CN115236654A - Multi-band and multi-dimension based all-weather working composite radar equipment - Google Patents
Multi-band and multi-dimension based all-weather working composite radar equipment Download PDFInfo
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- CN115236654A CN115236654A CN202210747651.1A CN202210747651A CN115236654A CN 115236654 A CN115236654 A CN 115236654A CN 202210747651 A CN202210747651 A CN 202210747651A CN 115236654 A CN115236654 A CN 115236654A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/91—Radar or analogous systems specially adapted for specific applications for traffic control
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
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Abstract
The invention provides a multi-spectrum multi-band multi-dimension based all-weather working composite radar device, which comprises: the high-definition camera is used for acquiring the characteristic information of the target; the millimeter wave radar is used for acquiring dynamic information of the target; the infrared thermal imaging camera is used for acquiring characteristic information, high temperature points and temperature information of a target; the data main control board is used for receiving characteristic information of a target from a high-definition camera, dynamic information of the target from a millimeter-wave radar and characteristic information, high-temperature point and temperature information of the target from an infrared imaging camera, fusing the information through multi-dimensional space-time attributes to form complete target attribute information, realizing the functions of behavior analysis, abnormal event detection, abnormal road condition detection, abnormal environment detection, target multi-dimensional data acquisition and the like of the target through a preset intelligent analysis algorithm aiming at the information, superposing and synthesizing multi-dimensional data and images acquired by the composite radar through an AR technology, and outputting the information in a classified mode.
Description
Technical Field
The invention relates to the technical field of traffic monitoring and target detection, in particular to all-weather working composite radar equipment based on multi-spectrum multi-band and multi-dimension.
Background
Cameras and millimeter wave radars are common sensors used for traffic monitoring systems, but both types of sensors have shortcomings in acquiring target information. The high-definition camera can acquire rich image information, but is easily influenced by environmental factors such as rain and fog weather and strong illumination when acquiring data. The thermal imaging camera can clearly observe a target to be monitored at night without light completely or in a dense and severe environment such as rain, snow and the like, and can visually display the temperature field on the surface of the object due to the infrared thermal imaging technology, so that the thermal imaging camera can identify the disguised and concealed target, but the thermal imaging camera can only obtain the contour information of the target, cannot obtain the clear image information of the target, and cannot obtain the dynamic information of the target. The millimeter wave radar has the advantages of high detection precision, wide detection range, all-weather detection and the like, can obtain the accurate speed, distance and position information of the targets, and has the risk of missing detection when the targets are shielded. Therefore, the problem that the road environment information is not comprehensive enough to be acquired exists in the process of monitoring the traffic environment by using a single sensor.
Disclosure of Invention
The object of the present invention is to solve at least one of the technical drawbacks mentioned.
Therefore, the invention aims to provide a multi-spectrum multi-band multi-dimensional all-weather working composite radar device to solve the problems mentioned in the background technology and overcome the defects in the prior art.
In order to achieve the above object, an embodiment of the present invention provides a multi-spectrum multi-band multi-dimensional all-weather operation-based composite radar apparatus, including:
the system comprises a high-definition camera, a millimeter-wave radar, an infrared thermal imaging camera, a data main control board, a matched protection device and a power supply communication connection port, wherein the high-definition camera, the millimeter-wave radar and the infrared thermal imaging camera share one protection device and the power supply communication connection port to form a complete main body,
the high-definition camera is used for acquiring the characteristic information of a target;
the millimeter wave radar is used for acquiring dynamic information of a target;
the infrared thermal imaging camera is used for acquiring characteristic information, high temperature points and temperature information of a target;
the power supply communication unit and the internal power supply communication unit in the data main control board are respectively connected with the power supply communication connection ports on the high-definition camera, the millimeter-wave radar and the infrared thermal imaging camera to realize power supply as required and data transmission communication among the power supply communication units, the power supply communication unit and the external power supply communication unit in the data main control board are further connected with an external power supply facility and a third-party device or system through the power supply communication connection terminal on the protection device to realize power supply and data transmission communication among the high-definition camera, the millimeter-wave radar, the infrared thermal imaging camera and the data main control board,
wherein, the data master control board includes: the system comprises a data receiving and transmitting fusion unit, a data analysis and processing unit, a data input and output unit, a local data storage unit, a core control unit and a power supply communication unit, wherein the power supply communication unit consists of an internal power supply communication unit and an external power supply communication unit;
the data receiving and transmitting fusion unit is respectively connected with the high-definition camera, the millimeter wave radar and the infrared thermal imaging camera through an internal power supply communication unit in the power supply communication unit, receives characteristic information of a target from the high-definition camera, dynamic information of the target from the millimeter wave radar, characteristic information of the target from the infrared imaging camera, a high temperature point and temperature information, and extracts characteristic and contour data of the target, high temperature point position and temperature data of the target and dynamic data of the target from the information; the data receiving and transmitting fusion unit and the local data storage unit are communicated with each other to carry out data interaction, the data analysis and processing unit calls a fusion algorithm stored in the local data storage unit, the data are fused into complete target multi-dimensional attribute information through multi-dimensional space-time attributes, and the data information is respectively output to the input and output unit to be compiled and output or is stored in the local data storage unit to be temporarily stored.
Preferably, in any of the above schemes, the data input/output unit is connected to each unit in the data main control board, and is connected to each unit and a third-party device or system according to a communication protocol, a data output format, a communication rule, and a communication mode that are preset and stored in the local data storage unit, so as to perform data interaction, and transmit data finally generated by the data main control board to the third-party device or system for use; the data input and output unit is directly communicated with the high-definition camera, the millimeter-wave radar and the infrared thermal imaging camera through a third-party device or system to acquire original data information of the three devices, and modifies and sets working parameters of the high-definition camera, the millimeter-wave radar and the infrared thermal imaging camera and working parameters of all units in the data main control board.
Preferably, in any of the above schemes, the local data storage unit performs data interaction and processing output with the data transceiving fusion unit, the data analysis processing unit, the data input/output unit, the core control unit, and the power supply communication unit, respectively, and the local data storage unit is configured to store various fusion algorithms, data analysis rules, anomaly detection rules, data acquisition rules, alarm rules, control commands, device operating parameters, AI and AR data synthesis image superposition algorithms, intra-and inter-data communication protocols, and program contents that have been compiled and run in the data transceiving fusion unit, the data analysis processing unit, the core control unit, and the data input/output unit, and implement caching, conversion, and call output of all data; remote system functionality and firmware upgrades are implemented through the local data storage unit.
Preferably, in any of the above schemes, the core control unit is a core control unit in a data main control board, and performs mutual communication and data interaction with other units respectively; the core control unit with power supply communication unit interconnect realizes remote control through the control command that third party equipment or system sent is right high definition camera, millimeter wave radar and infrared thermal imaging camera's control includes: and the system is started or closed, and the functions of restarting, resetting, remote upgrading, power-on self-starting, power-on self-checking, collecting and outputting the high-definition camera, the millimeter-wave radar, the infrared thermal imaging camera and the working health state information of the camera are realized through a control command sent by a third-party device or system.
Preferably, in any of the above schemes, the power supply communication unit is composed of an internal power supply communication unit and an external power supply communication unit, wherein the internal power supply communication unit is respectively connected with the high-definition camera, the millimeter-wave radar and the infrared thermal imaging camera for communication and data interaction, and provides necessary working voltage and working current for the above three devices; the external power supply communication unit is respectively connected with a power supply connecting end and a communication connecting end on the protection device, and is connected with an external power supply facility through the power supply connecting end on the protection device so as to ensure the working voltage and the working current required by the whole composite radar; and the communication connecting end of the protection device is mutually connected with external third-party equipment or system to realize data exchange and transmission.
Preferably, in any of the above schemes, the data analysis processing unit communicates with the data transceiving fusion unit and the local data storage unit to perform data interaction, the data analysis processing unit invokes various detection algorithms, alarm rules, data acquisition algorithms and statistical period rules stored in the local data storage unit, and implements the functions of behavior analysis, abnormal event detection, abnormal road condition detection, abnormal environment detection, multi-dimensional data acquisition of targets and alarm output on the targets through preset rules.
Preferably, in any of the above schemes, the data analysis processing unit is further configured to implement overlay synthesis of multidimensional data and images acquired by the composite radar by using an AI and AR data synthesis image overlay algorithm, generate behavior analysis data, abnormal event detection data, abnormal road condition detection data, abnormal environment detection data, target multidimensional data acquisition, alarm data and AR synthesis image data of a target, and send the raw data acquired by the high-definition camera, the millimeter-wave radar and the infrared thermal imaging camera, including radar raw data, high-definition camera and infrared thermal imaging camera video image data, and the behavior analysis data, abnormal event detection data, abnormal road condition detection data, abnormal environment detection data, target multidimensional data acquisition, alarm data and AR synthesis image data of the target to an external communication port to be output to an external third-party device or system after being compiled by the data input and output unit, for user viewing or secondary processing of the third-party device or system.
Preferably, in any of the above schemes, the data transceiving fusion unit adopts a multi-dimensional time and space attribute association fusion method for the acquired target data from the high-definition camera obtained through AI video graphic analysis, the acquired target data from the millimeter wave radar, and the acquired target data from the infrared thermal imaging camera obtained through AI video graphic analysis, and applies the following fusion methods:
(1) Time fusion: while the position changes;
(2) Spatial fusion: the shadow is accompanied by a fusion regime.
Preferably, in any of the above schemes, the dynamic information of the target collected by the millimeter wave radar includes: the method comprises the following steps of (1) real-time speed, moving direction, lane where the target is located, target type, longitude and latitude, acceleration, course angle, target unique ID information, XYZ coordinate values and target distance radar distance values;
the characteristic information of the target in the monitoring range acquired by the high-definition camera comprises: the type of the target, the brand of the vehicle, the license plate of the vehicle, the color of the license plate, the model of the vehicle, the type of the vehicle, the series of the vehicle, the color of the vehicle and the outline of the vehicle;
the characteristic information, the high temperature point position information and the temperature information of the target collected by the infrared thermal imaging camera comprise: the type, the contour, the position of a high-temperature point, the highest temperature of the high-temperature point and the type of a vehicle of the target;
wherein the type of the target comprises: vehicles, pedestrians, animals, obstacles; the vehicle type and the vehicle color are international universal standards.
Preferably, in any of the above schemes, the protection device is made of a material with good waterproofness, good corrosion resistance, good heat dissipation performance and durability, so as to protect the internal high-definition camera, the millimeter-wave radar, the infrared thermal imaging camera and the data main control board;
the protection device, the vent valve, the power supply connecting port, the network connecting port, other protection accessories and internal equipment connecting fasteners are integrated into a complete main body.
The invention utilizes the advantages of different spectrum sensing detection capabilities of three sensors and adopts a mode of multi-data fusion and optimized combination to realize comprehensive monitoring of the road traffic environment. The high-definition camera, the infrared imaging camera and the millimeter wave radar are organically integrated together, and accurate sensing and data acquisition of targets in a detection area are achieved through a multi-data fusion mode by utilizing different working characteristics, physical characteristics and wave spectrum ranges of three devices. After different working characteristics of the three sensors are utilized to perform data fusion, the device can realize all-weather work and target data acquisition, and the requirements on special functions are met. In addition, the data processing main control board can output data in a classified mode according to abnormal event data, a traffic event data graph and AR synthetic image data, and therefore the sensor can be widely applied to the fields of vehicle management and control, traffic event detection, traffic state detection, dangerous road condition detection and the like.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a block diagram of a multi-spectrum multi-band multi-dimensional all-weather operation based composite radar apparatus according to an embodiment of the present invention;
fig. 2 is a structural diagram of an internal main unit of a data main control board according to an embodiment of the present invention.
Reference numerals:
s1, a high-definition camera; s2, a millimeter wave radar; s3, an infrared thermal imaging camera;
s4, a data main control board; s5, a protection device; s6, a power supply communication connecting terminal;
s7, connecting ports for power supply communication; s8, third-party equipment or a system; s9, external power supply facilities;
s10, a data receiving and transmitting fusion unit; s11, a data analysis processing unit; s12, a core control unit;
s13, a local data storage unit; s14, a data input and output unit;
s151, communicating with an internal power supply unit; s152, and an external power supply communication unit.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
As shown in fig. 1, the multi-spectrum multi-band multi-dimensional all-weather composite radar apparatus according to the embodiment of the present invention includes: the system comprises a high-definition camera S1, a millimeter wave radar S2, an infrared thermal imaging camera S3, a data main control board S4, a matched protection device S5 and a power supply communication connection port S7. The high-definition camera S1, the millimeter wave radar S2 and the infrared thermal imaging camera S3 share one protection device S5 and a power supply communication connection port S7 to form a complete main body. In the embodiment of the present invention, the power supply communication connection port S7 may adopt a POE power supply communication integrated manner, or may also adopt a power supply communication separated manner.
The high-definition camera S1, the thermal imaging camera and the millimeter wave radar S2 are installed in a combined mode according to specific positions, namely, the cameras are placed according to different distances and different directions, and therefore detection of all targets in a road is achieved. For example, in the protection device S5, the millimeter wave radar S2 is located in the middle, and the high-definition camera S1 and the infrared thermal imaging camera S3 are respectively located on both sides of the millimeter wave radar S2 and are respectively spaced from the millimeter wave radar S2 by a preset distance. In the embodiment of the invention, the protection device S5 is integrated with the ventilation valve, the power supply connection port and the network connection port, and other protection accessories and internal equipment connection fasteners into a complete body.
In the embodiment of the invention, the protection device S5 is made of a material with good water resistance, good corrosion resistance, good heat dissipation performance and durability, so as to protect the internal high-definition camera S1, the millimeter-wave radar S2, the infrared thermal imaging camera S3 and the data main control board S4.
It should be noted that the positions of the high-definition camera S1, the millimeter-wave radar S2, and the infrared thermal imaging camera S3 in the protection device S5 are randomly installed and placed, and the installation positions can be set according to the customization requirements of different products. The position relationship of the high-definition camera S1, the millimeter wave radar S2 and the infrared thermal imaging camera S3 in the protection device S5 has no influence on the signal interaction between the high-definition camera S1 and the data main control board S4. For example, the millimeter wave radar S2 is in the middle of the protection device S5, and the high definition camera S1 and the infrared thermal imaging camera S3 are on both sides; or the high-definition camera S1, the millimeter wave radar S2 and the infrared thermal imaging camera S3 are arranged on one side of the protection device S5.
Specifically, the high-definition camera S1 is configured to provide a clear image of a road environment, achieve acquisition of target feature information within a sensor field of view, and determine and identify a type of the target according to the target feature information.
Wherein, the characteristic information of the monitoring range internal target that high definition camera S1 gathered includes: type of target, vehicle brand, vehicle license plate, license plate color, vehicle model, vehicle type, vehicle series, vehicle color, vehicle profile.
The high-definition camera S1 acquires the feature information of the target by adopting an AI video processing algorithm, judges and identifies the type of the target according to the acquired feature information, and acquires corresponding attribute information. For example: a vehicle, a pedestrian, or an obstacle, wherein the vehicle characteristic attribute information includes: key information such as vehicle brand, vehicle model, vehicle license plate, vehicle color, vehicle type, attribution, appearance of driver, etc.; the pedestrian characteristic attribute information includes: key information such as men, women, age group, clothes, face and the like; obstacle feature attribute information: solid form, liquid form, profile size. The destination information is then sent to the data master S4.
False alarm and false negative alarm under severe environment are the biggest visual challenge. In the actual environment, the illumination change, the target motion complexity, the shielding, the color similarity between the target and the background, the disordered background and the severe environment cause a large amount of false reports and missed reports in video analysis, and how to reduce the false reports and the missed reports is the biggest challenge. The method has the advantages that the clear image can be denoised, sharpened and the like by using a computer, the clear high-quality image can be observed by adjusting the size of the image and the high resolution of a display, and the clear high-quality image can be stored for a long time and called in real time.
The millimeter wave radar S2 is used for transmitting electromagnetic waves and receiving target echoes to achieve acquisition of dynamic information of the radar visual field range interior standard. Wherein, the dynamic information of the target that millimeter wave radar S2 gathered includes: and dynamic information such as real-time speed, moving direction, lane, type, longitude and latitude, acceleration, course angle, unique ID information of the target and the like of the target is sent to the data main control board S4.
The millimeter wave radar S2 is extremely suitable for use in harsh environments. The millimeter wave has the advantages of microwave guidance and photoelectric guidance because the wavelength of the millimeter wave is between the centimeter wave and the light wave. The millimeter wave radar S2 can accurately detect the moving direction, distance, speed and angle of the moving target. Compared with optical probes such as infrared, laser, video and the like, the millimeter wave probe has strong capability of penetrating fog, smoke and dust and has the characteristics of all weather and all day long.
The radar vision fuses an intelligent warning product, the radar detects and warns when a target enters a defense area, meanwhile, the accurate position of the target is judged through the distance, the angle and the speed of the target, the target is rechecked by fusing a video analysis technology, and whether the target needs to be warned is judged through an Artificial Intelligence (AI) algorithm. The radar and the vision are subjected to signal level fusion, active detectability, high sensitivity and video intelligent analysis data judgment and visibility of a perfect fusion radar technology are perfectly integrated, and the detection and identification rate of the system is greatly improved. The integration of physics realization, adoption integrated design, power sharing, the installation is unified, can effectively practice thrift material cost and installation cost by a wide margin.
The radar is fully integrated in vision, clear images are provided by the vision, the radar accurately detects the moving direction, distance, speed and angle of a moving target, the advantages of the sensors are fully utilized by the millimeter wave radar S2 and the vision integration system, the advantages of the sensors are fully utilized, the artificial intelligence technology is integrated, the distance and the column coordinates of the target given by the radar are fully utilized, and the moving target based on the distance is merged and deleted. The 7 x 24h all-weather real-time protection is suitable for various severe weathers such as rain, snow, fog, haze, sand and dust, the missing report is avoided to the maximum extent, and the misinformation is eliminated.
The radar and video integration all-in-one machine has the main functions:
drawing defense areas and setting alarm tracks: freely drawing an alarm area, a filtering area and an early warning area;
and (4) alarm recording: when an invading target is found, the warning system continuously sends out a pulse prompt corresponding to the position of the defense area map, and records warning information;
and (3) area superposition: uniformly overlapping the video coverage area and the radar coverage area, and unifying coordinates;
focusing by following the target: by tracking the track of the radar target, the vision is provided in real time, the vision can follow the radar coordinate to adjust the optimal distance, and the clearer and higher-quality recording is realized.
The infrared thermal imaging camera S3 is used for acquiring characteristic information, high temperature point and temperature information of a target, that is, providing a thermal image of the target in a sensor view range, and acquiring information of the temperature, contour and target type (person, vehicle, object) of the target. Wherein, the characteristic information and the temperature information of the target that infrared thermal imaging camera S3 gathered include: the type of the target, the contour of the target, the position of the high-temperature point, the highest temperature of the high-temperature point of the target and the type of the vehicle.
Wherein, the types of the targets comprise: vehicles, pedestrians, animals, obstacles; the vehicle type and the vehicle color are international common standards.
The infrared thermal imaging camera S3 receives infrared radiation emitted by the object, converts the infrared radiation into an electrical signal, performs image processing on the electrical signal, outputs thermal image information of the object, and sends the thermal image information to the data main control board S4.
In conclusion, aiming at the defects of the target detection capability of a single sensor and the information acquisition requirement of a traffic monitoring system, the invention designs the multi-band multi-spectral sensor all-in-one machine applied to the traffic monitoring system. The high-definition camera S1 acquires characteristic information of a target in a sensor monitoring range, and comprises the following steps: information such as vehicle type, license plate, color, contour, target type (vehicle, person, object), etc.; the thermal imaging camera acquires temperature, contour, and object type information of the object and obtains a thermal image of the environment. The millimeter wave radar S2 acquires dynamic information such as speed, direction and distance of a target; through the overall arrangement of design sensor, guarantee that equipment can carry out multi-angle, all-round detection to the target in the monitoring range, solve the target and shelter from the problem.
The power supply communication unit S151 in the power supply communication unit of the data main control board S4 is respectively connected with the power supply communication connection ports S7 on the high-definition camera S1, the millimeter-wave radar S2 and the infrared thermal imaging camera S3 to realize power supply as required and data transmission communication among the power supply communication units, and the power supply communication unit S152 in the power supply communication unit of the data main control board S4 is also connected with the external power supply facility S9 through the power supply communication connection terminal S6 on the protection device S5 and is connected with third-party equipment or a system S8 to realize power supply and data transmission communication of the high-definition camera, the millimeter-wave radar, the infrared thermal imaging camera and the data main control board.
As shown in fig. 2, the data main control board includes: the system comprises a data receiving and transmitting fusion unit S10, a data analysis processing unit S11, a data input and output unit S14, a local data storage unit S13, a core control unit S12 and a power supply communication unit, wherein the power supply communication unit consists of an internal power supply communication unit S151 and an external power supply communication unit S152, the data receiving and transmitting fusion unit S10, the data analysis processing unit S11, the data input and output unit S14, the local data storage unit S13, the core control unit S12 and the power supply communication unit perform data interaction with each other and process the output data analysis processing unit S11 and S14, and the data analysis processing unit S11 is a data input and output unit S14.
Specifically, the data transceiving fusion unit S10 is connected to the high-definition camera, the millimeter-wave radar, and the infrared thermal imaging camera through the internal power supply communication unit S151 in the power supply communication unit, and receives feature information of a target from the high-definition camera, a high-temperature point position and temperature data of the target from the millimeter-wave radar, and dynamic data of the target. The data receiving and transmitting fusion unit S10 and the local data storage unit S13 are communicated with each other to carry out data interaction, the data analysis processing unit S11 calls various fusion algorithms stored in the local data storage unit S13, the data are fused into complete target multi-dimensional attribute information through multi-dimensional space-time attributes, and the data information is respectively output to the input and output unit to be compiled and output, or is stored in the local data storage unit S13 to be temporarily stored.
The data receiving and transmitting fusion unit S10 applies the following fusion modes to the collected target data acquired by the high-definition camera through AI video graphic analysis, the collected target data acquired by the millimeter wave radar and the collected target data acquired by the infrared thermal imaging camera through AI video graphic analysis in a multi-dimensional time and space attribute correlation fusion mode:
(1) Time fusion: while the position changes;
(2) Spatial fusion: the shadow is accompanied by a fusion mode.
It should be noted that, before performing the association and fusion of the time and space attributes on the information, the data main control board S4 performs the conversion between the clock and the unified coordinate system on the information.
The data analysis processing unit S11, the data receiving and transmitting fusion unit S10 and the local data storage unit S13 are communicated with each other to perform data interaction, the data analysis processing unit S11 calls various detection algorithms, alarm rules, data acquisition algorithms and statistical period rules which are stored in the local data storage unit S13, and the functions of behavior analysis, abnormal event detection, abnormal road condition detection, abnormal environment detection, target multi-dimensional data acquisition and alarm output of a target are realized through preset rules.
In addition, the data analysis processing unit S11 is further configured to implement superposition and synthesis of multidimensional data and images acquired by the composite radar by using an AI and AR data synthetic image superposition algorithm, generate behavior analysis data, abnormal event detection data, abnormal road condition detection data, abnormal environment detection data, target multidimensional data acquisition, alarm data and AR synthetic image data of a target, and send the raw data acquired by the high-definition camera, the millimeter-wave radar and the infrared thermal imaging camera, including radar raw data, high-definition camera and infrared thermal imaging camera video image data, and the behavior analysis data, abnormal event detection data, abnormal road condition detection data, abnormal environment detection data, target multidimensional data acquisition, alarm data and AR synthetic image data, to the power supply communication unit through the data input/output unit S14 after compiling, and outputting the data to an external third-party device or system S8 through an external communication port, for user viewing or secondary processing of the third-party system.
The data input and output unit S14 is respectively connected with each unit in the data main control board, is connected with each unit and third-party equipment or a system S8 according to a communication protocol, a data output format, a communication rule and a communication mode which are preset and stored in the local data storage unit S13 for data interaction, and transmits data finally generated by the data main control board to the third-party equipment or the system S8 for use; and the data input and output unit S14 is directly communicated with the high-definition camera, the millimeter wave radar and the infrared thermal imaging camera through a third-party device or system S8 to acquire original data information of the three devices, and modifies and sets working parameters of the high-definition camera, the millimeter wave radar and the infrared thermal imaging camera and working parameters of all units in the data main control board.
The local data storage unit S13 is used for storing various fusion algorithms, data analysis rules, anomaly detection rules, data acquisition rules, alarm rules, control commands, equipment working parameters, AI and AR data synthetic image superposition algorithms, internal and external communication protocols and program contents which are compiled and run in the data transceiving fusion unit S10, the data analysis processing unit S11, the core control unit S12 and the data input and output unit S14, and realizing the caching, conversion and call output of the local data; the remote system function and firmware upgrading is realized through the local data storage unit S13;
the core control unit S12 is a core control unit S12 in the data main control board and is communicated with other units and performs data interaction respectively; with power supply communication unit interconnect, the control command who sends through third party equipment or system S8 realizes remote control to high definition camera, millimeter wave radar and infrared thermal imaging camera' S control, include: and the system is started or closed, and the functions of restarting, resetting, remote upgrading, power-on self-starting, power-on self-checking, collecting and outputting high-definition cameras, millimeter-wave radars, infrared thermal imaging cameras and self working health state information are realized through a control command sent by third-party equipment or a system S8.
The power supply communication unit consists of an internal power supply communication unit S151 and an external power supply communication unit S152, wherein the internal power supply communication unit S151 is respectively connected with a high-definition camera, a millimeter-wave radar and an infrared thermal imaging camera for communication and data interaction, and provides necessary working voltage and working current for the three devices; the external power supply communication unit S152 is respectively connected with a power supply connecting end and a communication connecting end on the protection device S5, and is connected with an external power supply facility S9 through the power supply connecting end on the protection device S5 so as to ensure the working voltage and the working current required by the whole composite radar; the communication connection end of the protection device S5 is connected with an external third-party device or system S8 to realize data exchange and transmission.
In the embodiment of the present invention, the data main control board S4 may further be configured to return the acquired and analyzed target data to a corresponding target, so that the target detects the monitoring state of the target, in addition to sending the data to a third-party device for monitoring.
In the embodiment of the present invention, the data input/output unit S14 supports the independent output of the raw data acquired by the high definition camera, the millimeter wave radar, and the infrared thermal imaging camera, which are packaged according to different classifications of the acquisition subjects. The method supports the packaging and independent output of the original data collected by the high-definition camera, the millimeter-wave radar and the infrared thermal imaging camera according to different classifications of the collection main body.
In summary, the data main control board S4 receives the raw data of the multiple sensors, on one hand, classifies and packages the raw data of the sensors, and independently outputs the raw data of each sensor. And on the other hand, the data of the multiple sensors are classified, packaged and output after fusion matching processing is carried out on the data. And synthesizing the original data obtained by the three sensors, the abnormal event data obtained after processing, the traffic event data and the AR into image data. And selecting and outputting different types of data according to actual application requirements.
The data main control board S4 is positioned in the protection device S5 and is connected with the high-definition camera S1, the millimeter-wave radar S2 and the infrared thermal imaging camera S3 to realize data acquisition, processing and output among the devices. The data main control board S4 is further connected to the power supply connection port and the network connection port, so as to supply power and output data to the whole device.
The invention realizes mutual supplement through different working characteristics and advantages and disadvantages of the three sensors, thereby accurately tracking, positioning and detecting the targets which move at high density, large flow and ultralow speed and are static under all weather conditions. And the all-weather target tracking detection is realized by utilizing visible light wave spectrum, infrared light wave spectrum, millimeter wave spectrum and multi-wave spectrum. Specifically, the characteristic information and the temperature information of the target are acquired by thermal imaging, the characteristic information of the target is acquired by a high-definition camera S1, the dynamic information of the target is acquired by a millimeter wave radar S2, and the data are subjected to correlation fusion by time and space attributes. Different working characteristics, characteristics and defects of the target object are utilized to meet the requirements that the device can work in all weather and target data acquisition is realized after data fusion, and requirements on special functions such as target object continuous reading tracking positioning, target object continuous tracking monitoring, target object working situation analysis, target object identity identification and target object self monitoring state detection are realized.
And the data master control board S4 performs fusion matching processing on the multidimensional sensor data and classifies, packages and transmits the data to third-party equipment or a system S8.
The invention utilizes the advantages of different spectrum sensing detection capabilities of three sensors and adopts a mode of multi-data fusion and optimized combination to realize comprehensive monitoring of the road traffic environment. The high-definition camera, the infrared imaging camera and the millimeter wave radar are organically integrated together, and accurate sensing and data acquisition of targets in a detection area are achieved through a multi-data fusion mode by utilizing different working characteristics, physical characteristics and wave spectrum ranges of three devices. After different working characteristics of the three sensors are utilized to perform data fusion, the equipment can realize all-weather work and target data acquisition, and the requirements on special functions are met. In addition, the data processing main control board can output data in a classified mode according to abnormal event data, a traffic event data graph and AR synthetic image data, and therefore the sensor can be widely applied to the fields of vehicle management and control, traffic event detection, traffic state detection, dangerous road condition detection and the like.
The multi-spectrum multi-band multi-dimension all-weather working composite radar equipment has the following beneficial effects:
1) The device can work in all weather by using the sensing detection capability and advantages of the three sensors in different frequency bands and adopting a multi-data fusion mode, and the working requirement of the device in a harsh environment is met.
2) The detection method adopts a multi-data fusion and optimization combination mode by utilizing the sensing detection capability and advantages of the three sensors in different frequency bands, and improves the target detection precision of the equipment compared with a single sensor, so that the detection result is more reliable.
3) The environment is subjected to multi-angle to space combined detection by using the three sensor detection methods and different characteristics of a target acquisition mode, so that the targets are accurately detected, separated and classified.
4) The problems that the target is shielded front and back, left and right, the detection distance is too close and the target cannot be distinguished are solved by using three different positions, different detection angles, different detection methods and different multi-space detection modes for installing the sensing detection equipment.
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 do not necessarily 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.
It will be understood by those skilled in the art that the present invention includes any combination of the summary and detailed description of the invention described above and those illustrated in the accompanying drawings, which is not intended to be limited to the details and which, for the sake of brevity of this description, does not describe every aspect which may be formed by such combination. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
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 in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. An all-weather composite radar apparatus based on multi-spectrum, multi-band, and multi-dimensional operation, comprising: the system comprises a high-definition camera, a millimeter-wave radar, an infrared thermal imaging camera, a data main control board, a matched protection device and a power supply communication connection port, wherein the high-definition camera, the millimeter-wave radar and the infrared thermal imaging camera share one protection device and the power supply communication connection port to form a complete main body,
the high-definition camera is used for acquiring the characteristic information of a target;
the millimeter wave radar is used for acquiring dynamic information of a target;
the infrared thermal imaging camera is used for acquiring characteristic information, a high temperature point and temperature information of a target;
the power supply communication unit and the internal power supply communication unit in the data main control board are respectively connected with the power supply communication connection ports on the high-definition camera, the millimeter-wave radar and the infrared thermal imaging camera to realize power supply as required and data transmission communication among the power supply communication units, the power supply communication unit and the external power supply communication unit in the data main control board are further connected with an external power supply facility and a third-party device or system through the power supply communication connection terminal on the protection device to realize power supply and data transmission communication among the high-definition camera, the millimeter-wave radar, the infrared thermal imaging camera and the data main control board,
wherein, the data master control board includes: the system comprises a data receiving and transmitting fusion unit, a data analysis and processing unit, a data input and output unit, a local data storage unit, a core control unit and a power supply communication unit, wherein the power supply communication unit consists of an internal power supply communication unit and an external power supply communication unit;
the data receiving and transmitting fusion unit is respectively connected with the high-definition camera, the millimeter wave radar and the infrared thermal imaging camera through an internal power supply communication unit in the power supply communication unit, receives characteristic information of a target from the high-definition camera, dynamic information of the target from the millimeter wave radar and characteristic information, a high temperature point and temperature information of the target from the infrared imaging camera, and extracts characteristic and contour data of the target, high temperature point position and temperature data of the target and dynamic data of the target from the information; the data receiving and transmitting fusion unit and the local data storage unit are communicated with each other to carry out data interaction, the data analysis and processing unit calls a fusion algorithm stored in the local data storage unit, the data are fused into complete target multi-dimensional attribute information through multi-dimensional space-time attributes, and the data information is respectively output to the input and output unit to be compiled and output or is stored in the local data storage unit to be temporarily stored.
2. The multi-spectral multi-band multi-dimensional all-weather composite radar apparatus of claim 1,
the data input and output unit is respectively connected with each unit in the data main control board, is connected with each unit and third-party equipment or a system for data interaction according to a communication protocol, a data output format, a communication rule and a communication mode which are preset and stored in the local data storage unit, and transmits the finally generated data of the data main control board to the third-party equipment or the system for use; the data input and output unit is directly communicated with the high-definition camera, the millimeter wave radar and the infrared thermal imaging camera through a third-party device or system to acquire original data information of the three devices, and modifies and sets working parameters of the high-definition camera, the millimeter wave radar and the infrared thermal imaging camera and working parameters of all units in the data main control board.
3. The multi-spectral multi-band multi-dimensional all-weather composite radar apparatus of claim 1,
the local data storage unit is used for storing various fusion algorithms, data analysis rules, anomaly detection rules, data acquisition rules, alarm rules, control commands, equipment working parameters, AI and AR data synthetic image superposition algorithms, internal and external communication protocols and program contents which are compiled and run in the data transceiving fusion unit, the data analysis processing unit, the core control unit and the data input and output unit, and realizing the caching, conversion and call output of all data; remote system functionality and firmware upgrades are implemented through the local data storage unit.
4. The multi-spectral multi-band multi-dimensional all-weather composite radar apparatus of claim 1,
the core control unit is a core control unit in the data main control board and is communicated with other units and performs data interaction with other units respectively; the core control unit with power supply communication unit interconnect realizes remote control through the control command that third party's equipment or system sent is to high definition camera, millimeter wave radar and infrared thermal imaging camera's control includes: and the system is started or closed, and the functions of restarting, resetting, remote upgrading, power-on self-starting, power-on self-checking, collecting and outputting the high-definition camera, the millimeter-wave radar, the infrared thermal imaging camera and the working health state information of the camera are realized through a control command sent by a third-party device or system.
5. The multi-spectral multi-band multi-dimensional all-weather composite radar apparatus of claim 1,
the power supply communication unit consists of an internal power supply communication unit and an external power supply communication unit, wherein the internal power supply communication unit is respectively connected with the high-definition camera, the millimeter-wave radar and the infrared thermal imaging camera for communication and data interaction, and provides necessary working voltage and working current for the three devices; the external power supply communication unit is respectively connected with a power supply connecting end and a communication connecting end on the protection device, and is connected with an external power supply facility through the power supply connecting end on the protection device so as to ensure the working voltage and the working current required by the whole composite radar; and the communication connecting end of the protection device is mutually connected with external third-party equipment or system to realize data exchange and transmission.
6. The apparatus of claim 1, wherein the data analysis and processing unit communicates with the data transceiving fusion unit and the local data storage unit for data interaction, and the data analysis and processing unit invokes various detection algorithms, alarm rules, data collection algorithms and statistical period rules stored in the local data storage unit, so as to implement behavior analysis, abnormal event detection, abnormal road condition detection, abnormal environment detection, multi-dimensional data collection and alarm output functions of the target according to preset rules.
7. The apparatus according to claim 1, wherein the data analysis and processing unit is further configured to implement overlay synthesis of multidimensional data and images collected by the composite radar by using an AI and AR data synthesis image overlay algorithm, so as to generate behavior analysis data, abnormal event detection data, abnormal road condition detection data, abnormal environment detection data, target multidimensional data collection, alarm data, and AR synthetic image data of a target, and send raw data collected by the high definition camera, the millimeter wave radar, and the infrared thermal imaging camera, including radar raw data, high definition camera, and infrared thermal imaging camera video image data, and behavior analysis data, abnormal event detection data, abnormal road condition detection data, abnormal environment detection data, target multidimensional data collection, alarm data, and AR synthetic image data of the target to the external communication port for output to an external third party apparatus or system after being compiled by the data input and output unit, for user viewing or for secondary processing of the third party apparatus or system.
8. The apparatus according to claim 1, wherein the data transceiving fusion unit employs an associated fusion mode of multi-dimensional temporal and spatial attributes to collect target data from a high-definition camera obtained through AI video graphic analysis, target data from a millimeter wave radar obtained, and target data from an infrared thermal imaging camera obtained through AI video graphic analysis, and applies the following fusion mode:
(1) Time fusion: while the position changes;
(2) Spatial fusion: the shadow is accompanied by a fusion regime.
9. The multi-spectrum multi-band multi-dimensional all-weather composite radar-based device of claim 1, wherein the dynamic information of the target collected by the millimeter wave radar comprises: the method comprises the following steps of (1) real-time speed, moving direction, lane where the target is located, target type, longitude and latitude, acceleration, course angle, target unique ID information, XYZ coordinate values and target relative radar distance values;
the characteristic information of the target in the monitoring range acquired by the high-definition camera comprises: the type of the target, the brand of the vehicle, the license plate of the vehicle, the color of the license plate, the model of the vehicle, the type of the vehicle, the series of the vehicle, the color of the vehicle and the outline of the vehicle;
the characteristic information, the high temperature point position information and the temperature information of the target collected by the infrared thermal imaging camera comprise: the type, the contour, the position of a high-temperature point, the highest temperature of the high-temperature point and the type of a vehicle of the target;
wherein the type of the target comprises: vehicles, pedestrians, animals, obstacles; the vehicle type and the vehicle color are international universal standards.
10. The multi-spectrum multi-band multi-dimensional all-weather composite radar apparatus as claimed in claim 1, wherein the protection device is made of a material with good waterproof property, good corrosion resistance, good heat dissipation property and durability, so as to protect the internal high definition camera, the millimeter wave radar, the infrared thermal imaging camera and the data main control board;
the protection device, the vent valve, the power supply connecting port, the network connecting port, other protection accessories and internal equipment connecting fasteners are integrated into a complete main body.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117238143A (en) * | 2023-09-15 | 2023-12-15 | 北京卓视智通科技有限责任公司 | Traffic data fusion method, system and device based on radar double-spectrum camera |
| CN118097933A (en) * | 2023-12-26 | 2024-05-28 | 北京卓视智通科技有限责任公司 | Traffic event monitoring method, system, equipment and medium for dual-spectrum radar integrated machine |
| CN118097933B (en) * | 2023-12-26 | 2024-09-24 | 北京卓视智通科技有限责任公司 | Traffic event monitoring method, system, equipment and medium for dual-spectrum radar integrated machine |
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2022
- 2022-06-28 CN CN202210747651.1A patent/CN115236654A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117238143A (en) * | 2023-09-15 | 2023-12-15 | 北京卓视智通科技有限责任公司 | Traffic data fusion method, system and device based on radar double-spectrum camera |
| CN117238143B (en) * | 2023-09-15 | 2024-03-22 | 北京卓视智通科技有限责任公司 | Traffic data fusion method, system and device based on radar double-spectrum camera |
| CN118097933A (en) * | 2023-12-26 | 2024-05-28 | 北京卓视智通科技有限责任公司 | Traffic event monitoring method, system, equipment and medium for dual-spectrum radar integrated machine |
| CN118097933B (en) * | 2023-12-26 | 2024-09-24 | 北京卓视智通科技有限责任公司 | Traffic event monitoring method, system, equipment and medium for dual-spectrum radar integrated machine |
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