Positioning system based on camera and millimeter wave radar

Abstract

The invention discloses a positioning system based on a camera and a millimeter wave radar. Comprising a plurality of millimeter-wave radars, a camera, a radar point data comparison module, a millimeter-wave radar data storage library, a camera two-dimensional picture generator, a camera angle regulator, a radar point position automatic generator, a radar point and camera two-dimensional image combination module, a GPS positioner, a display screen and a millimeter-wave radar automatic starting change-over switch. And the controller is electrically connected with the millimeter wave radar automatic starting change-over switch, the GPS positioner, the millimeter wave radar data storage library, the display screen, the camera two-dimensional image generator, the radar point and camera two-dimensional image combination module and the radar point data comparison module. The positioning accuracy is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field related to positioning systems, and in particular relates to a positioning system based on a camera and a millimeter-wave radar. Background Art

[0002] Millimeter wave radar is a radar that works in the millimeter wave band. Usually millimeter waves refer to the 30-300GHz frequency domain (wavelength is 1-10mm). The wavelength of millimeter waves is between microwaves and centimeter waves, so millimeter wave radar has some advantages of both microwave radar and photoelectric radar.

[0003] A camera is a video input device that is widely used in video conferencing, telemedicine, and real-time monitoring. Ordinary people can also use cameras to talk and communicate with each other on the Internet with images and sounds. The application of cameras in road condition detection is to detect road conditions. During the road condition detection process, cameras and millimeter-wave radars need to be detected to realize the positioning detection operation of road conditions and positions. For example: Patent application No. 202021752289.X discloses a positioning device based on a camera and a millimeter-wave radar, including a millimeter-wave radar, a box is fixedly installed at the top center of the millimeter-wave radar, a rotating shaft is rotatably installed on the inner top of the box, the top of the rotating shaft extends to the outside of the box and is fixedly installed with a camera, two bevel gears are rotatably installed inside the box, and the two bevel gears are meshed with each other. A groove wheel and a rotating wheel are rotatably installed on the rear side of the box, and the groove wheel and the rotating wheel are movably connected.

[0004] Although the above-disclosed structure can change the angle of the camera to increase the detection range of the camera, the structure still has the following problems: since the camera and millimeter-wave radar detection are both performed separately, the data of the two cannot be complementary, which ultimately affects the detection and positioning accuracy; at the same time, the millimeter-wave radar sensor uses a single frequency and cannot change to different frequencies according to actual conditions to improve the detection and positioning effect, so it needs to be improved. Summary of the invention

[0005] The purpose of the present invention is to provide a positioning system based on a camera and a millimeter-wave radar, which solves the problem that the existing camera and millimeter-wave radar detections are both carried out separately, resulting in the inability to complement the data of the two, which ultimately affects the detection and positioning accuracy; at the same time, the millimeter-wave radar sensor uses a single frequency and cannot be replaced with different frequencies according to actual conditions to improve the detection and positioning effect.

[0006] In order to solve the above technical problems, the present invention is achieved through the following technical solutions:

[0007] The present invention is a positioning system based on a camera and a millimeter-wave radar, comprising the following components:

[0008] More than one millimeter-wave radar, each millimeter-wave radar is used to detect the position information of the same detection point;

[0009] A camera for monitoring the surrounding environment where the millimeter-wave radar is placed;

[0010] A radar point data comparison module, used to be electrically connected to all millimeter wave radars to obtain radar point data of detection points of each millimeter wave radar;

[0011] a millimeter wave radar data repository for storing pre-set radar point data;

[0012] A camera two-dimensional image generator, used to generate a two-dimensional image from the data information obtained by the camera;

[0013] a camera angle adjuster, used for connecting with the camera and adjusting the angle of the camera;

[0014] A radar point position automatic generator, used to automatically generate radar point two-dimensional data based on the acquired radar point data;

[0015] The radar point and camera two-dimensional image combination module is used to fuse the camera information with the radar point information;

[0016] GPS locator, used to locate the location;

[0017] A display screen for accurately displaying the position after the fusion of millimeter-wave radar and camera;

[0018] A millimeter-wave radar automatic start-up switch, wherein the millimeter-wave radar automatic start-up switch is connected to each millimeter-wave radar to implement a switching operation for turning on the millimeter-wave radar;

[0019] A controller is electrically connected to the millimeter-wave radar automatic start-up switch, the GPS locator, the millimeter-wave radar data storage library, the display screen, the camera two-dimensional image generator, the radar point and camera two-dimensional image combination module, and the radar point data comparison module, so as to realize that the millimeter-wave radar with the lowest working frequency is first turned on by the millimeter-wave radar automatic start-up switch, the radar point signal is obtained by the millimeter-wave radar, and then the radar point signal is sent to the radar point data comparison module for comparison; when the currently selected millimeter-wave radar does not meet the requirements, the millimeter-wave radar is switched by the millimeter-wave radar automatic start-up switch, the millimeter-wave radar signal is obtained, and the camera information is obtained through the camera and sent to the controller.

[0020] Preferably, the millimeter wave radar is used to collect information about pedestrians and non-motor vehicles, and the information includes: relative angle, relative speed and relative distance.

[0021] Preferably, the millimeter wave radar and camera are also connected to the network cloud system through a communication module.

[0022] Preferably, the controller is also electrically connected to a positioning alarm.

[0023] Preferably, the GPS locator adopts the Beidou satellite positioning system.

[0024] Preferably, the controller is also electrically connected to a three-dimensional automatic generation module, and the three-dimensional automatic generation module is used to automatically generate a three-dimensional positioning image according to the acquired two-dimensional positioning picture.

[0025] Preferably, the controller is also electrically connected to one or more millimeter-wave radar adjustment motors, and the millimeter-wave radar adjustment motors are used to connect to each millimeter-wave radar to adjust the angle of the millimeter-wave radar.

[0026] Preferably, the camera can achieve high degree of rotation operation.

[0027] Preferably, the controller is also electrically connected to a monitoring background system.

[0028] Preferably, the millimeter wave radar includes a millimeter wave antenna, a radio frequency processing front end, and a digital-to-analog signal conversion module, and multiple millimeter wave radars use the same millimeter wave antenna.

[0029] The present invention has the following beneficial effects: the present invention can realize the automatic fusion operation of camera and millimeter-wave radar detection, realize the data complementarity of the two, and finally improve the detection and positioning accuracy; at the same time, multiple millimeter-wave radar sensors are used for detection at the same position, so as to switch the most suitable millimeter-wave radar according to the real-time monitoring point, so as to further improve the detection and positioning accuracy and detection accuracy, and at the same time, the camera position can be automatically adjusted through the camera angle adjuster to expand the detection range. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a connection diagram of a positioning system based on a camera and a millimeter-wave radar in Example 1;

[0031] Figure 2 This is a connection diagram of a positioning system based on a camera and a millimeter-wave radar in Example 2;

[0032] Figure 3 This is a connection diagram of a positioning system based on a camera and a millimeter-wave radar in Example 3;

[0033] Figure 4This is a connection diagram of a positioning system based on a camera and a millimeter-wave radar in Example 4;

[0034] Figure 5 This is a connection diagram of a positioning system based on a camera and a millimeter-wave radar in Example 5;

[0035] Figure 6 This is a connection diagram of a positioning system based on a camera and a millimeter-wave radar in Example 6.

[0036] Reference numerals:

[0037] Millimeter-wave radar 1, camera 2, radar point data comparison module 3, millimeter-wave radar data storage library 4, camera two-dimensional picture generator 5, camera angle adjuster 6, radar point position automatic generator 7, radar point and camera two-dimensional image combination module 8, GPS locator 9, display screen 10, millimeter-wave radar automatic start switch 11, controller 12, communication module 13, network cloud system 14, positioning alarm 15, millimeter-wave radar adjustment motor 16, three-dimensional automatic generation module 17, monitoring background system 18. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described in combination with the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] Example 1

[0040] See also Figure 1 As shown, the present embodiment discloses a positioning system based on a camera and a millimeter wave radar, comprising the following components:

[0041] More than one millimeter wave radar 1, each millimeter wave radar 1 is used to detect the position information of the same detection point;

[0042] A camera 2, used for monitoring the surrounding environment of the location where the millimeter wave radar 1 is placed;

[0043] A radar point data comparison module 3, used to be electrically connected to all the millimeter wave radars 1 to obtain radar point data of the detection points of each millimeter wave radar 1;

[0044] a millimeter wave radar data storage library 4, used to store preset radar point data;

[0045] A camera two-dimensional image generator 5, used to generate a two-dimensional image from the data information obtained by the camera 2;

[0046] a camera angle adjuster 6, used to be connected to the camera 2 and used to adjust the angle of the camera 2;

[0047] A radar point position automatic generator 7, used to automatically generate radar point two-dimensional data according to the acquired radar point data;

[0048] The radar point and camera two-dimensional image combination module 8 is used to fuse the camera 2 information with the radar point information;

[0049] GPS locator 9, used to locate the position;

[0050] A display screen 10, used to accurately locate and display the position after the millimeter wave radar 1 and the camera 2 are fused;

[0051] A millimeter wave radar automatic start switch 11, wherein the millimeter wave radar automatic start switch 11 is connected to each millimeter wave radar 1 to implement a switching operation for turning on the millimeter wave radar 1;

[0052] A controller 12 is provided, wherein the controller 12 is electrically connected to the millimeter-wave radar automatic start-up switch 11, the GPS locator 9, the millimeter-wave radar data storage library 4, the display screen 10, the camera two-dimensional image generator 5, the radar point and camera two-dimensional image combination module 8, and the radar point data comparison module 3, so as to realize that the millimeter-wave radar 1 with the lowest operating frequency is first turned on by the millimeter-wave radar automatic start-up switch 11, the radar point signal is obtained by the millimeter-wave radar 1, and then the radar point signal is sent to the radar point data comparison module 3 for comparison. When the currently selected millimeter-wave radar 1 does not meet the requirements, the millimeter-wave radar 1 is switched by the millimeter-wave radar automatic start-up switch 11, the millimeter-wave radar 1 signal is obtained, and the camera 2 information is obtained through the camera 2 and sent to the controller 12.

[0053] Preferably, the millimeter wave radar 1 is used to collect information about pedestrians and non-motor vehicles, and the information includes: relative angle, relative speed and relative distance.

[0054] Preferably, the GPS locator 9 adopts the Beidou satellite positioning system.

[0055] Preferably, the camera 2 can achieve 360-degree rotation operation.

[0056] Preferably, the millimeter wave radar 1 includes a millimeter wave antenna, a radio frequency processing front end, and a digital-to-analog signal conversion module, and multiple millimeter wave radars use the same millimeter wave antenna.

[0057] The specific working principle of the present invention is as follows: first, the millimeter-wave radar 1 with the lowest operating frequency is turned on by the millimeter-wave radar automatic start switch 11, and the radar point signal is obtained by the millimeter-wave radar 1, and then the radar point signal is sent to the radar point data comparison module 3 for comparison. When the currently selected millimeter-wave radar 1 does not meet the requirements, the millimeter-wave radar 1 is switched by the millimeter-wave radar automatic start switch 11, and the millimeter-wave radar 1 signal is obtained, and the camera 2 information is obtained through the camera 2 and sent to the controller 12. After the controller 12 obtains the signal, the camera information is sent to the camera two-dimensional image generator 5 to generate a two-dimensional image, and the millimeter-wave radar 1 signal is sent to the radar point position automatic generator 7 to automatically generate a radar point two-dimensional data. The data is then synchronously sent to the radar point and camera two-dimensional image combination module 8, which is used to fuse the camera 2 information with the radar point information to obtain the precise positioning point and then send it to the display screen 10 for display. The GPS locator 9 is used to obtain the real-time position of the positioning point. Therefore, the present invention can realize the automatic fusion operation of camera and millimeter-wave radar detection, realize the data complementarity of the two, and ultimately improve the detection and positioning accuracy; at the same time, multiple millimeter-wave radar sensors are used for detection at the same position, and the most suitable millimeter-wave radar is switched according to the real-time monitoring point to further improve the detection and positioning accuracy and detection accuracy. At the same time, the position of camera 2 can be automatically adjusted through the camera angle adjuster 6 to expand the detection range.

[0058] Example 2

[0059] See also Figure 2 As shown, the general structure of a positioning system based on a camera and a millimeter-wave radar disclosed in this embodiment is the same as that in Embodiment 1, except that, as a preference, the millimeter-wave radar and the camera are also communicatively connected to a network cloud system 14 via a communication module 13.

[0060] Example 3

[0061] See also Figure 3 As shown, the general structure of a positioning system based on a camera and a millimeter-wave radar disclosed in this embodiment is the same as that in Embodiment 1, except that, as a preference, the controller 12 is also electrically connected to a positioning alarm 15. In this embodiment, a fault positioning alarm is implemented by setting the positioning alarm 15.

[0062] Example 4

[0063] See also Figure 4As shown, the general structure of a positioning system based on a camera and a millimeter-wave radar disclosed in this embodiment is the same as that of Embodiment 1, except that, as a preference, the controller 12 is also electrically connected to a three-dimensional automatic generation module 17, and the three-dimensional automatic generation module 17 is used to automatically generate a three-dimensional positioning image based on the acquired two-dimensional positioning picture. In this embodiment, the three-dimensional image generation of the positioning point is achieved by setting the three-dimensional automatic generation module 17, which is convenient for users to observe intuitively.

[0064] Example 5

[0065] See also Figure 5 As shown, the general structure of a positioning system based on a camera and a millimeter-wave radar disclosed in this embodiment is the same as that of Embodiment 1. Preferably, the controller 12 is also electrically connected to one or more millimeter-wave radar adjustment motors 16, and the millimeter-wave radar adjustment motors 16 are used to connect to each millimeter-wave radar 1 to adjust the angle of the millimeter-wave radar 1. In this embodiment, the millimeter-wave radar position is adjusted in angle by setting the millimeter-wave radar adjustment motor 16, thereby further improving the detection and positioning accuracy.

[0066] Example 6

[0067] See also Figure 6 As shown, the general structure of a positioning system based on a camera and a millimeter-wave radar disclosed in this embodiment is the same as that of Embodiment 1. Preferably, the controller 12 is also electrically connected to a monitoring background system 18. In this embodiment, by setting up the monitoring background system 18, it is convenient to automatically detect the entire positioning system at a later stage.

[0068] The above are only preferred embodiments of the present invention and do not limit the present invention. Any modification to the technical solutions recorded in the aforementioned embodiments, any equivalent replacement of some of the technical features therein, and any modification, equivalent replacement, and improvement made are all within the protection scope of the present invention.

Claims

1. A positioning system based on a camera and a millimeter-wave radar, characterized in that: Includes the following components: More than one millimeter wave radar (1), each millimeter wave radar (1) is used to detect position information of the same detection point; A camera (2) for monitoring the surrounding environment of the location where the millimeter wave radar (1) is placed; A radar point data comparison module (3) is used to be electrically connected to all the millimeter wave radars (1) to obtain radar point data of the detection points of each millimeter wave radar (1); A millimeter wave radar data storage library (4) for storing pre-set radar point data; A camera two-dimensional image generator (5) is used to generate a two-dimensional image from the data information acquired by the camera (2); A camera angle adjuster (6), used to be connected to the camera (2) and used to adjust the angle of the camera (2); A radar point position automatic generator (7), used for automatically generating radar point two-dimensional data according to the acquired radar point data; A radar point and camera two-dimensional image combination module (8) is used to fuse the camera (2) information with the radar point information; A GPS locator (9) for locating the position; A display screen (10) for accurately positioning and displaying a position obtained by fusing the millimeter wave radar (1) and the camera (2); a millimeter wave radar automatic start-up switch (11), wherein the millimeter wave radar automatic start-up switch (11) is connected to each millimeter wave radar (1) to implement a switching operation for turning on the millimeter wave radar (1); A controller (12) is electrically connected to the millimeter wave radar automatic start switch (11), the GPS locator (9), the millimeter wave radar data storage library (4), the display screen (10), the camera two-dimensional image generator (5), the radar point and camera two-dimensional image combination module (8), and the radar point data comparison module (3), so as to realize that the millimeter wave radar (1) with the lowest working frequency is first turned on by the millimeter wave radar automatic start switch (11), the radar point signal is obtained by the millimeter wave radar (1), and then the radar point signal is sent to the radar point data comparison module (3) for comparison; when the currently selected millimeter wave radar (1) does not meet the requirements, the millimeter wave radar (1) is switched by the millimeter wave radar automatic start switch (11), the millimeter wave radar (1) signal is obtained, and the camera (2) information is obtained by the camera (2) and sent to the controller (12).

2. A positioning system based on camera and millimeter wave radar according to claim 1, characterized in that: The millimeter wave radar (1) is used to collect information about pedestrians and non-motor vehicles, and the information includes: relative angle, relative speed and relative distance.

3. The positioning system based on camera and millimeter wave radar according to claim 1, characterized in that: The millimeter wave radar and camera are also connected to the network cloud system (14) through a communication module (13).

4. The positioning system based on camera and millimeter wave radar according to claim 1, characterized in that: The controller (12) is also electrically connected to a positioning alarm (15).

5. The positioning system based on camera and millimeter wave radar according to claim 1, characterized in that: The GPS locator (9) adopts the Beidou satellite positioning system.

6. The positioning system based on camera and millimeter wave radar according to claim 1, characterized in that: The controller (12) is also electrically connected to a three-dimensional automatic generation module (17), and the three-dimensional automatic generation module (17) is used to automatically generate a three-dimensional positioning image based on the acquired two-dimensional positioning picture.

7. The positioning system based on camera and millimeter wave radar according to claim 1, characterized in that: The controller (12) is also electrically connected to one or more millimeter wave radar adjustment motors (16), and the millimeter wave radar adjustment motors (16) are used to connect to each millimeter wave radar (1) and to adjust the angle of the millimeter wave radar (1).

8. The camera and millimeter wave radar based positioning system according to claim 1, characterized in that: The camera (2) is capable of 360-degree rotation.

9. The camera and millimeter wave radar based positioning system according to claim 1, characterized in that: The controller (12) is also electrically connected to a monitoring background system (18).

10. The positioning system based on camera and millimeter wave radar according to claim 1, characterized in that: The millimeter wave radar (1) comprises a millimeter wave antenna, a radio frequency processing front end, and a digital-to-analog signal conversion module, and multiple millimeter wave radars use the same millimeter wave antenna.

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