CN112489438A - Radar and dome camera linkage system and method for realizing mobile target data calibration - Google Patents
Radar and dome camera linkage system and method for realizing mobile target data calibration Download PDFInfo
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- CN112489438A CN112489438A CN202011298137.1A CN202011298137A CN112489438A CN 112489438 A CN112489438 A CN 112489438A CN 202011298137 A CN202011298137 A CN 202011298137A CN 112489438 A CN112489438 A CN 112489438A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
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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
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
-
- 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
- G01S13/91—Radar or analogous systems specially adapted for specific applications for traffic control
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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
- G01S13/91—Radar or analogous systems specially adapted for specific applications for traffic control
- G01S13/92—Radar or analogous systems specially adapted for specific applications for traffic control for velocity measurement
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
- G08G1/0175—Detecting movement of traffic to be counted or controlled identifying vehicles by photographing vehicles, e.g. when violating traffic rules
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention relates to a radar and dome camera linkage system for realizing data calibration of a moving target, wherein the system carries out data calibration on the moving target through a front-end monitoring function module and sends acquired related parameters to a signal processor module for filtering processing, parameter data set information of the moving target is calculated and sent to a server module for data output, and therefore identification and calibration of the moving target are realized. The invention also relates to a method for realizing the calibration processing of the moving target data based on the radar and dome camera linkage system. By adopting the radar and dome camera linkage system for realizing the mobile target data calibration and the processing method thereof, abnormal vehicles can be captured more flexibly in the process of violation capture through the radar and dome camera linkage system, and violation vehicles in a processing picture can be effectively identified through arrow calibration.
Description
Technical Field
The invention relates to the technical field of tracking control, in particular to the technical field of road violation snapshot, and specifically relates to a radar and dome camera linkage system for realizing mobile target data calibration and a processing method thereof.
Background
With the progress of science and technology in China, the traditional video monitoring method is widely applied to various fields with intuition, accuracy, timeliness and rich information content. In recent years, as the product is applied deeply, many negative problems occur, such as that monitoring equipment is shielded, equipment is mistakenly reported, and the environment changes, so that a monitoring result is influenced to a certain extent. The radar and dome camera linkage monitoring technology is developed, the radar and vision are integrated, the advantages of the radar and vision are fully utilized, and the advantages of the radar and dome camera are fully developed.
The existing radar linkage tracking camera shooting control system can realize tracking, identification and control of a series of moving targets (people, automobiles, products on a production line and the like). After finding a target, the phased array radar can link calculated target data, such as parameters of speed, distance and the like, with the video in real time, and analyze an object in a video area and determine the target by combining an intelligent analysis function of the video, but the system has the following problems:
1. the camera system is unable to determine the specific target that caused the ball machine to rotate
When a plurality of moving targets (people, automobiles, products on a production line and the like) appear in a monitoring area, the camera control system cannot determine the direction in which a specific rotating target is located, so that the ball machine rotates continuously, but the moving target cannot be seen visually.
2. The moving object is not clearly marked
The moving targets in the monitoring area are not clearly calibrated in the process from appearance to exit of the area, so that the linkage process of the radar and the dome camera cannot be intuitively seen in the monitoring of each target.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a radar and dome camera linkage system which is high in identification accuracy and wider in application range and can realize mobile target data calibration and a processing method thereof.
In order to achieve the purpose, the radar and dome camera linkage system for realizing the calibration of the moving target data and the processing method thereof are as follows:
the radar and dome camera linkage system for realizing the mobile target data calibration is mainly characterized by comprising the following components in parts by weight:
the front-end monitoring function module is used for capturing the moving target and calibrating related parameters of the moving target;
the signal processor module is used for receiving the relevant parameters calibrated by the front-end monitoring function module, carrying out corresponding signal processing on the relevant parameters and calculating parameter data set information of the moving target; and
and the server module is used for identifying abnormal vehicles according to the parameter data set calculated by the signal processor module so as to realize the calibration of the abnormal vehicles.
Preferably, the front-end monitoring function module includes:
an antenna unit;
the radar unit is connected with the antenna unit and used for capturing the abnormal vehicle;
the long-distance dome camera unit is connected with the antenna unit and the radar unit and is used for calibrating the abnormal vehicle;
the transmitter unit is connected with the antenna unit, the radar unit and the long-distance dome camera shooting unit and is used for sending radar signals to monitor abnormal vehicles; and
and the receiver unit is connected with the antenna unit, the radar unit and the long-distance dome camera shooting unit and is used for receiving the captured related parameter information of the abnormal vehicle.
Preferably, the signal processor module comprises:
the data processing unit is used for receiving the related parameters acquired from the front-end monitoring function module, filtering the related parameters and calculating parameter data set information of the moving target; and
and the data storage unit is used for storing the parameter data set information calculated by the data processing unit and transmitting the parameter data set information to the server module through protocol packaging.
Preferably, the server module includes:
a target identification unit, configured to output the calculated parameter data set information, identify a moving target, and extract position coordinate information of the moving target; and
and the abnormal calibration unit is used for converting the position coordinate information of the moving target into the pointing coordinate information of the dome camera and moving the long-distance dome camera shooting unit to shoot and calibrate the moving target.
The method for realizing the calibration processing of the moving target data based on the radar and dome camera linkage system is mainly characterized by comprising the following steps:
(1) the front end monitoring function module in the radar monitoring device erected on the road captures abnormal vehicles running on the road surface, calibrates related parameters of the abnormal vehicles and tracks the running track of the abnormal vehicles;
(2) sending the calibrated and obtained related parameter information to the signal processing module for filtering processing, and calculating parameter data set information of the moving target;
(3) the server module extracts the position coordinates of the abnormal vehicle according to the calculated parameter data set information of the moving target;
(4) the server module converts the position coordinates into pointing coordinates of the dome camera and adjusts the long-distance dome camera shooting unit to shoot abnormal vehicles; and the server module converts the position coordinates into camera mapping coordinates, so as to calibrate the abnormal target.
Preferably, the relevant parameters include: position information of the abnormal vehicle and vehicle speed information.
Preferably, the parameter data set information includes:
the system comprises a coordinate information data set of an abnormal vehicle in a radar coordinate system at different moments, the moving speed of the abnormal vehicle in a first direction, the distance between the abnormal vehicle and the long-distance dome camera unit and an angle parameter formed between the abnormal vehicle and the long-distance dome camera unit.
Preferably, the first direction is parallel to a normal of the radar unit.
More preferably, the step (3) specifically comprises the following steps:
(3.1) acquiring the current position coordinates (x, y) and the current running speed (Vx, Vy) of the abnormal vehicle from the radar unit of the front-end monitoring functional module;
(3.2) predicting the coordinate position of the abnormal vehicle which is about to arrive within the preset time period of the system, so as to ensure that the camera unit of the distant dome camera moves within the preset time period of the system by the following formula:
(x1,y1)＝(x,y)+2×(Vx,Vy)。
preferably, the preset time period of the system is 2 seconds.
More preferably, the step (4) specifically comprises the following steps:
(4.1) converting the position coordinates (x, y) in the XY rectangular coordinate system into spherical coordinates, i.e., the ball machine pointing coordinates (θ)x1,θy1)：
Wherein, thetax1Representing the horizontal coordinate, theta, in spherical coordinatesy1Vertical coordinates under spherical coordinates, and h represents erection height;
(4.2) actual spherical coordinates (theta) of the abnormal vehicle to be acquired in real timex,θy) With the pointing coordinate (theta) of the ball machinex1,θy1) And comparing, and determining the position angle of the abnormal vehicle calibrated by the long-distance dome camera unit, thereby realizing the calibration of the abnormal target.
The radar and dome camera linkage system for realizing the mobile target data calibration and the processing method thereof solve the problem that the illegal vehicle cannot be normally captured due to the external environmental factors such as the fixed position of the gunlock, the shielded monitoring equipment, the incapability of accurately positioning the specific abnormal vehicle when a plurality of targets exist in the picture and the like in the prior art, by designing a radar and dome camera linkage system, target space/geographic position data of a parameter data set acquired by a radar unit is linked with the rotation angle of a camera unit of a remote dome camera and the focusing of a lens, so that abnormal vehicles in scene images of the space and the geographic position can be rechecked and calibrated in real time, the dome camera can be used for capturing the abnormal vehicles more flexibly in the process of capturing the vehicles against regulations, and meanwhile, the vehicles against the regulations in a processing picture can be effectively identified through arrow calibration.
Drawings
Fig. 1 is a functional module schematic diagram of a radar and dome camera linkage system for realizing mobile target data calibration according to the present invention.
Fig. 2 is a flowchart of a method for implementing a moving target data calibration process according to the present invention.
Fig. 3 is a schematic diagram of an implementation process of the radar and dome camera linkage system for implementing moving target data calibration according to the present invention.
Detailed Description
In order to more clearly describe the technical contents of the present invention, the following further description is given in conjunction with specific embodiments.
Before describing in detail embodiments that are in accordance with the present invention, it should be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Referring to fig. 1, the radar and dome camera linkage system for realizing the calibration of the moving target data of the present invention includes:
the front-end monitoring function module is used for capturing the moving target and calibrating related parameters of the moving target;
the signal processor module is used for receiving the relevant parameters calibrated by the front-end monitoring function module, carrying out corresponding signal processing on the relevant parameters and calculating parameter data set information of the moving target; and
and the server module is used for identifying abnormal vehicles according to the parameter data set calculated by the signal processor module so as to realize the calibration of the abnormal vehicles.
As a preferred embodiment of the present invention, the front-end monitoring function module includes:
an antenna unit;
the radar unit is connected with the antenna unit and used for capturing the abnormal vehicle;
the long-distance dome camera unit is connected with the antenna unit and the radar unit and is used for calibrating the abnormal vehicle;
the transmitter unit is connected with the antenna unit, the radar unit and the long-distance dome camera shooting unit and is used for sending radar signals to monitor abnormal vehicles; and
and the receiver unit is connected with the antenna unit, the radar unit and the long-distance dome camera shooting unit and is used for receiving the captured related parameter information of the abnormal vehicle.
As a preferred embodiment of the present invention, the signal processor module comprises:
the data processing unit is used for receiving the related parameters acquired from the front-end monitoring function module, filtering the related parameters and calculating parameter data set information of the moving target; and
and the data storage unit is used for storing the parameter data set information calculated by the data processing unit and transmitting the parameter data set information to the server module through protocol packaging.
As a preferred embodiment of the present invention, the server module includes:
a target identification unit, configured to output the calculated parameter data set information, identify a moving target, and extract position coordinate information of the moving target; and
and the abnormal calibration unit is used for converting the position coordinate information of the moving target into the pointing coordinate information of the dome camera and moving the long-distance dome camera shooting unit to shoot and calibrate the moving target.
Referring to fig. 2, the method for implementing moving target data calibration processing based on the radar and dome camera linkage system of the present invention includes the following steps:
(1) the front end monitoring function module in the radar monitoring device erected on the road captures abnormal vehicles running on the road surface, calibrates related parameters of the abnormal vehicles and tracks the running track of the abnormal vehicles;
(2) sending the calibrated and obtained related parameter information to the signal processing module for filtering processing, and calculating parameter data set information of the moving target;
(3) the server module extracts the position coordinates of the abnormal vehicle according to the calculated parameter data set information of the moving target;
(4) the server module converts the position coordinates into pointing coordinates of the dome camera and adjusts the long-distance dome camera shooting unit to shoot abnormal vehicles; and the server module converts the position coordinates into camera mapping coordinates, so as to calibrate the abnormal target.
As a preferred embodiment of the present invention, the related parameters include: position information of the abnormal vehicle and vehicle speed information.
As a preferred embodiment of the present invention, the parameter data set information includes:
the system comprises a coordinate information data set of an abnormal vehicle in a radar coordinate system at different moments, the moving speed of the abnormal vehicle in a first direction, the distance between the abnormal vehicle and the long-distance dome camera unit and an angle parameter formed between the abnormal vehicle and the long-distance dome camera unit.
In a preferred embodiment of the present invention, the first direction is parallel to a normal line of the radar unit.
As a preferred embodiment of the present invention, the step (3) specifically comprises the following steps:
(3.1) acquiring the current position coordinates (x, y) and the current running speed (Vx, Vy) of the abnormal vehicle from the radar unit of the front-end monitoring functional module;
(3.2) predicting the coordinate position of the abnormal vehicle which is about to arrive within the preset time period of the system, so as to ensure that the camera unit of the distant dome camera moves within the preset time period of the system by the following formula:
(x1,y1)＝(x,y)+2×(Vx,Vy)。
in a preferred embodiment of the present invention, the preset time period of the system is 2 seconds.
As a preferred embodiment of the present invention, the step (4) specifically includes the following steps:
(4.1) converting the position coordinates (x, y) in the XY rectangular coordinate system into spherical coordinates, i.e., the ball machine pointing coordinates (θ)x1,θy1)：
Wherein, thetax1Representing the horizontal coordinate, theta, in spherical coordinatesy1Vertical coordinates under spherical coordinates, and h represents erection height;
(4.2) actual spherical coordinates (theta) of the abnormal vehicle to be acquired in real timex,θy) With the pointing coordinate (theta) of the ball machinex1,θy1) And comparing, and determining the position angle of the abnormal vehicle calibrated by the long-distance dome camera unit, thereby realizing the calibration of the abnormal target.
Referring to fig. 3, the method for implementing the calibration processing of the moving target data according to the present invention implements real-time review and calibration of abnormal vehicles in the moving target by detecting and acquiring parameters of the moving target in the monitoring area through the radar and dome camera system.
The radar and dome camera linkage system for realizing the mobile target data calibration and the processing method thereof solve the problem that the illegal vehicle cannot be normally captured due to the external environmental factors such as the fixed position of the gunlock, the shielded monitoring equipment, the incapability of accurately positioning the specific abnormal vehicle when a plurality of targets exist in the picture and the like in the prior art, by designing a radar and dome camera linkage system, target space/geographic position data of a parameter data set acquired by a radar unit is linked with the rotation angle of a camera unit of a remote dome camera and the focusing of a lens, so that abnormal vehicles in scene images of the space and the geographic position can be rechecked and calibrated in real time, the dome camera can be used for capturing the abnormal vehicles more flexibly in the process of capturing the vehicles against regulations, and meanwhile, the vehicles against the regulations in a processing picture can be effectively identified through arrow calibration.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
In this specification, the invention has been described with reference to specific embodiments thereof. It will, however, be evident that various modifications and changes may be made thereto without departing from the broader spirit and scope of the invention. The specification and drawings are, accordingly, to be regarded in an illustrative rather than a restrictive sense.
Claims (11)
1. The utility model provides a realize radar and ball machine linked system that moving target data was markd which characterized in that, the system include:
the front-end monitoring function module is used for capturing the moving target and calibrating related parameters of the moving target;
the signal processor module is used for receiving the relevant parameters calibrated by the front-end monitoring function module, carrying out corresponding signal processing on the relevant parameters and calculating parameter data set information of the moving target; and
and the server module is used for identifying abnormal vehicles according to the parameter data set calculated by the signal processor module so as to realize the calibration of the abnormal vehicles.
2. The linkage system of the radar and the dome camera for realizing the calibration of the moving target data according to claim 1, wherein the front-end monitoring function module comprises:
an antenna unit;
the radar unit is connected with the antenna unit and used for capturing the abnormal vehicle;
the long-distance dome camera unit is connected with the antenna unit and the radar unit and is used for calibrating the abnormal vehicle;
the transmitter unit is connected with the antenna unit, the radar unit and the long-distance dome camera shooting unit and is used for sending radar signals to monitor abnormal vehicles; and
and the receiver unit is connected with the antenna unit, the radar unit and the long-distance dome camera shooting unit and is used for receiving the captured related parameter information of the abnormal vehicle.
3. The linkage system of the radar and the dome camera for realizing the calibration of the moving target data according to claim 1, wherein the signal processor module comprises:
the data processing unit is used for receiving the related parameters acquired from the front-end monitoring function module, filtering the related parameters and calculating parameter data set information of the moving target; and
and the data storage unit is used for storing the parameter data set information calculated by the data processing unit and transmitting the parameter data set information to the server module through protocol packaging.
4. The linkage system of claim 1, wherein the server module comprises:
a target identification unit, configured to output the calculated parameter data set information, identify a moving target, and extract position coordinate information of the moving target; and
and the abnormal calibration unit is used for converting the position coordinate information of the moving target into the pointing coordinate information of the dome camera and moving the long-distance dome camera shooting unit to shoot and calibrate the moving target.
5. A method for realizing the calibration processing of the moving target data based on the linkage system of the radar and the dome camera as claimed in any one of claims 1 to 4, wherein the method comprises the following steps:
(1) the front end monitoring function module in the radar monitoring device erected on the road captures abnormal vehicles running on the road surface, calibrates related parameters of the abnormal vehicles and tracks the running track of the abnormal vehicles;
(2) sending the calibrated and obtained related parameter information to the signal processing module for filtering processing, and calculating parameter data set information of the moving target;
(3) the server module extracts the position coordinates of the abnormal vehicle according to the calculated parameter data set information of the moving target;
(4) the server module converts the position coordinates into pointing coordinates of the dome camera and adjusts the long-distance dome camera shooting unit to shoot abnormal vehicles; and the server module converts the position coordinates into camera mapping coordinates, so as to calibrate the abnormal target.
6. The method for implementing moving object data calibration processing according to claim 5, wherein the related parameters include: position information of the abnormal vehicle and vehicle speed information.
7. The method of claim 5, wherein the parameter data set information comprises:
the system comprises a coordinate information data set of an abnormal vehicle in a radar coordinate system at different moments, the moving speed of the abnormal vehicle in a first direction, the distance between the abnormal vehicle and the long-distance dome camera unit and an angle parameter formed between the abnormal vehicle and the long-distance dome camera unit.
8. The method of claim 7, wherein the first direction is parallel to a normal of the radar unit.
9. The method for implementing moving target data calibration processing according to claim 5, wherein the step (3) specifically includes the following steps:
(3.1) acquiring the current position coordinates (x, y) and the current running speed (Vx, Vy) of the abnormal vehicle from the radar unit of the front-end monitoring functional module;
(3.2) predicting the coordinate position of the abnormal vehicle which is about to arrive within the preset time period of the system, so as to ensure that the camera unit of the distant dome camera moves within the preset time period of the system by the following formula:
(x1,y1)＝(x,y)+2×(Vx,Vy)。
10. the method for implementing moving object data calibration processing according to claim 9, wherein the system preset time period is 2 seconds.
11. The method for implementing moving target data calibration processing according to claim 5, wherein the step (4) specifically includes the following steps:
(4.1) converting the position coordinates (x, y) in the XY rectangular coordinate system into spherical coordinates, i.e., the ball machine pointing coordinates (θ)x1,θy1)：
Wherein, thetax1Representing the horizontal coordinate, theta, in spherical coordinatesy1Vertical coordinates under spherical coordinates, and h represents erection height;
(4.2) actual spherical coordinates (theta) of the abnormal vehicle to be acquired in real timex,θy) With the pointing coordinate (theta) of the ball machinex1,θy1) And comparing, and determining the position angle of the abnormal vehicle calibrated by the long-distance dome camera unit, thereby realizing the calibration of the abnormal target.
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| CN113888871A (en) * | 2021-10-20 | 2022-01-04 | 上海电科智能系统股份有限公司 | Automatic handling linkage system and method for highway traffic incident |
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