CN112312068B - Target detection method, device, equipment and storage medium - Google Patents

Target detection method, device, equipment and storage medium Download PDF

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Publication number
CN112312068B
CN112312068B CN201910699430.XA CN201910699430A CN112312068B CN 112312068 B CN112312068 B CN 112312068B CN 201910699430 A CN201910699430 A CN 201910699430A CN 112312068 B CN112312068 B CN 112312068B
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area
target
early warning
defense
defense area
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CN112312068A (en
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李文荣
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Hangzhou Hikvision Digital Technology Co Ltd
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Hangzhou Hikvision Digital Technology Co Ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • 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
    • G01S13/42—Simultaneous measurement of distance and other co-ordinates
    • 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
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • 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
    • G01S13/886—Radar or analogous systems specially adapted for specific applications for alarm systems
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V2201/00—Indexing scheme relating to image or video recognition or understanding
    • G06V2201/07—Target detection

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • General Physics & Mathematics (AREA)
  • Signal Processing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Theoretical Computer Science (AREA)
  • Electromagnetism (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

The application discloses a target detection method, a target detection device, target detection equipment and a storage medium, and belongs to the technical field of video monitoring. The method comprises the following steps: acquiring coordinate information of a target which enters an early warning area and triggers the radar to alarm when the radar detects the target; determining ball machine adjusting parameters according to the coordinate information; and controlling the ball machine to shoot based on the ball machine adjustment parameters, detecting the target by the ball machine according to the shot image, determining the false alarm of the radar early warning area if the ball machine detects that the target does not exist in the defense area, and triggering the defense area to alarm if the ball machine detects that the target exists in the defense area. Through setting up the early warning district, realize when the target is close to and will be about to get into the defence area, drive ball machine fast turn and adjust the camera and take one's place, so, can reduce target miss detection rate, improve target detection's accuracy.

Description

Target detection method, device, equipment and storage medium
Technical Field
The present disclosure relates to the field of video surveillance technologies, and in particular, to a method, an apparatus, a device, and a storage medium for target detection.
Background
At present, a defense area is usually set in a monitoring scene, and the defense area refers to an area where people and other objects are forbidden to enter. In order to improve the accuracy of detecting targets entering a defense area, a radar and a ball machine are generally used for linkage monitoring and detection.
In the implementation, target detection is performed through a radar, and when the radar detects a target, radar detection data is obtained, and coordinate information of the target in a radar coordinate system is determined according to the radar detection data. Then, the coordinate information is mapped into a PTZ parameter of the dome camera according to the parameter mapping matrix, the dome camera is rotated in place according to the PTZ parameter of the dome camera, shooting parameters are adjusted, then the regulated dome camera is rotated to shoot, and target identification is carried out on the shot image, for example, whether the target is a person or not is detected, so that whether alarm prompt needs to be executed or not is determined.
However, since a certain amount of time is required for data processing and the moving speed of the target may be fast, after the ball control machine rotates in place and adjusts shooting, the target may have left the defense area and the ball control machine may not have time to capture the target, resulting in inaccurate detection results.
Disclosure of Invention
The embodiment of the application provides a target detection method, a target detection device, target detection equipment and a storage medium, and can solve the problem of inaccurate target detection results in the related art. The technical scheme is as follows:
in one aspect, a target detection method is provided, and the method includes:
acquiring coordinate information of a target which enters an early warning area and triggers the radar to alarm when the radar detects the target;
determining ball machine adjusting parameters according to the coordinate information;
and controlling the ball machine to shoot based on the ball machine adjustment parameters, detecting the target by the ball machine according to the shot image, determining the false alarm of the radar early warning area if the ball machine detects that the target does not exist in the defense area, and triggering the defense area to alarm if the ball machine detects that the target exists in the defense area.
In a possible implementation manner of the present application, before determining the adjustment parameter of the dome camera according to the coordinate information, the method further includes:
receiving an early warning area configuration instruction, wherein the early warning area configuration instruction comprises early warning area information;
and determining the early warning area according to the early warning area configuration instruction.
In a possible implementation manner of the present application, before determining the adjustment parameter of the dome camera according to the coordinate information, the method further includes:
determining the target speed and the target type of the target according to radar detection data;
determining the early warning zone according to at least one of the target speed, the target type, the defense zone size of the defense zone and the defense zone type of the defense zone.
In one possible implementation manner of the present application, when a plurality of targets are detected by a radar, the determining a target speed and a target type of the target according to radar detection data includes:
determining a historical movement track and a current target speed of each target in the multiple targets according to the radar detection data, and determining a target which is closest to the defense area and has a movement trend tending to the defense area from the multiple targets according to the historical movement track and the current target speed of each target;
a target speed and a target type of the determined target are determined.
In one possible implementation manner of the present application, the determining the early warning area according to at least one of the target speed, the target type, a defense area size of the defense area, and a defense area type of the defense area includes:
when the early warning area is determined according to the target speed and the type of the defense area, if the target speed is greater than or equal to a speed threshold value and the type of the defense area is a polygon, each side of the defense area is respectively extended outwards by a first distance to obtain the early warning area;
and if the target speed is less than the speed threshold and the defense area type is a polygon, respectively extending each edge of the defense area outwards by a second distance to obtain the early warning area, wherein the second distance is less than the first distance.
In one possible implementation manner of the present application, the determining the early warning area according to at least one of the target speed, the target type, a defense area size of the defense area, and a defense area type of the defense area includes:
when the early warning area is determined according to the target type and the defense area size of the defense area, if the target type belongs to a maneuvering target type and the defense area size is smaller than a size threshold, the defense area is expanded outwards by a third distance to obtain the early warning area;
and if the target type belongs to a non-maneuvering target type and the size of the defense area is larger than or equal to a size threshold, expanding the defense area by a fourth distance outwards to obtain the early warning area, wherein the fourth distance is smaller than the third distance.
In a possible implementation manner of the present application, the controlling the ball machine to shoot based on the adjustment parameter of the ball machine includes:
determining a difference value between the dome camera operation parameters and the dome camera adjustment parameters of the dome camera;
and when the difference value between the operation parameter of the dome camera and the adjustment parameter of the dome camera is smaller than the difference threshold value, adjusting the operation parameter of the dome camera to be the adjustment parameter of the dome camera, and shooting the dome camera based on the adjusted parameters.
In another aspect, an object detecting apparatus is provided, the apparatus including:
the radar early warning module is used for acquiring coordinate information of a target which enters an early warning area and triggers the radar early warning area to give an alarm when the radar detects the target;
the ball machine control module is used for determining ball machine adjusting parameters according to the coordinate information;
and the dome camera tracking module is used for controlling the dome camera to shoot based on the dome camera adjusting parameters, detecting the target by the dome camera according to the shot image, determining the false alarm of the radar early warning area if the dome camera detects that the target does not exist in the defense area, and triggering the defense area to alarm if the dome camera detects that the target exists in the defense area.
In one possible implementation manner of the present application, the ball machine control module is further configured to:
receiving an early warning area configuration instruction, wherein the early warning area configuration instruction comprises early warning area information;
and determining the early warning area according to the early warning area configuration instruction.
In one possible implementation manner of the present application, the ball machine control module is further configured to:
determining the target speed and the target type of the target according to radar detection data;
determining the early warning zone according to at least one of the target speed, the target type, the defense zone size of the defense zone and the defense zone type of the defense zone.
In one possible implementation manner of the present application, the ball machine control module is further configured to:
when a plurality of targets are detected by radar, determining the historical movement track and the current target speed of each target in the plurality of targets according to the radar detection data, and determining the target which is closest to the defense area and has a movement trend tending to the defense area from the plurality of targets according to the historical movement track and the current target speed of each target;
a target speed and a target type of the determined target are determined.
In one possible implementation manner of the present application, the ball machine control module is further configured to:
when the early warning area is determined according to the target speed and the type of the defense area, if the target speed is greater than or equal to a speed threshold value and the type of the defense area is a polygon, each side of the defense area is respectively extended outwards by a first distance to obtain the early warning area;
and if the target speed is less than the speed threshold and the defense area type is a polygon, respectively extending each edge of the defense area outwards by a second distance to obtain the early warning area, wherein the second distance is less than the first distance.
In one possible implementation manner of the present application, the ball machine control module is further configured to:
when the early warning area is determined according to the target type and the defense area size of the defense area, if the target type belongs to a maneuvering target type and the defense area size is smaller than a size threshold, the defense area is expanded outwards by a third distance to obtain the early warning area;
and if the target type belongs to a non-maneuvering target type and the size of the defense area is larger than or equal to a size threshold, expanding the defense area by a fourth distance outwards to obtain the early warning area, wherein the fourth distance is smaller than the third distance.
In one possible implementation manner of the present application, the ball machine tracking module is configured to:
determining a difference value between the dome camera operation parameters and the dome camera adjustment parameters of the dome camera;
and when the difference value between the operation parameter of the dome camera and the adjustment parameter of the dome camera is smaller than the difference threshold value, adjusting the operation parameter of the dome camera to be the adjustment parameter of the dome camera, and shooting the dome camera based on the adjusted parameters.
In a possible implementation manner of the present application, the early warning area is outside the defense area, or the early warning area includes the defense area and has an area larger than the area of the defense area.
In another aspect, there is provided a control apparatus including:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to implement the object detection method of the above aspect.
On the other hand, the thunder ball linkage monitoring system comprises control equipment, a ball machine and a radar, wherein the control equipment is used for being matched with the ball machine and the radar to realize the target detection method on the one hand.
In another aspect, a computer-readable storage medium is provided, which stores instructions that, when executed by a processor, implement the object detection method of the above aspect.
In another aspect, a computer program product is provided that comprises instructions which, when run on a computer, cause the computer to perform the object detection method of one aspect described above.
The technical scheme provided by the embodiment of the application has the following beneficial effects:
the method comprises the steps of obtaining coordinate information of a target which enters a precaution area and triggers the precaution area to alarm by a radar, determining a dome camera adjusting parameter according to the coordinate information in order to control the dome camera to rotate in place in advance to track the target before the target enters a defense area, controlling the dome camera to shoot based on the dome camera adjusting parameter, and then detecting the target by the dome camera according to the shot image. And if the ball machine detects that the target does not exist in the defense area, determining false alarm of the radar early warning area, otherwise, if the ball machine detects that the target exists in the defense area, triggering the defense area to alarm. Through setting up the early warning district, realize when the target is close to and will be about to get into the defence area, drive ball machine fast turn and adjust the camera and take one's place, so, can reduce target miss detection rate, improve target detection's accuracy.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic diagram of an implementation environment shown in accordance with an exemplary embodiment;
FIG. 2 is a flow diagram illustrating a method of object detection in accordance with an exemplary embodiment;
FIG. 3 is a schematic diagram illustrating an early warning zone and a defense zone in accordance with an exemplary embodiment;
FIG. 4 is a schematic illustration of an early warning zone and a defence zone according to another exemplary embodiment;
FIG. 5 is a flow diagram illustrating object detection in accordance with an exemplary embodiment;
FIG. 6 is a schematic diagram illustrating the structure of an object detection device according to an exemplary embodiment;
fig. 7 is a schematic structural diagram illustrating a control apparatus according to another exemplary embodiment.
Detailed Description
To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
Before describing the target detection method provided by the embodiment of the present application in detail, terms, application scenarios and implementation environments related to the embodiment of the present application are briefly described.
First, terms related to the embodiments of the present application will be briefly described.
Radar: an apparatus for detecting a target by using electromagnetic waves has the characteristic of all-weather all-day-long operation. The target is irradiated by transmitting an electromagnetic wave and an echo thereof is received, thereby obtaining information of the distance, the rate of change of distance (radial velocity), the azimuth, the altitude, and the like from the target to the electromagnetic wave transmission point.
Ball machine: the system has mechanical structures such as a cloud deck and the like, can be used for monitoring the camera in a large range with PTZ change, and can give consideration to panoramic information and detailed information of a monitored scene.
And (3) thunder ball linkage: through the combined monitoring of the radar and the ball machine, when the radar detects a suspected movable target, the ball machine can be driven to rotate and video recording is carried out on the suspected target, so that secondary identification is carried out.
PTZ: the Pan Tilt Zoom lens is a short hand writing of Pan Tilt Zoom in security monitoring application and is used for representing all-around (horizontal/vertical) movement of a holder, zooming and zooming control of a lens.
A defense area: the target entering forbidden area is an area where a target is forbidden, monitoring equipment is generally required to monitor the target, once the target entering the defense area is determined, an alarm can be triggered, and the type of the target forbidden to enter the defense area can be set according to requirements, for example, the target forbidden to enter the defense area can be a person, a vehicle and the like.
Secondly, the application scenarios related to the embodiments of the present application are briefly introduced.
In a surveillance scenario, if radar alone is used to detect a target, errors are easily detected, such as objects like detected branches of trees may be mistakenly determined as targets. If the target is detected by using the dome camera alone, the imaging quality of the dome camera is easily affected by external factors such as thunderstorm, rain, snow, brightness and the like, so that inaccurate detection is easily caused. Therefore, a thunder ball linkage mode is provided for target detection, the radar false detection rate is reduced, meanwhile, the monitoring performance of the ball machine under weak light and severe weather can be improved, and the method can be better suitable for complex environments with variable weather.
However, the currently provided method for detecting the thunder ball linkage may have a problem of missing detection. For example, assuming that the time when the radar detects the target is t1 and the actual position of the target is (x1, y1), after a period of time, the coordinate information is determined from the radar detection data until t2, and the actual position of the target becomes (x2, y2), then, the dome camera is driven to rotate to the position and the shooting parameters are adjusted based on the coordinate information, and the actual position of the target becomes (x3, y3), and the dome camera rotates to the corresponding area (x1, y1) to shoot. Therefore, if the moving speed of the target is high, the target may have moved out of the defense area, and the target cannot be captured by the dome camera, so that the target is missed to be detected, and the detection result is inaccurate. To this end, embodiments of the present application provide a target detection method, which can overcome this problem, and specific implementations thereof can be seen in the embodiments described below.
Next, a brief description will be given of an implementation environment related to the embodiments of the present application.
Referring to fig. 1, fig. 1 is a schematic diagram illustrating a ball linkage monitoring system according to an exemplary embodiment, which may include a control device 110, a radar 120, and a ball machine 130. The radar 120 and the ball machine 130 may be separately installed or may be an integrated device. Further, when the radar 120 is installed separately from the ball machine 130, the control device 110 may be integrally provided with the radar 120, or the control device 110 may also be integrally provided with the ball machine 130; alternatively, when the radar 120 and the ball machine 130 are integrated devices, the control device 110 may be provided in the integrated devices.
The radar 120 described above may be used to detect objects and generate radar detection data. As an example, the radar 120 may be a millimeter wave radar, a laser radar, or the like, which is not limited in this embodiment.
The ball machine 130 may be used to track and photograph the target in real time. As an example, the dome camera 130 may employ a general light camera, a thermal imaging camera, an infrared camera, or the like, which is not limited in the embodiments of the present application.
The control device 110 may be configured to process radar detection data, determine ball machine adjustment parameters, and identify a target in an image captured by the ball machine 130, so as to determine whether an alarm is required according to an identification result. As an example, the control device 110 may further be configured with an early warning device and an alarm device, so as to perform early warning prompt through the early warning device, and perform alarm prompt through the alarm device, where the early warning device may be a voice broadcast device or an indicator light, and the alarm prompt may be a ring device, which is not limited in this embodiment of the present application.
As an example, the control device 110 may include, but is not limited to, a radar calibration module, a radar defense area rule setting module, a radar early warning area setting module, a radar early warning module, a ball machine control module, a ball machine tracking module, a radar warning module, a ball machine review module, and a decision output module. The control device 110 may implement the object detection by the plurality of modules described above, respectively.
After the terms, application scenarios and implementation environments related to the embodiments of the present application are introduced, the following will describe in detail a target detection method provided by the embodiments of the present application with reference to the accompanying drawings.
Referring to fig. 2, fig. 2 is a flowchart illustrating a target detection method according to an exemplary embodiment, where this embodiment is described by taking as an example that the method is applied to the implementation environment illustrated in fig. 1, the method may include the following implementation steps:
step 201: and acquiring coordinate information of the target which enters the early warning area and triggers the radar to alarm in the early warning area.
The target may include one or more targets. That is, the radar may detect one target or may detect multiple targets at a time.
The early warning area can be set relative to the defense area, and in terms of position relation, the target generally needs to pass through the early warning area before entering the defense area. As an example, the precaution area is outside of the defence area, or the precaution area comprises the defence area and has an area larger than the area of the defence area.
Referring to fig. 3, fig. 3 shows a schematic diagram of a precautionary zone 31 and a defence zone 32, the precautionary zone 31 being outside the defence zone 32, according to an exemplary embodiment. As shown in fig. 4 again, fig. 4 is a schematic diagram of an early warning area 41 and a defense area 42 according to another exemplary embodiment, the early warning area 41 surrounds the defense area 42, the area of the early warning area 41 is larger than the area of the defense area 42, the position relationship between the early warning area and the defense area may be other situations where the early warning area is located outside the defense area, and the area and shape of the early warning area and the defense area, which are not limited in the present invention.
Therefore, the target inevitably passes through the early warning area in the moving process of the target to the defense area because the early warning area is positioned outside the defense area or comprises the defense area and the area is larger than that of the defense area. As shown in fig. 5, when it is determined that the target is in the precaution area according to the coordinate information, it indicates that the target may enter the precaution area, and at this time, a radar precaution area alarm is triggered, and once the radar precaution area alarm is triggered, a ball machine needs to respond immediately to track the target in time, and therefore, the coordinate information of the target needs to be acquired.
As an example, radar detection data is obtained when a radar detects that a target triggers a radar warning area alarm, where the radar detection data is ADC (Analog-to-Digital Converter) data, and the ADC data is generally non-intuitive data, and the control device may process the ADC data to extract target information of the target to be detected in a radar field of view at the current time, where the target information may include, but is not limited to, a target speed, a target type, and coordinate information of the target to be detected.
Further, please continue to refer to fig. 5, when it is detected that the target is in the early warning region, an early warning prompt may be triggered, and the control device may trigger the early warning prompt through the radar warning module.
Further, before coordinate information of a target which enters an early warning area and triggers the radar early warning area to alarm is obtained, the early warning area needs to be determined. As an example, determining the implementation of the early warning zone may include any of the following:
the first implementation mode comprises the following steps: and receiving an early warning area configuration instruction, wherein the early warning area configuration instruction comprises early warning area information, and determining the early warning area according to the early warning area configuration instruction.
As an example, the early warning region information may include, but is not limited to, size information, location information, and type of the early warning region.
The instruction for configuring the early warning area may be triggered by a user, where the user may trigger through a preset operation, and the preset operation may include a click operation, a sliding operation, and the like, which is not limited in this embodiment of the application.
The early warning area may be configured online or offline by a user on an early warning area configuration interface, and the control device may provide the early warning area configuration interface, for example, based on which the user may trigger an early warning area configuration instruction to set the early warning area. As an example, the user may set the precaution area as follows: and when the defense area is a polygon, respectively expanding each side of the defense area outwards by a first distance threshold, and determining an area obtained after expansion as the early warning area.
The first distance threshold may be set by a user according to actual needs, or may be set by default by the control device, which is not limited in this embodiment of the present application.
That is, each edge of the defense area may be used as a reference object, edges which are parallel to and equal in length to each reference object and are distant from each reference object by the first distance threshold value may be determined, and the determined edges may be connected to obtain the early warning area. For example, referring to fig. 4, the distance between each edge of the precautionary region 41 and the corresponding edge of the defense region 42 in fig. 4 is a first distance threshold.
It should be noted that, here, it is only described by taking an example that each side of the defense area is respectively extended outward by a first distance threshold, in another embodiment, each side of the defense area may be respectively extended outward by different distance thresholds to obtain the early warning area, that is, distances between each side of the early warning area and a corresponding side of the defense area may not be equal, where different distance thresholds may be set according to actual requirements, and this is not limited in this embodiment of the application.
As an example, the user may also set the precaution area as follows: when the defense area comprises a first boundary line of an open loop, a second boundary line which is a second distance threshold from the first boundary line and is outside the defense area is determined, and an area between the first boundary line and the second boundary line is determined as the early warning area.
The second distance threshold may be set by a user according to actual needs, or may be set by default by the control device, which is not limited in this embodiment of the present application.
In this implementation, the defence area is divided by a first boundary line of an open loop, for example, as shown in fig. 3, in which case the determined precaution area comprises a first boundary line and a second boundary line of an open loop, the distance between the second boundary line and the first boundary line being a second distance threshold and the first boundary line and the second boundary line being parallel to each other, the area between the first boundary line and the second boundary line being determined as the precaution area, as 31 in fig. 3. Further, the lengths of the first boundary line and the second boundary line may be equal.
It should be noted that, the above is only described as an example that the user sets the early warning region through the early warning region configuration instruction, in another embodiment, the control device may also automatically set the early warning region according to the above implementation manner, which is not limited in this embodiment of the application.
The second implementation mode comprises the following steps: and determining the target speed and the target type of the target according to the radar detection data, and determining the early warning area according to at least one of the target speed, the target type, the defense area size of the defense area and the defense area type of the defense area.
As described above, the radar detection data includes the target speed and the target type of the target, and thus, the target speed and the target type of the target can be acquired from the radar detection data. As an example, when multiple targets are detected by the radar, determining a target speed and a target type for the targets based on the radar detection data includes: determining the historical movement track and the current target speed of each target in the multiple targets according to the radar detection data, determining the target which is closest to the defense area and has a movement trend tending to the defense area from the multiple targets according to the historical movement track and the current target speed of each target, and determining the target speed and the target type of the determined target.
The historical movement track of each target can be determined according to the coordinate information of each target at the historical moment, and the movement trend of each target can be determined according to the historical movement track of each target, so that the direction to which each target approximately moves can be determined. In addition, the distance of each target from the defence area may be determined from the currently determined coordinate information of each target. When a certain target is closest to the defense area and the moving trend of the certain target is determined to be moving towards the defense area according to the historical moving track of the certain target, the certain target is probably to enter the defense area first, so that the certain target can be preferentially detected, namely, the target speed and the target type of the certain target are determined.
In addition, the control device may acquire a defence area size and a defence area type of the defence area, which may be predetermined and stored in the control device, the defence area size may refer to an area of the defence area, or the defence area size may also refer to a length of the first boundary line for dividing the defence area. The defense area types of the defense area can comprise polygons, boundary lines and the like, the defense area types can be set through a radar defense area rule setting module, further, different rules can be correspondingly set for each type, for example, the boundary lines can be correspondingly provided with cross-line detection, and the polygons can be correspondingly provided with rules of area intrusion, area leaving and the like.
Then, the early warning zone is determined according to at least one of the acquired target speed of the target, the target type, the defense zone size of the defense zone and the defense zone type of the defense zone, that is, the control device determines the early warning zone which is adaptively changed. As an example, the control device may determine the early warning region by a radar early warning region setting module in any of the following ways:
(1) when the early warning area is determined according to the target speed and the type of the defense area, if the target speed is greater than or equal to a speed threshold value and the type of the defense area is a polygon, each side of the defense area is respectively extended outwards by a first distance to obtain the early warning area; if the target speed is less than the speed threshold value and the defense area type is a polygon, each side of the defense area is respectively expanded by a second distance to obtain the early warning area, and the second distance is less than the first distance.
The speed threshold may be set by a user according to actual needs in a self-defined manner, or may be set by default by the control device, which is not limited in the embodiment of the present application.
The first distance may be set by a user according to actual needs in a user-defined manner, or may be set by default by the control device, which is not limited in the embodiment of the present application.
The second distance may be set by a user according to actual needs in a user-defined manner, or may be set by default by the control device, which is not limited in the embodiment of the present application.
When the speed of the target is greater than or equal to the speed threshold, it is indicated that the target moves faster, and it should be understood that, when the moving speed of the target is faster, a larger early warning area generally needs to be determined, or a early warning area with a larger distance from the defense area needs to be determined, so that the ball machine can capture the target in time before detecting that the target enters the early warning area and does not enter the defense area. On the contrary, if the target speed is less than the speed threshold, it is indicated that the target moves slowly, and it should be understood that, when the target moves slowly, a smaller early-warning region may be determined, or an early-warning region with a smaller distance from the defense region may be determined, so that it may be ensured that the ball machine can take a snapshot of the target before detecting that the target enters the early-warning region and does not enter the defense region. Therefore, when the type of the defense area is polygonal, if the target speed is high, the sides of the defense area are extended outwards by a first distance, and if the target speed is low, the sides of the defense area are extended outwards by a second distance.
(2) When the early warning area is determined according to the target type and the size of the defense area, if the target type belongs to a maneuvering target type and the size of the defense area is smaller than a size threshold, the defense area is expanded outwards by a third distance to obtain the early warning area, if the target type belongs to a non-maneuvering target type and the size of the defense area is larger than or equal to the size threshold, the defense area is expanded outwards by a fourth distance to obtain the early warning area, and the fourth distance is smaller than the third distance.
The size threshold may be set by a user according to actual needs in a self-defined manner, or may be set by default by the control device, which is not limited in the embodiment of the present application.
The third distance may be set by a user according to actual needs in a user-defined manner, or may be set by default by the control device, which is not limited in the embodiment of the present application.
The fourth distance may be set by a user according to actual needs in a user-defined manner, or may be set by default by the control device, which is not limited in the embodiment of the present application.
When the target type of the target is a maneuvering target type, such as the target is a vehicle, the moving speed of the target is relatively fast, and when the target type of the target is a non-maneuvering target type, such as the target is a person, the moving speed of the target is relatively slow. In addition, when the size of the defense area is larger than or equal to the size threshold, the size of the defense area is larger, and when the size of the defense area is larger, the target generally cannot pass through the defense area quickly easily, namely, the target cannot move out of the defense area quickly easily; conversely, when the defense area size is smaller than the size threshold, it is indicated that the defense area size is smaller, and when the defense area size is smaller, the target easily passes through quickly, that is, easily moves out of the defense area quickly.
It should be understood that when the target moves faster and the size of the defense area is smaller, a larger precaution area, or a precaution area with a larger distance from the defense area, is usually determined, so that the ball machine can capture the target in time before detecting that the target enters the precaution area and does not enter the defense area. On the contrary, when the target moves slowly and the size of the defense area is large, a small early warning area can be determined, or the early warning area with a small distance from the defense area can be determined, so that the ball machine can be ensured to capture the target in time before the detected target enters the early warning area and does not enter the defense area.
It should be noted that, the above is only described by taking the example of determining the early warning area according to the target speed and the type of the defense area, and determining the early warning area according to the target type and the size of the defense area, in another embodiment, the early warning area may also be determined according to any one or two or more of the target speed, the target type, the size of the defense area, or the type of the defense area, and the specific implementation principle thereof is similar to the implementation principle of determining the early warning area according to the target speed and the type of the defense area, and determining the early warning area according to the target type and the size of the defense area.
Step 202: and determining the adjusting parameters of the dome camera according to the coordinate information.
As an example, determining a specific implementation of the dome camera adjustment parameter according to the coordinate information may include: and acquiring a parameter mapping matrix, wherein the parameter mapping matrix is used for indicating the mapping relation between the radar parameters and the parameters of the dome camera, and mapping the target prediction coordinate information into the adjustment parameters of the dome camera according to the parameter mapping matrix.
The parameter mapping matrix may be determined by a radar calibration module. In practice, the parameter mapping matrix may be determined by manual calibration means, for example, a target may be moved within the monitoring range of the radar and the dome camera, and during the movement, a technician may obtain the radar coordinate parameters and the dome camera PTZ parameters, thereby determining the parameter mapping matrix according to the obtained radar coordinate parameters and the acquired dome camera PTZ parameters. In practice, the parameter mapping matrix is used to indicate the mapping relationship between the radar coordinate parameters to the PTZ parameters of the dome camera.
Step 203: and controlling the ball machine to shoot based on the ball machine adjustment parameters, detecting the target by the ball machine according to the shot image, determining the false alarm of the radar early warning area if the ball machine detects that the target does not exist in the defense area, and triggering the defense area to alarm if the ball machine detects that the target exists in the defense area.
As an example, the specific implementation of controlling the shooting of the ball machine based on the adjustment parameter of the ball machine may include: determining a difference value between the operation parameter of the dome camera and the adjustment parameter of the dome camera, adjusting the operation parameter of the dome camera to the adjustment parameter of the dome camera when the difference value between the operation parameter of the dome camera and the adjustment parameter of the dome camera is smaller than a difference threshold value, and shooting the dome camera based on the adjusted parameters.
The difference threshold may be set by a user according to actual needs in a self-defined manner, or may be set by default by the control device, which is not limited in the embodiment of the present application.
When the difference value between the current operation parameters of the dome camera and the determined adjustment parameters of the dome camera is small, the target is almost exactly located at the center of the field of view of the dome camera, and at the moment, shooting operation can be executed. Therefore, when the ball machine rotates in place, if the target almost just falls on the center of the field of view of the ball machine for target tracking shooting, especially for the target moving quickly, the tracking can be more stable.
Further, when the difference between the operation parameter of the dome camera and the adjustment parameter of the dome camera is greater than or equal to the difference threshold, the operation parameter of the dome camera may be adjusted to the currently determined adjustment parameter of the dome camera, and the step 201 is returned to, and the next detection and adjustment of the dome camera are continued until the difference between the operation parameter of the dome camera and the adjustment parameter of the dome camera is smaller than the difference threshold, and the shooting operation is executed.
In addition, the above description is only given by taking an example of shooting based on the dome camera after parameter adjustment when the difference between the dome camera operation parameter and the dome camera adjustment parameter is smaller than the difference threshold, and in another embodiment, shooting may be directly performed after the dome camera operation parameter is adjusted to the dome camera adjustment parameter.
It is worth mentioning that the goal of driving the ball machine to rotate quickly and adjusting the camera to be in place when the goal approaches and is about to enter the defense area by setting the early warning area. When the target moving speed is high or the targets in a defense area are more, the thunder ball linkage monitoring system responds in advance to capture the video information of the target, so that the problem that the target cannot be shot in time is avoided, the triggering delay of the target alarm is reduced, and the missing rate of the target is reduced.
When the dome camera detects the target according to the image obtained by shooting, the dome camera can acquire the category information of the target by using a F-RCNN (Fast Regression Neural Networks), and can perform face recognition and other detection on the target to recheck whether the target exists in the current defense area. For example, the review can be performed by the dome camera review module, that is, the input of the dome camera review module is video information, and the output of the dome camera review module is an image target list, where the image target list includes a review result.
As an example, whether the alarm information needs to be output may be determined according to the detection result of the target in the image, for example, when the target is determined, an alarm prompt may be performed, where the alarm prompt may be different from the above-mentioned early warning prompt, for example, the early warning prompt may be a voice prompt, and the alarm prompt may be a ring prompt, or the like. Further, whether alarm information is output or not can be decided through the decision output module based on detection results of the radar and the dome camera.
In the embodiment of the application, the coordinate information of the target which enters the early warning area and triggers the radar early warning area to alarm is obtained, in order to control the ball machine to rotate in place in advance to track the target before the target enters the defense area, the adjustment parameters of the ball machine are determined according to the coordinate information, the ball machine is controlled to shoot based on the adjustment parameters of the ball machine, and then the ball machine detects the target according to the shot image. And if the ball machine detects that the target does not exist in the defense area, determining false alarm of the radar early warning area, otherwise, if the ball machine detects that the target exists in the defense area, triggering the defense area to alarm. Through setting up the early warning district, realize when the target is close to and will be about to get into the defence area, drive ball machine fast turn and adjust the camera and take one's place, so, can reduce target miss detection rate, improve target detection's accuracy.
Fig. 6 is a schematic diagram illustrating a structure of an object detection apparatus according to an exemplary embodiment, which may be implemented by software, hardware, or a combination of both. The object detection apparatus may include:
the radar early warning module 610 is used for acquiring coordinate information of a target which enters an early warning area and triggers the radar early warning area to give an alarm when the radar detects the target;
the ball machine control module 620 is used for determining ball machine adjusting parameters according to the coordinate information;
and the dome camera tracking module 630 is configured to control the dome camera to shoot based on the dome camera adjustment parameters, detect the target according to the image obtained by shooting, determine a false alarm of the radar early warning area if the dome camera detects that the target does not exist in the defense area, and trigger the defense area to alarm if the dome camera detects that the target exists in the defense area.
In one possible implementation manner of the present application, the ball machine control module 620 is further configured to:
receiving an early warning area configuration instruction, wherein the early warning area configuration instruction comprises early warning area information;
and determining the early warning area according to the early warning area configuration instruction.
In one possible implementation manner of the present application, the ball machine control module 620 is further configured to:
determining the target speed and the target type of the target according to radar detection data;
determining the early warning zone according to at least one of the target speed, the target type, the defense zone size of the defense zone and the defense zone type of the defense zone.
In one possible implementation manner of the present application, the ball machine control module 620 is further configured to:
when a plurality of targets are detected by radar, determining the historical movement track and the current target speed of each target in the plurality of targets according to the radar detection data, and determining the target which is closest to the defense area and has a movement trend tending to the defense area from the plurality of targets according to the historical movement track and the current target speed of each target;
a target speed and a target type of the determined target are determined.
In one possible implementation manner of the present application, the ball machine control module 620 is further configured to:
when the early warning area is determined according to the target speed and the type of the defense area, if the target speed is greater than or equal to a speed threshold value and the type of the defense area is a polygon, each side of the defense area is respectively extended outwards by a first distance to obtain the early warning area;
and if the target speed is less than the speed threshold and the defense area type is a polygon, respectively extending each edge of the defense area outwards by a second distance to obtain the early warning area, wherein the second distance is less than the first distance.
In one possible implementation manner of the present application, the ball machine control module 620 is further configured to:
when the early warning area is determined according to the target type and the defense area size of the defense area, if the target type belongs to a maneuvering target type and the defense area size is smaller than a size threshold, the defense area is expanded outwards by a third distance to obtain the early warning area;
and if the target type belongs to a non-maneuvering target type and the size of the defense area is larger than or equal to a size threshold, expanding the defense area by a fourth distance outwards to obtain the early warning area, wherein the fourth distance is smaller than the third distance.
In a possible implementation manner of the present application, the ball machine tracking module 630 is configured to:
determining a difference value between the dome camera operation parameters and the dome camera adjustment parameters of the dome camera;
and when the difference value between the operation parameter of the dome camera and the adjustment parameter of the dome camera is smaller than the difference threshold value, adjusting the operation parameter of the dome camera to be the adjustment parameter of the dome camera, and shooting the dome camera based on the adjusted parameters.
In a possible implementation manner of the present application, the early warning area is outside the defense area, or the early warning area includes the defense area and has an area larger than the area of the defense area.
In the embodiment of the application, the coordinate information of the target which enters the early warning area and triggers the radar early warning area to alarm is obtained, in order to control the ball machine to rotate in place in advance to track the target before the target enters the defense area, the adjustment parameters of the ball machine are determined according to the coordinate information, the ball machine is controlled to shoot based on the adjustment parameters of the ball machine, and then the ball machine detects the target according to the shot image. And if the ball machine detects that the target does not exist in the defense area, determining false alarm of the radar early warning area, otherwise, if the ball machine detects that the target exists in the defense area, triggering the defense area to alarm. Through setting up the early warning district, realize when the target is close to and will be about to get into the defence area, drive ball machine fast turn and adjust the camera and take one's place, so, can reduce target miss detection rate, improve target detection's accuracy.
It should be noted that: in the target detection apparatus provided in the above embodiment, when performing target detection, only the division of the functional modules is illustrated, and in practical applications, the function distribution may be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the target detection apparatus and the target detection method provided by the above embodiments belong to the same concept, and specific implementation processes thereof are described in the method embodiments in detail and are not described herein again.
Fig. 7 is a schematic structural diagram of a control device 700 according to an embodiment of the present application, where the control device 700 may generate a relatively large difference due to different configurations or performances, and may include one or more processors (CPUs) 701 and one or more memories 702, where the memory 702 stores at least one instruction, and the at least one instruction is loaded and executed by the processor 701 to implement the target detection method provided by each method embodiment.
Of course, the control device 700 may also have components such as a wired or wireless network interface, a keyboard, and an input/output interface, so as to perform input and output, and the control device 700 may also include other components for implementing device functions, which are not described herein again.
An embodiment of the present application further provides a non-transitory computer-readable storage medium, and when instructions in the storage medium are executed by a processor of a mobile terminal, the mobile terminal is enabled to execute the target detection method provided in the embodiment shown in fig. 2.
Embodiments of the present application further provide a computer program product containing instructions, which when run on a computer, cause the computer to execute the object detection method provided in the embodiment shown in fig. 2.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims (13)

1. A method of object detection, the method comprising:
acquiring coordinate information of a target which is detected by a radar to enter an early warning area and trigger the radar early warning area to alarm, wherein the early warning area is positioned outside a defense area, or the early warning area comprises the defense area and has an area larger than that of the defense area;
determining ball machine adjusting parameters according to the coordinate information;
controlling a dome camera to shoot based on the dome camera adjusting parameters, detecting the target by the dome camera according to the shot image, determining false alarm of the radar early warning area if the dome camera detects that the target does not exist in the defense area, and triggering the defense area to alarm if the dome camera detects that the target exists in the defense area;
before determining the ball machine adjusting parameters according to the coordinate information, the method further comprises the following steps:
determining the target speed and the target type of the target according to radar detection data;
determining the early warning area according to at least one of the target type and the size of the defense area; or determining the early warning area according to at least two of the target speed, the target type and the defense area size of the defense area; or determining the early warning area according to at least two of the target type, the defense area size of the defense area and the defense area type of the defense area; or determining the early warning area according to at least three of the target speed, the target type, the defense area size of the defense area and the defense area type of the defense area.
2. The method of claim 1, wherein prior to determining ball machine adjustment parameters from the coordinate information, further comprising:
receiving an early warning area configuration instruction, wherein the early warning area configuration instruction comprises early warning area information;
and determining the early warning area according to the early warning area configuration instruction.
3. The method of claim 1, wherein when multiple targets are detected by radar, said determining a target speed and a target type for the targets from radar detection data comprises:
determining a historical movement track and a current target speed of each target in the multiple targets according to the radar detection data, and determining a target which is closest to the defense area and has a movement trend tending to the defense area from the multiple targets according to the historical movement track and the current target speed of each target;
a target speed and a target type of the determined target are determined.
4. The method of claim 1 or 3, wherein said determining the precaution area based on at least one of the target type and a defence area size of the defence area comprises:
when the early warning area is determined according to the target type and the defense area size of the defense area, if the target type belongs to a maneuvering target type and the defense area size is smaller than a size threshold, the defense area is expanded outwards by a third distance to obtain the early warning area;
and if the target type belongs to a non-maneuvering target type and the size of the defense area is larger than or equal to a size threshold, expanding the defense area by a fourth distance outwards to obtain the early warning area, wherein the fourth distance is smaller than the third distance.
5. The method of claim 1, wherein said controlling a ball machine shot based on said ball machine adjustment parameters comprises:
determining a difference value between the dome camera operation parameters and the dome camera adjustment parameters of the dome camera;
and when the difference value between the operation parameter of the dome camera and the adjustment parameter of the dome camera is smaller than the difference threshold value, adjusting the operation parameter of the dome camera to be the adjustment parameter of the dome camera, and shooting the dome camera based on the adjusted parameters.
6. An object detection apparatus, characterized in that the apparatus comprises:
the radar early warning module is used for acquiring coordinate information of a target which is detected by a radar to enter an early warning area and trigger the radar early warning area to give an alarm, wherein the early warning area is positioned outside a defense area, or the early warning area comprises the defense area and has an area larger than that of the defense area;
the ball machine control module is used for determining ball machine adjusting parameters according to the coordinate information;
the dome camera tracking module is used for controlling a dome camera to shoot based on the dome camera adjusting parameters, detecting the target according to the shot image, determining the false alarm of the radar early warning area if the dome camera detects that the target does not exist in the defense area, and triggering the defense area to alarm if the dome camera detects that the target exists in the defense area;
the ball machine control module is further configured to:
determining the target speed and the target type of the target according to radar detection data;
determining the early warning area according to at least one of the target type and the size of the defense area; or determining the early warning area according to at least two of the target speed, the target type and the defense area size of the defense area; or determining the early warning area according to at least two of the target type, the defense area size of the defense area and the defense area type of the defense area; or determining the early warning area according to at least three of the target speed, the target type, the defense area size of the defense area and the defense area type of the defense area.
7. The apparatus of claim 6, wherein the ball machine control module is further configured to:
receiving an early warning area configuration instruction, wherein the early warning area configuration instruction comprises early warning area information;
and determining the early warning area according to the early warning area configuration instruction.
8. The apparatus of claim 6, wherein the ball machine control module is further configured to:
when a plurality of targets are detected by radar, determining the historical movement track and the current target speed of each target in the plurality of targets according to the radar detection data, and determining the target which is closest to the defense area and has a movement trend tending to the defense area from the plurality of targets according to the historical movement track and the current target speed of each target;
a target speed and a target type of the determined target are determined.
9. The apparatus of claim 6 or 8, wherein the ball machine control module is further configured to:
when the early warning area is determined according to the target type and the defense area size of the defense area, if the target type belongs to a maneuvering target type and the defense area size is smaller than a size threshold, the defense area is expanded outwards by a third distance to obtain the early warning area;
and if the target type belongs to a non-maneuvering target type and the size of the defense area is larger than or equal to a size threshold, expanding the defense area by a fourth distance outwards to obtain the early warning area, wherein the fourth distance is smaller than the third distance.
10. The apparatus of claim 6, wherein the ball machine tracking module is to:
determining a difference value between the dome camera operation parameters and the dome camera adjustment parameters of the dome camera;
and when the difference value between the operation parameter of the dome camera and the adjustment parameter of the dome camera is smaller than the difference threshold value, adjusting the operation parameter of the dome camera to be the adjustment parameter of the dome camera, and shooting the dome camera based on the adjusted parameters.
11. A control apparatus, characterized by comprising:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to implement the steps of any of the methods of claims 1-5.
12. A thunder ball linkage monitoring system, which is characterized by comprising a control device, a ball machine and a radar, wherein the control device is used for realizing the steps of any one of the methods of claims 1-5 by being matched with the ball machine and the radar.
13. A computer-readable storage medium having instructions stored thereon, wherein the instructions, when executed by a processor, implement the steps of any of the methods of claims 1-5.
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