A method and device for capturing a target object, an electronic device, and a storage medium

Abstract

The application discloses a snapshot method and device of a target object, electronic equipment and a storage medium. The method comprises the following steps: determining at least one target object to be snapped in a radar scanning area, and determining a radar scanning area convergence point matched with the target object to be snapped; wherein the radar scanning area convergence point is used to represent a convergence point of a radar signal in the radar scanning area; determining a target shooting device matched with the target object to be snapped according to the radar scanning area convergence point matched with the target object to be snapped and a preset mapping relationship between the radar scanning area convergence point and a shooting device; and controlling the target shooting device to take a snapshot of the target object to be snapped. The application can realize effective and clear snapshot of the target object.

Description

Technical Field

[0001] This invention relates to the field of data processing technology, and in particular to a method, apparatus, electronic device, and storage medium for capturing images of a target object. Background Technology

[0002] With the development of science and technology, the integration of radar and imaging equipment is becoming increasingly common, finding wider applications in intelligent transportation, security, and industrial automation. Radar detects information such as the distance, speed, and orientation of targets by emitting electromagnetic waves and receiving reflected signals. Once the radar detects a target, it triggers the imaging equipment to capture an image of the target, or transmits the target's position information to the imaging equipment, enabling it to quickly and accurately capture the image.

[0003] However, when the number of target objects detected by the radar is greater than the number of shooting devices, it is impossible to track and shoot each target object. Therefore, there is an urgent need for a target object capture scheme that links radar and shooting devices to ensure that target objects can be effectively captured. Summary of the Invention

[0004] This invention provides a method, device, electronic device, and storage medium for capturing images of target objects, so as to achieve effective and clear capture of target objects.

[0005] In a first aspect, embodiments of the present invention provide a method for capturing images of a target object, the method comprising:

[0006] Identify at least one target object to be captured within the radar scanning area, and determine the convergence point of the radar scanning area that matches the target object to be captured;

[0007] Wherein, the radar scanning area convergence point is used to represent the convergence point of radar signals within the radar scanning area;

[0008] Based on the convergence point of the radar scanning area that matches the target object to be captured, and the pre-set mapping relationship between the convergence point of the radar scanning area and the capturing device, the target capturing device that matches the target object to be captured is determined.

[0009] Control the target shooting device to capture the target object.

[0010] Secondly, embodiments of the present invention also provide a target object capture device, the device comprising:

[0011] The radar scanning area convergence point determination module is used to determine at least one target object to be captured within the radar scanning area, and to determine the radar scanning area convergence point that matches the target object to be captured.

[0012] Wherein, the radar scanning area convergence point is used to represent the convergence point of radar signals within the radar scanning area;

[0013] The target capturing device determination module is used to determine the target capturing device that matches the target object to be captured based on the convergence point of the radar scanning area that matches the target object to be captured, and the pre-set mapping relationship between the convergence point of the radar scanning area and the capturing device.

[0014] The target object capture module is used to control the target shooting device to capture the target object to be captured.

[0015] Thirdly, embodiments of the present invention also provide an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the target object capture method as described in any of the embodiments of the present invention.

[0016] Fourthly, embodiments of the present invention also provide a storage medium for storing computer-executable instructions, which, when executed by a computer processor, are used to perform the target object capture method as described in any of the embodiments of the present invention.

[0017] The technical solution of this invention, after a target object appears within the radar scanning area, determines the convergence point of the radar scanning area that matches the target object. Based on a pre-set mapping relationship between the convergence points and imaging devices, it determines the imaging device corresponding to the convergence point, which serves as the target imaging device. The target imaging device then captures the target object. This solves the problem in existing technologies where, when the number of target objects detected by radar exceeds the number of imaging devices, it is impossible to track and capture each target object. This invention, by assigning a corresponding imaging device to the target object based on the convergence point of the radar scanning area, achieves effective and clear capture of the target object.

[0018] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a flowchart of a target object capture method provided in Embodiment 1 of the present invention;

[0021] Figure 2 This is a schematic diagram of radar scanning area division provided in Embodiment 1 of the present invention;

[0022] Figure 3 This is a flowchart of a target object capture method provided in Embodiment 2 of the present invention;

[0023] Figure 4 This is a schematic diagram of the structure of a target object capture device provided in Embodiment 3 of the present invention;

[0024] Figure 5 This is a schematic diagram of the structure of an electronic device provided in Embodiment 4 of the present invention. Detailed Implementation

[0025] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0026] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or device that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or devices. In the embodiments of this application, certain software, components, models, and other existing industry solutions may be mentioned. These should be considered exemplary, intended only to illustrate the feasibility of implementing the technical solutions of this application, and do not imply that the applicant has already used or necessarily used such solutions.

[0027] The acquisition, transmission, storage, use, and processing of data in this application all comply with the relevant provisions of national laws and regulations.

[0028] Example 1

[0029] Figure 1 The flowchart of a target object capture method provided in Embodiment 1 of the present invention is applicable to the situation where radar and shooting equipment are linked to capture target objects. The method can be executed by a target object capture device, which can be implemented in hardware and / or software. The target object capture device can be configured in an electronic device and used in conjunction with radar and shooting equipment.

[0030] like Figure 1 As shown, the method includes:

[0031] S110. Determine at least one target object to be captured within the radar scanning area, and determine the convergence point of the radar scanning area that matches the target object to be captured.

[0032] A radar scanning area refers to the specific spatial range within which a radar can detect a target object by emitting radar signals and receiving reflected signals. In this embodiment, the radar scanning area can be circular, fan-shaped, rectangular, or other shapes; this embodiment is not limited in this respect. The radar emits radar signals at regular intervals along a clockwise or counterclockwise direction, with itself as the origin. The scanning angle can remain constant or vary; this embodiment is not limited in this respect either.

[0033] In this embodiment, target object detection within a radar scanning area is performed using radar. Specifically, the radar emits radar signals through its antenna. When the radar signal encounters a target object during propagation, a portion of the radar signal energy is reflected back by the target object. The reflected radar signal carries information about the target object, such as its position, direction, and speed. By receiving the reflected radar signals and performing signal processing and analysis, the radar can determine the presence of a target object and obtain its information based on factors such as the received signal strength, time difference, and Doppler frequency.

[0034] The target object can be a person, vehicle, etc., and can be in motion or stationary; this embodiment does not impose any restrictions. In this embodiment, the target object identified by the radar needs to be captured by a photographing device; therefore, the target object identified by the radar is used as the target object to be captured.

[0035] The convergence point of a radar scan area is used to represent the convergence point of radar signals within the radar scan area. It should be noted that the convergence point is not an actual point, but a virtual location determined through processing and analysis of the radar scan area.

[0036] In this embodiment, multiple convergence points are pre-determined within the radar scanning area. Each convergence point has a mapping relationship with the imaging device. After the radar detects the target object to be captured, it can determine the convergence point that matches the target object based on the location information of the target object and the pre-determined convergence points, thereby determining the imaging device that matches the target object.

[0037] In this embodiment, by determining a convergence point that matches the target object to be captured, and allocating shooting devices based on this convergence point, the capture speed of the target object can be improved, and multiple target objects can be captured simultaneously (when multiple targets correspond to the same convergence point, the shooting device corresponding to that convergence point can capture multiple targets simultaneously). Furthermore, since each target object is matched with a convergence point, the shooting effect of the shooting device corresponding to that convergence point on each target object can be guaranteed, ensuring the clarity of each target object in the captured image.

[0038] Specifically, the process of determining the convergence point of the radar scanning area includes: dividing the radar scanning area into multiple sub-regions; determining the centroid coordinates of each sub-region; and using the centroid coordinates of each sub-region as the convergence point of each sub-region.

[0039] In one optional embodiment, the radar scanning area is divided into multiple sub-regions, which can be divided according to a preset angle or a preset distance.

[0040] Taking a circular radar scanning area as an example, the radar scanning area can be divided into a certain number of sector areas according to a preset angle. For example, the preset angle can be set to 30°, and with the radar as the center, the radar scanning area can be divided into 360° / 30° = 12 sector areas as sub-regions;

[0041] Taking a radar scanning area as a sector as an example, similarly, the radar scanning area can be divided into a certain number of sector regions according to a preset angle. For example, if the angle of the radar scanning area is 60°, the preset angle can be set to 10°, dividing the radar scanning area into 60° / 10° = 6 small sector regions as sub-regions. Alternatively, the radar scanning radius can be divided equally according to a preset distance, and the division points can be connected by arcs to obtain sub-regions. For example, Figure 2 A schematic diagram of radar scanning area division is provided, such as... Figure 2 As shown, the dashed lines represent the radar signals emitted by the radar at preset scanning angles. The radar scanning radius is R, and the preset distance is set to R / 3, dividing the radar scanning area into a small fan-shaped area A and two arc-shaped areas B and C.

[0042] Taking a rectangular radar scanning area as an example, the radar scanning area can be divided into several small rectangles as sub-regions according to the size of the radar scanning area and the preset distance.

[0043] In another optional embodiment, the radar scanning area is divided into multiple sub-regions. Furthermore, historical target data of the radar scanning area can be analyzed to determine active target areas. The active target areas can be divided into denser sub-regions (e.g., by determining a smaller preset angle or distance to result in more sub-regions), while the areas outside the active target areas can be divided into sparser sub-regions (e.g., by determining a larger preset angle or distance to result in fewer sub-regions). The sub-region division can be performed in a manner similar to the embodiments described above, and will not be elaborated further in this embodiment.

[0044] Furthermore, the historical target data of the radar scanning area is analyzed to determine the active areas of the target objects. This can be done by determining the historical target object trajectories of the radar scanning area and clustering the spatial locations of each historical target object trajectory; the areas corresponding to each cluster of historical target object trajectories obtained after clustering are taken as the active areas of the target objects. This embodiment is only an example of the process of determining the active areas of target objects, and this embodiment does not limit the specific method of determining the active areas of target objects, or the specific method of dividing the active areas of target objects and other areas.

[0045] The centroid coordinates of each sub-region are determined separately. Specifically, taking a sector-shaped sub-region as an example, the sector can be divided into several small triangles, the centroid coordinates of each small triangle can be calculated, and the centroid coordinates of the sector-shaped sub-region can be obtained by integrating the centroid coordinates of each small triangle. Taking an arc-shaped sub-region as an example, the same method can be used to determine the centroid coordinates of the sector-shaped sub-region. The centroid coordinates of the larger and smaller sector-shaped sub-regions of the arc-shaped sub-region can be calculated separately, and then the centroid coordinates of the arc-shaped sub-region can be determined based on the centroid coordinates of the larger and smaller sector-shaped sub-regions. Alternatively, the arc-shaped sub-region can be divided into several small triangles and rectangles, the centroid coordinates of each small triangle and rectangle can be calculated, and the centroid coordinates of the arc-shaped sub-region can be obtained by integrating the centroid coordinates of each small triangle and rectangle. Taking a rectangular sub-region as an example, the centroid coordinates of the rectangular sub-region can be determined directly based on the vertex coordinates of the rectangular sub-region.

[0046] In this embodiment, after the radar detects the target object to be captured, the radar scanning area convergence point that matches the target object is determined among the convergence points of the predetermined radar scanning area.

[0047] In an optional embodiment, determining the convergence point of the radar scanning area that matches the target object to be captured may include: determining the distance between the target object and each convergence point of the radar scanning area, and selecting the convergence point of the radar scanning area with the shortest distance as the convergence point of the radar scanning area that matches the target object. This setting can quickly determine the capturing device for the target object and ensure the best capturing effect for the target object.

[0048] In another optional embodiment, determining the convergence point of the radar scanning area that matches the target object to be captured may further include: if it is determined that the distance between the target object to be captured and the convergence point of the target radar scanning area is less than or equal to a preset distance threshold, then the convergence point of the target radar scanning area is determined to be the convergence point of the radar scanning area that matches the target object to be captured.

[0049] The preset distance threshold is a fixed value, such as 2m. In this embodiment, all convergence points whose distance to the target object is less than or equal to the preset distance threshold are used as convergence points of the radar scanning area matching the target object. The advantage of this setting is that, for the same target object, as many convergence points as possible are determined. On the one hand, this facilitates the comprehensive consideration of shooting effect and shooting equipment resources among the shooting devices corresponding to the convergence points that meet the distance conditions, and determines the optimal shooting device. On the other hand, when the convergence points corresponding to multiple target objects overlap, multiple target objects can be captured through the shooting device corresponding to the convergence point as much as possible, realizing the capture of multiple target objects and saving shooting equipment resources.

[0050] Furthermore, since the radar signal of the target object to be captured also carries information such as its speed and direction of movement, the position of the target object can be predicted based on its speed and direction of movement. If the distance between the predicted position of the target object and the convergence point of the target radar scanning area is less than or equal to a preset distance threshold, then the convergence point of the target radar scanning area is determined to be the radar scanning area convergence point that matches the target object.

[0051] It should be noted that when making location predictions, only locations within a preset time period should be predicted; predicted locations outside the preset time period have lower reference value.

[0052] The advantage of this setup is that it can pre-determine the convergence point of the matching target radar scanning area based on the movement trend of the target object to be captured, thereby improving capture efficiency.

[0053] It should be noted that when the radar detects only one target object to be captured, the corresponding imaging device is determined using methods S110-S130. When the radar detects multiple targets, especially when the number of targets exceeds the total number of imaging devices, the same imaging device may capture images of multiple targets.

[0054] In an optional embodiment, for each target object to be captured, the corresponding convergence point can be determined using the methods S110-S130, thereby determining the corresponding shooting device. It is understood that since each convergence point has a corresponding shooting device, when the number of target objects to be captured is greater than the total number of shooting devices, there will inevitably be at least two target objects to be captured corresponding to the same convergence point, and thus corresponding to the same shooting device, thus achieving the capture of multiple target objects.

[0055] In another optional embodiment, further, determining the convergence point of the radar scanning area matching the target object to be captured includes: if it is determined that the number of target objects to be captured is at least two, then determining at least one set of target objects to be captured based on each target object; and determining the convergence point of the radar scanning area matching the set of target objects to be captured.

[0056] In this embodiment, each target object to be captured can be divided into different sets of target objects to be captured, and a matching convergence point can be determined for the same set of target objects to be captured, thereby determining the corresponding shooting device, and simultaneously capturing the target objects in the set of target objects to be captured.

[0057] Specifically, based on each target object to be captured, at least one set of target objects is determined. This can be achieved by clustering the target objects, adding those belonging to the same cluster into the same set of target objects. For example, clustering algorithms such as DBSCAN (Density-Based Spatial Clustering of Applications with Noise) and K-means clustering can be used to cluster the target objects. The specific process of clustering using these algorithms will not be elaborated in this embodiment. Alternatively, the distance between the target objects can be calculated, and target objects with a distance less than or equal to a preset threshold can be added to the same set of target objects. Furthermore, when classifying target objects based on the distance between them, motion trend analysis can be performed on each target object. If the distance between at least two target objects is greater than a preset threshold, but the distance between the convergence points of the motion directions of all target objects is less than or equal to a preset threshold for the distance between the convergence points of the motion directions, then all target objects can still be added to the same set of target objects. This embodiment does not limit the specific method for determining the set of target objects based on each target object.

[0058] Furthermore, determining the convergence point of the radar scanning area that matches the set of target objects to be captured may include: determining the position information of the set of target objects to be captured based on the position information of each target object in the set of target objects to be captured; if, based on the position information of the set of target objects to be captured, the distance between the set of target objects to be captured and the convergence point of the target radar scanning area is determined to be less than or equal to a preset distance threshold, then the convergence point of the target radar scanning area is determined to be the convergence point of the radar scanning area that matches the set of target objects to be captured.

[0059] In this embodiment, for each target object in the same set of target objects to be captured, the average value of its position information is calculated, and this average value is used as the position information corresponding to the set of target objects to be captured. The distance between the set of target objects to be captured and the convergence points of each radar scanning area is determined based on the position information of the set of target objects to be captured. The process of determining the radar scanning area convergence point that matches the set of target objects to be captured based on the distance between the set of target objects to be captured and the convergence points of each radar scanning area is the same as the process in the above embodiment, and will not be repeated here.

[0060] Furthermore, when there are multiple target objects to be captured, clustering can be used to determine the set of target objects to be captured, taking into account the movement speed and direction of each target object. This ensures that the movement directions of the target objects in the clustered set are consistent. In this case, position prediction can be performed based on the average movement speed of each target object in the set. Similarly, if the distance between the predicted position of the target object set and the convergence point of the target radar scanning area is less than or equal to a preset distance threshold, then the convergence point of the target radar scanning area is determined to be the radar scanning area convergence point that matches the target object set. Likewise, position prediction is performed within a preset time period.

[0061] Furthermore, the position of each target object in the set of target objects to be captured can be predicted based on its speed and direction of movement. Based on the predicted positions of each target object, the predicted set of target objects to be captured is redefined. The position information of the predicted set of target objects to be captured is determined based on the position information of each target object within the predicted set. If the distance between the position information of the predicted set of target objects to be captured and the convergence point of the target radar scanning area is less than or equal to a preset distance threshold, then the convergence point of the target radar scanning area is determined to be the radar scanning area convergence point that matches the predicted set of target objects to be captured.

[0062] The advantage of this setup is that it can pre-determine the convergence point of the matching target radar scanning area based on the movement trend of each target object in the set of targets to be captured, thereby improving capture efficiency.

[0063] S120. Based on the convergence point of the radar scanning area that matches the target object to be captured, and the pre-set mapping relationship between the convergence point of the radar scanning area and the capturing device, determine the target capturing device that matches the target object to be captured.

[0064] In this embodiment, the mapping relationship between the convergence point of the radar scanning area and the imaging device indicates that the imaging device can effectively and clearly capture the convergence point of the radar scanning area with which it has a mapping relationship. Therefore, for a target object to be captured, an imaging device with a mapping relationship between the convergence point of the radar scanning area that matches the target object can effectively and clearly capture the target object.

[0065] In this embodiment, a mapping relationship between the convergence point of the radar scanning area and the shooting device is pre-set. After determining the convergence point of the radar scanning area that matches the target object to be captured, the target shooting device that matches the target object is determined according to the mapping relationship. This can improve the capture speed of the target object and at the same time ensure an effective and clear capture effect of the target object.

[0066] The process of pre-determining the convergence point of the radar scanning area has been described in the above embodiments. After determining multiple convergence points of the radar scanning area, the mapping relationship between each imaging device and each convergence point of the radar scanning area in the set of imaging devices corresponding to the radar detection area is determined.

[0067] Specifically, the field of view of each imaging device can be determined, which is the range that the imaging device can capture. Based on the field of view of each imaging device, it is determined whether it is necessary to establish a mapping relationship between each imaging device and the convergence point of each radar scanning area. It should be noted that an imaging device can establish a mapping relationship with one or more radar scanning area convergence points, and at the same time, a radar scanning area convergence point can also establish a mapping relationship with one or more imaging devices. This embodiment does not impose any restrictions on this.

[0068] In an optional embodiment, the central region of the field of view of each imaging device can be determined, and the size of the central region is not limited in this embodiment. For the central region of the field of view of a certain imaging device, if it is determined that a certain radar scanning area convergence point is located within the central region, a mapping relationship is established between the radar scanning area convergence point and the imaging device.

[0069] In another optional embodiment, the center point of the field of view of each shooting device can also be determined. For the center point of the field of view of a certain shooting device, if the distance between the convergence point of a certain radar scanning area and the center point is determined to be less than or equal to a preset distance threshold, then a mapping relationship is established between the convergence point of the radar scanning area and the shooting device.

[0070] In another optional embodiment, the focus point of the field of view of each imaging device can also be determined. The focus point is usually the point with the highest sharpness within the field of view of the imaging device at the current focal length. If it is determined that the distance between the convergence point of a certain radar scanning area and the focus point is less than or equal to a preset distance threshold, then a mapping relationship is established between the convergence point of the radar scanning area and the imaging device.

[0071] In this embodiment, after establishing the mapping relationship between the convergence point of the radar scanning area and the shooting device, data such as the field of view of the shooting device, the current focal length, and the shooting device parameters can also be stored.

[0072] Furthermore, if the shooting equipment includes a zoom shooting device, that is, the zoom shooting device can magnify and reduce the field of view by adjusting the focal length, then the field of view of the zoom shooting device at different focal lengths can be determined respectively, and the mapping relationship between the zoom shooting device and the convergence point of the radar scanning area at different focal lengths can be determined respectively using the above method.

[0073] Furthermore, if the shooting equipment includes a gimbal shooting device, that is, the gimbal shooting device can rotate the field of view through the horizontal rotation mechanism and / or vertical rotation mechanism of the gimbal, then the field of view of the gimbal shooting device at different gimbal rotation angles can be determined respectively, and the mapping relationship between the gimbal shooting device and the convergence point of the radar scanning area at different gimbal rotation angles can be determined by the above method.

[0074] In a specific example, Table 1 provides a schematic diagram of the mapping relationship between the convergence point of the radar scanning area and the imaging device. As shown in Table 1, the schematic diagram of the mapping relationship between the convergence point of the radar scanning area and the imaging device includes the imaging device identifier, the field of view of the imaging device, the focal length of the imaging device, and the convergence point of the radar scanning area.

[0075] Table 1

[0076] Camera markings Focal length of shooting equipment Shooting equipment field of view Radar scan area convergence point Filming equipment 1 50mm S1 W1 Filming equipment 1 70mm S2 W3 Filming equipment 2 50mm S5 W7

[0077] S130. Control the target shooting device to capture the target object to be captured.

[0078] After determining the target shooting device that matches the target object to be captured, the target shooting device is used to capture the target object.

[0079] The technical solution of this embodiment determines the convergence point of the radar scanning area matching the target object to be captured, then determines the target capturing device based on the convergence point of the radar scanning area, and finally captures the target object using the target capturing device. This enables fast, effective, and clear capture of target objects, especially when the number of target objects is large or even exceeds the number of capturing devices. It allows for the reasonable allocation of capturing devices, enabling the capture of multiple target objects and maximizing the retention of capture information for each target object.

[0080] Furthermore, if the target shooting device is a zoom shooting device, it is necessary to further determine whether the current focal length of the target shooting device is the same as the focal length when the mapping relationship with the convergence point is established. If not, the focal length of the target shooting device needs to be adjusted before capturing the image.

[0081] Similarly, if the target shooting device is a gimbal shooting device, it is necessary to further determine whether the current gimbal angle of the target shooting device is the same as the gimbal angle when the mapping relationship is established with the convergence point. If not, the gimbal of the target shooting device needs to be rotated before capturing the image.

[0082] The technical solution of this invention, after a target object appears within the radar scanning area, determines the convergence point of the radar scanning area that matches the target object. Based on a pre-set mapping relationship between the convergence points and imaging devices, it determines the imaging device corresponding to the convergence point, which serves as the target imaging device. The target imaging device then captures the target object. This solves the problem in existing technologies where, when the number of target objects detected by radar exceeds the number of imaging devices, it is impossible to track and capture each target object. This invention, by assigning a corresponding imaging device to the target object based on the convergence point of the radar scanning area, achieves effective and clear capture of the target object.

[0083] Example 2

[0084] Figure 3 This is a flowchart of a target object capture method provided in Embodiment 2 of the present invention. Based on the above embodiments, the present invention further specifies the process of setting the mapping relationship between the convergence point of the radar scanning area and the shooting device, as well as the process of determining the target shooting device that matches the target object to be captured.

[0085] like Figure 3 As shown, the method includes:

[0086] S210. Determine the convergence points corresponding to at least two sub-regions within the radar scanning area.

[0087] The above embodiments have provided a preliminary description of the specific process for determining the convergence point of each sub-region within the radar scanning area. In this embodiment, when the radar scanning area is fan-shaped, the process of dividing the radar scanning area into sub-regions and determining the convergence point is further described in detail.

[0088] Furthermore, S210 may include:

[0089] A1. Based on the scanning angle and preset distance of the radar scanning area, the radar scanning area is divided into at least two sub-areas;

[0090] A2. Determine the centroid coordinates of each sub-region and use the centroid coordinates of each sub-region as the corresponding convergence point.

[0091] The scanning angle refers to the angle between consecutive radar signals when the radar signals are represented by rays. For example, the scanning angle can be 1°, 3°, or 5°. The smaller the scanning angle, the denser the radar signals. The preset distance is a pre-set distance value. Figure 2 For example, when the radar scanning radius is R, the preset distance is R / 3.

[0092] Within the radar scanning area, the scanning angle can remain constant. Figure 2 The radar scanning area has the same scanning angle, and is divided into three sub-areas, A, B, and C, by a preset distance. The scanning angle can also be changed. For example, the radar scanning area may have 10 rays with a scanning angle of 3°, 6 rays with a scanning angle of 5°, and 3 rays with a scanning angle of 7°, in a clockwise direction. In this case, the radar scanning area can first be divided into fan-shaped areas with scanning angles of 3°, 5°, and 7°, and then further subdivided according to a preset distance. Taking a preset distance of R / 3 as an example, this results in 9 sub-areas.

[0093] In this embodiment, the radar scanning area is divided into sub-regions based on the scanning angle and a preset distance. This is because as the scanning angle changes, the density of the radar signal changes, and the convergence point also changes accordingly. Therefore, dividing the area into sub-regions based on the scanning angle and a preset distance can improve the accuracy of the convergence point.

[0094] When the radar scanning area is fan-shaped, the sub-regions obtained by dividing the radar scanning area are either fan-shaped or arc-shaped. The method for determining the centroid coordinates of the fan-shaped sub-regions has been explained in the above embodiments and will not be repeated here.

[0095] In an optional embodiment, for an arc-shaped sub-region, the centroid coordinates of each sub-region can be determined as follows: The angle θ of the arc-shaped sub-region is determined, as well as the radius R of the first sector and the radius r of the second sector forming the arc-shaped sub-region, wherein the radius R of the first sector is greater than the radius r of the second sector; the centroid coordinates (x1, y1) of the first sector and the centroid coordinates (x2, y2) of the second sector are determined; the area of ​​the arc-shaped sub-region is determined as: The centroid coordinates of the arc-shaped sub-region are (x, y), where,

[0096] In another alternative embodiment, the centroid coordinates of each sub-region, whether fan-shaped or arc-shaped, can be determined in the following way:

[0097] A21. For each sub-region, determine at least two rectangles and / or triangles obtained after meshing the current sub-region;

[0098] A22. Determine the centroid coordinates and area of ​​each rectangle and / or triangle, and based on the centroid coordinates and area of ​​each rectangle and / or triangle, determine the centroid coordinates of the current sub-region.

[0099] In this embodiment, the grid spacing during mesh generation can be a small, fixed value; however, no specific value is limited for the grid spacing. It should be noted that, since the sector or arc-shaped region includes at least one arc edge, the resulting mesh is not strictly a triangle, but rather approximated as one.

[0100] In this embodiment, for the current sub-region, the grid can be divided into horizontal and vertical grid lines with a fixed grid spacing, starting from the vertices of the current sub-region. After grid division, multiple rectangles and / or triangles are obtained, and their vertex coordinates are determined. The centroid coordinates and area are then determined based on the vertex coordinates. The calculation of the centroid coordinates and area based on the vertex coordinates of the triangles or rectangles can be achieved using conventional mathematical formulas, which will not be elaborated upon in this embodiment.

[0101] In this embodiment, after calculating the centroid coordinates and area of ​​each rectangle and / or triangle in the current sub-region, the ratio of the area of ​​each rectangle and / or triangle to the total area is used as the weight of each rectangle and / or triangle. The centroid coordinates of each rectangle and / or triangle are then weighted and summed to obtain the centroid coordinates of the current sub-region.

[0102] In this embodiment, by dividing the sub-region into grids and performing a weighted summation of the centroid coordinates of the resulting rectangles and / or triangles based on their area, a more accurate convergence point of the sub-region can be calculated.

[0103] S220, Determine the focus points of at least two shooting devices.

[0104] This embodiment uses the example of determining the mapping relationship between the convergence point of each sub-region within the radar scanning area and the imaging device based on the focus point of the imaging device.

[0105] The focus point of a shooting device is the point with the highest sharpness within the field of view at the current focal length. It is the point where the line of sight or attention intersects or converges. The focus point of a shooting device can be obtained by autofocusing or manual focusing of the shooting device. This embodiment does not limit this.

[0106] Understandably, zoom shooting devices correspond to different focus points at different focal lengths, and similarly, gimbal shooting devices correspond to different focus points at different gimbal angles. Therefore, this embodiment determines the focus points corresponding to different focal lengths or different gimbal angles for both zoom shooting devices and gimbal shooting devices.

[0107] S230. Based on the convergence points corresponding to each sub-region within the radar scanning area and the focus points of each imaging device, determine the mapping relationship between the convergence points corresponding to each sub-region within the radar scanning area and the imaging devices.

[0108] Specifically, the distance between the convergence point of each sub-region within the radar scanning area and the focus point of each imaging device can be determined. If the distance between the convergence point of a certain sub-region and the focus point of a certain imaging device is less than or equal to a distance threshold, a mapping relationship is established between the convergence point of that sub-region and the imaging device.

[0109] Understandably, the convergence point corresponding to a sub-region may satisfy the aforementioned distance condition with the focus points of multiple shooting devices. In this case, a mapping relationship can be established between the convergence point of that sub-region and each shooting device. Correspondingly, a shooting device may have a mapping relationship with the convergence points of multiple sub-regions. The advantage of this setup is that it provides more possibilities for capturing images, allowing for the selection of the optimal capturing device based on both shooting effect and available shooting device resources.

[0110] S240. Determine at least one target object to be captured within the radar scanning area, and determine the convergence point of the radar scanning area that matches the target object to be captured.

[0111] The specific process of detecting the target object to be captured within the radar scanning area by radar, and the process of determining the convergence point matching the target object to be captured, have been described in the above embodiments, and will not be repeated here.

[0112] S250. Determine the target object type of the target object to be captured based on the radar signal that matches the target object to be captured.

[0113] The target object type can include human body, vehicle, aircraft, obstacle, etc., and can be flexibly set according to the actual needs of the application scenario.

[0114] Specifically, the target object type can be determined based on the radar signal strength, Doppler frequency, phase characteristics, and radar cross section (RCS) of the target object to be captured, combined with information such as the target object's speed and size.

[0115] S260. Based on the convergence point of the radar scanning area that matches the target object to be captured, and the pre-set mapping relationship between the convergence point of the radar scanning area and the capturing device, determine at least one candidate capturing device that matches the target object to be captured.

[0116] After determining the convergence point of the radar scanning area that matches the target object to be captured, all the shooting devices that have a mapping relationship with the convergence point of the radar scanning area are selected as candidate shooting devices for subsequent selection of the optimal shooting device.

[0117] Understandably, if the convergence point of the radar scanning area that matches the target object to be captured has only a mapping relationship with one shooting device, then that shooting device is directly used as the target shooting device, and the shooting parameters of the target shooting device are determined according to the target object type of the target object to be captured.

[0118] It should be noted that the process of determining the target object type based on the radar signal and the process of determining the candidate shooting device that matches the target object can be performed simultaneously. This embodiment does not restrict the order of the above steps.

[0119] S270. Based on the target object type of the target object to be captured, determine the target shooting device from the candidate shooting devices, and determine the shooting parameters of the target shooting device.

[0120] In this embodiment, the focal length requirements of the shooting device corresponding to different target object types can be determined in advance.

[0121] In a specific example, when the target object is a face, to obtain a high-quality face capture image, among the candidate shooting devices, a higher focal length generally results in better image quality. Therefore, when the target object is a face, a candidate shooting device with a higher focal length can be selected as the target shooting device.

[0122] In another specific example, when the target object is a vehicle, in order to obtain a complete image of the vehicle while ensuring image quality, a candidate shooting device with a suitable focal length can be selected as the target shooting device.

[0123] After determining the target shooting device, the shooting parameters of the target shooting device can be adjusted according to the type of target object and the current ambient light level.

[0124] In a specific example, when the target object is a human body, since pedestrians typically move at a moderate speed, a moderate exposure time can be set. However, when the target object is a vehicle, which usually moves at a relatively high speed, a shorter exposure time can be set to ensure a sharp image.

[0125] In another specific example, when the ambient light is low, in order to ensure the capture effect of the target object, parameters such as aperture, shutter speed and ISO of the target shooting device can be adjusted.

[0126] Furthermore, when determining the target shooting device from the candidate shooting devices, if the candidate devices include both zoom and fixed-focus shooting devices, the fixed-focus shooting device can be prioritized as the target shooting device to save the resources consumed by zooming the shooting device. Simultaneously, if the capture effect is unsatisfactory when capturing the target object using the target shooting device—for example, if the target object area in the image has low clarity—then the zoom shooting device can be switched back to the target shooting device, and its focal length adjusted to obtain a clear and effective captured image of the target object.

[0127] Understandably, when radar detects multiple targets to be captured, if the method of determining the convergence point for each target separately is used to determine the capturing device, then when there is overlap between candidate capturing devices for at least two targets, it is necessary to determine whether the same candidate capturing device can capture multiple targets based on the target object type of each target. Similarly, if the capturing device is determined by dividing the targets into sets, then the target object type must also be considered when dividing the sets. Target objects belonging to the same target object type are grouped into sets before the subsequent capturing device is determined. As a feasible implementation method, after determining that there are at least two types of targets to be captured, the image exposure parameters can be estimated in advance based on the lighting conditions at the convergence point. When the image exposure parameters of each target are similar, the same candidate capturing device is used for capturing; otherwise, different candidate capturing devices are selected to capture different types of targets. For example, if the convergence point is in a well-lit daytime environment, the preceding steps would show four pedestrians and two vehicles as the targets to be captured. With an exposure time of 20ms, the characteristics of both pedestrians and vehicles meet the image quality requirements of the recognition algorithm; therefore, the same capture device (e.g., a PTZ camera) is used. In other situations, such as at night when the convergence point is poorly lit, the preceding steps would show four pedestrians and two vehicles as the targets. In this case, using an exposure time of 20ms and a single-level fill light would result in insufficient brightness in the face area and moderate quality in the license plate area. Using an exposure time of 60ms and a single-level fill light would result in moderate quality in the face area but blurry images in the license plate area due to the vehicle speed being much greater than the pedestrian speed. Using an exposure time of 20ms and a single-level fill light (with brightness greater than single-level fill light) would result in moderate quality in the face area but overexposure in the license plate area due to reflections from the license plate. In this embodiment, when it is anticipated that the image exposure parameters required to capture various targets will differ significantly, the system will no longer simply select the convergence point with the largest number of targets for unified capture, but will instead select to capture targets by category, thereby improving the image quality of each captured image.

[0128] S280. Control the target shooting device to capture the target object to be captured.

[0129] In this embodiment, the radar scanning area is divided into sub-regions. For each sub-region, a corresponding convergence point is determined, and a mapping relationship is established between the sub-region convergence point and the focus point of the imaging device. This setup ensures that each sub-region convergence point corresponds to at least one imaging device with a clear view, thereby guaranteeing that every target object entering the radar scanning area can find a corresponding imaging device with a clear view, maximizing the preservation of target object capture information. Especially when there are a large number of target objects to be captured, it enables multi-target object capture with a single imaging device. Furthermore, based on the target object type, the imaging device with the best shooting effect is selected for capture, and the imaging device parameters are dynamically adjusted to improve the target object capture effect.

[0130] Example 3

[0131] Figure 4 This is a schematic diagram of a target object capture device provided in Embodiment 3 of the present invention. Figure 4 As shown, the device includes:

[0132] The radar scanning area convergence point determination module 310 is used to determine at least one target object to be captured within the radar scanning area, and to determine the radar scanning area convergence point that matches the target object to be captured.

[0133] Wherein, the radar scanning area convergence point is used to represent the convergence point of radar signals within the radar scanning area;

[0134] The target capturing device determination module 320 is used to determine the target capturing device that matches the target object to be captured based on the convergence point of the radar scanning area that matches the target object to be captured, and the pre-set mapping relationship between the convergence point of the radar scanning area and the capturing device.

[0135] The target object capture module 330 is used to control the target shooting device to capture the target object to be captured.

[0136] The technical solution of this embodiment, after a target object to be captured appears within the radar scanning area, determines the convergence point of the radar scanning area that matches the target object. Based on a pre-set mapping relationship between the convergence points of the radar scanning areas and the capturing devices, it determines the capturing device corresponding to the convergence point of the radar scanning area that matches the target object. This target capturing device is then used to capture the target object. This solves the problem in the prior art where, when the number of target objects detected by the radar exceeds the number of capturing devices, it is impossible to track and capture each target object. This embodiment of the invention assigns a corresponding capturing device to the target object by using the convergence point of the radar scanning area that matches the target object, achieving effective and clear capture of the target object.

[0137] Based on the above embodiments, optionally, the radar scanning area convergence point determination module 310 includes:

[0138] The target object set determination unit is used to determine at least one target object set based on each target object if the number of target objects to be captured is determined to be at least two.

[0139] The radar scanning area convergence point determination unit is used to determine the radar scanning area convergence point that matches the set of target objects to be captured.

[0140] Based on the above embodiments, optionally, the radar scanning area convergence point determination module 310 includes:

[0141] The distance determination unit is used to determine the convergence point of the target radar scanning area as the convergence point of the radar scanning area that matches the target object to be captured if the distance between the target object to be captured and the convergence point of the target radar scanning area is less than or equal to a preset distance threshold.

[0142] The radar scanning area convergence point determination unit is specifically used for:

[0143] The location information of the set of target objects to be captured is determined based on the location information of each target object in the set of target objects to be captured.

[0144] If, based on the location information of the set of target objects to be captured, it is determined that the distance between the set of target objects to be captured and the convergence point of the target radar scanning area is less than or equal to a preset distance threshold, then the convergence point of the target radar scanning area is determined to be the radar scanning area convergence point that matches the set of target objects to be captured.

[0145] Optionally, based on the above embodiments, the apparatus further includes:

[0146] The sub-region convergence point determination module is used to determine the convergence points corresponding to at least two sub-regions within the radar scanning area;

[0147] A camera focus point determination module is used to determine the focus points of at least two camera devices;

[0148] The mapping relationship determination module is used to determine the mapping relationship between the convergence points of each sub-region within the radar scanning area and the focus points of each imaging device, based on the convergence points of each sub-region within the radar scanning area and the focus points of each imaging device.

[0149] Based on the above embodiments, optionally, the sub-region convergence point determination module includes:

[0150] A radar scanning area division unit is used to divide the radar scanning area into at least two sub-regions according to the scanning angle and preset distance of the radar scanning area.

[0151] The sub-region convergence point determination unit is used to determine the centroid coordinates of each sub-region and use the centroid coordinates of each sub-region as the corresponding convergence point.

[0152] Based on the above embodiments, optionally, the sub-region convergence point determination unit is specifically used for:

[0153] For each sub-region, determine at least two rectangles and / or triangles obtained after meshing the current sub-region;

[0154] Determine the centroid coordinates and area of ​​each rectangle and / or triangle, and based on the centroid coordinates and area of ​​each rectangle and / or triangle, determine the centroid coordinates of the current sub-region.

[0155] Optionally, based on the above embodiments, the apparatus further includes:

[0156] The target object type determination module is used to determine the target object type of the target object to be captured based on the radar signal that matches the target object to be captured.

[0157] Target acquisition device determination module 320 includes:

[0158] The candidate shooting device determination unit is used to determine at least one candidate shooting device that matches the target object to be captured based on the convergence point of the radar scanning area that matches the target object to be captured, and the pre-set mapping relationship between the convergence point of the radar scanning area and the shooting device.

[0159] The target shooting device determination unit is used to determine the target shooting device from the candidate shooting devices according to the target object type of the target object to be captured, and to determine the shooting parameters of the target shooting device.

[0160] The target object capture device provided in the embodiments of the present invention can execute the target object capture method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0161] Example 4

[0162] Figure 5 A schematic diagram of an electronic device 10 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0163] like Figure 5 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0164] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0165] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as the target object capture method.

[0166] In some embodiments, the target object capture method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the target object capture method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the target object capture method by any other suitable means (e.g., by means of firmware).

[0167] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0168] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0169] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0170] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0171] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0172] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0173] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0174] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for capturing images of a target object, characterized in that, include: Identify at least one target object to be captured within the radar scanning area, and determine the convergence point of the radar scanning area that matches the target object to be captured; Wherein, the radar scanning area convergence point is used to represent the convergence point of radar signals within the radar scanning area; Based on the convergence point of the radar scanning area that matches the target object to be captured, and the pre-set mapping relationship between the convergence point of the radar scanning area and the capturing device, the target capturing device that matches the target object to be captured is determined. Control the target shooting device to capture the target object.

2. The method according to claim 1, characterized in that, Determining the convergence point of the radar scanning area that matches the target object to be captured includes: If it is determined that the number of target objects to be captured is at least two, then at least one set of target objects to be captured is determined based on each target object to be captured. Determine the convergence point of the radar scanning area that matches the set of target objects to be captured.

3. The method according to claim 1 or 2, characterized in that, Determining the convergence point of the radar scanning area that matches the target object to be captured includes: If it is determined that the distance between the target object to be captured and the convergence point of the target radar scanning area is less than or equal to a preset distance threshold, then the convergence point of the target radar scanning area is determined to be the radar scanning area convergence point that matches the target object to be captured. Determining the convergence point of the radar scanning area that matches the set of target objects to be captured includes: The location information of the set of target objects to be captured is determined based on the location information of each target object in the set of target objects to be captured. If, based on the location information of the set of target objects to be captured, it is determined that the distance between the set of target objects to be captured and the convergence point of the target radar scanning area is less than or equal to a preset distance threshold, then the convergence point of the target radar scanning area is determined to be the radar scanning area convergence point that matches the set of target objects to be captured.

4. The method according to claim 1, characterized in that, The process of setting the mapping relationship between the convergence point of the radar scanning area and the imaging device includes: Determine the convergence point corresponding to at least two sub-regions within the radar scanning area; Determine the focus points of at least two shooting devices; Based on the convergence points corresponding to each sub-region within the radar scanning area and the focus points of each imaging device, the mapping relationship between the convergence points corresponding to each sub-region within the radar scanning area and the imaging devices is determined.

5. The method according to claim 4, characterized in that, Identify the convergence points corresponding to at least two sub-regions within the radar scanning area, including: Based on the scanning angle and preset distance of the radar scanning area, the radar scanning area is divided into at least two sub-areas; Determine the centroid coordinates of each sub-region and use the centroid coordinates of each sub-region as the corresponding convergence point.

6. The method according to claim 5, characterized in that, Determine the centroid coordinates of each sub-region, including: For each sub-region, determine at least two rectangles and / or triangles obtained after meshing the current sub-region; Determine the centroid coordinates and area of ​​each rectangle and / or triangle, and based on the centroid coordinates and area of ​​each rectangle and / or triangle, determine the centroid coordinates of the current sub-region.

7. The method according to claim 1, characterized in that, After identifying at least one target object to be captured within the radar scanning area, the process also includes: The target object type of the target object to be captured is determined based on the radar signal that matches the target object to be captured. Based on the convergence point of the radar scanning area matching the target object to be captured, and the pre-set mapping relationship between the convergence point of the radar scanning area and the capturing device, the target capturing device matching the target object to be captured is determined, including: Based on the convergence point of the radar scanning area that matches the target object to be captured, and the pre-set mapping relationship between the convergence point of the radar scanning area and the shooting device, at least one candidate shooting device that matches the target object to be captured is determined. Based on the target object type of the target object to be captured, a target shooting device is determined from the candidate shooting devices, and the shooting parameters of the target shooting device are determined.

8. A target object capture device, characterized in that, include: The radar scanning area convergence point determination module is used to determine at least one target object to be captured within the radar scanning area, and to determine the radar scanning area convergence point that matches the target object to be captured. Wherein, the radar scanning area convergence point is used to represent the convergence point of radar signals within the radar scanning area; The target capturing device determination module is used to determine the target capturing device that matches the target object to be captured based on the convergence point of the radar scanning area that matches the target object to be captured, and the pre-set mapping relationship between the convergence point of the radar scanning area and the capturing device. The target object capture module is used to control the target shooting device to capture the target object to be captured.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the target object capture method as described in any one of claims 1-7.

10. A storage medium for storing computer-executable instructions, characterized in that, The computer-executable instructions, when executed by a computer processor, are used to perform the target object capture method as described in any one of claims 1-7.

Images