CN105739541B - A kind of intelligent article sorter with identification function - Google Patents
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Abstract
The invention discloses a kind of intelligent article sorter with identification function, the millimetre-wave radar three-dimensional environment sensory perceptual system including apparatus for sorting article and on apparatus for sorting article；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 intelligent article sorter is simple and practical in structure, can realize front article Accurate classification identification.
Description
Technical Field
The invention relates to the field of article classification, in particular to an intelligent article classification device with an identification function.
Background
The intelligent environment perception system has the main functions of acquiring surrounding environment information through the sensor, identifying and tracking surrounding objects (including dynamic and static obstacles), and the like.
The intelligent article classification device is provided with an intelligent environment sensing system to improve the classification capability, the multi-functionalization and other comprehensive performances of the intelligent article classification device, and is a necessary 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
In view of the above problems, the present invention provides an intelligent article sorting device with an identification function.
The purpose of the invention is realized by adopting the following technical scheme:
an intelligent article classification device with an identification function comprises an article classification device and a millimeter wave radar three-dimensional environment sensing system arranged on the article classification 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 moves back and forth horizontally by 180 degrees under the driving of the first stepping motor, and the millimeter wave radar moves back and forth vertically by 180 degrees under the driving of the second stepping motor;
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 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, beta 0, theta) and defines that α is 0 degrees when the radar is in a horizontal position, α is positive when the radar is above the horizontal position, α is negative when the radar is below the horizontal position, beta 1 is 0 degrees when a second rotation axis is vertical to the direction right in front of the intelligent article classification device, beta is a positive value when the radar is on the right side of beta 0 degrees, beta is a negative value when the radar is on the left side of beta 0 degrees, theta is 0 degrees when the self scanning direction of the millimeter wave radar is vertical to the plane, theta is 0 degrees when the self scanning direction is above the theta is 0 degrees, and theta is a negative value when the self scanning direction is below the theta is 0 degrees;
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+θ2l 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 in the round trip process 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 in the round trip process 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;used for reflecting the influence of the distance between a detection target and a millimeter wave radar on the time delay effectThe closer the target is to the radar, the smaller the delay is, otherwise, the larger the delay is; 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 radar2is the vertical rotation period of the millimeter wave radar,. alpha1Is t1value of alpha of time, alpha2Is t2α value of time, β1Is t1β value of time, 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 the ith scattering center RCS, α + theta denotes the azimuth angle of the target relative to the millimeter wave radar, RiIn radar representing the relative position of the ith scattering centerThe heart distance; 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
This intelligent article classification device's beneficial effect does: 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 rotating disc, the rotating shaft and other parts can be flexibly selected according to specific conditions, and conditions are provided for the applicability of intelligent article classification devices with different sizes.
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 showing the structure of an intelligent article sorting apparatus having an 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-18.
Detailed Description
The invention is further described with reference to the following examples.
Example 1:
an intelligent article classification device with an identification function as shown in fig. 1-4 comprises an article classification device and a millimeter wave radar three-dimensional environment sensing system installed on the article classification 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 make a periodic reciprocating motion of 180 degrees forward from the lower surface to the front 18, and simultaneously the millimeter wave radar 1 is driven by the second stepping motor 9 to make a periodic reciprocating motion of 180 degrees vertically from the lower surface to the front 20;
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 measured by the millimeter wave radar 1 from the target, 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 complete millimeter wave radar data and the position of the scanning plane, and as shown in fig. 5, the readings of a certain target 17 measured by the millimeter wave radar 1 are (ρ, α, β 0, θ), and are defined as α being 0 ° when the millimeter wave radar 1 is in the horizontal position, α being positive when the millimeter wave radar 1 is above the horizontal position, α being negative when the millimeter wave radar 1 is below the horizontal position, β 1 being 0 ° when the second rotation axis 4 is perpendicular to the positive direction of the intelligent article classification device, β being positive when the millimeter wave radar 1 is on the right of β 2 °, β 1 ° on the right of the intelligent article classification device, β being negative when the millimeter wave radar 1 is on the left of the millimeter wave 1, β being positive direction, β 1 being positive direction, β being positive value when θ 1 is above the scanning angle θ 1, and θ being negative when the millimeter wave radar is 0 ° on the horizontal direction, θ 1 being positive direction, being positive scanning plane, and θ being negative when the scanning angle being negative.
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+θ2l 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 in the round trip process of the radar detection wave and outputting a correction factorwhen | α1|＞|α2When l is, onTaking a positive sign, otherwise, taking a negative sign;
a horizontal scanning correction module for correcting the horizontal rotation angle β for the delay effect in the round trip process 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 12is the vertical rotation period of the millimeter wave radar 1, alpha1Is t1value of alpha of time, alpha2Is t2α value of time, β1Is t1β value of time, 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 the ith scattering center RCS, α + theta denotes the azimuth angle of the target relative to the 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.
Therein, theIn the embodiment, a novel millimeter wave radar three-dimensional environment sensing system is designed for the intelligent article classification 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, the structure is simple, economical and durable, and the anti-interference capability is strong; 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 rotating disc, the rotating shaft and other parts can be flexibly selected according to specific conditions, and conditions are provided for the applicability of intelligent article classification devices with different sizes.
Example 2:
an intelligent article classification device with an identification function as shown in fig. 1-4 comprises an article classification device and a millimeter wave radar three-dimensional environment sensing system installed on the article classification 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 make a periodic reciprocating motion of 180 degrees forward from the lower surface to the front 18, and simultaneously the millimeter wave radar 1 is driven by the second stepping motor 9 to make a periodic reciprocating motion of 180 degrees vertically from the lower surface to the front 20;
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 measured by the millimeter wave radar 1 from the target, 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 complete millimeter wave radar data and the position of the scanning plane, and as shown in fig. 5, the readings of a certain target 17 measured by the millimeter wave radar 1 are (ρ, α, β 0, θ), and are defined as α being 0 ° when the millimeter wave radar 1 is in the horizontal position, α being positive when the millimeter wave radar 1 is above the horizontal position, α being negative when the millimeter wave radar 1 is below the horizontal position, β 1 being 0 ° when the second rotation axis 4 is perpendicular to the positive direction of the intelligent article classification device, β being positive when the millimeter wave radar 1 is on the right of β 2 °, β 1 ° on the right of the intelligent article classification device, β being negative when the millimeter wave radar 1 is on the left of the millimeter wave 1, β being positive direction, β 1 being positive direction, β being positive value when θ 1 is above the scanning angle θ 1, and θ being negative when the millimeter wave radar is 0 ° on the horizontal direction, θ 1 being positive direction, being positive scanning plane, and θ being negative when the scanning angle being negative.
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+θ2l 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 in the round trip process 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 in the round trip process 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 12is the vertical rotation period of the millimeter wave radar 1, alpha1Is t1value of alpha of time, alpha2Is t2α value of time, β1Is t1β value of time, 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 the ith scattering center RCS, α + theta denotes the azimuth angle of the target relative to the 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 intelligent article classification 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, the structure is simple, economical and durable, and the anti-interference capability is strong; 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 more beneficial to target identification; the sizes of the rotating disc, the rotating shaft and other parts can be flexibly selected according to specific conditions, and conditions are provided for the applicability of intelligent article classification devices with different sizes.
Example 3:
an intelligent article classification device with an identification function as shown in fig. 1-4 comprises an article classification device and a millimeter wave radar three-dimensional environment sensing system installed on the article classification 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 make a periodic reciprocating motion of 180 degrees forward from the lower surface to the front 18, and simultaneously the millimeter wave radar 1 is driven by the second stepping motor 9 to make a periodic reciprocating motion of 180 degrees vertically from the lower surface to the front 20;
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 measured by the millimeter wave radar 1 from the target, 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 complete millimeter wave radar data and the position of the scanning plane, and as shown in fig. 5, the readings of a certain target 17 measured by the millimeter wave radar 1 are (ρ, α, β 0, θ), and are defined as α being 0 ° when the millimeter wave radar 1 is in the horizontal position, α being positive when the millimeter wave radar 1 is above the horizontal position, α being negative when the millimeter wave radar 1 is below the horizontal position, β 1 being 0 ° when the second rotation axis 4 is perpendicular to the positive direction of the intelligent article classification device, β being positive when the millimeter wave radar 1 is on the right of β 2 °, β 1 ° on the right of the intelligent article classification device, β being negative when the millimeter wave radar 1 is on the left of the millimeter wave 1, β being positive direction, β 1 being positive direction, β being positive value when θ 1 is above the scanning angle θ 1, and θ being negative when the millimeter wave radar is 0 ° on the horizontal direction, θ 1 being positive direction, being positive scanning plane, and θ being negative when the scanning angle being negative.
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+θ2l 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 in the round trip process 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 in the round trip process 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 12is the vertical rotation period of the millimeter wave radar 1, alpha1Is t1value of alpha of time, alpha2Is t2α value of time, β1Is t1β value of time, 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 the ith scattering center RCS, α + theta denotes the azimuth angle of the target relative to the 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 meanThe sequence variation coefficient and the azimuth angle are used as characteristic parameters to be input into a target identification system to complete the pairingAnd (4) identifying the target.
In the embodiment, a novel millimeter wave radar three-dimensional environment sensing system is designed for the intelligent article classification 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, the structure is simple, economical and durable, and the anti-interference capability is strong; 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, the sampling interval of the millimeter wave radar is 1.8 degrees/s, the measurement error is less than 0.7 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 more beneficial to target identification; the sizes of the rotating disc, the rotating shaft and other parts can be flexibly selected according to specific conditions, and conditions are provided for the applicability of intelligent article classification devices with different sizes.
Example 4:
an intelligent article classification device with an identification function as shown in fig. 1-4 comprises an article classification device and a millimeter wave radar three-dimensional environment sensing system installed on the article classification 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 make a periodic reciprocating motion of 180 degrees forward from the lower surface to the front 18, and simultaneously the millimeter wave radar 1 is driven by the second stepping motor 9 to make a periodic reciprocating motion of 180 degrees vertically from the lower surface to the front 20;
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 measured by the millimeter wave radar 1 from the target, 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 complete millimeter wave radar data and the position of the scanning plane, and as shown in fig. 5, the readings of a certain target 17 measured by the millimeter wave radar 1 are (ρ, α, β 0, θ), and are defined as α being 0 ° when the millimeter wave radar 1 is in the horizontal position, α being positive when the millimeter wave radar 1 is above the horizontal position, α being negative when the millimeter wave radar 1 is below the horizontal position, β 1 being 0 ° when the second rotation axis 4 is perpendicular to the positive direction of the intelligent article classification device, β being positive when the millimeter wave radar 1 is on the right of β 2 °, β 1 ° on the right of the intelligent article classification device, β being negative when the millimeter wave radar 1 is on the left of the millimeter wave 1, β being positive direction, β 1 being positive direction, β being positive value when θ 1 is above the scanning angle θ 1, and θ being negative when the millimeter wave radar is 0 ° on the horizontal direction, θ 1 being positive direction, being positive scanning plane, and θ being negative when the scanning angle being negative.
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+θ2l 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 in the round trip process 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 in the round trip process 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 12is the vertical rotation period of the millimeter wave radar 1, alpha1Is t1value of alpha of time, alpha2Is t2α value of time, β1Is t1β value of time, 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 the ith scattering center RCS, α + theta denotes the azimuth angle of the target relative to the 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 meanTaking the sequence variation coefficient and azimuth as characteristic parametersAnd inputting the number into a target recognition system to complete the recognition of the target.
In the embodiment, a novel millimeter wave radar three-dimensional environment sensing system is designed for the intelligent article classification 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, the structure is simple, economical and durable, and the anti-interference capability is strong; 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＝2.5s，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 rotating disc, the rotating shaft and other parts can be flexibly selected according to specific conditions, and conditions are provided for the applicability of intelligent article classification devices with different sizes.
Example 5:
an intelligent article classification device with an identification function as shown in fig. 1-4 comprises an article classification device and a millimeter wave radar three-dimensional environment sensing system installed on the article classification 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 make a periodic reciprocating motion of 180 degrees forward from the lower surface to the front 18, and simultaneously the millimeter wave radar 1 is driven by the second stepping motor 9 to make a periodic reciprocating motion of 180 degrees vertically from the lower surface to the front 20;
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 measured by the millimeter wave radar 1 from the target, 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 complete millimeter wave radar data and the position of the scanning plane, and as shown in fig. 5, the readings of a certain target 17 measured by the millimeter wave radar 1 are (ρ, α, β 0, θ), and are defined as α being 0 ° when the millimeter wave radar 1 is in the horizontal position, α being positive when the millimeter wave radar 1 is above the horizontal position, α being negative when the millimeter wave radar 1 is below the horizontal position, β 1 being 0 ° when the second rotation axis 4 is perpendicular to the positive direction of the intelligent article classification device, β being positive when the millimeter wave radar 1 is on the right of β 2 °, β 1 ° on the right of the intelligent article classification device, β being negative when the millimeter wave radar 1 is on the left of the millimeter wave 1, β being positive direction, β 1 being positive direction, β being positive value when θ 1 is above the scanning angle θ 1, and θ being negative when the millimeter wave radar is 0 ° on the horizontal direction, θ 1 being positive direction, being positive scanning plane, and θ being negative when the scanning angle being negative.
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+θ2l 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 in the round trip process 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 in the round trip process 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 12is the vertical rotation period of the millimeter wave radar 1, alpha1Is t1value of alpha of time, alpha2Is t2α value of time, β1Is t1β value of time, 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 the ith scattering center RCS, α + theta denotes the azimuth angle of the target relative to the 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 meanWill be sequencedAnd the coefficient of variation and the azimuth angle are used as characteristic parameters and input into a 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 intelligent article classification 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, the structure is simple, economical and durable, and the anti-interference capability is strong; 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 rotating disc, the rotating shaft and other parts can be flexibly selected according to specific conditions, and conditions are provided for the applicability of intelligent article classification devices with different sizes.
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 article classification device with an identification function is characterized by comprising an article classification device and a millimeter wave radar three-dimensional environment sensing system arranged on the article classification 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 moves back and forth horizontally by 180 degrees under the driving of the first stepping motor, and the millimeter wave radar moves back and forth vertically by 180 degrees under the driving of the second stepping motor;
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 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, beta 0, theta) and defines that α is 0 degrees when the radar is in a horizontal position, α is positive when the radar is above the horizontal position, α is negative when the radar is below the horizontal position, beta 1 is 0 degrees when a second rotation axis is vertical to the direction right in front of the intelligent article classification device, beta is a positive value when the radar is on the right side of beta 0 degrees, beta is a negative value when the radar is on the left side of beta 0 degrees, theta is 0 degrees when the self scanning direction of the millimeter wave radar is vertical to the plane, theta is 0 degrees when the self scanning direction is above the theta is 0 degrees, and theta is a negative value when the self scanning direction is below the theta is 0 degrees;
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+θ2l 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 in the round trip process 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 in the round trip process 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 radar2is the vertical rotation period of the millimeter wave radar,. alpha1Is t1value of alpha of time, alpha2Is t2α value of time, β1Is t1β value of time, 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 the ith scattering center RCS, α + theta denotes the azimuth angle of the target relative to the 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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