CN105487075B - A kind of intelligent anticollision warning device with identification function - Google Patents

A kind of intelligent anticollision warning device with identification function Download PDF

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CN105487075B
CN105487075B CN201610089065.7A CN201610089065A CN105487075B CN 105487075 B CN105487075 B CN 105487075B CN 201610089065 A CN201610089065 A CN 201610089065A CN 105487075 B CN105487075 B CN 105487075B
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wave radar
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CN105487075A (en
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陈杨珑
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Ningxia Cn-Sc Lighting Protection Co Ltd
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Ningxia Cn-Sc Lighting Protection Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles

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  • Radar, Positioning & Navigation (AREA)
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Abstract

The invention discloses a kind of intelligent anticollision warning devices with identification function, including warning device and the millimetre-wave radar three-dimensional environment sensory perceptual system on warning device；Millimetre-wave radar three-dimensional environment sensory perceptual system includes millimetre-wave radar, rotation mechanism, control unit and data processing unit；Rotation mechanism includes the first rotary shaft, rotating disk and the second rotary shaft.This proximity-warning device is simple and practical in structure, can realize that front is scanned without dead angle and cover, and has many advantages, such as that control is accurate, setting accuracy is high, real-time is good.

Description

Intelligent anti-collision alarm device with recognition function
Technical Field
The invention relates to the field of alarming, in particular to an intelligent anti-collision alarming device with an identification function.
Background
The wide street has driven the urban development, and for people's trip provides convenience, along with the development of science and technology, the intelligent notion of traffic is proposed, and intelligent anticollision alarm device has been installed to more and more vehicles.
The intelligent environment sensing system mainly has the functions of acquiring vehicle and environment information through a sensor, specifically acquiring pose and state information of the vehicle, recognizing and tracking lane lines and lane edges in a structured road, recognizing and tracking traffic signs and traffic signals, recognizing and tracking obstacles around an automobile (including dynamic and static obstacles such as pedestrians and vehicles) and analyzing traffic conditions of a running road surface of the vehicle.
The alarm device is provided with an intelligent environment sensing system to improve the safety, the multi-functionalization and other comprehensive performances of the alarm device, and is an inevitable development trend at present. However, the existing environment sensing system often has the problems of insufficient sensing dimension, low calculation precision, low real-time performance and the like.
Disclosure of Invention
Aiming at the problems, the invention provides an intelligent anti-collision alarm device with an identification function.
The purpose of the invention is realized by adopting the following technical scheme:
an intelligent anti-collision alarm device with a recognition function comprises an alarm device and a millimeter wave radar three-dimensional environment sensing system arranged on the alarm device; the millimeter wave radar three-dimensional environment sensing system comprises a millimeter wave radar, a rotating mechanical device, a control unit and a data processing unit; the rotating mechanical device comprises a first rotating shaft, a rotating disk and a second rotating shaft, the first rotating shaft is vertically arranged and fixedly connected with the center of the rotating disk, and the first rotating shaft is driven to rotate by a first stepping motor; a second rotating shaft driven by a second stepping motor to rotate is horizontally sleeved in a bearing seat, and the bearing seat is fixedly connected to the rotating disc through 2 supporting shafts which are vertically arranged; a connecting part is arranged at the middle point of the second rotating shaft, the connecting part is perpendicular to the second rotating shaft and is integrally formed with the second rotating shaft, and the millimeter wave radar is vertically and fixedly connected with the connecting part; the inherent scanning plane of the millimeter wave radar is perpendicular to the plane where the rotating disc is located, and the scanning range angle is +/-30 degrees; the rotary disc is provided with notches at one side where the supporting shafts are arranged, the straight line where the notches are located is parallel to the straight line where the second rotating shaft is located, and the distance between any supporting shaft and the straight line where the notches are located is less than 50 mm; the first stepping motor and the second stepping motor are both controlled by a single chip microcomputer, the single chip microcomputer is used for receiving a control command, converting the control command into a control signal and sending the control signal to the motors, meanwhile, the current position of the rotating mechanical device is calculated according to the initial position of the device and the rotating angles of the two stepping motors, and the current position state of the rotating mechanical device is fed back to the data processing unit; the whole rotating mechanical device is driven by the first stepping motor to do periodic reciprocating motion of 180 degrees horizontally towards the front of the alarm device, and meanwhile, the millimeter wave radar is driven by the second stepping motor to do periodic reciprocating motion of 180 degrees vertically towards the front of the alarm device;
the data processing unit comprises a data acquisition subunit, a time delay correction subunit and a coordinate output subunit, wherein the data acquisition subunit receives a distance value rho between the millimeter wave radar and a target, and simultaneously receives a vertical rotation angle α and a horizontal rotation angle β which are sent by the single chip microcomputer, and a self scanning angle theta of the millimeter wave radar, the reading of the millimeter wave radar to a certain target is (rho, α 0 and theta), and the data processing subunit defines that when the radar is in a horizontal position, the value of α is 0 degrees, when the radar is above the horizontal position, the value of α is positive, when the radar is below the horizontal position, the value of α is negative, when a second rotation axis is vertical to the direction right in front of the alarm device, the value of β 1 is 0 degrees, when the radar is located on the right side of β degrees, the value of β is positive, when the radar is located on the left side of β degrees, the value of β is negative, when the self scanning direction of the millimeter wave radar is vertical to the plane, when the self scanning direction of theta is 0 degrees, the theta is 0 degrees, when the self scanning direction of theta is above the plane, the positive value of theta is 0 degrees, and the theta is positive value;
preferably, the delay correction subunit includes a distance measurement correction module, a horizontal scanning correction module, and a vertical scanning correction module: the distance measurement correction module is used for correcting the delay effect in the round trip process of the radar detection wave on the measured value of the distance value rho, and the output correction factor is as follows:
when | α1+θ1|＞|α2+θ2| and | β1|＞|β2If not, taking the positive sign of the formula, otherwise, taking the negative sign of the formula;
a vertical scanning correction module for correcting the vertical rotation angle α for the delay effect during the round trip of the radar detection wave and outputting a correction factorWhen | α1|＞|α2If not, taking the positive sign of the formula, otherwise, taking the negative sign of the formula;
a horizontal scanning correction module for correcting the horizontal rotation angle β for the delay effect during the round trip of the radar detection wave and outputting a correction factorWhen | β1|＞|β2If not, taking the positive sign of the formula, otherwise, taking the negative sign of the formula;
wherein m is the maximum detectable distance of the millimeter wave radar, and rho is less than or equal to m;the time delay detection device is used for reflecting the influence of the distance between a detection target and a millimeter wave radar on the time delay effect, the time delay is smaller when the target is closer to the radar, and otherwise, the time delay is larger; t is t1Time of emission of detection wave for the target radar, t2Detecting the time of wave return for the radar; | t1-t2L represents the time required for the radar to detect a wave to and from the target and the radar; t is1Is the horizontal rotation period, T, of the millimeter wave radar2α being the vertical rotation period of the millimeter wave radar1Is t1α value of (g) α2Is t2α value of Times β1Is t1β value of (g) β2Is t2β value of time theta1Is t1Value of theta of time theta2Is t2The value of θ of time; t is1＝2s，T22.4s, the sampling interval of the millimeter wave radar is 2 degrees/s;
a coordinate output subunit: the target space coordinate output after being corrected by the delay correction subunit is as follows:
wherein,
the data processing unit further comprises a target RCS fluctuation characteristic measurement subunit, which is used for measuring the RCS sequence variation coefficient of the target:
for complex targets in the optical region, assuming that they consist of N scattering centers, the RCS of a multiple scattering center target is expressed as a function of the azimuth of the target:
wherein σiDenotes an ith scattering center RCS, &lTtT transition = α "&gTt α &lTt/T &gTt + θ denotes an azimuth angle of a target with respect to a millimeter wave radar, RiRepresenting the distance of the ith scattering center relative to the radar center; lambda is an artificially set parameter;
the RCS sequence coefficient of variation is then expressed as:where σ (k) represents the RCS value of the kth detected target, the RCS sequence mean
The alarm device has the beneficial effects that: a new millimeter wave radar three-dimensional environment sensing system is designed, so that dead-angle-free scanning coverage of 180 degrees in the horizontal direction and 180 degrees in the vertical direction in front is realized, and the millimeter wave radar three-dimensional environment sensing system is simple in structure, economical, durable and strong in anti-interference capability; the stepping motor is matched with other components to realize a full-automatic control function, and the control is convenient and accurate; aiming at the characteristics of a novel rotary radar system and a delay effect, correction modules such as a distance measurement correction module, a horizontal scanning correction module, a vertical scanning correction module and the like are designed, so that the coordinate positioning function of the radar is more accurate, and the real-time performance is stronger; an accurate coordinate calculation method is provided, and a basis is provided for automatic control and error control; aiming at the novel rotating mechanical device, a novel RCS fluctuation characteristic measuring device is adopted, so that the measurement of the RCS variation coefficient is more accurate and more beneficial to target identification; the sizes of the components such as the rotating disc, the rotating shaft and the like can be flexibly selected according to specific conditions, so that conditions are provided for the applicability of alarm devices with different sizes; the millimeter wave radar replaces the traditional light wave radar, the attenuation is small when the millimeter wave radar is used for transmitting through an atmospheric window, the influence of natural light and a heat radiation source is small, the target can be effectively identified and an alarm can be given out under severe weather conditions, the reliable guarantee is provided for safe driving, and the millimeter wave radar has the advantages of high resolution, high precision, small antenna caliber and the like.
Drawings
The invention is further illustrated by means of the attached drawings, but the embodiments in the drawings do not constitute any limitation to the invention, and for a person skilled in the art, other drawings can be obtained on the basis of the following drawings without inventive effort.
FIG. 1 is a block diagram of an intelligent anti-collision alarm device with identification function;
FIG. 2 is a schematic view of the structure of the rotating mechanism;
FIG. 3 is a schematic diagram of a millimeter wave radar self-scan;
FIG. 4 is a schematic illustration of the radar when detecting a target;
fig. 5 is a block diagram of the structure of the data processing unit.
Reference numerals: millimeter wave radar-1; a rotating disc-2; a first rotation axis-3; a second rotation axis-4; a bearing seat-5; a support shaft-6; a connecting part-7; a first stepper motor-8; a second stepper motor-9; rotating machinery-10; a control unit-11; a data processing unit-12; a data acquisition subunit 13; a delay correction subunit-14; a coordinate output subunit-15; incision-16; target-17; front of alarm device-18.
Detailed Description
The invention is further described with reference to the following examples.
Example 1:
an intelligent anti-collision alarm device with a recognition function as shown in fig. 1-4 comprises an alarm device and a millimeter wave radar three-dimensional environment sensing system arranged on the alarm device; the millimeter wave radar three-dimensional environment sensing system comprises a millimeter wave radar 1, a rotating mechanical device 10, a control unit 11 and a data processing unit 12; the rotating mechanical device 10 comprises a first rotating shaft 3, a rotating disk 2 and a second rotating shaft 4, wherein the first rotating shaft 3 is vertically arranged and fixedly connected with the center of the rotating disk 2, and the first rotating shaft 3 is driven to rotate by a first stepping motor 8; a second rotating shaft 4 driven by a second stepping motor 9 to rotate is horizontally sleeved in a bearing seat 5, and the bearing seat 5 is fixedly connected to the rotating disc 2 through 2 supporting shafts 6 which are vertically arranged; a connecting part 7 is arranged at the middle point of the second rotating shaft 4, the connecting part 7 is perpendicular to the second rotating shaft 4 and is integrally formed with the second rotating shaft 4, and the millimeter wave radar 1 is vertically and fixedly connected with the connecting part 7; the inherent scanning plane of the millimeter wave radar 1 is perpendicular to the plane of the rotating disc 2, and the scanning range angle is +/-30 degrees; the rotary disc 2 is provided with a notch 16 at one side where the supporting shafts 6 are arranged, the straight line where the notch 16 is located is parallel to the straight line where the second rotating shaft 4 is located, and the distance between any supporting shaft 6 and the straight line where the notch 16 is located is less than 50 mm; the first stepping motor 8 and the second stepping motor 9 are both controlled by a single chip microcomputer, the single chip microcomputer is used for receiving a control command, converting the control command into a control signal and sending the control signal to the motors, meanwhile, the current position of the rotating mechanical device is calculated according to the initial position of the device and the rotating angles of the two stepping motors, and the current position state of the rotating mechanical device 10 is fed back to the data processing unit 12; the whole rotating mechanical device 10 is driven by the first stepping motor 8 to do periodic reciprocating motion of 180 degrees horizontally facing to the front 18 of the alarm device, and meanwhile, the millimeter wave radar 1 is driven by the second stepping motor 9 to do periodic reciprocating motion of 180 degrees vertically facing to the front 20 of the alarm device;
as shown in fig. 5, the data processing unit 12 includes a data acquisition subunit 13, a delay correction subunit 14, and a coordinate output subunit 15, where the data acquisition subunit 13 receives the distance value ρ from the target measured by the millimeter wave radar 1, and simultaneously receives the vertical rotation angle α and the horizontal rotation angle β sent by the single-chip microcomputer, and the scanning angle θ of the millimeter wave radar 1 itself, so as to obtain the complete millimeter wave radar data and the position of the scanning plane, and as shown in fig. 5, the reading of a certain target 17 measured by the millimeter wave radar 1 is (ρ, α, θ), and defines that α is 0 ° when the millimeter wave radar 1 is in the horizontal position, α is positive when the millimeter wave radar 1 is above the horizontal position, α is negative when the millimeter wave radar 1 is below the horizontal position, β 1 is 0 ° when the second rotation axis 4 is perpendicular to the direction right of the alarm device, β is positive when the millimeter wave radar 1 is on the right side of β ° 0 °, β ° is positive value when the millimeter wave radar 1 is on the right side, and the millimeter wave 1 is on the left of β ° is negative, and when the millimeter wave radar 1 is on the left of the horizontal direction, when θ 1 is on the left of the horizontal direction, and when the millimeter wave radar 1 is positive scanning angle 0 ° is on the horizontal direction, when the scanning plane is found that the scanning angle is 0 ° is found by the scanning plane.
Preferably, the time delay effect means that, because the device adopts a three-dimensional double-rotation technical scheme, a certain offset of the position of the radar occurs already in the process from sending to returning of a radar detection wave, although the time is short, when the rotation speed is high, the error of the part is still not negligible, which is different from other fixed radar detection devices, and therefore a special time delay correction coefficient must be introduced. The delay correction subunit 14 includes a distance measurement correction module, a horizontal scanning correction module, and a vertical scanning correction module: the distance measurement correction module is used for correcting the delay effect in the round trip process of the radar detection wave on the measured value of the distance value rho, and the output correction factor is as follows:
when | α1+θ1|＞|α2+θ2| and | β1|＞|β2In | case, the rotation of the device is described as being toward the eyeThe direction of the punctuation moves, the actual value measured at this time is smaller, so the above formula adopts positive sign, at this time lambdaρ> 1, otherwise, negative sign is adopted, in which case lambdaρLess than 1; at the same time, due to t1-t2Is a small value, so the specific correction value of this correction module depends entirely on the rotation period T of the motor, the faster the rotation T, the smaller the absolute value of the difference between the correction factor and 1, and vice versa.
A vertical scanning correction module for correcting the vertical rotation angle α for the delay effect during the round trip of the radar detection wave and outputting a correction factorWhen | α1|＞|α2If not, taking the positive sign of the formula, otherwise, taking the negative sign of the formula;
a horizontal scanning correction module for correcting the horizontal rotation angle β for the delay effect during the round trip of the radar detection wave and outputting a correction factorWhen | β1|＞|β2If not, taking the positive sign of the formula, otherwise, taking the negative sign of the formula;
wherein m is the maximum detectable distance of the millimeter wave radar 1, and rho is less than or equal to m;the time delay device is used for reflecting the influence of the distance between the detection target 17 and the millimeter wave radar 1 on the time delay effect, the time delay is smaller when the target 17 is closer to the millimeter wave radar 1, and otherwise, the time delay is larger; t is t1Time of emission of radar detection wave for the target 17, t2For the time the radar detects the wave return, then | t1-t2| represents the time required for the radar detection wave to travel to and from the target 17 and the millimeter wave radar 1; t is t1Is the horizontal rotation period, t, of the millimeter wave radar 12α being the vertical rotation period of the millimeter wave radar 11Is t1α value of (g) α2Is t2α value of time；β1Is t1β value of (g) β2Is t2β value of time theta1Is t1Value of theta of time theta2Is t2The value of θ of time; t is1＝2s，T2The sampling interval of the millimeter wave radar is 2.4s, which is 2 °/s.
Coordinate output subunit 15: the target space coordinate output after being corrected by the delay correction subunit is as follows:
wherein,
the data processing unit also comprises a target RCS fluctuation characteristic measuring subunit used for measuring the RCS sequence variation coefficient of the target, the radar cross-sectional area (RCS) value represents the capability of receiving the target reflection signal in the antenna direction, and different target types can be distinguished by comparing and judging through measuring the target RCS fluctuation characteristic.
For a complex target in an optical area, N scattering centers are assumed to form the complex target, and according to the radar scattering theory, a radar echo can be regarded as echo vector synthesis of multiple scattering centers. Therefore, the radar target RCS is very sensitive to the attitude angle change of the target, the time series of the target RCS is essentially the change of the RCS along with the azimuth angle of the target, and is a fluctuation quantity, and the RCS of the multi-scattering center target is expressed as a function of the azimuth angle of the target:
wherein σiDenotes an ith scattering center RCS, &lTtT transition = α "&gTt α &lTt/T &gTt + θ denotes an azimuth angle of a target with respect to a millimeter wave radar, RiRepresenting the distance of the ith scattering center relative to the radar center; lambda is an artificially set parameter;
the RCS sequence coefficient of variation is then expressed as:where σ (k) represents the RCS value of the kth detected target, the RCS sequence meanAnd inputting the sequence variation coefficient and the azimuth angle as characteristic parameters into a target identification system to finish the identification of the target.
In the embodiment, a novel millimeter wave radar three-dimensional environment sensing system is designed for the alarm device, so that dead-angle-free scanning coverage of 180 degrees in the horizontal direction and 180 degrees in the vertical direction in front is realized, and the millimeter wave radar three-dimensional environment sensing system is simple in structure, economical, durable and strong in anti-interference capability; the stepping motor is matched with other components to realize a full-automatic control function, and the control is convenient and accurate; aiming at the characteristics and the time delay effect of a novel rotary radar system, correction modules such as a distance measurement correction module, a horizontal scanning correction module, a vertical scanning correction module and the like are designed, so that the coordinate positioning function of the radar is more accurate, and T is set1＝2s，T22.4s, the sampling interval of the millimeter wave radar is 2 degrees/s, the measurement error is less than 1 percent, the measurement delay rate is less than 0.5 percent, and the real-time performance is stronger while the detection without dead angles is realized; an accurate coordinate calculation method is provided, and a basis is provided for automatic control and error control; aiming at the novel rotating mechanical device, a novel RCS fluctuation characteristic measuring device is adopted, so that the measurement of the RCS variation coefficient is more accurate and more beneficial to target identification; the sizes of the components such as the rotating disc, the rotating shaft and the like can be flexibly selected according to specific conditions, so that conditions are provided for the applicability of alarm devices with different sizes; the millimeter wave radar replaces the traditional light wave radar, the attenuation is small when the millimeter wave radar is used for atmospheric window transmission, the influence of natural light and a heat radiation source is small, and the target can be effectively identified under severe weather conditionsAnd an alarm is given out, so that reliable guarantee is provided for safe driving, and the device has the advantages of high resolution, high precision, small antenna aperture and the like, and achieves unexpected effects.
Example 2:
an intelligent anti-collision alarm device with a recognition function as shown in fig. 1-4 comprises an alarm device and a millimeter wave radar three-dimensional environment sensing system arranged on the alarm device; the millimeter wave radar three-dimensional environment sensing system comprises a millimeter wave radar 1, a rotating mechanical device 10, a control unit 11 and a data processing unit 12; the rotating mechanical device 10 comprises a first rotating shaft 3, a rotating disk 2 and a second rotating shaft 4, wherein the first rotating shaft 3 is vertically arranged and fixedly connected with the center of the rotating disk 2, and the first rotating shaft 3 is driven to rotate by a first stepping motor 8; a second rotating shaft 4 driven by a second stepping motor 9 to rotate is horizontally sleeved in a bearing seat 5, and the bearing seat 5 is fixedly connected to the rotating disc 2 through 2 supporting shafts 6 which are vertically arranged; a connecting part 7 is arranged at the middle point of the second rotating shaft 4, the connecting part 7 is perpendicular to the second rotating shaft 4 and is integrally formed with the second rotating shaft 4, and the millimeter wave radar 1 is vertically and fixedly connected with the connecting part 7; the inherent scanning plane of the millimeter wave radar 1 is perpendicular to the plane of the rotating disc 2, and the scanning range angle is +/-30 degrees; the rotary disc 2 is provided with a notch 16 at one side where the supporting shafts 6 are arranged, the straight line where the notch 16 is located is parallel to the straight line where the second rotating shaft 4 is located, and the distance between any supporting shaft 6 and the straight line where the notch 16 is located is less than 50 mm; the first stepping motor 8 and the second stepping motor 9 are both controlled by a single chip microcomputer, the single chip microcomputer is used for receiving a control command, converting the control command into a control signal and sending the control signal to the motors, meanwhile, the current position of the rotating mechanical device is calculated according to the initial position of the device and the rotating angles of the two stepping motors, and the current position state of the rotating mechanical device 10 is fed back to the data processing unit 12; the whole rotating mechanical device 10 is driven by the first stepping motor 8 to do periodic reciprocating motion of 180 degrees horizontally facing to the front 18 of the alarm device, and meanwhile, the millimeter wave radar 1 is driven by the second stepping motor 9 to do periodic reciprocating motion of 180 degrees vertically facing to the front 20 of the alarm device;
as shown in fig. 5, the data processing unit 12 includes a data acquisition subunit 13, a delay correction subunit 14, and a coordinate output subunit 15, where the data acquisition subunit 13 receives the distance value ρ from the target measured by the millimeter wave radar 1, and simultaneously receives the vertical rotation angle α and the horizontal rotation angle β sent by the single-chip microcomputer, and the scanning angle θ of the millimeter wave radar 1 itself, so as to obtain the complete millimeter wave radar data and the position of the scanning plane, and as shown in fig. 5, the reading of a certain target 17 measured by the millimeter wave radar 1 is (ρ, α, θ), and defines that α is 0 ° when the millimeter wave radar 1 is in the horizontal position, α is positive when the millimeter wave radar 1 is above the horizontal position, α is negative when the millimeter wave radar 1 is below the horizontal position, β 1 is 0 ° when the second rotation axis 4 is perpendicular to the direction right of the alarm device, β is positive when the millimeter wave radar 1 is on the right side of β ° 0 °, β ° is positive value when the millimeter wave radar 1 is on the right side, and the millimeter wave 1 is on the left of β ° is negative, and when the millimeter wave radar 1 is on the left of the horizontal direction, when θ 1 is on the left of the horizontal direction, and when the millimeter wave radar 1 is positive scanning angle 0 ° is on the horizontal direction, when the scanning plane is found that the scanning angle is 0 ° is found by the scanning plane.
Preferably, the time delay effect means that, because the device adopts a three-dimensional double-rotation technical scheme, a certain offset of the position of the radar occurs already in the process from sending to returning of a radar detection wave, although the time is short, when the rotation speed is high, the error of the part is still not negligible, which is different from other fixed radar detection devices, and therefore a special time delay correction coefficient must be introduced. The delay correction subunit 14 includes a distance measurement correction module, a horizontal scanning correction module, and a vertical scanning correction module: the distance measurement correction module is used for correcting the delay effect in the round trip process of the radar detection wave on the measured value of the distance value rho, and the output correction factor is as follows:
when | α1+θ1|＞|α2+θ2| and | β1|＞|β2When | is, it is stated that the rotation of the device is moving toward the target point, and the actual value measured at this time is small, so the above formula adopts positive sign, and λ is the caseρ> 1, otherwise, negative sign is adopted, in which case lambdaρLess than 1; at the same time, due to t1-t2Is a small value, so the specific correction value of this correction module depends entirely on the rotation period T of the motor, the faster the rotation T, the smaller the absolute value of the difference between the correction factor and 1, and vice versa.
A vertical scanning correction module for correcting the vertical rotation angle α for the delay effect during the round trip of the radar detection wave and outputting a correction factorWhen | α1|＞|α2If not, taking the positive sign of the formula, otherwise, taking the negative sign of the formula;
a horizontal scanning correction module for correcting the horizontal rotation angle β for the delay effect during the round trip of the radar detection wave and outputting a correction factorWhen | β1|＞|β2If not, taking the positive sign of the formula, otherwise, taking the negative sign of the formula;
wherein m is the maximum detectable distance of the millimeter wave radar 1, and rho is less than or equal to m;the time delay device is used for reflecting the influence of the distance between the detection target 17 and the millimeter wave radar 1 on the time delay effect, the time delay is smaller when the target 17 is closer to the millimeter wave radar 1, and otherwise, the time delay is larger; t is t1Time of emission of radar detection wave for the target 17, t2For the time the radar detects the wave return, then | t1-t2| represents the time required for the radar detection wave to travel to and from the target 17 and the millimeter wave radar 1; t is t1Is the horizontal rotation period, t, of the millimeter wave radar 12α being the vertical rotation period of the millimeter wave radar 11Is t1α value of (g) α2Is t2α value of Times β1Is t1β value of (g) β2Is t2β value of time theta1Is t1Value of theta of time theta2Is t2The value of θ of time; t is1＝2s，T2The sampling interval of the millimeter wave radar is 2.4s, which is 2 °/s.
Coordinate output subunit 15: the target space coordinate output after being corrected by the delay correction subunit is as follows:
wherein,
the data processing unit also comprises a target RCS fluctuation characteristic measuring subunit used for measuring the RCS sequence variation coefficient of the target, the radar cross-sectional area (RCS) value represents the capability of receiving the target reflection signal in the antenna direction, and different target types can be distinguished by comparing and judging through measuring the target RCS fluctuation characteristic.
For a complex target in an optical area, N scattering centers are assumed to form the complex target, and according to the radar scattering theory, a radar echo can be regarded as echo vector synthesis of multiple scattering centers. Therefore, the radar target RCS is very sensitive to the attitude angle change of the target, the time series of the target RCS is essentially the change of the RCS along with the azimuth angle of the target, and is a fluctuation quantity, and the RCS of the multi-scattering center target is expressed as a function of the azimuth angle of the target:
wherein σiDenotes an ith scattering center RCS, &lTtT transition = α "&gTt α &lTt/T &gTt + θ denotes an azimuth angle of a target with respect to a millimeter wave radar, RiRepresenting the distance of the ith scattering center relative to the radar center; lambda is an artificially set parameter;
the RCS sequence coefficient of variation is then expressed as:where σ (k) represents the RCS value of the kth detected target, the RCS sequence meanAnd inputting the sequence variation coefficient and the azimuth angle as characteristic parameters into a target identification system to finish the identification of the target.
In the embodiment, a novel millimeter wave radar three-dimensional environment sensing system is designed for the alarm device, so that dead-angle-free scanning coverage of 180 degrees in the horizontal direction and 180 degrees in the vertical direction in front is realized, and the millimeter wave radar three-dimensional environment sensing system is simple in structure, economical, durable and strong in anti-interference capability; the stepping motor is matched with other components to realize a full-automatic control function, and the control is convenient and accurate; aiming at the characteristics and the time delay effect of a novel rotary radar system, correction modules such as a distance measurement correction module, a horizontal scanning correction module, a vertical scanning correction module and the like are designed, so that the coordinate positioning function of the radar is more accurate, and T is set1＝2.2s，T22.6s, the sampling interval of the millimeter wave radar is 1.5 degrees/s, the measurement error is less than 0.8 percent, the measurement delay rate is less than 0.4 percent, and the real-time performance is stronger while the detection without dead angles is realized; an accurate coordinate calculation method is provided, and a basis is provided for automatic control and error control; aiming at the novel rotating mechanical device, a novel RCS fluctuation characteristic measuring device is adopted, so that the measurement of the RCS variation coefficient is more accurate and is rightTarget identification is more advantageous; the sizes of the components such as the rotating disc, the rotating shaft and the like can be flexibly selected according to specific conditions, so that conditions are provided for the applicability of alarm devices with different sizes; the millimeter wave radar replaces the traditional light wave radar, the attenuation is small when the millimeter wave radar is used for transmitting through an atmospheric window, the influence of natural light and a heat radiation source is small, a target can be effectively identified and an alarm can be given out under severe weather conditions, the reliable guarantee is provided for safe driving, the millimeter wave radar has the advantages of high resolution, high precision, small antenna caliber and the like, and unexpected effects are achieved.
Example 3:
an intelligent anti-collision alarm device with a recognition function as shown in fig. 1-4 comprises an alarm device and a millimeter wave radar three-dimensional environment sensing system arranged on the alarm device; the millimeter wave radar three-dimensional environment sensing system comprises a millimeter wave radar 1, a rotating mechanical device 10, a control unit 11 and a data processing unit 12; the rotating mechanical device 10 comprises a first rotating shaft 3, a rotating disk 2 and a second rotating shaft 4, wherein the first rotating shaft 3 is vertically arranged and fixedly connected with the center of the rotating disk 2, and the first rotating shaft 3 is driven to rotate by a first stepping motor 8; a second rotating shaft 4 driven by a second stepping motor 9 to rotate is horizontally sleeved in a bearing seat 5, and the bearing seat 5 is fixedly connected to the rotating disc 2 through 2 supporting shafts 6 which are vertically arranged; a connecting part 7 is arranged at the middle point of the second rotating shaft 4, the connecting part 7 is perpendicular to the second rotating shaft 4 and is integrally formed with the second rotating shaft 4, and the millimeter wave radar 1 is vertically and fixedly connected with the connecting part 7; the inherent scanning plane of the millimeter wave radar 1 is perpendicular to the plane of the rotating disc 2, and the scanning range angle is +/-30 degrees; the rotary disc 2 is provided with a notch 16 at one side where the supporting shafts 6 are arranged, the straight line where the notch 16 is located is parallel to the straight line where the second rotating shaft 4 is located, and the distance between any supporting shaft 6 and the straight line where the notch 16 is located is less than 50 mm; the first stepping motor 8 and the second stepping motor 9 are both controlled by a single chip microcomputer, the single chip microcomputer is used for receiving a control command, converting the control command into a control signal and sending the control signal to the motors, meanwhile, the current position of the rotating mechanical device is calculated according to the initial position of the device and the rotating angles of the two stepping motors, and the current position state of the rotating mechanical device 10 is fed back to the data processing unit 12; the whole rotating mechanical device 10 is driven by the first stepping motor 8 to do periodic reciprocating motion of 180 degrees horizontally facing to the front 18 of the alarm device, and meanwhile, the millimeter wave radar 1 is driven by the second stepping motor 9 to do periodic reciprocating motion of 180 degrees vertically facing to the front 20 of the alarm device;
as shown in fig. 5, the data processing unit 12 includes a data acquisition subunit 13, a delay correction subunit 14, and a coordinate output subunit 15, where the data acquisition subunit 13 receives the distance value ρ from the target measured by the millimeter wave radar 1, and simultaneously receives the vertical rotation angle α and the horizontal rotation angle β sent by the single-chip microcomputer, and the scanning angle θ of the millimeter wave radar 1 itself, so as to obtain the complete millimeter wave radar data and the position of the scanning plane, and as shown in fig. 5, the reading of a certain target 17 measured by the millimeter wave radar 1 is (ρ, α, θ), and defines that α is 0 ° when the millimeter wave radar 1 is in the horizontal position, α is positive when the millimeter wave radar 1 is above the horizontal position, α is negative when the millimeter wave radar 1 is below the horizontal position, β 1 is 0 ° when the second rotation axis 4 is perpendicular to the direction right of the alarm device, β is positive when the millimeter wave radar 1 is on the right side of β ° 0 °, β ° is positive value when the millimeter wave radar 1 is on the right side, and the millimeter wave 1 is on the left of β ° is negative, and when the millimeter wave radar 1 is on the left of the horizontal direction, when θ 1 is on the left of the horizontal direction, and when the millimeter wave radar 1 is positive scanning angle 0 ° is on the horizontal direction, when the scanning plane is found that the scanning angle is 0 ° is found by the scanning plane.
Preferably, the time delay effect means that, because the device adopts a three-dimensional double-rotation technical scheme, a certain offset of the position of the radar occurs already in the process from sending to returning of a radar detection wave, although the time is short, when the rotation speed is high, the error of the part is still not negligible, which is different from other fixed radar detection devices, and therefore a special time delay correction coefficient must be introduced. The delay correction subunit 14 includes a distance measurement correction module, a horizontal scanning correction module, and a vertical scanning correction module: the distance measurement correction module is used for correcting the delay effect in the round trip process of the radar detection wave on the measured value of the distance value rho, and the output correction factor is as follows:
when | α1+θ1|＞|α2+θ2| and | β1|＞|β2When | is, it is stated that the rotation of the device is moving toward the target point, and the actual value measured at this time is small, so the above formula adopts positive sign, and λ is the caseρ> 1, otherwise, negative sign is adopted, in which case lambdaρLess than 1; at the same time, due to t1-t2Is a small value, so the specific correction value of this correction module depends entirely on the rotation period T of the motor, the faster the rotation T, the smaller the absolute value of the difference between the correction factor and 1, and vice versa.
A vertical scanning correction module for correcting the vertical rotation angle α for the delay effect during the round trip of the radar detection wave and outputting a correction factorWhen | α1|＞|α2If not, taking the positive sign of the formula, otherwise, taking the negative sign of the formula;
a horizontal scanning correction module for correcting the horizontal rotation angle β for the delay effect during the round trip of the radar detection wave and outputting a correction factorWhen | β1|＞|β2If not, taking the positive sign of the formula, otherwise, taking the negative sign of the formula;
wherein m is the maximum detectable distance of the millimeter wave radar 1, and rho is less than or equal to m;the time delay device is used for reflecting the influence of the distance between the detection target 17 and the millimeter wave radar 1 on the time delay effect, the time delay is smaller when the target 17 is closer to the millimeter wave radar 1, and otherwise, the time delay is larger; t is t1Time of emission of radar detection wave for the target 17, t2For the time the radar detects the wave return, then | t1-t2| represents the time required for the radar detection wave to travel to and from the target 17 and the millimeter wave radar 1; t is t1Is the horizontal rotation period, t, of the millimeter wave radar 12α being the vertical rotation period of the millimeter wave radar 11Is t1α value of (g) α2Is t2α value of Times β1Is t1β value of (g) β2Is t2β value of time theta1Is t1Value of theta of time theta2Is t2The value of θ of time; t is1＝2s，T2The sampling interval of the millimeter wave radar is 2.4s, which is 2 °/s.
Coordinate output subunit 15: the target space coordinate output after being corrected by the delay correction subunit is as follows:
wherein,
the data processing unit also comprises a target RCS fluctuation characteristic measuring subunit used for measuring the RCS sequence variation coefficient of the target, the radar cross-sectional area (RCS) value represents the capability of receiving the target reflection signal in the antenna direction, and different target types can be distinguished by comparing and judging through measuring the target RCS fluctuation characteristic.
For a complex target in an optical area, N scattering centers are assumed to form the complex target, and according to the radar scattering theory, a radar echo can be regarded as echo vector synthesis of multiple scattering centers. Therefore, the radar target RCS is very sensitive to the attitude angle change of the target, the time series of the target RCS is essentially the change of the RCS along with the azimuth angle of the target, and is a fluctuation quantity, and the RCS of the multi-scattering center target is expressed as a function of the azimuth angle of the target:
wherein σiDenotes an ith scattering center RCS, &lTtT transition = α "&gTt α &lTt/T &gTt + θ denotes an azimuth angle of a target with respect to a millimeter wave radar, RiRepresenting the distance of the ith scattering center relative to the radar center; lambda is an artificially set parameter;
the RCS sequence coefficient of variation is then expressed as:where σ (k) represents the RCS value of the kth detected target, the RCS sequence meanAnd inputting the sequence variation coefficient and the azimuth angle as characteristic parameters into a target identification system to finish the identification of the target.
In the embodiment, a novel millimeter wave radar three-dimensional environment sensing system is designed for the alarm device, so that dead-angle-free scanning coverage of 180 degrees in the horizontal direction and 180 degrees in the vertical direction in front is realized, and the millimeter wave radar three-dimensional environment sensing system is simple in structure, economical, durable and strong in anti-interference capability; the stepping motor is matched with other components to realize a full-automatic control function, and the control is convenient and accurate; aiming at the characteristics and the time delay effect of a novel rotary radar system, correction modules such as a distance measurement correction module, a horizontal scanning correction module, a vertical scanning correction module and the like are designed, so that the coordinate positioning function of the radar is more accurate, and T is set1＝2.4s，T22.7s, sampling of millimeter wave radarThe interval is 1.8 degrees/s, the measurement error is less than 0.7 percent, the measurement delay rate is less than 0.4 percent while the detection without dead angles is realized, and the real-time property is stronger; an accurate coordinate calculation method is provided, and a basis is provided for automatic control and error control; aiming at the novel rotating mechanical device, a novel RCS fluctuation characteristic measuring device is adopted, so that the measurement of the RCS variation coefficient is more accurate and more beneficial to target identification; the sizes of the components such as the rotating disc, the rotating shaft and the like can be flexibly selected according to specific conditions, so that conditions are provided for the applicability of alarm devices with different sizes; the millimeter wave radar replaces the traditional light wave radar, the attenuation is small when the millimeter wave radar is used for transmitting through an atmospheric window, the influence of natural light and a heat radiation source is small, a target can be effectively identified and an alarm can be given out under severe weather conditions, the reliable guarantee is provided for safe driving, the millimeter wave radar has the advantages of high resolution, high precision, small antenna caliber and the like, and unexpected effects are achieved.
Example 4:
an intelligent anti-collision alarm device with a recognition function as shown in fig. 1-4 comprises an alarm device and a millimeter wave radar three-dimensional environment sensing system arranged on the alarm device; the millimeter wave radar three-dimensional environment sensing system comprises a millimeter wave radar 1, a rotating mechanical device 10, a control unit 11 and a data processing unit 12; the rotating mechanical device 10 comprises a first rotating shaft 3, a rotating disk 2 and a second rotating shaft 4, wherein the first rotating shaft 3 is vertically arranged and fixedly connected with the center of the rotating disk 2, and the first rotating shaft 3 is driven to rotate by a first stepping motor 8; a second rotating shaft 4 driven by a second stepping motor 9 to rotate is horizontally sleeved in a bearing seat 5, and the bearing seat 5 is fixedly connected to the rotating disc 2 through 2 supporting shafts 6 which are vertically arranged; a connecting part 7 is arranged at the middle point of the second rotating shaft 4, the connecting part 7 is perpendicular to the second rotating shaft 4 and is integrally formed with the second rotating shaft 4, and the millimeter wave radar 1 is vertically and fixedly connected with the connecting part 7; the inherent scanning plane of the millimeter wave radar 1 is perpendicular to the plane of the rotating disc 2, and the scanning range angle is +/-30 degrees; the rotary disc 2 is provided with a notch 16 at one side where the supporting shafts 6 are arranged, the straight line where the notch 16 is located is parallel to the straight line where the second rotating shaft 4 is located, and the distance between any supporting shaft 6 and the straight line where the notch 16 is located is less than 50 mm; the first stepping motor 8 and the second stepping motor 9 are both controlled by a single chip microcomputer, the single chip microcomputer is used for receiving a control command, converting the control command into a control signal and sending the control signal to the motors, meanwhile, the current position of the rotating mechanical device is calculated according to the initial position of the device and the rotating angles of the two stepping motors, and the current position state of the rotating mechanical device 10 is fed back to the data processing unit 12; the whole rotating mechanical device 10 is driven by the first stepping motor 8 to do periodic reciprocating motion of 180 degrees horizontally facing to the front 18 of the alarm device, and meanwhile, the millimeter wave radar 1 is driven by the second stepping motor 9 to do periodic reciprocating motion of 180 degrees vertically facing to the front 20 of the alarm device;
as shown in fig. 5, the data processing unit 12 includes a data acquisition subunit 13, a delay correction subunit 14, and a coordinate output subunit 15, where the data acquisition subunit 13 receives the distance value ρ from the target measured by the millimeter wave radar 1, and simultaneously receives the vertical rotation angle α and the horizontal rotation angle β sent by the single-chip microcomputer, and the scanning angle θ of the millimeter wave radar 1 itself, so as to obtain the complete millimeter wave radar data and the position of the scanning plane, and as shown in fig. 5, the reading of a certain target 17 measured by the millimeter wave radar 1 is (ρ, α, θ), and defines that α is 0 ° when the millimeter wave radar 1 is in the horizontal position, α is positive when the millimeter wave radar 1 is above the horizontal position, α is negative when the millimeter wave radar 1 is below the horizontal position, β 1 is 0 ° when the second rotation axis 4 is perpendicular to the direction right of the alarm device, β is positive when the millimeter wave radar 1 is on the right side of β ° 0 °, β ° is positive value when the millimeter wave radar 1 is on the right side, and the millimeter wave 1 is on the left of β ° is negative, and when the millimeter wave radar 1 is on the left of the horizontal direction, when θ 1 is on the left of the horizontal direction, and when the millimeter wave radar 1 is positive scanning angle 0 ° is on the horizontal direction, when the scanning plane is found that the scanning angle is 0 ° is found by the scanning plane.
Preferably, the time delay effect means that, because the device adopts a three-dimensional double-rotation technical scheme, a certain offset of the position of the radar occurs already in the process from sending to returning of a radar detection wave, although the time is short, when the rotation speed is high, the error of the part is still not negligible, which is different from other fixed radar detection devices, and therefore a special time delay correction coefficient must be introduced. The delay correction subunit 14 includes a distance measurement correction module, a horizontal scanning correction module, and a vertical scanning correction module: the distance measurement correction module is used for correcting the delay effect in the round trip process of the radar detection wave on the measured value of the distance value rho, and the output correction factor is as follows:
when | α1+θ1|＞|α2+θ2| and | β1|＞|β2When | is, it is stated that the rotation of the device is moving toward the target point, and the actual value measured at this time is small, so the above formula adopts positive sign, and λ is the caseρ> 1, otherwise, negative sign is adopted, in which case lambdaρLess than 1; at the same time, due to t1-t2Is a small value, so the specific correction value of this correction module depends entirely on the rotation period T of the motor, the faster the rotation T, the smaller the absolute value of the difference between the correction factor and 1, and vice versa.
A vertical scanning correction module for correcting the vertical rotation angle α for the delay effect during the round trip of the radar detection wave and outputting a correction factorWhen | α1|＞|α2If not, taking the positive sign of the formula, otherwise, taking the negative sign of the formula;
a horizontal scanning correction module for correcting the horizontal rotation angle β for the delay effect during the round trip of the radar detection wave and the output correction factorSeed of Japanese apricotWhen | β1|＞|β2If not, taking the positive sign of the formula, otherwise, taking the negative sign of the formula;
wherein m is the maximum detectable distance of the millimeter wave radar 1, and rho is less than or equal to m;the time delay device is used for reflecting the influence of the distance between the detection target 17 and the millimeter wave radar 1 on the time delay effect, the time delay is smaller when the target 17 is closer to the millimeter wave radar 1, and otherwise, the time delay is larger; t is t1Time of emission of radar detection wave for the target 17, t2For the time the radar detects the wave return, then | t1-t2| represents the time required for the radar detection wave to travel to and from the target 17 and the millimeter wave radar 1; t is t1Is the horizontal rotation period, t, of the millimeter wave radar 12α being the vertical rotation period of the millimeter wave radar 11Is t1α value of (g) α2Is t2α value of Times β1Is t1β value of (g) β2Is t2β value of time theta1Is t1Value of theta of time theta2Is t2The value of θ of time; t is1＝2s，T2The sampling interval of the millimeter wave radar is 2.4s, which is 2 °/s.
Coordinate output subunit 15: the target space coordinate output after being corrected by the delay correction subunit is as follows:
wherein,
the data processing unit also comprises a target RCS fluctuation characteristic measuring subunit used for measuring the RCS sequence variation coefficient of the target, the radar cross-sectional area (RCS) value represents the capability of receiving the target reflection signal in the antenna direction, and different target types can be distinguished by comparing and judging through measuring the target RCS fluctuation characteristic.
For a complex target in an optical area, N scattering centers are assumed to form the complex target, and according to the radar scattering theory, a radar echo can be regarded as echo vector synthesis of multiple scattering centers. Therefore, the radar target RCS is very sensitive to the attitude angle change of the target, the time series of the target RCS is essentially the change of the RCS along with the azimuth angle of the target, and is a fluctuation quantity, and the RCS of the multi-scattering center target is expressed as a function of the azimuth angle of the target:
wherein σiDenotes an ith scattering center RCS, &lTtT transition = α "&gTt α &lTt/T &gTt + θ denotes an azimuth angle of a target with respect to a millimeter wave radar, RiRepresenting the distance of the ith scattering center relative to the radar center; lambda is an artificially set parameter;
the RCS sequence coefficient of variation is then expressed as:where σ (k) represents the RCS value of the kth detected target, the RCS sequence meanAnd inputting the sequence variation coefficient and the azimuth angle as characteristic parameters into a target identification system to finish the identification of the target.
In the embodiment, a novel millimeter wave radar three-dimensional environment sensing system is designed for the alarm device, so that dead-angle-free scanning coverage of 180 degrees in the horizontal direction and 180 degrees in the vertical direction in front is realized, and the millimeter wave radar three-dimensional environment sensing system is simple in structure, economical, durable and strong in anti-interference capability; by using step-by-step motorThe full-automatic control function is realized by combining other components, and the control is convenient and accurate; aiming at the characteristics and the time delay effect of a novel rotary radar system, correction modules such as a distance measurement correction module, a horizontal scanning correction module, a vertical scanning correction module and the like are designed, so that the coordinate positioning function of the radar is more accurate, and T is set1＝2.5s，T2The sampling interval of the millimeter wave radar is 1.3 °/s, 2.8 s. When the detection without dead angles is realized, the measurement error is less than 0.6%, the measurement delay rate is less than 0.3%, and the real-time performance is stronger; an accurate coordinate calculation method is provided, and a basis is provided for automatic control and error control; aiming at the novel rotating mechanical device, a novel RCS fluctuation characteristic measuring device is adopted, so that the measurement of the RCS variation coefficient is more accurate and more beneficial to target identification; the sizes of the components such as the rotating disc, the rotating shaft and the like can be flexibly selected according to specific conditions, so that conditions are provided for the applicability of alarm devices with different sizes; the millimeter wave radar replaces the traditional light wave radar, the attenuation is small when the millimeter wave radar is used for transmitting through an atmospheric window, the influence of natural light and a heat radiation source is small, a target can be effectively identified and an alarm can be given out under severe weather conditions, the reliable guarantee is provided for safe driving, the millimeter wave radar has the advantages of high resolution, high precision, small antenna caliber and the like, and unexpected effects are achieved.
Example 5:
an intelligent anti-collision alarm device with a recognition function as shown in fig. 1-4 comprises an alarm device and a millimeter wave radar three-dimensional environment sensing system arranged on the alarm device; the millimeter wave radar three-dimensional environment sensing system comprises a millimeter wave radar 1, a rotating mechanical device 10, a control unit 11 and a data processing unit 12; the rotating mechanical device 10 comprises a first rotating shaft 3, a rotating disk 2 and a second rotating shaft 4, wherein the first rotating shaft 3 is vertically arranged and fixedly connected with the center of the rotating disk 2, and the first rotating shaft 3 is driven to rotate by a first stepping motor 8; a second rotating shaft 4 driven by a second stepping motor 9 to rotate is horizontally sleeved in a bearing seat 5, and the bearing seat 5 is fixedly connected to the rotating disc 2 through 2 supporting shafts 6 which are vertically arranged; a connecting part 7 is arranged at the middle point of the second rotating shaft 4, the connecting part 7 is perpendicular to the second rotating shaft 4 and is integrally formed with the second rotating shaft 4, and the millimeter wave radar 1 is vertically and fixedly connected with the connecting part 7; the inherent scanning plane of the millimeter wave radar 1 is perpendicular to the plane of the rotating disc 2, and the scanning range angle is +/-30 degrees; the rotary disc 2 is provided with a notch 16 at one side where the supporting shafts 6 are arranged, the straight line where the notch 16 is located is parallel to the straight line where the second rotating shaft 4 is located, and the distance between any supporting shaft 6 and the straight line where the notch 16 is located is less than 50 mm; the first stepping motor 8 and the second stepping motor 9 are both controlled by a single chip microcomputer, the single chip microcomputer is used for receiving a control command, converting the control command into a control signal and sending the control signal to the motors, meanwhile, the current position of the rotating mechanical device is calculated according to the initial position of the device and the rotating angles of the two stepping motors, and the current position state of the rotating mechanical device 10 is fed back to the data processing unit 12; the whole rotating mechanical device 10 is driven by the first stepping motor 8 to do periodic reciprocating motion of 180 degrees horizontally facing to the front 18 of the alarm device, and meanwhile, the millimeter wave radar 1 is driven by the second stepping motor 9 to do periodic reciprocating motion of 180 degrees vertically facing to the front 20 of the alarm device;
as shown in fig. 5, the data processing unit 12 includes a data acquisition subunit 13, a delay correction subunit 14, and a coordinate output subunit 15, where the data acquisition subunit 13 receives the distance value ρ from the target measured by the millimeter wave radar 1, and simultaneously receives the vertical rotation angle α and the horizontal rotation angle β sent by the single-chip microcomputer, and the scanning angle θ of the millimeter wave radar 1 itself, so as to obtain the complete millimeter wave radar data and the position of the scanning plane, and as shown in fig. 5, the reading of a certain target 17 measured by the millimeter wave radar 1 is (ρ, α, θ), and defines that α is 0 ° when the millimeter wave radar 1 is in the horizontal position, α is positive when the millimeter wave radar 1 is above the horizontal position, α is negative when the millimeter wave radar 1 is below the horizontal position, β 1 is 0 ° when the second rotation axis 4 is perpendicular to the direction right of the alarm device, β is positive when the millimeter wave radar 1 is on the right side of β ° 0 °, β ° is positive value when the millimeter wave radar 1 is on the right side, and the millimeter wave 1 is on the left of β ° is negative, and when the millimeter wave radar 1 is on the left of the horizontal direction, when θ 1 is on the left of the horizontal direction, and when the millimeter wave radar 1 is positive scanning angle 0 ° is on the horizontal direction, when the scanning plane is found that the scanning angle is 0 ° is found by the scanning plane.
Preferably, the time delay effect means that, because the device adopts a three-dimensional double-rotation technical scheme, a certain offset of the position of the radar occurs already in the process from sending to returning of a radar detection wave, although the time is short, when the rotation speed is high, the error of the part is still not negligible, which is different from other fixed radar detection devices, and therefore a special time delay correction coefficient must be introduced. The delay correction subunit 14 includes a distance measurement correction module, a horizontal scanning correction module, and a vertical scanning correction module: the distance measurement correction module is used for correcting the delay effect in the round trip process of the radar detection wave on the measured value of the distance value rho, and the output correction factor is as follows:
when | α1+θ1|＞|α2+θ2| and | β1|＞|β2When | is, it is stated that the rotation of the device is moving toward the target point, and the actual value measured at this time is small, so the above formula adopts positive sign, and λ is the caseρ> 1, otherwise, negative sign is adopted, in which case lambdaρLess than 1; at the same time, due to t1-t2Is a small value, so the specific correction value of this correction module depends entirely on the rotation period T of the motor, the faster the rotation T, the smaller the absolute value of the difference between the correction factor and 1, and vice versa.
A vertical scanning correction module for correcting the vertical rotation angle α for the delay effect during the round trip of the radar detection wave and outputting a correction factorWhen | α1|＞|α2If not, taking the positive sign of the formula, otherwise, taking the negative sign of the formula;
a horizontal scanning correction module for correcting the horizontal rotation angle β for the delay effect during the round trip of the radar detection wave and outputting a correction factorWhen | β1|＞|β2If not, taking the positive sign of the formula, otherwise, taking the negative sign of the formula;
wherein m is the maximum detectable distance of the millimeter wave radar 1, and rho is less than or equal to m;the time delay device is used for reflecting the influence of the distance between the detection target 17 and the millimeter wave radar 1 on the time delay effect, the time delay is smaller when the target 17 is closer to the millimeter wave radar 1, and otherwise, the time delay is larger; t is t1Time of emission of radar detection wave for the target 17, t2For the time the radar detects the wave return, then | t1-t2| represents the time required for the radar detection wave to travel to and from the target 17 and the millimeter wave radar 1; t is t1Is the horizontal rotation period, t, of the millimeter wave radar 12α being the vertical rotation period of the millimeter wave radar 11Is t1α value of (g) α2Is t2α value of Times β1Is t1β value of (g) β2Is t2β value of time theta1Is t1Value of theta of time theta2Is t2The value of θ of time; t is1＝2s，T2The sampling interval of the millimeter wave radar is 2.4s, which is 2 °/s.
Coordinate output subunit 15: the target space coordinate output after being corrected by the delay correction subunit is as follows:
wherein,
the data processing unit also comprises a target RCS fluctuation characteristic measuring subunit used for measuring the RCS sequence variation coefficient of the target, the radar cross-sectional area (RCS) value represents the capability of receiving the target reflection signal in the antenna direction, and different target types can be distinguished by comparing and judging through measuring the target RCS fluctuation characteristic.
For a complex target in an optical area, N scattering centers are assumed to form the complex target, and according to the radar scattering theory, a radar echo can be regarded as echo vector synthesis of multiple scattering centers. Therefore, the radar target RCS is very sensitive to the attitude angle change of the target, the time series of the target RCS is essentially the change of the RCS along with the azimuth angle of the target, and is a fluctuation quantity, and the RCS of the multi-scattering center target is expressed as a function of the azimuth angle of the target:
wherein σiDenotes an ith scattering center RCS, &lTtT transition = α "&gTt α &lTt/T &gTt + θ denotes an azimuth angle of a target with respect to a millimeter wave radar, RiRepresenting the distance of the ith scattering center relative to the radar center; lambda is an artificially set parameter;
the RCS sequence coefficient of variation is then expressed as:where σ (k) represents the RCS value of the kth detected target, the RCS sequence meanUsing the sequence variation coefficient and azimuth as characteristic parametersAnd inputting the target identification system to complete the identification of the target.
In the embodiment, a novel millimeter wave radar three-dimensional environment sensing system is designed for the alarm device, so that dead-angle-free scanning coverage of 180 degrees in the horizontal direction and 180 degrees in the vertical direction in front is realized, and the millimeter wave radar three-dimensional environment sensing system is simple in structure, economical, durable and strong in anti-interference capability; the stepping motor is matched with other components to realize a full-automatic control function, and the control is convenient and accurate; aiming at the characteristics and the time delay effect of a novel rotary radar system, correction modules such as a distance measurement correction module, a horizontal scanning correction module, a vertical scanning correction module and the like are designed, so that the coordinate positioning function of the radar is more accurate, and T is1＝2.6s，T22.9s, the sampling interval of the millimeter wave radar is 1.2 degrees/s, the measurement error is less than 0.5 percent, the measurement delay rate is less than 0.2 percent, and the real-time performance is stronger while the detection without dead angles is realized; an accurate coordinate calculation method is provided, and a basis is provided for automatic control and error control; aiming at the novel rotating mechanical device, a novel RCS fluctuation characteristic measuring device is adopted, so that the measurement of the RCS variation coefficient is more accurate and more beneficial to target identification; the sizes of the components such as the rotating disc, the rotating shaft and the like can be flexibly selected according to specific conditions, so that conditions are provided for the applicability of alarm devices with different sizes; the millimeter wave radar replaces the traditional light wave radar, the attenuation is small when the millimeter wave radar is used for transmitting through an atmospheric window, the influence of natural light and a heat radiation source is small, a target can be effectively identified and an alarm can be given out under severe weather conditions, the reliable guarantee is provided for safe driving, the millimeter wave radar has the advantages of high resolution, high precision, small antenna caliber and the like, and unexpected effects are achieved.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the protection scope of the present invention, although the present invention is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims (1)

1. An intelligent anti-collision alarm device with a recognition function is characterized by comprising an alarm device and a millimeter wave radar three-dimensional environment sensing system arranged on the alarm device; the millimeter wave radar three-dimensional environment sensing system comprises a millimeter wave radar, a rotating mechanical device, a control unit and a data processing unit; the rotating mechanical device comprises a first rotating shaft, a rotating disk and a second rotating shaft, the first rotating shaft is vertically arranged and fixedly connected with the center of the rotating disk, and the first rotating shaft is driven to rotate by a first stepping motor; a second rotating shaft driven by a second stepping motor to rotate is horizontally sleeved in a bearing seat, and the bearing seat is fixedly connected to the rotating disc through 2 supporting shafts which are vertically arranged; a connecting part is arranged at the middle point of the second rotating shaft, the connecting part is perpendicular to the second rotating shaft and is integrally formed with the second rotating shaft, and the millimeter wave radar is vertically and fixedly connected with the connecting part; the inherent scanning plane of the millimeter wave radar is perpendicular to the plane where the rotating disc is located, and the scanning range angle is +/-30 degrees; the rotary disc is provided with notches at one side where the supporting shafts are arranged, the straight line where the notches are located is parallel to the straight line where the second rotating shaft is located, and the distance between any supporting shaft and the straight line where the notches are located is less than 50 mm; the first stepping motor and the second stepping motor are both controlled by a single chip microcomputer, the single chip microcomputer is used for receiving a control command, converting the control command into a control signal and sending the control signal to the motors, meanwhile, the current position of the rotating mechanical device is calculated according to the initial position of the device and the rotating angles of the two stepping motors, and the current position state of the rotating mechanical device is fed back to the data processing unit; the whole rotating mechanical device is driven by the first stepping motor to do periodic reciprocating motion of 180 degrees horizontally towards the front of the alarm device, and meanwhile, the millimeter wave radar is driven by the second stepping motor to do periodic reciprocating motion of 180 degrees vertically towards the front of the alarm device;
the data processing unit comprises a data acquisition subunit, a time delay correction subunit and a coordinate output subunit, wherein the data acquisition subunit receives a distance value rho between the millimeter wave radar and a target, and simultaneously receives a vertical rotation angle α and a horizontal rotation angle β which are sent by the single chip microcomputer, and a self scanning angle theta of the millimeter wave radar, and the reading of the millimeter wave radar to a certain target is (rho, α 0 and theta), and the data processing subunit defines that when the radar is in a horizontal position, the value of α is 0 degrees, when the radar is above the horizontal position, the value of α is positive, when the radar is below the horizontal position, the value of α is negative, when a second rotation axis is vertical to the direction right in front of the alarm device, the value of β 1 is 0 degrees, when the radar is located on the right side of β degrees, the value of β is positive, when the radar is located on the left side of β degrees, the value of β is negative, when the self scanning direction of the millimeter wave radar is vertical to the plane, when the self scanning direction of theta is above the angle of 0 degrees, the self scanning direction of theta is 0 degrees, the theta is 0 degrees, and when the self scanning direction of theta is vertical to the;
the time delay correction subunit comprises a distance measurement correction module, a horizontal scanning correction module and a vertical scanning correction module: the distance measurement correction module is used for correcting the delay effect in the round trip process of the radar detection wave on the measured value of the distance value rho, and the output correction factor is as follows:
when | α1+θ1|＞|α2+θ2| and | β1|＞|β2If not, taking the positive sign of the formula, otherwise, taking the negative sign of the formula;
a vertical scanning correction module for correcting the vertical rotation angle α for the delay effect during the round trip of the radar detection wave and outputting a correction factorWhen | α1|＞|α2If not, taking the positive sign of the formula, otherwise, taking the negative sign of the formula;
a horizontal scanning correction module for correcting the horizontal rotation angle β for the delay effect during the round trip of the radar detection wave and outputting a correction factorWhen | β1|＞|β2If not, taking the positive sign of the formula, otherwise, taking the negative sign of the formula;
wherein m is the maximum detectable distance of the millimeter wave radar, and rho is less than or equal to m;the time delay detection device is used for reflecting the influence of the distance between a detection target and a millimeter wave radar on the time delay effect, the time delay is smaller when the target is closer to the radar, and otherwise, the time delay is larger; t is t1Time of emission of detection wave for the target radar, t2Detecting the time of wave return for the radar; | t1-t2| represents the requirement for radar detection waves to travel between the target and the radarThe time of (d); t is1Is the horizontal rotation period, T, of the millimeter wave radar2α being the vertical rotation period of the millimeter wave radar1Is t1α value of (g) α2Is t2α value of Times β1Is t1β value of (g) β2Is t2β value of time theta1Is t1Value of theta of time theta2Is t2The value of θ of time; t is1＝2s，T22.4s, the sampling interval of the millimeter wave radar is 2 degrees/s;
a coordinate output subunit: the target space coordinate output after being corrected by the delay correction subunit is as follows:
wherein,
the data processing unit further comprises a target RCS fluctuation characteristic measurement subunit, which is used for measuring the RCS sequence variation coefficient of the target:
for complex targets in the optical region, assuming that they consist of N scattering centers, the RCS of a multiple scattering center target is expressed as a function of the azimuth of the target:
wherein σiDenotes an ith scattering center RCS, &lTtT transition = α "&gTt α &lTt/T &gTt + θ denotes an azimuth angle of a target with respect to a millimeter wave radar, RiRepresenting the distance of the ith scattering center relative to the radar center; lambda is an artificially set parameter;
the RCS sequence coefficient of variation is then expressed as:where σ (k) represents the RCS value of the kth detected target, the RCS sequence mean
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JPH06167566A (en) * 1992-09-29 1994-06-14 Mitsubishi Electric Corp Radar device
CN1147858A (en) * 1994-05-06 1997-04-16 无线电探测有限公司 Locator
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