CN105699972A - Full-automatic wheel type freight carrying device having environment perception capabilities - Google Patents

Abstract

The invention discloses a full-automatic wheel type freight carrying device having environment perception capabilities. The full-automatic wheel type freight carrying device comprises a freight-carrying vehicle and a millimeter wave radar three dimensional environment perception system installed on the freight-carrying vehicle. The millimeter wave radar three dimensional environment perception system comprises a millimeter wave radar, a rotating mechanical device, a control unit and a data processing unit, wherein the rotating mechanical device comprises a first rotating shaft, a rotating disc and a second rotating shaft. The full-automatic wheel type freight carrying device is advantaged by simple and practical structure, capability of realizing forward dead-angle-free scanning coverage, precise control, high positioning accuracy, great real-time property and the like.

Description

A kind of full-automatic wheeled load-carrying device with environment sensing ability

Technical field

The present invention relates to goods and load field, be specifically related to a kind of full-automatic wheeled load-carrying device with environment sensing ability。

Background technology

Broad street has driven urban development, and the trip for people provides conveniently, and along with the development of science and technology, the concept of traffic intelligence is suggested, and the research of intelligent vehicle is also got more and more。

The major function of intelligent vehicle context aware systems is to be obtained vehicle and environmental information by sensor, it is specially in the pose of vehicle and state information acquisition, structuring highway lane line and the traffic analysis etc. of the recognition and tracking of the recognition and tracking on lane side edge, traffic signs and traffic signal, the recognition and tracking (including dynamic and static-obstacle thing, such as pedestrian, obstacle vehicle etc.) of vehicle periphery barrier and vehicle running surface。

Load-carrying device, refers mainly to load-carrying vehicle as a kind of mobility service equipment, arranges intelligent vehicle context aware systems thereon to improve the development trend that its combination property such as safety, multifunction is certainty at present。But, often there is the problems such as perception dimension is not enough, computational accuracy is not high, real-time is not strong in present context aware systems。

Summary of the invention

For the problems referred to above, the present invention provides a kind of full-automatic wheeled load-carrying device with environment sensing ability。

The purpose of the present invention realizes by the following technical solutions:

A kind of full-automatic wheeled load-carrying device with environment sensing ability, including load-carrying vehicle and the millimetre-wave radar three-dimensional environment sensory perceptual system being arranged on load-carrying vehicle；Millimetre-wave radar three-dimensional environment sensory perceptual system includes millimetre-wave radar, rotation mechanism, control unit and data processing unit；Rotation mechanism includes the first rotating shaft, rotation dish and the second rotating shaft, and the first rotating shaft is vertically arranged and affixed with the center of rotation dish, and described first rotating shaft is rotated by the first step motor drive；The second rotation axis horizontal rotated by the second step motor drive is sleeved in bearing block, and described bearing block is affixed on the rotating pan by the support axle of 2 vertical layouts；The midpoint of described second rotating shaft is provided with connecting portion, and described connecting portion is perpendicular to the second rotating shaft and one-body molded with the second rotating shaft, and millimetre-wave radar is vertical with connecting portion affixed；Self intrinsic plane of scanning motion of described millimetre-wave radar is perpendicular to rotation dish place plane, and sweep limits angle is ± 30 °；Described rotation dish is arranging that there is otch the side supporting axle, and the straight line parallel at otch place is in the straight line at the second rotating shaft place, and the distance of arbitrary support axle and otch place straight line is less than 50mm；Described first motor and the second motor control each through single-chip microcomputer, single-chip microcomputer is used for receiving control command, and control command is converted into control signal is sent to motor, the goniometer simultaneously turned over according to the initial position of device and two motors calculates the current location of rotation mechanism, and the current position state of rotation mechanism is fed back to data processing unit；Described rotation mechanism entirety does the cycle back and forth movement of level 180 ° under the drive of the first motor towards vehicle forward direction, and millimetre-wave radar does the cycle back and forth movement of vertical 180 ° under the drive of the second motor towards vehicle forward direction simultaneously；

Data processing unit includes data acquisition subelement, time delay correction subelement and coordinate output subelement；Data acquisition subelement receives its distance value ρ with target that millimetre-wave radar measurements obtains, and receives the vertical rotary angle α and feathering angle β of single-chip microcomputer transmission and self scan angle theta of millimetre-wave radar simultaneously；If the reading of a certain target is (ρ by laser radar, α, β, θ), and defining: α=0 ° when radar is horizontal, when radar is horizontal top, α value is for just, it is negative that radar is horizontal α value during lower section, β=0 ° when the second rotating shaft is vertical with load-carrying vehicle dead ahead direction, when radar is positioned at the right side of β=0 ° β on the occasion of, when radar is positioned at the left side of β=0 °, β is negative value；θ=0 ° when self scanning direction of millimetre-wave radar is vertical with millimetre-wave radar place plane, when self scanning direction is positioned at the top of θ=0 ° θ on the occasion of, when self scanning direction is positioned at the lower section of θ=0 °, θ is negative value；

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

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

Vertical rotary correcting module, for carrying out for the correction of delay effect, the modifying factor of its output in detections of radar ripple two-way process vertical rotary angle αWhen | α₁| > | α₂| time, above formula takes positive sign, otherwise takes negative sign；

Horizontally rotate correcting module, for carrying out feathering angle β for the correction of delay effect, the modifying factor of its output in detections of radar ripple two-way processWhen | β₁| > | β₂| time, above formula takes positive sign, otherwise takes negative sign；

Wherein m is the maximum detectable range of millimetre-wave radar, and ρ≤m；For the impact on delay effect of the spacing of reaction detection target and millimetre-wave radar, target is more little the closer to radar then time delay, otherwise time delay is more big；T₁For this target radar is detected the time that ripple sends, t₂For the time that detections of radar ripple returns；| t₁-t₂| represent detections of radar ripple and travel to and fro between the time required between target and radar；T₁For the cycle that horizontally rotates of millimetre-wave radar, T₂Vertical swing circle for millimetre-wave radar；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, the sampling interval of millimetre-wave radar is 2 °/s；

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

Wherein,

Data processing unit also includes target RCS fluctuation characteristic and measures subelement, for the RCS sequence variations coefficient of target is measured:

For being in the complex target of optical region, it is assumed that be made up of N number of scattering center, then the RCS of multi-scattering centers target is expressed as the function of azimuth of target:

Wherein, σ_iRepresent that i-th scattering center RCS, α+θ represents the azimuth of the relative millimetre-wave radar of target, R_iRepresent the relative radar center distance of i-th scattering center；λ is the parameter being manually set；

Then RCS sequence variations coefficient table is shown as:Wherein σ (k) represents the RCS value of kth time detection target, RCS serial mean

Having the beneficial effect that of this load-carrying device devises new millimetre-wave radar three-dimensional environment sensory perceptual system, covers thus realizing front horizontal 180 ° with scanning without dead angle of vertical direction 180 °, and simple in construction economy and durability, and capacity of resisting disturbance is strong；Utilize step-by-step motor to coordinate other parts to realize Automatic Control function, easy to control accurately；Feature and delay effect for new-type rotating radar system devise the correcting modules such as range measurement correcting module, horizontal sweep correcting module, vertical scanning correcting module so that the coordinate setting function of radar is more accurate, and real-time is higher；Give accurate Coordinate calculation method, provide the foundation with error control for automatically controlling；For this Novel rotary machinery, have employed new RCS fluctuation characteristic measurement apparatus so that the measurement of the RCS coefficient of variation is more accurate, and target recognition is more favourable；The size of the parts such as rotation dish, rotating shaft can be chosen as the case may be flexibly, and the suitability for various different size of load-carrying devices provides condition；Traditional light wave radar is replaced with millimetre-wave radar, decay when utilizing atmospheric window to propagate is little, affected little by nature light and heat radiation source, can road pavement carry out effectively identifying and avoiding barrier under atrocious weather situation, there is provided reliable guarantee for safety traffic, have high resolution, in high precision, the superiority such as miniature antenna bore。

Accompanying drawing explanation

The invention will be further described to utilize accompanying drawing, but the embodiment in accompanying drawing does not constitute any limitation of the invention, for those of ordinary skill in the art, under the premise not paying creative work, it is also possible to obtain other accompanying drawing according to the following drawings。

Fig. 1 is the structured flowchart of a kind of full-automatic wheeled load-carrying device with environment sensing ability；

Fig. 2 is the structural representation of rotation mechanism；

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

Fig. 4 is schematic diagram during detections of radar target；

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

Accompanying drawing labelling: millimetre-wave radar-1；Rotation dish-2；First rotating shaft-3；Second rotating shaft-4；Bearing block-5；Support axle-6；Connecting portion-7；First motor-8；Second motor-9；Rotation mechanism-10；Control unit-11；Data processing unit-12；Data acquisition subelement 13；Time delay correction subelement-14；Coordinate output subelement-15；Otch-16；Target-17；Vehicle forward direction-18。

Detailed description of the invention

The invention will be further described with the following Examples。

Embodiment 1:

A kind of full-automatic wheeled load-carrying device with environment sensing ability as Figure 1-4, including load-carrying vehicle and the millimetre-wave radar three-dimensional environment sensory perceptual system being arranged on load-carrying vehicle；Millimetre-wave radar three-dimensional environment sensory perceptual system includes millimetre-wave radar 1, rotation mechanism 10, control unit 11 and data processing unit 12；Rotation mechanism bag 10 draws together the first rotating shaft 3, rotation dish 2 and the second rotating shaft 4, and the first rotating shaft 3 is vertically arranged and affixed with the center of rotation dish 2, and described first rotating shaft 3 is driven by the first motor 8 and rotates；Being driven the second rotating shaft 4 horizontal set of rotation in bearing block 5 by the second motor 9, described bearing block 5 is fixed on rotation dish 2 by the support axle 6 of 2 vertical layouts；The midpoint of described second rotating shaft 4 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, and millimetre-wave radar 1 is vertical with connecting portion 7 affixed；Self intrinsic plane of scanning motion of described millimetre-wave radar 1 is perpendicular to rotation dish 2 place plane, and sweep limits angle is ± 30 °；Described rotation dish 2 is arranging that there is otch 16 side supporting axle 6, and the straight line parallel at otch 16 place is in the straight line at the second rotating shaft 4 place, and the distance of arbitrary support axle 6 and otch 16 place straight line is less than 50mm；Described first motor 8 and the second motor 9 control each through single-chip microcomputer, single-chip microcomputer is used for receiving control command, and control command is converted into control signal is sent to motor, the goniometer simultaneously turned over according to the initial position of device and two motors calculates the current location of rotation mechanism, and the current position state of rotation mechanism 10 is fed back to data processing unit 12；Described rotation mechanism 10 entirety does the cycle back and forth movement of level 180 ° under the drive of the first motor 8 towards vehicle forward direction 18, and millimetre-wave radar 1 does the cycle back and forth movement of vertical 180 ° under the drive of the second motor 9 towards vehicle forward direction 20 simultaneously；

As shown in Figure 5, data processing unit 12 includes data acquisition subelement 13, time delay correction subelement 14 and coordinate output subelement 15, data acquisition subelement 13 receives millimetre-wave radar 1 and measures its distance value ρ with target obtained, receive vertical rotary angle α and feathering angle β that single-chip microcomputer sends simultaneously, and the scan angle theta of millimetre-wave radar 1 self, thus obtain the position of complete millimetre-wave radar data and the plane of scanning motion；As shown in Figure 5, if the reading of a certain target 17 that millimetre-wave radar 1 records is (ρ, α, β, θ), and define: α=0 ° when millimetre-wave radar 1 is horizontal, when millimetre-wave radar 1 is horizontal top, α value is for just, and it is negative that millimetre-wave radar 1 is horizontal α value during lower section；β=0 ° when the second rotating shaft 4 is vertical with load-carrying vehicle dead ahead direction, when millimetre-wave radar 1 is positioned at the right side of β=0 ° β on the occasion of, when millimetre-wave radar 1 is positioned at the left side of β=0 °, β is negative value；θ=0 ° when self scanning direction of millimetre-wave radar 1 is vertical with millimetre-wave radar 1 place plane, when self scanning direction is positioned at the top of θ=0 ° θ on the occasion of, when self scanning direction is positioned at the lower section of θ=0 °, θ is negative value。The anglec of rotation β of the first rotating shaft 3 is millimetre-wave radar 1 anglec of rotation in the horizontal direction as shown in Figure 3。

Preferably, delay effect refers to, what adopt due to this device is the technical scheme of three dimensionality dual rotary, therefore at detections of radar ripple from the process being issued to return, the position of radar has occurred that certain skew, although very short during this period of time, but when rotary speed is higher, the error of this part is still very important, and this is this device and other different places of fixed radar detecting device, it is therefore necessary to introduce special time delay correction factor。Time delay correction subelement 14 includes range measurement correcting module, horizontal sweep correcting module and vertical scanning correcting module: range measurement correcting module, measured value for the value ρ that adjusts the distance carries out for the correction of delay effect in detections of radar ripple two-way process, and the modifying factor of its output is:

When | α₁+θ₁| > | α₂+θ₂| and | β₁| > | β₂| time, illustrating that the rotation of device is towards the direction motion of impact point, the actual value now recorded is less than normal, therefore above formula adopts positive sign, now λ_ρ> 1, on the contrary adopt negative sign, now λ_ρ< 1；Simultaneously as t₁-t₂Being an only small value, therefore the concrete correction value of this correcting module depends entirely on the swing circle T of motor, rotates more fast T more little, then correction factor and 1 the absolute value of difference more big, otherwise then more little。

Vertical rotary correcting module, for carrying out for the correction of delay effect, the modifying factor of its output in detections of radar ripple two-way process vertical rotary angle αWhen | α₁| > | α₂| time, above formula takes positive sign, otherwise takes negative sign；

Horizontally rotate correcting module, for carrying out feathering angle β for the correction of delay effect, the modifying factor of its output in detections of radar ripple two-way processWhen | β₁| > | β₂| time, above formula takes positive sign, otherwise takes negative sign；

Wherein m is the maximum detectable range of millimetre-wave radar 1, and ρ≤m；For the impact on delay effect of the spacing of reaction detection target 17 and millimetre-wave radar 1, target 17 is more little the closer to millimetre-wave radar 1 then time delay, otherwise time delay is more big；T₁For the time that this target 17 detections of radar ripple is sent, t₂For detections of radar ripple return time, then | t₁-t₂| represent detections of radar ripple and travel to and fro between the time required between target 17 and millimetre-wave radar 1；T₁For the cycle that horizontally rotates of millimetre-wave radar 1, t₂Vertical swing circle for 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, the sampling interval of millimetre-wave radar is 2 °/s。

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

Wherein,

Data processing unit also includes target RCS fluctuation characteristic and measures subelement, for the RCS sequence variations coefficient of target is measured, radar cross section (RCS) value characterizes the ability of reception antenna direction target echo, can be contrasted by measurement target RCS fluctuation characteristic and determine different target types。

For being in the complex target of optical region, assume to be made up of N number of scattering center, according to radar scattering theory, radar return can regard the echo Vector modulation of multi-scattering centers as, owing to the sight angle of the relative radar of each scattering center is different, making when Vector modulation, respective relative phase change at random causes the fluctuations of echo signal amplitude, RCS value to be followed fluctuations also occur。Therefore the attitude angle of target is changed very sensitive by radar target RCS, and target RCS time series is substantially the RCS variable quantity with azimuth of target, is a relief volume, then the RCS of multi-scattering centers target is expressed as the function of azimuth of target:

Wherein, σ_iRepresent that i-th scattering center RCS, α+θ represents the azimuth of the relative millimetre-wave radar of target, R_iRepresent the relative radar center distance of i-th scattering center；λ is the parameter being manually set；

Then RCS sequence variations coefficient table is shown as:Wherein σ (k) represents the RCS value of kth time detection target, RCS serial meanSequence variations coefficient and azimuth are inputted target identification system as characteristic parameter and namely completes the identification to target。

In this embodiment, devising new millimetre-wave radar three-dimensional environment sensory perceptual system for load-carrying device, covering with scanning without dead angle of vertical direction 180 ° thus realizing front horizontal 180 °, and simple in construction economy and durability, capacity of resisting disturbance is strong；Utilize step-by-step motor to coordinate other parts to realize Automatic Control function, easy to control accurately；Feature and delay effect for new-type rotating radar system devise the correcting modules such as range measurement correcting module, horizontal sweep correcting module, vertical scanning correcting module so that the coordinate setting function of radar is more accurate, arranges T₁=2s, T₂=2.4s, the sampling interval of millimetre-wave radar is 2 °/s, and while realizing detecting without dead angle, measurement error, less than 1%, is measured time delay rate less than 0.5%, and real-time is higher；Give accurate Coordinate calculation method, provide the foundation with error control for automatically controlling；For this Novel rotary machinery, have employed new RCS fluctuation characteristic measurement apparatus so that the measurement of the RCS coefficient of variation is more accurate, and target recognition is more favourable；The size of the parts such as rotation dish, rotating shaft can be chosen as the case may be flexibly, and the suitability for various different size of load-carrying devices provides condition；Traditional light wave radar is replaced with millimetre-wave radar, decay when utilizing atmospheric window to propagate is little, affected little by nature light and heat radiation source, can road pavement carry out effectively identifying and avoiding barrier under atrocious weather situation, reliable guarantee is provided for safety traffic, have high resolution, in high precision, the superiority such as miniature antenna bore, achieve beyond thought effect。

Embodiment 2:

A kind of full-automatic wheeled load-carrying device with environment sensing ability as Figure 1-4, including load-carrying vehicle and the millimetre-wave radar three-dimensional environment sensory perceptual system being arranged on load-carrying vehicle；Millimetre-wave radar three-dimensional environment sensory perceptual system includes millimetre-wave radar 1, rotation mechanism 10, control unit 11 and data processing unit 12；Rotation mechanism bag 10 draws together the first rotating shaft 3, rotation dish 2 and the second rotating shaft 4, and the first rotating shaft 3 is vertically arranged and affixed with the center of rotation dish 2, and described first rotating shaft 3 is driven by the first motor 8 and rotates；Being driven the second rotating shaft 4 horizontal set of rotation in bearing block 5 by the second motor 9, described bearing block 5 is fixed on rotation dish 2 by the support axle 6 of 2 vertical layouts；The midpoint of described second rotating shaft 4 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, and millimetre-wave radar 1 is vertical with connecting portion 7 affixed；Self intrinsic plane of scanning motion of described millimetre-wave radar 1 is perpendicular to rotation dish 2 place plane, and sweep limits angle is ± 30 °；Described rotation dish 2 is arranging that there is otch 16 side supporting axle 6, and the straight line parallel at otch 16 place is in the straight line at the second rotating shaft 4 place, and the distance of arbitrary support axle 6 and otch 16 place straight line is less than 50mm；Described first motor 8 and the second motor 9 control each through single-chip microcomputer, single-chip microcomputer is used for receiving control command, and control command is converted into control signal is sent to motor, the goniometer simultaneously turned over according to the initial position of device and two motors calculates the current location of rotation mechanism, and the current position state of rotation mechanism 10 is fed back to data processing unit 12；Described rotation mechanism 10 entirety does the cycle back and forth movement of level 180 ° under the drive of the first motor 8 towards vehicle forward direction 18, and millimetre-wave radar 1 does the cycle back and forth movement of vertical 180 ° under the drive of the second motor 9 towards vehicle forward direction 20 simultaneously；

As shown in Figure 5, data processing unit 12 includes data acquisition subelement 13, time delay correction subelement 14 and coordinate output subelement 15, data acquisition subelement 13 receives millimetre-wave radar 1 and measures its distance value ρ with target obtained, receive vertical rotary angle α and feathering angle β that single-chip microcomputer sends simultaneously, and the scan angle theta of millimetre-wave radar 1 self, thus obtain the position of complete millimetre-wave radar data and the plane of scanning motion；As shown in Figure 5, if the reading of a certain target 17 that millimetre-wave radar 1 records is (ρ, α, β, θ), and define: α=0 ° when millimetre-wave radar 1 is horizontal, when millimetre-wave radar 1 is horizontal top, α value is for just, and it is negative that millimetre-wave radar 1 is horizontal α value during lower section；β=0 ° when the second rotating shaft 4 is vertical with load-carrying vehicle dead ahead direction, when millimetre-wave radar 1 is positioned at the right side of β=0 ° β on the occasion of, when millimetre-wave radar 1 is positioned at the left side of β=0 °, β is negative value；θ=0 ° when self scanning direction of millimetre-wave radar 1 is vertical with millimetre-wave radar 1 place plane, when self scanning direction is positioned at the top of θ=0 ° θ on the occasion of, when self scanning direction is positioned at the lower section of θ=0 °, θ is negative value。The anglec of rotation β of the first rotating shaft 3 is millimetre-wave radar 1 anglec of rotation in the horizontal direction as shown in Figure 3。

Preferably, delay effect refers to, what adopt due to this device is the technical scheme of three dimensionality dual rotary, therefore at detections of radar ripple from the process being issued to return, the position of radar has occurred that certain skew, although very short during this period of time, but when rotary speed is higher, the error of this part is still very important, and this is this device and other different places of fixed radar detecting device, it is therefore necessary to introduce special time delay correction factor。Time delay correction subelement 14 includes range measurement correcting module, horizontal sweep correcting module and vertical scanning correcting module: range measurement correcting module, measured value for the value ρ that adjusts the distance carries out for the correction of delay effect in detections of radar ripple two-way process, and the modifying factor of its output is:

When | α₁+θ₁| > | α₂+θ₂| and | β₁| > | β₂| time, illustrating that the rotation of device is towards the direction motion of impact point, the actual value now recorded is less than normal, therefore above formula adopts positive sign, now λ_ρ> 1, on the contrary adopt negative sign, now λ_ρ< 1；Simultaneously as t₁-t₂Being an only small value, therefore the concrete correction value of this correcting module depends entirely on the swing circle T of motor, rotates more fast T more little, then correction factor and 1 the absolute value of difference more big, otherwise then more little。

Vertical rotary correcting module, for carrying out for the correction of delay effect, the modifying factor of its output in detections of radar ripple two-way process vertical rotary angle αWhen | α₁| > | α₂| time, above formula takes positive sign, otherwise takes negative sign；

Horizontally rotate correcting module, for carrying out feathering angle β for the correction of delay effect, the modifying factor of its output in detections of radar ripple two-way processWhen | β₁| > | β₂| time, above formula takes positive sign, otherwise takes negative sign；

Wherein m is the maximum detectable range of millimetre-wave radar 1, and ρ≤m；For the impact on delay effect of the spacing of reaction detection target 17 and millimetre-wave radar 1, target 17 is more little the closer to millimetre-wave radar 1 then time delay, otherwise time delay is more big；T₁For the time that this target 17 detections of radar ripple is sent, t₂For detections of radar ripple return time, then | t₁-t₂| represent detections of radar ripple and travel to and fro between the time required between target 17 and millimetre-wave radar 1；T₁For the cycle that horizontally rotates of millimetre-wave radar 1, t₂Vertical swing circle for 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, the sampling interval of millimetre-wave radar is 2 °/s。

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

Wherein,

Data processing unit also includes target RCS fluctuation characteristic and measures subelement, for the RCS sequence variations coefficient of target is measured, radar cross section (RCS) value characterizes the ability of reception antenna direction target echo, can be contrasted by measurement target RCS fluctuation characteristic and determine different target types。

For being in the complex target of optical region, assume to be made up of N number of scattering center, according to radar scattering theory, radar return can regard the echo Vector modulation of multi-scattering centers as, owing to the sight angle of the relative radar of each scattering center is different, making when Vector modulation, respective relative phase change at random causes the fluctuations of echo signal amplitude, RCS value to be followed fluctuations also occur。Therefore the attitude angle of target is changed very sensitive by radar target RCS, and target RCS time series is substantially the RCS variable quantity with azimuth of target, is a relief volume, then the RCS of multi-scattering centers target is expressed as the function of azimuth of target:

Wherein, σ_iRepresent that i-th scattering center RCS, α+θ represents the azimuth of the relative millimetre-wave radar of target, R_iRepresent the relative radar center distance of i-th scattering center；λ is the parameter being manually set；

Then RCS sequence variations coefficient table is shown as:Wherein σ (k) represents the RCS value of kth time detection target, RCS serial meanSequence variations coefficient and azimuth are inputted target identification system as characteristic parameter and namely completes the identification to target。

In this embodiment, devising new millimetre-wave radar three-dimensional environment sensory perceptual system for load-carrying device, covering with scanning without dead angle of vertical direction 180 ° thus realizing front horizontal 180 °, and simple in construction economy and durability, capacity of resisting disturbance is strong；Utilize step-by-step motor to coordinate other parts to realize Automatic Control function, easy to control accurately；Feature and delay effect for new-type rotating radar system devise the correcting modules such as range measurement correcting module, horizontal sweep correcting module, vertical scanning correcting module so that the coordinate setting function of radar is more accurate, arranges T₁=2.2s, T₂=2.6s, the sampling interval of millimetre-wave radar is 1.5 °/s, and while realizing detecting without dead angle, measurement error, less than 0.8%, is measured time delay rate less than 0.4%, and real-time is higher；Give accurate Coordinate calculation method, provide the foundation with error control for automatically controlling；For this Novel rotary machinery, have employed new RCS fluctuation characteristic measurement apparatus so that the measurement of the RCS coefficient of variation is more accurate, and target recognition is more favourable；The size of the parts such as rotation dish, rotating shaft can be chosen as the case may be flexibly, and the suitability for various different size of load-carrying devices provides condition；Traditional light wave radar is replaced with millimetre-wave radar, decay when utilizing atmospheric window to propagate is little, affected little by nature light and heat radiation source, can road pavement carry out effectively identifying and avoiding barrier under atrocious weather situation, reliable guarantee is provided for safety traffic, have high resolution, in high precision, the superiority such as miniature antenna bore, achieve beyond thought effect。

Embodiment 3:

A kind of full-automatic wheeled load-carrying device with environment sensing ability as Figure 1-4, including load-carrying vehicle and the millimetre-wave radar three-dimensional environment sensory perceptual system being arranged on load-carrying vehicle；Millimetre-wave radar three-dimensional environment sensory perceptual system includes millimetre-wave radar 1, rotation mechanism 10, control unit 11 and data processing unit 12；Rotation mechanism bag 10 draws together the first rotating shaft 3, rotation dish 2 and the second rotating shaft 4, and the first rotating shaft 3 is vertically arranged and affixed with the center of rotation dish 2, and described first rotating shaft 3 is driven by the first motor 8 and rotates；Being driven the second rotating shaft 4 horizontal set of rotation in bearing block 5 by the second motor 9, described bearing block 5 is fixed on rotation dish 2 by the support axle 6 of 2 vertical layouts；The midpoint of described second rotating shaft 4 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, and millimetre-wave radar 1 is vertical with connecting portion 7 affixed；Self intrinsic plane of scanning motion of described millimetre-wave radar 1 is perpendicular to rotation dish 2 place plane, and sweep limits angle is ± 30 °；Described rotation dish 2 is arranging that there is otch 16 side supporting axle 6, and the straight line parallel at otch 16 place is in the straight line at the second rotating shaft 4 place, and the distance of arbitrary support axle 6 and otch 16 place straight line is less than 50mm；Described first motor 8 and the second motor 9 control each through single-chip microcomputer, single-chip microcomputer is used for receiving control command, and control command is converted into control signal is sent to motor, the goniometer simultaneously turned over according to the initial position of device and two motors calculates the current location of rotation mechanism, and the current position state of rotation mechanism 10 is fed back to data processing unit 12；Described rotation mechanism 10 entirety does the cycle back and forth movement of level 180 ° under the drive of the first motor 8 towards vehicle forward direction 18, and millimetre-wave radar 1 does the cycle back and forth movement of vertical 180 ° under the drive of the second motor 9 towards vehicle forward direction 20 simultaneously；

As shown in Figure 5, data processing unit 12 includes data acquisition subelement 13, time delay correction subelement 14 and coordinate output subelement 15, data acquisition subelement 13 receives millimetre-wave radar 1 and measures its distance value ρ with target obtained, receive vertical rotary angle α and feathering angle β that single-chip microcomputer sends simultaneously, and the scan angle theta of millimetre-wave radar 1 self, thus obtain the position of complete millimetre-wave radar data and the plane of scanning motion；As shown in Figure 5, if the reading of a certain target 17 that millimetre-wave radar 1 records is (ρ, α, β, θ), and define: α=0 ° when millimetre-wave radar 1 is horizontal, when millimetre-wave radar 1 is horizontal top, α value is for just, and it is negative that millimetre-wave radar 1 is horizontal α value during lower section；β=0 ° when the second rotating shaft 4 is vertical with load-carrying vehicle dead ahead direction, when millimetre-wave radar 1 is positioned at the right side of β=0 ° β on the occasion of, when millimetre-wave radar 1 is positioned at the left side of β=0 °, β is negative value；θ=0 ° when self scanning direction of millimetre-wave radar 1 is vertical with millimetre-wave radar 1 place plane, when self scanning direction is positioned at the top of θ=0 ° θ on the occasion of, when self scanning direction is positioned at the lower section of θ=0 °, θ is negative value。The anglec of rotation β of the first rotating shaft 3 is millimetre-wave radar 1 anglec of rotation in the horizontal direction as shown in Figure 3。

Preferably, delay effect refers to, what adopt due to this device is the technical scheme of three dimensionality dual rotary, therefore at detections of radar ripple from the process being issued to return, the position of radar has occurred that certain skew, although very short during this period of time, but when rotary speed is higher, the error of this part is still very important, and this is this device and other different places of fixed radar detecting device, it is therefore necessary to introduce special time delay correction factor。Time delay correction subelement 14 includes range measurement correcting module, horizontal sweep correcting module and vertical scanning correcting module: range measurement correcting module, measured value for the value ρ that adjusts the distance carries out for the correction of delay effect in detections of radar ripple two-way process, and the modifying factor of its output is:

When | α₁+θ₁| > | α₂+θ₂| and | β₁| > | β₂| time, illustrating that the rotation of device is towards the direction motion of impact point, the actual value now recorded is less than normal, therefore above formula adopts positive sign, now λ_ρ> 1, on the contrary adopt negative sign, now λ_ρ< 1；Simultaneously as t₁-t₂Being an only small value, therefore the concrete correction value of this correcting module depends entirely on the swing circle T of motor, rotates more fast T more little, then correction factor and 1 the absolute value of difference more big, otherwise then more little。

Vertical rotary correcting module, for carrying out for the correction of delay effect, the modifying factor of its output in detections of radar ripple two-way process vertical rotary angle αWhen | α₁| > | α₂| time, above formula takes positive sign, otherwise takes negative sign；

Horizontally rotate correcting module, for carrying out feathering angle β for the correction of delay effect, the modifying factor of its output in detections of radar ripple two-way processWhen | β₁| > | β₂| time, above formula takes positive sign, otherwise takes negative sign；

Wherein m is the maximum detectable range of millimetre-wave radar 1, and ρ≤m；For the impact on delay effect of the spacing of reaction detection target 17 and millimetre-wave radar 1, target 17 is more little the closer to millimetre-wave radar 1 then time delay, otherwise time delay is more big；T₁For the time that this target 17 detections of radar ripple is sent, t₂For detections of radar ripple return time, then | t₁-t₂| represent detections of radar ripple and travel to and fro between the time required between target 17 and millimetre-wave radar 1；T₁For the cycle that horizontally rotates of millimetre-wave radar 1, t₂Vertical swing circle for 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, the sampling interval of millimetre-wave radar is 2 °/s。

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

Wherein,

Data processing unit also includes target RCS fluctuation characteristic and measures subelement, for the RCS sequence variations coefficient of target is measured, radar cross section (RCS) value characterizes the ability of reception antenna direction target echo, can be contrasted by measurement target RCS fluctuation characteristic and determine different target types。

For being in the complex target of optical region, assume to be made up of N number of scattering center, according to radar scattering theory, radar return can regard the echo Vector modulation of multi-scattering centers as, owing to the sight angle of the relative radar of each scattering center is different, making when Vector modulation, respective relative phase change at random causes the fluctuations of echo signal amplitude, RCS value to be followed fluctuations also occur。Therefore the attitude angle of target is changed very sensitive by radar target RCS, and target RCS time series is substantially the RCS variable quantity with azimuth of target, is a relief volume, then the RCS of multi-scattering centers target is expressed as the function of azimuth of target:

Wherein, σ_iRepresent that i-th scattering center RCS, α+θ represents the azimuth of the relative millimetre-wave radar of target, R_iRepresent the relative radar center distance of i-th scattering center；λ is the parameter being manually set；

Then RCS sequence variations coefficient table is shown as:Wherein σ (k) represents the RCS value of kth time detection target, RCS serial meanSequence variations coefficient and azimuth are inputted target identification system as characteristic parameter and namely completes the identification to target。

In this embodiment, devising new millimetre-wave radar three-dimensional environment sensory perceptual system for load-carrying device, covering with scanning without dead angle of vertical direction 180 ° thus realizing front horizontal 180 °, and simple in construction economy and durability, capacity of resisting disturbance is strong；Utilize step-by-step motor to coordinate other parts to realize Automatic Control function, easy to control accurately；Feature and delay effect for new-type rotating radar system devise the correcting modules such as range measurement correcting module, horizontal sweep correcting module, vertical scanning correcting module so that the coordinate setting function of radar is more accurate, arranges T₁=2.4s, T₂=2.7s, the sampling interval of millimetre-wave radar is 1.8 °/s, and while realizing detecting without dead angle, measurement error, less than 0.7%, is measured time delay rate less than 0.4%, and real-time is higher；Give accurate Coordinate calculation method, provide the foundation with error control for automatically controlling；For this Novel rotary machinery, have employed new RCS fluctuation characteristic measurement apparatus so that the measurement of the RCS coefficient of variation is more accurate, and target recognition is more favourable；The size of the parts such as rotation dish, rotating shaft can be chosen as the case may be flexibly, and the suitability for various different size of load-carrying devices provides condition；Traditional light wave radar is replaced with millimetre-wave radar, decay when utilizing atmospheric window to propagate is little, affected little by nature light and heat radiation source, can road pavement carry out effectively identifying and avoiding barrier under atrocious weather situation, reliable guarantee is provided for safety traffic, have high resolution, in high precision, the superiority such as miniature antenna bore, achieve beyond thought effect。

Embodiment 4:

A kind of full-automatic wheeled load-carrying device with environment sensing ability as Figure 1-4, including load-carrying vehicle and the millimetre-wave radar three-dimensional environment sensory perceptual system being arranged on load-carrying vehicle；Millimetre-wave radar three-dimensional environment sensory perceptual system includes millimetre-wave radar 1, rotation mechanism 10, control unit 11 and data processing unit 12；Rotation mechanism bag 10 draws together the first rotating shaft 3, rotation dish 2 and the second rotating shaft 4, and the first rotating shaft 3 is vertically arranged and affixed with the center of rotation dish 2, and described first rotating shaft 3 is driven by the first motor 8 and rotates；Being driven the second rotating shaft 4 horizontal set of rotation in bearing block 5 by the second motor 9, described bearing block 5 is fixed on rotation dish 2 by the support axle 6 of 2 vertical layouts；The midpoint of described second rotating shaft 4 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, and millimetre-wave radar 1 is vertical with connecting portion 7 affixed；Self intrinsic plane of scanning motion of described millimetre-wave radar 1 is perpendicular to rotation dish 2 place plane, and sweep limits angle is ± 30 °；Described rotation dish 2 is arranging that there is otch 16 side supporting axle 6, and the straight line parallel at otch 16 place is in the straight line at the second rotating shaft 4 place, and the distance of arbitrary support axle 6 and otch 16 place straight line is less than 50mm；Described first motor 8 and the second motor 9 control each through single-chip microcomputer, single-chip microcomputer is used for receiving control command, and control command is converted into control signal is sent to motor, the goniometer simultaneously turned over according to the initial position of device and two motors calculates the current location of rotation mechanism, and the current position state of rotation mechanism 10 is fed back to data processing unit 12；Described rotation mechanism 10 entirety does the cycle back and forth movement of level 180 ° under the drive of the first motor 8 towards vehicle forward direction 18, and millimetre-wave radar 1 does the cycle back and forth movement of vertical 180 ° under the drive of the second motor 9 towards vehicle forward direction 20 simultaneously；

As shown in Figure 5, data processing unit 12 includes data acquisition subelement 13, time delay correction subelement 14 and coordinate output subelement 15, data acquisition subelement 13 receives millimetre-wave radar 1 and measures its distance value ρ with target obtained, receive vertical rotary angle α and feathering angle β that single-chip microcomputer sends simultaneously, and the scan angle theta of millimetre-wave radar 1 self, thus obtain the position of complete millimetre-wave radar data and the plane of scanning motion；As shown in Figure 5, if the reading of a certain target 17 that millimetre-wave radar 1 records is (ρ, α, β, θ), and define: α=0 ° when millimetre-wave radar 1 is horizontal, when millimetre-wave radar 1 is horizontal top, α value is for just, and it is negative that millimetre-wave radar 1 is horizontal α value during lower section；β=0 ° when the second rotating shaft 4 is vertical with load-carrying vehicle dead ahead direction, when millimetre-wave radar 1 is positioned at the right side of β=0 ° β on the occasion of, when millimetre-wave radar 1 is positioned at the left side of β=0 °, β is negative value；θ=0 ° when self scanning direction of millimetre-wave radar 1 is vertical with millimetre-wave radar 1 place plane, when self scanning direction is positioned at the top of θ=0 ° θ on the occasion of, when self scanning direction is positioned at the lower section of θ=0 °, θ is negative value。The anglec of rotation β of the first rotating shaft 3 is millimetre-wave radar 1 anglec of rotation in the horizontal direction as shown in Figure 3。

Preferably, delay effect refers to, what adopt due to this device is the technical scheme of three dimensionality dual rotary, therefore at detections of radar ripple from the process being issued to return, the position of radar has occurred that certain skew, although very short during this period of time, but when rotary speed is higher, the error of this part is still very important, and this is this device and other different places of fixed radar detecting device, it is therefore necessary to introduce special time delay correction factor。Time delay correction subelement 14 includes range measurement correcting module, horizontal sweep correcting module and vertical scanning correcting module: range measurement correcting module, measured value for the value ρ that adjusts the distance carries out for the correction of delay effect in detections of radar ripple two-way process, and the modifying factor of its output is:

When | α₁+θ₁| > | α₂+θ₂| and | β₁| > | β₂| time, illustrating that the rotation of device is towards the direction motion of impact point, the actual value now recorded is less than normal, therefore above formula adopts positive sign, now λ_ρ> 1, on the contrary adopt negative sign, now λ_ρ< 1；Simultaneously as t₁-t₂Being an only small value, therefore the concrete correction value of this correcting module depends entirely on the swing circle T of motor, rotates more fast T more little, then correction factor and 1 the absolute value of difference more big, otherwise then more little。

Vertical rotary correcting module, for carrying out for the correction of delay effect, the modifying factor of its output in detections of radar ripple two-way process vertical rotary angle αWhen | α₁| > | α₂| time, above formula takes positive sign, otherwise takes negative sign；

Horizontally rotate correcting module, for carrying out feathering angle β for the correction of delay effect, the modifying factor of its output in detections of radar ripple two-way processWhen | β₁| > | β₂| time, above formula takes positive sign, otherwise takes negative sign；

Wherein m is the maximum detectable range of millimetre-wave radar 1, and ρ≤m；For the impact on delay effect of the spacing of reaction detection target 17 and millimetre-wave radar 1, target 17 is more little the closer to millimetre-wave radar 1 then time delay, otherwise time delay is more big；T₁For the time that this target 17 detections of radar ripple is sent, t₂For detections of radar ripple return time, then | t₁-t₂| represent detections of radar ripple and travel to and fro between the time required between target 17 and millimetre-wave radar 1；T₁For the cycle that horizontally rotates of millimetre-wave radar 1, t₂Vertical swing circle for 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, the sampling interval of millimetre-wave radar is 2 °/s。

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

Wherein,

Data processing unit also includes target RCS fluctuation characteristic and measures subelement, for the RCS sequence variations coefficient of target is measured, radar cross section (RCS) value characterizes the ability of reception antenna direction target echo, can be contrasted by measurement target RCS fluctuation characteristic and determine different target types。

For being in the complex target of optical region, assume to be made up of N number of scattering center, according to radar scattering theory, radar return can regard the echo Vector modulation of multi-scattering centers as, owing to the sight angle of the relative radar of each scattering center is different, making when Vector modulation, respective relative phase change at random causes the fluctuations of echo signal amplitude, RCS value to be followed fluctuations also occur。Therefore the attitude angle of target is changed very sensitive by radar target RCS, and target RCS time series is substantially the RCS variable quantity with azimuth of target, is a relief volume, then the RCS of multi-scattering centers target is expressed as the function of azimuth of target:

Wherein, σ_iRepresent that i-th scattering center RCS, α+θ represents the azimuth of the relative millimetre-wave radar of target, R_iRepresent the relative radar center distance of i-th scattering center；λ is the parameter being manually set；

Then RCS sequence variations coefficient table is shown as:Wherein σ (k) represents the RCS value of kth time detection target, RCS serial meanSequence variations coefficient and azimuth are inputted target identification system as characteristic parameter and namely completes the identification to target。

In this embodiment, devising new millimetre-wave radar three-dimensional environment sensory perceptual system for load-carrying device, covering with scanning without dead angle of vertical direction 180 ° thus realizing front horizontal 180 °, and simple in construction economy and durability, capacity of resisting disturbance is strong；Utilize step-by-step motor to coordinate other parts to realize Automatic Control function, easy to control accurately；Feature and delay effect for new-type rotating radar system devise the correcting modules such as range measurement correcting module, horizontal sweep correcting module, vertical scanning correcting module so that the coordinate setting function of radar is more accurate, arranges T₁=2.5s, T₂=2.8s, the sampling interval of millimetre-wave radar is 1.3 °/s。While realizing detecting without dead angle, measurement error, less than 0.6%, is measured time delay rate less than 0.3%, and real-time is higher；Give accurate Coordinate calculation method, provide the foundation with error control for automatically controlling；For this Novel rotary machinery, have employed new RCS fluctuation characteristic measurement apparatus so that the measurement of the RCS coefficient of variation is more accurate, and target recognition is more favourable；The size of the parts such as rotation dish, rotating shaft can be chosen as the case may be flexibly, and the suitability for various different size of load-carrying devices provides condition；Traditional light wave radar is replaced with millimetre-wave radar, decay when utilizing atmospheric window to propagate is little, affected little by nature light and heat radiation source, can road pavement carry out effectively identifying and avoiding barrier under atrocious weather situation, reliable guarantee is provided for safety traffic, have high resolution, in high precision, the superiority such as miniature antenna bore, achieve beyond thought effect。

Embodiment 5:

A kind of full-automatic wheeled load-carrying device with environment sensing ability as Figure 1-4, including load-carrying vehicle and the millimetre-wave radar three-dimensional environment sensory perceptual system being arranged on load-carrying vehicle；Millimetre-wave radar three-dimensional environment sensory perceptual system includes millimetre-wave radar 1, rotation mechanism 10, control unit 11 and data processing unit 12；Rotation mechanism bag 10 draws together the first rotating shaft 3, rotation dish 2 and the second rotating shaft 4, and the first rotating shaft 3 is vertically arranged and affixed with the center of rotation dish 2, and described first rotating shaft 3 is driven by the first motor 8 and rotates；Being driven the second rotating shaft 4 horizontal set of rotation in bearing block 5 by the second motor 9, described bearing block 5 is fixed on rotation dish 2 by the support axle 6 of 2 vertical layouts；The midpoint of described second rotating shaft 4 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, and millimetre-wave radar 1 is vertical with connecting portion 7 affixed；Self intrinsic plane of scanning motion of described millimetre-wave radar 1 is perpendicular to rotation dish 2 place plane, and sweep limits angle is ± 30 °；Described rotation dish 2 is arranging that there is otch 16 side supporting axle 6, and the straight line parallel at otch 16 place is in the straight line at the second rotating shaft 4 place, and the distance of arbitrary support axle 6 and otch 16 place straight line is less than 50mm；Described first motor 8 and the second motor 9 control each through single-chip microcomputer, single-chip microcomputer is used for receiving control command, and control command is converted into control signal is sent to motor, the goniometer simultaneously turned over according to the initial position of device and two motors calculates the current location of rotation mechanism, and the current position state of rotation mechanism 10 is fed back to data processing unit 12；Described rotation mechanism 10 entirety does the cycle back and forth movement of level 180 ° under the drive of the first motor 8 towards vehicle forward direction 18, and millimetre-wave radar 1 does the cycle back and forth movement of vertical 180 ° under the drive of the second motor 9 towards vehicle forward direction 20 simultaneously；

As shown in Figure 5, data processing unit 12 includes data acquisition subelement 13, time delay correction subelement 14 and coordinate output subelement 15, data acquisition subelement 13 receives millimetre-wave radar 1 and measures its distance value ρ with target obtained, receive vertical rotary angle α and feathering angle β that single-chip microcomputer sends simultaneously, and the scan angle theta of millimetre-wave radar 1 self, thus obtain the position of complete millimetre-wave radar data and the plane of scanning motion；As shown in Figure 5, if the reading of a certain target 17 that millimetre-wave radar 1 records is (ρ, α, β, θ), and define: α=0 ° when millimetre-wave radar 1 is horizontal, when millimetre-wave radar 1 is horizontal top, α value is for just, and it is negative that millimetre-wave radar 1 is horizontal α value during lower section；β=0 ° when the second rotating shaft 4 is vertical with load-carrying vehicle dead ahead direction, when millimetre-wave radar 1 is positioned at the right side of β=0 ° β on the occasion of, when millimetre-wave radar 1 is positioned at the left side of β=0 °, β is negative value；θ=0 ° when self scanning direction of millimetre-wave radar 1 is vertical with millimetre-wave radar 1 place plane, when self scanning direction is positioned at the top of θ=0 ° θ on the occasion of, when self scanning direction is positioned at the lower section of θ=0 °, θ is negative value。The anglec of rotation β of the first rotating shaft 3 is millimetre-wave radar 1 anglec of rotation in the horizontal direction as shown in Figure 3。

Preferably, delay effect refers to, what adopt due to this device is the technical scheme of three dimensionality dual rotary, therefore at detections of radar ripple from the process being issued to return, the position of radar has occurred that certain skew, although very short during this period of time, but when rotary speed is higher, the error of this part is still very important, and this is this device and other different places of fixed radar detecting device, it is therefore necessary to introduce special time delay correction factor。Time delay correction subelement 14 includes range measurement correcting module, horizontal sweep correcting module and vertical scanning correcting module: range measurement correcting module, measured value for the value ρ that adjusts the distance carries out for the correction of delay effect in detections of radar ripple two-way process, and the modifying factor of its output is:

When | α₁+θ₁| > | α₂+θ₂| and | β₁| > | β₂| time, illustrating that the rotation of device is towards the direction motion of impact point, the actual value now recorded is less than normal, therefore above formula adopts positive sign, now λ_ρ> 1, on the contrary adopt negative sign, now λ_ρ< 1；Simultaneously as t₁-t₂Being an only small value, therefore the concrete correction value of this correcting module depends entirely on the swing circle T of motor, rotates more fast T more little, then correction factor and 1 the absolute value of difference more big, otherwise then more little。

Vertical rotary correcting module, for carrying out for the correction of delay effect, the modifying factor of its output in detections of radar ripple two-way process vertical rotary angle αWhen | α₁| > | α₂| time, above formula takes positive sign, otherwise takes negative sign；

Horizontally rotate correcting module, for carrying out feathering angle β for the correction of delay effect, the modifying factor of its output in detections of radar ripple two-way processWhen | β₁| > | β₂| time, above formula takes positive sign, otherwise takes negative sign；

Wherein m is the maximum detectable range of millimetre-wave radar 1, and ρ≤m；For the impact on delay effect of the spacing of reaction detection target 17 and millimetre-wave radar 1, target 17 is more little the closer to millimetre-wave radar 1 then time delay, otherwise time delay is more big；T₁For the time that this target 17 detections of radar ripple is sent, t₂For detections of radar ripple return time, then | t₁-t₂| represent detections of radar ripple and travel to and fro between the time required between target 17 and millimetre-wave radar 1；T₁For the cycle that horizontally rotates of millimetre-wave radar 1, t₂Vertical swing circle for 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, the sampling interval of millimetre-wave radar is 2 °/s。

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

Wherein,

Data processing unit also includes target RCS fluctuation characteristic and measures subelement, for the RCS sequence variations coefficient of target is measured, radar cross section (RCS) value characterizes the ability of reception antenna direction target echo, can be contrasted by measurement target RCS fluctuation characteristic and determine different target types。

For being in the complex target of optical region, assume to be made up of N number of scattering center, according to radar scattering theory, radar return can regard the echo Vector modulation of multi-scattering centers as, owing to the sight angle of the relative radar of each scattering center is different, making when Vector modulation, respective relative phase change at random causes the fluctuations of echo signal amplitude, RCS value to be followed fluctuations also occur。Therefore the attitude angle of target is changed very sensitive by radar target RCS, and target RCS time series is substantially the RCS variable quantity with azimuth of target, is a relief volume, then the RCS of multi-scattering centers target is expressed as the function of azimuth of target:

Wherein, σ_iRepresent that i-th scattering center RCS, α+θ represents the azimuth of the relative millimetre-wave radar of target, R_iRepresent the relative radar center distance of i-th scattering center；λ is the parameter being manually set；

Then RCS sequence variations coefficient table is shown as:Wherein σ (k) represents the RCS value of kth time detection target, RCS serial meanSequence variations coefficient and azimuth are inputted target identification system as characteristic parameter and namely completes the identification to target。

In this embodiment, devising new millimetre-wave radar three-dimensional environment sensory perceptual system for load-carrying device, covering with scanning without dead angle of vertical direction 180 ° thus realizing front horizontal 180 °, and simple in construction economy and durability, capacity of resisting disturbance is strong；Utilize step-by-step motor to coordinate other parts to realize Automatic Control function, easy to control accurately；Feature and delay effect for new-type rotating radar system devise the correcting modules such as range measurement correcting module, horizontal sweep correcting module, vertical scanning 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 is 1.2 °/s, and while realizing detecting without dead angle, measurement error, less than 0.5%, is measured time delay rate less than 0.2%, and real-time is higher；Give accurate Coordinate calculation method, provide the foundation with error control for automatically controlling；For this Novel rotary machinery, have employed new RCS fluctuation characteristic measurement apparatus so that the measurement of the RCS coefficient of variation is more accurate, and target recognition is more favourable；The size of the parts such as rotation dish, rotating shaft can be chosen as the case may be flexibly, and the suitability for various different size of load-carrying devices provides condition；Traditional light wave radar is replaced with millimetre-wave radar, decay when utilizing atmospheric window to propagate is little, affected little by nature light and heat radiation source, can road pavement carry out effectively identifying and avoiding barrier under atrocious weather situation, reliable guarantee is provided for safety traffic, have high resolution, in high precision, the superiority such as miniature antenna bore, achieve beyond thought effect。

Finally should be noted that; above example is only in order to illustrate technical scheme; but not limiting the scope of the invention; although having made to explain to the present invention with reference to preferred embodiment; it will be understood by those within the art that; technical scheme can be modified or equivalent replacement, without deviating from the spirit and scope of technical solution of the present invention。

Claims (2)

1. there is a full-automatic wheeled load-carrying device for environment sensing ability, it is characterized in that, including load-carrying vehicle and the millimetre-wave radar three-dimensional environment sensory perceptual system being arranged on load-carrying vehicle；Millimetre-wave radar three-dimensional environment sensory perceptual system includes millimetre-wave radar, rotation mechanism, control unit and data processing unit；Rotation mechanism includes the first rotating shaft, rotation dish and the second rotating shaft, and the first rotating shaft is vertically arranged and affixed with the center of rotation dish, and described first rotating shaft is rotated by the first step motor drive；The second rotation axis horizontal rotated by the second step motor drive is sleeved in bearing block, and described bearing block is affixed on the rotating pan by the support axle of 2 vertical layouts；The midpoint of described second rotating shaft is provided with connecting portion, and described connecting portion is perpendicular to the second rotating shaft and one-body molded with the second rotating shaft, and millimetre-wave radar is vertical with connecting portion affixed；Self intrinsic plane of scanning motion of described millimetre-wave radar is perpendicular to rotation dish place plane, and sweep limits angle is ± 30 °；Described rotation dish is arranging that there is otch the side supporting axle, and the straight line parallel at otch place is in the straight line at the second rotating shaft place, and the distance of arbitrary support axle and otch place straight line is less than 50mm；Described first motor and the second motor control each through single-chip microcomputer, single-chip microcomputer is used for receiving control command, and control command is converted into control signal is sent to motor, the goniometer simultaneously turned over according to the initial position of device and two motors calculates the current location of rotation mechanism, and the current position state of rotation mechanism is fed back to data processing unit；Described rotation mechanism entirety does the cycle back and forth movement of level 180 ° under the drive of the first motor towards vehicle forward direction, and millimetre-wave radar does the cycle back and forth movement of vertical 180 ° under the drive of the second motor towards vehicle forward direction simultaneously；

Data processing unit includes data acquisition subelement, time delay correction subelement and coordinate output subelement；Data acquisition subelement receives its distance value ρ with target that millimetre-wave radar measurements obtains, and receives the vertical rotary angle α and feathering angle β of single-chip microcomputer transmission and self scan angle theta of millimetre-wave radar simultaneously；If the reading of a certain target is (ρ by laser radar, α, β, θ), and defining: α=0 ° when radar is horizontal, when radar is horizontal top, α value is for just, it is negative that radar is horizontal α value during lower section, β=0 ° when the second rotating shaft is vertical with load-carrying vehicle dead ahead direction, when radar is positioned at the right side of β=0 ° β on the occasion of, when radar is positioned at the left side of β=0 °, β is negative value；θ=0 ° when self scanning direction of millimetre-wave radar is vertical with millimetre-wave radar place plane, when self scanning direction is positioned at the top of θ=0 ° θ on the occasion of, when self scanning direction is positioned at the lower section of θ=0 °, θ is negative value。

2. a kind of full-automatic wheeled load-carrying device with environment sensing ability according to claim 1, it is characterized in that, time delay correction subelement includes range measurement correcting module, horizontal sweep correcting module and vertical scanning correcting module: range measurement correcting module, measured value for the value ρ that adjusts the distance carries out for the correction of delay effect in detections of radar ripple two-way process, and the modifying factor of its output is:

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

Vertical rotary correcting module, for carrying out for the correction of delay effect, the modifying factor of its output in detections of radar ripple two-way process vertical rotary angle αWhen | α₁| > | α₂| time, above formula takes positive sign, otherwise takes negative sign；

Horizontally rotate correcting module, for carrying out feathering angle β for the correction of delay effect, the modifying factor of its output in detections of radar ripple two-way processWhen | β₁| > | β₂| time, above formula takes positive sign, otherwise takes negative sign；

Wherein m is the maximum detectable range of millimetre-wave radar, and ρ≤m；For the impact on delay effect of the spacing of reaction detection target and millimetre-wave radar, target is more little the closer to radar then time delay, otherwise time delay is more big；T₁For this target radar is detected the time that ripple sends, t₂For the time that detections of radar ripple returns；| t₁-t₂| represent detections of radar ripple and travel to and fro between the time required between target and radar；T₁For the cycle that horizontally rotates of millimetre-wave radar, T₂Vertical swing circle for millimetre-wave radar；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, the sampling interval of millimetre-wave radar is 2 °/s；

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

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

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 includes target RCS fluctuation characteristic and measures subelement, for the RCS sequence variations coefficient of target is measured:

For being in the complex target of optical region, it is assumed that be made up of N number of scattering center, then the RCS of multi-scattering centers target is expressed as 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 that i-th scattering center RCS, α+θ represents the azimuth of the relative millimetre-wave radar of target, R_iRepresent the relative radar center distance of i-th scattering center；λ is the parameter being manually set；

Then RCS sequence variations coefficient table is shown as:Wherein σ (k) represents the RCS value of kth time detection target, RCS serial mean