CN105660028A - Full-automatic harvesting device with environment perception capability - Google Patents

Abstract

The invention discloses a full-automatic harvesting device with an environment perception capability. The full-automatic harvesting device comprises a harvester and a millimeter-wave radar three-dimensional environment perception system which is installed on the harvester, wherein the millimeter-wave radar three-dimensional environment perception system comprises a millimeter-wave radar, a rotary mechanical device, a control unit and a data processing unit; the rotary mechanical device comprises a first rotating shaft, a rotating disk and a second rotating shaft. The full-automatic harvesting device is simple and practical in structure, can realize front scanning coverage without dead angle, and further has the advantages of being accurate in control, high in locating accuracy, good in real-time capability and the like.

Description

A kind of full-automatic reaping apparatus with environment sensing ability

Technical field

The present invention relates to agricultural mechanical field, be specifically related to a kind of full-automatic reaping apparatus with environment sensing ability.

Background technology

Along with scientific and technological development, being rooted in the hearts of the people of agricultural modernization, also more and more to the research of intelligent harvester.

The major function of intelligent environment sensory perceptual system is to obtain environmental information by sensor, is specially pose and the state of harvesterIdentification (comprising dynamic and static-obstacle thing) and the harvesting of acquisition of information, crops identification, harvester peripheral obstacleThe machine status analysis in farmland etc. that travels.

Reaping apparatus, mainly refers to that harvester is as a kind of agricultural machinery, intelligent environment sensory perceptual system is set to improve thereonThe combination properties such as its safety, multifunction are inevitable at present development trends. But present environment sensing system often existsThe problems such as perception dimension deficiency, computational accuracy is not high, real-time is not strong.

Summary of the invention

For the problems referred to above, the invention provides a kind of full-automatic reaping apparatus with environment sensing ability.

Object of the present invention realizes by the following technical solutions:

There is a full-automatic reaping apparatus for environment sensing ability, comprise harvester and be arranged on the millimetre-wave radar on harvesterThree-dimensional environment sensory perceptual system; Millimetre-wave radar three-dimensional environment sensory perceptual system comprises millimetre-wave radar, rotating machinery device, controls listUnit and data processing unit; Rotating machinery device comprises the first rotating shaft, rotating disc and the second rotating shaft, and the first rotating shaft is verticalLayout and affixed with the center of rotating disc, described the first rotating shaft drives rotation by the first stepper motor; By the second stepper motorDrive the second rotating shaft horizontal set of rotation in bearing block, described bearing block is fixed in by 2 back shafts of vertically arrangingOn rotating disc; The midpoint of described the second rotating shaft is provided with connecting portion, and described connecting portion is perpendicular to the second rotating shaft and with secondRotating shaft is one-body molded, and millimetre-wave radar is vertical with connecting portion affixed; Self intrinsic plane of scanning motion of described millimetre-wave radar is verticalIn rotating disc place plane, and sweep limits angle is ± 30 °; Described rotating disc has otch, otch in a side of arranging back shaftThe straight line parallel at place is in the straight line at the second rotating shaft place, and the distance of arbitrary back shaft and otch place straight line is less than 50mm;Described the first stepper motor and the second stepper motor are all controlled by single-chip microcomputer, and single-chip microcomputer is used for receiving control command, and will controlSystem order is converted into control signal and sends to motor, simultaneously according to initial position and two goniometers that stepper motor turns over of deviceCalculate the current location of rotating machinery device, and the current position state of rotating machinery device is fed back to data processing unit; InstituteState rotating machinery device entirety under the drive of the first stepper motor towards harvester direction of advance do 180 ° of levels cycle come and goMotion, simultaneously under the drive of the second stepper motor, to do cycle of vertical 180 ° towards harvester direction of advance past for millimetre-wave radarReturn motion;

Data processing unit comprises data acquisition subelement, time delay correction subelement and coordinate output subelement; Data acquisition collected works listUnit receives itself and the distance value ρ of target that millimetre-wave radar measures, receive simultaneously vertical rotary angle α that single-chip microcomputer sends withFeathering angle β, and self scan angle theta of millimetre-wave radar; If laser radar to the reading of a certain target be (ρ, α,β, θ), and definition: α=0 ° in the time that radar is horizontal, when radar is horizontal when top α value for just, thunderIt is negative reaching α value while being horizontal below, and β=0 ° in the time that the second rotating shaft is vertical with harvester dead ahead direction, works as radarWhile being positioned at the right side of β=0 ° β on the occasion of, in the time that radar is positioned at the left side of β=0 °, β is negative value; When self of millimetre-wave radarθ=0 ° when scanning direction is vertical with millimetre-wave radar place plane, in the time that self scanning direction is positioned at the top of θ=0 °, θ is for justValue, in the time that self scanning direction is positioned at the below of θ=0 °, θ is negative value;

Preferably, time delay correction subelement comprises range measurement correcting module, horizontal sweep correcting module and vertical scanning correction mouldPiece: range measurement correcting module, carries out for detections of radar ripple two-way process delay effect for the measured value of the value of adjusting the distance ρCorrection, the modifying factor of its output is:

When | α₁+θ₁|＞|α₂+θ₂| and | β₁|＞|β₂| time, above formula is got positive sign, otherwise gets negative sign;

Vertical rotary correcting module, for carrying out repairing for detections of radar ripple two-way process delay effect to vertical rotary angle αJust, the modifying factor of its outputWhen | α₁|＞|α₂| time, above formula is got positive sign, otherwise gets negative sign;

Horizontally rotate correcting module, for feathering angle β is carried out to repairing for detections of radar ripple two-way process delay effectJust, the modifying factor of its outputWhen | β₁|＞|β₂| time, above formula is got positive sign, otherwise gets negative sign;

The maximum detectable range that wherein m is millimetre-wave radar, andFor reaction detection target and millimetre-wave radar itThe impact of spacing on delay effect, time delay is less the closer to radar for target, on the contrary time delay is larger; t₁For to this target radarDetect the time that ripple sends, t₂The time of returning for detections of radar ripple; | t₁-t₂| represent that detections of radar ripple travels to and fro between target and thunderRequired time between reaching; T₁For the cycle that horizontally rotates of millimetre-wave radar, T₂For the vertical swing circle of millimetre-wave radar; α₁Fort₁Time α value, α₂For t₂Time α value; β₁For t₁Time β value, β₂For t₂Time β value; θ₁For t₁Time θ value, θ₂For t₂Time θ value; T₁＝2s，T₂=2.4s, the sampling interval of millimetre-wave radar is 2 °/s;

Coordinate output subelement: the object space coordinate of exporting after the correction of time delay correction subelement is:

$(x,y,z)=\left\{\begin{array}{c}x={\mathrm{\λ}}_{\mathrm{\ρ}}\×\mathrm{\ρ}\×cos({\mathrm{\λ}}_{\mathrm{\α}}\×(\stackrel{\‾}{\mathrm{\α}}+\stackrel{\‾}{\mathrm{\θ}}))\cos ({\mathrm{\λ}}_{\mathrm{\β}}\×\stackrel{\‾}{\mathrm{\β}})\\ y={\mathrm{\λ}}_{\mathrm{\ρ}}\×\mathrm{\ρ}\×cos({\mathrm{\λ}}_{\mathrm{\α}}\×(\stackrel{\‾}{\mathrm{\α}}+\stackrel{\‾}{\mathrm{\θ}}))\sin ({\mathrm{\λ}}_{\mathrm{\β}}\×\stackrel{\‾}{\mathrm{\β}})\\ z={\mathrm{\λ}}_{\mathrm{\ρ}}\×\mathrm{\ρ}\sin ({\mathrm{\λ}}_{\mathrm{\α}}\×(\stackrel{\‾}{\mathrm{\α}}+\stackrel{\‾}{\mathrm{\θ}}))\end{array}\right.$

Wherein, $\stackrel{\‾}{\mathrm{\α}}=\frac{{\mathrm{\α}}_1+{\mathrm{\α}}_2}{2},\stackrel{\‾}{\mathrm{\β}}=\frac{{\mathrm{\β}}_1+{\mathrm{\β}}_2}{2},\stackrel{\‾}{\mathrm{\θ}}=\frac{{\mathrm{\θ}}_1+{\mathrm{\θ}}_2}{2}.$

Data processing unit also comprises target RCS fluctuation characteristic measurement subelement, enters for the RCS sequence variations coefficient to targetRow is measured:

For the complex target that is in optical region, suppose to be formed by N scattering center, the RCS of multiple scattering focus target tableBe shown the function of azimuth of target:

$\mathrm{\σ}(\mathrm{\α}+\mathrm{\θ})=|\underset{i=1}{\overset{N}{\Σ}}\sqrt{{\mathrm{\σ}}_i}\exp (-\frac{4\mathrm{\π}}{\mathrm{\λ}}{R}_{i}cos(\mathrm{\α}+\mathrm{\θ}\left)\right){|}^2$

Wherein, σ_iRepresent i scattering center RCS, α+θ represents the azimuth of the relative millimetre-wave radar of target, R_iRepresent iThe relative radar center distance of individual scattering center; λ is the artificial parameter of setting;

RCS sequence variations coefficient table is shown:Wherein σ (k) represents the k time detection of a targetRCS value, RCS serial mean

The beneficial effect of this reaping apparatus is: designed new millimetre-wave radar three-dimensional environment sensory perceptual system, thereby realized front waterCovering without dead angle scanning of 180 ° of flat 180 ° and vertical directions, and economy and durability simple in structure, antijamming capability is strong; Utilize stepEnter formula motor and coordinate other parts to realize Automatic Control function, it is accurately convenient to control; For the spy of new-type rotation radar systemPoint and delay effect have designed range measurement correcting module, horizontal sweep correcting module, vertical scanning correcting module etc. and have revised mouldPiece, make the coordinate setting function of radar more accurate, and real-time is stronger; Provide accurate Coordinate calculation method, for automaticallyControl and error control provide the foundation; For this Novel rotary mechanical device, adopt new RCS fluctuation characteristic measurement mechanism,Make the measurement of the RCS coefficient of variation more accurate, more favourable to target identification; The size of the parts such as rotating disc, rotating shaft can rootChoose flexibly according to concrete condition, for the applicability of various different big or small reaping apparatuses provides condition; Replace with millimetre-wave radarTraditional light wave radar, the decay while utilizing atmospheric window to propagate is little, affected by natural daylight and infrared source little, can be badlyWeather conditions under crops are carried out to effectively identification harvesting automatically, there are high resolution, high accuracy, miniature antenna bore etc. excellentMore property.

Brief description of the drawings

The invention will be further described to utilize accompanying drawing, but embodiment in accompanying drawing does not form any limitation of the invention, forThose of ordinary skill in the art, is not paying under the prerequisite of creative work, can also obtain the attached of other according to the following drawingsFigure.

Fig. 1 is a kind of structured flowchart of the full-automatic reaping apparatus with environment sensing ability;

Fig. 2 is the structural representation of rotating machinery device;

Fig. 3 is millimetre-wave radar self scanning schematic diagram;

Schematic diagram when Fig. 4 is detections of radar target;

Fig. 5 is the structured flowchart of data processing unit.

Reference numeral: millimetre-wave radar-1; Rotating disc-2; The first rotating shaft-3; The second rotating shaft-4; Bearing block-5; Back shaft-6; Connecting portion-7; The first stepper motor-8; The second stepper motor-9; Rotating machinery device-10; Control module-11; Data placeReason unit-12; Data acquisition subelement 13; Time delay correction subelement-14; Coordinate output subelement-15; Otch-16; Target-17;Harvester direction of advance-18.

Detailed description of the invention

The invention will be further described with the following Examples.

Embodiment 1:

A kind of full-automatic reaping apparatus with environment sensing ability as Figure 1-4, comprises harvester and is arranged on harvesterOn millimetre-wave radar three-dimensional environment sensory perceptual system; Millimetre-wave radar three-dimensional environment sensory perceptual system comprises millimetre-wave radar 1, rotationMechanical device 10, control module 11 and data processing unit 12; Rotating machinery device bag 10 is drawn together the first rotating shaft 3, rotating disc2 and second rotating shaft 4, the first rotating shafts 3 vertically arrange and affixed with the center of rotating disc 2, described the first rotating shaft 3 passes throughThe first stepper motor 8 drives rotation; Drive the second rotating shaft 4 horizontal sets of rotation at bearing block 5 by the second stepper motor 9In, described bearing block 5 is fixed on rotating disc 2 by 2 back shafts 6 of vertically arranging; In described the second rotating shaft 4Point place is provided with connecting portion 7, and described connecting portion 7 is perpendicular to the second rotating shaft 4 and one-body molded with the second rotating shaft 4, millimeterRipple radar 1 is vertical with connecting portion 7 affixed; Self intrinsic plane of scanning motion of described millimetre-wave radar 1 is perpendicular to rotating disc 2 placesPlane, and sweep limits angle is ± 30 °; Described rotating disc 2 has otch 16,16, otch in a side of arranging back shaft 6Straight line parallel in the straight line at the second rotating shaft 4 places, and arbitrary back shaft 6 is less than with the distance of otch 16 place straight lines50mm; Described the first stepper motor 8 and the second stepper motor 9 are all controlled by single-chip microcomputer, and single-chip microcomputer is used for receiving controlling ordersOrder, and control command is converted into control signal sends to motor, turn according to initial position and two stepper motors of device simultaneouslyThe goniometer of crossing calculates the current location of rotating machinery device, and the current position state of rotating machinery device 10 is fed back to dataProcessing unit 12; Described rotating machinery device 10 entirety under the drive of the first stepper motor 8 towards harvester direction of advance 18Do the cycle back and forth movement of 180 ° of levels, simultaneously millimetre-wave radar 1 under the drive of the second stepper motor 9 before harvesterEnter direction 20 and do the cycle back and forth movement of vertical 180 °;

As shown in Figure 5, data processing unit 12 comprises data acquisition subelement 13, time delay correction subelement 14 and coordinate outputSubelement 15, the distance value ρ of itself that data acquisition subelement 13 receives that millimetre-wave radar 1 measures and target receives simultaneouslyVertical rotary angle α and feathering angle β that single-chip microcomputer sends, and the scan angle theta of millimetre-wave radar 1 self, thus obtainComplete millimetre-wave radar data and the position of the plane of scanning motion; As shown in Figure 5, establish a certain target 17 that millimetre-wave radar 1 recordsReading be (ρ, α, β, θ), and definition: α=0 ° in the time that millimetre-wave radar 1 is horizontal, when millimeter wave thunderReach 1 and be horizontal when top α value for just, when millimetre-wave radar 1 is horizontal below, α value is to bear; Revolve when secondβ=0 ° when rotating shaft 4 is vertical with harvester dead ahead direction, in the time that millimetre-wave radar 1 is positioned at the right side of β=0 ° β on the occasion of,In the time that millimetre-wave radar 1 is positioned at the left side of β=0 °, β is negative value; When self scanning direction and millimeter wave thunder of millimetre-wave radar 1Reach 1 place plane θ=0 ° when vertical, in the time that self scanning direction is positioned at the top of θ=0 ° θ on the occasion of, when self scanning sideTo be positioned at θ=0 ° below time θ be negative value. The anglec of rotation β of the first rotating shaft 3 is millimetre-wave radar 1 as shown in Figure 3The anglec of rotation in the horizontal direction.

Preferably, delay effect refers to, what adopt due to this device is the technical scheme of three dimensionality dual rotary, therefore examines at radarSurveying ripple from being issued to the process of returning, there is certain skew in the position of radar, although very short during this period of time,In the time that rotary speed is higher, the error of this part is still very important, and this is that this device differs with other fixed radar checkout gearsThe place of sample, therefore must introduce special time delay correction factor. Time delay correction subelement 14 comprise range measurement correcting module,Horizontal sweep correcting module and vertical scanning correcting module: range measurement correcting module, carries out for the measured value of the value of adjusting the distance ρFor the correction of delay effect in detections of radar ripple two-way process, the modifying factor of its output is:

When | α₁+θ₁|＞|α₂+θ₂| and | β₁|＞|β₂| time, the rotation that device is described is to move towards the direction of impact point,The actual value now recording is less than normal, therefore above formula adopts positive sign, now λ_ρ> 1, on the contrary negative sign, now λ adopted_ρ< 1; Meanwhile,Due to t₁-t₂Be a very little value, therefore the concrete correction value of this correcting module depends on the swing circle T of motor completely,Rotate faster T less, the absolute value of correction factor and 1 difference is larger, otherwise less.

Vertical rotary correcting module, for carrying out repairing for detections of radar ripple two-way process delay effect to vertical rotary angle αJust, the modifying factor of its outputWhen | α₁|＞|α₂| time, above formula is got positive sign, otherwise gets negative sign;

Horizontally rotate correcting module, for feathering angle β is carried out to repairing for detections of radar ripple two-way process delay effectJust, the modifying factor of its outputWhen | β₁|＞|β₂| time, above formula is got positive sign, otherwise gets negative sign;

Wherein m is the maximum detectable range of millimetre-wave radar 1, and ρ≤m;For reaction detection target 17 and millimeter waveThe impact of distance on delay effect between radar 1, target 17 is less the closer to 1 time delay of millimetre-wave radar, on the contrary time delay is larger;t₁For the time that these target 17 detections of radar ripples are sent, t₂The time of returning for detections of radar ripple, | t₁-t₂| represent radarDetect ripple and travel to and fro between the required time between target 17 and millimetre-wave radar 1; t₁For the cycle that horizontally rotates of millimetre-wave radar 1,t₂For the vertical swing circle of millimetre-wave radar 1; α₁For t₁Time α value, α₂For t₂Time α value; β₁For t₁Time β value,β₂For t₂Time β value; θ₁For t₁Time θ value, θ₂For t₂Time θ value; T₁＝2s，T₂=2.4s, millimetre-wave radarSampling interval is 2 °/s.

Coordinate output subelement 15: the object space coordinate of exporting after the correction of time delay correction subelement is:

$(x,y,z)=\left\{\begin{array}{c}x={\mathrm{\&lambda;}}_{\mathrm{\&rho;}}\&times;\mathrm{\&rho;}\&times;cos({\mathrm{\&lambda;}}_{\mathrm{\&alpha;}}\&times;(\stackrel{\&OverBar;}{\mathrm{\&alpha;}}+\stackrel{\&OverBar;}{\mathrm{\&theta;}}))\cos ({\mathrm{\&lambda;}}_{\mathrm{\&beta;}}\&times;\stackrel{\&OverBar;}{\mathrm{\&beta;}})\\ y={\mathrm{\&lambda;}}_{\mathrm{\&rho;}}\&times;\mathrm{\&rho;}\&times;cos({\mathrm{\&lambda;}}_{\mathrm{\&alpha;}}\&times;(\stackrel{\&OverBar;}{\mathrm{\&alpha;}}+\stackrel{\&OverBar;}{\mathrm{\&theta;}}))\sin ({\mathrm{\&lambda;}}_{\mathrm{\&beta;}}\&times;\stackrel{\&OverBar;}{\mathrm{\&beta;}})\\ z={\mathrm{\&lambda;}}_{\mathrm{\&rho;}}\&times;\mathrm{\&rho;}\sin ({\mathrm{\&lambda;}}_{\mathrm{\&alpha;}}\&times;(\stackrel{\&OverBar;}{\mathrm{\&alpha;}}+\stackrel{\&OverBar;}{\mathrm{\&theta;}}))\end{array}\right.$

Wherein, $\stackrel{\&OverBar;}{\mathrm{\&alpha;}}=\frac{{\mathrm{\&alpha;}}_1+{\mathrm{\&alpha;}}_2}{2},\stackrel{\&OverBar;}{\mathrm{\&beta;}}=\frac{{\mathrm{\&beta;}}_1+{\mathrm{\&beta;}}_2}{2},\stackrel{\&OverBar;}{\mathrm{\&theta;}}=\frac{{\mathrm{\&theta;}}_1+{\mathrm{\&theta;}}_2}{2}.$

Data processing unit also comprises target RCS fluctuation characteristic measurement subelement, enters for the RCS sequence variations coefficient to targetRow is measured, and radar cross section (RCS) value characterizes the ability of reception antenna direction target echo, and by measurement target, RCS risesVolt property can contrast and determine different target types.

For the complex target that is in optical region, suppose to be formed by N scattering center, known according to radar scattering theory, thunderReach echo and can regard that the echo vector at multiple scattering center is synthetic as, due to the sight angle difference of the relative radar of each scattering center,Make in the time that vector is synthetic, relative phase change at random causes the fluctuations of echo signal amplitude separately, and RCS value follows alsoExisting fluctuations. Therefore radar target RCS is very responsive to the attitude angle variation of target, and target RCS time series is in essenceRCS, with the variable quantity of azimuth of target, is a relief volume, and the RCS of multiple scattering focus target is expressed as azimuth of targetFunction:

$\mathrm{\&sigma;}(\mathrm{\&alpha;}+\mathrm{\&theta;})=|\underset{i=1}{\overset{N}{\&Sigma;}}\sqrt{{\mathrm{\&sigma;}}_i}\exp (-j\frac{4\mathrm{\&pi;}}{\mathrm{\&lambda;}}{R}_{i}cos(\mathrm{\&alpha;}+\mathrm{\&theta;}\left)\right){|}^2$

Wherein, σ_iRepresent i scattering center RCS, α+θ represents the azimuth of the relative millimetre-wave radar of target, R_iRepresent iThe relative radar center distance of individual scattering center; λ is the artificial parameter of setting;

RCS sequence variations coefficient table is shown:Wherein σ (k) represents the k time detection of a targetRCS value, RCS serial meanSequence variations coefficient and azimuth are identified as characteristic parameter input targetSystem completes the identification to target.

In this embodiment, for reaping apparatus has designed new millimetre-wave radar three-dimensional environment sensory perceptual system, thereby realize front waterCovering without dead angle scanning of 180 ° of flat 180 ° and vertical directions, and economy and durability simple in structure, antijamming capability is strong; Utilize stepEnter formula motor and coordinate other parts to realize Automatic Control function, it is accurately convenient to control; For the spy of new-type rotation radar systemPoint and delay effect have designed range measurement correcting module, horizontal sweep correcting module, vertical scanning correcting module etc. and have revised mouldPiece, makes the coordinate setting function of radar more accurate, and T is set₁＝2s，T₂=2.4s, the sampling interval of millimetre-wave radar is 2 °/ s, in realizing without dead angle detection, measure error is less than 1%, measure time delay rate and be less than 0.5%, and real-time is stronger; GiveGo out accurate Coordinate calculation method, for control and error control provide the foundation automatically; For this Novel rotary mechanical device,Adopt new RCS fluctuation characteristic measurement mechanism, made the measurement of the RCS coefficient of variation more accurate, more favourable to target identification;The size of the parts such as rotating disc, rotating shaft can be chosen as the case may be flexibly, is being suitable for of various different big or small reaping apparatusesProperty provides condition; Replace traditional light wave radar with millimetre-wave radar, the decay while utilizing atmospheric window to propagate is little, is subject to natureThe impact of light and heat radiation source is little, can under atrocious weather situation, carry out effectively identification harvesting automatically to crops, has heightThe superiority such as resolving power, high accuracy, miniature antenna bore.

Embodiment 2:

A kind of full-automatic reaping apparatus with environment sensing ability as Figure 1-4, comprises harvester and is arranged on harvesterOn millimetre-wave radar three-dimensional environment sensory perceptual system; Millimetre-wave radar three-dimensional environment sensory perceptual system comprises millimetre-wave radar 1, rotationMechanical device 10, control module 11 and data processing unit 12; Rotating machinery device bag 10 is drawn together the first rotating shaft 3, rotating disc2 and second rotating shaft 4, the first rotating shafts 3 vertically arrange and affixed with the center of rotating disc 2, described the first rotating shaft 3 passes throughThe first stepper motor 8 drives rotation; Drive the second rotating shaft 4 horizontal sets of rotation at bearing block 5 by the second stepper motor 9In, described bearing block 5 is fixed on rotating disc 2 by 2 back shafts 6 of vertically arranging; In described the second rotating shaft 4Point place is provided with connecting portion 7, and described connecting portion 7 is perpendicular to the second rotating shaft 4 and one-body molded with the second rotating shaft 4, millimeterRipple radar 1 is vertical with connecting portion 7 affixed; Self intrinsic plane of scanning motion of described millimetre-wave radar 1 is perpendicular to rotating disc 2 placesPlane, and sweep limits angle is ± 30 °; Described rotating disc 2 has otch 16,16, otch in a side of arranging back shaft 6Straight line parallel in the straight line at the second rotating shaft 4 places, and arbitrary back shaft 6 is less than with the distance of otch 16 place straight lines50mm; Described the first stepper motor 8 and the second stepper motor 9 are all controlled by single-chip microcomputer, and single-chip microcomputer is used for receiving controlling ordersOrder, and control command is converted into control signal sends to motor, turn according to initial position and two stepper motors of device simultaneouslyThe goniometer of crossing calculates the current location of rotating machinery device, and the current position state of rotating machinery device 10 is fed back to dataProcessing unit 12; Described rotating machinery device 10 entirety under the drive of the first stepper motor 8 towards harvester direction of advance 18Do the cycle back and forth movement of 180 ° of levels, simultaneously millimetre-wave radar 1 under the drive of the second stepper motor 9 before harvesterEnter direction 20 and do the cycle back and forth movement of vertical 180 °;

As shown in Figure 5, data processing unit 12 comprises data acquisition subelement 13, time delay correction subelement 14 and coordinate outputSubelement 15, the distance value ρ of itself that data acquisition subelement 13 receives that millimetre-wave radar 1 measures and target receives simultaneouslyVertical rotary angle α and feathering angle β that single-chip microcomputer sends, and the scan angle theta of millimetre-wave radar 1 self, thus obtainComplete millimetre-wave radar data and the position of the plane of scanning motion; As shown in Figure 5, establish a certain target 17 that millimetre-wave radar 1 recordsReading be (ρ, α, β, θ), and definition: α=0 ° in the time that millimetre-wave radar 1 is horizontal, when millimeter wave thunderReach 1 and be horizontal when top α value for just, when millimetre-wave radar 1 is horizontal below, α value is to bear; Revolve when secondβ=0 ° when rotating shaft 4 is vertical with harvester dead ahead direction, in the time that millimetre-wave radar 1 is positioned at the right side of β=0 ° β on the occasion of,In the time that millimetre-wave radar 1 is positioned at the left side of β=0 °, β is negative value; When self scanning direction and millimeter wave thunder of millimetre-wave radar 1Reach 1 place plane θ=0 ° when vertical, in the time that self scanning direction is positioned at the top of θ=0 ° θ on the occasion of, when self scanning sideTo be positioned at θ=0 ° below time θ be negative value. The anglec of rotation β of the first rotating shaft 3 is millimetre-wave radar 1 as shown in Figure 3The anglec of rotation in the horizontal direction.

Preferably, delay effect refers to, what adopt due to this device is the technical scheme of three dimensionality dual rotary, therefore examines at radarSurveying ripple from being issued to the process of returning, there is certain skew in the position of radar, although very short during this period of time,In the time that rotary speed is higher, the error of this part is still very important, and this is that this device differs with other fixed radar checkout gearsThe place of sample, therefore must introduce special time delay correction factor. Time delay correction subelement 14 comprise range measurement correcting module,Horizontal sweep correcting module and vertical scanning correcting module: range measurement correcting module, carries out for the measured value of the value of adjusting the distance ρFor the correction of delay effect in detections of radar ripple two-way process, the modifying factor of its output is:

When | α₁+θ₁|＞|α₂+θ₂| and | β₁|＞|β₂| time, the rotation that device is described is to move towards the direction of impact point,The actual value now recording is less than normal, therefore above formula adopts positive sign, now λ_ρ> 1, on the contrary negative sign, now λ adopted_ρ< 1; Meanwhile,Due to t₁-t₂Be a very little value, therefore the concrete correction value of this correcting module depends on the swing circle T of motor completely,Rotate faster T less, the absolute value of correction factor and 1 difference is larger, otherwise less.

Vertical rotary correcting module, for carrying out repairing for detections of radar ripple two-way process delay effect to vertical rotary angle αJust, the modifying factor of its outputWhen | α₁|＞|α₂| time, above formula is got positive sign, otherwise gets negative sign;

Horizontally rotate correcting module, for feathering angle β is carried out to repairing for detections of radar ripple two-way process delay effectJust, the modifying factor of its outputWhen | β₁|＞|β₂| time, above formula is got positive sign, otherwise gets negative sign;

Wherein m is the maximum detectable range of millimetre-wave radar 1, and ρ≤m;For reaction detection target 17 and millimeter waveThe impact of distance on delay effect between radar 1, target 17 is less the closer to 1 time delay of millimetre-wave radar, on the contrary time delay is larger;t₁For the time that these target 17 detections of radar ripples are sent, t₂The time of returning for detections of radar ripple, | t₁-t₂| represent radarDetect ripple and travel to and fro between the required time between target 17 and millimetre-wave radar 1; t₁For the cycle that horizontally rotates of millimetre-wave radar 1,t₂For the vertical swing circle of millimetre-wave radar 1; α₁For t₁Time α value, α₂For t₂Time α value; β₁For t₁Time β value,β₂For t₂Time β value; θ₁For t₁Time θ value, θ₂For t₂Time θ value; T₁＝2s，T₂=2.4s, millimetre-wave radarSampling interval is 2 °/s.

Coordinate output subelement 15: the object space coordinate of exporting after the correction of time delay correction subelement is:

$(x,y,z)=\left\{\begin{array}{c}x={\mathrm{\&lambda;}}_{\mathrm{\&rho;}}\&times;\mathrm{\&rho;}\&times;cos({\mathrm{\&lambda;}}_{\mathrm{\&alpha;}}\&times;(\stackrel{\&OverBar;}{\mathrm{\&alpha;}}+\stackrel{\&OverBar;}{\mathrm{\&theta;}}))\cos ({\mathrm{\&lambda;}}_{\mathrm{\&beta;}}\&times;\stackrel{\&OverBar;}{\mathrm{\&beta;}})\\ y={\mathrm{\&lambda;}}_{\mathrm{\&rho;}}\&times;\mathrm{\&rho;}\&times;cos({\mathrm{\&lambda;}}_{\mathrm{\&alpha;}}\&times;(\stackrel{\&OverBar;}{\mathrm{\&alpha;}}+\stackrel{\&OverBar;}{\mathrm{\&theta;}}))\sin ({\mathrm{\&lambda;}}_{\mathrm{\&beta;}}\&times;\stackrel{\&OverBar;}{\mathrm{\&beta;}})\\ z={\mathrm{\&lambda;}}_{\mathrm{\&rho;}}\&times;\mathrm{\&rho;}\sin ({\mathrm{\&lambda;}}_{\mathrm{\&alpha;}}\&times;(\stackrel{\&OverBar;}{\mathrm{\&alpha;}}+\stackrel{\&OverBar;}{\mathrm{\&theta;}}))\end{array}\right.$

Wherein, $\stackrel{\&OverBar;}{\mathrm{\&alpha;}}=\frac{{\mathrm{\&alpha;}}_1+{\mathrm{\&alpha;}}_2}{2},\stackrel{\&OverBar;}{\mathrm{\&beta;}}=\frac{{\mathrm{\&beta;}}_1+{\mathrm{\&beta;}}_2}{2},\stackrel{\&OverBar;}{\mathrm{\&theta;}}=\frac{{\mathrm{\&theta;}}_1+{\mathrm{\&theta;}}_2}{2}.$

Data processing unit also comprises target RCS fluctuation characteristic measurement subelement, enters for the RCS sequence variations coefficient to targetRow is measured, and radar cross section (RCS) value characterizes the ability of reception antenna direction target echo, and by measurement target, RCS risesVolt property can contrast and determine different target types.

For the complex target that is in optical region, suppose to be formed by N scattering center, known according to radar scattering theory, thunderReach echo and can regard that the echo vector at multiple scattering center is synthetic as, due to the sight angle difference of the relative radar of each scattering center,Make in the time that vector is synthetic, relative phase change at random causes the fluctuations of echo signal amplitude separately, and RCS value follows alsoExisting fluctuations. Therefore radar target RCS is very responsive to the attitude angle variation of target, and target RCS time series is in essenceRCS, with the variable quantity of azimuth of target, is a relief volume, and the RCS of multiple scattering focus target is expressed as azimuth of targetFunction:

$\mathrm{\&sigma;}(\mathrm{\&alpha;}+\mathrm{\&theta;})=|\underset{i=1}{\overset{N}{\&Sigma;}}\sqrt{{\mathrm{\&sigma;}}_i}\exp (-j\frac{4\mathrm{\&pi;}}{\mathrm{\&lambda;}}{R}_{i}cos(\mathrm{\&alpha;}+\mathrm{\&theta;}\left)\right){|}^2$

Wherein, σ_iRepresent i scattering center RCS, α+θ represents the azimuth of the relative millimetre-wave radar of target, R_iRepresent iThe relative radar center distance of individual scattering center; λ is the artificial parameter of setting;

RCS sequence variations coefficient table is shown:Wherein σ (k) represents the k time detection of a targetRCS value, RCS serial meanSequence variations coefficient and azimuth are identified as characteristic parameter input targetSystem completes the identification to target.

In this embodiment, for reaping apparatus has designed new millimetre-wave radar three-dimensional environment sensory perceptual system, thereby realize front waterCovering without dead angle scanning of 180 ° of flat 180 ° and vertical directions, and economy and durability simple in structure, antijamming capability is strong; Utilize stepEnter formula motor and coordinate other parts to realize Automatic Control function, it is accurately convenient to control; For the spy of new-type rotation radar systemPoint and delay effect have designed range measurement correcting module, horizontal sweep correcting module, vertical scanning correcting module etc. and have revised mouldPiece, makes the coordinate setting function of radar more accurate, and T is set₁＝2.2s，T₂=2.6s, the sampling interval of millimetre-wave radar is1.5 °/s, in realizing without dead angle detection, measure error is less than 0.8%, and measure time delay rate and be less than 0.4%, and real-timeStronger; Provide accurate Coordinate calculation method, for control and error control provide the foundation automatically; For this Novel rotary favourable turnTool device, has adopted new RCS fluctuation characteristic measurement mechanism, makes the measurement of the RCS coefficient of variation more accurate, and target is knownNot more favourable; The size of the parts such as rotating disc, rotating shaft can be chosen as the case may be flexibly, is the harvesting of various different sizesThe applicability of device provides condition; Replace traditional light wave radar with millimetre-wave radar, the decay while utilizing atmospheric window to propagateLittle, affected by natural daylight and infrared source little, can under atrocious weather situation, crops be carried out effectively identification and automatically be receivedCut, there is the superiority such as high resolution, high accuracy, miniature antenna bore.

Embodiment 3:

A kind of full-automatic reaping apparatus with environment sensing ability as Figure 1-4, comprises harvester and is arranged on harvesterOn millimetre-wave radar three-dimensional environment sensory perceptual system; Millimetre-wave radar three-dimensional environment sensory perceptual system comprises millimetre-wave radar 1, rotationMechanical device 10, control module 11 and data processing unit 12; Rotating machinery device bag 10 is drawn together the first rotating shaft 3, rotating disc2 and second rotating shaft 4, the first rotating shafts 3 vertically arrange and affixed with the center of rotating disc 2, described the first rotating shaft 3 passes throughThe first stepper motor 8 drives rotation; Drive the second rotating shaft 4 horizontal sets of rotation at bearing block 5 by the second stepper motor 9In, described bearing block 5 is fixed on rotating disc 2 by 2 back shafts 6 of vertically arranging; In described the second rotating shaft 4Point place is provided with connecting portion 7, and described connecting portion 7 is perpendicular to the second rotating shaft 4 and one-body molded with the second rotating shaft 4, millimeterRipple radar 1 is vertical with connecting portion 7 affixed; Self intrinsic plane of scanning motion of described millimetre-wave radar 1 is perpendicular to rotating disc 2 placesPlane, and sweep limits angle is ± 30 °; Described rotating disc 2 has otch 16,16, otch in a side of arranging back shaft 6Straight line parallel in the straight line at the second rotating shaft 4 places, and arbitrary back shaft 6 is less than with the distance of otch 16 place straight lines50mm; Described the first stepper motor 8 and the second stepper motor 9 are all controlled by single-chip microcomputer, and single-chip microcomputer is used for receiving controlling ordersOrder, and control command is converted into control signal sends to motor, turn according to initial position and two stepper motors of device simultaneouslyThe goniometer of crossing calculates the current location of rotating machinery device, and the current position state of rotating machinery device 10 is fed back to dataProcessing unit 12; Described rotating machinery device 10 entirety under the drive of the first stepper motor 8 towards harvester direction of advance 18Do the cycle back and forth movement of 180 ° of levels, simultaneously millimetre-wave radar 1 under the drive of the second stepper motor 9 before harvesterEnter direction 20 and do the cycle back and forth movement of vertical 180 °;

As shown in Figure 5, data processing unit 12 comprises data acquisition subelement 13, time delay correction subelement 14 and coordinate outputSubelement 15, the distance value ρ of itself that data acquisition subelement 13 receives that millimetre-wave radar 1 measures and target receives simultaneouslyVertical rotary angle α and feathering angle β that single-chip microcomputer sends, and the scan angle theta of millimetre-wave radar 1 self, thus obtainComplete millimetre-wave radar data and the position of the plane of scanning motion; As shown in Figure 5, establish a certain target 17 that millimetre-wave radar 1 recordsReading be (ρ, α, β, θ), and definition: α=0 ° in the time that millimetre-wave radar 1 is horizontal, when millimeter wave thunderReach 1 and be horizontal when top α value for just, when millimetre-wave radar 1 is horizontal below, α value is to bear; Revolve when secondβ=0 ° when rotating shaft 4 is vertical with harvester dead ahead direction, in the time that millimetre-wave radar 1 is positioned at the right side of β=0 ° β on the occasion of,In the time that millimetre-wave radar 1 is positioned at the left side of β=0 °, β is negative value; When self scanning direction and millimeter wave thunder of millimetre-wave radar 1Reach 1 place plane θ=0 ° when vertical, in the time that self scanning direction is positioned at the top of θ=0 ° θ on the occasion of, when self scanning sideTo be positioned at θ=0 ° below time θ be negative value. The anglec of rotation β of the first rotating shaft 3 is millimetre-wave radar 1 as shown in Figure 3The anglec of rotation in the horizontal direction.

Preferably, delay effect refers to, what adopt due to this device is the technical scheme of three dimensionality dual rotary, therefore examines at radarSurveying ripple from being issued to the process of returning, there is certain skew in the position of radar, although very short during this period of time,In the time that rotary speed is higher, the error of this part is still very important, and this is that this device differs with other fixed radar checkout gearsThe place of sample, therefore must introduce special time delay correction factor. Time delay correction subelement 14 comprise range measurement correcting module,Horizontal sweep correcting module and vertical scanning correcting module: range measurement correcting module, carries out for the measured value of the value of adjusting the distance ρFor the correction of delay effect in detections of radar ripple two-way process, the modifying factor of its output is:

When | α₁+θ₁|＞|α₂+θ₂| and | β₁|＞|β₂| time, the rotation that device is described is to move towards the direction of impact point,The actual value now recording is less than normal, therefore above formula adopts positive sign, now λ_ρ> 1, on the contrary negative sign, now λ adopted_ρ< 1; Meanwhile,Due to t₁-t₂Be a very little value, therefore the concrete correction value of this correcting module depends on the swing circle T of motor completely,Rotate faster T less, the absolute value of correction factor and 1 difference is larger, otherwise less.

Vertical rotary correcting module, for carrying out repairing for detections of radar ripple two-way process delay effect to vertical rotary angle αJust, the modifying factor of its outputWhen | α₁|＞|α₂| time, above formula is got positive sign, otherwise gets negative sign;

Horizontally rotate correcting module, for feathering angle β is carried out to repairing for detections of radar ripple two-way process delay effectJust, the modifying factor of its outputWhen | β₁|＞|β₂| time, above formula is got positive sign, otherwise gets negative sign;

Wherein m is the maximum detectable range of millimetre-wave radar 1, and ρ≤m;For reaction detection target 17 and millimeter waveThe impact of distance on delay effect between radar 1, target 17 is less the closer to 1 time delay of millimetre-wave radar, on the contrary time delay is larger;t₁For the time that these target 17 detections of radar ripples are sent, t₂The time of returning for detections of radar ripple, | t₁-t₂| represent radarDetect ripple and travel to and fro between the required time between target 17 and millimetre-wave radar 1; t₁For the cycle that horizontally rotates of millimetre-wave radar 1,t₂For the vertical swing circle of millimetre-wave radar 1; α₁For t₁Time α value, α₂For t₂Time α value; β₁For t₁Time β value,β₂For t₂Time β value; θ₁For t₁Time θ value, θ₂For t₂Time θ value; T₁＝2s，T₂=2.4s, millimetre-wave radarSampling interval is 2 °/s.

Coordinate output subelement 15: the object space coordinate of exporting after the correction of time delay correction subelement is:

$(x,y,z)=\left\{\begin{array}{c}x={\mathrm{\&lambda;}}_{\mathrm{\&rho;}}\&times;\mathrm{\&rho;}\&times;cos({\mathrm{\&lambda;}}_{\mathrm{\&alpha;}}\&times;(\stackrel{\&OverBar;}{\mathrm{\&alpha;}}+\stackrel{\&OverBar;}{\mathrm{\&theta;}}))\cos ({\mathrm{\&lambda;}}_{\mathrm{\&beta;}}\&times;\stackrel{\&OverBar;}{\mathrm{\&beta;}})\\ y={\mathrm{\&lambda;}}_{\mathrm{\&rho;}}\&times;\mathrm{\&rho;}\&times;cos({\mathrm{\&lambda;}}_{\mathrm{\&alpha;}}\&times;(\stackrel{\&OverBar;}{\mathrm{\&alpha;}}+\stackrel{\&OverBar;}{\mathrm{\&theta;}}))\sin ({\mathrm{\&lambda;}}_{\mathrm{\&beta;}}\&times;\stackrel{\&OverBar;}{\mathrm{\&beta;}})\\ z={\mathrm{\&lambda;}}_{\mathrm{\&rho;}}\&times;\mathrm{\&rho;}\sin ({\mathrm{\&lambda;}}_{\mathrm{\&alpha;}}\&times;(\stackrel{\&OverBar;}{\mathrm{\&alpha;}}+\stackrel{\&OverBar;}{\mathrm{\&theta;}}))\end{array}\right.$

Wherein, $\stackrel{\&OverBar;}{\mathrm{\&alpha;}}=\frac{{\mathrm{\&alpha;}}_1+{\mathrm{\&alpha;}}_2}{2},\stackrel{\&OverBar;}{\mathrm{\&beta;}}=\frac{{\mathrm{\&beta;}}_1+{\mathrm{\&beta;}}_2}{2},\stackrel{\&OverBar;}{\mathrm{\&theta;}}=\frac{{\mathrm{\&theta;}}_1+{\mathrm{\&theta;}}_2}{2}.$

Data processing unit also comprises target RCS fluctuation characteristic measurement subelement, enters for the RCS sequence variations coefficient to targetRow is measured, and radar cross section (RCS) value characterizes the ability of reception antenna direction target echo, and by measurement target, RCS risesVolt property can contrast and determine different target types.

For the complex target that is in optical region, suppose to be formed by N scattering center, known according to radar scattering theory, thunderReach echo and can regard that the echo vector at multiple scattering center is synthetic as, due to the sight angle difference of the relative radar of each scattering center,Make in the time that vector is synthetic, relative phase change at random causes the fluctuations of echo signal amplitude separately, and RCS value follows alsoExisting fluctuations. Therefore radar target RCS is very responsive to the attitude angle variation of target, and target RCS time series is in essenceRCS, with the variable quantity of azimuth of target, is a relief volume, and the RCS of multiple scattering focus target is expressed as azimuth of targetFunction:

$\mathrm{\&sigma;}(\mathrm{\&alpha;}+\mathrm{\&theta;})=|\underset{i=1}{\overset{N}{\&Sigma;}}\sqrt{{\mathrm{\&sigma;}}_i}\exp (-j\frac{4\mathrm{\&pi;}}{\mathrm{\&lambda;}}{R}_{i}cos(\mathrm{\&alpha;}+\mathrm{\&theta;}\left)\right){|}^2$

Wherein, σ_iRepresent i scattering center RCS, α+θ represents the azimuth of the relative millimetre-wave radar of target, R_iRepresent iThe relative radar center distance of individual scattering center; λ is the artificial parameter of setting;

RCS sequence variations coefficient table is shown:Wherein σ (k) represents the k time detection of a targetRCS value, RCS serial meanSequence variations coefficient and azimuth are identified as characteristic parameter input targetSystem completes the identification to target.

In this embodiment, for reaping apparatus has designed new millimetre-wave radar three-dimensional environment sensory perceptual system, thereby realize front waterCovering without dead angle scanning of 180 ° of flat 180 ° and vertical directions, and economy and durability simple in structure, antijamming capability is strong; Utilize stepEnter formula motor and coordinate other parts to realize Automatic Control function, it is accurately convenient to control; For the spy of new-type rotation radar systemPoint and delay effect have designed range measurement correcting module, horizontal sweep correcting module, vertical scanning correcting module etc. and have revised mouldPiece, makes the coordinate setting function of radar more accurate, and T is set₁＝2.4s，T₂=2.7s, the sampling interval of millimetre-wave radar is1.8 °/s, in realizing without dead angle detection, measure error is less than 0.7%, and measure time delay rate and be less than 0.4%, and real-timeStronger; Provide accurate Coordinate calculation method, for control and error control provide the foundation automatically; For this Novel rotary favourable turnTool device, has adopted new RCS fluctuation characteristic measurement mechanism, makes the measurement of the RCS coefficient of variation more accurate, and target is knownNot more favourable; The size of the parts such as rotating disc, rotating shaft can be chosen as the case may be flexibly, is the harvesting of various different sizesThe applicability of device provides condition; Replace traditional light wave radar with millimetre-wave radar, the decay while utilizing atmospheric window to propagateLittle, affected by natural daylight and infrared source little, can under atrocious weather situation, crops be carried out effectively identification and automatically be receivedCut, there is the superiority such as high resolution, high accuracy, miniature antenna bore.

Embodiment 4:

A kind of full-automatic reaping apparatus with environment sensing ability as Figure 1-4, comprises harvester and is arranged on harvesterOn millimetre-wave radar three-dimensional environment sensory perceptual system; Millimetre-wave radar three-dimensional environment sensory perceptual system comprises millimetre-wave radar 1, rotationMechanical device 10, control module 11 and data processing unit 12; Rotating machinery device bag 10 is drawn together the first rotating shaft 3, rotating disc2 and second rotating shaft 4, the first rotating shafts 3 vertically arrange and affixed with the center of rotating disc 2, described the first rotating shaft 3 passes throughThe first stepper motor 8 drives rotation; Drive the second rotating shaft 4 horizontal sets of rotation at bearing block 5 by the second stepper motor 9In, described bearing block 5 is fixed on rotating disc 2 by 2 back shafts 6 of vertically arranging; In described the second rotating shaft 4Point place is provided with connecting portion 7, and described connecting portion 7 is perpendicular to the second rotating shaft 4 and one-body molded with the second rotating shaft 4, millimeterRipple radar 1 is vertical with connecting portion 7 affixed; Self intrinsic plane of scanning motion of described millimetre-wave radar 1 is perpendicular to rotating disc 2 placesPlane, and sweep limits angle is ± 30 °; Described rotating disc 2 has otch 16,16, otch in a side of arranging back shaft 6Straight line parallel in the straight line at the second rotating shaft 4 places, and arbitrary back shaft 6 is less than with the distance of otch 16 place straight lines50mm; Described the first stepper motor 8 and the second stepper motor 9 are all controlled by single-chip microcomputer, and single-chip microcomputer is used for receiving controlling ordersOrder, and control command is converted into control signal sends to motor, turn according to initial position and two stepper motors of device simultaneouslyThe goniometer of crossing calculates the current location of rotating machinery device, and the current position state of rotating machinery device 10 is fed back to dataProcessing unit 12; Described rotating machinery device 10 entirety under the drive of the first stepper motor 8 towards harvester direction of advance 18Do the cycle back and forth movement of 180 ° of levels, simultaneously millimetre-wave radar 1 under the drive of the second stepper motor 9 before harvesterEnter direction 20 and do the cycle back and forth movement of vertical 180 °;

As shown in Figure 5, data processing unit 12 comprises data acquisition subelement 13, time delay correction subelement 14 and coordinate outputSubelement 15, the distance value ρ of itself that data acquisition subelement 13 receives that millimetre-wave radar 1 measures and target receives simultaneouslyVertical rotary angle α and feathering angle β that single-chip microcomputer sends, and the scan angle theta of millimetre-wave radar 1 self, thus obtainComplete millimetre-wave radar data and the position of the plane of scanning motion; As shown in Figure 5, establish a certain target 17 that millimetre-wave radar 1 recordsReading be (ρ, α, β, θ), and definition: α=0 ° in the time that millimetre-wave radar 1 is horizontal, when millimeter wave thunderReach 1 and be horizontal when top α value for just, when millimetre-wave radar 1 is horizontal below, α value is to bear; Revolve when secondβ=0 ° when rotating shaft 4 is vertical with harvester dead ahead direction, in the time that millimetre-wave radar 1 is positioned at the right side of β=0 ° β on the occasion of,In the time that millimetre-wave radar 1 is positioned at the left side of β=0 °, β is negative value; When self scanning direction and millimeter wave thunder of millimetre-wave radar 1Reach 1 place plane θ=0 ° when vertical, in the time that self scanning direction is positioned at the top of θ=0 ° θ on the occasion of, when self scanning sideTo be positioned at θ=0 ° below time θ be negative value. The anglec of rotation β of the first rotating shaft 3 is millimetre-wave radar 1 as shown in Figure 3The anglec of rotation in the horizontal direction.

Preferably, delay effect refers to, what adopt due to this device is the technical scheme of three dimensionality dual rotary, therefore examines at radarSurveying ripple from being issued to the process of returning, there is certain skew in the position of radar, although very short during this period of time,In the time that rotary speed is higher, the error of this part is still very important, and this is that this device differs with other fixed radar checkout gearsThe place of sample, therefore must introduce special time delay correction factor. Time delay correction subelement 14 comprise range measurement correcting module,Horizontal sweep correcting module and vertical scanning correcting module: range measurement correcting module, carries out for the measured value of the value of adjusting the distance ρFor the correction of delay effect in detections of radar ripple two-way process, the modifying factor of its output is:

When | α₁+θ₁|＞|α₂+θ₂| and | β₁|＞|β₂| time, the rotation that device is described is to move towards the direction of impact point,The actual value now recording is less than normal, therefore above formula adopts positive sign, now λ_ρ> 1, on the contrary negative sign, now λ adopted_ρ< 1; Meanwhile,Due to t₁-t₂Be a very little value, therefore the concrete correction value of this correcting module depends on the swing circle T of motor completely,Rotate faster T less, the absolute value of correction factor and 1 difference is larger, otherwise less.

Vertical rotary correcting module, for carrying out repairing for detections of radar ripple two-way process delay effect to vertical rotary angle αJust, the modifying factor of its outputWhen | α₁|＞|α₂| time, above formula is got positive sign, otherwise gets negative sign;

Horizontally rotate correcting module, for feathering angle β is carried out to repairing for detections of radar ripple two-way process delay effectJust, the modifying factor of its outputWhen | β₁|＞|β₂| time, above formula is got positive sign, otherwise gets negative sign;

Wherein m is the maximum detectable range of millimetre-wave radar 1, and ρ≤m;For reaction detection target 17 and millimeter waveThe impact of distance on delay effect between radar 1, target 17 is less the closer to 1 time delay of millimetre-wave radar, on the contrary time delay is larger;t₁For the time that these target 17 detections of radar ripples are sent, t₂The time of returning for detections of radar ripple, | t₁-t₂| represent radarDetect ripple and travel to and fro between the required time between target 17 and millimetre-wave radar 1; t₁For the cycle that horizontally rotates of millimetre-wave radar 1,t₂For the vertical swing circle of millimetre-wave radar 1; α₁For t₁Time α value, α₂For t₂Time α value; β₁For t₁Time β value,β₂For t₂Time β value; θ₁For t₁Time θ value, θ₂For t₂Time θ value; T₁＝2s，T₂=2.4s, millimetre-wave radarSampling interval is 2 °/s.

Coordinate output subelement 15: the object space coordinate of exporting after the correction of time delay correction subelement is:

$(x,y,z)=\left\{\begin{array}{c}x={\mathrm{\&lambda;}}_{\mathrm{\&rho;}}\&times;\mathrm{\&rho;}\&times;cos({\mathrm{\&lambda;}}_{\mathrm{\&alpha;}}\&times;(\stackrel{\&OverBar;}{\mathrm{\&alpha;}}+\stackrel{\&OverBar;}{\mathrm{\&theta;}}))\cos ({\mathrm{\&lambda;}}_{\mathrm{\&beta;}}\&times;\stackrel{\&OverBar;}{\mathrm{\&beta;}})\\ y={\mathrm{\&lambda;}}_{\mathrm{\&rho;}}\&times;\mathrm{\&rho;}\&times;cos({\mathrm{\&lambda;}}_{\mathrm{\&alpha;}}\&times;(\stackrel{\&OverBar;}{\mathrm{\&alpha;}}+\stackrel{\&OverBar;}{\mathrm{\&theta;}}))\sin ({\mathrm{\&lambda;}}_{\mathrm{\&beta;}}\&times;\stackrel{\&OverBar;}{\mathrm{\&beta;}})\\ z={\mathrm{\&lambda;}}_{\mathrm{\&rho;}}\&times;\mathrm{\&rho;}\sin ({\mathrm{\&lambda;}}_{\mathrm{\&alpha;}}\&times;(\stackrel{\&OverBar;}{\mathrm{\&alpha;}}+\stackrel{\&OverBar;}{\mathrm{\&theta;}}))\end{array}\right.$

Wherein, $\stackrel{\&OverBar;}{\mathrm{\&alpha;}}=\frac{{\mathrm{\&alpha;}}_1+{\mathrm{\&alpha;}}_2}{2},\stackrel{\&OverBar;}{\mathrm{\&beta;}}=\frac{{\mathrm{\&beta;}}_1+{\mathrm{\&beta;}}_2}{2},\stackrel{\&OverBar;}{\mathrm{\&theta;}}=\frac{{\mathrm{\&theta;}}_1+{\mathrm{\&theta;}}_2}{2}.$

Data processing unit also comprises target RCS fluctuation characteristic measurement subelement, enters for the RCS sequence variations coefficient to targetRow is measured, and radar cross section (RCS) value characterizes the ability of reception antenna direction target echo, and by measurement target, RCS risesVolt property can contrast and determine different target types.

For the complex target that is in optical region, suppose to be formed by N scattering center, known according to radar scattering theory, thunderReach echo and can regard that the echo vector at multiple scattering center is synthetic as, due to the sight angle difference of the relative radar of each scattering center,Make in the time that vector is synthetic, relative phase change at random causes the fluctuations of echo signal amplitude separately, and RCS value follows alsoExisting fluctuations. Therefore radar target RCS is very responsive to the attitude angle variation of target, and target RCS time series is in essenceRCS, with the variable quantity of azimuth of target, is a relief volume, and the RCS of multiple scattering focus target is expressed as azimuth of targetFunction:

$\mathrm{\&sigma;}(\mathrm{\&alpha;}+\mathrm{\&theta;})=|\underset{i=1}{\overset{N}{\&Sigma;}}\sqrt{{\mathrm{\&sigma;}}_i}\exp (-j\frac{4\mathrm{\&pi;}}{\mathrm{\&lambda;}}{R}_{i}cos(\mathrm{\&alpha;}+\mathrm{\&theta;}\left)\right){|}^2$

Wherein, σ_iRepresent i scattering center RCS, α+θ represents the azimuth of the relative millimetre-wave radar of target, R_iRepresent iThe relative radar center distance of individual scattering center; λ is the artificial parameter of setting;

RCS sequence variations coefficient table is shown:Wherein σ (k) represents the k time detection of a targetRCS value, RCS serial meanSequence variations coefficient and azimuth are identified as characteristic parameter input targetSystem completes the identification to target.

In this embodiment, for reaping apparatus has designed new millimetre-wave radar three-dimensional environment sensory perceptual system, thereby realize front waterCovering without dead angle scanning of 180 ° of flat 180 ° and vertical directions, and economy and durability simple in structure, antijamming capability is strong; Utilize stepEnter formula motor and coordinate other parts to realize Automatic Control function, it is accurately convenient to control; For the spy of new-type rotation radar systemPoint and delay effect have designed range measurement correcting module, horizontal sweep correcting module, vertical scanning correcting module etc. and have revised mouldPiece, makes the coordinate setting function of radar more accurate, and T is set₁＝2.5s，T₂=2.8s, the sampling interval of millimetre-wave radar is1.3 °/s. In realizing without dead angle detection, measure error is less than 0.6%, and measure time delay rate and be less than 0.3%, and real-timeStronger; Provide accurate Coordinate calculation method, for control and error control provide the foundation automatically; For this Novel rotary favourable turnTool device, has adopted new RCS fluctuation characteristic measurement mechanism, makes the measurement of the RCS coefficient of variation more accurate, and target is knownNot more favourable; The size of the parts such as rotating disc, rotating shaft can be chosen as the case may be flexibly, is the harvesting of various different sizesThe applicability of device provides condition; Replace traditional light wave radar with millimetre-wave radar, the decay while utilizing atmospheric window to propagateLittle, affected by natural daylight and infrared source little, can under atrocious weather situation, crops be carried out effectively identification and automatically be receivedCut, there is the superiority such as high resolution, high accuracy, miniature antenna bore.

Embodiment 5:

A kind of full-automatic reaping apparatus with environment sensing ability as Figure 1-4, comprises harvester and is arranged on harvesterOn millimetre-wave radar three-dimensional environment sensory perceptual system; Millimetre-wave radar three-dimensional environment sensory perceptual system comprises millimetre-wave radar 1, rotationMechanical device 10, control module 11 and data processing unit 12; Rotating machinery device bag 10 is drawn together the first rotating shaft 3, rotating disc2 and second rotating shaft 4, the first rotating shafts 3 vertically arrange and affixed with the center of rotating disc 2, described the first rotating shaft 3 passes throughThe first stepper motor 8 drives rotation; Drive the second rotating shaft 4 horizontal sets of rotation at bearing block 5 by the second stepper motor 9In, described bearing block 5 is fixed on rotating disc 2 by 2 back shafts 6 of vertically arranging; In described the second rotating shaft 4Point place is provided with connecting portion 7, and described connecting portion 7 is perpendicular to the second rotating shaft 4 and one-body molded with the second rotating shaft 4, millimeterRipple radar 1 is vertical with connecting portion 7 affixed; Self intrinsic plane of scanning motion of described millimetre-wave radar 1 is perpendicular to rotating disc 2 placesPlane, and sweep limits angle is ± 30 °; Described rotating disc 2 has otch 16,16, otch in a side of arranging back shaft 6Straight line parallel in the straight line at the second rotating shaft 4 places, and arbitrary back shaft 6 is less than with the distance of otch 16 place straight lines50mm; Described the first stepper motor 8 and the second stepper motor 9 are all controlled by single-chip microcomputer, and single-chip microcomputer is used for receiving controlling ordersOrder, and control command is converted into control signal sends to motor, turn according to initial position and two stepper motors of device simultaneouslyThe goniometer of crossing calculates the current location of rotating machinery device, and the current position state of rotating machinery device 10 is fed back to dataProcessing unit 12; Described rotating machinery device 10 entirety under the drive of the first stepper motor 8 towards harvester direction of advance 18Do the cycle back and forth movement of 180 ° of levels, simultaneously millimetre-wave radar 1 under the drive of the second stepper motor 9 before harvesterEnter direction 20 and do the cycle back and forth movement of vertical 180 °;

As shown in Figure 5, data processing unit 12 comprises data acquisition subelement 13, time delay correction subelement 14 and coordinate outputSubelement 15, the distance value ρ of itself that data acquisition subelement 13 receives that millimetre-wave radar 1 measures and target receives simultaneouslyVertical rotary angle α and feathering angle β that single-chip microcomputer sends, and the scan angle theta of millimetre-wave radar 1 self, thus obtainComplete millimetre-wave radar data and the position of the plane of scanning motion; As shown in Figure 5, establish a certain target 17 that millimetre-wave radar 1 recordsReading be (ρ, α, β, θ), and definition: α=0 ° in the time that millimetre-wave radar 1 is horizontal, when millimeter wave thunderReach 1 and be horizontal when top α value for just, when millimetre-wave radar 1 is horizontal below, α value is to bear; Revolve when secondβ=0 ° when rotating shaft 4 is vertical with harvester dead ahead direction, in the time that millimetre-wave radar 1 is positioned at the right side of β=0 ° β on the occasion of,In the time that millimetre-wave radar 1 is positioned at the left side of β=0 °, β is negative value; When self scanning direction and millimeter wave thunder of millimetre-wave radar 1Reach 1 place plane θ=0 ° when vertical, in the time that self scanning direction is positioned at the top of θ=0 ° θ on the occasion of, when self scanning sideTo be positioned at θ=0 ° below time θ be negative value. The anglec of rotation β of the first rotating shaft 3 is millimetre-wave radar 1 as shown in Figure 3The anglec of rotation in the horizontal direction.

Preferably, delay effect refers to, what adopt due to this device is the technical scheme of three dimensionality dual rotary, therefore examines at radarSurveying ripple from being issued to the process of returning, there is certain skew in the position of radar, although very short during this period of time,In the time that rotary speed is higher, the error of this part is still very important, and this is that this device differs with other fixed radar checkout gearsThe place of sample, therefore must introduce special time delay correction factor. Time delay correction subelement 14 comprise range measurement correcting module,Horizontal sweep correcting module and vertical scanning correcting module: range measurement correcting module, carries out for the measured value of the value of adjusting the distance ρFor the correction of delay effect in detections of radar ripple two-way process, the modifying factor of its output is:

When | α₁+θ₁|＞|α₂+θ₂| and | β₁|＞|β₂| time, the rotation that device is described is to move towards the direction of impact point,The actual value now recording is less than normal, therefore above formula adopts positive sign, now λ_ρ> 1, on the contrary negative sign, now λ adopted_ρ< 1; Meanwhile,Due to t₁-t₂Be a very little value, therefore the concrete correction value of this correcting module depends on the swing circle T of motor completely,Rotate faster T less, the absolute value of correction factor and 1 difference is larger, otherwise less.

Vertical rotary correcting module, for carrying out repairing for detections of radar ripple two-way process delay effect to vertical rotary angle αJust, the modifying factor of its outputWhen | α₁|＞|α₂| time, above formula is got positive sign, otherwise gets negative sign;

Horizontally rotate correcting module, for feathering angle β is carried out to repairing for detections of radar ripple two-way process delay effectJust, the modifying factor of its outputWhen | β₁|＞|β₂| time, above formula is got positive sign, otherwise gets negative sign;

Wherein m is the maximum detectable range of millimetre-wave radar 1, and ρ≤m;For reaction detection target 17 and millimeter waveThe impact of distance on delay effect between radar 1, target 17 is less the closer to 1 time delay of millimetre-wave radar, on the contrary time delay is larger;t₁For the time that these target 17 detections of radar ripples are sent, t₂The time of returning for detections of radar ripple, | t₁-t₂| represent radarDetect ripple and travel to and fro between the required time between target 17 and millimetre-wave radar 1; t₁For the cycle that horizontally rotates of millimetre-wave radar 1,t₂For the vertical swing circle of millimetre-wave radar 1; α₁For t₁Time α value, α₂For t₂Time α value; β₁For t₁Time β value,β₂For t₂Time β value; θ₁For t₁Time θ value, θ₂For t₂Time θ value; T₁＝2s，T₂=2.4s, millimetre-wave radarSampling interval is 2 °/s.

Coordinate output subelement 15: the object space coordinate of exporting after the correction of time delay correction subelement is:

$(x,y,z)=\left\{\begin{array}{c}x={\mathrm{\&lambda;}}_{\mathrm{\&rho;}}\&times;\mathrm{\&rho;}\&times;cos({\mathrm{\&lambda;}}_{\mathrm{\&alpha;}}\&times;(\stackrel{\&OverBar;}{\mathrm{\&alpha;}}+\stackrel{\&OverBar;}{\mathrm{\&theta;}}))\cos ({\mathrm{\&lambda;}}_{\mathrm{\&beta;}}\&times;\stackrel{\&OverBar;}{\mathrm{\&beta;}})\\ y={\mathrm{\&lambda;}}_{\mathrm{\&rho;}}\&times;\mathrm{\&rho;}\&times;cos({\mathrm{\&lambda;}}_{\mathrm{\&alpha;}}\&times;(\stackrel{\&OverBar;}{\mathrm{\&alpha;}}+\stackrel{\&OverBar;}{\mathrm{\&theta;}}))\sin ({\mathrm{\&lambda;}}_{\mathrm{\&beta;}}\&times;\stackrel{\&OverBar;}{\mathrm{\&beta;}})\\ z={\mathrm{\&lambda;}}_{\mathrm{\&rho;}}\&times;\mathrm{\&rho;}\sin ({\mathrm{\&lambda;}}_{\mathrm{\&alpha;}}\&times;(\stackrel{\&OverBar;}{\mathrm{\&alpha;}}+\stackrel{\&OverBar;}{\mathrm{\&theta;}}))\end{array}\right.$

Wherein, $\stackrel{\&OverBar;}{\mathrm{\&alpha;}}=\frac{{\mathrm{\&alpha;}}_1+{\mathrm{\&alpha;}}_2}{2},\stackrel{\&OverBar;}{\mathrm{\&beta;}}=\frac{{\mathrm{\&beta;}}_1+{\mathrm{\&beta;}}_2}{2},\stackrel{\&OverBar;}{\mathrm{\&theta;}}=\frac{{\mathrm{\&theta;}}_1+{\mathrm{\&theta;}}_2}{2}.$

Data processing unit also comprises target RCS fluctuation characteristic measurement subelement, enters for the RCS sequence variations coefficient to targetRow is measured, and radar cross section (RCS) value characterizes the ability of reception antenna direction target echo, and by measurement target, RCS risesVolt property can contrast and determine different target types.

For the complex target that is in optical region, suppose to be formed by N scattering center, known according to radar scattering theory, thunderReach echo and can regard that the echo vector at multiple scattering center is synthetic as, due to the sight angle difference of the relative radar of each scattering center,Make in the time that vector is synthetic, relative phase change at random causes the fluctuations of echo signal amplitude separately, and RCS value follows alsoExisting fluctuations. Therefore radar target RCS is very responsive to the attitude angle variation of target, and target RCS time series is in essenceRCS, with the variable quantity of azimuth of target, is a relief volume, and the RCS of multiple scattering focus target is expressed as azimuth of targetFunction:

$\mathrm{\&sigma;}(\mathrm{\&alpha;}+\mathrm{\&theta;})=|\underset{i=1}{\overset{N}{\&Sigma;}}\sqrt{{\mathrm{\&sigma;}}_i}\exp (-j\frac{4\mathrm{\&pi;}}{\mathrm{\&lambda;}}{R}_{i}cos(\mathrm{\&alpha;}+\mathrm{\&theta;}\left)\right){|}^2$

Wherein, σ_iRepresent i scattering center RCS, α+θ represents the azimuth of the relative millimetre-wave radar of target, R_iRepresent iThe relative radar center distance of individual scattering center; λ is the artificial parameter of setting;

RCS sequence variations coefficient table is shown:Wherein σ (k) represents the k time detection of a targetRCS value, RCS serial meanSequence variations coefficient and azimuth are identified as characteristic parameter input targetSystem completes the identification to target.

In this embodiment, for reaping apparatus has designed new millimetre-wave radar three-dimensional environment sensory perceptual system, thereby realize front waterCovering without dead angle scanning of 180 ° of flat 180 ° and vertical directions, and economy and durability simple in structure, antijamming capability is strong; Utilize stepEnter formula motor and coordinate other parts to realize Automatic Control function, it is accurately convenient to control; For the spy of new-type rotation radar systemPoint and delay effect have designed range measurement correcting module, horizontal sweep correcting module, vertical scanning correcting module etc. and have revised mouldPiece, makes the coordinate setting function of radar more accurate, T₁＝2.6s，T₂=2.9s, the sampling interval of millimetre-wave radar is 1.2 °/ s, in realizing without dead angle detection, measure error is less than 0.5%, measure time delay rate and be less than 0.2%, and real-time is stronger;Provide accurate Coordinate calculation method, for control and error control provide the foundation automatically; For this Novel rotary mechanical device,Adopt new RCS fluctuation characteristic measurement mechanism, made the measurement of the RCS coefficient of variation more accurate, more favourable to target identification;The size of the parts such as rotating disc, rotating shaft can be chosen as the case may be flexibly, is being suitable for of various different big or small reaping apparatusesProperty provides condition; Replace traditional light wave radar with millimetre-wave radar, the decay while utilizing atmospheric window to propagate is little, is subject to natureThe impact of light and heat radiation source is little, can under atrocious weather situation, carry out effectively identification harvesting automatically to crops, has heightThe superiority such as resolving power, high accuracy, miniature antenna bore.

Finally it should be noted that above embodiment is only in order to technical scheme of the present invention to be described, but not to protection domain of the present inventionRestriction, although the present invention has been done to explain with reference to preferred embodiment, those of ordinary skill in the art should be appreciated thatCan modify or be equal to replacement technical scheme of the present invention, and not depart from essence and the scope of technical solution of the present invention.

Claims (2)

1. a full-automatic reaping apparatus with environment sensing ability, is characterized in that, comprises harvester and is arranged on harvesterMillimetre-wave radar three-dimensional environment sensory perceptual system; Millimetre-wave radar three-dimensional environment sensory perceptual system comprises millimetre-wave radar, rotating machineryDevice, control module and data processing unit; Rotating machinery device comprises the first rotating shaft, rotating disc and the second rotating shaft, theOne rotating shaft is layout and affixed with the center of rotating disc vertically, and described the first rotating shaft drives rotation by the first stepper motor; ByThe second stepper motor drives the second rotating shaft horizontal set of rotation in bearing block, and described bearing block is vertically arranged by 2Back shaft is fixed on rotating disc; The midpoint of described the second rotating shaft is provided with connecting portion, and described connecting portion revolves perpendicular to secondRotating shaft and one-body molded with the second rotating shaft, millimetre-wave radar is vertical with connecting portion affixed; Self of described millimetre-wave radar is intrinsicThe plane of scanning motion is perpendicular to rotating disc place plane, and sweep limits angle is ± 30 °; Described rotating disc is being arranged a side of back shaftHave otch, the straight line parallel at otch place is in the straight line at the second rotating shaft place, and the distance of arbitrary back shaft and otch place straight lineFrom being less than 50mm; Described the first stepper motor and the second stepper motor are all controlled by single-chip microcomputer, and single-chip microcomputer is used for receiving controlSystem order, and control command is converted into control signal sends to motor, simultaneously according to initial position and two stepping electricity of deviceThe goniometer that machine turns over calculates the current location of rotating machinery device, and the current position state of rotating machinery device is fed back to numberAccording to processing unit; Described rotating machinery device entirety is done 180 ° of levels towards harvester direction of advance under the drive of the first stepper motorCycle back and forth movement, simultaneously millimetre-wave radar does vertical 180 ° towards harvester direction of advance under the drive of the second stepper motorCycle back and forth movement;

Data processing unit comprises data acquisition subelement, time delay correction subelement and coordinate output subelement; Data acquisition collected works listUnit receives itself and the distance value ρ of target that millimetre-wave radar measures, receive simultaneously vertical rotary angle α that single-chip microcomputer sends withFeathering angle β, and self scan angle theta of millimetre-wave radar; If laser radar to the reading of a certain target be (ρ, α,β, θ), and definition: α=0 ° in the time that radar is horizontal, when radar is horizontal when top α value for just, thunderIt is negative reaching α value while being horizontal below, and β=0 ° in the time that the second rotating shaft is vertical with harvester dead ahead direction, works as radarWhile being positioned at the right side of β=0 ° β on the occasion of, in the time that radar is positioned at the left side of β=0 °, β is negative value; When self of millimetre-wave radarθ=0 ° when scanning direction is vertical with millimetre-wave radar place plane, in the time that self scanning direction is positioned at the top of θ=0 °, θ is for justValue, in the time that self scanning direction is positioned at the below of θ=0 °, θ is negative value.

2. a kind of full-automatic reaping apparatus with environment sensing ability according to claim 1, is characterized in that, time delay is repaiiedPositive subelement comprises range measurement correcting module, horizontal sweep correcting module and vertical scanning correcting module: range measurement correction mouldPiece, carries out the correction for detections of radar ripple two-way process delay effect for the measured value of the value of adjusting the distance ρ, the repairing of its outputPositive divisor is:

When | α₁+θ₁|＞|α₂+θ₂| and | β₁|＞|β₂| time, above formula is got positive sign, otherwise gets negative sign;

Vertical rotary correcting module, for carrying out repairing for detections of radar ripple two-way process delay effect to vertical rotary angle αJust, the modifying factor of its outputWhen | α₁|＞|α₂| time, above formula is got positive sign, otherwise gets negative sign;

Horizontally rotate correcting module, for feathering angle β is carried out to repairing for detections of radar ripple two-way process delay effectJust, the modifying factor of its outputWhen | β₁|＞|β₂| time, above formula is got positive sign, otherwise gets negative sign;

The maximum detectable range that wherein m is millimetre-wave radar, and ρ≤m;For reaction detection target and millimetre-wave radar itThe impact of spacing on delay effect, time delay is less the closer to radar for target, on the contrary time delay is larger; t₁For to this target radarDetect the time that ripple sends, t₂The time of returning for detections of radar ripple; | t₁-t₂| represent that detections of radar ripple travels to and fro between target and thunderRequired time between reaching; T₁For the cycle that horizontally rotates of millimetre-wave radar, T₂For the vertical swing circle of millimetre-wave radar; α₁Fort₁Time α value, α₂For t₂Time α value; β₁For t₁Time β value, β₂For t₂Time β value; θ₁For t₁Time θ value, θ₂For t₂Time θ value; T₁＝2s，T₂=2.4s, the sampling interval of millimetre-wave radar is 2 °/s;

Coordinate output subelement: the object space coordinate of exporting after the correction of time delay correction subelement is:

$(x,y,z)=\left\{\begin{array}{c}x={\mathrm{\&lambda;}}_{\mathrm{\&rho;}}\&times;\mathrm{\&rho;}\&times;\cos \left({\mathrm{\&lambda;}}_{\mathrm{\&alpha;}}\&times;\left(\stackrel{\&OverBar;}{\mathrm{\&alpha;}}+\stackrel{\&OverBar;}{\mathrm{\&theta;}}\right)\right)\cos \left({\mathrm{\&lambda;}}_{\mathrm{\&beta;}}\&times;\stackrel{\&OverBar;}{\mathrm{\&beta;}}\right)\\ y={\mathrm{\&lambda;}}_{\mathrm{\&rho;}}\&times;\mathrm{\&rho;}\&times;\cos \left({\mathrm{\&lambda;}}_{\mathrm{\&alpha;}}\&times;\left(\stackrel{\&OverBar;}{\mathrm{\&alpha;}}+\stackrel{\&OverBar;}{\mathrm{\&theta;}}\right)\right)\sin \left({\mathrm{\&lambda;}}_{\mathrm{\&beta;}}\&times;\stackrel{\&OverBar;}{\mathrm{\&beta;}}\right)\\ z={\mathrm{\&lambda;}}_{\mathrm{\&rho;}}\&times;\mathrm{\&rho;}\sin \left({\mathrm{\&lambda;}}_{\mathrm{\&alpha;}}\&times;\left(\stackrel{\&OverBar;}{\mathrm{\&alpha;}}+\stackrel{\&OverBar;}{\mathrm{\&theta;}}\right)\right)\end{array}\right.$

Wherein, $\stackrel{\&OverBar;}{\mathrm{\&alpha;}}=\frac{{\mathrm{\&alpha;}}_1+{\mathrm{\&alpha;}}_2}{2},\stackrel{\&OverBar;}{\mathrm{\&beta;}}=\frac{{\mathrm{\&beta;}}_1+{\mathrm{\&beta;}}_2}{2},\stackrel{\&OverBar;}{\mathrm{\&theta;}}=\frac{{\mathrm{\&theta;}}_1+{\mathrm{\&theta;}}_2}{2};$

Data processing unit also comprises target RCS fluctuation characteristic measurement subelement, enters for the RCS sequence variations coefficient to targetRow is measured:

For the complex target that is in optical region, suppose to be formed by N scattering center, the RCS of multiple scattering focus target tableBe shown the function of azimuth of target:

$\mathrm{\&sigma;}(\mathrm{\&alpha;}+\mathrm{\&theta;})=|\underset{i=1}{\overset{N}{\&Sigma;}}\sqrt{{\mathrm{\&sigma;}}_i}\exp (-\frac{4\mathrm{\&pi;}}{\mathrm{\&lambda;}}{R}_{i}cos(\mathrm{\&alpha;}+\mathrm{\&theta;}\left)\right){|}^2$

Wherein, σ_iRepresent i scattering center RCS, α+θ represents the azimuth of the relative millimetre-wave radar of target, R_iRepresent iThe relative radar center distance of individual scattering center; λ is the artificial parameter of setting;

RCS sequence variations coefficient table is shown:Wherein σ (k) represents the k time detection of a targetRCS value, RCS serial mean