CN111722187B - Radar installation parameter calculation method and device - Google Patents

Abstract

Embodiments of the present invention provide a radar installation parameter calculation method and device, wherein the device includes: an acquisition unit configured to acquire position information of radar reflection points belonging to detection targets within a first predetermined number of consecutive frames; first The determination unit is used to determine the installation pitch angle of the radar based on the position information of the radar reflection point; the second determination unit is used to calculate the installation height of the radar based on the installation pitch angle of the radar. The method of this embodiment can adaptively estimate the height and pitch angle of the radar installation without the need for human measurement. This can provide basic reference information for analyzing and optimizing the radar installation method, so that the current estimated installation height and pitch angle of the radar can be calculated based on the current estimated installation height and pitch angle of the radar. Automatically optimize the best installation method of the radar, thereby controlling the coverage and scanning range of the antenna beam, reducing interference reflection points, and improving the accuracy of fall detection.

Description

Radar installation parameter calculation method and device

Technical field

The invention relates to the field of information technology, and in particular to a radar installation parameter calculation method and device.

Background technique

Falls often occur in people's daily lives. Depending on individual physical conditions, falls may cause varying degrees of harm to the body. According to the World Health Organization, 646,000 fatal falls occur each year, making it the second leading cause of unintentional injury death after road traffic injuries. Timely detection of fall accidents and rescue of injured persons can prevent aggravation of injuries and mitigate fatal risks. Therefore, accurate and reliable fall detection technology is of great significance to creating a safe and livable living environment.

In the existing technology, a fall detection method based on microwave radar is proposed. The microwave radar can emit microwave signals to the detection target. After reflection by the detection target, the microwave radar can receive the reflected signal and obtain the detection target based on the reflected signal. height information or speed information, etc., and fall detection is performed based on the height information or speed information.

It should be noted that the above introduction to the technical background is only provided to facilitate a clear and complete description of the technical solution of the present invention and to facilitate the understanding of those skilled in the art. It cannot be considered that the above technical solutions are known to those skilled in the art just because these solutions are described in the background technology section of the present invention.

Contents of the invention

The inventor found that due to the fixed antenna array design of the microwave radar in the hardware equipment, the radar antenna beam can only cover a limited area. Figure 2 is a schematic diagram of the coverage area after the radar is installed. As shown in Figure 2, if the installation height of the radar is too low, the effective sensing area will be reduced; on the other hand, if the installation pitch angle of the radar is too large, the reflected noise points from the ground will will increase, and the effective sensing area will also decrease. If the radar installation pitch angle is too small, when multiple people stand in a straight line or one person is blocked by another person during trajectory tracking, it will be impossible to detect the presence of multiple people at the same time. Therefore, the height and pitch angle when the radar is installed have a great impact on the accuracy of the fall detection results. Currently, there is no effective method to accurately calculate the height and pitch angle when the radar is installed.

The embodiment of the present invention proposes a radar installation parameter calculation method and device to solve the problems existing in the prior art.

According to a first aspect of the embodiment of the present invention, a radar installation parameter calculation device is provided, wherein the device includes:

An acquisition unit configured to acquire position information of radar reflection points belonging to the detection target within a first predetermined number of consecutive frames;

A first determination unit configured to determine the installation pitch angle of the radar based on the position information of the radar reflection point;

The second determination unit is used to calculate the installation height of the radar based on the installation pitch angle of the radar.

According to a second aspect of the embodiment of the present invention, a method for calculating radar installation parameters is provided, wherein the method includes:

Obtaining position information of radar reflection points belonging to the detection target within a first predetermined number of consecutive frames;

Determine the installation pitch angle of the radar based on the position information of the radar reflection point;

Calculate the installation height of the radar based on the installation pitch angle of the radar.

The beneficial effect of the embodiment of the present invention is to determine the pitch angle of the radar installation based on the position information of the reflection point obtained by the continuous multi-frame microwave radar, and calculate the height of the radar installation based on the pitch angle. This method can be performed automatically without the need for human measurement. It is adapted to estimate the height and pitch angle of the radar installation. This can provide basic reference information for analyzing and optimizing the radar installation method, so as to automatically optimize the best installation method of the radar based on the current estimated installation height and pitch angle of the radar, thereby controlling the antenna beam. The coverage and scanning range reduce interference reflection points and improve the accuracy of fall detection.

Referring to the following description and drawings, specific embodiments of the invention are disclosed in detail and the manner in which the principles of the invention may be employed is indicated. It should be understood that embodiments of the invention are not thereby limited in scope. Embodiments of the present invention include many alterations, modifications and equivalents within the spirit and scope of the appended claims.

Features described and/or illustrated with respect to one embodiment may be used in the same or similar manner in one or more other embodiments, in combination with features in other embodiments, or in place of features in other embodiments .

It should be emphasized that the term "comprising" when used herein refers to the presence of features, integers, steps or components but does not exclude the presence or addition of one or more other features, integers, steps or components.

Description of drawings

Many aspects of the invention may be better understood with reference to the following drawings. The components in the figures are not to scale but merely for illustrating the principles of the invention. In order to facilitate the illustration and description of certain parts of the present invention, corresponding parts in the drawings may be exaggerated or reduced. Elements and features described in one figure or one embodiment of the invention may be combined with elements and features illustrated in one or more other figures or embodiments. Furthermore, in the drawings, like reference numerals represent corresponding parts throughout the several figures and may be used to indicate corresponding parts used in more than one embodiment.

In the attached picture:

Figure 1 is a flow chart of the radar installation parameter calculation method in Embodiment 1;

Figure 2 is a schematic diagram of the microwave radar transmitting and receiving signals in Embodiment 1;

Figure 3 is a schematic diagram of the distribution of radar reflection points in one frame in the X-Y plane in Embodiment 1;

Figure 4A is a schematic diagram illustrating radar installation parameters in Embodiment 1;

Figure 4B is a schematic diagram of the radar coordinate system in this embodiment 1;

Figure 5 is a schematic diagram of radar reflection point fitting in Embodiment 1;

Figure 6 is a schematic diagram of the implementation method of step 103 in Embodiment 1;

Figure 7 is a schematic diagram of the radar installation parameter calculation device in Embodiment 2;

Figure 8 is a schematic structural diagram of the first determination unit in Embodiment 2;

Figure 9 is a schematic structural diagram of the second determination unit in Embodiment 2;

Figure 10 is a schematic diagram of the radar installation parameter calculation system in Embodiment 3;

Figure 11 is a schematic diagram of the electronic equipment in Embodiment 3.

Detailed ways

The foregoing and other features of embodiments of the present invention will become apparent from the following description, taken in conjunction with the accompanying drawings. These embodiments are only exemplary and do not limit the invention. In order to enable those skilled in the art to easily understand the principles and implementations of the present invention, the embodiments of the present invention take fall detection based on microwave radar as an example for description. However, it can be understood that the embodiments of the present invention are not limited thereto. Other radar detection scenarios are also within the scope of the present invention.

In the embodiment of the present invention, the terms "first", "second", etc. are used to distinguish different elements from the title, but do not indicate the spatial arrangement or temporal order of these elements, and these elements should not be used by these terms. restricted. The term "and/or" includes any and all combinations of one or at least two of the associated listed terms. The terms "comprises," "includes," "having" and the like refer to the presence of stated features, elements, elements or components but do not exclude the presence or addition of one or at least two other features, elements, elements or components.

In the embodiments of the present invention, the singular forms "a", "the", etc. include plural forms and should be broadly understood as "a" or "a type" and are not limited to the meaning of "one"; in addition, the term "the" "" shall be understood to include both the singular and the plural unless the context clearly indicates otherwise. Furthermore, the term "based on" shall be understood to mean "based at least in part on," and the term "based on" shall be understood to mean "based at least in part on," unless the context clearly indicates otherwise.

Specific embodiments of the present invention will be described below with reference to the accompanying drawings.

Example 1

This embodiment 1 provides a method for calculating radar installation parameters. Figure 1 is a flow chart of the method. As shown in Figure 1, the method includes:

Step 101: Obtain the position information of radar reflection points belonging to the detection target within a first predetermined number of consecutive frames;

Step 102: Determine the installation pitch angle of the radar based on the position information of the radar reflection point;

Step 103: Calculate the installation height of the radar based on the installation pitch angle of the radar.

In this embodiment, microwave signals, such as Frequency-modulated Continuous Wave (FMCW), can be periodically transmitted into space based on a pre-installed microwave radar. The microwave signal passes through obstacles and detection targets in the environment. The reflected signal is obtained after reflection by a person (such as a person), and is received again by the microwave radar.

As shown in Figure 2, the microwave radar emits microwave signal A and receives the reflected signal B after reflection. When using multi-antenna technology, the microwave signal A can be different microwave signals emitted by different transmitting antennas; the microwave signal Compared with the reflected signal B, A has changed in frequency and phase. Therefore, the radar reflection point information belonging to the detection target can be obtained based on the microwave signal A and the reflected signal B. In the following, one measurement result obtained by the microwave radar in one cycle is used as the information of one frame of radar reflection points.

In this embodiment, the microwave radar may include a transmitting antenna, a receiving antenna, a circuit, a memory, etc. The number of the transmitting antenna and the receiving antenna is more than one. The transmitting antenna is used to transmit microwave signals. The receiving antenna is used to receive reflected signals. The memory can store information used for various processing of the microwave radar operation. The circuit can It is configured to include a processor that executes a control program, for example, obtaining the position information of the reflection point based on the emitted microwave signal and the reflection signal; the position information of the reflection point is the three-dimensional coordinate information (x, y, z) of the reflection point in the radar coordinate system. ; Specifically, the angle of arrival can be estimated based on the phase difference of signals received by multiple receiving antennas, and then the three-dimensional coordinate information (x, y, z) of the reflection point in the radar coordinate system can be determined.

The structure of the microwave radar can refer to the existing technology, and the calculation method for obtaining the position information of the reflection point can also refer to the existing technology, which will not be described again here. It should be noted that this embodiment is not limited to using this circuit in a microwave radar to obtain the position information of the reflection point. Optionally, the microwave signal and the information of the reflection signal can also be transmitted to other devices to obtain the position information of the reflection point. .

Figure 3 is a schematic diagram of the X-Y plane distribution of the acquired radar reflection points in a frame under the radar coordinate system. Since the detection target (person) is a reflective surface with a certain area relative to the radar, the radar reflection points belonging to the detection target (person) tend to gather. in one or more places.

As shown in Figure 3, the reflection points in the circle belong to the radar reflection points of the detected target, and the other points are reflection points of other obstacles in the environment (hereinafter referred to as interference reflection points). Existing tracking algorithms or existing tracking algorithms can be used. There are clustering algorithms (such as density-based clustering algorithm, Density-Based Spatial Clustering of Applications with Noise, DBSCAN algorithm) to cluster all reflection points within one frame or multiple consecutive frames. Track the target trajectory based on the clustered results (for example, track changes in the position information of each radar reflection point within a first predetermined number of consecutive frames), and use the trajectory tracking information to distinguish radar reflection points belonging to the detection target and interference reflection points, And use the position information of the radar reflection points belonging to the detection target within the first predetermined number of consecutive frames to determine the radar installation parameters.

In this embodiment, in step 102, the installation pitch angle of the radar can be determined based on the position information of the radar reflection point belonging to the detection target in the first predetermined number of consecutive frames. In step 103, the installation pitch angle of the radar can be determined based on the determined pitch angle. As for the installation height of the radar, the installation parameters of the radar will be described below with reference to Figures 4A and 4B.

As shown in Figure 4A, the ground coordinate system is (X1-Y1-Z1). The detection target is in an upright state under the ground coordinate system. The height direction of the wall where the radar is installed under the ground coordinate system is Z1 (hereinafter referred to as the first (two vertical axis directions). As shown in Figure 4A, since the radar has a pitch angle when installed, the radar coordinate system can be established based on the radiation direction of the radar antenna. The installation position of the radar is the origin of the radar coordinate system. The first vertical axis of the radar coordinate system The axis direction Z is the normal direction of the horizontal plane (H-plane) of the radar antenna radiation pattern, and the first horizontal axis direction Y of the radar coordinate system is the same direction as the vertical plane (E-plane) of the radar antenna radiation pattern. The first vertical axis Z is perpendicular to the direction, and the second horizontal axis direction X of the radar coordinate system is the same as the X1 axis direction of the ground coordinate system.

As shown in the radar coordinate system in Figure 4B, the H-plane is the X-Y plane, and the E-plane is perpendicular to the X-Y plane, which is the Y-Z plane. The Z-axis of the radar coordinate system is defined as: the normal direction of the H-plane; the X-axis is defined as the normal direction of the E-plane; the Y-axis is defined as the direction axis perpendicular to the X-axis and the Z-axis, and satisfies the right-handed coordinate system criterion; the angle between the first longitudinal axis direction Z and the second longitudinal axis direction Z1 is The installation pitch angle α, the position Z0 of the origin of the radar coordinate system on the Z1 axis in the ground coordinate system, is the installation height of the radar.

The following explains how to determine α and Z0.

In step 102, in the Z-Y plane in the radar coordinate system, the radar reflection points belonging to the detection target in the first predetermined number of consecutive frames are fitted to obtain the fitted parameters; determined according to the fitted parameters Radar installation elevation angle.

In one embodiment, in the Z-Y plane in the radar coordinate system, linear fitting can be performed on the radar reflection points belonging to the detection target in the first predetermined number of consecutive frames to obtain a fitted straight line, and the slope of the straight line can be calculated (the slope in the Z-Y coordinate system), based on which the installation pitch angle of the radar is calculated.

In another embodiment, in the Z-Y plane in the radar coordinate system, ellipse fitting can be performed on the radar reflection points belonging to the detection target in the first predetermined number of consecutive frames to obtain the fitted ellipse, and the ellipse is calculated. The slope of the straight line where the long axis is located (the slope in the Z-Y coordinate system), based on which the installation pitch angle of the radar is calculated.

The above method of linear fitting or elliptical fitting can refer to the existing technology and will not be described again here.

Figure 5 is a schematic diagram of fitting radar reflection points. As shown in Figure 5, straight line C is a fitted straight line or a straight line where the long axis of the fitted ellipse is located. In the Z-Y coordinate system, the expression of this straight line C is z= k×y+b, k is the slope of straight line C, and the pitch angle α of the installation = arccot|k|.

In this embodiment, in order to improve the accuracy of fitting and reduce the amount of calculation, optionally, before fitting, the method may also include: (not shown) calculating each radar reflection based on the position information of the radar reflection point The distance between the point and the radar is calculated, and the average value of the distance between each radar reflection point and the radar is calculated to determine whether the average value is greater than the first threshold; and/or the radar reflection point with the maximum height is calculated based on the position information of the radar reflection point. The height difference from the radar reflection point with the smallest height is judged whether the height difference is greater than the second threshold; when the judgment result is yes, the radar reflection point is fitted.

For example, in step 101, the obtained position information is (x, y, z), and the distance between the radar reflection point and the radar is calculated. Calculate the average distance r between each radar reflection point and the radar/> Judgment/> Is it greater than the first threshold, in/> When it is less than or equal to the first threshold, it means that the radar reflection point may be a reflection point in the shadow area or blind area, in/> When it is greater than the first threshold, it means that the radar reflection point is the reflection point of the detection target, and each radar reflection point can be fitted.

For example, in step 101, the obtained position information is (x, y, z), calculate the height difference z _c =z _max -z _min between the radar reflection point with the largest height and the radar reflection point with the smallest height, and determine z _c Is it greater than the second threshold? When z _c is less than or equal to the second threshold, it means that the radar reflection point may be a reflection point in the shadow area or blind area. When z _c is greater than the second threshold, it means that the radar reflection point is a reflection point of the detection target. Each radar reflection point can be fitted.

Only one of the above determinations of the average distance and the height difference may be performed, or both may be combined. The above-mentioned first threshold can be determined based on the distance between the radar installation position and the detection area, and the second threshold can be determined based on the person's height. For example, the second threshold is set to 1m, which is not a limitation in this embodiment.

After the radar installation pitch angle is calculated, the radar installation height can be determined based on the pitch angle.

Figure 6 is a schematic diagram of the implementation method of step 103. As shown in Figure 6, step 103 includes:

Step 601: Calculate the coordinate conversion coefficient between the radar coordinate system and the ground coordinate system according to the installation pitch angle of the radar;

Step 602: Calculate the position Z1 of each radar reflection point in the second longitudinal axis direction of the ground coordinate system based on the coordinate conversion coefficient and the position information of each radar reflection point;

Step 603: Determine the installation height of the radar based on the position of each radar reflection point in the second longitudinal axis direction Z1 under the ground coordinate system;

In step 601, the coordinate transformation coefficient may be represented by a coordinate transformation matrix. As shown in Figures 4A and 4B, after the pitch angle is determined, in the Z-Y (Z1-Y1) plane, the coordinate transformation matrix between the radar coordinate system and the ground coordinate system is:

In step 602, in the radar coordinate system (Z-Y), the position information of each radar reflection point is obtained as (y, z). According to the coordinate transformation matrix, the position information of each radar reflection point in the ground coordinate system (Z1-Y1) can be calculated. The location information (y1, z1) below is as follows:

After obtaining the position information (y1, z1) of each radar reflection point in the ground coordinate system (Z1-Y1), the position z1 of each radar reflection point in the second vertical axis direction Z1 in the ground coordinate system can be obtained.

In step 603, the installation height of the radar can be determined based on the value of z1 of each radar reflection point, and the absolute position value z1 of the radar reflection point less than or equal to 0 in the second longitudinal axis direction Z1 in the ground coordinate system is determined. The absolute value of the position value with the largest value is determined as the installation height of the radar. Since the radar installation position is relatively high, in the radar coordinate system, the z value of the radar reflection point (including the reflection point of the detection target and the ground reflection point) is a negative number, and the converted z1 is also a negative number. Among the z1 of the above-mentioned radar reflection points, the z1 with the largest absolute value can be regarded as the z1 of the ground reflection point, and the absolute value of z1 of the ground reflection point can be regarded as Radar installation height.

In this embodiment, in order to improve the accuracy of the installation height calculation and reduce the amount of calculation, optionally, the method may also include: (not shown) calculating the relationship between each radar reflection point and the radar based on the position information of the radar reflection point. distance, and calculate the average value of the distance between each radar reflection point and the radar, and determine whether the average value is greater than the first threshold; and/or calculate the radar reflection point with the largest height and the smallest height based on the position information of the radar reflection point. The height difference of the radar reflection point is determined to determine whether the height difference is greater than the second threshold; when the judgment result is yes, the position of the radar reflection point in the second longitudinal axis direction of the ground coordinate system is calculated.

For example, in step 101, the obtained position information is (x, y, z), and the distance between the radar reflection point and the radar is calculated. Calculate the average distance r between each radar reflection point and the radar/> Judgment/> Is it greater than the first threshold, in/> When it is less than or equal to the first threshold, it means that the radar reflection point may be a reflection point in the shadow area or blind area, in/> When it is greater than the first threshold, it means that the radar reflection point is the reflection point of the detection target, and the position of the radar reflection point in the second vertical axis direction of the ground coordinate system can be calculated.

For example, in step 101, the obtained position information is (x, y, z), calculate the height difference z _c =z _max -z _min between the radar reflection point with the largest height and the radar reflection point with the smallest height, and determine z _c Is it greater than the second threshold? When z _c is less than or equal to the second threshold, it means that the radar reflection point may be a reflection point in the shadow area or blind area. When z _c is greater than the second threshold, it means that the radar reflection point is a reflection point of the detection target. The position of the radar reflection point in the second longitudinal axis direction of the ground coordinate system can be calculated.

The above-mentioned judgment of the average distance and the height difference can be performed only one way, or both can be combined. The above-mentioned first threshold can be determined based on the distance between the radar installation position and the detection area, and the second threshold can be determined based on the person's height. For example, the second threshold is set to 1m, which is not a limitation in this embodiment.

In this embodiment, after obtaining the estimated values of the radar installation pitch angle and height, it is possible to determine the interference reflection points of the radar in this installation mode. If the interference reflection points from walls, floors, obstacles, etc. are relatively large, If necessary, adjust the installation pitch angle and/or installation height of the radar. Optionally, this method can also include:

Count the radar reflection points belonging to the detection target and the interference reflection points of other interference objects among the radar reflection points, and the interference reflection points are detected in the second predetermined number of consecutive frames, and the number of the interference reflection points, or the interference reflection points When the ratio of points to the radar reflection points exceeds the third threshold, adjust the installation pitch angle and/or installation height of the radar.

In this implementation, within the second predetermined number of frames, interference reflection points continue to exist, and the number of interference reflection points exceeds the third threshold, indicating that the current radar installation method is inappropriate and the installation pitch angle and/or of the radar need to be adjusted. Or the installation height; or, within the second predetermined number of frames, interference reflection points continue to exist, and the ratio of the number of interference reflection points to the radar reflection points belonging to the detection target exceeds the third threshold, indicating that the current radar installation method is inappropriate , it is necessary to adjust the installation pitch angle and/or installation height of the radar.

Among them, the pan/tilt and other methods can be used to automatically adjust. For example, each time the adjustment is made, the radar is increased or decreased by a predetermined angle in a predetermined direction, and/or the predetermined height is increased upward, and/or the predetermined height is lowered downward. The adjusted Compare the interference reflection points with the interference reflection points at the previous installation position. If the number of interference reflection points decreases, continue to adjust in the same direction as the previous adjustment. If the number of interference reflection points increases, continue in the same direction as the previous adjustment. Continue to adjust in the opposite direction. Finally, after the radar installation position is adjusted, the number of interference reflection points is reduced, so as to improve the accuracy of fall detection. This is only an example, and this embodiment is not limited to this.

Through the above embodiment, the pitch angle of the radar installation is determined based on the position information of the reflection point obtained by the continuous multi-frame microwave radar, and the height of the radar installation is calculated based on the pitch angle. This method can adaptively estimate the radar installation without the need for human measurement. The height and pitch angle of the radar can provide basic reference information for analyzing and optimizing the radar installation method, so that the best installation method of the radar can be automatically optimized based on the current estimated installation height and pitch angle of the radar, thereby controlling the coverage and scanning range of the antenna beam. , reduce interference reflection points and improve the accuracy of fall detection.

Example 2

Embodiment 2 also provides a radar installation parameter calculation device. Since the problem-solving principle of this device is similar to that of the method in Embodiment 1, its specific implementation can refer to the implementation of the method in Embodiment 1, and the same content will not be repeated.

Figure 7 is a schematic diagram of the structure of the radar installation parameter calculation device 700. As shown in Figure 7, the device 700 includes:

The acquisition unit 701 is used to acquire the position information of the radar reflection points belonging to the detection target within the first predetermined number of consecutive frames;

The first determination unit 702 is used to determine the installation pitch angle of the radar based on the position information of the radar reflection point;

The second determination unit 703 is used to calculate the installation height of the radar according to the installation pitch angle of the radar.

In this embodiment, the specific implementation of the acquisition unit 701, the first determination unit 702, and the second determination unit 703 can be referred to steps 101-103, and repeated details will not be described again.

Figure 8 is a schematic diagram of the structure of the first determination unit 702. As shown in Figure 8, the first determination unit 702 includes:

The fitting module 801 is used to fit the radar reflection point in the radar coordinate system where the vertical plane (E-plane) of the radar antenna radiation pattern is located, and obtain the fitted parameters;

The first determination module 802 is used to determine the installation pitch angle of the radar according to the fitted parameters;

Wherein, the first vertical axis direction of the radar coordinate system is the normal direction of the horizontal plane (H-plane) of the radar antenna radiation pattern, and the first horizontal axis direction of the radar coordinate system is the direction between the vertical plane and the first longitudinal axis. The angle between the first longitudinal axis direction and the second longitudinal axis direction of the ground coordinate system where the detection target is located is the installation pitch angle. Please refer to Embodiment 1 for details on the radar coordinate system. No further details will be given.

For example, the fitting module 801 performs linear fitting on the radar reflection point to obtain the slope of the fitted straight line, or performs ellipse fitting on the radar reflection point to obtain the slope of the straight line where the long axis of the fitted ellipse lies; The slope is the slope of the straight line in the radar coordinate system; the first determination module 802 determines the installation pitch angle of the radar based on the slope.

In this embodiment, the first determining unit 702 may also include (optional):

The first judgment module 803 is used to calculate the distance between each radar reflection point and the radar based on the position information of the radar reflection point, calculate the average value of the distance between each radar reflection point and the radar, and determine whether the average value is greater than the first a threshold; and/or calculate the height difference between the radar reflection point with the largest height and the radar reflection point with the smallest height based on the position information of the radar reflection point, and determine whether the height difference is greater than the second threshold;

When the judgment result of the first judgment module 803 is yes, the fitting module 801 fits the radar reflection point.

Figure 9 is a schematic diagram of the structure of the second determination unit 803. As shown in Figure 9, the second determination unit 703 includes:

The first calculation module 901 is used to calculate the coordinate conversion coefficient of the radar coordinate system and the ground coordinate system according to the installation pitch angle of the radar;

The second calculation module 902 is used to calculate the position of each radar reflection point in the second longitudinal axis direction of the ground coordinate system based on the coordinate conversion coefficient and the position information of each radar reflection point;

The second determination module 903 is used to determine the installation height of the radar based on the position of each radar reflection point in the second longitudinal axis direction of the ground coordinate system;

In this embodiment, the implementation of the first calculation module 901, the second calculation module 902, and the second determination module 903 can refer to steps 601-603 in Embodiment 1, which will not be repeated here.

For example, the second determination module 903 determines the installation height of the radar by the absolute value of the largest position value among the position values less than or equal to 0 in the second longitudinal axis direction of each radar reflection point in the ground coordinate system.

In this embodiment, the second determining unit 703 may also include (optional):

The second judgment module 904 is used to calculate the distance between each radar reflection point and the radar based on the position information of the radar reflection point, calculate the average value of the distance between each radar reflection point and the radar, and determine whether the average value is greater than the first a threshold; and/or calculate the height difference between the radar reflection point with the largest height and the radar reflection point with the smallest height based on the position information of the radar reflection point, and determine whether the height difference is greater than the second threshold;

When the judgment result of the second judgment module 904 is yes, the second determination module 903 calculates the position of the radar reflection point in the second longitudinal axis direction of the ground coordinate system.

For the implementation of the first judgment module 803 and the second judgment module 904, reference can be made to Embodiment 1, which will not be described again here.

In this embodiment, the device also includes: (optional)

The adjustment unit 704 is used to count the radar reflection points belonging to the detection target and the interference reflection points of other interference objects among the radar reflection points; the interference reflection points are detected in the second predetermined number of consecutive frames, and the interference reflection points When the number or the ratio of the interference reflection points to the radar reflection points exceeds the third threshold, the installation pitch angle and/or installation height of the radar is adjusted. For the specific implementation, reference can be made to Embodiment 1, which will not be described again here.

Through the above embodiment, the pitch angle of the radar installation is determined based on the position information of the reflection point obtained by the continuous multi-frame microwave radar, and the height of the radar installation is calculated based on the pitch angle. The device can adaptively estimate the radar installation without the need for human measurement. The height and pitch angle of the radar can provide basic reference information for analyzing and optimizing the radar installation method, so that the best installation method of the radar can be automatically optimized based on the current estimated installation height and pitch angle of the radar, thereby controlling the coverage and scanning range of the antenna beam. , reduce interference reflection points and improve the accuracy of fall detection.

Example 3

This embodiment also provides a radar installation parameter calculation system. Figure 10 is a schematic diagram of the system. As shown in Figure 10, the system 1000 includes: a microwave radar 1001, which is installed on the wall and used to periodically transmit microwave signals to space. , and receive the reflection signal reflected in space, and obtain the radar reflection point; and the radar installation parameter calculation device 700 in Embodiment 2.

In this embodiment, optionally, the system may also include: an adjustment device 1002, which is used to adjust the radar installation pitch angle and/or installation height.

In this embodiment, the implementation of the microwave radar 1001 has been described in Embodiment 1, and the adjustment device 1002 can be implemented through a pan/tilt.

This embodiment also provides a radar installation parameter calculation system (not shown), which includes electronic equipment and a microwave radar. The electronic device may be, for example, a computer, a server, a workstation, a laptop, a smartphone, etc.; but the embodiments of the present invention are not limited thereto. The structure of the microwave radar can be referred to Embodiment 1. It is used to periodically transmit microwave signals to space, receive reflection signals reflected in space, and obtain radar reflection points (which can also be obtained by electronic equipment). The electronic equipment obtains a first predetermined number of Position information of the radar reflection point belonging to the detection target within the continuous frame; determine the installation pitch angle of the radar based on the position information of the radar reflection point; calculate the installation height of the radar based on the installation pitch angle of the radar. In this embodiment, optionally, the system may also include: an adjustment device for adjusting the radar installation pitch angle and/or installation height.

Figure 11 is a schematic diagram of an electronic device according to an embodiment of the present invention. As shown in FIG. 11 , the electronic device 1100 may include a processor (eg, central processing unit CPU) 1110 and a memory 1120 ; the memory 1120 is coupled to the central processing unit 1110 . The memory 1120 can store various data; in addition, it also stores information processing programs, and executes the programs under the control of the processor 1110 .

In one embodiment, the functionality of the radar installation parameter calculation device 700 may be integrated into the processor 1110 . The processor 1110 may be configured to implement the radar installation parameter calculation method as described in Embodiment 1.

In another embodiment, the radar installation parameter calculation device 700 can be configured separately from the processor 1110. For example, the radar installation parameter calculation device 700 can be configured as a chip connected to the processor 1110, and the radar installation is implemented through the control of the processor 1110. Functions of the parameter calculation device 700.

For example, the processor 1110 may be configured to perform the following control: obtain the position information of the radar reflection point belonging to the detection target within a first predetermined number of consecutive frames; determine the installation pitch angle of the radar according to the position information of the radar reflection point ; Calculate the installation height of the radar based on the installation pitch angle of the radar.

For the specific implementation of the processor 1110, reference can be made to Embodiment 1, which will not be described again here.

In addition, as shown in FIG. 11 , the electronic device 1100 may also include a transceiver unit 1130 and the like; the functions of the above components are similar to those in the prior art and will not be described again here. It is worth noting that the electronic device 1100 does not necessarily include all components shown in FIG. 11 ; in addition, the electronic device 1100 may also include components not shown in FIG. 11 , and reference may be made to the prior art.

An embodiment of the present invention also provides a computer-readable program, wherein when the program is executed in a radar installation parameter calculation device, the program causes the computer to execute the radar installation parameters in the radar installation parameter calculation device as in Embodiment 1 above. Calculation method.

An embodiment of the present invention also provides a storage medium storing a computer-readable program, wherein the computer-readable program causes the computer to execute the radar installation parameter calculation method in Embodiment 1 above in the radar installation parameter calculation device.

The radar installation parameter calculation method described in connection with the embodiment of the present invention can be directly embodied as hardware, a software module executed by a processor, or a combination of both. For example, one or more of the functional block diagrams and/or one or more combinations of the functional block diagrams shown in Figures 7-11 may correspond to each software module or each hardware module of the computer program flow. These software modules can correspond to the steps shown in Figures 1 and 6 respectively. These hardware modules can be implemented by solidifying these software modules using a field programmable gate array (FPGA), for example.

The software module may be located in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art. A storage medium may be coupled to the processor such that the processor can read information from the storage medium and write information to the storage medium; or the storage medium may be an integral part of the processor. The processor and storage media may be located in an ASIC. The software module can be stored in the memory of the radar installation parameter calculation device, or in a memory card that can be inserted into the radar installation parameter calculation device.

One or more of the functional block diagrams and/or one or more combinations of the functional block diagrams described with respect to FIGS. 7-11 may be implemented as a general-purpose processor or digital signal processor (DSP) for performing the functions described in this application. , application specific integrated circuit (ASIC), field programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, or any appropriate combination thereof. One or more of the functional block diagrams and/or one or more combinations of the functional block diagrams described in Figures 7-11 can also be implemented as a combination of computing devices, for example, a combination of a DSP and a microprocessor, multiple microprocessors processor, one or more microprocessors combined with DSP communications, or any other such configuration.

The present invention has been described above in conjunction with specific embodiments, but those skilled in the art should understand that these descriptions are exemplary and do not limit the scope of the present invention. Those skilled in the art can make various variations and modifications to the present invention based on the spirit and principles of the present invention, and these variations and modifications are also within the scope of the present invention.

Regarding the embodiments including the above plural embodiments, the following additional notes are also disclosed.

Appendix 1. A radar installation parameter calculation device, wherein the device includes:

An acquisition unit configured to acquire position information of radar reflection points belonging to the detection target within a first predetermined number of consecutive frames;

A first determination unit configured to determine the installation pitch angle of the radar based on the position information of the radar reflection point; and

A second determination unit configured to calculate the installation height of the radar based on the installation pitch angle of the radar.

Supplement 2. The device according to Supplement 1, wherein the first determining unit includes:

A fitting module, which is used to fit the radar reflection point in the radar coordinate system where the vertical plane of the radar antenna radiation pattern is located, and obtain the fitted parameters;

A first determination module configured to determine the installation pitch angle of the radar based on the fitted parameters;

Wherein, the first vertical axis direction of the radar coordinate system is the normal direction of the horizontal plane of the radar antenna radiation pattern, and the first horizontal axis direction of the radar coordinate system is the distance between the vertical plane and the first longitudinal axis direction of the radar antenna radiation pattern. The angle between the first longitudinal axis direction and the second longitudinal axis direction of the ground coordinate system where the detection target is located is the installation pitch angle.

Supplementary Note 3. The device according to Supplementary Note 2, wherein the fitting module performs linear fitting on the radar reflection points to obtain the slope of the fitted straight line, or performs elliptical fitting on the radar reflection points. Combined to obtain the slope of the straight line where the long axis of the fitted ellipse lies; wherein, the slope is the slope of the straight line in the radar coordinate system;

The first determining module determines the installation pitch angle of the radar according to the slope.

Supplementary Note 4. The device according to Supplementary Note 2, wherein the first determining unit further includes:

The first judgment module is used to calculate the distance between each radar reflection point and the radar according to the position information of the radar reflection point, calculate the average value of the distance between each radar reflection point and the radar, and determine the average value whether it is greater than the first threshold, and/or, calculate the height difference between the radar reflection point with the largest height and the radar reflection point with the smallest height based on the position information of the radar reflection point, and determine whether the height difference is greater than the second threshold;

When the judgment result of the first judgment module is yes, the fitting module fits the radar reflection point.

Supplementary Note 5. The device according to Supplementary Note 1, wherein the second determining unit includes:

The first calculation module is used to calculate the coordinate conversion coefficient of the radar coordinate system and the ground coordinate system according to the installation pitch angle of the radar;

A second calculation module configured to calculate the position of each radar reflection point in the second longitudinal axis direction of the ground coordinate system based on the coordinate conversion coefficient and the position information of each radar reflection point;

a second determination module configured to determine the installation height of the radar based on the position of each radar reflection point in the second longitudinal axis direction under the ground coordinate system;

Wherein, the first vertical axis direction of the radar coordinate system is the normal direction of the horizontal plane of the radar antenna radiation pattern, and the first horizontal axis direction of the radar coordinate system is between the vertical plane of the radar antenna radiation pattern and the first horizontal axis direction of the radar antenna radiation pattern. A vertical axis direction, and the angle between the first longitudinal axis direction and the second longitudinal axis direction of the ground coordinate system where the detection target is located is the installation pitch angle.

Supplementary Note 6. The device according to Supplementary Note 5, wherein the second determining unit further includes:

The second judgment module is used to calculate the distance between each radar reflection point and the radar according to the position information of the radar reflection point, calculate the average value of the distance between each radar reflection point and the radar, and determine the average value whether it is greater than the first threshold, and/or, calculate the height difference between the radar reflection point with the largest height and the radar reflection point with the smallest height based on the position information of the radar reflection point, and determine whether the height difference is greater than the second threshold;

When the judgment result of the second judgment module is yes, the second determination module calculates the position of each radar reflection point in the second longitudinal axis direction of the ground coordinate system.

Supplementary Note 7. The device according to Supplementary Note 5, wherein the second determination module determines the position value of each radar reflection point less than or equal to 0 in the second longitudinal axis direction in the ground coordinate system. The absolute value of the position value with the largest absolute value is determined as the installation height of the radar.

Supplement 8. The device according to Supplement 1, wherein the device further includes:

an adjustment unit, which is used to count the radar reflection points belonging to the detection target and the interference reflection points of other interference objects among the radar reflection points; the interference reflection points are detected in the second predetermined number of consecutive frames, and the interference reflection points are When the number of points or the ratio of the interference reflection points to the radar reflection points exceeds the third threshold, the installation pitch angle and/or installation height of the radar is adjusted.

Note 9. A method for calculating radar installation parameters, wherein the method includes:

Obtaining position information of radar reflection points belonging to the detection target within a first predetermined number of consecutive frames;

Determine the installation pitch angle of the radar based on the position information of the radar reflection point;

Calculate the installation height of the radar based on the installation pitch angle of the radar.

Supplementary Note 10. The method according to Supplementary Note 9, wherein determining the installation pitch angle of the radar based on the position information of the radar reflection point includes:

In the radar coordinate system where the vertical plane (E-plane) of the radar antenna radiation pattern is located, fit the radar reflection points to obtain the fitted parameters;

Determine the installation pitch angle of the radar according to the fitted parameters;

Wherein, the first vertical axis direction of the radar coordinate system is the normal direction of the horizontal plane (H-plane) of the radar antenna radiation pattern, and the first horizontal axis direction of the radar coordinate system is the direction between the vertical plane and The angle between the vertical axis of the first longitudinal axis and the second longitudinal axis of the ground coordinate system where the detection target is located is the installation pitch angle.

Supplementary Note 11. The method according to Supplementary Note 10, wherein fitting the radar reflection points includes:

Linear fitting is performed on the radar reflection points to obtain the slope of the fitted straight line, or ellipse fitting is performed on the radar reflection points to obtain the slope of the straight line where the long axis of the fitted ellipse is located; wherein, The slope is the slope of the straight line in the radar coordinate system;

Furthermore, the installation pitch angle of the radar is determined based on the slope.

Supplement 12. The method according to Supplement 10, wherein before fitting, the method further includes:

Calculate the distance between each radar reflection point and the radar according to the position information of the radar reflection point, calculate the average value of the distance between each radar reflection point and the radar, and determine whether the average value is greater than the first threshold; and/ Or calculate the height difference between the radar reflection point with the largest height and the radar reflection point with the smallest height based on the position information of the radar reflection point, and determine whether the height difference is greater than the second threshold;

And when the judgment result is yes, the radar reflection point is fitted.

Supplement 13. The method according to Supplement 9, wherein calculating the installation height of the radar according to the installation pitch angle of the radar includes:

Calculate the coordinate conversion coefficient between the radar coordinate system and the ground coordinate system according to the installation pitch angle of the radar;

Calculate the position of each radar reflection point in the second longitudinal axis direction of the ground coordinate system according to the coordinate conversion coefficient and the position information of each radar reflection point;

Determine the installation height of the radar according to the position of each radar reflection point in the second longitudinal axis direction under the ground coordinate system;

Wherein, the first vertical axis direction of the radar coordinate system is the normal direction of the horizontal plane (H-plane) of the radar antenna radiation pattern, and the first horizontal axis direction of the radar coordinate system is the H-plane of the radar antenna radiation pattern. The angle between the direction perpendicular to the first longitudinal axis in the vertical plane and the second longitudinal axis direction of the ground coordinate system where the detection target is located is the installation pitch angle.

Supplement 14. The method according to Supplement 13, wherein before calculating the position of each radar reflection point in the second longitudinal axis direction of the ground coordinate system, the method further includes:

Calculate the distance between each radar reflection point and the radar based on the location information of the radar reflection point, and calculate the average distance between each radar reflection point and the radar, and/or calculate based on the location information of the radar reflection point The height difference between the radar reflection point with the largest height and the radar reflection point with the smallest height; determine whether the average value is greater than the first threshold, and/or determine whether the height difference is greater than the second threshold;

And when the judgment result is yes, the position of each radar reflection point in the second longitudinal axis direction of the ground coordinate system is calculated.

Supplementary Note 15. The method according to Supplementary Note 13, wherein the position value with the largest absolute value among the position values less than or equal to 0 in the second longitudinal axis direction of the each radar reflection point in the ground coordinate system is determined. The absolute value of is determined as the installation height of the radar.

Supplement 16. The method according to Supplement 9, wherein the method further includes:

Counting radar reflection points belonging to the detection target and interference reflection points of other interference objects among the radar reflection points, interference reflection points are detected in a second predetermined number of consecutive frames, and the number of interference reflection points, or all interference reflection points When the ratio of the interference reflection point to the radar reflection point exceeds the third threshold, the installation pitch angle and/or installation height of the radar is adjusted.

Claims (8)

1. A radar installation parameter calculation device, wherein the device includes: An acquisition unit configured to acquire position information of radar reflection points belonging to the detection target within a first predetermined number of consecutive frames; A first determination unit configured to determine the installation pitch angle of the radar based on the position information of the radar reflection point; and a second determination unit configured to calculate the installation height of the radar based on the installation pitch angle of the radar; Wherein, the first determining unit includes: A fitting module, which is used to fit the radar reflection points in the radar coordinate system where the vertical plane of the radar antenna radiation pattern of the radar is located, and obtain the fitted parameters; A first determination module configured to determine the installation pitch angle of the radar based on the fitted parameters; Wherein, the first vertical axis direction of the radar coordinate system is the normal direction of the horizontal plane of the radar antenna radiation pattern, and the first horizontal axis direction of the radar coordinate system is the distance between the vertical plane and the first longitudinal axis direction of the radar antenna radiation pattern. The angle between the first longitudinal axis direction and the second longitudinal axis direction of the ground coordinate system where the detection target is located is the installation pitch angle. 2. The device according to claim 1, wherein the fitting module performs linear fitting on the radar reflection points to obtain the slope of the fitted straight line, or performs elliptical fitting on the radar reflection points to obtain the slope of the fitted straight line. Obtain the slope of the straight line where the long axis of the fitted ellipse lies; wherein, the slope is the slope of the straight line in the radar coordinate system; The first determining module determines the installation pitch angle of the radar according to the slope. 3. The device according to claim 1, wherein the first determining unit further comprises: The first judgment module is used to calculate the distance between each radar reflection point and the radar according to the position information of the radar reflection point, calculate the average value of the distance between each radar reflection point and the radar, and determine the average value whether it is greater than the first threshold, and/or, calculate the height difference between the radar reflection point with the largest height and the radar reflection point with the smallest height based on the position information of the radar reflection point, and determine whether the height difference is greater than the second threshold; When the judgment result of the first judgment module is yes, the fitting module fits the radar reflection point. 4. The device according to claim 1, wherein the second determining unit comprises: The first calculation module is used to calculate the coordinate conversion coefficient of the radar coordinate system and the ground coordinate system according to the installation pitch angle of the radar; A second calculation module configured to calculate the position of each radar reflection point in the second longitudinal axis direction of the ground coordinate system based on the coordinate conversion coefficient and the position information of each radar reflection point; The second determination module is used to determine the installation height of the radar based on the position of each radar reflection point in the second longitudinal axis direction of the ground coordinate system. 5. The device according to claim 4, wherein the second determining unit further comprises: The second judgment module is used to calculate the distance between each radar reflection point and the radar according to the position information of the radar reflection point, calculate the average value of the distance between each radar reflection point and the radar, and determine the average value whether it is greater than the first threshold, and/or, calculate the height difference between the radar reflection point with the largest height and the radar reflection point with the smallest height based on the position information of the radar reflection point, and determine whether the height difference is greater than the second threshold; When the judgment result of the second judgment module is yes, the second determination module calculates the position of each radar reflection point in the second longitudinal axis direction of the ground coordinate system. 6. The device according to claim 4, wherein the second determination module determines the absolute value of the position value of each radar reflection point less than or equal to 0 in the second longitudinal axis direction in the ground coordinate system. The absolute value of the largest position value is determined as the installation height of the radar. 7. The device of claim 1, further comprising: an adjustment unit, which is used to count the radar reflection points belonging to the detection target and the interference reflection points of other interference objects among the radar reflection points; the interference reflection points are detected in the second predetermined number of consecutive frames, and the interference reflection points are When the number of points or the ratio of the interference reflection points to the radar reflection points exceeds the third threshold, the installation pitch angle and/or installation height of the radar is adjusted. 8. A method for calculating radar installation parameters, wherein the method includes: Obtaining position information of radar reflection points belonging to the detection target within a first predetermined number of consecutive frames; Determine the installation pitch angle of the radar based on the position information of the radar reflection point; Calculate the installation height of the radar according to the installation pitch angle of the radar; Wherein, determining the installation pitch angle of the radar based on the position information of the radar reflection point includes: In the radar coordinate system where the vertical plane of the radar antenna radiation pattern of the radar is located, fit the radar reflection points to obtain the fitted parameters; Determine the installation pitch angle of the radar according to the fitted parameters; Wherein, the first vertical axis direction of the radar coordinate system is the normal direction of the horizontal plane of the radar antenna radiation pattern, and the first horizontal axis direction of the radar coordinate system is the distance between the vertical plane and the first longitudinal axis direction of the radar antenna radiation pattern. The angle between the first longitudinal axis direction and the second longitudinal axis direction of the ground coordinate system where the detection target is located is the installation pitch angle.