CN111398953A - Telescopic distributed radar life detection positioning equipment - Google Patents
Telescopic distributed radar life detection positioning equipment Download PDFInfo
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- CN111398953A CN111398953A CN202010349162.1A CN202010349162A CN111398953A CN 111398953 A CN111398953 A CN 111398953A CN 202010349162 A CN202010349162 A CN 202010349162A CN 111398953 A CN111398953 A CN 111398953A
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- radar
- telescopic
- life detection
- retractable
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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
- G01S13/887—Radar or analogous systems specially adapted for specific applications for detection of concealed objects, e.g. contraband or weapons
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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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention discloses telescopic distributed radar life detection positioning equipment which comprises more than two radar units, wherein two adjacent radar units are connected through a telescopic mechanism, and the telescopic mechanism is used for enlarging or reducing the distance between the two adjacent radar units. The invention has the advantages of simple structure, simple and convenient operation, wide application range, capability of realizing multi-mode detection and the like.
Description
Technical Field
The invention mainly relates to the technical field of radar life detection equipment, in particular to telescopic distributed radar life detection positioning equipment.
Background
The radar life detection positioning equipment is mainly applied to detecting people buried in earth and ruins after disasters such as earthquake, landslide and the like occur, generally, the radar is packaged in a three-prevention box body, and the equipment is small and portable in consideration of actual application scenes, so that the whole size of the product is small. Because the radar is wholly packaged in a small box, the receiving and transmitting antenna cannot be unfolded, the radar base line cannot be stretched, the angle resolution ratio is poor, and the positioning is inaccurate.
The existing single-base radar life detection instrument has the advantages that because the radar is integrally packaged in a box, the transmitting antenna and the receiving antenna are in the same direction during detection, namely, the direction of polarization is fixed, and the direction of the antenna of the MIMO (multiple-input multiple-output) radar is also in the same direction. Due to the polarization characteristic of the radar, the detection performance of the target with the same polarization direction as the polarization direction of the target is good, the probability of detecting the target with the human body posture perpendicular to the polarization direction of the radar is reduced, and the condition of missing report occurs.
Existing monostatic radars include MIMO radars, the antennas of which are all arranged in linear arrays. In the distribution mode, the radar only has a detection baseline in the linear array direction, and does not have a detection baseline in the direction perpendicular to the linear array direction, so the radar lacks detection dimensionality, generally can only carry out two-dimensional positioning, can only carry out one-dimensional positioning on the one-transmitting-one-receiving system radar, and generally lacks a three-dimensional positioning function.
The wireless distributed networking radar is only one idea at present, is limited by technology, cost and working modes, and cannot be practically applied at present. The design concept of the system is as follows: distributed detection; WIFI transmits data and instructions; and GPS time service is synchronous. This solution has the following problems: the WIFI data transmission is influenced by environmental electromagnetism, the problems of data packet loss and disconnection occur, and the detection performance is reduced due to mutual interference between a WIFI signal and a radar detection electromagnetic signal; GPS time service has no signal in forests, canyons or buildings, and the radar cannot be time-served, so that the radar cannot work; according to the scheme, parts such as a WIFI module, a GPS module and a GPS antenna need to be added, equipment cost is increased, and meanwhile, the system is complex and heavy and cannot be portable.
Therefore, the existing radar life detection devices have the following disadvantages:
1) the existing single-base radar life detection equipment is short in base line, so that the resolution ratio is poor, and the positioning is inaccurate.
2) The radar has single detection polarization direction, is difficult to detect various attitude targets buried in the ruins, and has high missing report rate.
3) The existing single-base radar can only carry out one-dimensional or two-dimensional positioning and can not realize three-dimensional positioning.
4) When the wireless distributed radar networking is used for detection, data transmission among all radar units is unstable, and normal detection performance of the radar is affected by WIFI transmission data.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the technical problems in the prior art, the invention provides the telescopic distributed radar life detection positioning equipment which is simple in structure, simple and convenient to operate, wide in application range and capable of realizing multi-mode detection.
In order to solve the technical problems, the invention adopts the following technical scheme:
a telescopic distributed radar life detection positioning device comprises more than two radar units, wherein two adjacent radar units are connected through a telescopic mechanism, and the telescopic mechanism is used for enlarging or reducing the distance between the two adjacent radar units.
As a further improvement of the above technical solution: when the telescopic mechanism between two adjacent radar units is in an expansion state, the two radar units which are respectively used as independent modules are separated, so that the antenna baseline is increased to enter a long baseline mode.
As a further improvement of the above technical solution: the telescopic mechanism comprises a telescopic rod, and two ends of the telescopic rod are connected with the radar units respectively.
As a further improvement of the above technical solution: the telescopic rod is provided with a stopper for adjusting the length of the telescopic rod.
As a further improvement of the above technical solution: the telescopic rod is provided with a sensor for feeding back the length of the telescopic rod.
As a further improvement of the above technical solution: and a rotating mechanism is arranged at one end of the telescopic mechanism connected with the radar unit, and the radar unit is rotated to a required angle through the rotating mechanism.
As a further improvement of the above technical solution: the rotating mechanism adopts any one of a turntable structure form, a rotating sleeve structure form, a gear structure form and a rotating joint structure form.
As a further improvement of the above technical solution: and a rotary stopper for fixing gears is arranged on the rotary mechanism.
As a further improvement of the above technical solution: and the rotating mechanism is provided with an angle sensor for feeding back the rotating angle of the radar unit.
As a further improvement of the above technical solution: and the data lines and the signal lines are integrated in the telescopic rod for wired data transmission.
Compared with the prior art, the invention has the advantages that:
1. the telescopic distributed radar life detection positioning equipment is small in size in a common mode and high in portability, when the telescopic rod is unfolded, the base line of the antenna is increased, the detection resolution of the radar life detection positioning equipment can be effectively improved, and the performance of the radar life detection positioning equipment is improved.
2. The telescopic distributed radar life detection positioning equipment adopts the rotatable device, changes the antenna polarization direction of each independent unit by rotating the rotating device on each radar unit, forms multi-polarization or full-polarization antenna detection, and can detect various trapped people buried under ruins;
3. the telescopic distributed radar life detection positioning equipment provided by the invention uses the telescopic mechanism and the rotating mechanism to be matched, so that the independent radar units can be freely arranged in a limited space, and the freedom degree of distribution networking is increased. The radar units can be arranged into an area array through stretching and rotating, and three-dimensional positioning is achieved.
4. The telescopic distributed radar life detection positioning equipment adopts wired transmission, is not interfered by an external complex electromagnetic environment, improves the data transmission quality, and does not interfere the radar performance; meanwhile, the wired networking does not need GPS time service to unify time sequence, and can still be normally used under the condition that a barrier shields a GPS signal.
Drawings
Fig. 1 is a schematic view of the general mode of the present invention in a specific embodiment.
Fig. 2 is a schematic diagram of the structure of the present invention in a long baseline mode in a specific embodiment.
Fig. 3 is a schematic diagram of the structure of the present invention in the full-scale mode in a specific embodiment.
Fig. 4 is a schematic structural diagram in a three-dimensional mode I in a specific embodiment of the present invention.
Fig. 5 is a schematic diagram of the structure of the present invention in a three-dimensional mode II in a specific embodiment.
Fig. 6 is a partial cross-sectional structural schematic of the present invention in an exemplary embodiment.
FIG. 7 is a schematic diagram of the present invention in which a coordinate system is established with the centers of two independent radar units as the origin.
Illustration of the drawings:
1. a radar unit; 2. a telescoping mechanism; 201. a telescopic rod; 3. a rotation mechanism; 4. a holding rod.
Detailed Description
The invention will be described in further detail below with reference to the drawings and specific examples.
As shown in fig. 1 and 6, the scalable distributed radar life detection positioning apparatus of the present invention comprises: the radar unit comprises more than two radar units 1, wherein two adjacent radar units 1 are connected through a telescopic mechanism 2, and the telescopic mechanism 2 is used for enlarging or reducing the distance between the two adjacent radar units 1.
When the telescoping mechanism 2 between two adjacent radar units 1 is in a contracted state, as shown in fig. 3, two radar units 1, which are independent modules respectively, are abutted together, and an operation mode under specific requirements can be set. When the telescopic mechanism 2 between two adjacent radar units 1 is in an expanded state, the two radar units 1 which are respectively used as independent modules can be separated, so that the antenna baseline is increased, the detection resolution is improved, and the mode is called a long baseline mode.
In a specific application example, the telescopic mechanism 2 includes a telescopic rod 201, and two ends of the telescopic rod 201 are connected to one radar unit 1 respectively. In this embodiment, the telescopic rod 201 takes the form of a sleeved rod. In other preferred embodiments, a stopper may be further disposed on the telescopic rod 201 for adjusting the length of the telescopic rod 201, for example, the stopper may be a stop disposed on the telescopic rod 201 for positioning the position of the telescopic rod 201.
In other embodiments, a free length adjustment mode may be adopted, or a sensor may be used to feed back the length of the telescopic rod 201, so as to facilitate adjustment to adapt to the radar working state.
As a preferred embodiment, a rotation mechanism 3 is provided at one end of the telescopic mechanism 2 connected to the radar unit 1, and the radar unit 1 can be rotated to a desired angle by the rotation mechanism 3. The rotating mechanism 3 may be selected according to actual needs, as long as the radar unit 1 can rotate at the end of the telescopic mechanism 2, for example, a turntable structure, a rotating sleeve structure, a gear structure, a rotating joint structure, etc. should be within the protection scope of the present invention. When specifically applying, rotary mechanism 3 can carry out the rotation of fixed gear, also can carry out the rotation of free angle, and it can to use sensor feedback angle.
From the above, the present invention is based on the wired distributed design idea, and connects the single-base radar units 1 through the telescopic mechanism 2 to perform networking. By designing the telescopic mechanism 2 which can be lifted and contracted, the base line of the antenna can be manually adjusted on the premise of portability, and the detection resolution of the whole radar life detection positioning equipment is improved; meanwhile, the rotating mechanism 3 is arranged on each radar unit to rotate, the detection polarization direction of the radar can be adjusted through rotation, full polarization detection is realized, and various attitude targets are detected. According to the invention, through the cooperation of the telescopic mechanism 2 and the rotating mechanism 3, the radar units 1 can be freely distributed in a two-dimensional space to form an area array to realize three-dimensional positioning; and wire transmission is adopted among the radar units 1, so that the accuracy of data transmission is improved, and other interference signals cannot be generated.
That is, the present invention mainly combines a plurality of independent radar units 1 through a telescopic mechanism 2 and a rotary mechanism 3 to work in combination, and switches the equipment working mode through telescopic and rotary operations to cope with various complex situations.
The invention is described below by taking an example of two independent radar units, and in practice, more than two radars can be distributed and networked, which is not described herein again. In the figure, two radar units 1 can work independently, one path of transmitting and two paths of receiving are included, and transmitting and receiving antennas are consistent with the direction of a holding rod 4 (namely, the direction is vertical in the figure). Two independent radar unit 1 pass through telescopic machanism 2 and connect, and telescopic link 201 of telescopic machanism 2 is inside walks signal and data line. Each radar unit 1 is provided with a rotation mechanism 3. In the following figures, the device of the present invention is in a normal mode, the telescopic rod 201 is completely folded, the independent radar units 1 are closely attached to each other, and the polarization directions of the antennas are the same (vertical direction), which is a normal mode. When the invention is in the mode, the volume is small, the invention is mainly used for detection or transportation in narrow space, and can be directly lifted away.
As shown in fig. 2, the telescopic rod 201 can be unfolded to enlarge the distance between the two radar units 1.
As shown in fig. 3, the radar is in full polarization detection mode. Because each radar unit 1 is provided with the rotating mechanism 3, one radar unit 1 can be rotated (the right unit in the figure), the polarization direction of the antenna of the radar unit is changed, the vertical polarization of the right unit is changed into the horizontal polarization, and the radar unit can be matched with other radar units 1 to realize full-polarization detection, namely a full-polarization mode. Wherein, rotary mechanism 3 can carry out the rotation of fixed gear, also can carry out the rotation of free angle, and it can to use sensor feedback angle. If a plurality of independent radar units 1 are rotated by different angles in the group network, the radar units 1 can detect targets in various postures.
As shown in fig. 4, the telescopic rod 201 is unfolded, and the independent radar units 1 rotate by 45 ° in the same direction (the polarization directions of the antennas are the same), so as to form an area array detection layout, and achieve three-dimensional positioning, which is called as a three-dimensional mode i. As shown in fig. 5, the telescopic rod 201 is unfolded, and the independent radar units 1 rotate in opposite directions (the polarization directions of the antennas are different), so as to form an area array detection layout, realize three-dimensional positioning, and enable multi-polarization detection, which is referred to as a three-dimensional mode ii. In both modes, the radar units 1 are arranged in an area array, so that detection baselines are arranged in the vertical and horizontal directions, and three-dimensional detection can be realized.
Referring to fig. 7, the relationship between the radar baseline and the angular resolution is explained in detail below, and a coordinate system is established with the centers of two independent radar units 1 as the origin, as shown in fig. 7. A, B are two radar units 1 symmetrically distributed on two sides of the y axis.
The delay of the illustrated target with respect to the two radar units 1 is shown in equation 1:
wherein
Obtaining:
because of tA-tA≥tA 2-tB 2Along with the increase of the base line d, the measurement delay of the two independent radar units 1 is increased, the direction of the target is better distinguished, and therefore the angular resolution of antenna detection is improved.
By adopting the scheme of the invention, more than two radar units 1 form wired distributed radar life detection equipment, each wired distributed independent radar unit 1 is formed by connecting a telescopic mechanism 2 and a rotating mechanism 3, wires are arranged in a telescopic rod 201, and the distributed networking detection is carried out. The data lines and the signal lines are integrated in the telescopic rod 201 to perform wired data transmission. The rotating mechanism 3 enables each radar unit 1 to rotate by taking the radar unit 1 as a center, the polarization direction of the antenna is adjusted, when a plurality of independent radar units 1 work in a combined mode, all the radar units 1 can realize full-polarization detection when rotating by different angles, and the problem that the conventional radar fails to report on a large scale is solved; meanwhile, when the radar units 1 rotate around the fixed shaft at different angles, the base lines are arranged in the transverse direction and the longitudinal direction, so that three-dimensional positioning can be realized, and the problem that the existing equipment can only perform one-dimensional and two-dimensional positioning is solved.
Furthermore, the rotating mechanism 3 of each independent radar unit 1 is provided with a plug structure, so that the radar can be freely assembled and disassembled, the organization structure can be changed in real time according to a post-disaster rescue scene, the limited freedom degree of a wired distributed architecture is exerted to the maximum, the radar can be expanded infinitely, and networking distributed radars are really realized. Although the freedom degree of the distributed radar is reduced by a wired mode, the distributed radar has the unique characteristics of strong anti-interference capability and normal work in severe environment by wired data transmission and time sequence unification of all units, and therefore the distributed radar can be used as an important scheme of distributed radar life detection positioning equipment.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may be made by those skilled in the art without departing from the principle of the invention.
Claims (10)
1. The telescopic distributed radar life detection positioning equipment is characterized by comprising more than two radar units (1), wherein two adjacent radar units (1) are connected through a telescopic mechanism (2), and the telescopic mechanism (2) is used for enlarging or reducing the distance between the two adjacent radar units (1).
2. The scalable distributed radar life detection and positioning apparatus according to claim 1, wherein when the telescoping mechanism (2) between two adjacent radar units (1) is in the extended state, the two radar units (1) are separated as independent modules, and the antenna baseline is increased to enter a long baseline mode.
3. The retractable distributed radar life detection and positioning apparatus as claimed in claim 1, wherein the retractable mechanism (2) comprises a retractable rod (201), and two ends of the retractable rod (201) are connected to one radar unit (1) respectively.
4. The retractable distributed radar life detection and positioning apparatus of claim 3, wherein a stop is provided on the retractable rod (201) for adjusting the length of the retractable rod (201).
5. The retractable distributed radar life detection and positioning apparatus as claimed in claim 3, wherein a sensor is provided on the retractable rod (201) for feeding back the length of the retractable rod (201).
6. A retractable distributed radar life detection and positioning equipment as claimed in any one of claims 1 to 5, characterized in that a rotation mechanism (3) is arranged at the end of the retractable mechanism (2) connected to the radar unit (1), and the radar unit (1) is rotated to a required angle by means of the rotation mechanism (3).
7. The telescopic distributed radar life detection positioning apparatus as recited in claim 6, characterized in that the rotating mechanism (3) is in any one of a rotating disc structure, a rotating sleeve structure, a gear structure and a rotating joint structure.
8. The telescopic distributed radar life detection and positioning equipment as claimed in claim 6, wherein a rotation stopper for fixing a gear is provided on the rotation mechanism (3).
9. The telescopic distributed radar life detection and positioning equipment as claimed in claim 6, wherein an angle sensor is arranged on the rotating mechanism (3) for feeding back the rotating angle of the radar unit (1).
10. The scalable distributed radar life detection and positioning apparatus as claimed in any one of claims 3 to 5, wherein the telescopic rod (201) is integrated with data lines and signal lines for wired data transmission.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010349162.1A CN111398953A (en) | 2020-04-28 | 2020-04-28 | Telescopic distributed radar life detection positioning equipment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010349162.1A CN111398953A (en) | 2020-04-28 | 2020-04-28 | Telescopic distributed radar life detection positioning equipment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113370187A (en) * | 2021-07-07 | 2021-09-10 | 成都圭目机器人有限公司 | Double-detector suspension mechanism and detection robot |
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2020
- 2020-04-28 CN CN202010349162.1A patent/CN111398953A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113370187A (en) * | 2021-07-07 | 2021-09-10 | 成都圭目机器人有限公司 | Double-detector suspension mechanism and detection robot |
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