CN105629236B - A kind of full-automatic wheeled cleaning device with environment sensing ability - Google Patents
A kind of full-automatic wheeled cleaning device with environment sensing ability Download PDFInfo
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- CN105629236B CN105629236B CN201610089728.5A CN201610089728A CN105629236B CN 105629236 B CN105629236 B CN 105629236B CN 201610089728 A CN201610089728 A CN 201610089728A CN 105629236 B CN105629236 B CN 105629236B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
Abstract
The invention discloses a kind of full-automatic wheeled cleaning device with environment sensing ability, the millimetre-wave radar three-dimensional environment sensory perceptual system including cleaning vehicle and on cleaning vehicle；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 full-automatic wheeled cleaning device is simple and practical in structure, can realize that front is scanned without dead angle and cover, and has many advantages, such as that control is accurate, setting accuracy is high, real-time is good.
Description
Technical field
The present invention relates to road cleaning fields, and in particular to a kind of full-automatic wheeled sanitizer cartridge with environment sensing ability
It puts.
Background technology
Broad street has driven urban development, and the trip for people provides a convenient, but road cleaning also becomes one
A problem pendulum is in face of people, traditional road cleaning pattern heavy workload, and inefficiency.
The major function of intelligent vehicle context aware systems is to obtain vehicle and environmental information by sensor, specially
Lane line and the recognition and tracking on lane side edge in the pose and state information acquisition of vehicle, structuring highway, traffic sign and
The recognition and tracking of traffic signals, the recognition and tracking of vehicle periphery barrier are (including dynamic and static-obstacle thing, such as row
People, obstacle vehicle etc.) and vehicle running surface traffic analysis etc..
Cleaning device refers mainly to cleaning vehicle as a kind of public mobility service equipment, sets intelligent vehicle on it
Context aware systems are current inevitable development trends to improve the comprehensive performances such as its safety, multifunction.But present ring
Border sensory perceptual system, which often exists, perceives the problems such as dimension is insufficient, computational accuracy is not high, real-time is not strong.
Invention content
In view of the above-mentioned problems, the present invention provides a kind of full-automatic wheeled cleaning device with environment sensing ability.
The purpose of the present invention is realized using following technical scheme：
A kind of full-automatic wheeled cleaning device with environment sensing ability, including cleaning vehicle and on cleaning vehicle
Millimetre-wave radar three-dimensional environment sensory perceptual system；Millimetre-wave radar three-dimensional environment sensory perceptual system includes millimetre-wave radar, rotating machinery
Device, control unit and data processing unit；Rotation mechanism includes the first rotary shaft, rotating disk and the second rotary shaft, the
One rotary shaft vertically arrangement and it is affixed with the center of rotating disk, first rotary shaft pass through the first stepper motor driving rotation；
It is sleeved in bearing block by the second rotation axis horizontal of the second stepper motor driving rotation, the bearing block passes through 2 vertical cloth
The support shaft put is affixed on the rotating pan；The midpoint of second rotary shaft is provided with connecting portion, the connecting portion perpendicular to
It second rotary shaft and is integrally formed with the second rotary shaft, millimetre-wave radar is vertical with connecting portion affixed；The millimetre-wave radar
Itself intrinsic plane of scanning motion is perpendicular to plane where rotating disk, and scanning range angle is ± 30 °；The rotating disk is supported in arrangement
There is notch in the side of axis, and the straight line parallel where notch is in the straight line where the second rotary shaft, and any support shaft and notch institute
It is less than 50mm in the distance of straight line；First stepper motor and the second stepper motor are controlled by microcontroller, microcontroller
For receiving control command, and signal is sent to motor, while according to the initial position of device in order to control by control command conversion
The goniometer turned over two stepper motors calculates the current location of rotation mechanism, and by the present bit of rotation mechanism
Feedback of status is put to data processing unit；The rotation mechanism it is whole under the drive of the first stepper motor towards before vehicle
Do the period back and forth movement of 180 ° of level into direction, at the same millimetre-wave radar under the drive of the second stepper motor towards before vehicle
Vertical 180 ° of period back and forth movement is done into direction；
Data processing unit includes data acquisition unit, delay revise subelemen and coordinate output subelement；Data are adopted
Collection subelement receives its distance value ρ with target that millimetre-wave radar measurement obtains, while receives the vertical rotation of microcontroller transmission
Corner α and horizontal rotation angle beta and itself scan angle theta of millimetre-wave radar；If millimetre-wave radar is to the reading of a certain target
(ρ, α, β, θ), and define：α=0 ° when radar is horizontal, α values is just when radar is horizontal top, thunder
Up to be horizontal lower section when α values be it is negative, when the second rotary shaft with clean vehicle front direction it is vertical when β=0 °, work as radar
β is positive value during positioned at the right side of β=0 °, and β is negative value when radar is located at the left side of β=0 °；When itself sweeping for millimetre-wave radar
θ=0 ° when plane where retouching direction and millimetre-wave radar is vertical, θ is positive value when itself scanning direction is located at the top of θ=0 °,
θ is negative value when itself scanning direction is located at the lower section of θ=0 °；
Preferably, delay revise subelemen includes range measurement correcting module, horizontal sweep correcting module and vertical scanning
Correcting module：Range measurement correcting module is carried out for the measured value for the value ρ that adjusts the distance for prolonging in detections of radar wave two-way process
The amendment of Shi Xiaoying, the modifying factor of output are：
When | α1+θ1| ＞ | α2+θ2| and | β1| ＞ | β2| when, above formula takes positive sign, otherwise takes negative sign；
Vertical scanning correcting module, for carrying out imitating for being delayed in detections of radar wave two-way process to vertical rotary angle α
The amendment answered, the modifying factor of outputWhen | α1| ＞ | α2| when, above formula takes positive sign, otherwise takes
Negative sign；
Horizontal sweep correcting module, for rotating horizontally angle beta imitate for being delayed in detections of radar wave two-way process
The amendment answered, the modifying factor of outputWhen | β1| ＞ | β2| when, above formula takes positive sign, otherwise
Take negative sign；
Maximum detectable ranges of the wherein m for millimetre-wave radar, and ρ≤m；For reaction detection target and millimeter wave thunder
Influence of the distance to delay effect between reaching, target be then delayed closer to radar it is smaller, otherwise delay it is bigger；t1For to the target
The time that detections of radar wave is sent out, t2The time returned for detections of radar wave；|t1-t2| it represents detections of radar wave and travels to and fro between mesh
Time needed between mark and radar；T1For the horizontal rotation period of millimetre-wave radar, T2Vertical revolution for millimetre-wave radar
Phase；α1For t1When α values, α2For t2When α values；β1For t1When β value, β2For t2When β value；θ1For t1When θ values, θ2For t2When
θ values；T1=2s, T2=2.4s, the sampling interval of millimetre-wave radar is 2 °/s；
Coordinate exports subelement：The object space coordinate exported after being delayed revise subelemen amendment is：
Wherein,
Data processing unit further includes target RCS fluctuation characteristics and measures subelement, for the RCS sequence variations system to target
Number measures：
For being in the complex target of optical region, it is assumed that be made of N number of scattering center, then multi-scattering centers targets
RCS is expressed as the function of azimuth of target：
Wherein, σiRepresent that i-th of scattering center RCS, α+θ represents target with respect to the azimuth of millimetre-wave radar, RiRepresent the
I scattering center is with respect to radar center distance；λ is the parameter being manually set；
Then RCS sequence variations coefficient is expressed as：Wherein σ (k) represents kth time detection
The RCS values of target, RCS serial means
This cleaning device has the beneficial effect that：New millimetre-wave radar three-dimensional environment sensory perceptual system is devised, so as to fulfill
180 ° of front horizontal and being scanned without dead angle for 180 ° of vertical direction cover, and economy and durability simple in structure, strong antijamming capability；Profit
Other components is coordinated to realize Automatic Control function with step-by-step motor, it is easy to control accurate；For new-type rotating radar system
The characteristics of system and delay effect devise range measurement correcting module, horizontal sweep correcting module, vertical scanning correcting module
Wait correcting modules so that the coordinate setting function of radar is more accurate, and real-time is stronger；Give accurate coordinate calculating side
Method provides the foundation to automatically control with control errors；For the Novel rotary mechanical device, employ new RCS and play volt
Property measuring device so that the measurement of the RCS coefficient of variation is more accurate, more advantageous to target identification；The components such as rotating disk, rotary shaft
Size can flexibly choose as the case may be, the applicability for various different size of cleaning devices provides condition；With milli
Metre wave radar replaces traditional light wave radar, and attenuation when being propagated using atmospheric window is small, is influenced by natural light and infrared source
It is small, road pavement effectively identification and avoiding barrier can be carried out under atrocious weather situation, reliable guarantor is provided for safety traffic
Barrier has the superiority such as high resolution, high-precision, miniature antenna bore.
Description of the drawings
Using attached drawing, the invention will be further described, but the embodiment in attached drawing does not form any limit to the present invention
System, for those of ordinary skill in the art, without creative efforts, can also obtain according to the following drawings
Other attached drawings.
Fig. 1 is a kind of structure diagram of the full-automatic wheeled cleaning device with environment sensing ability；
Fig. 2 is the structure diagram of rotation mechanism；
Fig. 3 is millimetre-wave radar itself scanning schematic diagram；
Schematic diagram when Fig. 4 is detections of radar target；
Fig. 5 is the structure diagram of data processing unit.
Reference numeral：Millimetre-wave radar -1；Rotating disk -2；First rotary shaft -3；Second rotary shaft -4；Bearing block -5；Branch
Support axis -6；Connecting portion -7；First stepper motor -8；Second stepper motor -9；Rotation mechanism -10；Control unit -11；Number
According to processing unit -12；Data acquisition unit 13；Be delayed revise subelemen -14；Coordinate exports subelement -15；Notch -16；Mesh
Mark -17；Vehicle forward direction -18.
Specific embodiment
The invention will be further described with the following Examples.
Embodiment 1：
A kind of full-automatic wheeled cleaning device with environment sensing ability as shown in Figs 1-4, including cleaning vehicle and peace
Millimetre-wave radar three-dimensional environment sensory perceptual system on cleaning vehicle；Millimetre-wave radar three-dimensional environment sensory perceptual system includes millimeter wave
Radar 1, rotation mechanism 10, control unit 11 and data processing unit 12；Rotation mechanism packet 10 includes the first rotary shaft
3rd, 2 and second rotary shaft 4 of rotating disk, arrangement and, first rotation affixed with the center of rotating disk 2 vertically of the first rotary shaft 3
Axis 3 is driven by the first stepper motor 8 to be rotated；4 horizontal set of the second rotary shaft of rotation is driven in axis by the second stepper motor 9
In bearing 5, the bearing block 5 is fixed in by 2 support shafts arranged vertically 6 in rotating disk 2；Second rotary shaft 4
Midpoint is provided with connecting portion 7, and the connecting portion 7 is integrally formed perpendicular to the second rotary shaft 4 and with the second rotary shaft 4, millimeter
Wave radar 1 is vertical with connecting portion 7 affixed；Itself intrinsic plane of scanning motion of the millimetre-wave radar 1 is flat where rotating disk 2
Face, and scanning range angle is ± 30 °；The rotating disk 2 has a notch 16 in the side of arrangement support shaft 6, straight where notch 16
Line is parallel to the straight line where the second rotary shaft 4, and any support shaft 6 and the distance of 16 place straight line of notch are less than 50mm；Institute
It states the first stepper motor 8 and the second stepper motor 9 is controlled by microcontroller, microcontroller is used to receive control command, and will
Signal is sent to motor, while the angle turned over according to the initial position of device and two stepper motors in order to control for control command conversion
Degree calculates the current location of rotation mechanism, and the current position state of rotation mechanism 10 is fed back to data processing
Unit 12；The rotation mechanism 10 is whole to do level under the drive of the first stepper motor 8 towards vehicle forward direction 18
180 ° of period back and forth movement, while millimetre-wave radar 1 is done under the drive of the second stepper motor 9 towards vehicle forward direction 20
Vertical 180 ° of period back and forth movement；
As shown in figure 5, data processing unit 12 is defeated including data acquisition unit 13, delay revise subelemen 14 and coordinate
Go out subelement 15, data acquisition unit 13 receives millimetre-wave radar 1 and measures its obtained distance value ρ with target, connects simultaneously
The vertical rotary angle α and rotate horizontally angle beta and millimetre-wave radar 1 scan angle theta of itself that microcontroller sends are received, so as to obtain
The position of complete millimetre-wave radar data and the plane of scanning motion；As shown in figure 5, set a certain target 17 that millimetre-wave radar 1 measures
Reading for (ρ, α, β, θ), and define：α=0 ° when millimetre-wave radar 1 is horizontal, when millimetre-wave radar 1 is in water
α values are just, α values are negative when millimetre-wave radar 1 is horizontal lower section when prosposition puts top；When the second rotary shaft 4 and cleaning
β=0 ° when direction is vertical immediately ahead of vehicle, β is positive value when millimetre-wave radar 1 is located at the right side of β=0 °, when millimetre-wave radar 1
β is negative value when the left side of β=0 °；When itself scanning direction of millimetre-wave radar 1 is vertical with 1 place plane of millimetre-wave radar
θ=0 °, θ is positive value when itself scanning direction is located at the top of θ=0 °, the θ when itself scanning direction is located at the lower section of θ=0 °
For negative value.The rotation angle β of the first rotary shaft 3 is 1 rotation angle in the horizontal direction of millimetre-wave radar as shown in Figure 3.
Preferably, delay effect refers to, since the present apparatus is using the technical solution of three dimensionality dual rotary, in thunder
Up to detection wave during be issued to return, the position of radar has occurred that certain offset, although this period is very short,
But when rotary speed is higher, the error of this part is still very important, this is that the present apparatus is filled with the detection of other fixed radars
Put different place, it is therefore necessary to introduce dedicated delay correction factor.Delay revise subelemen 14 is repaiied including range measurement
Positive module, horizontal sweep correcting module and vertical scanning correcting module：Range measurement correcting module, for the survey for the value ρ that adjusts the distance
Magnitude carries out the amendment for delay effect in detections of radar wave two-way process, and the modifying factor of output is：
When | α1+θ1| ＞ | α2+θ2| and | β1| ＞ | β2| when, illustrate that the rotation of device is towards the direction movement of target point
, the actual value measured at this time is less than normal, therefore above formula uses positive sign, at this time λρ＞ 1, otherwise using negative sign, at this time λρ＜ 1；Meanwhile
Due to t1-t2It is the value of a very little, therefore the specific correction value of this correcting module depends entirely on the swing circle T of motor, rotation
Turn faster T it is smaller, then correction factor with 1 absolute value of the difference it is bigger, it is on the contrary then smaller.
Vertical scanning correcting module, for carrying out imitating for being delayed in detections of radar wave two-way process to vertical rotary angle α
The amendment answered, the modifying factor of outputWhen | α1| ＞ | α2| when, above formula takes positive sign, otherwise takes
Negative sign；
Horizontal sweep correcting module, for rotating horizontally angle beta imitate for being delayed in detections of radar wave two-way process
The amendment answered, the modifying factor of outputWhen | β1| ＞ | β2| when, above formula takes positive sign, otherwise
Take negative sign；
Maximum detectable ranges of the wherein m for millimetre-wave radar 1, and ρ≤m；For reaction detection target 17 and millimeter wave
Influence of the distance to delay effect between radar 1, target 17 be then delayed closer to millimetre-wave radar 1 it is smaller, otherwise delay it is bigger；
t1For the time sent out to the 17 detections of radar wave of target, t2For detections of radar wave return time, then | t1-t2| represent thunder
Time needed for being travelled to and fro between target 17 and millimetre-wave radar 1 up to detection wave；t1Horizontal rotation week for millimetre-wave radar 1
Phase, t2Vertical swing circle for millimetre-wave radar 1；α1For t1When α values, α2For t2When α values；β1For t1When β value, β2For
t2When β value；θ1For t1When θ values, θ2For t2When θ values；T1=2s, T2=2.4s, sampling interval of millimetre-wave radar for 2 °/
s。
Coordinate exports subelement 15：The object space coordinate exported after being delayed revise subelemen amendment is：
Wherein,
Data processing unit further includes target RCS fluctuation characteristics and measures subelement, for the RCS sequence variations system to target
Number measures, the ability of radar cross section (RCS) value characterization reception antenna direction target echo, by measuring target
RCS fluctuation characteristics, which can compare, determines different target types.
For being in the complex target of optical region, it is assumed that it is made of N number of scattering center, it can according to radar scattering theory
Know, radar return can regard the echo Vector modulation of multi-scattering centers as, due to sight of each scattering center with respect to radar
Angle is different so that in Vector modulation, respective relative phase changes the fluctuations for leading to echo signal amplitude, RCS at random
Value, which follows, also there are fluctuations.Therefore radar target RCS changes very sensitive, target RCS time sequences to the attitude angle of target
Row are substantially variable quantities of the RCS with azimuth of target, are a relief volumes, then the RCS of multi-scattering centers target is expressed as mesh
Mark azimuthal function：
Wherein, σiRepresent that i-th of scattering center RCS, α+θ represents target with respect to the azimuth of millimetre-wave radar, RiRepresent the
I scattering center is with respect to radar center distance；λ is the parameter being manually set；
Then RCS sequence variations coefficient is expressed as：Wherein σ (k) represents kth time detection
The RCS values of target, RCS serial meansSequence variations coefficient and azimuth are inputted as characteristic parameter
Target identification system is the identification completed to target.
In this embodiment, new millimetre-wave radar three-dimensional environment sensory perceptual system is devised for cleaning device, so as to fulfill
180 ° of front horizontal and being scanned without dead angle for 180 ° of vertical direction cover, and economy and durability simple in structure, strong antijamming capability；Profit
Other components is coordinated to realize Automatic Control function with step-by-step motor, it is easy to control accurate；For new-type rotating radar system
The characteristics of system and delay effect devise range measurement correcting module, horizontal sweep correcting module, vertical scanning correcting module
Wait correcting modules so that the coordinate setting function of radar is more accurate, sets T1=2s, T2=2.4s, between the sampling of millimetre-wave radar
2 °/s is divided into, is realizing that measurement error is less than 1% while detection without dead angle, is measuring delay rate and be less than 0.5%, and real-time
It is stronger；Accurate Coordinate calculation method is given, is provided the foundation to automatically control with control errors；It makes a connection for the novel rotary
Tool device employs new RCS fluctuation characteristic measuring devices so that the measurement of the RCS coefficient of variation is more accurate, to target identification
It is more advantageous；The size of the components such as rotating disk, rotary shaft can flexibly be chosen as the case may be, be various different size of sanitizer cartridges
The applicability put provides condition；Replace traditional light wave radar, attenuation when being propagated using atmospheric window with millimetre-wave radar
It is small, it is influenced by natural light and infrared source small, road pavement can effectively be identified under atrocious weather situation and hide barrier
Hinder object, provide reliable guarantee for safety traffic, there are the superiority such as high resolution, high-precision, miniature antenna bore, achieve imaginary
Less than effect.
Embodiment 2：
A kind of full-automatic wheeled cleaning device with environment sensing ability as shown in Figs 1-4, including cleaning vehicle and peace
Millimetre-wave radar three-dimensional environment sensory perceptual system on cleaning vehicle；Millimetre-wave radar three-dimensional environment sensory perceptual system includes millimeter wave
Radar 1, rotation mechanism 10, control unit 11 and data processing unit 12；Rotation mechanism packet 10 includes the first rotary shaft
3rd, 2 and second rotary shaft 4 of rotating disk, arrangement and, first rotation affixed with the center of rotating disk 2 vertically of the first rotary shaft 3
Axis 3 is driven by the first stepper motor 8 to be rotated；4 horizontal set of the second rotary shaft of rotation is driven in axis by the second stepper motor 9
In bearing 5, the bearing block 5 is fixed in by 2 support shafts arranged vertically 6 in rotating disk 2；Second rotary shaft 4
Midpoint is provided with connecting portion 7, and the connecting portion 7 is integrally formed perpendicular to the second rotary shaft 4 and with the second rotary shaft 4, millimeter
Wave radar 1 is vertical with connecting portion 7 affixed；Itself intrinsic plane of scanning motion of the millimetre-wave radar 1 is flat where rotating disk 2
Face, and scanning range angle is ± 30 °；The rotating disk 2 has a notch 16 in the side of arrangement support shaft 6, straight where notch 16
Line is parallel to the straight line where the second rotary shaft 4, and any support shaft 6 and the distance of 16 place straight line of notch are less than 50mm；Institute
It states the first stepper motor 8 and the second stepper motor 9 is controlled by microcontroller, microcontroller is used to receive control command, and will
Signal is sent to motor, while the angle turned over according to the initial position of device and two stepper motors in order to control for control command conversion
Degree calculates the current location of rotation mechanism, and the current position state of rotation mechanism 10 is fed back to data processing
Unit 12；The rotation mechanism 10 is whole to do level under the drive of the first stepper motor 8 towards vehicle forward direction 18
180 ° of period back and forth movement, while millimetre-wave radar 1 is done under the drive of the second stepper motor 9 towards vehicle forward direction 20
Vertical 180 ° of period back and forth movement；
As shown in figure 5, data processing unit 12 is defeated including data acquisition unit 13, delay revise subelemen 14 and coordinate
Go out subelement 15, data acquisition unit 13 receives millimetre-wave radar 1 and measures its obtained distance value ρ with target, connects simultaneously
The vertical rotary angle α and rotate horizontally angle beta and millimetre-wave radar 1 scan angle theta of itself that microcontroller sends are received, so as to obtain
The position of complete millimetre-wave radar data and the plane of scanning motion；As shown in figure 5, set a certain target 17 that millimetre-wave radar 1 measures
Reading for (ρ, α, β, θ), and define：α=0 ° when millimetre-wave radar 1 is horizontal, when millimetre-wave radar 1 is in water
α values are just, α values are negative when millimetre-wave radar 1 is horizontal lower section when prosposition puts top；When the second rotary shaft 4 and cleaning
β=0 ° when direction is vertical immediately ahead of vehicle, β is positive value when millimetre-wave radar 1 is located at the right side of β=0 °, when millimetre-wave radar 1
β is negative value when the left side of β=0 °；When itself scanning direction of millimetre-wave radar 1 is vertical with 1 place plane of millimetre-wave radar
θ=0 °, θ is positive value when itself scanning direction is located at the top of θ=0 °, the θ when itself scanning direction is located at the lower section of θ=0 °
For negative value.The rotation angle β of the first rotary shaft 3 is 1 rotation angle in the horizontal direction of millimetre-wave radar as shown in Figure 3.
Preferably, delay effect refers to, since the present apparatus is using the technical solution of three dimensionality dual rotary, in thunder
Up to detection wave during be issued to return, the position of radar has occurred that certain offset, although this period is very short,
But when rotary speed is higher, the error of this part is still very important, this is that the present apparatus is filled with the detection of other fixed radars
Put different place, it is therefore necessary to introduce dedicated delay correction factor.Delay revise subelemen 14 is repaiied including range measurement
Positive module, horizontal sweep correcting module and vertical scanning correcting module：Range measurement correcting module, for the survey for the value ρ that adjusts the distance
Magnitude carries out the amendment for delay effect in detections of radar wave two-way process, and the modifying factor of output is：
When | α1+θ1| ＞ | α2+θ2| and | β1| ＞ | β2| when, illustrate that the rotation of device is towards the direction movement of target point
, the actual value measured at this time is less than normal, therefore above formula uses positive sign, at this time λρ＞ 1, otherwise using negative sign, at this time λρ＜ 1；Meanwhile
Due to t1-t2It is the value of a very little, therefore the specific correction value of this correcting module depends entirely on the swing circle T of motor, rotation
Turn faster T it is smaller, then correction factor with 1 absolute value of the difference it is bigger, it is on the contrary then smaller.
Vertical scanning correcting module, for carrying out imitating for being delayed in detections of radar wave two-way process to vertical rotary angle α
The amendment answered, the modifying factor of outputWhen | α1| ＞ | α2| when, above formula takes positive sign, otherwise takes
Negative sign；
Horizontal sweep correcting module, for rotating horizontally angle beta imitate for being delayed in detections of radar wave two-way process
The amendment answered, the modifying factor of outputWhen | β1| ＞ | β2| when, above formula takes positive sign, otherwise
Take negative sign；
Maximum detectable ranges of the wherein m for millimetre-wave radar 1, and ρ≤m；For reaction detection target 17 and millimeter wave
Influence of the distance to delay effect between radar 1, target 17 be then delayed closer to millimetre-wave radar 1 it is smaller, otherwise delay it is bigger；
t1For the time sent out to the 17 detections of radar wave of target, t2For detections of radar wave return time, then | t1-t2| represent thunder
Time needed for being travelled to and fro between target 17 and millimetre-wave radar 1 up to detection wave；t1Horizontal rotation week for millimetre-wave radar 1
Phase, t2Vertical swing circle for millimetre-wave radar 1；α1For t1When α values, α2For t2When α values；β1For t1When β value, β2For
t2When β value；θ1For t1When θ values, θ2For t2When θ values；T1=2s, T2=2.4s, sampling interval of millimetre-wave radar for 2 °/
s。
Coordinate exports subelement 15：The object space coordinate exported after being delayed revise subelemen amendment is：
Wherein,
Data processing unit further includes target RCS fluctuation characteristics and measures subelement, for the RCS sequence variations system to target
Number measures, the ability of radar cross section (RCS) value characterization reception antenna direction target echo, by measuring target
RCS fluctuation characteristics, which can compare, determines different target types.
For being in the complex target of optical region, it is assumed that it is made of N number of scattering center, it can according to radar scattering theory
Know, radar return can regard the echo Vector modulation of multi-scattering centers as, due to sight of each scattering center with respect to radar
Angle is different so that in Vector modulation, respective relative phase changes the fluctuations for leading to echo signal amplitude, RCS at random
Value, which follows, also there are fluctuations.Therefore radar target RCS changes very sensitive, target RCS time sequences to the attitude angle of target
Row are substantially variable quantities of the RCS with azimuth of target, are a relief volumes, then the RCS of multi-scattering centers target is expressed as mesh
Mark azimuthal function：
Wherein, σiRepresent that i-th of scattering center RCS, α+θ represents target with respect to the azimuth of millimetre-wave radar, RiRepresent the
I scattering center is with respect to radar center distance；λ is the parameter being manually set；
Then RCS sequence variations coefficient is expressed as：Wherein σ (k) represents kth time detection
The RCS values of target, RCS serial meansSequence variations coefficient and azimuth are inputted as characteristic parameter
Target identification system is the identification completed to target.
In this embodiment, new millimetre-wave radar three-dimensional environment sensory perceptual system is devised for cleaning device, so as to fulfill
180 ° of front horizontal and being scanned without dead angle for 180 ° of vertical direction cover, and economy and durability simple in structure, strong antijamming capability；Profit
Other components is coordinated to realize Automatic Control function with step-by-step motor, it is easy to control accurate；For new-type rotating radar system
The characteristics of system and delay effect devise range measurement correcting module, horizontal sweep correcting module, vertical scanning correcting module
Wait correcting modules so that the coordinate setting function of radar is more accurate, sets T1=2.2s, T2=2.6s, the sampling of millimetre-wave radar
Between be divided into 1.5 °/s, realizing that measurement error is less than 0.8% while detection without dead angle, measuring delay rate less than 0.4%, and
Real-time is stronger；Accurate Coordinate calculation method is given, is provided the foundation to automatically control with control errors；It is novel for this
Rotation mechanism employs new RCS fluctuation characteristic measuring devices so that the measurement of the RCS coefficient of variation is more accurate, to mesh
Mark is not more advantageous；The size of the components such as rotating disk, rotary shaft can flexibly be chosen as the case may be, be various different size of
The applicability of cleaning device provides condition；Replace traditional light wave radar with millimetre-wave radar, when being propagated using atmospheric window
Attenuation it is small, influenced by natural light and infrared source it is small, can under atrocious weather situation road pavement carry out effectively identification simultaneously
Avoiding barrier provides reliable guarantee for safety traffic, has the superiority such as high resolution, high-precision, miniature antenna bore, obtains
Unexpected effect.
Embodiment 3：
A kind of full-automatic wheeled cleaning device with environment sensing ability as shown in Figs 1-4, including cleaning vehicle and peace
Millimetre-wave radar three-dimensional environment sensory perceptual system on cleaning vehicle；Millimetre-wave radar three-dimensional environment sensory perceptual system includes millimeter wave
Radar 1, rotation mechanism 10, control unit 11 and data processing unit 12；Rotation mechanism packet 10 includes the first rotary shaft
3rd, 2 and second rotary shaft 4 of rotating disk, arrangement and, first rotation affixed with the center of rotating disk 2 vertically of the first rotary shaft 3
Axis 3 is driven by the first stepper motor 8 to be rotated；4 horizontal set of the second rotary shaft of rotation is driven in axis by the second stepper motor 9
In bearing 5, the bearing block 5 is fixed in by 2 support shafts arranged vertically 6 in rotating disk 2；Second rotary shaft 4
Midpoint is provided with connecting portion 7, and the connecting portion 7 is integrally formed perpendicular to the second rotary shaft 4 and with the second rotary shaft 4, millimeter
Wave radar 1 is vertical with connecting portion 7 affixed；Itself intrinsic plane of scanning motion of the millimetre-wave radar 1 is flat where rotating disk 2
Face, and scanning range angle is ± 30 °；The rotating disk 2 has a notch 16 in the side of arrangement support shaft 6, straight where notch 16
Line is parallel to the straight line where the second rotary shaft 4, and any support shaft 6 and the distance of 16 place straight line of notch are less than 50mm；Institute
It states the first stepper motor 8 and the second stepper motor 9 is controlled by microcontroller, microcontroller is used to receive control command, and will
Signal is sent to motor, while the angle turned over according to the initial position of device and two stepper motors in order to control for control command conversion
Degree calculates the current location of rotation mechanism, and the current position state of rotation mechanism 10 is fed back to data processing
Unit 12；The rotation mechanism 10 is whole to do level under the drive of the first stepper motor 8 towards vehicle forward direction 18
180 ° of period back and forth movement, while millimetre-wave radar 1 is done under the drive of the second stepper motor 9 towards vehicle forward direction 20
Vertical 180 ° of period back and forth movement；
As shown in figure 5, data processing unit 12 is defeated including data acquisition unit 13, delay revise subelemen 14 and coordinate
Go out subelement 15, data acquisition unit 13 receives millimetre-wave radar 1 and measures its obtained distance value ρ with target, connects simultaneously
The vertical rotary angle α and rotate horizontally angle beta and millimetre-wave radar 1 scan angle theta of itself that microcontroller sends are received, so as to obtain
The position of complete millimetre-wave radar data and the plane of scanning motion；As shown in figure 5, set a certain target 17 that millimetre-wave radar 1 measures
Reading for (ρ, α, β, θ), and define：α=0 ° when millimetre-wave radar 1 is horizontal, when millimetre-wave radar 1 is in water
α values are just, α values are negative when millimetre-wave radar 1 is horizontal lower section when prosposition puts top；When the second rotary shaft 4 and cleaning
β=0 ° when direction is vertical immediately ahead of vehicle, β is positive value when millimetre-wave radar 1 is located at the right side of β=0 °, when millimetre-wave radar 1
β is negative value when the left side of β=0 °；When itself scanning direction of millimetre-wave radar 1 is vertical with 1 place plane of millimetre-wave radar
θ=0 °, θ is positive value when itself scanning direction is located at the top of θ=0 °, the θ when itself scanning direction is located at the lower section of θ=0 °
For negative value.The rotation angle β of the first rotary shaft 3 is 1 rotation angle in the horizontal direction of millimetre-wave radar as shown in Figure 3.
Preferably, delay effect refers to, since the present apparatus is using the technical solution of three dimensionality dual rotary, in thunder
Up to detection wave during be issued to return, the position of radar has occurred that certain offset, although this period is very short,
But when rotary speed is higher, the error of this part is still very important, this is that the present apparatus is filled with the detection of other fixed radars
Put different place, it is therefore necessary to introduce dedicated delay correction factor.Delay revise subelemen 14 is repaiied including range measurement
Positive module, horizontal sweep correcting module and vertical scanning correcting module：Range measurement correcting module, for the survey for the value ρ that adjusts the distance
Magnitude carries out the amendment for delay effect in detections of radar wave two-way process, and the modifying factor of output is：
When | α1+θ1| ＞ | α2+θ2| and | β1| ＞ | β2| when, illustrate that the rotation of device is towards the direction movement of target point
, the actual value measured at this time is less than normal, therefore above formula uses positive sign, at this time λρ＞ 1, otherwise using negative sign, at this time λρ＜ 1；Meanwhile
Due to t1-t2It is the value of a very little, therefore the specific correction value of this correcting module depends entirely on the swing circle T of motor, rotation
Turn faster T it is smaller, then correction factor with 1 absolute value of the difference it is bigger, it is on the contrary then smaller.
Vertical scanning correcting module, for carrying out imitating for being delayed in detections of radar wave two-way process to vertical rotary angle α
The amendment answered, the modifying factor of outputWhen | α1| ＞ | α2| when, above formula takes positive sign, otherwise takes
Negative sign；
Horizontal sweep correcting module, for rotating horizontally angle beta imitate for being delayed in detections of radar wave two-way process
The amendment answered, the modifying factor of outputWhen | β1| ＞ | β2| when, above formula takes positive sign, otherwise
Take negative sign；
Maximum detectable ranges of the wherein m for millimetre-wave radar 1, and ρ≤m；For reaction detection target 17 and millimeter wave
Influence of the distance to delay effect between radar 1, target 17 be then delayed closer to millimetre-wave radar 1 it is smaller, otherwise delay it is bigger；
t1For the time sent out to the 17 detections of radar wave of target, t2For detections of radar wave return time, then | t1-t2| represent thunder
Time needed for being travelled to and fro between target 17 and millimetre-wave radar 1 up to detection wave；t1Horizontal rotation week for millimetre-wave radar 1
Phase, t2Vertical swing circle for millimetre-wave radar 1；α1For t1When α values, α2For t2When α values；β1For t1When β value, β2For
t2When β value；θ1For t1When θ values, θ2For t2When θ values；T1=2s, T2=2.4s, sampling interval of millimetre-wave radar for 2 °/
s。
Coordinate exports subelement 15：The object space coordinate exported after being delayed revise subelemen amendment is：
Wherein,
Data processing unit further includes target RCS fluctuation characteristics and measures subelement, for the RCS sequence variations system to target
Number measures, the ability of radar cross section (RCS) value characterization reception antenna direction target echo, by measuring target
RCS fluctuation characteristics, which can compare, determines different target types.
For being in the complex target of optical region, it is assumed that it is made of N number of scattering center, it can according to radar scattering theory
Know, radar return can regard the echo Vector modulation of multi-scattering centers as, due to sight of each scattering center with respect to radar
Angle is different so that in Vector modulation, respective relative phase changes the fluctuations for leading to echo signal amplitude, RCS at random
Value, which follows, also there are fluctuations.Therefore radar target RCS changes very sensitive, target RCS time sequences to the attitude angle of target
Row are substantially variable quantities of the RCS with azimuth of target, are a relief volumes, then the RCS of multi-scattering centers target is expressed as mesh
Mark azimuthal function：
Wherein, σiRepresent that i-th of scattering center RCS, α+θ represents target with respect to the azimuth of millimetre-wave radar, RiRepresent the
I scattering center is with respect to radar center distance；λ is the parameter being manually set；
Then RCS sequence variations coefficient is expressed as：Wherein σ (k) represents kth time detection
The RCS values of target, RCS serial meansSequence variations coefficient and azimuth are inputted as characteristic parameter
Target identification system is the identification completed to target.
In this embodiment, new millimetre-wave radar three-dimensional environment sensory perceptual system is devised for cleaning device, so as to fulfill
180 ° of front horizontal and being scanned without dead angle for 180 ° of vertical direction cover, and economy and durability simple in structure, strong antijamming capability；Profit
Other components is coordinated to realize Automatic Control function with step-by-step motor, it is easy to control accurate；For new-type rotating radar system
The characteristics of system and delay effect devise range measurement correcting module, horizontal sweep correcting module, vertical scanning correcting module
Wait correcting modules so that the coordinate setting function of radar is more accurate, sets T1=2.4s, T2=2.7s, the sampling of millimetre-wave radar
Between be divided into 1.8 °/s, realizing that measurement error is less than 0.7% while detection without dead angle, measuring delay rate less than 0.4%, and
Real-time is stronger；Accurate Coordinate calculation method is given, is provided the foundation to automatically control with control errors；It is novel for this
Rotation mechanism employs new RCS fluctuation characteristic measuring devices so that the measurement of the RCS coefficient of variation is more accurate, to mesh
Mark is not more advantageous；The size of the components such as rotating disk, rotary shaft can flexibly be chosen as the case may be, be various different size of
The applicability of cleaning device provides condition；Replace traditional light wave radar with millimetre-wave radar, when being propagated using atmospheric window
Attenuation it is small, influenced by natural light and infrared source it is small, can under atrocious weather situation road pavement carry out effectively identification simultaneously
Avoiding barrier provides reliable guarantee for safety traffic, has the superiority such as high resolution, high-precision, miniature antenna bore, obtains
Unexpected effect.
Embodiment 4：
A kind of full-automatic wheeled cleaning device with environment sensing ability as shown in Figs 1-4, including cleaning vehicle and peace
Millimetre-wave radar three-dimensional environment sensory perceptual system on cleaning vehicle；Millimetre-wave radar three-dimensional environment sensory perceptual system includes millimeter wave
Radar 1, rotation mechanism 10, control unit 11 and data processing unit 12；Rotation mechanism packet 10 includes the first rotary shaft
3rd, 2 and second rotary shaft 4 of rotating disk, arrangement and, first rotation affixed with the center of rotating disk 2 vertically of the first rotary shaft 3
Axis 3 is driven by the first stepper motor 8 to be rotated；4 horizontal set of the second rotary shaft of rotation is driven in axis by the second stepper motor 9
In bearing 5, the bearing block 5 is fixed in by 2 support shafts arranged vertically 6 in rotating disk 2；Second rotary shaft 4
Midpoint is provided with connecting portion 7, and the connecting portion 7 is integrally formed perpendicular to the second rotary shaft 4 and with the second rotary shaft 4, millimeter
Wave radar 1 is vertical with connecting portion 7 affixed；Itself intrinsic plane of scanning motion of the millimetre-wave radar 1 is flat where rotating disk 2
Face, and scanning range angle is ± 30 °；The rotating disk 2 has a notch 16 in the side of arrangement support shaft 6, straight where notch 16
Line is parallel to the straight line where the second rotary shaft 4, and any support shaft 6 and the distance of 16 place straight line of notch are less than 50mm；Institute
It states the first stepper motor 8 and the second stepper motor 9 is controlled by microcontroller, microcontroller is used to receive control command, and will
Signal is sent to motor, while the angle turned over according to the initial position of device and two stepper motors in order to control for control command conversion
Degree calculates the current location of rotation mechanism, and the current position state of rotation mechanism 10 is fed back to data processing
Unit 12；The rotation mechanism 10 is whole to do level under the drive of the first stepper motor 8 towards vehicle forward direction 18
180 ° of period back and forth movement, while millimetre-wave radar 1 is done under the drive of the second stepper motor 9 towards vehicle forward direction 20
Vertical 180 ° of period back and forth movement；
As shown in figure 5, data processing unit 12 is defeated including data acquisition unit 13, delay revise subelemen 14 and coordinate
Go out subelement 15, data acquisition unit 13 receives millimetre-wave radar 1 and measures its obtained distance value ρ with target, connects simultaneously
The vertical rotary angle α and rotate horizontally angle beta and millimetre-wave radar 1 scan angle theta of itself that microcontroller sends are received, so as to obtain
The position of complete millimetre-wave radar data and the plane of scanning motion；As shown in figure 5, set a certain target 17 that millimetre-wave radar 1 measures
Reading for (ρ, α, β, θ), and define：α=0 ° when millimetre-wave radar 1 is horizontal, when millimetre-wave radar 1 is in water
α values are just, α values are negative when millimetre-wave radar 1 is horizontal lower section when prosposition puts top；When the second rotary shaft 4 and cleaning
β=0 ° when direction is vertical immediately ahead of vehicle, β is positive value when millimetre-wave radar 1 is located at the right side of β=0 °, when millimetre-wave radar 1
β is negative value when the left side of β=0 °；When itself scanning direction of millimetre-wave radar 1 is vertical with 1 place plane of millimetre-wave radar
θ=0 °, θ is positive value when itself scanning direction is located at the top of θ=0 °, the θ when itself scanning direction is located at the lower section of θ=0 °
For negative value.The rotation angle β of the first rotary shaft 3 is 1 rotation angle in the horizontal direction of millimetre-wave radar as shown in Figure 3.
Preferably, delay effect refers to, since the present apparatus is using the technical solution of three dimensionality dual rotary, in thunder
Up to detection wave during be issued to return, the position of radar has occurred that certain offset, although this period is very short,
But when rotary speed is higher, the error of this part is still very important, this is that the present apparatus is filled with the detection of other fixed radars
Put different place, it is therefore necessary to introduce dedicated delay correction factor.Delay revise subelemen 14 is repaiied including range measurement
Positive module, horizontal sweep correcting module and vertical scanning correcting module：Range measurement correcting module, for the survey for the value ρ that adjusts the distance
Magnitude carries out the amendment for delay effect in detections of radar wave two-way process, and the modifying factor of output is：
When | α1+θ1| ＞ | α2+θ2| and | β1| ＞ | β2| when, illustrate that the rotation of device is towards the direction movement of target point
, the actual value measured at this time is less than normal, therefore above formula uses positive sign, at this time λρ＞ 1, otherwise using negative sign, at this time λρ＜ 1；Meanwhile
Due to t1-t2It is the value of a very little, therefore the specific correction value of this correcting module depends entirely on the swing circle T of motor, rotation
Turn faster T it is smaller, then correction factor with 1 absolute value of the difference it is bigger, it is on the contrary then smaller.
Vertical scanning correcting module, for carrying out imitating for being delayed in detections of radar wave two-way process to vertical rotary angle α
The amendment answered, the modifying factor of outputWhen | α1| ＞ | α2| when, above formula takes positive sign, otherwise takes
Negative sign；
Horizontal sweep correcting module, for rotating horizontally angle beta imitate for being delayed in detections of radar wave two-way process
The amendment answered, the modifying factor of outputWhen | β1| ＞ | β2| when, above formula takes positive sign, otherwise
Take negative sign；
Maximum detectable ranges of the wherein m for millimetre-wave radar 1, and ρ≤m；For reaction detection target 17 and millimeter wave
Influence of the distance to delay effect between radar 1, target 17 be then delayed closer to millimetre-wave radar 1 it is smaller, otherwise delay it is bigger；
t1For the time sent out to the 17 detections of radar wave of target, t2For detections of radar wave return time, then | t1-t2| represent thunder
Time needed for being travelled to and fro between target 17 and millimetre-wave radar 1 up to detection wave；t1Horizontal rotation week for millimetre-wave radar 1
Phase, t2Vertical swing circle for millimetre-wave radar 1；α1For t1When α values, α2For t2When α values；β1For t1When β value, β2For
t2When β value；θ1For t1When θ values, θ2For t2When θ values；T1=2s, T2=2.4s, sampling interval of millimetre-wave radar for 2 °/
s。
Coordinate exports subelement 15：The object space coordinate exported after being delayed revise subelemen amendment is：
Wherein,
Data processing unit further includes target RCS fluctuation characteristics and measures subelement, for the RCS sequence variations system to target
Number measures, the ability of radar cross section (RCS) value characterization reception antenna direction target echo, by measuring target
RCS fluctuation characteristics, which can compare, determines different target types.
For being in the complex target of optical region, it is assumed that it is made of N number of scattering center, it can according to radar scattering theory
Know, radar return can regard the echo Vector modulation of multi-scattering centers as, due to sight of each scattering center with respect to radar
Angle is different so that in Vector modulation, respective relative phase changes the fluctuations for leading to echo signal amplitude, RCS at random
Value, which follows, also there are fluctuations.Therefore radar target RCS changes very sensitive, target RCS time sequences to the attitude angle of target
Row are substantially variable quantities of the RCS with azimuth of target, are a relief volumes, then the RCS of multi-scattering centers target is expressed as mesh
Mark azimuthal function：
Wherein, σiRepresent that i-th of scattering center RCS, α+θ represents target with respect to the azimuth of millimetre-wave radar, RiRepresent the
I scattering center is with respect to radar center distance；λ is the parameter being manually set；
Then RCS sequence variations coefficient is expressed as：Wherein σ (k) represents kth time detection
The RCS values of target, RCS serial meansSequence variations coefficient and azimuth are inputted as characteristic parameter
Target identification system is the identification completed to target.
In this embodiment, new millimetre-wave radar three-dimensional environment sensory perceptual system is devised for cleaning device, so as to fulfill
180 ° of front horizontal and being scanned without dead angle for 180 ° of vertical direction cover, and economy and durability simple in structure, strong antijamming capability；Profit
Other components is coordinated to realize Automatic Control function with step-by-step motor, it is easy to control accurate；For new-type rotating radar system
The characteristics of system and delay effect devise range measurement correcting module, horizontal sweep correcting module, vertical scanning correcting module
Wait correcting modules so that the coordinate setting function of radar is more accurate, sets T1=2.5s, T2=2.8s, the sampling of millimetre-wave radar
Between be divided into 1.3 °/s.It is realizing that measurement error is less than 0.6% while detection without dead angle, is measuring delay rate less than 0.3%, and
Real-time is stronger；Accurate Coordinate calculation method is given, is provided the foundation to automatically control with control errors；It is novel for this
Rotation mechanism employs new RCS fluctuation characteristic measuring devices so that the measurement of the RCS coefficient of variation is more accurate, to mesh
Mark is not more advantageous；The size of the components such as rotating disk, rotary shaft can flexibly be chosen as the case may be, be various different size of
The applicability of cleaning device provides condition；Replace traditional light wave radar with millimetre-wave radar, when being propagated using atmospheric window
Attenuation it is small, influenced by natural light and infrared source it is small, can under atrocious weather situation road pavement carry out effectively identification simultaneously
Avoiding barrier provides reliable guarantee for safety traffic, has the superiority such as high resolution, high-precision, miniature antenna bore, obtains
Unexpected effect.
Embodiment 5：
A kind of full-automatic wheeled cleaning device with environment sensing ability as shown in Figs 1-4, including cleaning vehicle and peace
Millimetre-wave radar three-dimensional environment sensory perceptual system on cleaning vehicle；Millimetre-wave radar three-dimensional environment sensory perceptual system includes millimeter wave
Radar 1, rotation mechanism 10, control unit 11 and data processing unit 12；Rotation mechanism packet 10 includes the first rotary shaft
3rd, 2 and second rotary shaft 4 of rotating disk, arrangement and, first rotation affixed with the center of rotating disk 2 vertically of the first rotary shaft 3
Axis 3 is driven by the first stepper motor 8 to be rotated；4 horizontal set of the second rotary shaft of rotation is driven in axis by the second stepper motor 9
In bearing 5, the bearing block 5 is fixed in by 2 support shafts arranged vertically 6 in rotating disk 2；Second rotary shaft 4
Midpoint is provided with connecting portion 7, and the connecting portion 7 is integrally formed perpendicular to the second rotary shaft 4 and with the second rotary shaft 4, millimeter
Wave radar 1 is vertical with connecting portion 7 affixed；Itself intrinsic plane of scanning motion of the millimetre-wave radar 1 is flat where rotating disk 2
Face, and scanning range angle is ± 30 °；The rotating disk 2 has a notch 16 in the side of arrangement support shaft 6, straight where notch 16
Line is parallel to the straight line where the second rotary shaft 4, and any support shaft 6 and the distance of 16 place straight line of notch are less than 50mm；Institute
It states the first stepper motor 8 and the second stepper motor 9 is controlled by microcontroller, microcontroller is used to receive control command, and will
Signal is sent to motor, while the angle turned over according to the initial position of device and two stepper motors in order to control for control command conversion
Degree calculates the current location of rotation mechanism, and the current position state of rotation mechanism 10 is fed back to data processing
Unit 12；The rotation mechanism 10 is whole to do level under the drive of the first stepper motor 8 towards vehicle forward direction 18
180 ° of period back and forth movement, while millimetre-wave radar 1 is done under the drive of the second stepper motor 9 towards vehicle forward direction 20
Vertical 180 ° of period back and forth movement；
As shown in figure 5, data processing unit 12 is defeated including data acquisition unit 13, delay revise subelemen 14 and coordinate
Go out subelement 15, data acquisition unit 13 receives millimetre-wave radar 1 and measures its obtained distance value ρ with target, connects simultaneously
The vertical rotary angle α and rotate horizontally angle beta and millimetre-wave radar 1 scan angle theta of itself that microcontroller sends are received, so as to obtain
The position of complete millimetre-wave radar data and the plane of scanning motion；As shown in figure 5, set a certain target 17 that millimetre-wave radar 1 measures
Reading for (ρ, α, β, θ), and define：α=0 ° when millimetre-wave radar 1 is horizontal, when millimetre-wave radar 1 is in water
α values are just, α values are negative when millimetre-wave radar 1 is horizontal lower section when prosposition puts top；When the second rotary shaft 4 and cleaning
β=0 ° when direction is vertical immediately ahead of vehicle, β is positive value when millimetre-wave radar 1 is located at the right side of β=0 °, when millimetre-wave radar 1
β is negative value when the left side of β=0 °；When itself scanning direction of millimetre-wave radar 1 is vertical with 1 place plane of millimetre-wave radar
θ=0 °, θ is positive value when itself scanning direction is located at the top of θ=0 °, the θ when itself scanning direction is located at the lower section of θ=0 °
For negative value.The rotation angle β of the first rotary shaft 3 is 1 rotation angle in the horizontal direction of millimetre-wave radar as shown in Figure 3.
Preferably, delay effect refers to, since the present apparatus is using the technical solution of three dimensionality dual rotary, in thunder
Up to detection wave during be issued to return, the position of radar has occurred that certain offset, although this period is very short,
But when rotary speed is higher, the error of this part is still very important, this is that the present apparatus is filled with the detection of other fixed radars
Put different place, it is therefore necessary to introduce dedicated delay correction factor.Delay revise subelemen 14 is repaiied including range measurement
Positive module, horizontal sweep correcting module and vertical scanning correcting module：Range measurement correcting module, for the survey for the value ρ that adjusts the distance
Magnitude carries out the amendment for delay effect in detections of radar wave two-way process, and the modifying factor of output is：
When | α1+θ1| ＞ | α2+θ2| and | β1| ＞ | β2| when, illustrate that the rotation of device is towards the direction movement of target point
, the actual value measured at this time is less than normal, therefore above formula uses positive sign, at this time λρ＞ 1, otherwise using negative sign, at this time λρ＜ 1；Meanwhile
Due to t1-t2It is the value of a very little, therefore the specific correction value of this correcting module depends entirely on the swing circle T of motor, rotation
Turn faster T it is smaller, then correction factor with 1 absolute value of the difference it is bigger, it is on the contrary then smaller.
Vertical scanning correcting module, for carrying out imitating for being delayed in detections of radar wave two-way process to vertical rotary angle α
The amendment answered, the modifying factor of outputWhen | α1| ＞ | α2| when, above formula takes positive sign, otherwise takes
Negative sign；
Horizontal sweep correcting module, for rotating horizontally angle beta imitate for being delayed in detections of radar wave two-way process
The amendment answered, the modifying factor of outputWhen | β1| ＞ | β2| when, above formula takes positive sign, otherwise
Take negative sign；
Maximum detectable ranges of the wherein m for millimetre-wave radar 1, and ρ≤m；For reaction detection target 17 and millimeter wave
Influence of the distance to delay effect between radar 1, target 17 be then delayed closer to millimetre-wave radar 1 it is smaller, otherwise delay it is bigger；
t1For the time sent out to the 17 detections of radar wave of target, t2For detections of radar wave return time, then | t1-t2| represent thunder
Time needed for being travelled to and fro between target 17 and millimetre-wave radar 1 up to detection wave；t1Horizontal rotation week for millimetre-wave radar 1
Phase, t2Vertical swing circle for millimetre-wave radar 1；α1For t1When α values, α2For t2When α values；β1For t1When β value, β2For
t2When β value；θ1For t1When θ values, θ2For t2When θ values；T1=2s, T2=2.4s, sampling interval of millimetre-wave radar for 2 °/
s。
Coordinate exports subelement 15：The object space coordinate exported after being delayed revise subelemen amendment is：
Wherein,
Data processing unit further includes target RCS fluctuation characteristics and measures subelement, for the RCS sequence variations system to target
Number measures, the ability of radar cross section (RCS) value characterization reception antenna direction target echo, by measuring target
RCS fluctuation characteristics, which can compare, determines different target types.
For being in the complex target of optical region, it is assumed that it is made of N number of scattering center, it can according to radar scattering theory
Know, radar return can regard the echo Vector modulation of multi-scattering centers as, due to sight of each scattering center with respect to radar
Angle is different so that in Vector modulation, respective relative phase changes the fluctuations for leading to echo signal amplitude, RCS at random
Value, which follows, also there are fluctuations.Therefore radar target RCS changes very sensitive, target RCS time sequences to the attitude angle of target
Row are substantially variable quantities of the RCS with azimuth of target, are a relief volumes, then the RCS of multi-scattering centers target is expressed as mesh
Mark azimuthal function：
Wherein, σiRepresent that i-th of scattering center RCS, α+θ represents target with respect to the azimuth of millimetre-wave radar, RiRepresent the
I scattering center is with respect to radar center distance；λ is the parameter being manually set；
Then RCS sequence variations coefficient is expressed as：Wherein σ (k) represents kth time detection
The RCS values of target, RCS serial meansSequence variations coefficient and azimuth are inputted as characteristic parameter
Target identification system is the identification completed to target.
In this embodiment, new millimetre-wave radar three-dimensional environment sensory perceptual system is devised for cleaning device, so as to fulfill
180 ° of front horizontal and being scanned without dead angle for 180 ° of vertical direction cover, and economy and durability simple in structure, strong antijamming capability；Profit
Other components is coordinated to realize Automatic Control function with step-by-step motor, it is easy to control accurate；For new-type rotating radar system
The characteristics of system and delay effect devise range measurement correcting module, horizontal sweep correcting module, vertical scanning correcting module
Wait correcting modules so that the coordinate setting function of radar is more accurate, T1=2.6s, T2=2.9s, the sampling interval of millimetre-wave radar
For 1.2 °/s, realizing that measurement error is less than 0.5% while detection without dead angle, measuring delay rate and be less than 0.2%, and in real time
Property is stronger；Accurate Coordinate calculation method is given, is provided the foundation to automatically control with control errors；For the Novel rotary
Mechanical device employs new RCS fluctuation characteristic measuring devices so that the measurement of the RCS coefficient of variation is more accurate, and target is known
It is more not advantageous；The size of the components such as rotating disk, rotary shaft can flexibly be chosen as the case may be, be various different size of cleanings
The applicability of device provides condition；Replace traditional light wave radar, declining when being propagated using atmospheric window with millimetre-wave radar
Reduce, influenced by natural light and infrared source small, road pavement effectively can be identified and hidden under atrocious weather situation
Barrier provides reliable guarantee for safety traffic, has the superiority such as high resolution, high-precision, miniature antenna bore, achieve meaning
Unimaginable effect.
Finally it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention rather than the present invention is protected
The limitation of range is protected, although being explained in detail with reference to preferred embodiment to the present invention, those of ordinary skill in the art should
Work as understanding, technical scheme of the present invention can be modified or replaced equivalently, without departing from the reality of technical solution of the present invention
Matter and range.
Claims (1)
1. a kind of full-automatic wheeled cleaning device with environment sensing ability, it is characterized in that, including cleaning vehicle and mounted on clear
Millimetre-wave radar three-dimensional environment sensory perceptual system on clean vehicle；Millimetre-wave radar three-dimensional environment sensory perceptual system include millimetre-wave radar,
Rotation mechanism, control unit and data processing unit；Rotation mechanism includes the first rotary shaft, rotating disk and the second rotation
Shaft, the first rotary shaft vertically arrangement and it is affixed with the center of rotating disk, first rotary shaft is driven by the first stepper motor
Dynamic rotation；It is sleeved in bearing block by the second rotation axis horizontal of the second stepper motor driving rotation, the bearing block passes through 2
The support shaft arranged vertically is affixed on the rotating pan；The midpoint of second rotary shaft is provided with connecting portion, the connecting portion
It is integrally formed perpendicular to the second rotary shaft and with the second rotary shaft, millimetre-wave radar is vertical with connecting portion affixed；The millimeter wave
Itself intrinsic plane of scanning motion of radar is perpendicular to plane where rotating disk, and scanning range angle is ± 30 °；The rotating disk is in cloth
Putting the side of support shaft has notch, the straight line parallel where notch in the straight line where the second rotary shaft, and any support shaft with
The distance of straight line is less than 50mm where notch；First stepper motor and the second stepper motor are controlled by microcontroller,
Microcontroller is for receiving control command, and signal is sent to motor, while according to the first of device in order to control by control command conversion
Beginning position and the goniometer that turns over of two stepper motors calculate the current location of rotation mechanism, and by rotation mechanism
Current position state feeds back to data processing unit；The rotation mechanism it is whole under the drive of the first stepper motor towards
Vehicle forward direction does the period back and forth movement of 180 ° of level, at the same millimetre-wave radar under the drive of the second stepper motor towards
Vehicle forward direction does vertical 180 ° of period back and forth movement；
Data processing unit includes data acquisition unit, delay revise subelemen and coordinate output subelement；Data acquisition
Unit receives its distance value ρ with target that millimetre-wave radar measurement obtains, while receives the vertical rotary angle α of microcontroller transmission
With itself scan angle theta for rotating horizontally angle beta and millimetre-wave radar；If millimetre-wave radar to the reading of a certain target for (ρ, α,
β, θ), and define：α=0 ° when radar is horizontal, α values is just when radar is horizontal top, at radar
α values be negative when below the horizontal position, β=0 ° when the second rotary shaft is vertical with cleaning vehicle front direction, when radar is located at β
β is positive value during=0 ° of right side, and β is negative value when radar is located at the left side of β=0 °；When itself scanning direction of millimetre-wave radar
θ=0 ° when vertical with plane where millimetre-wave radar, θ is positive value when itself scanning direction is located at the top of θ=0 °, when itself
θ is negative value when scanning direction is located at the lower section of θ=0 °；
The revise subelemen that is delayed includes range measurement correcting module, horizontal sweep correcting module and vertical scanning correcting module：Away from
From measuring correcting module, be directed to delay effect in detections of radar wave two-way process for the measured value for the value ρ that adjusts the distance and repair
Just, the modifying factor of output is：
When | α1+θ1| ＞ | α2+θ2| and | β1| ＞ | β2| when, above formula takes positive sign, otherwise takes negative sign；
Vertical scanning correcting module, for being carried out to vertical rotary angle α for delay effect in detections of radar wave two-way process
It corrects, the modifying factor of outputWhen | α1| ＞ | α2| when, above formula takes positive sign, otherwise takes negative
Number；
Horizontal sweep correcting module, for being carried out to rotating horizontally angle beta for delay effect in detections of radar wave two-way process
It corrects, the modifying factor of outputWhen | β1| ＞ | β2| when, above formula takes positive sign, otherwise takes negative
Number；
Maximum detectable ranges of the wherein m for millimetre-wave radar, and ρ≤m；For reaction detection target and millimetre-wave radar it
Between influence of the distance to delay effect, target be then delayed closer to radar it is smaller, otherwise delay it is bigger；t1For to the target radar
The time that detection wave is sent out, t2The time returned for detections of radar wave；|t1-t2| represent detections of radar wave travel to and fro between target and
Time needed between radar；T1For the horizontal rotation period of millimetre-wave radar, T2Vertical swing circle for millimetre-wave radar；
α1For t1When α values, α2For t2When α values；β1For t1When β value, β2For t2When β value；θ1For t1When θ values, θ2For t2When θ
Value；T1=2s, T2=2.4s, the sampling interval of millimetre-wave radar is 2 °/s；
Coordinate exports subelement：The object space coordinate exported after being delayed revise subelemen amendment is：
Wherein,
Data processing unit further include target RCS fluctuation characteristics measure subelement, for the RCS sequence variations coefficient to target into
Row measures：
For being in the complex target of optical region, it is assumed that be made of N number of scattering center, then the RCS tables of multi-scattering centers target
It is shown as the function of azimuth of target：
Wherein, σiRepresent that i-th of scattering center RCS, α+θ represents target with respect to the azimuth of millimetre-wave radar, RiIt represents i-th
Scattering center is with respect to radar center distance；λ is the parameter being manually set；
Then RCS sequence variations coefficient is expressed as：Wherein σ (k) represents kth time detection target
RCS values, RCS serial means
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