CN-121978676-A - Radar and multi-camera combined perimeter security monitoring device and method

CN121978676ACN 121978676 ACN121978676 ACN 121978676ACN-121978676-A

Abstract

The application relates to the technical field of radars, in particular to a radar and multi-camera combined perimeter security monitoring device and method, wherein the device comprises a radar module, a camera module and a camera module, wherein the radar module is used for detecting a perimeter monitoring area and acquiring target point cloud data of a target object; the system comprises a perimeter monitoring area, a visual camera module, a processing module and a target point cloud data processing module, wherein the visual camera module comprises a plurality of parallel-connected long-focus cameras, the plurality of long-focus cameras are configured to be spliced together at the angles of view to cover a preset azimuth range of the perimeter monitoring area and output video data in the preset azimuth range, and the processing module is used for receiving the target point cloud data of the radar module and the video data of the visual camera module and carrying out coordinate conversion and data fusion processing on the target point cloud data and the video data so as to realize real-time monitoring and identification of a target. According to the scheme, camera delay can be reduced through combination of multi-group long-focus camera splicing and radar, and then the monitoring efficiency of the peripheral area is improved.

Inventors

WANG DONG
LIU HUI
Zhao Shiliu
CHEN MINGMING
LI DAN
QU JIAWEI
Sun mengze

Assignees

西安长远电子工程有限责任公司

Dates

Publication Date: 20260505
Application Date: 20251229

Claims (10)

1. A radar and multi-camera joint perimeter security monitoring device, the device comprising: The radar module is used for detecting the perimeter monitoring area and acquiring target point cloud data of a target object, wherein the target point cloud data comprises speed, distance and azimuth information of the target object; the visual camera module comprises a plurality of parallel-connected long-focus cameras, wherein the plurality of long-focus cameras are configured to be spliced together in view angles so as to cover a preset azimuth range of the perimeter monitoring area, and video data in the preset azimuth range are output; the processing module is used for receiving the target point cloud data of the radar module and the video data of the visual camera module, and carrying out coordinate conversion and data fusion processing on the target point cloud data and the video data so as to realize real-time monitoring and identification of the target.
2. The apparatus of claim 1, wherein the vision camera module further comprises two wide-angle cameras for calibrating the tele camera and near zone blind-up.
3. The apparatus of claim 1, wherein the plurality of tele cameras are even in number and symmetrically disposed on both sides of the radar module, wherein one tele camera of one of the sides covers a positive azimuth range and the other tele camera of the other side covers a negative azimuth range.
4. The apparatus of claim 3 wherein the radar module covers a predetermined range of orientations from-45 degrees to 45 degrees, wherein the tele camera on one side covers a positive range of orientations from 0 degrees to 45 degrees and the tele camera on the other side covers a negative range of orientations from-45 degrees to 0 degrees.
5. A device according to claim 3, wherein the angle of view of the tele camera Number of tele cameras The following formula is satisfied: ; Wherein, the Is the total angle of the predetermined range of orientations.
6. The apparatus of claim 1, wherein the performing coordinate transformation and data fusion processing on the target point cloud data and the video data specifically includes: splicing the video data through an image splicing algorithm to generate panoramic video data covering the whole monitoring area, and simultaneously, aiming at each frame of image, performing real-time processing by utilizing a deep learning target detection algorithm, and outputting a target detection frame containing a target object so as to track the target object; performing time synchronization on the target point cloud data and the panoramic video data, and converting the target point cloud data and the panoramic video data after time synchronization into a unified coordinate system; And under the same timestamp, matching a group of target point cloud data converted into the same coordinate system with a group of panoramic video data to realize the association of the same target object, generating independent tracks for each associated target object, and distributing unique identifiers.
7. The apparatus of claim 1, wherein the apparatus further comprises: the power supply module is respectively connected with the radar module, the visual camera module and the processing module in a power mode and is used for supplying power to the radar module, the visual camera module and the processing module through external input power sources; The network switch module is respectively in communication connection with the radar module, the visual camera module and the processing module and is used for forming an internal local area network for the inside of the device and simultaneously in communication connection with an external platform.
8. The radar and multi-camera combined perimeter security monitoring method is characterized by comprising the following steps of: scanning the perimeter monitoring area to obtain target point cloud data, wherein the target point cloud data comprises speed, distance and azimuth information of a target object; Collecting video data in a preset azimuth range in a perimeter monitoring area, wherein the preset azimuth range is obtained by combining and splicing the angles of vision of a plurality of vision cameras; And carrying out coordinate conversion and data fusion processing on the target point cloud data and the video data so as to realize real-time monitoring and identification of the target.
9. An electronic device comprising a processor and a memory, the memory having stored therein instructions executable by the processor, the processor configured to, when executed, cause the electronic device to implement a radar and multi-camera joint perimeter security monitoring method as defined in claim 8.
10. A computer readable storage medium storing a computer program, wherein the computer program, when executed by a processor, is capable of implementing a radar and multi-camera combined perimeter security monitoring method according to claim 8.

Description

Radar and multi-camera combined perimeter security monitoring device and method Technical Field The embodiment of the application relates to the technical field of radars, in particular to a radar and multi-camera combined perimeter security monitoring device and method. Background The combined perimeter monitoring device comprises radar and multiple groups of visual cameras, and can also be a thunder-vision integrated system. The radar integrated perimeter security system integrates radar technology and visual sensing technology, and achieves multidimensional space detection of space perception and video perception by integrating detection capability of the radar and recognition capability of visual sensing, so that efficient and accurate monitoring of a perimeter region is completed. However, radar is mainly used for measuring the speed, distance and azimuth of a target, but is difficult to realize identification of the target generally, and has limited azimuth resolution capability generally, while a camera has good target identification capability, but generally does not have ranging and speed measurement capability, and the view angle and the focal length of the camera are related. The radar and the zoom camera are adopted by the common radar-integrated perimeter security detection equipment, and after the radar finds a target, the camera is turned through the cradle head and the focal length is adjusted to confirm the target, so that the reaction speed is low. Therefore, how to improve the monitoring efficiency of the peripheral area is a technical problem to be solved. Disclosure of Invention In order to solve the technical problems, the embodiment of the application provides a radar and multi-camera combined perimeter security monitoring device and a method, aiming at reducing camera delay through multi-group tele camera splicing and radar combination and further improving the monitoring efficiency of a perimeter area. In order to achieve the above object, an embodiment of the present application provides a radar and multi-camera combined perimeter security monitoring device, the device comprising: The radar module is used for detecting the perimeter monitoring area and acquiring target point cloud data of a target object, wherein the target point cloud data comprises speed, distance and azimuth information of the target object; the visual camera module comprises a plurality of parallel-connected long-focus cameras, wherein the plurality of long-focus cameras are configured to be spliced together in view angles so as to cover a preset azimuth range of the perimeter monitoring area, and video data in the preset azimuth range are output; the processing module is used for receiving the target point cloud data of the radar module and the video data of the visual camera module, and carrying out coordinate conversion and data fusion processing on the target point cloud data and the video data so as to realize real-time monitoring and identification of the target. In order to achieve the above purpose, the embodiment of the application further provides a radar and multi-camera combined perimeter security monitoring method, which comprises the following steps: scanning the perimeter monitoring area to obtain target point cloud data, wherein the target point cloud data comprises speed, distance and azimuth information of a target object; Collecting video data in a preset azimuth range in a perimeter monitoring area, wherein the preset azimuth range is obtained by combining and splicing the angles of vision of a plurality of vision cameras; And carrying out coordinate conversion and data fusion processing on the target point cloud data and the video data so as to realize real-time monitoring and identification of the target. In order to achieve the above purpose, the embodiment of the application also provides electronic equipment, which comprises a processor and a memory, wherein the memory stores instructions capable of being executed by the processor, and the processor is configured to enable the electronic equipment to realize the radar and multi-camera combined perimeter security monitoring method. In order to achieve the above objective, an embodiment of the present application further provides a computer readable storage medium storing a computer program, where the computer program can implement a radar and multi-camera combined perimeter security monitoring method as described above when executed by a processor. The radar and multi-camera combined perimeter security monitoring device comprises a radar module, a visual camera module and a processing module, wherein the radar module is used for detecting a perimeter monitoring area and acquiring target point cloud data of a target object, the visual camera module comprises a plurality of tele cameras, the tele cameras can be configured to be combined and spliced to cover a preset azimuth range of the perimeter monitoring area and output video data in th