CN105660028B - A kind of full-automatic harvesting device with environment sensing ability - Google Patents
A kind of full-automatic harvesting device with environment sensing ability Download PDFInfo
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- CN105660028B CN105660028B CN201610089140.XA CN201610089140A CN105660028B CN 105660028 B CN105660028 B CN 105660028B CN 201610089140 A CN201610089140 A CN 201610089140A CN 105660028 B CN105660028 B CN 105660028B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
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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
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Abstract
The invention discloses a kind of full-automatic harvesting device with environment sensing ability, including harvester and the millimetre-wave radar three-dimensional environment sensory perceptual system on harvester；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 harvesting device is simple and practical, can realize that front is scanned without dead angle and cover, and has the advantages that control is accurate, setting accuracy is high, real-time is good.
Description
Technical field
The present invention relates to agricultural mechanical field, and in particular to a kind of full-automatic harvesting device with environment sensing ability.
Background technology
With the development of science and technology, agricultural modernization is rooted in the hearts of the people, the research to intelligent harvester is also more and more.
The major function of intelligent environment sensory perceptual system is that the pose of environmental information, specially harvester is obtained by sensor
And state information acquisition, crops identification, harvester peripheral obstacle identification (including dynamic and static-obstacle thing) with
And status analysis in harvester traveling farmland etc..
Harvesting device, harvester is referred mainly to as a kind of agricultural machinery, intelligent environment sensory perceptual system is being set thereon
It is current inevitable development trend to improve the combination properties such as its safety, multifunction.But present context aware systems are past
The problems such as dimension is insufficient, computational accuracy is not high, real-time is not strong is perceived toward existing.
The content of the invention
In view of the above-mentioned problems, the present invention provides a kind of full-automatic harvesting device with environment sensing ability.
The purpose of the present invention is realized using following technical scheme：
A kind of full-automatic harvesting device with environment sensing ability, including harvester and the millimeter on harvester
Ripple radar three-dimensional context aware systems；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 rotary shaft, the first rotation
Axle vertically arrangement and it is affixed with the center of rotating disk, first rotary shaft is rotated by the first driving stepper motor；By second
Second rotation axis horizontal of driving stepper motor rotation is sleeved in bearing block, and the bearing block passes through 2 branch arranged vertically
It is affixed on the rotating pan to support axle；The midpoint of second rotary shaft is provided with connecting portion, and the connecting portion is perpendicular to the second rotation
Rotating shaft and it is integrally formed with the second rotary shaft, millimetre-wave radar is vertical with connecting portion affixed；The millimetre-wave radar itself is consolidated
There is the plane of scanning motion perpendicular to plane where rotating disk, and scanning range angle is ± 30 °；The rotating disk is arranging the one of support shaft
There is otch side, and the straight line parallel where otch is in the straight line where the second rotary shaft, and any support shaft and straight line where otch
Distance be less than 50mm；First stepper motor and the second stepper motor are controlled by single-chip microcomputer, and single-chip microcomputer is used to connect
Control command is received, and control command is converted into control signal and is sent to motor, while according to the initial position of device and two
The goniometer that stepper motor turns over calculates the current location of rotation mechanism, and by the current position state of rotation mechanism
Feed back to data processing unit；The rotation mechanism entirety is under the drive of the first stepper motor towards harvester advance side
To 180 ° of cycle back and forth movement of level of doing, while millimetre-wave radar advances under the drive of the second stepper motor towards harvester
Do vertical 180 ° of cycle back and forth movement in direction；
Data processing unit includes data acquisition subelement, 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 single-chip microcomputer transmission
Corner α and horizontal rotation angle beta, and itself scan angle theta of millimetre-wave radar；If laser radar is to the reading of a certain target
(ρ, α, β, θ), and define：α=0 ° when radar is horizontal, when radar is horizontal top, α values are just thunder
It is negative up to α values when being horizontal lower section, β=0 ° when the second rotary shaft is vertical with direction immediately ahead of harvester, works as radar
β is on the occasion of when radar is located at the left side of β=0 °, β is negative value during positioned at the right side of β=0 °；When itself sweeping for millimetre-wave radar
θ=0 ° when plane where retouching direction and millimetre-wave radar is vertical, when itself scanning direction be located at the top of θ=0 ° θ on the occasion of,
When itself scanning direction is located at the lower section of θ=0 °, θ is negative value；
Preferably, delay revise subelemen includes range measurement correcting module, horizontal sweep correcting module and vertical scanning
Correcting module：Range measurement correcting module, the measured value for the value ρ that adjusts the distance, which be directed in detections of radar ripple two-way process, to be prolonged
Shi Xiaoying amendment, its modifying factor exported are：
When | α1+θ1| ＞ | α2+θ2| and | β1| ＞ | β2| when, above formula takes positive sign, otherwise takes negative sign；
Vertical scanning correcting module, imitated for be directed to being delayed in detections of radar ripple two-way process to vertical rotary angle α
The amendment answered, its modifying factor exportedWhen | α1| ＞ | α2| when, above formula takes positive sign, otherwise takes
Negative sign；
Horizontal sweep correcting module, for carrying out being directed in detections of radar ripple two-way process the effect that is delayed to rotating horizontally angle beta
The amendment answered, its modifying factor exportedWhen | β1| ＞ | β2| when, above formula takes positive sign, otherwise
Take negative sign；
Wherein m is the maximum detectable range of 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 ripple is sent, t2The time returned for detections of radar ripple；|t1-t2| represent detections of radar ripple and travel to and fro between mesh
Time needed between mark and radar；T1For the horizontal rotation cycle of millimetre-wave radar, T2For the vertical revolution of 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 the revise subelemen amendment that is delayed is：
Wherein,
Data processing unit also includes target RCS fluctuation characteristics measurement subelement, for the RCS sequence variations system to target
Number measures：
Complex target for being in optical region, it is assumed that be made up of N number of scattering center, then multi-scattering centers target
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 harvesting device has the beneficial effect that：New millimetre-wave radar three-dimensional environment sensory perceptual system is devised, so as to realize
180 ° of front horizontal and being scanned without dead angle for 180 ° of vertical direction cover, and economy and durability simple in construction, strong antijamming capability；Profit
Other parts are 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
Deng correcting module so that the coordinate setting function of radar is more accurate, and real-time is stronger；Give accurate coordinate calculating side
Method, provided the foundation to automatically control with control errors；For the Novel rotary mechanical device, employ new RCS and play volt
Property measurement apparatus so that the measurement of the RCS coefficient of variation is more accurate, more favourable to target identification；The parts such as rotating disk, rotary shaft
Size can flexibly choose as the case may be, the applicability for various different size of harvesting devices provides condition；With milli
Metre wave radar substitutes traditional light wave radar, and decay when being propagated using atmospheric window is small, is influenceed by natural light and infrared source
It is small, can under atrocious weather situation to crops carry out effectively identify and gather in automatically, with high resolution, high accuracy,
The superiority such as miniature antenna bore.
Brief description of the drawings
Using accompanying drawing, the invention will be further described, but the embodiment in accompanying drawing does not form any limit to the present invention
System, for one of ordinary skill in the art, on the premise of not paying creative work, can also be obtained according to the following drawings
Other accompanying drawings.
Fig. 1 is a kind of structured flowchart of the full-automatic harvesting device with environment sensing ability；
Fig. 2 is the structural representation 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 structured flowchart of data processing unit.
Reference：Millimetre-wave radar -1；Rotating disk -2；First rotary shaft -3；Second rotary shaft -4；Bearing block -5；Branch
Support axle -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 subelement 13；Be delayed revise subelemen -14；Coordinate exports subelement -15；Otch -16；Mesh
Mark -17；Harvester direction of advance -18.
Embodiment
The invention will be further described with the following Examples.
Embodiment 1：
A kind of full-automatic harvesting device with environment sensing ability as Figure 1-4, including harvester and be arranged on
Millimetre-wave radar three-dimensional environment sensory perceptual system on harvester；Millimetre-wave radar three-dimensional environment sensory perceptual system includes millimetre-wave radar
1st, rotation mechanism 10, control unit 11 and data processing unit 12；Rotation mechanism bag 10 includes the first rotary shaft 3, rotation
The rotary shaft 4 of rotating disk 2 and second, the first rotary shaft 3 arrangement and affixed with the center of rotating disk 2 vertically, first rotary shaft 3 is logical
Cross the driving rotation of the first stepper motor 8；The horizontal set of the second rotary shaft 4 of rotation is driven in bearing block 5 by the second stepper motor 9
Interior, the bearing block 5 is fixed in rotating disk 2 by 2 support shafts arranged vertically 6；The midpoint of second rotary shaft 4
Connecting portion 7 is provided with, the connecting portion 7 is integrally formed perpendicular to the second rotary shaft 4 and with the second rotary shaft 4, millimetre-wave radar 1
It is vertical with connecting portion 7 affixed；Itself intrinsic plane of scanning motion of the millimetre-wave radar 1 is swept perpendicular to the place plane of rotating disk 2
Range angle is retouched as ± 30 °；The rotating disk 2 has an otch 16 in the side of arrangement support shaft 6, the straight line parallel where otch 16 in
Straight line where second rotary shaft 4, and any support shaft 6 and the distance of the place straight line of otch 16 are less than 50mm；The first step
The stepper motor 9 of stepper motor 8 and second is controlled by single-chip microcomputer, and single-chip microcomputer is used to receive control command, and by control command
It is converted into control signal and is sent to motor, while the goniometer turned over according to the initial position of device and two stepper motors calculates
The current location of rotation mechanism, and the current position state of rotation mechanism 10 is fed back into data processing unit 12；
The rotation mechanism 10 is overall to do 180 ° of level under the drive of the first stepper motor 8 towards harvester direction of advance 18
Cycle back and forth movement, while millimetre-wave radar 1 is done vertically under the drive of the second stepper motor 9 towards harvester direction of advance 20
180 ° of cycle back and forth movement；
As shown in figure 5, data processing unit 12 is defeated including data acquisition subelement 13, delay revise subelemen 14 and coordinate
Go out subelement 15, data acquisition subelement 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 that single-chip microcomputer sends, and millimetre-wave radar 1 scan angle theta of itself 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 be (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 is 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 harvesting
β=0 ° when direction is vertical immediately ahead of machine, when millimetre-wave radar 1 be located at the right side of β=0 °, β is on the occasion of 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 the place plane of millimetre-wave radar 1
θ=0 °, when itself scanning direction is located at the top of θ=0 °, θ is on the occasion of the θ when itself scanning direction is located at the lower section of θ=0 °
For negative value.The anglec of rotation β of the first rotary shaft 3 is the anglec of rotation of millimetre-wave radar 1 in the horizontal direction as shown in Figure 3.
Preferably, delay effect refers to, because the present apparatus is using the technical scheme of three dimensionality dual rotary, therefore in thunder
Up to detection ripple during be issued to return, the position of radar has occurred that certain skew, 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 fills with the detection of other fixed radars
Put different place, it is therefore necessary to introduce special 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, the survey for the value ρ that adjusts the distance
Value be directed to the amendment of delay effect in detections of radar ripple two-way process, and its modifying factor exported is：
When | α1+θ1| ＞ | α2+θ2| and | β1| ＞ | β2| when, illustrate that the rotation of device is towards the direction motion of target point
, the actual value now measured is less than normal, therefore above formula uses positive sign, now λρ＞ 1, otherwise use negative sign, now 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 poor absolute value it is bigger, it is on the contrary then smaller.
Vertical scanning correcting module, imitated for be directed to being delayed in detections of radar ripple two-way process to vertical rotary angle α
The amendment answered, its modifying factor exportedWhen | α1| ＞ | α2| when, above formula takes positive sign, otherwise takes
Negative sign；
Horizontal sweep correcting module, for carrying out being directed in detections of radar ripple two-way process the effect that is delayed to rotating horizontally angle beta
The amendment answered, its modifying factor exportedWhen | β1| ＞ | β2| when, above formula takes positive sign, otherwise
Take negative sign；
Wherein m is the maximum detectable range of millimetre-wave radar 1, and ρ≤m；For reaction detection target 17 and millimeter
Influence of the distance to delay effect between ripple radar 1, target 17 be then delayed closer to millimetre-wave radar 1 it is smaller, otherwise delay get over
Greatly；t1For the time sent to the detections of radar ripple of target 17, t2The time returned for detections of radar ripple, then | t1-t2| represent
Detections of radar ripple travels to and fro between the time required between target 17 and millimetre-wave radar 1；t1For the horizontal rotation week of millimetre-wave radar 1
Phase, t2For the vertical swing circle of 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 the revise subelemen amendment that is delayed is：
Wherein,
Data processing unit also includes target RCS fluctuation characteristics measurement subelement, for the RCS sequence variations system to target
Number measures, and radar cross section (RCS) value characterizes the ability of reception antenna direction target echo, by measuring target
RCS fluctuation characteristics, which can contrast, determines different target types.
Complex target for being in optical region, it is assumed that it is made up of N number of scattering center, 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 causing 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 to complete the identification to target.
In this embodiment, new millimetre-wave radar three-dimensional environment sensory perceptual system is devised for harvesting device, so as to realize
180 ° of front horizontal and being scanned without dead angle for 180 ° of vertical direction cover, and economy and durability simple in construction, strong antijamming capability；Profit
Other parts are 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
Deng correcting module 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%, and measurement delay rate is less than 0.5%, and real-time while detection without dead angle
It is stronger；Accurate Coordinate calculation method is given, is provided the foundation to automatically control with control errors；Made a connection for the novel rotary
Tool device, employ new RCS fluctuation characteristic measurement apparatus so that the measurement of the RCS coefficient of variation is more accurate, to target identification
It is more favourable；The size of the parts such as rotating disk, rotary shaft can flexibly be chosen as the case may be, for various different size of harvesting dresses
The applicability put provides condition；Substitute traditional light wave radar, decay when being propagated using atmospheric window with millimetre-wave radar
It is small, influenceed by natural light and infrared source it is small, can under atrocious weather situation to crops carry out effectively identification and it is automatic
Harvesting, there is the superiority such as high resolution, high accuracy, miniature antenna bore.
Embodiment 2：
A kind of full-automatic harvesting device with environment sensing ability as Figure 1-4, including harvester and be arranged on
Millimetre-wave radar three-dimensional environment sensory perceptual system on harvester；Millimetre-wave radar three-dimensional environment sensory perceptual system includes millimetre-wave radar
1st, rotation mechanism 10, control unit 11 and data processing unit 12；Rotation mechanism bag 10 includes the first rotary shaft 3, rotation
The rotary shaft 4 of rotating disk 2 and second, the first rotary shaft 3 arrangement and affixed with the center of rotating disk 2 vertically, first rotary shaft 3 is logical
Cross the driving rotation of the first stepper motor 8；The horizontal set of the second rotary shaft 4 of rotation is driven in bearing block 5 by the second stepper motor 9
Interior, the bearing block 5 is fixed in rotating disk 2 by 2 support shafts arranged vertically 6；The midpoint of second rotary shaft 4
Connecting portion 7 is provided with, the connecting portion 7 is integrally formed perpendicular to the second rotary shaft 4 and with the second rotary shaft 4, millimetre-wave radar 1
It is vertical with connecting portion 7 affixed；Itself intrinsic plane of scanning motion of the millimetre-wave radar 1 is swept perpendicular to the place plane of rotating disk 2
Range angle is retouched as ± 30 °；The rotating disk 2 has an otch 16 in the side of arrangement support shaft 6, the straight line parallel where otch 16 in
Straight line where second rotary shaft 4, and any support shaft 6 and the distance of the place straight line of otch 16 are less than 50mm；The first step
The stepper motor 9 of stepper motor 8 and second is controlled by single-chip microcomputer, and single-chip microcomputer is used to receive control command, and by control command
It is converted into control signal and is sent to motor, while the goniometer turned over according to the initial position of device and two stepper motors calculates
The current location of rotation mechanism, and the current position state of rotation mechanism 10 is fed back into data processing unit 12；
The rotation mechanism 10 is overall to do 180 ° of level under the drive of the first stepper motor 8 towards harvester direction of advance 18
Cycle back and forth movement, while millimetre-wave radar 1 is done vertically under the drive of the second stepper motor 9 towards harvester direction of advance 20
180 ° of cycle back and forth movement；
As shown in figure 5, data processing unit 12 is defeated including data acquisition subelement 13, delay revise subelemen 14 and coordinate
Go out subelement 15, data acquisition subelement 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 that single-chip microcomputer sends, and millimetre-wave radar 1 scan angle theta of itself 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 be (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 is 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 harvesting
β=0 ° when direction is vertical immediately ahead of machine, when millimetre-wave radar 1 be located at the right side of β=0 °, β is on the occasion of 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 the place plane of millimetre-wave radar 1
θ=0 °, when itself scanning direction is located at the top of θ=0 °, θ is on the occasion of the θ when itself scanning direction is located at the lower section of θ=0 °
For negative value.The anglec of rotation β of the first rotary shaft 3 is the anglec of rotation of millimetre-wave radar 1 in the horizontal direction as shown in Figure 3.
Preferably, delay effect refers to, because the present apparatus is using the technical scheme of three dimensionality dual rotary, therefore in thunder
Up to detection ripple during be issued to return, the position of radar has occurred that certain skew, 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 fills with the detection of other fixed radars
Put different place, it is therefore necessary to introduce special 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, the survey for the value ρ that adjusts the distance
Value be directed to the amendment of delay effect in detections of radar ripple two-way process, and its modifying factor exported is：
When | α1+θ1| ＞ | α2+θ2| and | β1| ＞ | β2| when, illustrate that the rotation of device is towards the direction motion of target point
, the actual value now measured is less than normal, therefore above formula uses positive sign, now λρ＞ 1, otherwise use negative sign, now 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 poor absolute value it is bigger, it is on the contrary then smaller.
Vertical scanning correcting module, imitated for be directed to being delayed in detections of radar ripple two-way process to vertical rotary angle α
The amendment answered, its modifying factor exportedWhen | α1| ＞ | α2| when, above formula takes positive sign, otherwise takes
Negative sign；
Horizontal sweep correcting module, for carrying out being directed in detections of radar ripple two-way process the effect that is delayed to rotating horizontally angle beta
The amendment answered, its modifying factor exportedWhen | β1| ＞ | β2| when, above formula takes positive sign, otherwise
Take negative sign；
Wherein m is the maximum detectable range of 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 to the detections of radar ripple of target 17, t2The time returned for detections of radar ripple, then | t1-t2| represent thunder
Time needed for being travelled to and fro between up to detection ripple between target 17 and millimetre-wave radar 1；t1For the horizontal rotation week of millimetre-wave radar 1
Phase, t2For the vertical swing circle of 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 the revise subelemen amendment that is delayed is：
Wherein,
Data processing unit also includes target RCS fluctuation characteristics measurement subelement, for the RCS sequence variations system to target
Number measures, and radar cross section (RCS) value characterizes the ability of reception antenna direction target echo, by measuring target
RCS fluctuation characteristics, which can contrast, determines different target types.
Complex target for being in optical region, it is assumed that it is made up of N number of scattering center, 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 causing 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 to complete the identification to target.
In this embodiment, new millimetre-wave radar three-dimensional environment sensory perceptual system is devised for harvesting device, so as to realize
180 ° of front horizontal and being scanned without dead angle for 180 ° of vertical direction cover, and economy and durability simple in construction, strong antijamming capability；Profit
Other parts are 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
Deng correcting module so that the coordinate setting function of radar is more accurate, sets T1=2.2s, T2=2.6s, the sampling of millimetre-wave radar
At intervals of 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 new for this
Rotation mechanism, employ new RCS fluctuation characteristic measurement apparatus so that the measurement of the RCS coefficient of variation is more accurate, to mesh
Mark is not more favourable；The size of the parts such as rotating disk, rotary shaft can flexibly be chosen as the case may be, be various different size of
The applicability of harvesting device provides condition；Substitute traditional light wave radar with millimetre-wave radar, when being propagated using atmospheric window
Decay it is small, influenceed small, crops can effectively be identified under atrocious weather situation by natural light and infrared source
And gather in automatically, there is the superiority such as high resolution, high accuracy, miniature antenna bore.
Embodiment 3：
A kind of full-automatic harvesting device with environment sensing ability as Figure 1-4, including harvester and be arranged on
Millimetre-wave radar three-dimensional environment sensory perceptual system on harvester；Millimetre-wave radar three-dimensional environment sensory perceptual system includes millimetre-wave radar
1st, rotation mechanism 10, control unit 11 and data processing unit 12；Rotation mechanism bag 10 includes the first rotary shaft 3, rotation
The rotary shaft 4 of rotating disk 2 and second, the first rotary shaft 3 arrangement and affixed with the center of rotating disk 2 vertically, first rotary shaft 3 is logical
Cross the driving rotation of the first stepper motor 8；The horizontal set of the second rotary shaft 4 of rotation is driven in bearing block 5 by the second stepper motor 9
Interior, the bearing block 5 is fixed in rotating disk 2 by 2 support shafts arranged vertically 6；The midpoint of second rotary shaft 4
Connecting portion 7 is provided with, the connecting portion 7 is integrally formed perpendicular to the second rotary shaft 4 and with the second rotary shaft 4, millimetre-wave radar 1
It is vertical with connecting portion 7 affixed；Itself intrinsic plane of scanning motion of the millimetre-wave radar 1 is swept perpendicular to the place plane of rotating disk 2
Range angle is retouched as ± 30 °；The rotating disk 2 has an otch 16 in the side of arrangement support shaft 6, the straight line parallel where otch 16 in
Straight line where second rotary shaft 4, and any support shaft 6 and the distance of the place straight line of otch 16 are less than 50mm；The first step
The stepper motor 9 of stepper motor 8 and second is controlled by single-chip microcomputer, and single-chip microcomputer is used to receive control command, and by control command
It is converted into control signal and is sent to motor, while the goniometer turned over according to the initial position of device and two stepper motors calculates
The current location of rotation mechanism, and the current position state of rotation mechanism 10 is fed back into data processing unit 12；
The rotation mechanism 10 is overall to do 180 ° of level under the drive of the first stepper motor 8 towards harvester direction of advance 18
Cycle back and forth movement, while millimetre-wave radar 1 is done vertically under the drive of the second stepper motor 9 towards harvester direction of advance 20
180 ° of cycle back and forth movement；
As shown in figure 5, data processing unit 12 is defeated including data acquisition subelement 13, delay revise subelemen 14 and coordinate
Go out subelement 15, data acquisition subelement 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 that single-chip microcomputer sends, and millimetre-wave radar 1 scan angle theta of itself 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 be (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 is 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 harvesting
β=0 ° when direction is vertical immediately ahead of machine, when millimetre-wave radar 1 be located at the right side of β=0 °, β is on the occasion of 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 the place plane of millimetre-wave radar 1
θ=0 °, when itself scanning direction is located at the top of θ=0 °, θ is on the occasion of the θ when itself scanning direction is located at the lower section of θ=0 °
For negative value.The anglec of rotation β of the first rotary shaft 3 is the anglec of rotation of millimetre-wave radar 1 in the horizontal direction as shown in Figure 3.
Preferably, delay effect refers to, because the present apparatus is using the technical scheme of three dimensionality dual rotary, therefore in thunder
Up to detection ripple during be issued to return, the position of radar has occurred that certain skew, 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 fills with the detection of other fixed radars
Put different place, it is therefore necessary to introduce special 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, the survey for the value ρ that adjusts the distance
Value be directed to the amendment of delay effect in detections of radar ripple two-way process, and its modifying factor exported is：
When | α1+θ1| ＞ | α2+θ2| and | β1| ＞ | β2| when, illustrate that the rotation of device is towards the direction motion of target point
, the actual value now measured is less than normal, therefore above formula uses positive sign, now λρ＞ 1, otherwise use negative sign, now 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 poor absolute value it is bigger, it is on the contrary then smaller.
Vertical scanning correcting module, imitated for be directed to being delayed in detections of radar ripple two-way process to vertical rotary angle α
The amendment answered, its modifying factor exportedWhen | α1| ＞ | α2| when, above formula takes positive sign, otherwise takes
Negative sign；
Horizontal sweep correcting module, for carrying out being directed in detections of radar ripple two-way process the effect that is delayed to rotating horizontally angle beta
The amendment answered, its modifying factor exportedWhen | β1| ＞ | β2| when, above formula takes positive sign, otherwise
Take negative sign；
Wherein m is the maximum detectable range of millimetre-wave radar 1, and ρ≤m；For reaction detection target 17 and millimeter
Influence of the distance to delay effect between ripple radar 1, target 17 be then delayed closer to millimetre-wave radar 1 it is smaller, otherwise delay get over
Greatly；t1For the time sent to the detections of radar ripple of target 17, t2The time returned for detections of radar ripple, then | t1-t2| represent
Detections of radar ripple travels to and fro between the time required between target 17 and millimetre-wave radar 1；t1For the horizontal rotation week of millimetre-wave radar 1
Phase, t2For the vertical swing circle of 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 the revise subelemen amendment that is delayed is：
Wherein,
Data processing unit also includes target RCS fluctuation characteristics measurement subelement, for the RCS sequence variations system to target
Number measures, and radar cross section (RCS) value characterizes the ability of reception antenna direction target echo, by measuring target
RCS fluctuation characteristics, which can contrast, determines different target types.
Complex target for being in optical region, it is assumed that it is made up of N number of scattering center, 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 causing 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 to complete the identification to target.
In this embodiment, new millimetre-wave radar three-dimensional environment sensory perceptual system is devised for harvesting device, so as to realize
180 ° of front horizontal and being scanned without dead angle for 180 ° of vertical direction cover, and economy and durability simple in construction, strong antijamming capability；Profit
Other parts are 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
Deng correcting module so that the coordinate setting function of radar is more accurate, sets T1=2.4s, T2=2.7s, the sampling of millimetre-wave radar
At intervals of 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 new for this
Rotation mechanism, employ new RCS fluctuation characteristic measurement apparatus so that the measurement of the RCS coefficient of variation is more accurate, to mesh
Mark is not more favourable；The size of the parts such as rotating disk, rotary shaft can flexibly be chosen as the case may be, be various different size of
The applicability of harvesting device provides condition；Substitute traditional light wave radar with millimetre-wave radar, when being propagated using atmospheric window
Decay it is small, influenceed small, crops can effectively be identified under atrocious weather situation by natural light and infrared source
And gather in automatically, there is the superiority such as high resolution, high accuracy, miniature antenna bore.
Embodiment 4：
A kind of full-automatic harvesting device with environment sensing ability as Figure 1-4, including harvester and be arranged on
Millimetre-wave radar three-dimensional environment sensory perceptual system on harvester；Millimetre-wave radar three-dimensional environment sensory perceptual system includes millimetre-wave radar
1st, rotation mechanism 10, control unit 11 and data processing unit 12；Rotation mechanism bag 10 includes the first rotary shaft 3, rotation
The rotary shaft 4 of rotating disk 2 and second, the first rotary shaft 3 arrangement and affixed with the center of rotating disk 2 vertically, first rotary shaft 3 is logical
Cross the driving rotation of the first stepper motor 8；The horizontal set of the second rotary shaft 4 of rotation is driven in bearing block 5 by the second stepper motor 9
Interior, the bearing block 5 is fixed in rotating disk 2 by 2 support shafts arranged vertically 6；The midpoint of second rotary shaft 4
Connecting portion 7 is provided with, the connecting portion 7 is integrally formed perpendicular to the second rotary shaft 4 and with the second rotary shaft 4, millimetre-wave radar 1
It is vertical with connecting portion 7 affixed；Itself intrinsic plane of scanning motion of the millimetre-wave radar 1 is swept perpendicular to the place plane of rotating disk 2
Range angle is retouched as ± 30 °；The rotating disk 2 has an otch 16 in the side of arrangement support shaft 6, the straight line parallel where otch 16 in
Straight line where second rotary shaft 4, and any support shaft 6 and the distance of the place straight line of otch 16 are less than 50mm；The first step
The stepper motor 9 of stepper motor 8 and second is controlled by single-chip microcomputer, and single-chip microcomputer is used to receive control command, and by control command
It is converted into control signal and is sent to motor, while the goniometer turned over according to the initial position of device and two stepper motors calculates
The current location of rotation mechanism, and the current position state of rotation mechanism 10 is fed back into data processing unit 12；
The rotation mechanism 10 is overall to do 180 ° of level under the drive of the first stepper motor 8 towards harvester direction of advance 18
Cycle back and forth movement, while millimetre-wave radar 1 is done vertically under the drive of the second stepper motor 9 towards harvester direction of advance 20
180 ° of cycle back and forth movement；
As shown in figure 5, data processing unit 12 is defeated including data acquisition subelement 13, delay revise subelemen 14 and coordinate
Go out subelement 15, data acquisition subelement 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 that single-chip microcomputer sends, and millimetre-wave radar 1 scan angle theta of itself 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 be (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 is 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 harvesting
β=0 ° when direction is vertical immediately ahead of machine, when millimetre-wave radar 1 be located at the right side of β=0 °, β is on the occasion of 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 the place plane of millimetre-wave radar 1
θ=0 °, when itself scanning direction is located at the top of θ=0 °, θ is on the occasion of the θ when itself scanning direction is located at the lower section of θ=0 °
For negative value.The anglec of rotation β of the first rotary shaft 3 is the anglec of rotation of millimetre-wave radar 1 in the horizontal direction as shown in Figure 3.
Preferably, delay effect refers to, because the present apparatus is using the technical scheme of three dimensionality dual rotary, therefore in thunder
Up to detection ripple during be issued to return, the position of radar has occurred that certain skew, 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 fills with the detection of other fixed radars
Put different place, it is therefore necessary to introduce special 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, the survey for the value ρ that adjusts the distance
Value be directed to the amendment of delay effect in detections of radar ripple two-way process, and its modifying factor exported is：
When | α1+θ1| ＞ | α2+θ2| and | β1| ＞ | β2| when, illustrate that the rotation of device is towards the direction motion of target point
, the actual value now measured is less than normal, therefore above formula uses positive sign, now λρ＞ 1, otherwise use negative sign, now 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 poor absolute value it is bigger, it is on the contrary then smaller.
Vertical scanning correcting module, imitated for be directed to being delayed in detections of radar ripple two-way process to vertical rotary angle α
The amendment answered, its modifying factor exportedWhen | α1| ＞ | α2| when, above formula takes positive sign, otherwise takes
Negative sign；
Horizontal sweep correcting module, for carrying out being directed in detections of radar ripple two-way process the effect that is delayed to rotating horizontally angle beta
The amendment answered, its modifying factor exportedWhen | β1| ＞ | β2| when, above formula takes positive sign, otherwise
Take negative sign；
Wherein m is the maximum detectable range of millimetre-wave radar 1, and ρ≤m；For reaction detection target 17 and millimeter
Influence of the distance to delay effect between ripple radar 1, target 17 be then delayed closer to millimetre-wave radar 1 it is smaller, otherwise delay get over
Greatly；t1For the time sent to the detections of radar ripple of target 17, t2The time returned for detections of radar ripple, then | t1-t2| represent
Detections of radar ripple travels to and fro between the time required between target 17 and millimetre-wave radar 1；t1For the horizontal rotation week of millimetre-wave radar 1
Phase, t2For the vertical swing circle of 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 the revise subelemen amendment that is delayed is：
Wherein,
Data processing unit also includes target RCS fluctuation characteristics measurement subelement, for the RCS sequence variations system to target
Number measures, and radar cross section (RCS) value characterizes the ability of reception antenna direction target echo, by measuring target
RCS fluctuation characteristics, which can contrast, determines different target types.
Complex target for being in optical region, it is assumed that it is made up of N number of scattering center, 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 causing 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 to complete the identification to target.
In this embodiment, new millimetre-wave radar three-dimensional environment sensory perceptual system is devised for harvesting device, so as to realize
180 ° of front horizontal and being scanned without dead angle for 180 ° of vertical direction cover, and economy and durability simple in construction, strong antijamming capability；Profit
Other parts are 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
Deng correcting module so that the coordinate setting function of radar is more accurate, sets T1=2.5s, T2=2.8s, the sampling of millimetre-wave radar
At intervals of 1.3 °/s.Realizing that measurement error is less than 0.6% while detection without dead angle, 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 new for this
Rotation mechanism, employ new RCS fluctuation characteristic measurement apparatus so that the measurement of the RCS coefficient of variation is more accurate, to mesh
Mark is not more favourable；The size of the parts such as rotating disk, rotary shaft can flexibly be chosen as the case may be, be various different size of
The applicability of harvesting device provides condition；Substitute traditional light wave radar with millimetre-wave radar, when being propagated using atmospheric window
Decay it is small, influenceed small, crops can effectively be identified under atrocious weather situation by natural light and infrared source
And gather in automatically, there is the superiority such as high resolution, high accuracy, miniature antenna bore.
Embodiment 5：
A kind of full-automatic harvesting device with environment sensing ability as Figure 1-4, including harvester and be arranged on
Millimetre-wave radar three-dimensional environment sensory perceptual system on harvester；Millimetre-wave radar three-dimensional environment sensory perceptual system includes millimetre-wave radar
1st, rotation mechanism 10, control unit 11 and data processing unit 12；Rotation mechanism bag 10 includes the first rotary shaft 3, rotation
The rotary shaft 4 of rotating disk 2 and second, the first rotary shaft 3 arrangement and affixed with the center of rotating disk 2 vertically, first rotary shaft 3 is logical
Cross the driving rotation of the first stepper motor 8；The horizontal set of the second rotary shaft 4 of rotation is driven in bearing block 5 by the second stepper motor 9
Interior, the bearing block 5 is fixed in rotating disk 2 by 2 support shafts arranged vertically 6；The midpoint of second rotary shaft 4
Connecting portion 7 is provided with, the connecting portion 7 is integrally formed perpendicular to the second rotary shaft 4 and with the second rotary shaft 4, millimetre-wave radar 1
It is vertical with connecting portion 7 affixed；Itself intrinsic plane of scanning motion of the millimetre-wave radar 1 is swept perpendicular to the place plane of rotating disk 2
Range angle is retouched as ± 30 °；The rotating disk 2 has an otch 16 in the side of arrangement support shaft 6, the straight line parallel where otch 16 in
Straight line where second rotary shaft 4, and any support shaft 6 and the distance of the place straight line of otch 16 are less than 50mm；The first step
The stepper motor 9 of stepper motor 8 and second is controlled by single-chip microcomputer, and single-chip microcomputer is used to receive control command, and by control command
It is converted into control signal and is sent to motor, while the goniometer turned over according to the initial position of device and two stepper motors calculates
The current location of rotation mechanism, and the current position state of rotation mechanism 10 is fed back into data processing unit 12；
The rotation mechanism 10 is overall to do 180 ° of level under the drive of the first stepper motor 8 towards harvester direction of advance 18
Cycle back and forth movement, while millimetre-wave radar 1 is done vertically under the drive of the second stepper motor 9 towards harvester direction of advance 20
180 ° of cycle back and forth movement；
As shown in figure 5, data processing unit 12 is defeated including data acquisition subelement 13, delay revise subelemen 14 and coordinate
Go out subelement 15, data acquisition subelement 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 that single-chip microcomputer sends, and millimetre-wave radar 1 scan angle theta of itself 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 be (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 is 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 harvesting
β=0 ° when direction is vertical immediately ahead of machine, when millimetre-wave radar 1 be located at the right side of β=0 °, β is on the occasion of 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 the place plane of millimetre-wave radar 1
θ=0 °, when itself scanning direction is located at the top of θ=0 °, θ is on the occasion of the θ when itself scanning direction is located at the lower section of θ=0 °
For negative value.The anglec of rotation β of the first rotary shaft 3 is the anglec of rotation of millimetre-wave radar 1 in the horizontal direction as shown in Figure 3.
Preferably, delay effect refers to, because the present apparatus is using the technical scheme of three dimensionality dual rotary, therefore in thunder
Up to detection ripple during be issued to return, the position of radar has occurred that certain skew, 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 fills with the detection of other fixed radars
Put different place, it is therefore necessary to introduce special 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, the survey for the value ρ that adjusts the distance
Value be directed to the amendment of delay effect in detections of radar ripple two-way process, and its modifying factor exported is：
When | α1+θ1| ＞ | α2+θ2| and | β1| ＞ | β2| when, illustrate that the rotation of device is towards the direction motion of target point
, the actual value now measured is less than normal, therefore above formula uses positive sign, now λρ＞ 1, otherwise use negative sign, now 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 poor absolute value it is bigger, it is on the contrary then smaller.
Vertical scanning correcting module, imitated for be directed to being delayed in detections of radar ripple two-way process to vertical rotary angle α
The amendment answered, its modifying factor exportedWhen | α1| ＞ | α2| when, above formula takes positive sign, otherwise takes
Negative sign；
Horizontal sweep correcting module, for carrying out being directed in detections of radar ripple two-way process the effect that is delayed to rotating horizontally angle beta
The amendment answered, its modifying factor exportedWhen | β1| ＞ | β2| when, above formula takes positive sign, otherwise
Take negative sign；
Wherein m is the maximum detectable range of millimetre-wave radar 1, and ρ≤m；For reaction detection target 17 and millimeter
Influence of the distance to delay effect between ripple radar 1, target 17 be then delayed closer to millimetre-wave radar 1 it is smaller, otherwise delay get over
Greatly；t1For the time sent to the detections of radar ripple of target 17, t2The time returned for detections of radar ripple, then | t1-t2| represent
Detections of radar ripple travels to and fro between the time required between target 17 and millimetre-wave radar 1；t1For the horizontal rotation week of millimetre-wave radar 1
Phase, t2For the vertical swing circle of 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 the revise subelemen amendment that is delayed is：
Wherein,
Data processing unit also includes target RCS fluctuation characteristics measurement subelement, for the RCS sequence variations system to target
Number measures, and radar cross section (RCS) value characterizes the ability of reception antenna direction target echo, by measuring target
RCS fluctuation characteristics, which can contrast, determines different target types.
Complex target for being in optical region, it is assumed that it is made up of N number of scattering center, 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 causing 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 to complete the identification to target.
In this embodiment, new millimetre-wave radar three-dimensional environment sensory perceptual system is devised for harvesting device, so as to realize
180 ° of front horizontal and being scanned without dead angle for 180 ° of vertical direction cover, and economy and durability simple in construction, strong antijamming capability；Profit
Other parts are 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
Deng correcting module 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%, and measurement delay rate is less than 0.2% while detection without dead angle, 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, employ new RCS fluctuation characteristic measurement apparatus so that the measurement of the RCS coefficient of variation is more accurate, and target is known
Not it is more favourable；The size of the parts such as rotating disk, rotary shaft can flexibly be chosen as the case may be, be various different size of harvestings
The applicability of device provides condition；Substitute traditional light wave radar, declining when being propagated using atmospheric window with millimetre-wave radar
Reduce, influenceed by natural light and infrared source it is small, can under atrocious weather situation to crops carry out effectively identification and from
Dynamic harvesting, has the superiority such as high resolution, high accuracy, miniature antenna bore.
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 scope is protected, although being explained with reference to preferred embodiment to the present invention, one of ordinary skill in the art should
Work as understanding, technical scheme can be modified or equivalent substitution, without departing from the reality of technical solution of the present invention
Matter and scope.
Claims (1)
1. a kind of full-automatic harvesting device with environment sensing ability, it is characterized in that, including harvester and installed in harvester
On millimetre-wave radar three-dimensional environment sensory perceptual system；Millimetre-wave radar three-dimensional environment sensory perceptual system includes millimetre-wave radar, rotation
Mechanical device, control unit and data processing unit；Rotation mechanism includes the first rotary shaft, rotating disk and the second rotation
Axle, the first rotary shaft vertically arrangement and it is affixed with the center of rotating disk, first rotary shaft passes through the first driving stepper motor
Rotation；The second rotation axis horizontal rotated by the second driving stepper motor is sleeved in bearing block, and the bearing block is perpendicular by 2
The support shaft directly arranged is affixed on the rotating pan；The midpoint of second rotary shaft is provided with connecting portion, and the connecting portion hangs down
Directly it is integrally formed in the second rotary shaft and with the second rotary shaft, millimetre-wave radar is vertical with connecting portion affixed；The millimeter wave thunder
The plane of scanning motion reached itself is inherently perpendicular to plane where rotating disk, and scanning range angle is ± 30 °；The rotating disk is being arranged
There is otch the side of support shaft, and the straight line parallel where otch is in the straight line where the second rotary shaft, and any support shaft is with cutting
The distance of straight line is less than 50mm where mouthful；First stepper motor and the second stepper motor are controlled by single-chip microcomputer, single
Piece machine is used to receive control command, and control command is converted into control signal and is sent to motor, while according to the initial of device
The goniometer that position and two stepper motors turn over calculates the current location of rotation mechanism, and working as rotation mechanism
Front position feedback of status is to data processing unit；The rotation mechanism entirety is under the drive of the first stepper motor towards receipts
Cutting mill direction of advance does the cycle back and forth movement of 180 ° of level, at the same millimetre-wave radar under the drive of the second stepper motor towards
Harvester direction of advance does vertical 180 ° of cycle back and forth movement；
Data processing unit includes data acquisition subelement, 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 single-chip microcomputer transmission
With horizontal rotation angle beta, and itself scan angle theta of 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, when radar is horizontal top, α values are just, at radar
α values are negative when below horizontal level, β=0 ° when the second rotary shaft is vertical with direction immediately ahead of harvester, when radar is located at β
β is on the occasion of when radar is located at the left side of β=0 °, β is negative value during=0 ° of right side；When itself scanning direction of millimetre-wave radar
θ=0 ° when vertical with plane where millimetre-wave radar, when itself scanning direction is located at the top of θ=0 °, θ is on the occasion of when itself
θ is negative value when scanning direction is located at the lower section of θ=0 °；
Delay revise subelemen includes range measurement correcting module, horizontal sweep correcting module and vertical scanning correcting module：Away from
From measurement correcting module, the measured value for the value ρ that adjusts the distance repaiied for delay effect in detections of radar ripple two-way process
Just, the modifying factor of its 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 be directed to delay effect in detections of radar ripple two-way process to vertical rotary angle α
Amendment, its modifying factor exportedWhen | α1| ＞ | α2| when, above formula takes positive sign, otherwise takes negative
Number；
Horizontal sweep correcting module, for be directed to delay effect in detections of radar ripple two-way process to rotating horizontally angle beta
Amendment, its modifying factor exportedWhen | β1| ＞ | β2| when, above formula takes positive sign, otherwise takes negative
Number；
Wherein m is the maximum detectable range of 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 ripple is sent, t2The time returned for detections of radar ripple；|t1-t2| represent detections of radar ripple travel to and fro between target and
Time needed between radar；T1For the horizontal rotation cycle of millimetre-wave radar, T2For the vertical swing circle of 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 the revise subelemen amendment that is delayed is：
Wherein,
Data processing unit also includes target RCS fluctuation characteristics measurement subelement, for entering to the RCS sequence variations coefficients of target
Row measurement：
Complex target for being in optical region, it is assumed that be made up 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, RiRepresent 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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| CN110969654A (en) * | 2018-09-29 | 2020-04-07 | 北京瑞智稷数科技有限公司 | Corn high-throughput phenotype measurement method and device based on harvester and harvester |
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