A radar and visual integrated machine and a global monitoring method thereof

Abstract

The present application relates to the technical field of monitoring equipment, in particular to a radar and video integrated machine and a global monitoring method thereof. The radar and video integrated machine is designed by fixing the radars on the side of the base, which can maintain the stability of radar detection, greatly reduce the complexity of radar detection azimuth in software design and data processing, and effectively make up for the blind spots and shielding problems of the prior art, and to some extent, improve the processing capacity of the radar and video integrated machine when monitoring multiple targets. The photoelectric turntable is arranged on a different horizontal plane from the multiple radars, and the photoelectric turntable rotates independently to collect video stream data in the environment area, which not only ensures the independence and stability of the radar and the photoelectric turntable, but also directly drives the photoelectric turntable to track and shoot according to the identification and detection feedback of the radar, thereby expanding the application range of the radar and video integrated machine.

Description

Technical Field

[0001] This invention relates to the field of monitoring equipment technology, specifically to a radar-visual integrated machine and its full-area monitoring method. Background Technology

[0002] With social development and population growth, the demand for security and surveillance is becoming increasingly important. Protecting the safety of public places, businesses, residential areas, and transportation systems has become a crucial task. The increasing demand for security and surveillance, along with technological advancements, has led to the development of integrated radar-visual cameras. These cameras use radar to search for targets and then output the target's location information to camera equipment, which then tracks and monitors the target. This combined approach of radar search and camera tracking addresses the limitations of single-source target detection to some extent, providing an effective tool for real-time monitoring and recording. It achieves complementary target information to address potential security threats and criminal activities.

[0003] However, on the one hand, existing radar-visual integrated devices have a relatively small monitoring range and a large blind spot. When moving objects quickly leave the monitoring range, it is difficult to ensure that the radar-visual integrated device can achieve real-time, full-area, and all-weather monitoring, which to some extent limits the application scope and function of the radar-visual integrated device. On the other hand, existing radar-visual integrated devices mostly adopt a linkage structure with the same platform but different axes. That is, the radar and optoelectronic equipment are integrated on the same main turntable. The radar rotates independently, while the azimuth servo of the optoelectronic equipment is achieved by the rotation of the main turntable. This linkage structure integrates two platforms into one, which relatively reduces the size of the radar-visual integrated device and improves the fusion accuracy of multi-source surveillance data. However, due to the characteristics of the rotation of the main turntable, the radar and its antenna revolve around the main turntable while rotating on their own axis. Therefore, the radar azimuth is relatively complex in terms of software design and data processing. Moreover, this linkage structure with the same platform but different axes is often used for manually controlled mobile pan-tilt units to find targets, and the reconnaissance and search efficiency is relatively low. Summary of the Invention

[0004] This invention proposes a radar-visual integrated machine and its full-area monitoring method, aiming to expand the monitoring range of the radar-visual integrated machine and optimize the linkage structure of radar and optoelectronic equipment in the radar-visual integrated machine.

[0005] The present invention adopts the following technical solution: a radar-visual integrated machine, comprising a base, several radars, an optoelectronic turntable, a controller, a data processing module, a communication module, and a power supply module. The base is fixedly installed in the environmental area to be monitored. The several radars are fixedly installed on the side of the base. The radars are used to detect suspicious targets in the environmental area and collect data information of the suspicious targets. The optoelectronic turntable is rotatably installed on the upper surface of the base. The optoelectronic turntable is used to collect video stream data in the environmental area. The controller, data processing module, and communication module are all disposed on the base. The several radars are electrically connected to the data processing module. The optoelectronic turntable, data processing module, and communication module are all electrically connected to the controller. The communication module is connected to a remote service terminal. The power supply module supplies power to the other components.

[0006] The radar-visual integrated machine proposed in this invention uses a base as its installation foundation. On the one hand, multiple radars are fixedly mounted on the side of the base to detect suspicious targets and collect data within the environmental area. This structure, with the radars fixedly distributed on the side of the base, maintains the stability of radar detection while significantly reducing the complexity of software design and data processing for radar detection orientation. Through the arrangement design of multiple radars and the deduplication and fusion processing of the detection areas of multiple radars by the data processing module, the monitoring coverage of the radar-visual integrated machine is greatly increased, effectively compensating for the blind spots and obstruction problems of existing radar-visual integrated machines, and improving the processing capability of the radar-visual integrated machine when monitoring multiple targets to a certain extent. On the other hand, By placing the photoelectric turntable on a different horizontal plane from multiple radars and allowing it to rotate independently to collect video stream data within the environmental area, the radar and photoelectric turntable can collect data independently without interfering with each other in the detection area. This ensures the independence and stability of the two systems, avoids data conflicts or cross-interference, and allows the photoelectric turntable to be directly driven to track and capture images based on the radar's identification and detection feedback, reducing the need for manual intervention and improving the efficiency and accuracy of the integrated radar-visual monitoring system. Overall, by fixing the integrated radar-visual system in the area to be monitored for target monitoring, there is no need for manual control of a moving pan-tilt unit to find targets, which improves the efficiency of reconnaissance and search to a certain extent and expands the application range of the integrated radar-visual system.

[0007] Preferably, the photoelectric turntable includes an infrared module, a visible light module, a pitch component, a rotation component, and a drive component. The infrared module and the visible light module are both fixedly mounted on the pitch component, and the pitch component is rotatably mounted on the rotation component. The pitch component is used to realize the vertical rotation of the infrared module and the visible light module. The rotation component is rotatably mounted on the upper surface of the base and is used to realize the horizontal rotation of the infrared module and the visible light module. The pitch component and the rotation component are both connected to the drive component, and the infrared module, the visible light module, and the drive component are all electrically connected to the controller.

[0008] The infrared module is used for nighttime photography and video recording of the environment and suspicious targets, while the visible light module is used for daytime photography and video recording of the environment and suspicious targets.

[0009] Through the rotating structure design of the photoelectric turntable, it is possible to achieve 360° rotation in the circumferential direction and ±90° pitch rotation in the vertical direction, thereby enabling the all-around video stream data acquisition of the radar-visual integrated machine. At the same time, through infrared and visible light modules, the photoelectric turntable can achieve all-weather video stream data acquisition.

[0010] Preferably, the number of radars is four. The four radars are fixedly installed on the side of the base. The four radars are symmetrically distributed in pairs about the base as the axis, and the two axes of symmetry are perpendicular to each other. All four radars are electrically connected to the data processing module. The data processing module is used to perform deduplication and fusion processing on the overlapping parts of the detection areas of the four radars.

[0011] The horizontal detection angle of a single radar is usually greater than 90°, and the vertical detection angle can also be selected according to the actual required detection distance.

[0012] By arranging four radars in a symmetrical and perpendicular configuration, the detection angle of the four radars working together in the horizontal direction after deduplication and fusion processing by the data processing module is 360°. This enables the radar-visual integrated device to detect the entire horizontal area. Combined with the vertical detection of the radars, a single four-radar radar-visual integrated device can achieve real-time full-area detection and data acquisition with the integrated device as the center point. This effectively avoids blind spots or obstruction by objects that occur during the monitoring process in existing technologies, and can better support the radar-visual integrated device for multi-target tracking and detection.

[0013] Preferably, there are two radars, which are fixedly installed on the side of the base and arranged perpendicular to each other. Both radars are electrically connected to the data processing module, which is used to perform deduplication and fusion processing on the overlapping parts of the detection areas of the two radars.

[0014] By arranging the two radars perpendicularly to each other, the detection angle of the two radars working together in the horizontal direction after the data processing module deduplication and fusion is greater than 180°, thus enabling the radar-visual integrated machine to detect half of the horizontal area.

[0015] Preferably, the base has a radar mounting position on its side and a bracket on the back of the radar, and the radar mounting position and the bracket are fixedly installed together by screws.

[0016] Preferably, the base has an external fixing position at its bottom end, and the base is fixedly installed in the environmental area to be monitored by the external fixing position and screws.

[0017] Preferably, the communication module includes an antenna, which is mounted on the base and electrically connected to the controller.

[0018] A method for full-area monitoring using a radar-visual integrated machine, for executing a four-radar radar-visual integrated machine as described above, includes the following steps:

[0019] A single radar-visual integrated machine is fixedly installed in the middle of the environmental area to be monitored;

[0020] The overlapping areas of the detection zones of the four radars in the integrated radar-visual machine are deduplicated and fused.

[0021] Four radars detect suspicious targets within the detection area in real time, acquire data information of the suspicious targets, and transmit the data information to the controller.

[0022] The controller sends a tracking and shooting command for the suspected target to the photoelectric turntable based on the data information of the suspected target;

[0023] The photoelectric turntable identifies and tracks suspicious targets according to the tracking and shooting instructions, generates video stream data of the suspicious targets, and transmits the video stream data to the controller.

[0024] The data information of the suspicious target and the video stream data are fused to form fused alarm data;

[0025] The fused alarm data is transmitted to a remote service terminal.

[0026] A method for full-area monitoring using a radar-visual integrated machine, for executing a dual-radar radar-visual integrated machine as described above, includes the following steps:

[0027] The overlapping areas of the detection zones of the two radars in the integrated radar-visual machine are deduplicated and fused to form a radar detection surface;

[0028] Four integrated radar-visual cameras are fixedly installed at the symmetrical corner points around the protected target to be monitored. The radar detection surfaces of the four integrated radar-visual cameras are symmetrically distributed in pairs with the protected target as the axis, and the two axes of symmetry are perpendicular to each other.

[0029] The overlapping parts of the radar detection surfaces of the four integrated radar-visual cameras are deduplicated and fused to obtain the overall detection area of ​​the four integrated radar-visual cameras.

[0030] Four integrated radar detectors detect suspicious targets within the overall detection area in real time, acquire data information of the suspicious targets, and transmit the data information to the controller;

[0031] The controller sends a tracking and shooting command for the suspected target to its own photoelectric turntable based on the data information of the suspected target;

[0032] The photoelectric turntable identifies and tracks suspicious targets according to the tracking and shooting instructions, generates video stream data of the suspicious targets, and transmits the video stream data to the controller.

[0033] The data information of the suspicious target and the video stream data are fused to form fused alarm data;

[0034] The fused alarm data is transmitted to a remote service terminal.

[0035] Among them, the four symmetrical corner points of the protected target refer to the four symmetrical corner points formed around the protected target. The four symmetrical corner points are located in the four directions of the protected target and are symmetrically distributed among each other.

[0036] The beneficial technical effects of this invention include: employing a radar-visual integrated machine and its full-area monitoring method, through a structural design where radars are fixedly distributed on the side of the base, the complexity of radar detection location in software design and data processing can be significantly reduced while maintaining the stability of radar detection. Furthermore, through the arrangement design of multiple radars and the deduplication and fusion processing of the detection areas of multiple radars by the data processing module, a single device can select different radar arrangement schemes to achieve full-area real-time monitoring and tracking for different application scenarios, significantly increasing the monitoring coverage of the radar-visual integrated machine, effectively compensating for the blind spots and obstruction problems of existing radar-visual integrated machines, and improving the processing capabilities of the radar-visual integrated machine when monitoring multiple targets to a certain extent. Capabilities: By placing the photoelectric turntable on a different horizontal plane from multiple radars, and allowing the turntable to rotate independently to collect video stream data within the environmental area, the radar and photoelectric turntable can collect data independently without interfering with each other in the detection area. This ensures the independence and stability of the two systems, avoids data conflicts or cross-interference, and allows the photoelectric turntable to be directly driven to track and capture images based on the radar's identification and detection feedback, reducing the need for manual intervention and improving the efficiency and accuracy of the integrated radar-visual monitoring system. Overall, by fixing the integrated radar-visual system in the area to be monitored for target monitoring, there is no need for manual control of a moving pan-tilt unit to find targets, which improves the efficiency of reconnaissance and search to a certain extent and expands the application range of the integrated radar-visual system.

[0037] Other features and advantages of the present invention will be disclosed in detail in the following detailed description and accompanying drawings. Attached Figure Description

[0038] The invention will be further described below with reference to the accompanying drawings:

[0039] Figure 1 This is a schematic diagram of the structure of the radar-visual integrated machine according to Embodiment 1 of the present invention.

[0040] Figure 2 This is a schematic diagram of the structure of the four-radar-visual integrated machine according to Embodiment 1 of the present invention.

[0041] Figure 3 This is a flowchart of the full-area monitoring method of the four-radar integrated camera according to Embodiment 1 of the present invention.

[0042] Figure 4 This is a schematic diagram of the structure of the dual-radar radar-visual integrated machine according to Embodiment 2 of the present invention.

[0043] Figure 5 This is a flowchart of the full-area monitoring method of the dual-radar integrated radar-visual machine according to Embodiment 2 of the present invention.

[0044] Figure 6 This is a schematic diagram of the full-area monitoring principle of the dual-radar integrated radar-visual machine in Embodiment 2 of the present invention.

[0045] The components are: 1. Base, 11. Radar mounting position, 12. External fixing position, 2. Radar, 21. Bracket, 31. Infrared module, 32. Visible light module, 33. Pitch assembly, 34. Rotation assembly, 41. Antenna, 42. External network interface, 5. External power interface. Detailed Implementation

[0046] The technical solutions of the embodiments of the present invention will be explained and described below with reference to the accompanying drawings. However, the following embodiments are only preferred embodiments of the present invention and not all of them. Other embodiments obtained by those skilled in the art based on the embodiments in the implementation methods without creative effort are all within the protection scope of the present invention.

[0047] In the following description, terms such as “inner,” “outer,” “upper,” “lower,” “left,” and “right” are used only to indicate orientation or positional relationship for the convenience of describing the embodiments and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0048] Example 1:

[0049] This application provides a radar-based integrated camera system; please refer to the appendix. Figure 1 The system includes a base 1, several radars 2, an optoelectronic turntable, a controller, a data processing module, a communication module, and a power supply module. The base 1 is fixedly installed in the environmental area to be monitored. The several radars 2 are fixedly installed on the side of the base 1. The radars 2 are used to detect suspicious targets in the environmental area and collect data information of the suspicious targets. The optoelectronic turntable is rotatably installed on the upper surface of the base 1. The optoelectronic turntable is used to collect video stream data in the environmental area. The controller, data processing module, and communication module are all set on the base 1. The several radars 2 are electrically connected to the data processing module. The optoelectronic turntable, data processing module, and communication module are all electrically connected to the controller. The communication module is connected to a remote service terminal. The power supply module supplies power to the other components.

[0050] In the integrated radar-view system, the connection and data interaction between radar 2 and the photoelectric turntable are completed through the controller in the integrated radar-view system. The specific connection method is as follows: radar 2 is electrically connected to the data processing module, and then the data processing module is connected to the controller. Radar 2 transmits the detected data to the data processing module for data deduplication and fusion processing, and then transmits the processed data to the controller for subsequent data processing and decision-making. The photoelectric turntable is usually connected to the controller through a cable. The cable is used to transmit control signals to enable the controller to control and operate the photoelectric turntable.

[0051] The remote service terminal includes, but is not limited to, portable terminals or client software running on an IoT platform. The power module can be an external portable battery module or a direct external power supply. In this embodiment, the RaidView all-in-one machine is equipped with an external power interface 5, and the power module supplies power to the RaidView all-in-one machine through the external power interface 5.

[0052] The radar-visual integrated machine proposed in this embodiment uses base 1 as the installation foundation. On the one hand, multiple radars 2 are fixedly installed on the side of base 1 to detect suspicious targets and collect data within the environmental area. This structure, in which the radars 2 are fixedly distributed on the side of base 1, maintains the stability of radar detection while significantly reducing the complexity of software design and data processing for radar detection orientation. Through the arrangement design of multiple radars 2 and the deduplication and fusion processing of the detection areas of multiple radars 2 by the data processing module, the monitoring coverage of the radar-visual integrated machine is greatly increased, effectively compensating for the blind spots and obstruction problems of existing radar-visual integrated machines, and improving the processing capability of the radar-visual integrated machine when monitoring multiple targets to a certain extent; on the other hand... On the one hand, by setting the photoelectric turntable on a different horizontal plane from the multiple radars 2, and allowing the turntable to rotate independently to collect video stream data within the environmental area, the radars 2 and the photoelectric turntable can collect data independently without interfering with each other in the detection area, ensuring the independence and stability of the two systems and avoiding data conflicts or cross-interference. On the other hand, the photoelectric turntable can be directly driven to track and capture images based on the identification and detection feedback of the radars 2, reducing the need for manual intervention and improving the efficiency and accuracy of the integrated radar-visual monitoring system. Overall, by fixing the integrated radar-visual system in the environmental area to be monitored for target monitoring, there is no need for manual control of the moving pan-tilt unit to find targets, which improves the efficiency of reconnaissance and search to a certain extent and expands the application scope of the integrated radar-visual system.

[0053] On the other hand, in this embodiment, the photoelectric turntable includes an infrared module 31, a visible light module 32, a pitch component 33, a rotation component 34, and a drive component. The infrared module 31 and the visible light module 32 are both fixedly mounted on the pitch component 33, and the pitch component 33 is rotatably mounted on the rotation component 34. The pitch component 33 is used to realize the rotation of the infrared module 31 and the visible light module 32 in the vertical direction. The rotation component 34 is rotatably mounted on the upper surface of the base 1, and the rotation component 34 is used to realize the rotation of the infrared module 31 and the visible light module 32 in the horizontal direction. The pitch component 33 and the rotation component 34 are both connected to the drive component, and the infrared module 31, the visible light module 32, and the drive component are all electrically connected to the controller.

[0054] The infrared module 31 is used for nighttime video recording of the environment and suspicious targets, while the visible light module 32 is used for daytime video recording of the environment and suspicious targets. The drive components include, but are not limited to, electric motors. The drive components receive commands from the controller and, according to these commands, transmit rotational force to the pitch component 33 and the rotation component 34, enabling the infrared module 31 and the visible light module 32 on the pitch component 33 to perform 360° horizontal rotation and ±90° vertical pitch rotation for full-range video recording. Simultaneously, the controller receives video stream data collected by the infrared module 31 and the visible light module 32, and processes and transmits the video stream data accordingly.

[0055] This embodiment, through the rotating structure design of the photoelectric turntable, enables the photoelectric turntable to rotate 360° horizontally in the circumferential direction and pitch 90° in the vertical direction, thus achieving panoramic monitoring in both horizontal and vertical directions. This allows the integrated radar-view device to collect video stream data across the entire area. At the same time, the infrared module 31 and the visible light module 32 enable the photoelectric turntable to collect video stream data around the clock.

[0056] On the other hand, in this embodiment, please refer to the appendix. Figure 2 There are four radars 2, which are fixedly installed on the side of the base 1. The four radars 2 are symmetrically distributed in pairs with the base 1 as the axis and the two axes of symmetry are perpendicular to each other. All four radars 2 are electrically connected to the data processing module. The data processing module is used to perform deduplication and fusion processing on the overlapping parts of the detection areas of the four radars 2.

[0057] Among them, the horizontal detection angle of a single radar 2 is usually greater than 90°, and the vertical detection angle can also be selected according to the actual required detection distance.

[0058] By arranging four radars 2 in pairs symmetrically and perpendicularly, the detection angle of the four radars 2 working together in the horizontal direction after the data processing module deduplication and fusion is 360°. This enables the radar-vision integrated machine to detect the entire horizontal area. Combined with the vertical detection of the radars 2, a single four-radar-2 radar-vision integrated machine can achieve real-time detection and data acquisition of the entire area with the integrated machine as the center point. This effectively avoids blind spots or obstruction by objects in the monitoring process of existing technologies, and can better support the radar-vision integrated machine for multi-target tracking and detection.

[0059] On the other hand, in this embodiment, a radar mounting position 11 is provided on the side of the base 1, and a bracket 21 is provided on the back of the radar 2. The radar mounting position 11 and the bracket 21 are fixedly installed by screws.

[0060] On the other hand, in this embodiment, the bottom end of the base 1 is provided with an external fixing position 12, and the base 1 is fixedly installed in the environmental area to be monitored by the external fixing position 12 and screws.

[0061] On the other hand, in this embodiment, the communication module includes an antenna 41, which is mounted on the base 1 and electrically connected to the controller.

[0062] Antenna 41 is used to realize wireless signal transmission between the integrated radar-view device and the remote service terminal. In this embodiment, the specific installation position of antenna 41 on the base 1 is not limited, as long as the metal parts of antenna 41 are not obstructed. Preferably, antenna 41 can be installed in the gap between the two radars 2 to reduce the overall size of the integrated radar-view device.

[0063] On the other hand, in this embodiment, the base 1 is provided with an external network interface 42. In this embodiment, the antenna 41 is an optional device. If the antenna 41 is not selected, wired network data transmission and exchange with a portable terminal or IoT platform can be achieved through the external network interface 42, such as network cable, external network USB access, etc.

[0064] For example, the installation method of the radar-visual integrated machine provided in this embodiment is as follows: the radar 2 is installed on the radar mounting position 11 on the base 1 using bracket 21 and several screws. The four radar mounting positions 11 on the base 1 are evenly distributed on the side of the base 1. The radar 2 on the radar-visual integrated machine can be disassembled and installed using bracket 21 and several screws. All related cables of radar 2 and internal cables are installed at the time of shipment, and no related cable installation is required on site. The power module supplies power to the radar-visual integrated machine through the external power interface 5. The external network interface 42 is a reserved interface, which can be used either the external network interface 42 or the antenna 41 to realize the transmission and exchange of network data between the radar-visual integrated machine and the remote service terminal. The base 1 is designed with an external fixing position 12 for fixing the radar-visual integrated machine to a tripod or installation site platform. When installing the integrated radar-view device on-site, if antenna 41 is used for transmission, the on-site deployment only requires fixing the integrated radar-view device to a tripod or installation platform using external mounting point 12 and several screws, and then connecting it to the power module through external power interface 5. The device will then work normally. If wired transmission is used, the on-site deployment requires fixing the integrated radar-view device to a tripod or installation platform using external mounting point 12 and several screws, connecting it to the power module through external power interface 5, and then electrically connecting it to the remote service terminal through external network interface 42 to achieve data transmission and exchange. The device will then work normally.

[0065] The radar-visual integrated machine provided in this embodiment has a simple structure, increases mobility, and enables rapid installation and deployment of the entire machine on site.

[0066] On the other hand, this application also provides a full-area monitoring method for a radar-view integrated machine, used to perform the aforementioned four-radar, two-radar-view integrated machine. Please refer to the appendix. Figure 3 This includes the following steps:

[0067] Step 301: Fix a single radar-view integrated machine in the center of the environmental area to be monitored.

[0068] Step 302: Perform deduplication and fusion processing on the overlapping parts of the detection areas of the four radars 2 in the integrated radar-visual machine.

[0069] The deduplication and fusion processing can be performed using methods such as weighted average algorithm or Kalman filter algorithm, and this embodiment does not limit the specific method used.

[0070] By using the identification algorithm of Radar 2 to perform deduplication and fusion processing on the areas detected by Radar 2, it is ensured that the detection angle of the four Radar 2 detection areas working together in the horizontal direction after deduplication and fusion processing is 360°. This enables the integrated radar-vision system to detect the entire horizontal area. Combined with the vertical detection of Radar 2, a single four-radar-2 integrated radar-vision system can achieve real-time full-area detection and data acquisition with the integrated radar-vision system as the center point. This effectively avoids blind spots or obstruction by objects in the monitoring process of existing technologies. At the same time, it can better support the integrated radar-vision system to perform multi-target tracking and detection, and improve the accuracy and reliability of target recognition of the integrated radar-vision system to a certain extent, realizing 360° full-area real-time monitoring.

[0071] Step 303: The four radars 2 detect suspicious targets in the processed detection area in real time, acquire data information of the suspicious targets, and transmit the data information to the controller.

[0072] Suspicious targets include, but are not limited to, suspicious persons, animals, or vehicles. Data on suspicious targets includes their distance, location, and speed upon entering the monitoring range.

[0073] Step 304: The controller sends a tracking and shooting instruction for the suspicious target to the photoelectric turntable based on the data information of the suspicious target.

[0074] Specifically, the controller utilizes image processing and computer vision technologies to detect and identify suspicious targets by analyzing their acquired data. The suspicious targets are then encoded and encapsulated, and corresponding tracking and shooting instructions are generated. This process is performed according to the control protocol and interface specifications of the photoelectric turntable. The tracking and shooting instructions can include parameters such as the target's tracking trajectory, tracking speed, and focus adjustment. By controlling the rotation direction, rotation angle, focus, and zoom adjustment of the photoelectric turntable, the controller ensures that the turntable can accurately track the movement of the suspicious target and keep the target centered in the frame.

[0075] Step 305: The photoelectric turntable identifies and tracks the suspicious target according to the tracking and shooting instructions, generates video stream data of the suspicious target, and transmits the video stream data to the controller.

[0076] Step 306: Data fusion is performed on the data information of the suspicious target and the video stream data to form fused alarm data.

[0077] Specifically, methods for data fusion include:

[0078] 1) Data Preprocessing: Preprocess the acquired data on suspicious targets and video stream data to ensure data quality and consistency. This may include operations such as data calibration, format conversion, and time synchronization.

[0079] 2) Feature Extraction: Extract the required features from the data information of the suspected target and the video stream data. Image processing, computer vision and signal processing technologies can be used to perform target detection, target tracking and target recognition on the video stream data, while extracting the target's motion features from the data information acquired by radar 2.

[0080] 3) Data Fusion: The extracted features are fused to form fused alarm data. Fusion can employ methods such as weighted averaging, logical operations, and decision cascading, merging features based on their importance and reliability. Fuded alarm data can include information such as the location, speed, and real-time image or video frames of suspicious targets.

[0081] Step 307: Transmit the merged alarm data to the remote service terminal.

[0082] Furthermore, back-end personnel can view and process the fused alarm data of Radar 2 and the photoelectric turntable through remote terminal servers such as portable terminals or IoT platforms, so that back-end personnel can obtain alarm information in a timely manner and take corresponding measures to handle abnormal situations.

[0083] The proposed full-area monitoring method for a radar-visual integrated machine in this embodiment enables real-time full-area monitoring with a single four-radar, two-radar-visual integrated machine as the center point. This effectively avoids blind spots or obstruction by objects during the monitoring process, which are common in existing technologies. It also better supports multi-target tracking and detection by the radar-visual integrated machine, thereby improving the accuracy and reliability of target recognition to a certain extent.

[0084] Example 2:

[0085] The difference between this embodiment and Embodiment 1 is that, please refer to the appendix. Figure 4There are two radars 2, which are fixedly installed on the side of the base 1. The two radars 2 are set perpendicular to each other. Both radars 2 are electrically connected to the data processing module. The data processing module is used to perform deduplication and fusion processing on the overlapping parts of the detection areas of the two radars 2.

[0086] Among them, the horizontal detection angle of a single radar 2 is usually greater than 90°, and the vertical detection angle can also be selected according to the actual required detection distance.

[0087] By arranging two radars 2 adjacent to each other and perpendicular to each other, it is ensured that the detection angle of the two radars 2 working together in the horizontal direction after the data processing module deduplication and fusion is greater than 180°, so that the radar-visual integrated machine can detect the half-circle area in the horizontal direction.

[0088] On the other hand, this embodiment also provides a full-area monitoring method for a radar-view integrated machine, used to perform a dual-radar 2-radar-view integrated machine as described above. Please refer to the appendix. Figure 5 This includes the following steps:

[0089] Step 501: Perform deduplication and fusion processing on the overlapping parts of the detection areas of the two radars 2 in the integrated radar-visual machine to form a radar detection surface.

[0090] The deduplication and fusion processing can be performed using methods such as weighted average algorithm or Kalman filter algorithm, and this embodiment does not limit the specific method used.

[0091] The recognition algorithm of Radar 2 is used to deduplicatize and fuse the areas detected by Radar 2, ensuring that the detection angle of the two radars is greater than 180° when they work together in the horizontal direction after the deduplication and fusion of the detection areas. This enables the radar-visual integrated machine to detect half of the horizontal area.

[0092] Step 502: Fix four integrated radar-visual cameras at the symmetrical corners around the protected target to be monitored. The radar detection surfaces of the four integrated radar-visual cameras are symmetrically distributed in pairs around the protected target, and the two axes of symmetry are perpendicular to each other.

[0093] Please see the appendix Figure 6The four symmetrical corner points of a protected target refer to the four symmetrical corner points formed around the protected target. These four symmetrical corner points are located in the four directions of the protected target and are symmetrically distributed among each other. The specific orientation depends on the target's orientation and the definition of the reference coordinate system. Specifically, we can set the origin of the reference coordinate system as the center point of the protected target, define a horizontal direction (e.g., due north) as a reference, and then determine the orientation of the four symmetrical corner points according to the target's orientation. For example, if the target's orientation is due north, the four symmetrical corner points can be named in clockwise order as "East Symmetrical Corner Point" (symmetrical corner point N0.2 in the east direction), "South Symmetrical Corner Point" (symmetrical corner point N0.4 in the south direction), "West Symmetrical Corner Point" (symmetrical corner point N0.3 in the west direction), and "North Symmetrical Corner Point" (symmetrical corner point N0.1 in the north direction).

[0094] By symmetrically distributing four dual-radar-2 integrated radar-vision cameras at the corners of the protected target, combined with the vertical detection of radar 2 and the symmetrical arrangement of the radar 2 detection surfaces of the four integrated radar-vision cameras around the protected target with the two axes of symmetry perpendicular to each other, real-time full-area detection and data acquisition by the four dual-radar-2 integrated radar-vision cameras centered on the protected target can be achieved. This effectively avoids blind spots or obstruction by objects in the monitoring process of existing technologies, and can better support the integrated radar-vision cameras for multi-target tracking and detection.

[0095] Step 503: Perform deduplication and fusion processing on the overlapping parts of the radar detection surfaces of the four integrated radar-visual cameras to obtain the overall detection area of ​​the four integrated radar-visual cameras.

[0096] The operation of deduplication and fusion processing of the overlapping parts of the radar detection surface is similar to the operation of deduplication and fusion processing of the overlapping parts of the detection areas of the two radars 2 in the radar-visual integrated machine, and will not be described again in this embodiment.

[0097] Step 504: The four integrated radar detectors detect suspicious targets within the overall detection area in real time, acquire data information of the suspicious targets, and transmit the data information to the controller.

[0098] Suspicious targets include, but are not limited to, suspicious persons, animals, or vehicles. Data on suspicious targets includes their distance, location, and speed upon entering the monitoring range.

[0099] Optionally, in this embodiment, step 504 can be implemented in two ways: one is to transmit the data information to the controllers of the four integrated radar-visual machines. Specifically, the data information is transmitted to the controller of the integrated radar-visual machine on the detection surface where the suspected target is located, and then transmitted to the controllers of the other integrated radar-visual machines through the communication module; the other is to transmit the data information only to the controller of the integrated radar-visual machine on the detection surface where the suspected target is located.

[0100] Step 505: The controller sends a tracking and shooting command for the suspicious target to its own photoelectric turntable based on the data information of the suspicious target.

[0101] Specifically, the controller utilizes image processing and computer vision technologies to detect and identify suspicious targets by analyzing their acquired data. The suspicious targets are then encoded and encapsulated, and corresponding tracking and shooting instructions are generated. This process is performed according to the control protocol and interface specifications of the photoelectric turntable. The tracking and shooting instructions can include parameters such as the target's tracking trajectory, tracking speed, and focus adjustment. By controlling the rotation direction, rotation angle, focus, and zoom adjustment of the photoelectric turntable, the controller ensures that the turntable can accurately track the movement of the suspicious target and keep the target centered in the frame.

[0102] Optionally, in this embodiment, step 505 can be implemented in two ways: one is that the controllers of the four integrated radar-visual cameras send tracking and shooting instructions for the suspicious target to their own photoelectric turntables based on the data information of the suspicious target; the other is that only the controller of the integrated radar-visual camera on the detection surface where the suspicious target is located sends tracking and shooting instructions for the suspicious target to its own photoelectric turntables based on the data information of the suspicious target.

[0103] Step 506: The photoelectric turntable identifies and tracks suspicious targets according to the tracking and shooting instructions, generates video stream data of the suspicious targets, and transmits the video stream data to the controller.

[0104] Optionally, in this embodiment, step 506 can be implemented in two ways: one is that the photoelectric turntables of the four integrated radar-vision cameras identify and track the suspicious target according to the tracking and shooting instructions, forming video stream data of the four directions of the suspicious target; the other is that only the photoelectric turntables of the integrated radar-vision cameras on the detection surface where the suspicious target is located identify and track the suspicious target according to the tracking and shooting instructions, forming video stream data of the suspicious target.

[0105] Step 507: Data fusion is performed on the data information of the suspicious target and the video stream data to form fused alarm data.

[0106] Step 507 of this embodiment, which involves data fusion of the data information of the suspicious target and the video stream data, is similar to step 306 of embodiment 1, and will not be described again here.

[0107] Step 508: Transmit the merged alarm data to the remote service terminal.

[0108] Furthermore, back-end personnel can view and process the fused alarm data of Radar 2 and the photoelectric turntable through remote terminal servers such as portable terminals or IoT platforms, so that back-end personnel can obtain alarm information in a timely manner and take corresponding measures to handle abnormal situations.

[0109] The proposed method for full-area monitoring of a radar-visual integrated machine in this embodiment enables real-time full-area monitoring of the protected target by four dual-radar radar-visual integrated machines. This effectively avoids blind spots or obstruction by objects that occur during the monitoring process in existing technologies. At the same time, it can better support multi-target tracking and detection of the radar-visual integrated machine, and improve the accuracy and reliability of target recognition of the radar-visual integrated machine to a certain extent.

[0110] In summary, the radar-visual integrated machine and its full-area monitoring method proposed in multiple embodiments of this specification allow a single device to select different radar 2 deployment schemes to achieve full-area real-time monitoring and tracking for different application scenarios, significantly increasing the monitoring coverage of the radar-visual integrated machine, effectively avoiding blind spots and obstruction problems of existing radar-visual integrated machines, and improving the processing capability of the radar-visual integrated machine when monitoring multiple targets to a certain extent. By setting the photoelectric turntable on a different horizontal plane from multiple radars 2, and allowing the photoelectric turntable to rotate independently to collect video stream data within the environmental area, it is possible to achieve independent data collection by radars 2 and photoelectric turntable in the detection area without interference, ensuring the independence and stability of the two systems, avoiding data conflicts or cross-interference, and directly driving the photoelectric turntable to track and capture based on the identification and detection feedback of radar 2, reducing the need for manual intervention and improving the monitoring efficiency and accuracy of the radar-visual integrated machine. Overall, by fixing the radar-visual integrated machine in the environmental area to be monitored for target monitoring, there is no need for manual control of the moving pan-tilt unit to find targets, which improves the efficiency of reconnaissance and search to a certain extent and expands the application range of the radar-visual integrated machine.

[0111] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Those skilled in the art should understand that the present invention includes, but is not limited to, the contents described in the accompanying drawings and the specific embodiments above. Any modifications that do not depart from the functional and structural principles of the present invention will be included within the scope of the claims.

Claims

1. A radar-guided all-in-one machine, characterized in that, The system includes a base, several radars, an optoelectronic turntable, a controller, a data processing module, a communication module, and a power supply module. The base is fixedly installed in the environmental area to be monitored. The several radars are fixedly installed on the side of the base. The radars are used to detect suspicious targets in the environmental area and collect data information of the suspicious targets. The optoelectronic turntable is rotatably installed on the upper surface of the base. The optoelectronic turntable is used to collect video stream data in the environmental area. The controller, data processing module, and communication module are all located on the base. The several radars are electrically connected to the data processing module. The optoelectronic turntable, data processing module, and communication module are all electrically connected to the controller. The communication module is connected to a remote service terminal. The power supply module supplies power to the other components. The system comprises four radars, which are fixedly installed on the side of the base. The four radars are symmetrically distributed in pairs about the base as the axis, and the two axes of symmetry are perpendicular to each other. All four radars are electrically connected to the data processing module, which is used to perform deduplication and fusion processing on the overlapping parts of the detection areas of the four radars. The photoelectric turntable includes an infrared module, a visible light module, a pitch component, a rotation component, and a drive component. The infrared module and the visible light module are both fixedly mounted on the pitch component, and the pitch component is rotatably mounted on the rotation component. The pitch component is used to realize the vertical rotation of the infrared module and the visible light module. The rotation component is rotatably mounted on the upper surface of the base and is used to realize the horizontal rotation of the infrared module and the visible light module. The pitch component and the rotation component are both connected to the drive component, and the infrared module, the visible light module, and the drive component are all electrically connected to the controller.

2. The integrated radar-visual machine as described in claim 1, characterized in that, The number of radars is two, and the two radars are fixedly installed on the side of the base. The two radars are arranged perpendicular to each other, and both radars are electrically connected to the data processing module. The data processing module is used to perform deduplication and fusion processing on the overlapping parts of the detection areas of the two radars.

3. A radar-guided all-in-one machine as described in any one of claims 1 to 2, characterized in that, The base has a radar mounting position on its side, and the radar has a bracket on its back. The radar mounting position and the bracket are fixed together by screws.

4. A radar-guided all-in-one machine as described in any one of claims 1 to 2, characterized in that, The base is provided with an external fixing position at its bottom end, and the base is fixedly installed in the environmental area to be monitored by the external fixing position and screws.

5. A radar-guided integrated machine as described in any one of claims 1 to 2, characterized in that, The communication module includes an antenna, which is mounted on the base and electrically connected to the controller.

6. A method for full-area monitoring using a radar-view integrated machine, used to execute the radar-view integrated machine as described in claim 1, characterized in that, Includes the following steps: A single radar-visual integrated machine is fixedly installed in the middle of the environmental area to be monitored; The overlapping areas of the detection zones of the four radars in the integrated radar-visual machine are deduplicated and fused. Four radars detect suspicious targets within the detection area in real time, acquire data information of the suspicious targets, and transmit the data information to the controller. The controller sends a tracking and shooting command for the suspected target to the photoelectric turntable based on the data information of the suspected target; The photoelectric turntable identifies and tracks suspicious targets according to the tracking and shooting instructions, generates video stream data of the suspicious targets, and transmits the video stream data to the controller. The data information of the suspicious target and the video stream data are fused to form fused alarm data; The fused alarm data is transmitted to a remote service terminal.

7. A method for full-area monitoring using a radar-view integrated machine, used to execute the radar-view integrated machine as described in claim 2, characterized in that, Includes the following steps: The overlapping areas of the detection zones of the two radars in the integrated radar-visual machine are deduplicated and fused to form a radar detection surface; Four integrated radar-visual cameras are fixedly installed at the symmetrical corner points around the protected target to be monitored. The radar detection surfaces of the four integrated radar-visual cameras are symmetrically distributed in pairs with the protected target as the axis, and the two axes of symmetry are perpendicular to each other. The overlapping parts of the radar detection surfaces of the four integrated radar-visual cameras are deduplicated and fused to obtain the overall detection area of ​​the four integrated radar-visual cameras. Four integrated radar detectors detect suspicious targets within the overall detection area in real time, acquire data information of the suspicious targets, and transmit the data information to the controller; The controller sends a tracking and shooting command for the suspected target to its own photoelectric turntable based on the data information of the suspected target; The photoelectric turntable identifies and tracks suspicious targets according to the tracking and shooting instructions, generates video stream data of the suspicious targets, and transmits the video stream data to the controller. The data information of the suspicious target and the video stream data are fused to form fused alarm data; The fused alarm data is transmitted to a remote service terminal.

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