Radar detection method and device, storage medium and electronic device

Abstract

The present invention discloses a radar detection method and device, a storage medium and an electronic device. The method comprises: obtaining a target adjustment request, wherein the target adjustment request is used to request adjustment of the detection direction of the target radar; in response to the target adjustment request, adjusting the detection direction of the target radar from a first detection direction to a second detection direction; when the target radar detects a first object, obtaining first position information of the first object relative to the target radar; processing the first position information according to the angle difference between the first detection direction and the second detection direction to obtain second position information of the first object in the actual coordinate system.

Description

Technical Field

[0001] The present invention relates to the field of computers, and in particular to a radar detection method and device, a storage medium and an electronic device. Background Art

[0002] At present, there is an increasing demand for indoor personnel detection, but people attach great importance to personal privacy and cannot install traditional surveillance equipment such as cameras. Indoor millimeter-wave radar, as a device that can protect privacy and detect personnel, has gradually been used in hospitals, hotels, nursing homes and other places.

[0003] In the related art, radars are installed mainly by fixing the installation angle or by top mounting. Radars installed in this way cannot adapt well to the detection environment, and because the accuracy of the radar installation angle is low, the recognition accuracy of the radar is also relatively low.

[0004] Therefore, with regard to the related technologies, when installing the radar, the main methods used are fixing the installation angle and top installation, which leads to the problem of low radar installation accuracy, and no effective technical solution has been proposed yet. Summary of the invention

[0005] The embodiments of the present invention provide a radar detection method and device, a storage medium and an electronic device, so as to at least solve the technical problem in the related art that the radar is mainly installed by fixing the installation angle and top installation, resulting in low radar installation accuracy.

[0006] According to one aspect of an embodiment of the present invention, a radar detection method is provided, comprising: obtaining a target adjustment request, wherein the target adjustment request is used to request adjustment of a detection direction of a target radar; in response to the target adjustment request, adjusting the detection direction of the target radar from a first detection direction to a second detection direction; in a case where the target radar detects a first object, obtaining first position information of the first object relative to the target radar; and processing the first position information according to an angle difference between the first detection direction and the second detection direction to obtain second position information of the first object in an actual coordinate system.

[0007] According to another aspect of an embodiment of the present invention, a radar detection device is also provided, including: a first acquisition unit, used to obtain a target adjustment request, wherein the target adjustment request is used to request adjustment of the detection direction of the target radar; a response unit, used to respond to the target adjustment request and adjust the detection direction of the target radar from a first detection direction to a second detection direction; a second acquisition unit, used to obtain first position information of the first object relative to the target radar when the target radar detects a first object; and a third acquisition unit, used to process the first position information according to the angle difference between the first detection direction and the second detection direction to obtain the second position information of the first object in the actual coordinate system.

[0008] According to another aspect of an embodiment of the present invention, a radar detection system is also provided, which includes: a host computer application, a target radar, a control device, a gyroscope, and a control gimbal, including: the above-mentioned host computer application, the above-mentioned host computer application is used to send the preset installation height and the farthest detection distance of the target radar to the above-mentioned control device; the above-mentioned control device is used to receive the above-mentioned installation height and the above-mentioned farthest detection distance, and determine the angle required to adjust the above-mentioned target radar according to the above-mentioned installation height and the above-mentioned farthest detection distance; the above-mentioned gyroscope is used to detect the detection direction of the above-mentioned target radar; the above-mentioned control device is used to respond to a target adjustment request and send a control signal to the above-mentioned control gimbal, wherein the above-mentioned target adjustment request is used to request adjustment of the detection direction of the above-mentioned target radar; the above-mentioned control gimbal is used to receive the above-mentioned control signal, and adjust the detection direction of the above-mentioned target radar from the first detection direction to the second detection direction according to the indication of the above-mentioned control signal.

[0009] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is provided, in which a computer program is stored, wherein the computer program is configured to execute the above radar detection method when running.

[0010] According to another aspect of an embodiment of the present invention, there is provided an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the radar detection method through the computer program.

[0011] Through this embodiment, a target adjustment request is obtained, wherein the target adjustment request is used to request adjustment of the detection direction of the target radar; in response to the target adjustment request, the detection direction of the target radar is adjusted from the first detection direction to the second detection direction; when the target radar detects a first object, first position information of the first object relative to the target radar is obtained; the first position information is processed according to the angle difference between the first detection direction and the second detection direction to obtain the second position information of the first object in the actual coordinate system, thereby achieving the technical purpose of ensuring the accuracy of the position information detected by the radar while ensuring the adjustment flexibility of the radar, thereby achieving the technical effect of taking into account both the flexibility and detection accuracy in the radar detection process, and solving the technical problem of low accuracy of the position information detected by the radar due to adjustment of the detection direction of the radar in the related art. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0013] Figure 1 is a schematic diagram of an application environment of a radar detection method according to an embodiment of the present invention;

[0014] Figure 2 is a schematic structural diagram of an optional radar detection system according to an embodiment of the present invention;

[0015] Figure 3 is a schematic structural diagram of an optional target radar according to an embodiment of the present invention;

[0016] Figure 4 is a schematic flow chart of an optional radar detection method according to an embodiment of the present invention;

[0017] Figure 5 is a schematic diagram of an optional process of determining a target pitch angle and a blind area according to an embodiment of the present invention;

[0018] Figure 6 is a schematic diagram of an optional maximum field of view angle and a blind area according to an embodiment of the present invention;

[0019] Figure 7 is a schematic diagram of a coordinate system of an optional target radar according to an embodiment of the present invention (I);

[0020] Figure 8 is a schematic diagram of a coordinate system of an optional target radar according to an embodiment of the present invention (II);

[0021] Fig. 9 is a schematic diagram of a coordinate system of an optional target radar according to an embodiment of the present invention (III);

[0022] Fig.10 is a flow chart of another optional radar detection method according to an embodiment of the present invention;

[0023] Fig.11 is a schematic structural diagram of an optional radar detection device according to an embodiment of the present invention;

[0024] Fig.12 is a schematic structural diagram of an optional electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0026] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0027] The method embodiments provided in the embodiments of the present application can be executed in a chip, a mobile terminal, a computer terminal or a similar computing device. Taking running on a mobile terminal as an example, Figure 1 FIG. 1 is a hardware structure block diagram of a mobile terminal of a radar detection method according to an embodiment of the present invention. Figure 1 As shown, the mobile terminal may include one or more ( Figure 1Only one is shown in the figure) a processor 102 (the processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data, wherein the mobile terminal may also include a transmission device 106 and an input / output device 108 for communication functions. It can be understood by those skilled in the art that Figure 1 The structure shown is for illustration only and does not limit the structure of the mobile terminal. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations are shown.

[0028] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the radar detection method in the embodiment of the present invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, to implement the above method. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0029] The transmission device 106 is used to receive or send data via a network. The specific example of the above network may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 can be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0030] Optionally, in this embodiment, the first object may be understood as a target having certain specific features, such as a human face, an animal head, a QR code image, etc., which is not limited to uniqueness herein.

[0031] Optionally, in this embodiment, the angle difference between the first detection direction and the second detection direction may include, but is not limited to, at least one of the following: a pitch angle difference, a roll angle difference, a heading angle difference, and the like.

[0032] Optionally, in this embodiment, the terminal device may include but is not limited to at least one of the following: a mobile phone (such as an Android phone, an iOS phone, etc.), a laptop, a tablet computer, a PDA, a MID (Mobile Internet Devices), a PAD, a desktop computer, etc. The network may include but is not limited to: a wired network, a wireless network, wherein the wired network includes: a local area network, a metropolitan area network and a wide area network, and the wireless network includes: Bluetooth, WIFI and other networks that implement wireless communication. The server may be a single server or a server cluster consisting of multiple servers. The above is only an example, and this embodiment does not impose any limitation on this.

[0033] Optionally, the following introduces a radar detection system, which includes: a host computer application, a target radar, a control device, a gyroscope, and a control gimbal, including: a host computer application, the host computer application is used to send a preset installation height and a maximum detection distance of the target radar to the control device; the control device is used to receive the installation height and the maximum detection distance, and determine the angle that needs to be adjusted for the target radar based on the installation height and the maximum detection distance; the gyroscope is used to detect the detection direction of the target radar; the control device is used to respond to a target adjustment request and send a control signal to the control gimbal, wherein the target adjustment request is used to request adjustment of the detection direction of the target radar; the control gimbal is used to receive the control signal and adjust the detection direction of the target radar from a first detection direction to a second detection direction according to the indication of the control signal.

[0034] Optionally, the host computer application, target radar (such as Figure 2 Millimeter wave radar in), control equipment (such as Figure 2 The main control chip in the ), gyroscope, and gimbal control connection method can refer to Figure 2 Among them, the functions of the host computer application, target radar, control equipment, gyroscope, and control gimbal are as follows:

[0035] 1. Host computer application: Connect to the device via wifi to display the data from the main control chip. And transmit the detection distance and installation height set by the user to the main control chip.

[0036] 2. Main control chip (such as control equipment): receives angle data from the gyroscope and transmits it to the millimeter-wave radar chip. After receiving the maximum detection distance and installation height set in the host computer, it calculates the angle that the gimbal needs to rotate (such as the target pitch angle) and controls the gimbal to rotate. After obtaining the millimeter-wave radar detection results, they are processed and transmitted to the host computer application for display.

[0037] 3. Gyroscope: The gyroscope is used to collect the installation angle of the current millimeter wave radar chip (such as the target radar), mainly the pitch angle and roll angle, and is used to correct the measured x, y, and z coordinates of the millimeter wave radar chip.

[0038] 4. Control gimbal: used to receive control signals from the main control chip (such as the control device), and then adjust the pitch angle of the millimeter-wave radar chip to adapt to the actual detection environment.

[0039] 5. Millimeter wave radar: Receives angle information from the main control chip (such as control equipment) and corrects the x, y, and z coordinates. The corrected data is used for tracking, headcount, height detection, and posture recognition.

[0040] It should be noted that the above-mentioned target radar may be an indoor millimeter wave radar. Figure 3 The figure shows the pan-tilt structure of the indoor millimeter-wave radar, and the dark part is the radar chip module with a built-in antenna. This design allows the radar to rotate and is suitable for a variety of use occasions. After the radar is set to the maximum distance to be detected and the installation height, the radar can rotate the angle adaptively. When the installation height is high and the detection distance is far, the vertical pan-tilt will slightly adjust the angle upward; when the detection distance is close, the vertical pan-tilt will slightly adjust the angle downward to reduce the near visual blind spot.

[0041] Optionally, in this embodiment, as an optional implementation, as Figure 4 As shown, the process of the above radar detection method may include the steps of:

[0042] Step S402, obtaining a target adjustment request, wherein the target adjustment request is used to request adjustment of a detection direction of a target radar;

[0043] Step S404, in response to the target adjustment request, adjusting the detection direction of the target radar from the first detection direction to the second detection direction;

[0044] Step S406, when the target radar detects the first object, obtaining first position information of the first object relative to the target radar;

[0045] Step S408: Process the first position information according to the angle difference between the first detection direction and the second detection direction to obtain second position information of the first object in the actual coordinate system.

[0046] Optionally, the above radar detection method can be applied to, but is not limited to, tracking, people counting, height detection, posture recognition and other scenarios.

[0047] Optionally, when it is detected that the first object is located in the detection blind spot of the target radar, a target adjustment request is triggered, and the detection angle of the target radar is adjusted by further responding to the target adjustment request so that the first object is located in the detection area of ​​the target radar; at the same time, since the adjustment of the detection angle of the target radar affects the detection accuracy of the target radar, it is also necessary to obtain more accurate position information based on the angle difference between the first detection direction and the second detection direction.

[0048] Through this embodiment, a target adjustment request is obtained, wherein the target adjustment request is used to request adjustment of the detection direction of the target radar; in response to the target adjustment request, the detection direction of the target radar is adjusted from the first detection direction to the second detection direction; when the target radar detects the first object, first position information of the first object relative to the target radar is obtained; the first position information is processed according to the angle difference between the first detection direction and the second detection direction to obtain the second position information of the first object in the actual coordinate system, thereby achieving the technical purpose of ensuring the accuracy of the position information detected by the radar while ensuring the adjustment flexibility of the radar, thereby achieving the technical effect of taking into account both the flexibility and detection accuracy in the radar detection process.

[0049] In an optional embodiment, the y1 coordinate and the z1 coordinate are adjusted according to the pitch angle difference between the first detection direction and the second detection direction to obtain the y2 coordinate and the z2 coordinate, wherein the y1 coordinate is the y-axis coordinate of the first object in the radar coordinate system, and the z1 coordinate is the z-axis coordinate of the first object in the radar coordinate system. The radar coordinate system is used to represent position information relative to the target radar, and the radar coordinate system changes as the detection direction of the target radar is adjusted.

[0050] Then, the x1 coordinate and the z2 coordinate are adjusted according to the roll angle difference between the first detection direction and the second detection direction to obtain the x2 coordinate and the z3 coordinate, wherein the x1 coordinate is the x-axis coordinate of the first object in the radar coordinate system.

[0051] Then, the vertical distance z4 between the target radar and the ground is determined according to the installation height of the target radar and the z3 coordinate, wherein the installation height is the actual installation height of the preset target radar.

[0052] Finally, the coordinate information of the first object in the actual coordinate system is determined according to the y2 coordinate, x2 coordinate and vertical distance z4 obtained through the above steps, so that the coordinate information determined according to the above method has higher accuracy than the position information of the traditional method.

[0053] Optionally, in this embodiment, the target radar may be located at, but is not limited to, the origin of the radar coordinate system.

[0054] Alternatively, if Figure 5 As shown in the figure, after completing the above radar detection system, it is necessary to first calculate the angle (taking the pitch angle as an example) that the radar should deflect and the size of the blind area according to the detection distance and installation height input by the host computer. Finally, according to the calculated target angle that should be deflected, the control gimbal controls the millimeter wave radar to rotate.

[0055] The following details the process of determining the target angle and blind spot:

[0056] In an optional embodiment, the target angle is determined according to the height data of the first object, the installation height of the target radar, and the farthest detection distance, wherein the installation height is the actual installation height of the preset target radar, and the target angle is used to indicate the angle difference between the first detection direction and the second detection direction, including: determining the above-mentioned target pitch angle according to the following formula: Among them, θ4 is the target angle, θ3 is the maximum field of view angle of the target radar in the vertical direction, and F m is the maximum detection distance of the target radar, H m The default height for the first object.

[0057] In an optional embodiment, the method further includes: determining the blind area of ​​the target radar according to the following formula: h =H r *tan(θ3+θ4), where the above F h For the above-mentioned blind area.

[0058] Specifically, Figure 6 As shown in the figure, the vertical field of view angle and blind spot of the target radar, θ4 is the target angle, θ3 is the maximum field of view angle of the target radar in the vertical direction, F m is the maximum detection distance of the target radar, H m The default height of the first object, H r The calculation formula for the radar adaptive adjustment angle θ4 is as follows:

[0059]

[0060] The calculation formula 2 of the radar's theoretical blind area Fh is as follows:

[0061] F h =H r *tan(θ3+θ4) (2)

[0062] After the radar obtains the target angle θ4 that needs to be adjusted, it will automatically control the gimbal to adjust the angle and determine whether the adjustment is completed based on the angle data obtained by the gyroscope.

[0063] It should be noted that if Figure 7 As shown, it is the radar coordinate system, θ is the angle between target A (such as the object to be measured) and the xy plane, α is the angle between target A (such as the object to be measured) and the yz plane, and R is the distance from target A (such as the object to be measured) to the radar. Therefore, in general, the x, y, and z coordinates of the radar are calculated using formulas 3, 4, and 5 as follows:

[0064] z1=R*sin(θ) (3)

[0065] y1=R*sin(α) (4)

[0066]

[0067] When the detection direction of the target radar is adjusted, the radar coordinate system will also be enlarged accordingly. In order to ensure that the processed radar point coordinates can display the actual position and height of the measured target, the radar's x, y, and z coordinates need to be corrected.

[0068] For example, the current pitch angle and the current elevation angle of the target radar can be obtained in the above manner, and then the current pitch angle and the calculated target pitch angle are judged according to steps S402 to S408, and the x, y, and z axes of the target radar are compensated.

[0069] The specific process of compensating the x, y, and z coordinates of the radar is described in detail below:

[0070] In an optional embodiment, compensating the current y1 coordinate and z1 coordinate of the target radar according to the current pitch angle to obtain the compensated y2 coordinate and z2 coordinate includes: determining the y2 coordinate and the z2 coordinate according to the following formula: z2=R1*sin(θ1-θ2), y2=R1*cos(θ1-θ2), where R1 is the distance from the first object to the origin of the radar coordinate system, and θ2 is the difference in pitch angle between the first detection direction and the second detection direction.

[0071] Alternatively, if Figure 8 As shown in the figure, the current pitch angle θ2 caused by the installation angle of the radar, if the angle is not compensated, the actual measured point cloud height information will have a large error. Among them, Y', Z' are the radar coordinate axes, yz is the actual coordinate axis, z1 is the z coordinate calculated before compensation, z2 is the z coordinate obtained after compensation, y1 is the y coordinate calculated before compensation, y2 is the y coordinate obtained after compensation, and the calculation formula 6, calculation formula 7, calculation formula 8, and calculation formula 9 are as follows:

[0072]

[0073]

[0074] z2=R1*sin(θ1-θ2) (8)

[0075] y2=R1*cos(θ1-θ2) (9)

[0076] Wherein, R1 is the distance from the first object to the coordinate origin of the radar coordinate system, and θ2 is the pitch angle difference between the first detection direction and the second detection direction.

[0077] In an optional embodiment, compensating the current x1 coordinate and z2 coordinate of the target radar according to the current roll angle of the target radar to obtain the compensated x2 coordinate and z3 coordinate includes: determining the x2 coordinate and the z3 coordinate according to the following formula: z3=R′*sin(θ′+θ f ), x2=R′*cos(θ′+θ f ), where R′ is the distance from the first object to the origin of the radar coordinate system, θ f is the roll angle difference between the first detection direction and the second detection direction.

[0078] Alternatively, if Fig. 9 As shown, the radar roll angle θf generated by adjusting the detection direction, the X'Z' coordinate axis is the radar coordinate axis, the xz coordinate is the actual coordinate axis, x1 and z2 are the radar coordinates before compensation, and x2 and z3 are the radar coordinates after compensation. Calculation formula 10, calculation formula 11, calculation formula 12, and calculation formula 13 are as follows:

[0079]

[0080]

[0081] z3=R′*sin(θ′+θ f ) (12)

[0082] x2=R′*cos(θ′+θ f ) (13)

[0083] Where R′ is the distance from the first object to the origin of the radar coordinate system, θ f is the roll angle difference between the first detection direction and the second detection direction.

[0084] In an optional embodiment, determining a vertical distance z4 between the target radar and the ground according to the installation height of the target radar and the z3 coordinate includes:

[0085] Determine z4 according to the following formula: z4 = z3 + Hr

[0086] Among them, Hr is the actual installation height.

[0087] In an optional embodiment, after obtaining the second position information of the first object in the actual coordinate system, the method also includes: adjusting the detection direction of the target radar from the second detection direction to the third detection direction; when the target radar detects the second object, obtaining the second position information of the second object relative to the target radar; processing the second position information according to the angle difference between the second detection direction and the third detection direction to obtain the third position information of the second object in the actual coordinate system.

[0088] In an optional embodiment, after obtaining the position information of the first object in the actual coordinate system, the method further includes:

[0089] At least one of the following operations is performed on the first object based on the second position information: target tracking, people counting, height detection, and posture recognition.

[0090] In an optional embodiment, the target radar is a 4D millimeter wave radar.

[0091] The following is an explanation of the process of the face detection method with optional examples. Fig.10 As shown, the method may include the following steps:

[0092] The main idea is: when the radar completes its rotation, the gyroscope identifies the pitch and roll angles of the radar installation, first compensates the y and z coordinates according to the pitch angle, then compensates the x and z coordinates according to the roll angle, and finally obtains the z value based on the ground according to the radar installation height Hr. After each point cloud is angle-compensated, the data of the current frame is given to the processing module for subsequent tracking, gesture recognition and other application layer development.

[0093] Step S1001, as follows Figure 2 The radar detection system is installed in the manner shown, a first object to be detected is determined, and then a target angle is calculated, and the detection direction of the target radar is adjusted from the first detection direction to the second detection direction by controlling the gimbal.

[0094] Step S1002: The gyroscope identifies an angle difference between the first detection direction and the second detection direction.

[0095] Step S1003: first obtain first position information of the first object relative to the target radar, and then calculate and process the first position information according to the angle difference between the first detection direction and the second detection direction.

[0096] Step S1004: determine the calculation result as the second position information of the first object in the actual coordinate system, that is, the detection result of the target radar on the first object.

[0097] Through this embodiment, compared with the version using 3D millimeter wave radar and fixed installation angle, the above method can collect information of the target's x, y, z, and v dimensions by using 4D millimeter wave radar, and can intuitively see the position and height of the measured target, which is more convenient for target tracking and posture recognition. And it can automatically compensate and adjust the angle according to the actual use environment, and make the detected position information more accurate through relevant calculations.

[0098] It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should know that the present invention is not limited by the described action sequence, because according to the present invention, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present invention.

[0099] According to another aspect of the embodiment of the present invention, a radar detection device is also provided. Fig.11 As shown, the device comprises:

[0100] A first acquiring unit 1102 is used to acquire a target adjustment request, wherein the target adjustment request is used to request adjustment of a detection direction of a target radar;

[0101] A response unit 1104 is used to respond to the target adjustment request and adjust the detection direction of the target radar from the first detection direction to the second detection direction;

[0102] The second acquisition unit 1106 is used to acquire first position information of the first object relative to the target radar when the target radar detects the first object;

[0103] The third acquisition unit 1108 is used to process the first position information according to the angle difference between the first detection direction and the second detection direction to acquire the second position information of the first object in the actual coordinate system.

[0104] For specific embodiments, reference may be made to the examples shown in the above-mentioned method for dynamic region adjustment, which will not be described in detail in this example.

[0105] Through this embodiment, a target adjustment request is obtained, wherein the target adjustment request is used to request adjustment of the detection direction of the target radar; in response to the target adjustment request, the detection direction of the target radar is adjusted from the first detection direction to the second detection direction; when the target radar detects the first object, first position information of the first object relative to the target radar is obtained; the first position information is processed according to the angle difference between the first detection direction and the second detection direction to obtain the second position information of the first object in the actual coordinate system, thereby achieving the technical purpose of ensuring the accuracy of the position information detected by the radar while ensuring the adjustment flexibility of the radar, thereby achieving the technical effect of taking into account both the flexibility and detection accuracy in the radar detection process.

[0106] As an optional solution, the third obtaining unit 1108 includes:

[0107] a first acquisition module, configured to adjust the y1 coordinate and the z1 coordinate according to the pitch angle difference between the first detection direction and the second detection direction to obtain the y2 coordinate and the z2 coordinate, wherein the y1 coordinate is the y-axis coordinate of the first object in the radar coordinate system, and the z1 coordinate is the z-axis coordinate of the first object in the radar coordinate system, the radar coordinate system is used to represent the position information relative to the target radar, and the radar coordinate system changes with the adjustment of the detection direction of the target radar;

[0108] a second acquisition module, configured to adjust the x1 coordinate and the z2 coordinate according to the roll angle difference between the first detection direction and the second detection direction to obtain the x2 coordinate and the z3 coordinate, wherein the x1 coordinate is the x-axis coordinate of the first object in the radar coordinate system;

[0109] A first determination module is used to determine a vertical distance z4 between the target radar and the ground according to an installation height of the target radar and a z3 coordinate, wherein the installation height is an actual installation height of the preset target radar;

[0110] The second determining module is used to determine the coordinate information of the first object in the actual coordinate system according to the y2 coordinate, the x2 coordinate and the vertical distance z4.

[0111] For specific embodiments, reference may be made to the examples shown in the above-mentioned method for dynamic region adjustment, which will not be described in detail in this example.

[0112] As an optional solution, the first acquisition module includes:

[0113] The first determination submodule is used to determine the y2 coordinate and the z2 coordinate according to the following formula:

[0114]

[0115]

[0116] z2=R1*sin(θ1-θ2)

[0117] y2=R1*cos(θ1-θ2)

[0118] Wherein, R1 is the distance from the first object to the coordinate origin of the radar coordinate system, and θ2 is the pitch angle difference between the first detection direction and the second detection direction.

[0119] For specific embodiments, reference may be made to the examples shown in the above-mentioned method for dynamic region adjustment, which will not be described in detail in this example.

[0120] As an optional solution, the second acquisition module includes:

[0121] The second determination submodule is used to determine the x2 coordinate and the z3 coordinate according to the following formula:

[0122]

[0123]

[0124] z3=R′*sin(θ′+θ f )

[0125] x2=R′*cos(θ′+θ f )

[0126] Where R′ is the distance from the first object to the origin of the radar coordinate system, θ f is the roll angle difference between the first detection direction and the second detection direction.

[0127] For specific embodiments, reference may be made to the examples shown in the above-mentioned method for dynamic region adjustment, which will not be described in detail in this example.

[0128] As an optional solution, the first determination module includes:

[0129] The third determination submodule is used to determine z4 according to the following formula:

[0130] z4=z3+H r

[0131] Among them, Hr is the actual installation height.

[0132] For specific embodiments, reference may be made to the examples shown in the above-mentioned method for dynamic region adjustment, which will not be described in detail in this example.

[0133] As an optional solution, the method further includes:

[0134] A first determining unit, used for determining the first object as an object to be detected by the target radar at a current moment before obtaining the target adjustment request;

[0135] The second determination unit is used to determine the target angle according to the height data of the first object, the installation height of the target radar and the farthest detection distance before obtaining the target adjustment request, wherein the installation height is the actual installation height of the preset target radar, and the target angle is used to indicate the angle difference between the first detection direction and the second detection direction.

[0136] For specific embodiments, reference may be made to the examples shown in the above-mentioned method for dynamic region adjustment, which will not be described in detail in this example.

[0137] As an optional solution, the second determining unit includes:

[0138] The third determination module is used to determine the target angle according to the following formula:

[0139]

[0140] Among them, θ4 is the target angle, θ3 is the maximum field of view angle of the target radar in the vertical direction, Fm is the farthest detection distance of the target radar, and H m The default height of the first object, H r The actual installation height.

[0141] For specific embodiments, reference may be made to the examples shown in the above-mentioned method for dynamic region adjustment, which will not be described in detail in this example.

[0142] As an optional solution, the method further includes:

[0143] The fourth determination module is used to determine the blind area of ​​the target radar according to the following formula:

[0144] F h =H r *tan(θ3+θ4)

[0145] Among them, F h For blind spot.

[0146] For specific embodiments, reference may be made to the examples shown in the above-mentioned method for dynamic region adjustment, which will not be described in detail in this example.

[0147] As an optional solution, the method further includes:

[0148] an adjusting unit, configured to adjust the detection direction of the target radar from the second detection direction to a third detection direction after acquiring the second position information of the first object in the actual coordinate system;

[0149] a fourth acquisition unit, configured to acquire, after acquiring the second position information of the first object in the actual coordinate system, second position information of the second object relative to the target radar when the target radar detects the second object;

[0150] The fifth acquisition unit is used to process the second position information of the first object in the actual coordinate system according to the angle difference between the second detection direction and the third detection direction after acquiring the second position information of the first object in the actual coordinate system, so as to acquire the third position information of the second object in the actual coordinate system.

[0151] For specific embodiments, reference may be made to the examples shown in the above-mentioned method for dynamic region adjustment, which will not be described in detail in this example.

[0152] As an optional solution, the method further includes:

[0153] The execution unit is used to perform at least one of the following operations on the first object based on the second position information after acquiring the position information of the first object in the actual coordinate system: target tracking, headcount, height detection, and posture recognition.

[0154] For specific embodiments, reference may be made to the examples shown in the above-mentioned method for dynamic region adjustment, which will not be described in detail in this example.

[0155] According to another aspect of the embodiments of the present invention, a computer-readable storage medium is provided, in which a computer program is stored, wherein the computer program is configured to execute the steps of any of the above method embodiments when run.

[0156] Optionally, in this embodiment, the computer-readable storage medium may be configured to store a computer program for performing the following steps:

[0157] S1, obtaining a target adjustment request, wherein the target adjustment request is used to request adjustment of a detection direction of a target radar;

[0158] S2, in response to the target adjustment request, adjusting the detection direction of the target radar from the first detection direction to the second detection direction;

[0159] S3, when the target radar detects the first object, obtaining first position information of the first object relative to the target radar;

[0160] S4, processing the first position information according to the angle difference between the first detection direction and the second detection direction to obtain second position information of the first object in the actual coordinate system.

[0161] Optionally, in this embodiment, a person of ordinary skill in the art may understand that all or part of the steps in the various methods of the above embodiments may be completed by instructing hardware related to the terminal device through a program, and the program may be stored in a computer-readable storage medium, and the storage medium may include: a flash drive, a ROM (Read-Only Memory), a RAM (Random Access Memory), a disk or an optical disk, etc.

[0162] According to another aspect of the embodiments of the present invention, an electronic device for implementing the above radar detection method is also provided. Fig.12 As shown, the electronic device includes a memory 1202 and a processor 1204. The memory 1202 stores a computer program, and the processor 1204 is configured to execute the steps in any of the above method embodiments through the computer program.

[0163] Optionally, in this embodiment, the electronic device may be located in at least one network device among a plurality of network devices of a computer network.

[0164] Optionally, in this embodiment, the processor may be configured to perform the following steps through a computer program:

[0165] S1, obtaining a target adjustment request, wherein the target adjustment request is used to request adjustment of a detection direction of a target radar;

[0166] S2, in response to the target adjustment request, adjusting the detection direction of the target radar from the first detection direction to the second detection direction;

[0167] S3, when the target radar detects the first object, obtaining first position information of the first object relative to the target radar;

[0168] S4, processing the first position information according to the angle difference between the first detection direction and the second detection direction to obtain second position information of the first object in the actual coordinate system.

[0169] Alternatively, a person skilled in the art may understand that: Fig.12 The structure shown is for illustration only, and the electronic device may also be a smart phone (such as an Android phone, an iOS phone, etc.), a tablet computer, a PDA, a mobile Internet device (MID), a PAD, or other terminal devices. Fig.12 The structure of the electronic device is not limited. Fig.12 More or fewer components (such as network interfaces, etc.) as shown in, or with Fig.12 Different configurations are shown.

[0170] Among them, the memory 1202 can be used to store software programs and modules, such as the program instructions / modules corresponding to the radar detection method and device in the embodiment of the present invention. The processor 1204 executes various functional applications and data processing by running the software programs and modules stored in the memory 1202, that is, to implement the above-mentioned radar detection method. The memory 1202 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 1202 may further include a memory remotely located relative to the processor 1204, and these remote memories may be connected to the terminal via a network. Examples of the above-mentioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof. Among them, the memory 1202 may specifically be used, but is not limited to, to store information such as sample characteristics of items and target virtual resource accounts. As an example, if Fig.12 As shown, the memory 1202 may include, but is not limited to, the first acquisition unit 1102, the response unit 1104, the second acquisition unit 1106, and the third acquisition unit 1108 in the radar detection device. In addition, it may also include, but is not limited to, other module units in the radar detection device, which will not be repeated in this example.

[0171] Optionally, the transmission device 1206 is used to receive or send data via a network. Specific examples of the network may include a wired network and a wireless network. In one example, the transmission device 1206 includes a network adapter (Network Interface Controller, NIC), which can be connected to other network devices and routers via a network cable so as to communicate with the Internet or a local area network. In one example, the transmission device 1206 is a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0172] In addition, the electronic device further includes: a display 1208 and a connection bus 1210 for connecting various module components in the electronic device.

[0173] Optionally, in this embodiment, a person of ordinary skill in the art may understand that all or part of the steps in the various methods of the above embodiments may be completed by instructing hardware related to the terminal device through a program, and the program may be stored in a computer-readable storage medium, and the storage medium may include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, etc.

[0174] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0175] If the integrated units in the above embodiments are implemented in the form of software functional units and sold or used as independent products, they can be stored in the above computer-readable storage medium. Based on such understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling one or more computer devices (which can be personal computers, servers or network devices, etc.) to perform all or part of the steps of the methods of various embodiments of the present invention.

[0176] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0177] In the several embodiments provided in the present application, it should be understood that the disclosed client can be implemented in other ways. Among them, the device embodiments described above are only schematic, for example, the division of units is only a logical function division, and there may be other division methods in actual implementation, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0178] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0179] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0180] The above are only preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A radar detection method, characterized in that: include: Determine the first object detected by the target radar as the object to be detected by the target radar at the current moment; Determine a target angle according to the maximum field of view angle of the target radar in the vertical direction, the preset actual installation height of the target radar, the default height of the first object, and the farthest detection distance of the radar, wherein the target angle is obtained by adding a compensation angle to the maximum field of view angle, the compensation angle is the arc tangent value of the compensation distance, the compensation distance is obtained by subtracting the default height from the actual installation angle and then dividing it by the farthest detection distance, the target angle is used to indicate the angle difference between the first detection direction and the second detection direction, and the above angle difference is used to control the target radar to rotate the target angle; obtain a target adjustment request, wherein the target adjustment request is used to request adjustment of the detection direction of the target radar; In response to the target adjustment request, adjusting the detection direction of the target radar from the first detection direction to the second detection direction; Acquire first position information of the first object relative to the target radar; The first position information is processed according to an angle difference between the first detection direction and the second detection direction to obtain second position information of the first object in an actual coordinate system.

2. The method according to claim 1, characterized in that The processing of the first position information according to the angle difference between the first detection direction and the second detection direction to obtain second position information of the first object in the actual coordinate system includes: adjusting the y1 coordinate and the z1 coordinate according to the pitch angle difference between the first detection direction and the second detection direction to obtain the y2 coordinate and the z2 coordinate, wherein the y1 coordinate is the y-axis coordinate of the first object in the radar coordinate system, and the z1 coordinate is the z-axis coordinate of the first object in the radar coordinate system, the radar coordinate system is used to represent the position information relative to the target radar, and the radar coordinate system changes with the adjustment of the detection direction of the target radar; According to the roll angle difference between the first detection direction and the second detection direction, adjusting the x1 coordinate and the z2 coordinate to obtain the x2 coordinate and the z3 coordinate, wherein the x1 coordinate is the x-axis coordinate of the first object in the radar coordinate system; Determine a vertical distance z4 between the target radar and the ground according to the installation height of the target radar and the z3 coordinate, wherein the installation height is a preset actual installation height of the target radar; The coordinate information of the first object in the actual coordinate system is determined according to the y2 coordinate, the x2 coordinate and the vertical distance z4.

3. The method according to claim 2, characterized in that The step of adjusting the y1 coordinate and the z1 coordinate according to the pitch angle difference between the first detection direction and the second detection direction to obtain the y2 coordinate and the z2 coordinate includes: The y2 coordinate and the z2 coordinate are determined according to the following formula: z2=R1*sin(θ1-θ2) y2=R1*cos(θ1-θ2) Wherein, R1 is the distance from the first object to the coordinate origin of the radar coordinate system, and θ2 is the pitch angle difference between the first detection direction and the second detection direction.

4. The method according to claim 2, characterized in that: The step of adjusting the x1 coordinate and the z2 coordinate according to the roll angle difference between the first detection direction and the second detection direction to obtain the x2 coordinate and the z3 coordinate includes: The x2 coordinate and the z3 coordinate are determined according to the following formula: z3=R′*sin(θ′+θ f ) x2=R′*cos(θ′+θ f ) Wherein, R′ is the distance from the first object to the origin of the radar coordinate system, and θ f is the roll angle difference between the first detection direction and the second detection direction.

5. The method according to claim 2, characterized in that: Determining the vertical distance z4 between the target radar and the ground according to the installation height of the target radar and the z3 coordinate includes: The z4 is determined according to the following formula: z4=z3+H r Among them, the H r is the installation height.

6. The method according to claim 1, characterized in that The method further comprises: The blind area of ​​the target radar is determined according to the following formula: F h =H r *tan(θ3+θ4) Among them, the F h is the blind area.

7. The method according to any one of claims 1 to 6, characterized in that After acquiring the second position information of the first object in the actual coordinate system, the method further includes: Adjusting the detection direction of the target radar from the second detection direction to a third detection direction; When the target radar detects a second object, obtaining second position information of the second object relative to the target radar; The second position information is processed according to an angle difference between the second detection direction and the third detection direction to obtain third position information of the second object in the actual coordinate system.

8. The method according to any one of claims 1 to 6, characterized in that After acquiring the position information of the first object in the actual coordinate system, the method further includes: performing at least one of the following operations on the first object based on the second position information: target tracking, headcount, height detection, and posture recognition.

9. A radar detection system, characterized in that: The system includes: host computer application, target radar, control equipment, gyroscope, control pan / tilt, including: The host computer application is used to send the preset installation height and maximum detection distance of the target radar to the control device; The control device is used to receive the installation height and the farthest detection distance, and determine the angle that the target radar needs to be adjusted according to the installation height and the farthest detection distance; The gyroscope is used to detect the detection direction of the target radar; The control device is used to send a control signal to the control gimbal in response to a target adjustment request, wherein the target adjustment request is used to request adjustment of the detection direction of the target radar; The control gimbal is used to receive the control signal and adjust the detection direction of the target radar from the first detection direction to the second detection direction according to the instruction of the control signal; The system is also used to determine the first object detected by the target radar as the object to be detected by the target radar at the current moment; determine the target angle according to the maximum field of view angle of the target radar in the vertical direction, the preset actual installation height of the target radar, the default height of the first object, and the farthest detection distance of the radar, wherein the target angle is obtained by adding a compensation angle to the maximum field of view angle, the compensation angle is the arc tangent value of the compensation distance, the compensation distance is obtained by subtracting the default height from the actual installation angle and then dividing it by the farthest detection distance, the target angle is used to indicate the angle difference between the first detection direction and the second detection direction, and the above angle difference is used to control the target radar to rotate the target angle.

10. A radar detection device, characterized in that: The device comprises: The device is used to determine the first object detected by the target radar as the object to be detected by the target radar at the current moment; determine the target angle according to the maximum field of view angle of the target radar in the vertical direction, the actual installation height of the target radar set in advance, the default height of the first object, and the farthest detection distance of the radar, wherein the target angle is obtained by adding a compensation angle to the maximum field of view angle, the compensation angle is the arc tangent value of the compensation distance, the compensation distance is the actual installation angle minus the default height and then divided by the farthest detection distance, the target angle is used to indicate the angle difference between the first detection direction and the second detection direction, and the above angle difference is used to control the target radar to rotate the target angle; a response unit is used to respond to a target adjustment request and adjust the detection direction of the target radar from the first detection direction to the second detection direction; a second acquiring unit, acquiring first position information of the first object relative to the target radar; The third acquisition unit is used to process the first position information according to the angle difference between the first detection direction and the second detection direction to acquire the second position information of the first object in the actual coordinate system.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein the program executes the method described in any one of claims 1 to 8 when executed.

12. An electronic device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to execute the method according to any one of claims 1 to 8 through the computer program.

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