CN115022596A - Storage security system based on millimeter wave radar and control method thereof - Google Patents
Storage security system based on millimeter wave radar and control method thereof Download PDFInfo
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Abstract
A storage security system based on a millimeter wave radar comprises a main controller, a remote control center, a monitoring system and a fire fighting system, wherein the remote control center, the monitoring system and the fire fighting system are connected with the main controller through a wireless communication module; the monitoring system comprises a millimeter wave radar, a photoresistor, a servo motor, a camera, a lighting system and a storage module, wherein the millimeter wave radar, the photoresistor, the servo motor and the camera are connected with the main controller; the millimeter wave radar realizes block coding on the region; according to the detection angle of the millimeter wave radar, the servo motor drives the camera to reach the designated monitoring point, and the camera detects and takes pictures of multiple targets. The millimeter wave radar is combined with the camera, the millimeter wave radar realizes block coding on the region, has the function of simultaneously monitoring multiple targets, and detects and photographs the multiple targets through the camera.
Description
Technical Field
The invention relates to the technical field of storage security, in particular to a storage security system based on a millimeter wave radar and a control method thereof.
Background
The existing security system for large warehouse has a plurality of problems. Such as: a plurality of dead angles exist in the monitoring, and the suspicious target cannot be monitored; although there are tracking monitoring devices, when multiple targets are present, the tracking monitoring devices cannot better track the targets and cannot grasp the dynamics of each target in the multiple targets.
Meanwhile, the stored fire-fighting system is not perfect enough, the sensors in all areas do not realize position coding, and the fire-fighting system cannot arrive at the site in time and needs to be checked when a problem occurs in a certain place. When the power grid fails or is damaged, the security system of the warehouse will stop running, and immeasurable loss will be caused.
Disclosure of Invention
Aiming at the technical problems, the technical scheme provides a storage security system based on a millimeter wave radar and a control method thereof, the millimeter wave radar is combined with a camera, the millimeter wave radar can realize block coding on a region, and the system has the function of simultaneously monitoring multiple targets; then, according to the detection angle of the millimeter wave radar, the servo motor drives the camera to reach a designated monitoring point, and the camera detects and photographs multiple targets; meanwhile, a fire-fighting system is also arranged in the security system; the problems can be effectively solved.
The invention is realized by the following technical scheme:
a storage security system based on millimeter wave radar comprises a main controller arranged in storage; the main controller is connected with a loudspeaker module, a monitoring system and a fire fighting system which are connected with the main controller through a wireless communication module, and a remote control center which is connected with the main controller through a network; the monitoring system comprises a millimeter wave radar, a photoresistor, a servo motor and a camera which are connected with the main controller, an illuminating system which is matched with the photoresistor, and a storage module which is matched with the servo motor and the camera, wherein the millimeter wave radar is connected with the input end of the main controller through signals, and the signal output end of the main controller is connected with the servo motor and the camera; the millimeter wave radar and the camera are respectively provided with a plurality of cameras and are arranged in pairs, and the monitoring range of the millimeter wave radar is divided into a plurality of areas by the millimeter wave radar; the millimeter wave radar acquires the area where the suspicious target is located according to monitoring of the millimeter wave radar, and sends a signal to the main controller, the main controller acquires a detection angle required by the camera and sends the signal to the servo motor, the servo motor drives the camera to adjust to an appointed angle to monitor the area where the suspicious target is located, and relevant images or videos are shot; the monitoring system combines a millimeter wave radar with a camera, the millimeter wave radar has multi-target simultaneous monitoring, and the region is partitioned and coded; according to the detection angle of the millimeter wave radar, the servo motor drives the camera to reach a designated monitoring point, and the camera detects and photographs multiple targets; the monitoring system and the fire fighting system send the monitored and collected data to the main controller for processing, the main controller completes the processing of the data and transmits necessary information to the remote control center, and therefore, the working personnel can handle emergencies conveniently.
Furthermore, the monitoring system comprises an operating time mode and a non-operating time mode; the working time mode is the working state of entering or exiting goods in storage; in the working time mode, the millimeter wave radar and the camera only take pictures and pick-up pictures of the detected target, and the loudspeaker module is not triggered; when the photosensitive resistor detects that the ambient illumination intensity is weak, the lighting system is started for the detection target area, so that the identification and the photographing of the monitoring target are better realized; the non-working time mode is that the warehouse is in the condition of no person working; in a non-working time mode, all the components of the monitoring system are started, and when the light-sensitive resistor detects that the intensity of ambient light is weak, the lighting system is started for a detection target area; when the millimeter wave radar detects a suspicious target, the camera takes pictures and photographs of the detected suspicious target, and meanwhile, the loudspeaker module is opened for deterrence; and uploading the shot picture or video of the suspicious target to a remote control center in real time.
Furthermore, the fire fighting system comprises a smoke sensor connected with the main controller, and the smoke sensor is used for predicting fire in storage; a plurality of smoke transducer arrange and encode and realize the monitoring with the accuracy to whole storage, when certain smoke transducer monitored smog, send signal for main control unit through the position of arranging the code, send signal by main control unit and give servo motor and camera realization accurate control, whether start extinguishing device by remote control center to this region again realizes remote control and warning suggestion to the staff in time arrives the conflagration point.
Further, the fire extinguishing system still include humidity transducer and the temperature sensor who is connected with main control unit's input, utilize humidity transducer and temperature sensor to realize measuring the air in the storage to upload the measured value to main control unit, main control unit will measure the humiture value that obtains and the required limit value of humiture of storage article and compare, remote control center will receive the early warning when humidity, temperature sensor detected value surpass the limit value, the suggestion staff realizes ventilation and cooling operation to the storage.
Further, the lighting system realizes coding on the position of the area where the lighting system is located; when a suspicious target is detected in a non-working time mode and insufficient light, firstly, a millimeter wave radar is triggered to realize monitoring, then the surrounding illumination intensity is determined through a photoresistor, and whether an illumination system in the area needs to be started or not is determined; and after the start, the camera linked with the servo motor realizes photographing and shooting of the suspicious target.
Furthermore, the main controller is also connected with an emergency power supply device, and the emergency power supply device and a power grid are separately wired; the power grid is always connected with the emergency power supply device, so that the emergency power supply device is always in a full power state, and the power grid is preferentially selected to be used for supplying power when the power grid is in a normal state; when the power grid is cut off or the power grid circuit is damaged, the emergency power supply device receives a control signal of the main controller and realizes power supply to the whole system through a special line; and the main controller sends information to the remote control center to report the power grid fault information in real time.
A control method of a storage security system based on a millimeter wave radar comprises the following specific operation steps:
step 1: starting a system and running a program;
step 2: selecting an operation mode which is divided into a storage working time mode and a storage non-working time mode, and selecting the non-working time mode under the default condition;
and step 3: the millimeter wave radar, the servo motor, the camera, the photoresistor, the smoke sensor, the temperature sensor and the humidity sensor all operate and collect related data signals;
and 4, step 4: when the millimeter wave radar monitors the target in the step 3, the photoresistor collects ambient light to determine whether the lighting system needs to be turned on, and then the camera is driven to monitor the target and transmit and store data through the accurate rotation of the servo motor; determining what mode of operation to turn on the microphone module;
and 5: when the temperature sensor, the humidity sensor and the smoke sensor in the step (3) detect that each index exceeds a threshold value, signals are transmitted to the main controller according to the codes of the areas, and the main controller sends the signals to the servo motor and the camera to accurately position the servo motor and the camera and know the conditions, so that a remote control center can timely take emergency measures;
step 6: the operation is complete.
Further, when the millimeter wave radar monitors the target in the step 4, a frequency modulation continuous wave waveform is adopted, a transmitting antenna is used for transmitting a signal, and an intermediate frequency signal is obtained by processing the signal and a received signal through a mixer; then, the signals are converted through Fourier transform, and after the conversion, the noise of the environment is removed through a related algorithm, so that the target is accurately identified; the steps of the target identification and denoising processing algorithm are as follows:
a, step a: FMCW millimeter wave radar is selected to measure the distance, angle and speed of a target, and Fourier transform is realized on measured data, so that the system can further process the data;
step b: the method comprises the steps that the self-adaptive constant false alarm algorithm VI-CFAR is utilized to filter environmental noise, and the self-adaptive constant false alarm algorithm can be used for filtering noise and clutter in the environment in a self-adaptive mode; if the input end signal exceeds the limit value, the target is judged to be present, and if the input end signal does not exceed the limit value, the target is judged to be absent;
step c: still having noise in the signal after filtering, the signal after Fourier transform presents in the form of point cloud; the point cloud is accurately identified into clusters, namely target information, because the DBSCAN algorithm cannot adapt to the point cloud information of the millimeter wave radar in the clustering process, the DBSCAN algorithm needs to be improved so as to cluster the point clouds, the clustered point cloud is a detected target, and the single non-clustered point is a noise point;
step d: performing target positioning and tracking on the clustered result by adopting an IMM interactive multi-model tracking algorithm; the algorithm completes the tracking function of the maneuvering target through four steps of input interaction, a model filter, probability updating calculation and output interaction;
step e: and outputting the result.
Further, the method for improving the DBSCAN algorithm in step c comprises: adding a KD tree algorithm into a DBSCAN algorithm to realize the effect of rapid clustering; the specific operation mode is as follows:
step C.1: preprocessing data by the millimeter wave radar, and forming point cloud information by the detected point traces;
step C.2: processing point cloud information by using a KD tree, and calculating the distance between adjacent points of each point by using Euclidean distance;
step C.3: searching adjacent points of the point cloud information, and sequencing the point cloud information according to a tree structure;
step C.4: calculating an M parameter and an element radius parameter according to an improved clustering algorithm;
step C.5: and operating an improved clustering algorithm, and forming a final clustering result by using different parameter settings according to different distances of the targets.
Further, the specific way of processing the point cloud information by using the KD tree in step c.2 is as follows: constructing point cloud information by using a KD tree, traversing each point cloud information before clustering, generating a neighborhood data set of each point cloud information, searching nearest neighbor of the point cloud information by using the constructed KD tree, finding out an object neighborhood set of all the point cloud information, wherein the object neighborhood set contains information of target information points, boundary points and noise points, and is used for realizing subsequent clustering by a DBSCAN clustering algorithm after finding out the information points of the target; the KD tree can make the algorithm complexity of DBSCAN from 0 (n) 2 ) Reduced to 0 (nlogn);
the improved clustering algorithm is based on a DBSCAN density clustering algorithm, wherein the decision variables for setting the parameter are determined according to the characteristics of the millimeter wave radar, and the distances of M target adjacent points are combined with the radius of the reflection area of the radar target; the distances of M target adjacent points are provided by KD tree search, the target reflection area of the radar is provided by RCS value of the radar, the reflection area of the radar target is assumed to be circular in the improved algorithm, and the radius of the reflection area is equal to the radius of the circular area; the millimeter wave radar needs to process a signal of a target in a flow process during the measurement of the RCS, but the original reflected echo is greatly changed after the signal processing, and an accurate RCS value cannot be calculated, so that the RCS needs to be calibrated. The scattering cross-sectional area of a radar is commonly expressed by 10 times its own logarithmic value. The corrected RCS is shown in equation (1):
where γ is the corrected RCS value, γ 0 Is the theoretical RCS value, P, of the reference target 1 And P 2 Representing the intensity of the reflected echoes of the target and the reference target, respectively. After the RCS value is obtained in the process of detecting the target by the millimeter wave radar, the radius of the circular cross section is set as E under the assumption that the cross section of the target reflection is circular in the improved algorithm R While complying with formula (2):
γ＝π*E R 2 (2)
let E be the distance between M target neighboring points M The radius of the target-generated reflection cross-sectional area is E R Further, the value of ∈ in the refinement algorithm can be set as shown in equation (3):
∈＝E M +E R (3)
inquiring the adjacent points according to the KD tree, traversing each node in the point cloud information at the moment, calculating a square boundary range of the KD tree according to a self-adaption epsilon parameter, searching the adjacent points according to a root node of the KD tree, determining whether the searched adjacent points are in the boundary range, continuously searching in each sub-tree if the searched adjacent points are not in the boundary range, calculating the distance between two points by using the Euclidean distance if the searched adjacent points are in the boundary range, and judging whether a Dist (x, y) condition is met or not because the square boundary constructed by the KD tree is larger than the area of a circle constructed by taking the epsilon as a radius;
determining a method according to the clustering of point cloud information and a perception target, wherein accurate clustering needs to be realized and the characteristics of the radar are associated; searching and setting M parameters in the nearest neighbor passing through the KD tree, and calculating the Mth adjacent point of each target point; different parameters are required to be set according to different distances so as to realize accurate identification of the target;
when searching for adjacent points in a KD tree and determining the final radius of the E, determining an M parameter according to the distance of the adjacent points, solving the adjacent distance of the Mth point in each target, and determining an EM value in a classified manner; the threshold values set in advance are compared, and the functional relationship is shown as the formula (4):
wherein D of formula (4) 1 And D 2 Is a given distance threshold, R M γ is a distance judgment threshold value of the mth adjacent point of the target.
Advantageous effects
Compared with the prior art, the access control equipment for the power distribution station room provided by the invention has the following beneficial effects:
(1) the technical scheme is that a main controller, a monitoring system and a fire-fighting system which are connected with the main controller through a wireless communication module, and a remote control center which is connected with the main controller through a network are arranged; the monitoring system and the fire fighting system send the monitored and collected data to the main controller for processing, the main controller completes the processing of the data and transmits necessary information to the remote control center so that the working personnel can handle the emergency. Realize whole storage visually, reach remote control center and can show security protection condition in each region to the fire control condition in the storage can real-timely be known to the smoke transducer who sets up through the fire extinguishing system, and can real-timely obtain information such as environment through humidity transducer and temperature sensor.
(2) In the technical scheme, the millimeter wave radar is combined with the camera, so that the millimeter wave radar can realize block coding on the region and has the function of simultaneously monitoring multiple targets; then, according to the detection angle of the millimeter wave radar, the servo motor drives the camera to reach a designated monitoring point, and the camera detects and photographs multiple targets; the monitoring of the region without dead angles is realized, and the monitoring device is combined with a loudspeaker module for use; the method is beneficial to realizing whole-process photographing, shooting and archiving for all targets and realizing the effect of voice deterrence.
(3) According to the technical scheme, through the arrangement of each sensor in the fire fighting system, the position codes of the sensors are combined with the security system, when the sensors detect abnormality, the security system can be linked to position the sensors and monitor the positions of the sensors on line, and therefore workers can accurately position the region and timely handle the condition of the region.
(4) The setting of emergency power supply unit among this technical scheme will realize incessant power supply to the storage, is favorable to realizing the control safety, the fire control safety of storage.
(5) According to the technical scheme, the millimeter wave radar, the servo motor and the camera can realize multi-target identification and multi-target monitoring through setting of a target matching algorithm, the distance of the target can be reasonably calculated through the algorithm, and the running angle of the servo motor is reasonably distributed so as to meet the automation requirement of a storage security system.
Drawings
Fig. 1 is a schematic diagram of the overall architecture of the security system of the present invention.
Fig. 2 is a schematic diagram of the principle of the FMCW millimeter wave radar in the present invention.
Fig. 3 is a schematic diagram of the detection target distance and the longitudinal angle of the millimeter wave radar in the invention.
Fig. 4 is a schematic diagram of regional radar defense and regional coding in the present invention.
Fig. 5 is a schematic view of the installation of the area radar and the camera in the present invention.
Fig. 6 is a schematic diagram of a detection target transverse angle of the millimeter wave radar in the invention.
Fig. 7 is a frequency diagram of the FMCW combined waveform of the present invention.
FIG. 8 is a range diagram of the KD tree with e-radius construction in the present invention.
Fig. 9 is a simulation diagram of DBSCAN algorithm ∈ ═ 0.5 and MinPts ═ 5 in the present invention.
Fig. 10 is a simulation diagram of DBSCAN algorithm ∈ ═ 0.7 and MinPts ═ 5 in the present invention.
Fig. 11 is a simulation diagram of DBSCAN algorithm ∈ ═ 0.9 and MinPts ═ 5 in the present invention.
FIG. 12 is a simulation diagram of the improved clustering algorithm of the present invention.
The labels in the figures are: 31-millimeter wave radar system, 32-target, 33- "h" radar and ground straight-line distance, 34- "R" radar and target distance, 35- "theta 2 The method comprises the following steps of' longitudinal angle between a target and a radar, radar area No. 41-1, radar area No. 42-2, radar area No. 43-3, camera rotating platform 51, servo motor rotating platform 52, mounting bracket 53 and millimeter wave radar 54.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. The described embodiments are only some embodiments of the invention, not all embodiments. Various modifications and improvements of the technical solutions of the present invention may be made by those skilled in the art without departing from the design concept of the present invention, and all of them should fall into the protection scope of the present invention.
Example 1:
as shown in fig. 1, a warehousing security system based on millimeter wave radar comprises a main controller arranged in a warehouse; the main controller is connected with a loudspeaker module, a monitoring system and a fire fighting system which are connected with the main controller through a wireless communication module, and a remote control center which is connected with the main controller through a network; the monitoring system comprises a millimeter wave radar, a photosensitive resistor, a servo motor and a camera which are connected with the main controller, a lighting system which is matched with the photosensitive resistor and a storage module which is matched with the servo motor and the camera, the millimeter wave radar is connected with an input end signal of the main controller, and a signal output end of the main controller is connected with the servo motor and the camera. The fire fighting system comprises a smoke sensor connected with the main controller, and a humidity sensor and a temperature sensor which are connected with the input end of the main controller. The monitoring system and the fire fighting system send the monitored and collected data to the main controller for processing, the main controller completes the processing of the data and transmits necessary information to the remote control center, and therefore, the working personnel can handle emergencies conveniently.
The millimeter wave radar and the camera are respectively provided with a plurality of cameras and are arranged in pairs, the millimeter wave radar divides the monitoring range into a plurality of areas, the millimeter wave radar obtains the area where the suspicious target is located according to the monitoring of the millimeter wave radar, the millimeter wave radar sends a signal to the main controller, the main controller obtains the detection angle required by the camera and sends the signal to the servo motor, the servo motor drives the camera to adjust to the specified angle to monitor the area where the suspicious target is located, and relevant images or videos are shot; the monitoring system combines a millimeter wave radar with a camera, the millimeter wave radar has multi-target simultaneous monitoring, and the region is partitioned and coded; according to the detection angle of the millimeter wave radar, the servo motor drives the camera to reach the designated monitoring point, and the camera detects and photographs multiple targets.
In the embodiment, according to the detection angle of the millimeter wave radar, the whole warehouse is monitored in a 360-degree dead angle-free mode by using three millimeter wave radars, and each millimeter wave radar is linked with one camera to realize independent area control; as shown in fig. 4, when the target No. 1 appears in the radar No. 3 area, the millimeter wave radar sends a signal to the main controller, the main controller sends a signal to the servo motor to rotate by a certain angle, the servo motor drives the camera to reach a designated monitoring point, and the camera performs shooting and photographing on multiple targets. The monitoring system transmits all detected target data to a remote control center through a communication module; the monitoring system is connected with the input end of the main controller, and the input end of the remote control center is connected with the output end of the main controller.
The monitoring system comprises a working time mode and a non-working time mode; the working time mode is the working state of entering or exiting goods in storage; in the working time mode, the millimeter wave radar and the camera only take pictures and pick-up pictures of the detected target, and the loudspeaker module is not triggered; when the photosensitive resistor detects that the ambient illumination intensity is weak, the lighting system is started for the detection target area, so that the identification and the photographing of the monitoring target are better realized; the non-working time mode is that the warehouse is stored under the condition of no person working; in a non-working time mode, all the components of the monitoring system are started, and when the light-sensitive resistor detects that the intensity of ambient light is weak, the lighting system is started for a detection target area; when the millimeter wave radar detects a suspicious target, the camera takes pictures and photographs of the detected suspicious target, and meanwhile, the loudspeaker module is opened for deterrence; and uploading the shot picture or video of the suspicious target to a remote control center in real time.
The fire prediction is realized by utilizing smoke sensors to predict the fire of the storage in a fire fighting system, the fire fighting system comprises a plurality of smoke sensors connected with a main controller, and the smoke sensors are used for predicting the fire of the storage; the areas which are arranged by a plurality of smoke sensors and divided as shown in figure 4 are coded so as to accurately monitor the whole warehouse. When a certain smoke sensor monitors smoke, the position of the arranged codes sends signals to the main controller, the main controller sends signals to the servo motor and the camera to realize accurate control, and then the remote control center starts the fire extinguishing device in the area to realize remote control and alarm prompt so that a worker can reach a fire point in time.
And according to the requirements of the storage environment, the humidity sensor and the temperature sensor are respectively utilized to measure the air, and the measured value is compared with the limit value of the storage articles. Fire extinguishing system still include humidity transducer and the temperature sensor who is connected with main control unit's input, main control unit's input is connected with humidity transducer and temperature sensor, main control unit's output is connected with the network and realizes realizing the communication with remote control center. Utilize humidity transducer and temperature sensor to realize measuring the air in the storage to reach main control unit on with the measured value, main control unit compares the humiture value that obtains with the required humiture's of storage article limit value, and remote control center will receive the early warning when humidity, temperature sensor detected value surpass the limit value, and the suggestion staff realizes ventilation and cooling operation to the storage.
The lighting system realizes coding on the position of the area where the lighting system is located; when a suspicious target is detected in a non-working time mode and insufficient light, firstly, a millimeter wave radar is triggered to realize monitoring, then the surrounding illumination intensity is determined through a photoresistor, and whether an illumination system in the area needs to be started or not is determined; and after the start, the camera linked with the servo motor realizes photographing and shooting of the suspicious target.
In order to normally operate the storage security system, the main controller is also connected with an emergency power supply device, the emergency power supply device consists of a power failure alarm and an emergency power supply, and the emergency power supply device and a power grid are separately wired; the power grid always keeps being connected with the emergency power supply device, so that the emergency power supply device is always in a full power state, and when the power grid is in a normal state, the power grid is preferentially selected to be used for supplying power; when the power grid is cut off or the power grid circuit is damaged, the emergency power supply device receives a control signal of the main controller and realizes power supply to the whole system through a special line; and the main controller sends information to the remote control center to report the power grid fault information in real time.
Each module is in wireless connection with the main controller through a wireless communication module to carry out signal transmission; the wiring line can be simplified, and meanwhile, the wiring cost and the installation wiring cost are reduced. The main controller is connected with a remote control center through a network; the various sensors send the acquired data to the main controller for processing, and the main controller completes processing of the data and transmits necessary information to the remote control center so that workers can handle emergencies conveniently.
The working principle is as follows: when the system is started, the operation mode can be selected by self, and the non-working time mode is selected by default. In the monitoring system, the latest FMCW special millimeter wave technology is adopted; as shown in fig. 2, the input and output of the millimeter wave radar system are connected to the main controller via the microcontroller. When the FMCW millimeter wave radar system works, a built-in intermediate frequency, a mixer and a synthesizer component generate a continuous frequency modulation signal, and the signal is rapidly converted through the combination of an analog-to-digital converter and a hardware accelerator. Transmitting continuous frequency modulation signal through TX antennaThe RX antenna receives the reflected signal when the signal is blocked by an object in the transmit path, so that the range, velocity and angle of the target can be determined. When the distance is measured, the angle theta of the longitudinal direction shown in FIG. 3 needs to be calculated 2 (ii) a As shown in FIG. 6, the lateral angle is measured as θ 1 (ii) a The servo motor is matched with the camera to realize rapid positioning and monitoring of the target as shown in fig. 5.
When the millimeter wave radar system works and is monitored, the photoresistor with the GL5528 model detects ambient light in different regions, when the millimeter wave radar system detects that the region with a target is weak in light, the main controller starts the lighting system in the region to be matched with the loudspeaker, so that the requirements of deterrence and intelligent lighting can be met, and clear photographing and shooting can be completed.
In the embodiment, the loudspeaker is selected from an FS28MS0810-H5.3 model loudspeaker, and when the millimeter wave radar monitors the target, the target is shout to achieve the effect of deterrence.
In a fire fighting system, a temperature sensor and a humidity sensor are sensors integrating the temperature and the humidity of an SHTC1 model, the temperature and the humidity sensors are installed in a blocking and regional mode for warehousing as shown in FIG. 4 in consideration of the size of a warehousing range and the type and requirements of stored articles, the temperature and the humidity sensors are subjected to regional coding, and when parameters are detected to be abnormal, a servo motor and a camera can be quickly positioned in the region according to the regional coding and monitoring is carried out; at the same time, the ventilation device is triggered to work.
The smoke sensor adopts a BL59S10 type smoke sensor, and multi-region installation and region coding are also realized; monitoring is achieved in combination with a camera and the fire extinguishing device will be automatically activated. Wherein the fire extinguishing device selects a proper fire extinguishing agent according to the type of the storage article.
In this embodiment, the main controller uses a single chip microcomputer chip with model number STC89C52 RC; the millimeter wave radar adopts an IWR1443 control chip; the wireless communication module adopts a CC1101RTK communication module; the servo motor adopts a motion control chip of CMC693PR144-M type to realize accurate control; the region position coding is to carry out coding operation on the installation positions of the photoresistor, the lighting system, the temperature and humidity sensor and the smoke sensor; the emergency power supply device is formed by connecting storage batteries in series, and converts direct current into alternating current through an inverter so as to adapt to equipment to realize undifferentiated power supply.
When the FMCW millimeter wave radar is installed, as shown in FIG. 4, because the maximum viewing angle of each radar is 120 degrees, the monitoring of the whole warehouse by 360 degrees can be completed without dead angles only by 3 fixed FMCW millimeter wave radars, and 3 servo motors and camera systems are required to be equipped for 3 millimeter wave radars simultaneously to ensure the realization of the rapid detection of multiple targets, wherein FIG. 5 is an installation schematic diagram of a complete millimeter wave radar detection system.
Example 2:
a control method of a storage security system based on a millimeter wave radar is characterized in that data of a detection target of the millimeter wave radar are transmitted into a main controller, the angle of a camera needing to rotate is obtained through data processing of the main controller, a servo motor obtains data sent by the main controller, the servo motor sends a signal to the camera after rotation is stopped, and the camera finishes photographing and shooting. Position coding is realized on the sensors in the area, the cameras are linked to monitor the sensors in the area in real time, and the acquired and photographed data are transmitted to the remote control center through the network connection of the main controller. The specific operation steps are as follows: step 1: starting a system and running a program;
step 2: selecting an operation mode which is divided into a storage working time mode and a storage non-working time mode, and selecting the non-working time mode under the default condition;
and step 3: the millimeter wave radar, the servo motor, the camera, the photoresistor, the smoke sensor, the temperature sensor and the humidity sensor all operate and collect related data signals;
and 4, step 4: when the millimeter wave radar monitors the target in the step 3, the photoresistor collects ambient light to determine whether the lighting system needs to be turned on, and then the camera is driven to monitor the target and transmit and store data through the accurate rotation of the servo motor; determining what mode of operation to turn on the microphone module;
when the millimeter wave radar monitors a target, a frequency modulation continuous wave waveform is adopted, a transmitting antenna is used for transmitting a signal, and an intermediate frequency signal is obtained by processing the signal and a receiving signal through a mixer; then, the signals are converted through Fourier transform, and after the conversion, the environmental noise is removed through a related algorithm, so that the accurate identification of the target is realized; the steps of the target recognition and denoising processing algorithm are as follows:
step a: FMCW millimeter wave radar is selected to measure the distance, angle and speed of a target, and Fourier transform is realized on measured data, so that the system can further process the data;
step b: the method comprises the steps that the self-adaptive constant false alarm algorithm VI-CFAR is utilized to filter environmental noise, and the self-adaptive constant false alarm algorithm can be used for filtering noise and clutter in the environment in a self-adaptive mode; if the input end signal exceeds the limit value, the target is judged to be present, and if the input end signal does not exceed the limit value, the target is judged to be absent;
step c: still having noise in the signal after filtering, the signal after Fourier transform presents in the form of point cloud; the point cloud is accurately identified into clusters, namely target information, because the DBSCAN algorithm cannot adapt to the point cloud information of the millimeter wave radar in the clustering process, the DBSCAN algorithm needs to be improved so as to cluster the point clouds, the clustered point cloud is a detected target, and the single non-clustered point is a noise point;
the method for improving the DBSCAN algorithm comprises the following steps: adding a KD tree algorithm into a DBSCAN algorithm to realize the effect of rapid clustering; the specific operation mode is as follows:
step C.1: preprocessing data by the millimeter wave radar, and forming point cloud information by the detected point traces;
step C.2: processing point cloud information by using a KD tree, and calculating the distance between adjacent points of each point by using Euclidean distance;
the specific way of processing point cloud information by using the KD tree is as follows: point cloud information is constructed by adopting a KD tree, each point cloud information needs to be traversed and generated before clusteringThe neighborhood data set searches nearest neighbor of point cloud information by using the constructed KD tree, finds out an object neighborhood set of all point cloud information, wherein the object neighborhood set comprises information of target information points, boundary points and noise points, the found target information points are used for realizing subsequent clustering by a DBSCAN clustering algorithm, the complexity of searching time by using the method is basically equivalent to the time complexity of an original DBSCAN clustering algorithm under the condition that the point cloud information points are few, and the advantage of searching nearest neighbor of the KD tree can be embodied when the point cloud information of the target is increased; the KD tree can make the algorithm complexity of DBSCAN O (n) 2 ) Reduced to 0 (nlogn);
step C.3: searching adjacent points of the point cloud information, and sequencing the point cloud information according to a tree structure;
step C.4: calculating an M parameter and an element radius parameter according to an improved clustering algorithm;
the improved clustering algorithm is based on a DBSCAN density clustering algorithm, wherein the decision variables for setting the parameter are determined according to the characteristics of the millimeter wave radar, and the distances of M target adjacent points are combined with the radius of the reflection area of the radar target. Wherein the distances of M target neighboring points are provided by the KD tree search, the target reflection area of the radar is provided by the RCS value of the radar, and the reflection area of the radar target is assumed to be circular in the improved algorithm, and the radius of the reflection area is equivalent to the radius of the circular area. The millimeter wave radar needs to process a signal of a target in a flow process during the measurement of the RCS, but the original reflected echo is greatly changed after the signal processing, and an accurate RCS value cannot be calculated, so that the RCS needs to be calibrated. The scattering cross-sectional area of a radar is commonly expressed by 10 times its own logarithmic value. The corrected RCS is shown in equation (1):
where γ is the corrected RCS value, γ 0 Is the theoretical RCS value, P, of the reference target 1 And P 2 Respectively representing reflections of the target and the reference targetThe intensity of the wave. After the RCS value is obtained in the process of detecting the target by the millimeter wave radar, the radius of the circular cross section is set as E under the assumption that the cross section of the target reflection is circular in the improved algorithm R While complying with formula (2):
γ＝π*E R 2 (2)
let E be the distance between M target neighboring points M The radius of the reflection cross-sectional area produced by the target is ER, and the value of e in the modified algorithm can be set as shown in equation (3):
∈＝E M +E R (3)
and inquiring adjacent points according to the KD tree, wherein each node in the point cloud information needs to be traversed at the moment, so that a square boundary range of the KD tree is calculated according to the self-adaptive E parameter, adjacent points need to be searched for a root node of the KD tree, whether the searched adjacent points are in the boundary range is determined, if not, the searched adjacent points are continuously searched in each subtree, if so, the distance between the two points needs to be calculated by utilizing the Euclidean distance, and whether the Dist (x, y) is less than or equal to the condition because the square boundary constructed by the KD tree is larger than the area of a circle constructed by taking the epsilon as the radius is judged. As shown in FIG. 8, the KD tree is shown with a range of ∈ radius constructions.
Step C.5: and operating an improved clustering algorithm, and forming a final clustering result by using different parameter settings according to different distances of the targets.
And determining a method according to the clustering of the point cloud information and the perception target, wherein the accurate clustering needs are required to be associated with the characteristics of the radar. And searching and setting M parameters in the nearest neighbor passing through the KD tree, and calculating the Mth adjacent point of each target point. Different parameters are set according to different distances, and therefore accurate identification of the target is achieved.
When a KD tree is searched for adjacent points and the final radius belonging to the E is determined, M parameters are determined according to the distance of the adjacent points, the adjacent distance of the Mth point in each target is solved, and EM values need to be classified and determined. The threshold values set in advance are compared, and the functional relationship is shown as the formula (4):
wherein D of formula (4) 1 And D 2 Is a given distance threshold, R M γ is a distance judgment threshold value of the mth adjacent point of the target.
Step d: performing target positioning and tracking on the clustered result by adopting an IMM interactive multi-model tracking algorithm; the algorithm completes the tracking function of the maneuvering target through four steps of input interaction, a model filter, probability updating calculation and output interaction;
step e: and outputting the result.
And 5: when the temperature sensor, the humidity sensor and the smoke sensor in the step (3) detect that each index exceeds a threshold value, signals are transmitted to the main controller according to the codes of the areas, and the main controller sends the signals to the servo motor and the camera to accurately position the servo motor and the camera and know the conditions, so that a remote control center can timely take emergency measures;
and 6: the operation is complete.
Simulation verification will be performed for the algorithm steps introduced above. The improved clustering algorithm in the step (c) in the step (4) is subjected to simulation verification, a DBSCAN algorithm is subjected to simulation test under the same condition, the simulation results of the improved clustering algorithm and the DBSCAN algorithm are observed so as to realize comparison, and cubic parameters of the DBSCAN algorithm are respectively set as a neighborhood radius and a threshold number, wherein the threshold number MinPts is 5; the neighborhood radius is e-0.5, e-0.7, e-0.9, and the simulation results are shown in fig. 9, fig. 10, and fig. 11. The improved algorithm has an adaptive function so that the simulation result under the same condition is as shown in fig. 12. The improved clustering algorithm has better effect through comparison, and is obtained through related clustering evaluation indexes, and the accuracy of target detection of the improved algorithm is improved by 4.2 percent compared with the DBSCAN algorithm.
Considering the convergence rate of the algorithm and the global search capability, the selected combined waveform FMCW multi-target detection model is shown in FIG. 7, and when the process is finished, the distance, speed, angle and other information of the target are calculated to be matched with the servo motor and the camera to quickly complete positioning and photographing. Wherein, the formula is as follows:
in the formula, f u Is the up-modulated signal portion (difference frequency of segment a); f. of s A single frequency signal portion (difference frequency of b segments); f. of d To down-modulate the signal portion (difference frequency of segment c); mu.s 1 Modulating slope for segment a
μ 2 Modulating slope for segment c
c represents the speed of light; f. of 0 Transmitting a signal frequency for the radar; tau is the time delay of radar receiving echo signals; r is the distance between the target and the radar, as shown in fig. 3; peng is the speed B of the target motion, and the bandwidth T is the modulation period; theta 1 Is the transverse angle formed between the target and the antenna, as shown in fig. 6; sigma is the phase difference formed by the received signals between the antennas; γ is the wavelength p is the spacing between the antennas, as shown in FIG. 6; theta 2 Is the longitudinal angle formed between the target and the radar, as shown in fig. 4; h is the linear distance of the camera from the ground, as shown in fig. 4.
Claims (10)
1. A storage security system based on millimeter wave radar comprises a main controller arranged in storage; the main controller is connected with a loudspeaker module, a monitoring system and a fire fighting system which are connected with the main controller through a wireless communication module, and a remote control center which is connected with the main controller through a network; the method is characterized in that: the monitoring system comprises a millimeter wave radar, a photoresistor, a servo motor and a camera which are connected with the main controller, an illuminating system which is matched with the photoresistor, and a storage module which is matched with the servo motor and the camera, wherein the millimeter wave radar is connected with the input end of the main controller through signals, and the signal output end of the main controller is connected with the servo motor and the camera; the millimeter wave radar and the camera are respectively provided with a plurality of cameras and are arranged in pairs, and the monitoring range of the millimeter wave radar is divided into a plurality of areas by the millimeter wave radar; the millimeter wave radar obtains the area where the suspicious target is located according to monitoring of the millimeter wave radar, and sends a signal to the main controller, the main controller obtains a detection angle required by the camera and sends the signal to the servo motor, and the servo motor drives the camera to adjust to a specified angle to shoot a related image or video in the area where the suspicious target is located; the monitoring system and the fire fighting system send the monitored and collected data to the main controller for processing, and the main controller completes the processing of the data and transmits necessary information to the remote control center.
2. The millimeter wave radar-based warehouse security system according to claim 1, wherein: the monitoring system comprises a working time mode and a non-working time mode; the working time mode is the working state when the goods are stored in the warehouse for entering or leaving; in the working time mode, the millimeter wave radar and the camera only take pictures and pick-up pictures of the detected target, and the loudspeaker module is not triggered; when the photosensitive resistor detects that the ambient illumination intensity is weak, the lighting system is started for the detection target area, so that the identification and the photographing of the monitoring target are better realized; the non-working time mode is that the warehouse is in the condition of no person working; in a non-working time mode, all the components in the monitoring system are started, and when the light-sensitive resistor detects that the intensity of ambient light is weak, the lighting system is started for a detection target area; when the millimeter wave radar detects a suspicious target, the camera takes pictures and photographs of the detected suspicious target, and meanwhile, the loudspeaker module is opened for deterrence; and uploading the shot picture or video of the suspicious target to a remote control center in real time.
3. The millimeter wave radar-based warehouse security system according to claim 1, wherein: the fire fighting system comprises a plurality of smoke sensors connected with a main controller, and the smoke sensors are connected to the signal input end of the main controller in parallel; the smoke sensors are arranged in corresponding areas and are coded according to the areas; when a certain smoke sensor monitors smoke, a signal is sent to the main controller through the position of the arranged codes, the main controller sends a signal to the servo motor and the camera to track and shoot pictures or videos, the main controller sends the received videos to the remote control center, and the remote control center starts the fire extinguishing device in the area to realize remote control and sends out an alarm prompt.
4. The millimeter wave radar-based warehouse security system according to claim 1, wherein: the fire extinguishing system also comprises a plurality of humidity sensors and temperature sensors which are connected with the input end of the main controller, the humidity sensors and the temperature sensors are used for measuring the air in the storage, the measured value is uploaded to the main controller, the main controller compares the measured temperature value and humidity value with the limit value of the temperature value and humidity value required by the stored goods, when the detection values of the humidity sensors and the temperature sensors exceed the limit value, the remote control center receives early warning, and prompts workers to realize ventilation and cooling operation on the storage.
5. The millimeter wave radar-based warehouse security system according to claim 1, wherein: the lighting systems are respectively arranged in corresponding areas and are coded according to the area positions; when the millimeter wave radar works in a non-working time mode, the photoresistor can detect the illumination intensity of the area in real time, and when the millimeter wave radar detects a suspicious target in the non-working time mode under the condition of insufficient light, the main controller sends a signal to an illumination system in the area to start the illumination system; after the lighting system is started, the camera linked with the servo motor realizes photographing and shooting on the suspicious target.
6. The millimeter wave radar-based warehouse security system according to claim 1, wherein: the main controller is also connected with an emergency power supply device, and the emergency power supply device and a power grid are separately wired; the power grid is always connected with the emergency power supply device, so that the emergency power supply device is always in a full power state, and the power grid is preferentially selected to be used for supplying power when the power grid is in a normal state; when the power grid is cut off or the power grid circuit is damaged, the emergency power supply device receives a control signal of the main controller and realizes power supply to the whole system through a special line; and the main controller sends information to the remote control center to report the power grid fault information in real time.
7. A control method of a millimeter-wave radar-based warehouse security system, which is applicable to any one of claims 1 to 6, and is characterized in that: the specific operation steps are as follows:
step 1: starting a system and running a program;
step 2: selecting an operation mode which is divided into a storage working time mode and a storage non-working time mode, and selecting the non-working time mode under the default condition;
and step 3: the millimeter wave radar, the servo motor, the camera, the photoresistor, the smoke sensor, the temperature sensor and the humidity sensor all operate and collect related data signals;
and 4, step 4: when the millimeter wave radar monitors the target in the step 3, the photoresistor collects ambient light to determine whether the lighting system needs to be turned on, and then the servo motor rotates accurately to drive the camera to monitor the target and transmit and store data; determining what mode of operation to turn on the microphone module;
and 5: when the temperature sensor, the humidity sensor and the smoke sensor in the step (3) detect that each index exceeds a threshold value, signals are transmitted to the main controller according to the codes of the areas, and the main controller sends the signals to the servo motor and the camera to accurately position the servo motor and the camera and know the conditions, so that a remote control center can timely take emergency measures;
step 6: the operation is complete.
8. The control method of the millimeter wave radar-based warehousing security system according to claim 7, characterized in that: when the millimeter wave radar monitors the target, adopting frequency modulation continuous wave waveform, transmitting signals by using a transmitting antenna, and processing the signals and receiving signals by a mixer to obtain intermediate frequency signals; then, the signals are converted through Fourier transform, and after the conversion, the environmental noise is removed through a related algorithm, so that the accurate identification of the target is realized; the steps of the target recognition and denoising processing algorithm are as follows:
a, step a: FMCW millimeter wave radar is selected to measure the distance, angle and speed of a target, and Fourier transform is realized on measured data, so that the system can further process the data;
step b: the method comprises the steps that the self-adaptive constant false alarm algorithm VI-CFAR is utilized to filter environmental noise, and the self-adaptive constant false alarm algorithm can be used for filtering noise and clutter in the environment in a self-adaptive mode; if the input end signal exceeds the limit value, the target is judged to be present, and if the input end signal does not exceed the limit value, the target is judged to be absent;
step c: still having noise in the signal after filtering, the signal after Fourier transform presents in the form of point cloud; the point cloud is accurately identified into clusters, namely target information, because the DBSCAN algorithm cannot adapt to the point cloud information of the millimeter wave radar in the clustering process, the DBSCAN algorithm needs to be improved so as to cluster the point clouds, the clustered point cloud is a detected target, and the single non-clustered point is a noise point;
step d: performing target positioning and tracking on the clustered result by adopting an IMM interactive multi-model tracking algorithm; the algorithm completes the tracking function of the maneuvering target through four steps of input interaction, a model filter, probability updating calculation and output interaction;
step e: and outputting the result.
9. The control method of the millimeter wave radar-based warehousing security system according to claim 7, characterized in that: the method for improving the DBSCAN algorithm in the step c comprises the following steps: adding a KD tree algorithm into a DBSCAN algorithm to realize the effect of rapid clustering; the specific operation mode is as follows:
step C.1: preprocessing data by the millimeter wave radar, and forming point cloud information by the detected point traces;
step C.2: processing point cloud information by using a KD tree, and calculating the distance between adjacent points of each point by using Euclidean distance;
step C.3: searching adjacent points of the point cloud information, and sequencing the point cloud information according to a tree structure;
step C.4: calculating an M parameter and a parameter belonging to the element radius according to an improved clustering algorithm;
step C.5: and operating an improved clustering algorithm, and forming a final clustering result by using different parameter settings according to different distances of the targets.
10. The control method of the millimeter wave radar-based warehousing security system according to claim 9, characterized in that: the specific way of processing the point cloud information by using the KD tree described in step c.2 is as follows: constructing point cloud information by using a KD tree, traversing each point cloud information before clustering, generating a neighborhood data set of each point cloud information, searching nearest neighbor of the point cloud information by using the constructed KD tree, finding out an object neighborhood set of all the point cloud information, wherein the object neighborhood set contains information of target information points, boundary points and noise points, and is used for realizing subsequent clustering by a DBSCAN clustering algorithm after finding out the information points of the target; the KD tree can reduce the complexity of the DBSCAN algorithm running time from n2 to nlogn;
the improved clustering algorithm is based on a DBSCAN density clustering algorithm, wherein the decision variables for setting the parameter are determined according to the characteristics of the millimeter wave radar, and the distances of M target adjacent points are combined with the radius of the reflection area of the radar target; the distances of M target adjacent points are provided by KD tree search, the target reflection area of the radar is provided by RCS value of the radar, the reflection area of the radar target is assumed to be circular in the improved algorithm, and the radius of the reflection area is equal to the radius of the circular area; the millimeter wave radar needs to perform flow processing on a target signal in RCS measurement, but after the signal processing, an original reflection echo has a large change, and an accurate RCS value cannot be calculated, so that the RCS needs to be calibrated. The scattering cross-section of radar is commonly expressed by 10 times its own logarithmic value. The corrected RCS is shown in equation (1):
where γ is the corrected RCS value, γ 0 Is the theoretical RCS value, P, of the reference target 1 And P 2 Representing the intensity of the reflected echoes of the target and the reference target, respectively. After RCS value is obtained in the process of detecting target by millimeter wave radar, the target is assumed in the improved algorithmThe cross-sectional area of the target reflection is circular, and the radius of the circular cross-sectional area is E R While complying with formula (2):
γ＝π*E R 2 (2)
let E be the distance between M target neighboring points M The radius of the target-generated reflection cross-sectional area is E R In turn, the value of ∈ in the refinement algorithm can be set as shown in equation (3):
∈＝E M +E R (3)
inquiring the adjacent points according to the KD tree, traversing each node in the point cloud information at the moment, calculating a square boundary range of the KD tree according to a self-adaption epsilon parameter, searching the adjacent points according to a root node of the KD tree, determining whether the searched adjacent points are in the boundary range, continuously searching in each sub-tree if the searched adjacent points are not in the boundary range, calculating the distance between two points by using the Euclidean distance if the searched adjacent points are in the boundary range, and judging whether a Dist (x, y) condition is met or not because the square boundary constructed by the KD tree is larger than the area of a circle constructed by taking the epsilon as a radius;
determining a method according to the clustering of point cloud information and a perception target, wherein accurate clustering needs to be realized and the characteristics of the radar are associated; searching and setting M parameters in the nearest neighbor passing through the KD tree, and calculating the Mth adjacent point of each target point; different parameters are required to be set according to different distances so as to realize accurate identification of the target;
when searching adjacent points of the KD tree and determining the final radius of the epsilon, determining M parameters according to the distance of the adjacent points, solving the adjacent distance of the Mth point in each target, and needing to perform E on E M Carrying out classification determination on the values; the threshold values set in advance are compared, and the functional relationship is shown as the formula (4):
wherein D of formula (4) 1 And D 2 Is a given distance threshold, R M Targeted Mth phaseThe distance between adjacent points, gamma is the judgment threshold of the distance.
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| CN113945913A (en) * | 2021-10-12 | 2022-01-18 | 南昌智能新能源汽车研究院 | Method for detecting personnel in vehicle based on millimeter wave radar point cloud |
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