A building visualization imaging system, method, device, equipment and medium

Abstract

The present invention discloses a building visualization imaging system, method, device, equipment and medium. A penetrating radar, a laser rangefinder and an imaging signal processor are all installed on a flight platform. The flight platform flies according to navigation instructions and can keep the penetrating radar and the laser rangefinder perpendicular to the outer wall surface of the building. The penetrating radar continuously emits electromagnetic waves to penetrate the outer wall of the building, receives radar echo data reflected by internal objects and transmits them to the imaging signal processor. The laser rangefinder continuously measures the target distance between the aircraft and the outer wall of the target building and transmits it to the imaging signal processor as the outer wall distance information. The imaging signal processor receives the radar echo data and the outer wall distance information, corrects and compensates the real track of the aircraft and the radar echo data, and uses the radar back-projection imaging algorithm to invert the imaging to obtain the internal structure image of the building. The internal structure imaging of the building is realized in a complex environment, and the imaging speed is improved.

Description

Technical Field

[0001] The present invention relates to the field of visualization imaging technology, and in particular to a building visualization imaging system, method, device, equipment and medium. Background Art

[0002] With the development of urbanization, the population concentration and density are getting higher and higher, and the scale and height of urban buildings are constantly breaking records. However, the fire safety problems faced by high-rise buildings are becoming increasingly serious. Fire rescue in high-rise buildings has become a global problem. The functions of high-rise buildings are very complex. At the same time, the electrical equipment and decoration materials in different areas are different, and the difficulty of rescue also varies greatly.

[0003] Fire reconnaissance refers to the preliminary judgment and understanding of the building structure, the floor where the fire started, the number of trapped people and their locations, and the speculation on the direction and situation of the fire spread, so as to reasonably launch rescue. However, at present, fire reconnaissance generally only stays at simple questioning, shouting, optical imaging, infrared thermal imaging and other means. When encountering non-visual conditions such as thick smoke or building obstruction, the existing technology cannot detect the structure of high-rise buildings and the people inside.

[0004] In addition, in disaster relief operations in urban environments, rescuers need to go deep into unfamiliar buildings. The lack of information about the internal structure of the building will pose a great threat to the smooth implementation of the operation and the safety of personnel. The existing technology generally uses optical equipment such as visible light, infrared, and laser to image the internal structure of the target building on a ground platform without destroying the scene. However, the existing technology can only image the internal structure of the bottom floors of the building.

[0005] However, in complex environments such as high-rise buildings, fires, and obstacles, it is impossible to manually surround the building, resulting in the inability to image the internal structure of the building floors. In addition, the speed of imaging the internal structure of the building floors using manual surrounding is slow.

[0006] In summary, how to realize imaging of the internal structure of a building floor in a complex environment and how to improve the speed of imaging the internal structure of a building floor become problems that need to be solved urgently. Summary of the invention

[0007] The present invention provides a building visualization imaging system, method, device, equipment and medium to solve the problems in the prior art.

[0008] The present invention provides a building visualization imaging system, the system comprising: a flying platform, a penetrating radar, a laser rangefinder and an imaging signal processor, wherein the penetrating radar, the laser rangefinder and the imaging signal processor are installed on the flying platform;

[0009] The flight platform is used to obtain navigation instructions, fly according to the target route carried in the navigation instructions, and control the flight attitude according to the control parameters carried in the navigation instructions;

[0010] The penetrating radar is used to continuously emit electromagnetic waves to penetrate the outer wall of the target building, and receive radar echo data emitted by objects inside the target building, and transmit the radar echo data to the imaging signal processor;

[0011] The laser rangefinder is used to continuously measure the target distance from the outer wall of the target building, and transmit the target outer wall distance information including the target distance to the imaging signal processor;

[0012] The imaging signal processor is used to receive the radar echo data transmitted by the penetrating radar and the target outer wall distance information transmitted by the laser rangefinder, and obtain the target radar echo data of the internal structure of the target building according to the target outer wall distance information and the radar echo data; determine the target coordinates of the penetrating radar relative to the target building according to the pre-saved coordinates of the target building and the target distance, and perform imaging according to the target radar echo data and the target coordinates to obtain the internal structure image of the target building.

[0013] Furthermore, the penetrating radar is also used to perform echo correction and pulse compression on the received radar echo data.

[0014] Further, the imaging signal processor is specifically used to search for each target first timestamp that is different from the second timestamp in the first timestamp according to the first timestamp corresponding to each target distance and the second timestamp corresponding to each radar echo data; for each target first timestamp, obtain the radar echo data corresponding to the target first timestamp according to two radar echo data corresponding to two second timestamps adjacent to the target first timestamp;

[0015] For each target distance and radar echo data corresponding to a first timestamp, the first radar echo data corresponding to the first timestamp after motion error compensation is determined, and strong clutter suppression processing is performed on the first radar echo data corresponding to the first timestamp according to the target distance corresponding to the first timestamp to obtain the target radar echo data of the internal structure of the target building.

[0016] Furthermore, the imaging signal processor is also used to detect the first radar echo data corresponding to each first timestamp using a moving target detection method, determine the second radar echo data of the moving person in the first radar echo data corresponding to each first timestamp, and perform imaging based on the second radar echo data corresponding to each first timestamp and the internal structure image to obtain a fused internal structure image.

[0017] Furthermore, the imaging signal processor is also used to perform imaging according to the target distance and the target coordinates contained in the target outer wall distance information to obtain an external structure image of the target building, and fuse the external structure image with the fused internal structure image to obtain internal and external structure images of the target building.

[0018] Furthermore, the system also includes a ground station;

[0019] The ground station is used to receive the navigation instructions input by the user and transmit them to the flight platform; receive the internal and external structure images transmitted by the imaging signal processor and display them;

[0020] The imaging signal processor is also used to transmit the internal and external structure images to the ground station.

[0021] Accordingly, the present invention provides a building visualization imaging method, the method comprising:

[0022] Receiving radar echo data transmitted by a penetrating radar and target outer wall distance information transmitted by a laser rangefinder, wherein the penetrating radar and the laser rangefinder are installed on a flight platform, the radar echo data is data reflected by an object inside the target building received by the penetrating radar after continuously emitting electromagnetic waves during the flight of the flight platform according to the target route and control parameters carried in the navigation instruction, and the target distance contained in the target outer wall distance information is measured by the laser rangefinder during the flight;

[0023] According to the target distance and the radar echo data, the target radar echo data of the internal structure of the target building is obtained; according to the pre-saved coordinates of the target building and the target distance, the target coordinates of the penetrating radar relative to the target building are determined, and imaging is performed according to the target radar echo data and the target coordinates to obtain an internal structure image of the target building.

[0024] Further, obtaining the target radar echo data of the internal structure of the target building according to the target distance and the radar echo data includes:

[0025] According to the first timestamp corresponding to each target distance and the second timestamp corresponding to each radar echo data, searching for each target first timestamp that is different from the second timestamp in the first timestamp; for each target first timestamp, obtaining the radar echo data corresponding to the first timestamp of the target according to two radar echo data corresponding to two second timestamps adjacent to the first timestamp of the target;

[0026] For each target distance and radar echo data corresponding to a first timestamp, the first radar echo data corresponding to the first timestamp after motion error compensation is determined, and strong clutter suppression processing is performed on the first radar echo data corresponding to the first timestamp according to the target distance corresponding to the first timestamp to obtain the target radar echo data of the internal structure of the target building.

[0027] Furthermore, the method further comprises:

[0028] A moving target detection method is used to detect the first radar echo data corresponding to each first timestamp, and the second radar echo data of the moving person in the first radar echo data corresponding to each first timestamp is determined. Imaging is performed based on the second radar echo data corresponding to each first timestamp and the internal structure image to obtain a fused internal structure image.

[0029] Furthermore, the method further comprises:

[0030] Imaging is performed according to the target distance and the target coordinates contained in the target outer wall distance information to obtain an external structure image of the target building, and the external structure image is fused with the fused internal structure image to obtain internal and external structure images of the target building.

[0031] Accordingly, the present invention provides a building visualization imaging device, the device comprising:

[0032] A receiving module, used for receiving radar echo data transmitted by a penetrating radar and target outer wall distance information transmitted by a laser rangefinder, wherein the penetrating radar and the laser rangefinder are installed on a flight platform, the radar echo data are data reflected by an object inside a target building received by the penetrating radar after continuously emitting electromagnetic waves during the flight of the flight platform according to the target route and control parameters carried in the navigation instruction, and the target distance contained in the target outer wall distance information is measured by the laser rangefinder during the flight;

[0033] The processing module is used to obtain target radar echo data of the internal structure of the target building according to the target distance and the radar echo data; determine the target coordinates of the penetrating radar relative to the target building according to the pre-saved coordinates of the target building and the target distance, and perform imaging according to the target radar echo data and the target coordinates to obtain an internal structure image of the target building.

[0034] Furthermore, the processing module is specifically used to search for each target first timestamp that is different from the second timestamp in the first timestamp according to the first timestamp corresponding to each target distance and the second timestamp corresponding to each radar echo data; for each target first timestamp, obtain the radar echo data corresponding to the target first timestamp according to two radar echo data corresponding to two second timestamps adjacent to the target first timestamp; for each target distance and radar echo data corresponding to the first timestamp, determine the first radar echo data after motion error compensation corresponding to the first timestamp, perform strong clutter suppression processing on the first radar echo data corresponding to the first timestamp according to the target distance corresponding to the first timestamp, and obtain the target radar echo data of the internal structure of the target building.

[0035] Furthermore, the processing module is also used to detect the first radar echo data corresponding to each first timestamp using a moving target detection method, determine the second radar echo data of the moving person in the first radar echo data corresponding to each first timestamp, and perform imaging based on the second radar echo data corresponding to each first timestamp and the internal structure image to obtain a fused internal structure image.

[0036] Furthermore, the processing module is also used to perform imaging according to the target distance and the target coordinates contained in the target outer wall distance information to obtain an external structure image of the target building, and fuse the external structure image with the fused internal structure image to obtain internal and external structure images of the target building.

[0037] Accordingly, the present invention provides an electronic device, comprising a processor and a memory, wherein the memory is used to store program instructions, and the processor is used to implement the steps of any of the above-mentioned building visualization imaging methods when executing the computer program stored in the memory.

[0038] Accordingly, the present invention provides a computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the steps of any one of the above-mentioned building visualization imaging methods.

[0039] The present invention provides a building visualization imaging system, method, device, equipment and medium. Since the building visualization imaging system includes a flying platform, a penetrating radar, a laser rangefinder and an imaging signal processor, and the penetrating radar, the laser rangefinder and the imaging signal processor are all installed on the flying platform, the flying platform obtains navigation instructions, flies according to the target route carried in the navigation instructions, and controls the flight attitude according to the control parameters carried in the navigation instructions. Due to the convenience of the flying platform, the flying platform can fly in a building in a complex environment; and the penetrating radar installed on the flying platform continuously emits electromagnetic waves to penetrate the outer wall of the target building, and receives radar echo data emitted by objects inside the target building, The radar echo data is transmitted to the imaging signal processor; the laser rangefinder continuously measures the target distance between the aircraft and the target building, and transmits the target distance to the imaging signal processor; the imaging signal processor receives the radar echo data transmitted by the penetrating radar and the target distance carried in the outer wall distance information transmitted by the laser rangefinder, and corrects and compensates the actual track of the aircraft and the radar echo data through the outer wall distance information of the laser rangefinder, and uses the radar back-projection imaging algorithm to invert the imaging to obtain the internal structure image of the target building. Therefore, it is possible to image the internal structure of the building floors in a complex environment, and because the flying speed of the flight platform is faster than that of manual movement, the speed of imaging the internal structure of the building floors is also improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0041] Figure 1 A schematic diagram of the structure of a building visualization imaging system provided by an embodiment of the present invention;

[0042] Figure 2 A schematic diagram of a target route provided by an embodiment of the present invention;

[0043] Figure 3 A process schematic diagram of a building visualization imaging method provided by an embodiment of the present invention;

[0044] Figure 4 A schematic diagram of the structure of a building visualization imaging device provided by an embodiment of the present invention;

[0045] Figure 5 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0047] In order to realize imaging of the internal structure of a building floor in a complex environment and to increase the speed of imaging the internal structure of a building floor, an embodiment of the present invention provides a building visualization imaging system, method, apparatus, device and medium.

[0048] Embodiment 1:

[0049] Figure 1 A schematic diagram of a building visualization imaging system provided by an embodiment of the present invention is shown in FIG. Figure 1 As shown, the building visualization imaging system 100 includes: a flying platform 101, a penetrating radar 102, a laser rangefinder 103 and an imaging signal processor 104, wherein the penetrating radar 102, the laser rangefinder 103 and the imaging signal processor 104 are installed on the flying platform 101;

[0050] The flight platform 101 is used to obtain navigation instructions, fly according to the target route carried in the navigation instructions, and control the flight attitude according to the control parameters carried in the navigation instructions;

[0051] The penetrating radar 102 is used to continuously transmit electromagnetic waves to penetrate the outer wall of the target building, receive radar echo data emitted by objects inside the target building, and transmit the radar echo data to the imaging signal processor 104;

[0052] The laser rangefinder 103 is used to continuously measure the target distance from the outer wall of the target building, and transmit the target outer wall distance information including the target distance to the imaging signal processor 104;

[0053] The imaging signal processor 104 is used to receive the radar echo data transmitted by the penetrating radar 102 and the target outer wall distance information transmitted by the laser rangefinder 103, and obtain the target radar echo data of the internal structure of the target building according to the target outer wall distance information and the radar echo data; determine the target coordinates of the penetrating radar relative to the target building according to the pre-saved coordinates of the target building and the target distance, and perform imaging according to the target radar echo data and the target coordinates to obtain the internal structure image of the target building.

[0054] In order to realize imaging of the internal structure of a building floor in a complex environment and to improve the speed of imaging the internal structure of a building floor, in an embodiment of the present invention, the building visualization imaging system 100 includes a flying platform 101, a penetrating radar 102, a laser rangefinder 103 and an imaging signal processor 104, wherein the flying platform 101 refers to an aircraft that can carry objects, such as a drone, a helicopter, etc. Preferably, the flying platform 101 is a drone; the penetrating radar 102 refers to an electronic device that can detect targets using electromagnetic waves. The penetrating radar 102 emits electromagnetic waves to illuminate the target and receives its echo, thereby obtaining information such as the distance from the target to the electromagnetic wave emission point, the distance change rate, the azimuth, and the height. The electromagnetic waves emitted by the penetrating radar 102 in the embodiment of the present invention can penetrate non-metallic obstacles such as brick walls, wooden doors, and rubble, detect human life characteristics, and determine the location of the human body; the laser rangefinder 103 is an instrument that uses a certain parameter of modulated laser to measure the distance to the target; the imaging signal processor 104 is an electronic device for processing imaging signals, and the imaging signal processor 104 can be an intelligent terminal device such as a notebook or a smart phone, or a server or other device.

[0055] In order to realize visualization imaging of buildings in complex environments, that is, imaging of the internal structure of the floors of buildings, in an embodiment of the present invention, the penetrating radar 102, the laser rangefinder 103 and the imaging signal processor 104 are all installed on the flying platform 101. The flying platform 101 can avoid various obstacles in complex environments and fly at high altitudes, while the penetrating radar 102, the laser rangefinder 103 and the imaging signal processor 104 on the flying platform 101 realize imaging of the internal structure of the floors of buildings.

[0056] In order to realize the imaging of the internal structure of the building floor, the flight platform 101 obtains the navigation instruction, wherein the navigation instruction may be pre-planned and stored in the flight platform 101 itself, or may be received from other devices. The navigation instruction carries the target route and the control parameters for controlling the flight attitude, and the target route includes the target flight altitude, the target flight trajectory, the target flight speed, etc. The flight platform 101 flies according to the target route carried in the navigation instruction, that is, it flies at the target flight altitude and the target flight speed according to the target flight trajectory, and the control parameters include the attitude angle and angular velocity of the UAV flight, etc.

[0057] During the flight of the flying platform 101, the penetrating radar 102 continuously transmits electromagnetic waves to penetrate the outer wall of the target building and receives radar echo data reflected by objects inside the target building. Specifically, the penetrating radar 102 transmits electromagnetic waves to the target building to be imaged and receives radar echo data reflected by the electromagnetic waves after reaching the outside of the building and radar echo data reflected by the electromagnetic waves after reaching the inside of the building. After receiving the radar echo data, the penetrating radar 102 transmits it to the imaging signal processor 104.

[0058] The laser rangefinder 103 continuously measures the target distance to the target building. Specifically, the laser rangefinder 103 transmits a beam or a sequence of short pulse laser beams to the target building and receives the reflected pulse laser beams. According to the emission time and the reception time, the laser rangefinder 103 determines the target distance to the target building and transmits the target outer wall distance information including the target distance to the imaging signal processor 104.

[0059] The imaging signal processor 104 receives the radar echo data transmitted by the penetrating radar 102 and the target outer wall distance information transmitted by the laser rangefinder 103, and according to the target distance carried in the radar echo data and the target outer wall distance information, removes part of the radar echo data corresponding to the target distance, and determines that the remaining radar echo data is the target radar echo data of the internal structure of the target building. According to the coordinates and target distance of the target building saved in advance, since the penetrating radar 102 and the laser rangefinder 103 are both on the flying platform 101, the position difference between the penetrating radar 102 and the laser rangefinder 103 can be ignored. When the target distance is taken as the distance between the penetrating radar 102 and the target building, the target coordinates of the penetrating radar 102 relative to the target building are determined. The target coordinates and the pre-saved coordinates of the target building are both three-dimensional coordinates. According to the target radar echo data of the internal structure of the target building and the target coordinates of the target building, the imaging signal processor 104 uses the existing imaging algorithm to perform imaging to obtain the internal structure image of the target building. The existing imaging method may be a radar back-projection imaging algorithm or other imaging algorithms, and the embodiments of the present invention do not limit this.

[0060] In the embodiment of the present invention, the building visualization imaging system includes a flying platform, a penetrating radar, a laser rangefinder and an imaging signal processor, and the penetrating radar, the laser rangefinder and the imaging signal processor are all installed on the flying platform. The flying platform obtains navigation instructions, flies according to the target route carried in the navigation instructions, and controls the flight attitude according to the control parameters carried in the navigation instructions. Due to the convenience of the flying platform, the flying platform can fly in a building in a complex environment; and the penetrating radar installed on the flying platform continuously emits electromagnetic waves to penetrate the outer wall of the target building, and receives radar echo data emitted by objects inside the target building, and transmits the radar echo data to the imaging signal processor; the laser rangefinder continuously measures the target distance between the aircraft and the target building, and transmits the target distance to the imaging signal processor; the imaging signal processor receives the radar echo data transmitted by the penetrating radar and the target distance carried in the outer wall distance information transmitted by the laser rangefinder, corrects and compensates the real track of the aircraft and the radar echo data through the outer wall distance information of the laser rangefinder, and uses the radar back-projection imaging algorithm to invert the imaging to obtain the internal structure image of the target building, so that the internal structure imaging of the building floors can be realized in complex environments, and because the flying speed of the flying platform is faster than the speed of manual movement, the speed of imaging the internal structure of the building floors is also improved.

[0061] Embodiment 2:

[0062] In order to improve the accuracy of building visualization imaging, based on the above embodiments, in an embodiment of the present invention, the penetrating radar 102 is further used to perform echo correction and pulse compression on the received radar echo data.

[0063] In order to improve the accuracy of building visualization imaging, in the embodiment of the present invention, after receiving the radar echo data, the penetrating radar 102 also performs echo correction on the radar echo data, wherein the echo correction includes amplitude correction and phase compensation of the radar echo data. After performing echo correction on the echo data, the penetrating radar 102 also performs pulse compression on the corrected radar echo data, specifically, using an existing pulse compression algorithm for processing, wherein pulse compression refers to emitting wide coded pulses and processing the radar echo data to obtain narrow pulses, thereby maintaining the high distance resolution of narrow pulses and obtaining the strong detection capability of wide pulses.

[0064] Embodiment 3:

[0065] In order to obtain the target radar echo data of the internal structure of the target building, on the basis of the above embodiments, in the embodiment of the present invention, the imaging signal processor 104 is specifically used to search for each target first timestamp that is different from the second timestamp in the first timestamp according to the first timestamp corresponding to each target distance and the second timestamp corresponding to each radar echo data; for each target first timestamp, according to two radar echo data corresponding to two second timestamps adjacent to the target first timestamp, obtain the radar echo data corresponding to the target first timestamp;

[0066] For each target distance and radar echo data corresponding to a first timestamp, the first radar echo data corresponding to the first timestamp after motion error compensation is determined, and strong clutter suppression processing is performed on the first radar echo data corresponding to the first timestamp according to the target distance corresponding to the first timestamp to obtain the target radar echo data of the internal structure of the target building.

[0067] In order to obtain the target radar echo data of the internal structure of the target building, in an embodiment of the present invention, the penetrating radar 102 emits electromagnetic waves at a set first frequency during the flight time of the flying platform 102, and the laser rangefinder 103 transmits laser at a set second frequency during the flight time, and the second frequency of the laser rangefinder 103 transmitting the laser is higher than the first frequency. Therefore, the number of radar echo data received by the penetrating radar 102 during the flight time is less than the number of target distances measured by the laser rangefinder 103, so the imaging signal processor 103 needs to align the radar echo data.

[0068] Specifically, the imaging signal processor 104 receives each target distance, each target distance corresponds to a first timestamp, and the first timestamp is the time when the laser rangefinder 103 measures the target distance. The imaging signal processor 104 also receives each radar echo data, and each radar echo data corresponds to a second timestamp, which is the time when the penetrating radar 102 receives the radar echo data.

[0069] According to the first timestamp corresponding to each target distance and the second timestamp corresponding to each radar echo data, since the frequency of the laser transmitted by the laser rangefinder 103 is greater than the frequency of the electromagnetic wave emitted by the penetrating radar 102, the second timestamp is included in the first timestamp, and the imaging signal processor 104 searches for the first timestamp that is different from the second timestamp in the first timestamp and determines it as the target first timestamp.

[0070] For each target first timestamp, after sorting the first timestamps in chronological order, two first timestamps adjacent to the target first timestamp are determined, two radar echo data corresponding to two second timestamps identical to the two first timestamps are determined, and the radar echo data corresponding to the first timestamp of the target is obtained using an existing algorithm. Specifically, the radar echo data corresponding to the first timestamp of the target can be calculated using an existing nearest neighbor algorithm, or the average value of the two radar echo data can be determined as the radar echo data corresponding to the first timestamp of the target.

[0071] In order to improve the accuracy of the generated internal structure image of the internal structure of the target building, the radar echo data corresponding to each first timestamp is also subjected to motion error compensation. Specifically, for the target distance and radar echo data corresponding to each first timestamp, the target distance corresponding to the first timestamp is used to replace the distance data in the radar echo data corresponding to the first timestamp, so as to obtain the first radar echo data corresponding to the first timestamp after motion error compensation. According to the target distance corresponding to the first timestamp, the first radar echo data corresponding to the first timestamp is also subjected to strong clutter suppression processing, and the radar echo data of the outside of the target building corresponding to the target distance in the first radar echo data is removed, so as to obtain the target radar echo data of the internal structure of the target building.

[0072] Embodiment 4:

[0073] In order to realize imaging of moving persons in the floors of the target building, on the basis of the above embodiments, in an embodiment of the present invention, the imaging signal processor 104 is further used to detect the first radar echo data corresponding to each first timestamp using a moving target detection method, determine the second radar echo data of the moving persons in the first radar echo data corresponding to each first timestamp, and perform imaging according to the second radar echo data corresponding to each first timestamp and the internal structure image to obtain a fused internal structure image.

[0074] In order to realize imaging of the moving person in the target building floor, in the embodiment of the present invention, the imaging signal processor 104 also uses the moving target detection method to detect the first radar echo data corresponding to each first timestamp, and determines the second radar echo data of the moving person in the first radar echo data corresponding to each first timestamp. Since when detecting the moving person, the moving person does not appear in the detection range of the penetrating radar 102 at the time corresponding to a certain timestamp, the first radar echo data corresponding to a certain timestamp does not contain the radar echo data of the moving person, and the moving person appears in the detection range of the penetrating radar 102 at the time corresponding to the next timestamp, and the second radar echo data corresponding to the next timestamp contains the radar echo data of the moving person, so in the embodiment of the present invention, the first radar echo data corresponding to two adjacent first timestamps are subtracted, and the determined difference is the second radar echo data of the moving person.

[0075] According to the second radar echo data and the internal structure image corresponding to each first timestamp, the imaging signal processor 104 uses the existing imaging method to image the second radar echo data, and fuses the obtained image of the moving person with the internal structure image to obtain a fused internal structure image.

[0076] Embodiment 5:

[0077] In order to realize imaging of the internal and external structures of the target building, on the basis of the above embodiments, in an embodiment of the present invention, the imaging signal processor 104 is further used to perform imaging according to the target distance and the target coordinates contained in the target outer wall distance information to obtain the external structure image of the target building, and fuse the external structure image with the fused internal structure image to obtain the internal and external structure images of the target building.

[0078] In order to realize imaging of the internal and external structures of the target building, in an embodiment of the present invention, the imaging signal processor 104 obtains the external structure image of the target building according to the target coordinates of the penetrating radar 102 relative to the target building and the target distance contained in the target outer wall distance information sent by the laser rangefinder 103. The external structure image is an image composed of the external contour of the target building.

[0079] According to the external structure image of the target building and the fused internal structure image, the external structure image and the fused internal structure image are fused to obtain the internal and external structure images of the target building. Specifically, the external structure image and the internal structure image can be fused using an existing fusion algorithm.

[0080] Embodiment 6:

[0081] In order to realize imaging display of the target building, based on the above embodiments, in the embodiment of the present invention, the system 100 further includes a ground station 105;

[0082] The ground station 105 is used to receive the navigation instructions input by the user and transmit them to the flight plane 101; receive the internal and external structure images transmitted by the imaging signal processor 104 and display them;

[0083] The imaging signal processor 104 is also used to transmit the internal and external structure images to the ground station 105 .

[0084] In order to realize imaging display of the target building, in an embodiment of the present invention, the building visualization imaging system 100 also includes a ground station 105, which receives navigation instructions input by a user, wherein the ground station 105 receives navigation instructions input by the user through a control handle, etc., and the navigation instructions include a target route of the flight platform and control parameters for controlling the flight attitude.

[0085] Figure 2 A schematic diagram of a target route provided by an embodiment of the present invention, such as Figure 2 As shown, the target route includes path 1 and path 2, and the direction of path 1 is from bottom ( Figure 2 in) to the top ( Figure 2 The direction of path 2 is from left ( Figure 2 left and right) to right ( Figure 2 The left and right directions in the image.

[0086] The imaging signal processor 104 also transmits the generated internal and external structure image to the ground station 105. After receiving the internal and external structure image transmitted by the imaging signal processor 104, the ground station 105 displays the internal and external structure image, specifically on the display screen of the ground station 105 itself.

[0087] Embodiment 7:

[0088] In order to realize the imaging of the internal structure of the building floor in a complex environment and to improve the speed of imaging the internal structure of the building floor, Figure 3 A process diagram of a building visualization imaging method provided by an embodiment of the present invention is shown in FIG. Figure 3 As shown, the process includes the following steps:

[0089] S301: Receive radar echo data transmitted by a penetrating radar and target outer wall distance information transmitted by a laser rangefinder, wherein the penetrating radar and the laser rangefinder are installed on a flight platform, the radar echo data is data reflected by an object inside a target building and received after the penetrating radar continuously emits electromagnetic waves during the flight of the flight platform according to the target route and control parameters carried in the navigation instructions, and the target distance included in the target outer wall distance information is the target distance measured by the laser rangefinder during the flight.

[0090] S302: Obtain target radar echo data of the internal structure of the target building according to the target distance and the radar echo data; determine the target coordinates of the penetrating radar relative to the target building according to the pre-saved coordinates of the target building and the target distance, and perform imaging according to the target radar echo data and the target coordinates to obtain an internal structure image of the target building.

[0091] Further, obtaining the target radar echo data of the internal structure of the target building according to the target distance and the radar echo data includes:

[0092] According to the first timestamp corresponding to each target distance and the second timestamp corresponding to each radar echo data, searching for each target first timestamp that is different from the second timestamp in the first timestamp; for each target first timestamp, obtaining the radar echo data corresponding to the first timestamp of the target according to two radar echo data corresponding to two second timestamps adjacent to the first timestamp of the target;

[0093] For each target distance and radar echo data corresponding to a first timestamp, the first radar echo data corresponding to the first timestamp after motion error compensation is determined, and strong clutter suppression processing is performed on the first radar echo data corresponding to the first timestamp according to the target distance corresponding to the first timestamp to obtain the target radar echo data of the internal structure of the target building.

[0094] Furthermore, the method further comprises:

[0095] A moving target detection method is used to detect the first radar echo data corresponding to each first timestamp, and the second radar echo data of the moving person in the first radar echo data corresponding to each first timestamp is determined. Imaging is performed based on the second radar echo data corresponding to each first timestamp and the internal structure image to obtain a fused internal structure image.

[0096] Furthermore, the method further comprises:

[0097] Imaging is performed according to the target distance and the target coordinates contained in the target outer wall distance information to obtain an external structure image of the target building, and the external structure image is fused with the fused internal structure image to obtain internal and external structure images of the target building.

[0098] Embodiment 8:

[0099] Based on the above embodiments, Figure 4 A schematic diagram of a building visualization imaging device provided by an embodiment of the present invention, the device comprising:

[0100] The receiving module 401 is used to receive radar echo data transmitted by a penetrating radar and target outer wall distance information transmitted by a laser rangefinder, wherein the penetrating radar and the laser rangefinder are installed on a flight platform, the radar echo data are data reflected by an object inside a target building received by the penetrating radar after continuously emitting electromagnetic waves during the flight of the flight platform according to the target route and control parameters carried in the navigation instruction, and the target distance included in the target outer wall distance information is measured by the laser rangefinder during the flight;

[0101] The processing module 402 is used to obtain target radar echo data of the internal structure of the target building according to the target distance and the radar echo data; determine the target coordinates of the penetrating radar relative to the target building according to the pre-saved coordinates of the target building and the target distance, and perform imaging according to the target radar echo data and the target coordinates to obtain an internal structure image of the target building.

[0102] Furthermore, the processing module is specifically used to search for each target first timestamp that is different from the second timestamp in the first timestamp according to the first timestamp corresponding to each target distance and the second timestamp corresponding to each radar echo data; for each target first timestamp, obtain the radar echo data corresponding to the target first timestamp according to two radar echo data corresponding to two second timestamps adjacent to the target first timestamp; for each target distance and radar echo data corresponding to the first timestamp, determine the first radar echo data after motion error compensation corresponding to the first timestamp, perform strong clutter suppression processing on the first radar echo data corresponding to the first timestamp according to the target distance corresponding to the first timestamp, and obtain the target radar echo data of the internal structure of the target building.

[0103] Furthermore, the processing module is also used to detect the first radar echo data corresponding to each first timestamp using a moving target detection method, determine the second radar echo data of the moving person in the first radar echo data corresponding to each first timestamp, and perform imaging based on the second radar echo data corresponding to each first timestamp and the internal structure image to obtain a fused internal structure image.

[0104] Furthermore, the processing module is also used to perform imaging according to the target distance and the target coordinates contained in the target outer wall distance information to obtain an external structure image of the target building, and fuse the external structure image with the fused internal structure image to obtain internal and external structure images of the target building.

[0105] Embodiment 9:

[0106] Figure 5 FIG. 1 is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. Based on the above embodiments, an embodiment of the present invention further provides an electronic device, such as Figure 5 As shown, it includes: a processor 501 , a communication interface 502 , a memory 503 and a communication bus 504 , wherein the processor 501 , the communication interface 502 , and the memory 503 communicate with each other via the communication bus 504 .

[0107] The memory 503 stores a computer program. When the program is executed by the processor 501, the processor 501 performs the following steps:

[0108] Receiving radar echo data transmitted by a penetrating radar and target outer wall distance information transmitted by a laser rangefinder, wherein the penetrating radar and the laser rangefinder are installed on a flight platform, the radar echo data is data reflected by an object inside the target building received by the penetrating radar after continuously emitting electromagnetic waves during the flight of the flight platform according to the target route and control parameters carried in the navigation instruction, and the target distance contained in the target outer wall distance information is measured by the laser rangefinder during the flight;

[0109] According to the target distance and the radar echo data, the target radar echo data of the internal structure of the target building is obtained; according to the pre-saved coordinates of the target building and the target distance, the target coordinates of the penetrating radar relative to the target building are determined, and imaging is performed according to the target radar echo data and the target coordinates to obtain an internal structure image of the target building.

[0110] Further, the processor 501 is specifically configured to obtain the target radar echo data of the internal structure of the target building according to the target distance and the radar echo data, including:

[0111] According to the first timestamp corresponding to each target distance and the second timestamp corresponding to each radar echo data, searching for each target first timestamp that is different from the second timestamp in the first timestamp; for each target first timestamp, obtaining the radar echo data corresponding to the first timestamp of the target according to two radar echo data corresponding to two second timestamps adjacent to the first timestamp of the target;

[0112] For each target distance and radar echo data corresponding to a first timestamp, the first radar echo data corresponding to the first timestamp after motion error compensation is determined, and strong clutter suppression processing is performed on the first radar echo data corresponding to the first timestamp according to the target distance corresponding to the first timestamp to obtain the target radar echo data of the internal structure of the target building.

[0113] Furthermore, the processor 501 is also used to detect the first radar echo data corresponding to each first timestamp using a moving target detection method, determine the second radar echo data of the moving person in the first radar echo data corresponding to each first timestamp, and perform imaging based on the second radar echo data corresponding to each first timestamp and the internal structure image to obtain a fused internal structure image.

[0114] Furthermore, the processor 501 is also used to perform imaging according to the target distance and the target coordinates contained in the target exterior wall distance information to obtain an external structure image of the target building, and fuse the external structure image with the fused internal structure image to obtain internal and external structure images of the target building.

[0115] The communication bus mentioned in the above electronic device can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0116] The communication interface 502 is used for communication between the electronic device and other devices.

[0117] The memory may include a random access memory (RAM) or a non-volatile memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0118] The above-mentioned processor can be a general-purpose processor, including a central processing unit, a network processor (Network Processor, NP), etc.; it can also be a digital signal processing processor (Digital Signal Processing, DSP), an application-specific integrated circuit, a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, etc.

[0119] Embodiment 10:

[0120] On the basis of the above embodiments, an embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program executable by a processor, and when the program runs on the processor, the processor implements the following steps when executing:

[0121] Receiving radar echo data transmitted by a penetrating radar and target outer wall distance information transmitted by a laser rangefinder, wherein the penetrating radar and the laser rangefinder are installed on a flight platform, the radar echo data is data reflected by an object inside the target building received by the penetrating radar after continuously emitting electromagnetic waves during the flight of the flight platform according to the target route and control parameters carried in the navigation instruction, and the target distance contained in the target outer wall distance information is measured by the laser rangefinder during the flight;

[0122] According to the target distance and the radar echo data, the target radar echo data of the internal structure of the target building is obtained; according to the pre-saved coordinates of the target building and the target distance, the target coordinates of the penetrating radar relative to the target building are determined, and imaging is performed according to the target radar echo data and the target coordinates to obtain an internal structure image of the target building.

[0123] Further, obtaining the target radar echo data of the internal structure of the target building according to the target distance and the radar echo data includes:

[0124] According to the first timestamp corresponding to each target distance and the second timestamp corresponding to each radar echo data, searching for each target first timestamp that is different from the second timestamp in the first timestamp; for each target first timestamp, obtaining the radar echo data corresponding to the first timestamp of the target according to two radar echo data corresponding to two second timestamps adjacent to the first timestamp of the target;

[0125] For each target distance and radar echo data corresponding to a first timestamp, the first radar echo data corresponding to the first timestamp after motion error compensation is determined, and strong clutter suppression processing is performed on the first radar echo data corresponding to the first timestamp according to the target distance corresponding to the first timestamp to obtain the target radar echo data of the internal structure of the target building.

[0126] Furthermore, the method further comprises:

[0127] A moving target detection method is used to detect the first radar echo data corresponding to each first timestamp, and the second radar echo data of the moving person in the first radar echo data corresponding to each first timestamp is determined. Imaging is performed based on the second radar echo data corresponding to each first timestamp and the internal structure image to obtain a fused internal structure image.

[0128] Furthermore, the method further comprises:

[0129] Imaging is performed according to the target distance and the target coordinates contained in the target outer wall distance information to obtain an external structure image of the target building, and the external structure image is fused with the fused internal structure image to obtain internal and external structure images of the target building.

[0130] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0131] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0132] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0133] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1The steps of the functions specified in one or more boxes. Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A building visualization imaging system, characterized in that: The system comprises: a flying platform, a penetrating radar, a laser rangefinder and an imaging signal processor, wherein the penetrating radar, the laser rangefinder and the imaging signal processor are installed on the flying platform; The flight platform is used to obtain navigation instructions, fly according to the target route carried in the navigation instructions, and control the flight attitude according to the control parameters carried in the navigation instructions; The penetrating radar is used to continuously emit electromagnetic waves to penetrate the outer wall of the target building, receive radar echo data reflected by objects inside the target building, and transmit the radar echo data to the imaging signal processor; The laser rangefinder is used to continuously measure the target distance from the outer wall of the target building, and transmit the target outer wall distance information including the target distance to the imaging signal processor; The imaging signal processor is used to receive the radar echo data transmitted by the penetrating radar and the target outer wall distance information transmitted by the laser rangefinder, and obtain the target radar echo data of the internal structure of the target building according to the target outer wall distance information and the radar echo data; determine the target coordinates of the penetrating radar relative to the target building according to the pre-saved coordinates of the target building and the target distance, and perform imaging according to the target radar echo data and the target coordinates to obtain the internal structure image of the target building.

2. The system according to claim 1, characterized in that The penetrating radar is also used to perform echo correction and pulse compression on the received radar echo data.

3. The system according to claim 1 or 2, characterized in that: The imaging signal processor is specifically used to search for a first timestamp of each target that is different from the second timestamp in the first timestamp according to the first timestamp corresponding to each target distance and the second timestamp corresponding to each radar echo data; For each target first timestamp, obtaining radar echo data corresponding to the first timestamp of the target according to two radar echo data corresponding to two second timestamps adjacent to the first timestamp of the target; For each target distance and radar echo data corresponding to a first timestamp, the first radar echo data corresponding to the first timestamp after motion error compensation is determined, and strong clutter suppression processing is performed on the first radar echo data corresponding to the first timestamp according to the target distance corresponding to the first timestamp to obtain the target radar echo data of the internal structure of the target building.

4. The system according to claim 3, characterized in that The imaging signal processor is also used to detect the first radar echo data corresponding to each first timestamp using a moving target detection method, determine the second radar echo data of the moving person in the first radar echo data corresponding to each first timestamp, and perform imaging based on the second radar echo data corresponding to each first timestamp and the internal structure image to obtain a fused internal structure image.

5. The system according to claim 4, characterized in that The imaging signal processor is further used to perform imaging according to the target distance and the target coordinates contained in the target outer wall distance information to obtain an external structure image of the target building, and to fuse the external structure image with the fused internal structure image to obtain internal and external structure images of the target building.

6. The system according to claim 5, characterized in that The system also includes a ground station; The ground station is used to receive the navigation instructions input by the user and transmit them to the flight platform; receive the internal and external structure images transmitted by the imaging signal processor and display them; The imaging signal processor is also used to transmit the internal and external structure images to the ground station.

7. A building visualization imaging method based on the building visualization imaging system according to any one of claims 1 to 6, characterized in that: The method comprises: Receiving radar echo data transmitted by a penetrating radar and target outer wall distance information transmitted by a laser rangefinder, wherein the penetrating radar and the laser rangefinder are installed on a flight platform, the radar echo data is data reflected by an object inside the target building received by the penetrating radar after continuously emitting electromagnetic waves during the flight of the flight platform according to the target route and control parameters carried in the navigation instruction, and the target distance contained in the target outer wall distance information is measured by the laser rangefinder during the flight; According to the target distance and the radar echo data, the target radar echo data of the internal structure of the target building is obtained; according to the pre-saved coordinates of the target building and the target distance, the target coordinates of the penetrating radar relative to the target building are determined, and imaging is performed according to the target radar echo data and the target coordinates to obtain an internal structure image of the target building.

8. The method according to claim 7, characterized in that The step of obtaining the target radar echo data of the internal structure of the target building according to the target distance and the radar echo data comprises: According to the first timestamp corresponding to each target distance and the second timestamp corresponding to each radar echo data, searching for each target first timestamp that is different from the second timestamp in the first timestamp; for each target first timestamp, obtaining the radar echo data corresponding to the first timestamp of the target according to two radar echo data corresponding to two second timestamps adjacent to the first timestamp of the target; For each target distance and radar echo data corresponding to a first timestamp, the first radar echo data corresponding to the first timestamp after motion error compensation is determined, and strong clutter suppression processing is performed on the first radar echo data corresponding to the first timestamp according to the target distance corresponding to the first timestamp to obtain the target radar echo data of the internal structure of the target building.

9. The method according to claim 8, characterized in that The method further comprises: A moving target detection method is used to detect the first radar echo data corresponding to each first timestamp, and the second radar echo data of the moving person in the first radar echo data corresponding to each first timestamp is determined. Imaging is performed based on the second radar echo data corresponding to each first timestamp and the internal structure image to obtain a fused internal structure image.

10. The method according to claim 9, characterized in that The method further comprises: Imaging is performed according to the target distance and the target coordinates contained in the target outer wall distance information to obtain an external structure image of the target building, and the external structure image is fused with the fused internal structure image to obtain internal and external structure images of the target building.

11. A building visualization imaging device based on the building visualization imaging method according to any one of claims 7 to 10, characterized in that: The device comprises: A receiving module, used for receiving radar echo data transmitted by a penetrating radar and target outer wall distance information transmitted by a laser rangefinder, wherein the penetrating radar and the laser rangefinder are installed on a flight platform, the radar echo data are data reflected by an object inside a target building received after the penetrating radar continuously emits electromagnetic waves during the flight of the flight platform according to the target route carried in the navigation instruction, and the target distance contained in the target outer wall distance information is measured by the laser rangefinder during the flight; The processing module is used to obtain target radar echo data of the internal structure of the target building according to the target distance and the radar echo data; determine the target coordinates of the penetrating radar relative to the target building according to the pre-saved coordinates of the target building and the target distance, and perform imaging according to the target radar echo data and the target coordinates to obtain an internal structure image of the target building.

12. An electronic device, characterized in that: include: A processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus; A computer program is stored in the memory. When the program is executed by the processor, the processor executes the computer program stored in the memory to implement the steps of the building visualization imaging method according to any one of claims 7 to 10.

13. A computer-readable storage medium, characterized in that: A computer program is stored therein, and when the computer program is executed by a processor, the steps of the building visualization imaging method according to any one of claims 7 to 10 are implemented.

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