CN112904329A - Target monitoring system and method based on millimeter wave radar - Google Patents
Target monitoring system and method based on millimeter wave radar Download PDFInfo
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- CN112904329A CN112904329A CN202110397683.9A CN202110397683A CN112904329A CN 112904329 A CN112904329 A CN 112904329A CN 202110397683 A CN202110397683 A CN 202110397683A CN 112904329 A CN112904329 A CN 112904329A
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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
Abstract
The invention provides a target monitoring system and a method based on a millimeter wave radar, wherein the system comprises the following components: the detection module is used for transmitting a first linear frequency modulation pulse signal to the area to be sensed, receiving a second linear frequency modulation pulse signal reflected on a corresponding reflection path, and generating an output signal according to the first linear frequency modulation pulse signal and the second linear frequency modulation pulse signal; the processing module is used for processing the output signal to acquire the characteristic information of the target to be monitored and classifying the target to be monitored according to the characteristic information through the target classification model; and the front-end application module is used for correspondingly displaying and reminding the classification processing result. Therefore, the target to be monitored in the 360-degree sensing area can be tracked and monitored in an all-round and real-time manner, and the cost is low.
Description
Technical Field
The invention relates to the technical field of target tracking and monitoring, in particular to a target monitoring system based on a millimeter wave radar and a target monitoring method based on the millimeter wave radar.
Background
With the improvement of the safety consciousness of people, the personal safety is required to be ensured no matter outdoor camping for home travel or military outdoor military camping, and strangers are prevented from breaking into the camping cage and attacking animals. Therefore, for outdoor monitoring, a 360-degree omnibearing area monitoring system with high real-time performance and convenient carrying is needed to track and display a target object in a square circle.
In the related art, a camera is generally used for monitoring, and the camera monitoring has the disadvantages that the cost required by an omnidirectional monitoring camera is high, and omnidirectional real-time tracking monitoring cannot be performed on a target object.
Disclosure of Invention
The invention aims to solve the technical problems and provides a target monitoring system based on a millimeter wave radar, which can carry out omnibearing real-time tracking and monitoring on a target to be monitored in a 360-degree sensing area and has lower cost.
The technical scheme adopted by the invention is as follows:
a target monitoring system based on millimeter wave radar, comprising: the detection module is used for transmitting a first linear frequency modulation pulse signal to the area to be sensed, receiving a second linear frequency modulation pulse signal reflected on a corresponding reflection path, and generating an output signal according to the first linear frequency modulation pulse signal and the second linear frequency modulation pulse signal; the processing module is used for processing the output signal to acquire the characteristic information of the target to be monitored and classifying the target to be monitored according to the characteristic information through the target classification model; and the front-end application module is used for correspondingly displaying and reminding the classification processing result.
The target monitoring system based on the millimeter wave radar further comprises: and the communication module is respectively connected with the processing module and the front-end application module, and is used for sending the classification processing result to the front-end application module.
The detection module is specifically configured to: and using a phase difference between the first chirp signal and the second chirp signal as a phase of the output signal, and using a frequency difference between the first chirp signal and the second chirp signal as a frequency of the output signal to generate the output signal.
The detection module comprises 1 millimeter wave radar, the millimeter wave radar comprises K front-end radio frequency units, the K front-end radio frequency units are cascaded, the detection ranges of the adjacent front-end radio frequency units are partially overlapped, the detection ranges of the front-end radio frequency units form a to-be-sensed area of 360 degrees, and the K front-end radio frequency units are respectively connected with the processing module.
The detection module comprises L millimeter wave radars, the detection ranges of the adjacent millimeter wave radars are partially overlapped, and the detection ranges of the millimeter wave radars form a 360-degree region to be sensed; the processing module comprises L processing units, wherein the L processing units are respectively correspondingly connected with the L millimeter wave radars, and the L processing units are respectively used for processing output signals generated by the corresponding millimeter wave radars so as to acquire characteristic information of the target to be monitored.
The processing module is specifically configured to: and performing FFT processing on the output signal to generate frequency domain information, and acquiring the characteristic information of the target to be monitored according to the frequency domain information.
The processing module is specifically configured to: and performing time-frequency algorithm processing on the output signal to generate time-frequency domain information, and acquiring the characteristic information of the target to be monitored according to the time-frequency domain information.
A target monitoring method based on a millimeter wave radar comprises the following steps: transmitting a first linear frequency modulation pulse signal to an area to be sensed, receiving a second linear frequency modulation pulse signal reflected on a corresponding reflection path, and generating an output signal according to the first linear frequency modulation pulse signal and the second linear frequency modulation pulse signal; processing the output signal to acquire characteristic information of a target to be monitored, and classifying the target to be monitored according to the characteristic information through a target classification model; and correspondingly displaying and reminding the classification processing result.
A computer device comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein when the processor executes the computer program, the target monitoring method based on the millimeter wave radar is realized.
A non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the millimeter wave radar-based target monitoring method described above.
The invention has the beneficial effects that:
the invention can carry out omnibearing real-time tracking and monitoring on the target to be monitored in the 360-degree sensing area, and has lower cost.
Drawings
FIG. 1 is a block diagram of a target monitoring system based on millimeter wave radar according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a target monitoring system based on a millimeter wave radar according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a target monitoring system based on millimeter wave radar according to another embodiment of the present invention;
FIG. 4 is a block diagram of a millimeter wave radar-based target monitoring system according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a communication module according to an embodiment of the present invention;
fig. 6 is a flowchart of a target monitoring method based on a millimeter wave radar according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a block schematic diagram of a millimeter wave radar-based target monitoring system according to an embodiment of the present invention.
As shown in fig. 1, a target monitoring system based on millimeter wave radar according to an embodiment of the present invention may include a detection module 100, a processing module 200, and a processing module 300.
The detection module 100 is configured to detect in different directions, a detection range of the detection module 100 forms a 360-degree region to be sensed, the detection module 100 is configured to transmit a first chirp signal to the region to be sensed, receive a second chirp signal reflected on a corresponding reflection path, and generate an output signal according to the first chirp signal and the second chirp signal; the processing module 200 is configured to process the output signal to obtain feature information of the target to be monitored, and classify the target to be monitored according to the feature information through the target classification model; the front-end application module 300 is used for displaying and reminding the classification processing result correspondingly.
According to one embodiment of the present invention, as shown in fig. 2, the detection module 100 includes 1 millimeter wave radar 110, the millimeter wave radar 110 includes K front end radio frequency units 111(RF), the K front end radio frequency units 111 are cascaded, the detection ranges of adjacent front end radio frequency units 111 partially overlap, the detection ranges of the front end radio frequency units 111 form a to-be-sensed area of 360 °, and the K front end radio frequency units 111 are respectively connected to the processing module 200.
The size of K may be calibrated according to the detection range of the front-end radio frequency unit 111, for example, if the detection range of the front-end radio frequency unit 111 is an interested area greater than 90 °, K may be an integer greater than or equal to 4, that is, a 360 ° to-be-sensed area may be formed by 4 front-end radio frequency units 111, where a common detection area exists between adjacent front-end radio frequency units 111; if the detection range of the front-end radio frequency unit 111 is the region of interest greater than 120 °, K may be an integer greater than or equal to 3, that is, a 360 ° region to be sensed may be formed by 3 front-end radio frequency units 111, and thus, a 360 ° region to be sensed may be formed by each front-end radio frequency unit 111, thereby avoiding the occurrence of a monitoring blind area. It should be noted that after the K front-end radio frequency units 111 form the region to be sensed, the coordinate system of each front-end radio frequency unit 111 may also be calibrated, so that the targets in different regions are in the same complete coordinate system.
Specifically, each front-end RF unit 111 is correspondingly provided with a transceiver antenna assembly, where the transceiver antenna assembly employs an antenna transceiver array with N transmit antennas and M receive antennas, i.e., M receive antennas and N transmit antennas, and the front-end RF unit 111(RF) has main functions of signal generation, signal reception, frequency multiplication, frequency mixing, filtering, analog-to-digital conversion (ADC), data buffering, and communication interface. It should be noted that the millimeter wave radar 110 further includes a micro processing unit, a communication component, and a peripheral circuit, where the micro processing unit is configured to perform waveform parameter configuration on the front end radio frequency unit 111(RF), and process the raw data acquired by the ADC; the communication component is used for communicating with other modules and transmitting data; the peripheral circuit is used for connecting each external module.
As a possible embodiment, the target monitoring system based on millimeter wave radar of the present invention may be a separate type, specifically, as shown in fig. 2, K front-end rf units 111 (only 3 are shown in fig. 2) share the same processing module 200, that is, the K front-end rf units 111 are all connected to the processing module 200 through an MIPI-CSI2 communication interface, where in the system, the front-end rf units 111 of K N transmit/receive antenna transmit/receive arrays are required to be cascaded, and each front-end rf unit 111 scans a direction area to ensure that area monitoring can be performed at 360 °.
Specifically, in practical application, the front-end RF unit 111(RF) can be controlled by the micro-processing unit to transmit 60GHz or 77GHz millimeter waves (first chirp signal x)1(t)) and transmitted via an array of transmit antennas to the area to be sensed, a first chirp signal x1(t) after being reflected by the target to be monitored in the area to be sensed, the receiving antenna array can receive a second chirp signal x2(t), at this time, the front end RF unit 111(RF) can be operated according to the first chirp signal x1(t) and a second chirp signal x2(t) generating an output signal xout(t) of (d). Wherein, N can adopt MIMO system that M received of sending constantly to waiting to perceive regional transmission first chirp signal x1And (t) acquiring multiple paths of target echo signals in the region to be sensed. Wherein a plurality of chirp series are scanned back each cycle. The front end RF unit 111(RF) may also receive a second chirp signal x2And (t) carrying out ADC sampling to obtain two paths of 16-bit precision sampling values of I/Q.
According to an embodiment of the present invention, the detection module 100 is specifically configured to: the phase difference between the first chirp signal and the second chirp signal is taken as the phase of the output signal, and the frequency difference between the first chirp signal and the second chirp signal is taken as the frequency of the output signal to generate the output signal.
Specifically, the output signal x generated by the front-end radio frequency unit 111(RF)out(t) has an instantaneous frequency equal to the first chirp signal x1(t) and a second chirp signal x2(t) difference in instantaneous frequency, output signal xout(t) is equal in phase to the first chirp signal x1(t) and a second chirp signal x2(t) phase difference. For example, when the first chirp signal x1(t)＝sin(w1t+φ1) And a second chirp signal x2(t)＝si(wn2t+φ2) Time, output signal xou(t)t＝si[(nω1-ω2)t+(φ1-φ2)]。
Wherein the front end radio frequency unit 111(RF) can generate the output signal xout(t) storing in an internal SDRAM for buffering, and outputting the signal x through a MIPI-CSI2 communication interfaceout(t) is transmitted to the internal RAM of the processing module 200 (including DSP or MCU) for storage, and the processing module 200 outputs a signal xoutAnd (t) analyzing and acquiring characteristic information of the target to be monitored (carrying out SPT data processing).
As another possible embodiment, the millimeter wave radar-based target monitoring system of the present invention may be free-standing. Specifically, as shown in fig. 3, the detection module 110 may include L millimeter-wave radars 120 (only 3 are shown in the figure), the detection ranges of adjacent millimeter-wave radars 120 are partially overlapped, and the detection range of each millimeter-wave radar 120 constitutes a 360 ° region to be sensed; the processing module 200 may include L processing units 210 (only 3 processing units are shown in the figure), where the L processing units 210 are respectively correspondingly connected to the L millimeter wave radars 120, and the L processing units 210 are respectively configured to process output signals generated by the corresponding millimeter wave radars 120 to obtain feature information of a target to be monitored. Wherein, L can be calibrated according to actual conditions.
That is, each millimeter-wave radar 120 corresponds to an independent processing unit 210, networking data communication is performed between each millimeter-wave radar 120, and each millimeter-wave radar 120 and the corresponding processing unit 210 can independently process the collected target data and send the processed information to the adjacent millimeter-wave radar 120.
Specifically, as shown in fig. 3, in this system, the radio frequency front end chip (RF) in the millimeter wave radar 120 is generating the output signal xout(t) after (how to generate output x in particular)out(t) see the above embodiments), the signal x may be outputout(t) storing in internal RAM1, buffering, and driving by EDMA to output signal xout(t) the data is moved to the internal RAM2 of the corresponding processing unit 210 (including DSP or MCU) in the ping-pong mode of operation, and the processing unit 210 outputs the signal xoutAnd (t) analyzing and acquiring characteristic information of the target to be monitored (carrying out SPT data processing).
According to an embodiment of the present invention, the processing module 200 is specifically configured to: and performing FFT processing on the output signal to generate frequency domain information, and acquiring the characteristic information of the target to be monitored according to the frequency domain information.
In particular, as a possible implementation, the output signal x may be first compared by the processing module 200out(t) performing one-dimensional FFT processing to obtain one-dimensional frequency domain information Xout_s(w), e.g. for the output signal xout(t) performing FFT processing in the distance dimension direction to obtain one-dimensional frequency domain information Xout_s(w); secondly, one-dimensional frequency domain information X is eliminatedout_s(w) stationary clutter component in the (w) and performing two-dimensional FFT processing thereon, e.g., in the velocity dimension direction, to generate two-dimensional frequency domain information Xout_ss(w); then, for two-dimensional frequency domain information Xout_ss(w) calculating the amplitude, performing constant false alarm rate detection processing (peak value search) of distance dimension and speed dimension on the calculated amplitude, and screening the distance and speed dimension meeting the local peak value point{s[l]L is the saved peak value number, wherein the peak value information includes the distance and speed dimension information of the target to be monitored, and the peak value { s [ l ] is used]The sequence is derived from two-dimensional frequency domain information Xout_ssAnd (w) acquiring a target signal, and performing three-dimensional FFT processing on the target signal to obtain a power spectrum of the target signal. The power spectrum is analyzed to obtain characteristic information of the target to be monitored, for example, the RCS value and other characteristic information of the target to be monitored.
According to another embodiment of the present invention, the processing module 200 is specifically configured to: and performing time-frequency algorithm processing on the output signal to generate time-frequency domain information, and acquiring the characteristic information of the target to be monitored according to the time-frequency domain information.
In particular, as another possible implementation, the output signal x may also be processed by the processing module 200out(t) performing time-frequency algorithm processing, for example, STFT processing, to obtain time-frequency domain information, and the specific processing procedure can be referred to the FFT processing procedure, which is not described in detail herein. And then, extracting the characteristic information of the target to be monitored from the time-frequency domain information.
Further, after the processing module 200 obtains the feature information of the target to be monitored, the target to be monitored may be classified according to the feature information by the target classification model.
Specifically, before the target to be monitored is classified, the target classification model may be trained offline in advance. Specifically, a target training sample, that is, a feature data sample of different targets to be monitored (human or animal) may be obtained first, where corresponding sample data may be collected for multiple times (for example, 1000 times) under the same target to be monitored, to form a preset feature data sample, and the samples with crossed features are deleted, so as to ensure that the sample data types are different. Then, training the classification algorithm through the target training sample to generate a target classification model, namely, generating an offline training sample database in the artificial intelligence algorithm classification processing, and deploying the target classification model in the system so as to be convenient for calling at any time.
After the target classification model is obtained, the target to be monitored can be classified according to the characteristic information through the target classification model, for example, whether the target to be monitored is a human or an animal can be judged, and if the target to be monitored is an animal, whether the target is a temperate animal or an aggressive animal is further judged.
According to an embodiment of the present invention, as shown in fig. 4, the target monitoring system based on millimeter wave radar further includes a communication module 400. The communication module 400 is respectively connected to the processing module 200 and the front-end application module 300, and the communication module 400 is configured to send the classification processing result to the front-end application module 300.
Specifically, as shown in fig. 5, the communication module 400 may interact data through WiFi, ethernet, Can, ZigBee, serial ports (RS232, RS485, RS422), 5G, 6G, and other network protocols, and send the classification processing result to the front-end application module 300.
The front-end application module 300 may include a smart phone, a tablet computer, a notebook, an intelligent bracelet, a watch, and the like, and is configured to display target information and an omnidirectional distribution situation in the current monitoring area, and display outdoor temperature. The processing module 200 sends the distribution conditions of the detected people and the detected small animals in the monitoring area to the front-end application module 300 for displaying and reminding through the communication module 400.
Specifically, the target monitoring system based on the millimeter wave radar in the embodiment of the invention can be installed on the top of an outdoor tent to track and monitor a to-be-sensed area in 360 degrees in all directions, and when a person intrudes into a set safe area range, an alarm signal is sent to a front-end application platform in time; when a temperate animal breaks into the range of the safe area, prompting a front-end application end platform; when an aggressive animal breaks into the range of the safe area, an alarm signal is sent to the front-end application end in time, as shown in table 1:
| region of interest | Human being | Mild animals | Aggressive animals |
| Outside of the security zone | Does not alarm | Does not alarm | Does not alarm |
| In the safe area | Alarm in time | Prompting | Alarm in time |
It should be noted that, when a set safe region range into which a target exists in a related region, the target information processed by the processing module 200 may also be sent to the camera platform, and the camera rotates to the azimuth angle according to the azimuth information of the target to capture and display the image of the monitored target.
According to an embodiment of the present invention, the target monitoring system based on the millimeter wave radar may further include a temperature monitoring module, and the temperature monitoring module is configured to detect an outdoor temperature and send the outdoor temperature to the front-end application module 300 through the communication module 400. When the temperature is too low or too high to exceed the set threshold, the information is sent to the front-end application module 300 in time, and the alarm prompt is carried out on the personnel in the tent. Avoid causing the injury for the personnel in the tent because of outdoor temperature is low excessively or too high.
According to an embodiment of the invention, the target monitoring system based on the millimeter wave radar may further include a power supply module, wherein the power supply module is connected with other modules and used for supplying power to other unit modules of the device.
Therefore, the millimeter wave radar monitoring technology is utilized to carry out 360-dimensional dead-corner-free monitoring on the outdoor interested area, the radar networking technology is adopted, data interaction is carried out between adjacent radars, the target objects in the area are tracked in real time through a fusion algorithm, the millimeter waves have better speed resolution and distance resolution, and the small targets in the interested area can be accurately identified and tracked in position; in addition, through a database established for target people and small animals, and training samples through an artificial intelligence algorithm, a classification model of the target is established, so that the safety level of the target intruding into the region of interest can be more accurately classified to give an alarm and prompt in time, and the personal safety of outdoor personnel is ensured; in addition, through the mode that camera and radar combine, can send target position signal for the camera when the radar monitors that the target gets into in the safe area, the camera rotates the position angle that reaches radar system monitoring area and shoots and image display the target object.
In summary, according to the target monitoring system based on the millimeter wave radar in the embodiment of the present invention, a detection range of the detection module forms a to-be-sensed region of 360 °, the detection module transmits a first chirp signal to the to-be-sensed region, receives a second chirp signal reflected on a corresponding reflection path, generates an output signal according to the first chirp signal and the second chirp signal, processes the output signal by the processing module to obtain feature information of a to-be-monitored target, classifies the to-be-monitored target according to the feature information by the target classification model, and correspondingly displays and reminds a classification result by the front-end application module. Therefore, the target to be monitored in the 360-degree sensing area can be tracked and monitored in an all-round and real-time manner, and the cost is low.
Corresponding to the target monitoring system based on the millimeter wave radar of the embodiment, the invention further provides a target monitoring method based on the millimeter wave radar.
As shown in fig. 6, the target monitoring method based on millimeter wave radar according to the embodiment of the present invention may include the following steps:
s1, transmitting a first chirp signal to the area to be sensed, receiving a second chirp signal reflected on the corresponding reflection path, and generating an output signal according to the first chirp signal and the second chirp signal.
And S2, processing the output signal to obtain the characteristic information of the target to be monitored, and classifying the target to be monitored according to the characteristic information through the target classification model.
And S3, displaying and reminding the classification processing result correspondingly.
It should be noted that, details that are not disclosed in the target monitoring method based on the millimeter wave radar according to the embodiment of the present invention refer to details that are disclosed in the target monitoring system based on the millimeter wave radar according to the embodiment of the present invention, and detailed descriptions thereof are omitted here.
According to the target monitoring method based on the millimeter wave radar, the first linear frequency modulation pulse signal is transmitted to the area to be sensed, the second linear frequency modulation pulse signal reflected on the corresponding reflection path is received, the output signal is generated according to the first linear frequency modulation pulse signal and the second linear frequency modulation pulse signal, the output signal is processed to obtain the characteristic information of the target to be monitored, the target to be monitored is classified according to the characteristic information through the target classification model, and the classification processing result is correspondingly displayed and reminded. Therefore, the target to be monitored in the 360-degree sensing area can be tracked and monitored in an all-round and real-time manner, and the cost is low.
The invention further provides a computer device corresponding to the embodiment.
The computer device of the embodiment of the invention comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, and when the processor executes the computer program, the target monitoring method based on the millimeter wave radar of the embodiment is realized.
According to the computer equipment provided by the embodiment of the invention, a 360-degree sensing area is formed by adopting a plurality of millimeter wave radars, so that the target to be monitored in the sensing area can be tracked and monitored in all directions in real time, and the cost is lower.
The present invention also provides a computer program product corresponding to the above embodiments.
The instructions in the computer program product, when executed by a processor, may perform the millimeter wave radar-based target monitoring method of the above-described embodiments.
According to the computer program product provided by the embodiment of the invention, a 360-degree sensing area is formed by adopting a plurality of millimeter wave radars, so that the target to be monitored in the sensing area can be tracked and monitored in an all-around manner in real time, and the cost is low.
In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. The meaning of "plurality" is two or more unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
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.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. A target monitoring system based on millimeter wave radar, comprising:
the detection module is used for transmitting a first linear frequency modulation pulse signal to the area to be sensed, receiving a second linear frequency modulation pulse signal reflected on a corresponding reflection path, and generating an output signal according to the first linear frequency modulation pulse signal and the second linear frequency modulation pulse signal;
the processing module is used for processing the output signal to acquire the characteristic information of the target to be monitored and classifying the target to be monitored according to the characteristic information through a target classification model;
and the front-end application module is used for correspondingly displaying and reminding the classification processing result.
2. The millimeter wave radar-based target monitoring system of claim 1, further comprising:
and the communication module is respectively connected with the processing module and the front-end application module, and is used for sending the classification processing result to the front-end application module.
3. The millimeter wave radar-based target monitoring system of claim 1, wherein the detection module is specifically configured to:
and using a phase difference between the first chirp signal and the second chirp signal as a phase of the output signal, and using a frequency difference between the first chirp signal and the second chirp signal as a frequency of the output signal to generate the output signal.
4. The millimeter wave radar-based target monitoring system according to claim 3, wherein the detection module comprises 1 millimeter wave radar, the millimeter wave radar comprises K front-end radio frequency units, the K front-end radio frequency units are cascaded, the detection ranges of adjacent front-end radio frequency units are partially overlapped, the detection ranges of the front-end radio frequency units form a to-be-sensed area of 360 degrees, and the K front-end radio frequency units are respectively connected with the processing module.
5. The millimeter wave radar-based target monitoring system of claim 3,
the detection module comprises L millimeter wave radars, the detection ranges of the adjacent millimeter wave radars are partially overlapped, and the detection ranges of the millimeter wave radars form a 360-degree region to be sensed;
the processing module comprises L processing units, wherein the L processing units are respectively correspondingly connected with the L millimeter wave radars, and the L processing units are respectively used for processing output signals generated by the corresponding millimeter wave radars so as to acquire characteristic information of the target to be monitored.
6. The millimeter wave radar-based target monitoring system of claim 1, wherein the processing module is specifically configured to:
and performing FFT processing on the output signal to generate frequency domain information, and acquiring the characteristic information of the target to be monitored according to the frequency domain information.
7. The millimeter wave radar-based target monitoring system of claim 1, wherein the processing module is specifically configured to:
and performing time-frequency algorithm processing on the output signal to generate time-frequency domain information, and acquiring the characteristic information of the target to be monitored according to the time-frequency domain information.
8. A target monitoring method based on a millimeter wave radar is characterized by comprising the following steps:
transmitting a first linear frequency modulation pulse signal to an area to be sensed, receiving a second linear frequency modulation pulse signal reflected on a corresponding reflection path, and generating an output signal according to the first linear frequency modulation pulse signal and the second linear frequency modulation pulse signal;
processing the output signal to acquire characteristic information of a target to be monitored, and classifying the target to be monitored according to the characteristic information through a target classification model;
and correspondingly displaying and reminding the classification processing result.
9. A computer device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor, when executing the computer program, implements the millimeter wave radar-based target monitoring method of claim 8.
10. A non-transitory computer-readable storage medium having stored thereon a computer program, wherein the program, when executed by a processor, implements the millimeter wave radar-based target monitoring method according to claim 8.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114422882A (en) * | 2022-01-20 | 2022-04-29 | 江苏契讯数智信息技术有限公司 | Wireless transmission integrated device based on millimeter wave detection |
| CN114554315A (en) * | 2022-02-25 | 2022-05-27 | 南京慧尔视智能科技有限公司 | Radar data transmission method and device, radar sensing network and millimeter wave radar |
| CN115685205A (en) * | 2022-12-29 | 2023-02-03 | 北京九天微星科技发展有限公司 | Low-delay target tracking method, device and system |
| WO2023116317A1 (en) * | 2021-12-22 | 2023-06-29 | 华为技术有限公司 | Remote sensing method and apparatus |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2023116317A1 (en) * | 2021-12-22 | 2023-06-29 | 华为技术有限公司 | Remote sensing method and apparatus |
| CN114422882A (en) * | 2022-01-20 | 2022-04-29 | 江苏契讯数智信息技术有限公司 | Wireless transmission integrated device based on millimeter wave detection |
| CN114554315A (en) * | 2022-02-25 | 2022-05-27 | 南京慧尔视智能科技有限公司 | Radar data transmission method and device, radar sensing network and millimeter wave radar |
| CN114554315B (en) * | 2022-02-25 | 2024-04-12 | 南京慧尔视智能科技有限公司 | Radar data transmission method and device, radar sensing network and millimeter wave radar |
| CN115685205A (en) * | 2022-12-29 | 2023-02-03 | 北京九天微星科技发展有限公司 | Low-delay target tracking method, device and system |
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