CN111383294B - Drawing method and device for defense area in safety and lightning protection system - Google Patents
Drawing method and device for defense area in safety and lightning protection system Download PDFInfo
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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- G—PHYSICS
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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Abstract
The application discloses a drawing method of a defense area in an security radar system, which comprises the steps of obtaining first track data of a radar detection subsystem for searching a target object for calibrating the defense area to be drawn in an engineering mode; judging whether a track curve formed by coordinate points in the first track data is closed or not, and when the track curve is judged to be closed, carrying out patterning by taking a closed area formed by the track curve as a to-be-drawn defense area and taking the patterned closed area as a drawn defense area for output display based on the coordinate information of the coordinate points; the engineering mode is a working mode that the radar detection subsystem only searches for the target object. According to the application, the radar detection subsystem is utilized to detect the region surrounded by the target object track to form the defense area, so that the problems of difference and mismatching between the defense area drawn on the client and the defense area of the actual scene are solved, and the accuracy, reliability and practicability of radar alarm are improved.
Description
Technical Field
The application relates to the field of calibration of defense areas in an security and protection system, in particular to a drawing method of the defense areas in the security and protection system.
Background
The security radar system is a system which applies millimeter wave radar technology to the security field to implement the functions of target positioning, target tracking and target intrusion alarm. The target intrusion detection is based on a calibrated defense area, and when the radar scanning view field detects that a target enters the calibrated defense area, the security radar system sends out an alarm signal.
The existing defense area drawing method is as follows: a client for presenting radar scanning field of view results in the radar security system loads a proportional map as a base map, and draws a rough defending area on the base map according to a required defending area. Referring to fig. 1, fig. 1 is a schematic diagram of a defense area drawn by a radar system, in which a defense area 101 in a radar field of view is set according to a geographic area on a map, for example, if a defense area needs to be set for a central square, the defense area is defined by a map area of the central square on a base map using a drawing plug-in provided by a client, and the radar scans the defense area 101 to form a radar field of view, such as a radar field of view 102 of a quarter sector area shown in the figure.
The method for drawing the defense area and the actual target area needing to be defended have certain errors due to mismatching of map proportions, so that calibration of the defended target area is inaccurate, and target intrusion detection based on the defense area is subjected to missed detection and false detection.
Disclosure of Invention
The application provides a drawing method of a defense area in an security and protection system, which aims to improve the drawing precision of the defense area.
The application provides a drawing method of a defense area in an security radar system, which comprises the following steps of,
acquiring first track data of a radar detection subsystem for searching a target object for calibrating a to-be-drawn defense area in an engineering mode;
judging whether a track curve formed by coordinate points in the first track data is closed or not, and when the track curve is judged to be closed, carrying out patterning by taking a closed area formed by the track curve as a to-be-drawn defense area and taking the patterned closed area as a drawn defense area for output display based on the coordinate information of the coordinate points;
the engineering mode is a working mode that the radar detection subsystem only searches for the target object.
Preferably, the method further comprises the step of judging whether the first track data reach the preset quantity, and if so, screening coordinate points in the acquired first track data according to coordinate point information to obtain second track data, wherein the coordinate point information at least comprises coordinate values of the coordinate points.
Preferably, the coordinate point information further includes time information of each track data searched by the radar detection subsystem;
the coordinate points in the obtained first track data are screened according to the coordinate point information to obtain second track data, which comprises,
according to the time information of the coordinate points, calculating the distance between two adjacent coordinate points at all times in the first track data, and if the distance between the two coordinate points is smaller than a first distance threshold value, removing one coordinate point in the two coordinate points; otherwise, reserving the two coordinate points;
taking the reserved coordinate points and the coordinate point information thereof as the second track data;
and marking serial numbers for each coordinate point in the second track data according to time information of the coordinate points according to time sequence, and storing the serial numbers as coordinate point information.
Wherein the determining whether the trajectory curve constituted by the coordinate points in the first trajectory data is closed further includes,
judging whether the number of coordinate points in the current second track data reaches the number of coordinates for starting to judge track closure, if so, judging track curve closure,
otherwise, the radar detection subsystem is acquired to search the current coordinate point of the target object, whether the distance between the current coordinate point and the last coordinate point is smaller than a first distance threshold value is judged, and if not, the coordinate information and the serial number of the current coordinate point are added to a second track data set to be stored; if the search result is less than the first distance threshold, waiting for the next search result.
The determination of the track curve closure comprises the steps of determining whether an intersection point exists between each straight line segment taking two coordinate points adjacent in time as line segment endpoints based on second track data, and determining that the track curve is closed if the intersection point exists;
the judging whether the intersection point exists between each straight line segment taking the two coordinate points adjacent in time as line segment endpoints based on the second track data comprises,
according to the sequence numbers of the coordinate points, a first straight line segment taking the current coordinate point and the last coordinate point as line segment endpoints is constructed based on the current coordinate point and the last coordinate point;
each straight line segment taking the two coordinate points with adjacent serial numbers as line segment endpoints is respectively constructed for the two coordinate points with adjacent serial numbers in the second track data,
and respectively judging whether the first linear line segment and each linear line segment have intersection points, and if so, judging that an effective closed area is formed.
In another mode, the determining whether the track curve formed by the coordinate points in the first track data is closed based on the second track data comprises,
establishing a grid of a radar view field area, wherein the grid is formed by square grids with the same minimum unit area, and the side length of each square grid is smaller than or equal to the first distance threshold value;
calculating grid information of each coordinate point in the second track data;
judging whether coordinate points with the same grid information exist or not, and if the coordinate points with the same grid information exist, judging that the track curve is closed.
The step of establishing the grid of the radar view field area comprises the step of establishing the grid by taking the origin of the radar scanning fan-shaped view field area as the origin of coordinates;
the step of judging whether the grid information is the same comprises the steps of calculating the grid information of the current coordinate point, judging whether the grid information of each coordinate point of the second track data is the same as the grid information of the current coordinate point or not, and if so, judging that the track curve is closed.
And the judging track curve is further comprising the step of removing coordinate points outside the closed track curve from the second track data after closing.
The removing of coordinate points outside the closed trajectory curve from the second trajectory data includes,
and taking the sequence number with the smaller sequence number of the coordinate point as a sequence number threshold value in the end point coordinates of the second linear line segment which has an intersection point with the first linear line segment in each linear line segment, removing the coordinate point with the sequence number smaller than or equal to the threshold value in the second track data, and reserving the coordinate point with the sequence number larger than the sequence number threshold value.
The removing of coordinate points outside the closed trajectory curve from the second trajectory data includes,
and taking the sequence number of the second coordinate point as a sequence number threshold, deleting the coordinate points with the sequence number smaller than or equal to the sequence number threshold, and reserving the coordinate points with the sequence number larger than the sequence number threshold.
Preferably, the method further comprises the steps of,
judging whether the number of coordinate points in the current second track data is larger than a first number threshold value of storable coordinate points of the defense area, if so, removing redundant coordinate points from the current second track data, storing the second track data with the redundant coordinate points removed as the coordinate data of the defense area, and carrying out patterning based on the coordinate data of the defense area.
The removing of the redundant coordinate points from the current second trajectory data includes,
calculating the difference between the number of coordinate points in the second track data and the first number threshold value to obtain the number of redundant coordinate points; according to the number of redundant coordinate points, calculating each I coordinate point in the second track data to remove one coordinate point, wherein,
I＝[N/M]
n is the total number of coordinate points in the current second track data; m is the number of redundant coordinate points; [] Representing rounding;
and removing one coordinate point according to the I-1 coordinate points at each interval.
The removing of the redundant coordinate points from the current second trajectory data includes,
judging whether each distance between every two adjacent coordinate points is smaller than a second distance threshold value or not, wherein the second distance threshold value is larger than the first distance threshold value, and removing one coordinate point when the distance between every two adjacent coordinate points is smaller than the second distance threshold value; otherwise, it is not removed but remains.
The removing of the redundant coordinate points from the current second trajectory data includes,
when the number of coordinate points in the second track data is greater than a second number threshold, calculating the difference between the number of coordinate points in the second track data and the first number threshold to obtain the number of redundant coordinate points; according to the number of redundant coordinate points, calculating each I coordinate point in the second track data to remove one coordinate point, wherein,
I＝[N/M]
n is the total number of coordinate points in the second track data; m is the number of redundant coordinate points; [] Representing rounding;
removing one coordinate point according to the I-1 coordinate points at each interval;
when the first quantity threshold value is smaller than or equal to the second quantity threshold value, respectively judging whether each distance between every two adjacent coordinate points with sequence numbers is smaller than a second distance threshold value, wherein the second distance threshold value is larger than the first distance threshold value, and when the distance between every two adjacent coordinate points with sequence numbers is smaller than the second distance threshold value, removing one coordinate point; otherwise, it is not removed but remains.
The embodiment of the application provides a drawing device of a defense area in an security radar system, which comprises a processor and a memory, wherein,
the memory is used for storing a computer program;
the processor is used for executing the program stored in the memory to realize the drawing method of any defense area.
According to the application, the radar detection subsystem searches the track data for calibrating the target object of the defense area to be drawn in the engineering mode, the coordinate data of the defense area is obtained based on the closed curve formed by the coordinate points in the track data, and the coordinate data of the defense area is subjected to graphical processing, so that visual graphic display of the defense area is obtained. The radar detection subsystem is utilized to detect the region surrounded by the target object track to form a defense area, so that the problems of difference and mismatching between the defense area drawn on the client and the defense area of the actual scene are solved, and the accuracy, reliability and practicability of radar alarm are improved; the trace data is derived from the tracking of the cruising area of the actual geographical area of the target, so that the drawing precision of the defense area is greatly improved.
Drawings
Fig. 1 is a schematic diagram of a defense area drawn by a conventional safety radar system.
Fig. 2 is a schematic diagram of an embodiment of an security radar system.
Fig. 3 is a schematic flow chart of a method for drawing a defense area in a monitoring platform according to an embodiment of the application.
FIG. 4A is a flow chart of screening data and making a determination of a closed trajectory curve; fig. 4B is a flowchart for removing redundant coordinate points.
Fig. 5 is a schematic diagram of a 6-shaped trace with coordinate points outside the closed curve.
FIG. 6 is a flowchart for determining trace curve closure by a grid method.
Fig. 7 is a schematic diagram of a 6-shaped trajectory based on the grid method with coordinate points outside the closed curve removed.
Detailed Description
The present application will be described in further detail with reference to the accompanying drawings, in order to make the objects, technical means and advantages of the present application more apparent.
Referring to fig. 2, fig. 2 is a schematic diagram of an embodiment of an security radar system according to the present application. The radar detection subsystem detects whether a moving target exists in a visual field by emitting electromagnetic waves, after the moving target is detected in the visual field, the radar detection subsystem reports the position information and the speed information of the moving target to display equipment in the monitoring platform in real time, judges whether the moving target enters a set defense area, generates an alarm event if the moving target enters the defense area, sends an alarm report, triggers alarm linkage output, indicates an alarm state and the like; the monitoring platform consists of a PC computer, is provided with client software which interacts with the radar detection subsystem, and can configure parameters, working modes and display targets detected by the radar detection subsystem through the client.
The application provides a method for drawing a radar defense area, which utilizes a radar to detect a track formed by the movement of a target object serving as calibration, and takes a closed area in a closed curve formed by the track as the drawn target defense area. In order to avoid dependence on a base map in the prior art, a target object moves in a target defense area needing to be protected, for example, personnel are arranged to step on points in the target defense area, or an unmanned plane is adopted to cruise in the target defense area, and the like; setting the working mode of the radar detection subsystem to an engineering mode of searching only for a target object serving as a calibration on a monitoring platform; in the engineering mode, the monitoring platform runs an application program for forming a target defense area based on a target object movement track.
Referring to fig. 3, fig. 3 is a schematic flow chart of a method for drawing a defense area in a monitoring platform according to an embodiment of the application.
In step 301, the working mode of the radar detection subsystem is set to the engineering mode by the monitoring platform, so that the radar detection subsystem searches only for the target object used as the calibration.
After the radar detection subsystem enters an engineering mode, transmitting electromagnetic waves to detect whether a target object in a view field moves or not, and feeding back first track data of the searched target object movement to a monitoring platform;
step 302, recording first track data of a target object from a radar detection system, and processing screening data.
In order to facilitate subsequent data processing, the recorded first track data not only comprises coordinate values (coordinate information) of coordinate points, but also can cache time information of each track data searched by the radar detection subsystem, or sequentially cache sequence numbers marked by each coordinate point according to the time information; these pieces of information can be stored and recorded as coordinate point information.
And screening the first track data according to the coordinate point information to enable the coordinate points to be uniformly distributed, for example, according to the sequence numbers of the coordinate points, when the distance between every two adjacent coordinate points with adjacent sequence numbers is smaller than a first distance threshold value, removing one of the coordinate points, thereby obtaining a certain amount of second track data, and caching the coordinate information of the second track data.
Step 303, judging whether a track curve formed by the second track data is closed, if so, executing step 304 to form a drawn target defense area, and if not, executing step 306 to provide a man-machine interaction interface to intervene in the drawing process of the defense area;
in this step, there are two methods of judging whether the trajectory curve is closed,
the first is an intersection method, specifically, whether a connecting line of a newly generated coordinate point and a last coordinate point in the second track data intersects with a formed track curve is judged, and if the intersection exists, the track curve is judged to be closed;
the second method is a grid method, specifically, the whole field of view area of the radar is divided into square lattices of unit area, the tracks formed when the target object moves pass through the square lattices, and if the tracks pass through the same square lattice twice, the tracks are judged to form a closed area. The smaller the unit area of the square lattice is, the better the reliability of the decision is, and preferably, not more than the minimum distance among the distances between adjacent two coordinate points at each time.
And 304, removing redundant coordinate points from the second track data to form defense area coordinate data, storing the defense area coordinate data in a flash, and displaying a closed area formed by the defense area coordinate data in a graphical mode.
The redundant coordinate point filtering can be determined according to the number of coordinate points of the defense area which can be stored most by the equipment, and if the number of the coordinate points in the second track data is greater than the number of the coordinate points of the defense area which can be stored, one of two coordinate points which are relatively close to each other needs to be removed; and the other is to make the distribution of coordinate points of the track sparse until the number of the coordinate points meets the requirement of a storage space. The two ways may be selected according to the specific implementation, for example, if the number of the redundant coordinate points to be filtered is not large, the two ways may be processed according to the first way, and if the number of the redundant coordinate points to be filtered is large, the two ways may be processed according to the second way.
In step 305, considering that the trajectory curve may not be smooth enough, the closed area formed by the coordinate data of the defense area may be in a very irregular shape, so that the intrusion detection of the target is easy to be misdetected or missed, for this reason, preferably, the coordinate data of the defense area is normalized to correct the coordinate points with unsmooth transition in the trajectory curve, and then the engineering mode is exited, and the detection alarm mode is restored.
Step 306, judging whether to forcedly exit the process of drawing the defense area, if not, returning to the execution step 302, recording the track data of the target object from the radar detection system, continuing drawing, if so, executing the processing of step 307, outputting a prompt of failure in drawing the defense area, exiting the engineering mode, and recovering the detection alarm mode.
The radar detection subsystem may fail to search the target object, or the target object moves accidentally, the moving range does not meet the requirement, and other reasons cause the drawing failure of the defense area, so the process can be ended by forced exit. In this step, the forced exit may be to output a dialog box to provide human-machine interaction.
See fig. 4A and 4B.
In step 401, the working mode of the radar detection subsystem is set to the engineering mode by the monitoring platform, so that the radar detection subsystem only searches for the target object used as the calibration.
In step 402, first trajectory data, i.e. coordinate information of coordinate points and time information of an object from a radar detection system are recorded,
step 403, judging whether the recorded coordinate points reach the preset number, if so, executing step 404 to process the first track data, otherwise, returning to execute step 402;
step 404, judging whether the distances between two coordinate points of all adjacent serial numbers in the first track data are smaller than a first distance threshold value, if so, removing one coordinate point, otherwise, not removing and reserving; repeatedly executing the step until the first track data is processed, and taking the reserved coordinate point as second track data;
step 405, according to the recorded coordinate point time information, setting a sequence number for each coordinate point in the second track data according to the time sequence;
step 406, regarding the current coordinate point searched by the obtained radar detection subsystem to the target object as the latest coordinate point;
step 407 determines whether the distance between the current coordinate point and the previous coordinate point is less than the first distance threshold, if not, the coordinate information and the serial number of the current coordinate point are cached and added to the second track data set, executing step 408, otherwise, waiting for the next search result, returning to step 406,
step 408, since it is possible to construct a track closed curve only when there is a certain amount of coordinate information, based on this, it is determined whether the number of current coordinate points reaches the number of coordinates at which track closure is started, if so, step 409 is executed, otherwise, step 406 is returned;
step 409, constructing a first line segment with the current coordinate point and the previous coordinate point as endpoints based on the current coordinate point and the previous coordinate point according to the sequence numbers of the coordinate points;
step 410, respectively constructing straight line segments taking adjacent coordinate points as endpoints for the coordinate points (adjacent coordinate points) of each two adjacent serial numbers in the second track data according to the serial numbers of the coordinate points, namely, the sequence time of the track data searched by the radar detection subsystem, so as to obtain a straight line segment set of the fitting track; for example, the total number of coordinate points in the track data is N, and the total number of constructed linear line segments is N-1.
Step 411, respectively judging whether each straight line segment in the first straight line segment and the straight line segment set has an intersection point, if yes, judging that the track data has formed an effective closed area, then executing step 412 to eliminate coordinate points outside the closed area, otherwise, outputting a dialog box whether to end drawing the defense area, if so, outputting a failure prompt of drawing the defense area, exiting the engineering mode, and if not, returning to execute step 406.
Step 412, taking the smaller sequence number of the end points (coordinate points) of the two end points of the second straight line segment having the intersection with the first straight line segment in the straight line segment set as a sequence number threshold, removing the coordinate points with the sequence number smaller than or equal to the threshold in the second track data, and only reserving the coordinate points with the sequence number larger than the sequence number threshold;
for example, referring to fig. 5, fig. 5 is a schematic diagram of a "6" character trace based on the intersection method with coordinate points outside the closed curve. In the figure, a second straight line segment with the 41 st coordinate point and the 42 nd coordinate point as endpoints and a first straight line segment with the 99 th coordinate point and the 100 th coordinate point as endpoints intersect, and at this time, according to this step, the coordinate points with the serial numbers less than or equal to 41 are removed, and only the 42 th coordinate point to the 100 th coordinate point are reserved.
Step 413, judging whether the number of coordinate points in the current second track data is larger than a second number threshold value of storable coordinate points in the defense area, wherein the second number threshold value of storable coordinate points in the defense area is larger than a first number threshold value of storable coordinate points in the defense area; if yes, calculating the difference between the number of coordinate points in the second track data and the first number threshold value to obtain the number of redundant coordinate points; according to the number of redundant coordinate points, calculating each I coordinate point in the second track data to remove one coordinate point, wherein,
I＝[N/M]
n is the total number of coordinate points in the second track data; m is the number of redundant coordinate points; [] Representing rounding.
In step 414, one coordinate point is removed according to the I-1 coordinate points at each interval, so that redundant coordinate points in the second track data are removed uniformly, and thus, the coordinate data of the defense area are obtained.
If the number of coordinate points in the second trajectory data is not greater than the first number threshold value of storable defense area coordinate point number, step 415 is performed
Step 415, judging whether the number of coordinate points in the second track data is larger than a first number threshold value of storable coordinate points in the defense area, if so, respectively judging that the distance between every two adjacent coordinate points is smaller than a second distance threshold value, wherein the second distance threshold value is larger than the first distance threshold value, and removing one coordinate point when the distance between every two adjacent coordinate points is smaller than the second distance threshold value; otherwise, not removing but reserving;
and if the number of the coordinate points in the second track data is not greater than the first number threshold value, taking the current second track data as defense area coordinate data and storing the defense area coordinate data.
In summary, in steps 413 to 415, a strategy of combining the two modes of eliminating redundant coordinate points in a mode of nearest distance between two points and uniformly eliminating redundant coordinate points is that redundant coordinate points exist, namely:
when the first quantity threshold value is smaller than or equal to the second quantity threshold value, the quantity of coordinate points in the second track data is smaller than or equal to the second quantity threshold value, the redundant data quantity is smaller, and the redundant coordinate points are eliminated in a mode of being nearest to the distance between the two points;
when the number of coordinate points in the second track data is greater than a second number threshold, the redundant data is larger, and a uniform elimination mode is adopted;
when the number of coordinate points in the second trajectory data is less than the first number threshold, this means that no redundant data needs to be removed.
And after the second track data is reserved according to the strategy, taking the coordinate points reserved in the second track data as defense area coordinate data.
Step 416, forming a drawn graphical defense area through the monitoring platform client plug-in based on the defense area coordinate data, and outputting and displaying;
step 417, outputting a dialog box for smoothing the defense area graph, if yes, normalizing the defense area coordinate data, and updating the graphical defense area display based on the normalized defense area coordinate data.
And 418, exiting the engineering mode and recovering the target intrusion detection alarm.
Referring to fig. 6, fig. 6 is a flowchart for determining that the trajectory curve is closed by the grid method. Steps 409 to 412 in fig. 4A and 4B may be replaced by steps in the flowchart, and step marks start with 609 for convenience of replacement with fig. 4A and 4B.
Step 609, when the number of the current coordinate points reaches the number of coordinates for starting to judge the track closure, a grid of a radar scanning view field area is established, wherein the grid is a square grid with the same minimum unit area; in order to avoid that coordinate points with closer distances have the same grid, the side length of the square lattice is smaller than or equal to the first distance threshold value; preferably, the origin of the sector field of view area scanned by the radar is used as the origin of coordinates to establish a grid;
step 610, matching the coordinate points in the second track data with the established grids, namely, respectively calculating grid positions of all the coordinate points in the second track data according to the coordinate points to determine grid information to which the coordinate points belong;
step 611, calculating the grid position of the current coordinate point, judging whether the number of the coordinate points in the grid of the current coordinate point is greater than or equal to 2, namely judging whether the grid information of each coordinate point of the second track data has a second coordinate point which is the same as the grid information of the current coordinate point, if so, judging that the track data has formed an effective closed area, then executing step 612 to eliminate coordinate points outside the closed area, otherwise, outputting a dialog box whether to finish drawing the defense area, if so, outputting a failure prompt of drawing the defense area, exiting an engineering mode, and if not, returning to the step of executing the acquired radar detection subsystem to search the current coordinate of the target object.
Step 612, taking the sequence number of the second coordinate point as a sequence number threshold, deleting the coordinate points with the sequence numbers smaller than or equal to the sequence number threshold, and only reserving the coordinate points with the sequence numbers larger than the sequence number threshold;
for example, referring to fig. 7, fig. 7 is a schematic diagram of a grid-based "6" character trace with coordinate points outside the closed curve removed. In the figure, the 41 st coordinate point and the 100 th coordinate point are positioned in the same grid, and according to the step, the coordinate points with the serial numbers smaller than or equal to 41 are removed, and only the 42 th coordinate point to the 100 th coordinate point are reserved.
According to the method for drawing the defense area, the closed area formed by the movement track of the radar detection target is used as the defense area, the real and reliable radar defense area can be accurately drawn under the condition that a map with a proper proportion is not available, and the degree of matching between the defense area displayed on the client and the actual defense area is high; the problem of low matching of the defense area drawn by the existing method and the defense area of the actual scene is solved; the accuracy and the practicability of the radar detector for detecting intrusion alarm are improved.
The embodiment of the application also provides an safety radar system, which comprises a radar detection subsystem and a monitoring platform, wherein the monitoring platform is used for:
acquiring first track data of a radar detection subsystem for searching a target object for calibrating a to-be-drawn defense area in an engineering mode;
judging whether a track curve formed by coordinate points in the first track data is closed or not, and when the track curve is judged to be closed, carrying out patterning by taking a closed area formed by the track curve as a to-be-drawn defense area and taking the patterned closed area as a drawn defense area for output display based on the coordinate information of the coordinate points;
the engineering mode is a working mode which is set for the radar detection subsystem through the monitoring platform, only searches for the target object and finishes drawing of the defense area.
The embodiment of the application also provides a drawing device of the defense area in the security and protection system, which comprises a processor and a memory, wherein,
the memory is used for storing a computer program;
the processor is used for executing the program stored in the memory, and the method for drawing the defense area is described.
The Memory may include random access Memory (Random Access Memory, RAM) or may include Non-Volatile Memory (NVM), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the aforementioned processor.
The processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc.; but also digital signal processors (Digital Signal Processing, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.
The embodiment of the application also provides a computer readable storage medium, wherein the storage medium stores a computer program, and the computer program realizes the following steps when being executed by a processor:
acquiring first track data of a radar detection subsystem for searching a target object for calibrating a to-be-drawn defense area in an engineering mode;
judging whether a track curve formed by coordinate points in the first track data is closed or not, and when the track curve is judged to be closed, carrying out patterning by taking a closed area formed by the track curve as a to-be-drawn defense area and taking the patterned closed area as a drawn defense area for output display based on the coordinate information of the coordinate points;
the engineering mode is a working mode which is set by the radar detection subsystem, only searches for the target object and finishes drawing of the defense area.
In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The foregoing description of the preferred embodiments of the application is not intended to be limiting, but rather to enable any modification, equivalent replacement, improvement or the like to be made within the spirit and principles of the application.
Claims (18)
1. A method for drawing a defense area in an safety and lightning protection system is characterized in that the method comprises, at a monitoring platform side in the safety and lightning protection system,
setting the working mode of the radar detection subsystem in an engineering mode, so that the radar detection subsystem only searches for a target object for calibrating a to-be-drawn defense area, wherein the engineering mode is the working mode that the radar detection subsystem only searches for the target object;
acquiring first track data of searching a target object by the radar detection subsystem in real time in an engineering mode;
judging whether a track curve formed by coordinate points in the first track data is closed or not, if so, based on the coordinate information of the coordinate points, patterning a closed area formed by the track curve as a defense area to be drawn, outputting and displaying the patterned closed area as the drawn defense area, exiting an engineering mode, and recovering a detection alarm mode;
wherein,,
the determining whether the track curve formed by the coordinate points in the first track data is closed includes:
judging whether a connecting line of a newly generated coordinate point and a last coordinate point in the track data intersects with a formed track curve, and if so, judging that the track curve is closed;
or,
establishing a grid of radar field areas, the grid being formed by squares of the same minimum unit area, the squares having sides less than or equal to a first distance threshold,
calculating grid information to which each coordinate point in the track data belongs,
judging whether coordinate points with the same grid information exist or not, and if the coordinate points with the same grid information exist, judging that the track curve is closed.
2. The method of claim 1, further comprising determining whether the first track data reaches a preset number, and if so, screening the coordinate points in the acquired first track data according to coordinate point information to obtain second track data, wherein the coordinate point information at least comprises coordinate values of the coordinate points.
3. The method of claim 2, wherein the coordinate point information further includes time information of each trace data searched by the radar detection subsystem;
the coordinate points in the obtained first track data are screened according to the coordinate point information to obtain second track data, which comprises,
according to the time information of the coordinate points, calculating the distance between two adjacent coordinate points at all times in the first track data, and if the distance between the two coordinate points is smaller than a first distance threshold value, removing one coordinate point in the two coordinate points; otherwise, reserving the two coordinate points;
taking the reserved coordinate points and the coordinate point information thereof as the second track data;
and marking serial numbers for each coordinate point in the second track data according to time information of the coordinate points according to time sequence, and storing the serial numbers as coordinate point information.
4. The method of claim 3, wherein determining whether the trajectory curve formed by the coordinate points in the first trajectory data is closed further comprises,
judging whether the number of coordinate points in the current second track data reaches the number of coordinates for starting to judge track closure, if so, judging track curve closure,
otherwise, acquiring a current coordinate point of the target object searched by the radar detection subsystem, judging whether the distance between the current coordinate point and the searched last coordinate point is smaller than a first distance threshold value, and if not, adding the coordinate information and the serial number of the current coordinate point into a second track data set for storage; if the search result is less than the first distance threshold, waiting for the next search result.
5. The method of claim 4, wherein the determining of the trajectory curve closure includes determining, based on the second trajectory data, whether an intersection exists between each of the straight line segments having two coordinate points that are temporally adjacent as line segment endpoints, and determining that the trajectory curve closure if the intersection exists.
6. The method of claim 5, wherein determining whether an intersection exists between each of the straight line segments having two coordinate points adjacent in time as line segment endpoints based on the second trajectory data comprises,
according to the sequence numbers of the coordinate points, a first straight line segment taking the current coordinate point and the last coordinate point as line segment endpoints is constructed based on the current coordinate point and the last coordinate point;
each straight line segment taking the two coordinate points with adjacent serial numbers as line segment endpoints is respectively constructed for the two coordinate points with adjacent serial numbers in the second track data,
and respectively judging whether the first linear line segment and each linear line segment have intersection points, and if so, judging that an effective closed area is formed.
7. The method of claim 1, wherein establishing the grid of radar field of view areas comprises establishing the grid with an origin of a radar scanned sector of field of view area as a coordinate origin;
the step of judging whether the coordinate points with the same grid information exist comprises the steps of calculating the grid information of the current coordinate point, judging whether the grid information of each coordinate point of the track data has the coordinate points with the same grid information of the current coordinate point, and if so, judging that the track curve is closed.
8. The method of any one of claims 4 to 7, wherein determining that the trajectory profile is closed further comprises removing coordinate points outside the closed trajectory profile from the second trajectory data.
9. The method of claim 8, wherein removing coordinate points outside the closed-path curve from the second path data comprises,
and taking the sequence number with the smaller sequence number of the coordinate point as a sequence number threshold value in the end point coordinates of the second linear line segment which has an intersection point with the first linear line segment in each linear line segment, removing the coordinate point with the sequence number smaller than or equal to the threshold value in the second track data, and reserving the coordinate point with the sequence number larger than the sequence number threshold value.
10. The method of claim 8, wherein removing coordinate points outside the closed-path curve from the second path data comprises,
and taking the serial number of the second coordinate point as a serial number threshold, deleting the coordinate points with the serial numbers smaller than or equal to the serial number threshold, and reserving the coordinate points with the serial numbers larger than the serial number threshold.
11. The method of claim 8, further comprising,
judging whether the number of coordinate points in the current second track data is larger than a first number threshold value of storable coordinate points of the defense area, if so, removing redundant coordinate points from the current second track data, storing the second track data with the redundant coordinate points removed as the coordinate data of the defense area, and carrying out patterning based on the coordinate data of the defense area.
12. The method of claim 11, wherein removing redundant coordinate points from the current second trajectory data comprises,
calculating the difference between the number of coordinate points in the second track data and the first number threshold value to obtain the number of redundant coordinate points; according to the number of redundant coordinate points, calculating each I coordinate point in the second track data to remove one coordinate point, wherein,
I＝[N/M]
n is the total number of coordinate points in the current second track data; m is the number of redundant coordinate points; [] Representing rounding;
and removing one coordinate point according to the I-1 coordinate points at each interval.
13. The method of claim 11, wherein removing redundant coordinate points from the current second trajectory data comprises,
judging whether each distance between every two adjacent coordinate points is smaller than a second distance threshold value or not, wherein the second distance threshold value is larger than the first distance threshold value, and removing one coordinate point when the distance between every two adjacent coordinate points is smaller than the second distance threshold value; otherwise, it is not removed but remains.
14. The method of claim 11, wherein removing redundant coordinate points from the current second trajectory data comprises,
when the number of coordinate points in the second track data is greater than a second number threshold, calculating the difference between the number of coordinate points in the second track data and the first number threshold to obtain the number of redundant coordinate points; according to the number of redundant coordinate points, calculating each I coordinate point in the second track data to remove one coordinate point, wherein,
I＝[N/M]
n is the total number of coordinate points in the second track data; m is the number of redundant coordinate points; [] Representing rounding;
removing one coordinate point according to the I-1 coordinate points at each interval;
when the first quantity threshold value is smaller than or equal to the second quantity threshold value, respectively judging whether each distance between every two adjacent coordinate points with sequence numbers is smaller than a second distance threshold value, wherein the second distance threshold value is larger than the first distance threshold value, and when the distance between every two adjacent coordinate points with sequence numbers is smaller than the second distance threshold value, removing one coordinate point; otherwise, it is not removed but remains.
15. The method of claim 1, wherein the target is a drone or a controlled-movement robot;
the method further comprises outputting a dialog box for ending drawing the defense area when the track curve is judged to be not closed, outputting a failure prompt for drawing the defense area when the dialog box is ended to be selected, and exiting the engineering mode.
16. A drawing device for a defense area in an security and protection system is characterized by comprising a processor and a memory, wherein,
the memory is used for storing a computer program;
the processor is configured to execute a program stored in the memory, and implement the method for drawing a defense area according to any one of claims 1 to 15.
17. A storage medium, characterized in that a computer program implementing the defense area drawing method according to any one of claims 1 to 15 is stored.
18. An safety radar system comprises a radar detection subsystem and a monitoring platform, and is characterized in that,
the memory of the monitoring platform is used for storing computer programs,
the processor of the monitoring platform is configured to execute a program stored in the memory, and implement the method for drawing a defense area according to any one of claims 1 to 15.
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| CN112529984B (en) * | 2020-12-23 | 2023-12-26 | 中移（杭州）信息技术有限公司 | Method, device, electronic equipment and storage medium for drawing polygon |
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