coordinate information for the target that is corresponding to it is sent to the camera for monitoring each target in multiple targets；
The obtaining unit, is also used to:
The video image of the multiple target of the multiple camera shooting is obtained, and to the video of the multiple target
Image is merged, and is obtained radar and is monitored video image.
Optionally, be in the number of the target it is multiple, the number of the camera is multiple, and the number of institute's target is big
When the number of the camera, the obtaining unit is also used to:
Determined from multiple targets with several the same number of targets of camera, the monitoring of several targets is excellent
First grade is higher than the monitoring priority of remaining target；
According to the sequence of monitoring priority from high to low, determine that multiple cameras are successively monitored the multiple target
Monitoring sequence；
When the number of the target is one, and the number of the camera is multiple, the obtaining unit is also used to:
It is determining to be used to detect the target with the nearest camera of the target range from multiple cameras.
It should be understood by those skilled in the art that, the embodiment of the present invention can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the present invention, which can be used in one or more,
The shape for the computer program product implemented in usable storage medium (including but not limited to magnetic disk storage and optical memory etc.)
Formula.
The present invention be referring to according to the method for the embodiment of the present invention, the process of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (10)
1. a kind of radar video monitoring method is applied in radar characterized by comprising
Obtain the location information of the target in radar monitoring range；
According to the positional information, obtain the ball machine coordinate information of the target, wherein ball machine coordinate be and the radar communication
Coordinate used in the camera of connection；
The ball machine coordinate information is sent to the camera, so that the camera determines institute according to the ball machine coordinate information
Target position is stated, and the target in the position is shot；
The video image of the target of the camera shooting is obtained, and the video image is merged, obtains radar
Monitor video image.
2. the method as described in claim 1, which is characterized in that the position letter for obtaining the target in radar monitoring range
Breath, specifically includes:
Obtain the echo-signal of the target reflection in radar monitoring range；
The echo-signal is parsed, the location information in radar monitoring range of the target is obtained；
It is described according to the positional information, before the ball machine coordinate information for obtaining the target, the method also includes: determine institute
Target is stated to be in the default radar defence area in the radar monitoring range.
3. method according to claim 2, which is characterized in that it is described that video image is merged, obtain radar monitoring view
Frequency image, specifically includes:
Preset map image is obtained, the map image includes the radar monitoring range and default radar defence area；
By predeterminated position of the video and graph compound in the map image, superimposed video image is obtained；
According to the positional information, the motion profile of the target is identified in the superimposed video image, forms radar
Monitor video image.
4. method as claimed in any one of claims 1-3, which is characterized in that the target number be it is multiple, and or
When the number of the camera is multiple, before the ball machine coordinate information to camera transmission, the method is also
Include:
According to preset monitoring mechanism, the camera for being used for monitoring objective is determined.
5. method as claimed in claim 4, which is characterized in that the target number be multiple, the number of the camera
It is described according to preset monitoring mechanism when mesh is one, it determines the camera for being used for monitoring objective, specifically includes:
According to multiple targets from closely to remote sequence at a distance from the radar, or according to the radar monitor multiple targets
Sequence of the time after arriving first is monitored the arrangement of priority from high in the end to the multiple target；
The camera is determined according to the monitoring priority sequence from high to low of the multiple target, successively to the multiple mesh
Mark the monitoring sequence being monitored；
It is described to send the ball machine coordinate information to the camera, obtain the video figure of the target of the camera shooting
Picture, and the video image is merged, it obtains radar and monitors video image specifically:
According to the monitoring priority sequence from high to low of the multiple target, the multiple mesh successively is sent to the camera
Target ball machine coordinate information；
The video image of the multiple target of the camera shooting is successively obtained, and to the video image of the multiple target
It is merged, obtains radar and monitor video image.
6. method as claimed in claim 4, which is characterized in that the target number be multiple, the number of the camera
Mesh is multiple, and when the number of the target is equal to or less than the number of the camera, described according to preset monitoring mechanism,
It determines the camera for being used for monitoring objective, specifically includes:
For a target in multiple targets, determine a camera nearest apart from one target to one mesh
Mark is monitored, and determines the camera for monitoring each target in multiple targets altogether；
It is described to send the ball machine coordinate information to the camera, obtain the video figure of the target of the camera shooting
Picture, and the video image is merged, it obtains radar and monitors video image specifically:
The ball machine coordinate information for the target that is corresponding to it is sent to the camera for monitoring each target in multiple targets；
The video image of the multiple target of the multiple camera shooting is obtained, and to the video image of the multiple target
It is merged, obtains radar and monitor video image.
7. method as claimed in claim 4, which is characterized in that the target number be multiple, the number of the camera
Mesh is multiple, and when the number of institute's target is greater than the number of the camera, described according to preset monitoring mechanism, determination is used for
The camera of monitoring objective, specifically includes:
It is determined from multiple targets and several the same number of targets of camera, the monitoring priority of several targets
Higher than the monitoring priority of remaining target；
According to the sequence of monitoring priority from high to low, the prison that multiple cameras are successively monitored the multiple target is determined
Survey sequence；
It is described according to preset monitoring mechanism when the number of the target is one, and the number of the camera is multiple, really
Surely it is used for the camera of monitoring objective, is specifically included:
It is determining to be used to detect the target with the nearest camera of the target range from multiple cameras.
8. a kind of video surveillance radar installations characterized by comprising
Acquiring unit, for obtaining the location information of the target in radar monitoring range；
Obtaining unit obtains the ball machine coordinate information of the target for according to the positional information, wherein ball machine coordinate is
Coordinate used in the camera being connect with the radar communication；
Transmission unit, for sending the ball machine coordinate information to the camera, so that the camera is according to the ball machine
Coordinate information determines the target position, and shoots to the target in the position；
The obtaining unit is also used to obtain the video image of the target of the camera shooting, and to the video figure
As being merged, obtains radar and monitor video image.
9. device as claimed in claim 8, which is characterized in that the acquiring unit is used for:
Obtain the echo-signal of the target reflection in radar monitoring range；
The echo-signal is parsed, the location information in radar monitoring range of the target is obtained；
The obtaining unit, is used for: determining that the target is in the default radar defence area in the radar monitoring range.
10. device as claimed in claim 9, which is characterized in that the obtaining unit is also used to:
Preset map image is obtained, the map image includes in the radar monitoring range and default radar defence area；
By predeterminated position of the video and graph compound in the map image, superimposed video image is obtained；
According to the positional information, the motion profile of the target is identified in the superimposed video image, forms radar
Monitor video image.
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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 |
| CN112083421A (en) * | 2020-09-11 | 2020-12-15 | 中国民航科学技术研究院 | Runway intrusion early warning system and method based on millimeter wave radar technology |
| CN112489438A (en) * | 2020-11-19 | 2021-03-12 | 公安部第三研究所 | Radar and dome camera linkage system and method for realizing mobile target data calibration |
| CN113163110A (en) * | 2021-03-05 | 2021-07-23 | 北京宙心科技有限公司 | People stream density analysis system and analysis method |
| CN114071362A (en) * | 2021-11-05 | 2022-02-18 | 国网江苏省电力有限公司电力科学研究院 | Multi-target dynamic monitoring method, device, equipment and medium |
| CN114187328B (en) * | 2022-02-15 | 2022-07-05 | 智道网联科技(北京)有限公司 | Object detection method and device and electronic equipment |
| CN114187328A (en) * | 2022-02-15 | 2022-03-15 | 智道网联科技(北京)有限公司 | Object detection method and device and electronic equipment |
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