CN105739541B - A kind of intelligent article sorter with identification function - Google Patents
A kind of intelligent article sorter with identification function Download PDFInfo
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- CN105739541B CN105739541B CN201610089449.9A CN201610089449A CN105739541B CN 105739541 B CN105739541 B CN 105739541B CN 201610089449 A CN201610089449 A CN 201610089449A CN 105739541 B CN105739541 B CN 105739541B
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Abstract
The invention discloses a kind of intelligent article sorter with identification function, the millimetre-wave radar three-dimensional environment sensory perceptual system including apparatus for sorting article and on apparatus for sorting article；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 intelligent article sorter is simple and practical in structure, can realize front article Accurate classification identification.
Description
Technical field
The present invention relates to taxonomy of goods fields, and in particular to a kind of intelligent article sorter with identification function.
Background technology
The major function of intelligent environment sensory perceptual system is to obtain surrounding enviroment information by sensor, and surrounding objects are carried out
Recognition and tracking (including dynamic and static-obstacle thing) etc..
Intelligent article sorter sets intelligent environment sensory perceptual system to improve its classification capacity, multifunction on it
Etc. comprehensive performances be current inevitable development trend.But often there is perception dimension deficiency, meter in present context aware systems
Calculate the problems such as precision is not high, real-time is not strong.
Invention content
In view of the above-mentioned problems, the present invention provides a kind of intelligent article sorter with identification function.
The purpose of the present invention is realized using following technical scheme：
A kind of intelligent article sorter with identification function is filled including apparatus for sorting article and mounted on taxonomy of goods
The millimetre-wave radar three-dimensional environment sensory perceptual system put；Millimetre-wave radar three-dimensional environment sensory perceptual system includes millimetre-wave radar, rotation
Turn mechanical device, control unit and data processing unit；Rotation mechanism includes the first rotary shaft, rotating disk and the second rotation
Axis, the first rotary shaft vertically arrangement and it is affixed with the center of rotating disk, first rotary shaft is driven by the first stepper motor
Rotation；It is sleeved in bearing block by the second rotation axis horizontal of the second stepper motor driving rotation, 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
It is directly 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
Itself the intrinsic plane of scanning motion reached is perpendicular to plane where rotating disk, and scanning range angle is ± 30 °；The rotating disk is being arranged
There is notch in the side of support shaft, and the straight line parallel where notch 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 microcontroller, single
Piece machine is for receiving control command, and signal is sent to motor, while according to the initial of device in order to control by control command conversion
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 it is whole under the drive of the first stepper motor forward
The period back and forth movement of 180 ° of level does in side, while millimetre-wave radar face forward under the drive of the second stepper motor is done vertically
180 ° of period back and forth movement；
Data processing unit includes data acquisition unit, delay revise subelemen and coordinate output subelement；Data are adopted
Collection subelement receives its distance value ρ with target that millimetre-wave radar measurement obtains, while receives the vertical rotation of microcontroller transmission
Corner α and horizontal rotation angle beta and itself scan angle theta of millimetre-wave radar；If millimetre-wave radar is to the reading of a certain target
(ρ, α, β, θ), and define：α=0 ° when radar is horizontal, α values is just when radar is horizontal top, thunder
Be negative up to α values when being horizontal lower section, when the second rotary shaft and intelligent article sorter front direction are vertical β=
0 °, β is positive value when radar is located at the right side of β=0 °, and β is negative value when radar is located at the left side of β=0 °；Work as millimetre-wave radar
Itself scanning direction and millimetre-wave radar where plane it is vertical when θ=0 °, when itself scanning direction is located at the top of θ=0 °
θ is positive value, and θ is negative value when itself scanning direction is located at the lower section of θ=0 °；
Preferably, delay revise subelemen includes range measurement correcting module, horizontal sweep correcting module and vertical scanning
Correcting module：Range measurement correcting module is carried out for the measured value for the value ρ that adjusts the distance for prolonging in detections of radar wave two-way process
The amendment of Shi Xiaoying, the modifying factor of output are：
When | α1+θ1| ＞ | α2+θ2| and | β1| ＞ | β2| when, above formula takes positive sign, otherwise takes negative sign；
Vertical scanning correcting module, for carrying out imitating for being delayed in detections of radar wave two-way process to vertical rotary angle α
The amendment answered, the modifying factor of outputWhen | α1| ＞ | α2| when, above formula takes positive sign, otherwise takes
Negative sign；
Horizontal sweep correcting module, for rotating horizontally angle beta imitate for being delayed in detections of radar wave two-way process
The amendment answered, the modifying factor of outputWhen | β1| ＞ | β2| when, above formula takes positive sign, otherwise
Take negative sign；
Maximum detectable ranges of the wherein m for millimetre-wave radar, and ρ≤m；For reaction detection target and millimeter wave thunder
Influence of the distance to delay effect between reaching, target be then delayed closer to radar it is smaller, otherwise delay it is bigger；t1For to the target
The time that detections of radar wave is sent out, t2The time returned for detections of radar wave；|t1-t2| it represents detections of radar wave and travels to and fro between mesh
Time needed between mark and radar；T1For the horizontal rotation period of millimetre-wave radar, T2Vertical revolution for millimetre-wave radar
Phase；α1For t1When α values, α2For t2When α values；β1For t1When β value, β2For t2When β value；θ1For t1When θ values, θ2For t2When
θ values；T1=2s, T2=2.4s, the sampling interval of millimetre-wave radar is 2 °/s；
Coordinate exports subelement：The object space coordinate exported after being delayed revise subelemen amendment is：
Wherein,
Data processing unit further includes target RCS fluctuation characteristics and measures subelement, for the RCS sequence variations system to target
Number measures：
For being in the complex target of optical region, it is assumed that be made of N number of scattering center, then multi-scattering centers targets
RCS is expressed as the function of azimuth of target：
Wherein, σiRepresent that i-th of scattering center RCS, α+θ represents target with respect to the azimuth of millimetre-wave radar, RiRepresent the
I scattering center is with respect to radar center distance；λ is the parameter being manually set；
Then RCS sequence variations coefficient is expressed as：Wherein σ (k) represents kth time detection
The RCS values of target, RCS serial means
This intelligent article sorter has the beneficial effect that：New millimetre-wave radar three-dimensional environment sensory perceptual system is devised,
It is covered, and economy and durability simple in structure so as to fulfill 180 ° of front horizontal and being scanned without dead angle for 180 ° of vertical direction, it is anti-interference
Ability is strong；Other components is coordinated to realize Automatic Control function using step-by-step motor, it is easy to control accurate；For new-type rotation
The characteristics of turning radar system and delay effect devise range measurement correcting module, horizontal sweep correcting module, vertical scanning
The correcting modules such as correcting module so that the coordinate setting function of radar is more accurate, and real-time is stronger；Give accurate coordinate
Computational methods provide the foundation to automatically control with control errors；For the Novel rotary mechanical device, new RCS is employed
Fluctuation characteristic measuring device so that the measurement of the RCS coefficient of variation is more accurate, more advantageous to target identification；Rotating disk, rotary shaft
Wait the size of components that can flexibly choose as the case may be, the applicability for various different size of intelligent article sorters carries
Condition is supplied.
Description of the drawings
Using attached drawing, the invention will be further described, but the embodiment in attached drawing does not form any limit to the present invention
System, for those of ordinary skill in the art, without creative efforts, can also obtain according to the following drawings
Other attached drawings.
Fig. 1 is a kind of structure diagram of the intelligent article sorter with identification function；
Fig. 2 is the structure diagram of rotation mechanism；
Fig. 3 is millimetre-wave radar itself scanning schematic diagram；
Schematic diagram when Fig. 4 is detections of radar target；
Fig. 5 is the structure diagram of data processing unit.
Reference numeral：Millimetre-wave radar -1；Rotating disk -2；First rotary shaft -3；Second rotary shaft -4；Bearing block -5；Branch
Support axis -6；Connecting portion -7；First stepper motor -8；Second stepper motor -9；Rotation mechanism -10；Control unit -11；Number
According to processing unit -12；Data acquisition unit 13；Be delayed revise subelemen -14；Coordinate exports subelement -15；Notch -16；Mesh
Mark -17；Front -18.
Specific embodiment
The invention will be further described with the following Examples.
Embodiment 1：
A kind of intelligent article sorter with identification function as shown in Figs 1-4, including apparatus for sorting article and peace
Millimetre-wave radar three-dimensional environment sensory perceptual system on apparatus for sorting article；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 packet 10 includes first
Rotary shaft 3,2 and second rotary shaft 4 of rotating disk, the first rotary shaft 3 arrangement and affixed with the center of rotating disk 2 vertically, described the
One rotary shaft 3 is driven by the first stepper motor 8 to be rotated；The horizontal set of the second rotary shaft 4 of rotation is driven by the second stepper motor 9
In bearing block 5, the bearing block 5 is fixed in by 2 support shafts arranged vertically 6 in rotating disk 2；Second rotation
The midpoint of axis 4 is provided with connecting portion 7, and the connecting portion 7 is integrally formed perpendicular to the second rotary shaft 4 and with the second rotary shaft 4,
Millimetre-wave radar 1 is vertical with connecting portion 7 affixed；Itself intrinsic plane of scanning motion of the millimetre-wave radar 1 is perpendicular to 2 institute of rotating disk
In plane, and scanning range angle is ± 30 °；The rotating disk 2 has notch 16,16 place of notch in the side of arrangement support shaft 6
Straight line parallel in the straight line where the second rotary shaft 4, and any support shaft 6 and the distance of 16 place straight line of notch are less than
50mm；First stepper motor, 8 and second stepper motor 9 is controlled by microcontroller, and microcontroller is ordered for receiving control
It enables, and signal is sent to motor, while according to the initial position of device and two stepper motors in order to control by control command conversion
The goniometer turned over calculates the current location of rotation mechanism, and the current position state of rotation mechanism 10 is fed back to
Data processing unit 12；The whole face forward 18 under the drive of the first stepper motor 8 of the rotation mechanism 10 does level
180 ° of period back and forth movement, while the face forward 20 under the drive of the second stepper motor 9 of millimetre-wave radar 1 does vertical 180 °
Period back and forth movement；
As shown in figure 5, data processing unit 12 is defeated including data acquisition unit 13, delay revise subelemen 14 and coordinate
Go out subelement 15, data acquisition unit 13 receives millimetre-wave radar 1 and measures its obtained distance value ρ with target, connects simultaneously
The vertical rotary angle α and rotate horizontally angle beta and millimetre-wave radar 1 scan angle theta of itself that microcontroller sends are received, so as to obtain
The position of complete millimetre-wave radar data and the plane of scanning motion；As shown in figure 5, set a certain target 17 that millimetre-wave radar 1 measures
Reading for (ρ, α, β, θ), and define：α=0 ° when millimetre-wave radar 1 is horizontal, when millimetre-wave radar 1 is in water
α values are just, α values are negative when millimetre-wave radar 1 is horizontal lower section when prosposition puts top；When the second rotary shaft 4 and intelligence
β=0 ° when direction is vertical immediately ahead of apparatus for sorting article, β is positive value when millimetre-wave radar 1 is located at the right side of β=0 °, when in the least
β is negative value when metre wave radar 1 is located at the left side of β=0 °；When itself scanning direction of millimetre-wave radar 1 and 1 institute of millimetre-wave radar
θ=0 ° when plane is vertical, θ is positive value when itself scanning direction is located at the top of θ=0 °, when itself scanning direction is located at θ
θ is negative value during=0 ° of lower section.As shown in Figure 3 the rotation angle β of the first rotary shaft 3 be millimetre-wave radar 1 in the horizontal direction
Rotation angle.
Preferably, delay effect refers to, since the present apparatus is using the technical solution of three dimensionality dual rotary, in thunder
Up to detection wave during be issued to return, the position of radar has occurred that certain offset, although this period is very short,
But when rotary speed is higher, the error of this part is still very important, this is that the present apparatus is filled with the detection of other fixed radars
Put different place, it is therefore necessary to introduce dedicated delay correction factor.Delay revise subelemen 14 is repaiied including range measurement
Positive module, horizontal sweep correcting module and vertical scanning correcting module：Range measurement correcting module, for the survey for the value ρ that adjusts the distance
Magnitude carries out the amendment for delay effect in detections of radar wave two-way process, and the modifying factor of output is：
When | α1+θ1| ＞ | α2+θ2| and | β1| ＞ | β2| when, illustrate that the rotation of device is towards the direction movement of target point
, the actual value measured at this time is less than normal, therefore above formula uses positive sign, at this time λρ＞ 1, otherwise using negative sign, at this time λρ＜ 1；Meanwhile
Due to t1-t2It is the value of a very little, therefore the specific correction value of this correcting module depends entirely on the swing circle T of motor, rotation
Turn faster T it is smaller, then correction factor with 1 absolute value of the difference it is bigger, it is on the contrary then smaller.
Vertical scanning correcting module, for carrying out imitating for being delayed in detections of radar wave two-way process to vertical rotary angle α
The amendment answered, the modifying factor of outputWhen | α1| ＞ | α2| when, above formula takes positive sign, otherwise takes
Negative sign；
Horizontal sweep correcting module, for rotating horizontally angle beta imitate for being delayed in detections of radar wave two-way process
The amendment answered, the modifying factor of outputWhen | β1| ＞ | β2| when, above formula takes positive sign, otherwise
Take negative sign；
Maximum detectable ranges of the wherein m for millimetre-wave radar 1, and ρ≤m；For reaction detection target 17 and millimeter
Influence of the distance to delay effect between wave 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 out to the 17 detections of radar wave of target, t2For detections of radar wave return time, then | t1-t2| it represents
Detections of radar wave travels to and fro between the time required between target 17 and millimetre-wave radar 1；t1Horizontal rotation week for millimetre-wave radar 1
Phase, t2Vertical swing circle for millimetre-wave radar 1；α1For t1When α values, α2For t2When α values；β1For t1When β value, β2For
t2When β value；θ1For t1When θ values, θ2For t2When θ values；T1=2s, T2=2.4s, sampling interval of millimetre-wave radar for 2 °/
s。
Coordinate exports subelement 15：The object space coordinate exported after being delayed revise subelemen amendment is：
Wherein,
Data processing unit further includes target RCS fluctuation characteristics and measures subelement, for the RCS sequence variations system to target
Number measures, the ability of radar cross section (RCS) value characterization reception antenna direction target echo, by measuring target
RCS fluctuation characteristics, which can compare, determines different target types.
For being in the complex target of optical region, it is assumed that it is made of N number of scattering center, it can according to radar scattering theory
Know, radar return can regard the echo Vector modulation of multi-scattering centers as, due to sight of each scattering center with respect to radar
Angle is different so that in Vector modulation, respective relative phase changes the fluctuations for leading to echo signal amplitude, RCS at random
Value, which follows, also there are fluctuations.Therefore radar target RCS changes very sensitive, target RCS time sequences to the attitude angle of target
Row are substantially variable quantities of the RCS with azimuth of target, are a relief volumes, then the RCS of multi-scattering centers target is expressed as mesh
Mark azimuthal function：
Wherein, σiRepresent that i-th of scattering center RCS, α+θ represents target with respect to the azimuth of millimetre-wave radar, RiRepresent the
I scattering center is with respect to radar center distance；λ is the parameter being manually set；
Then RCS sequence variations coefficient is expressed as：Wherein σ (k) represents kth time detection
The RCS values of target, RCS serial meansSequence variations coefficient and azimuth are inputted as characteristic parameter
Target identification system is the identification completed to target.
In this embodiment, new millimetre-wave radar three-dimensional environment sensory perceptual system is devised for intelligent article sorter,
It is covered, and economy and durability simple in structure so as to fulfill 180 ° of front horizontal and being scanned without dead angle for 180 ° of vertical direction, it is anti-interference
Ability is strong；Other components is coordinated to realize Automatic Control function using step-by-step motor, it is easy to control accurate；For new-type rotation
The characteristics of turning radar system and delay effect devise range measurement correcting module, horizontal sweep correcting module, vertical scanning
The correcting modules such as correcting module so that the coordinate setting function of radar is more accurate, sets T1=2s, T2=2.4s, millimetre-wave radar
Sampling interval for 2 °/s, realizing that measurement error is less than 1% while detection without dead angle, measuring delay rate less than 0.5%,
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
Type rotation mechanism employs new RCS fluctuation characteristic measuring devices so that the measurement of the RCS coefficient of variation is more accurate, right
Target identification is more advantageous；The size of the components such as rotating disk, rotary shaft can flexibly be chosen as the case may be, be various different sizes
The applicability of intelligent article sorter provide condition.
Embodiment 2：
A kind of intelligent article sorter with identification function as shown in Figs 1-4, including apparatus for sorting article and peace
Millimetre-wave radar three-dimensional environment sensory perceptual system on apparatus for sorting article；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 packet 10 includes first
Rotary shaft 3,2 and second rotary shaft 4 of rotating disk, the first rotary shaft 3 arrangement and affixed with the center of rotating disk 2 vertically, described the
One rotary shaft 3 is driven by the first stepper motor 8 to be rotated；The horizontal set of the second rotary shaft 4 of rotation is driven by the second stepper motor 9
In bearing block 5, the bearing block 5 is fixed in by 2 support shafts arranged vertically 6 in rotating disk 2；Second rotation
The midpoint of axis 4 is provided with connecting portion 7, and the connecting portion 7 is integrally formed perpendicular to the second rotary shaft 4 and with the second rotary shaft 4,
Millimetre-wave radar 1 is vertical with connecting portion 7 affixed；Itself intrinsic plane of scanning motion of the millimetre-wave radar 1 is perpendicular to 2 institute of rotating disk
In plane, and scanning range angle is ± 30 °；The rotating disk 2 has notch 16,16 place of notch in the side of arrangement support shaft 6
Straight line parallel in the straight line where the second rotary shaft 4, and any support shaft 6 and the distance of 16 place straight line of notch are less than
50mm；First stepper motor, 8 and second stepper motor 9 is controlled by microcontroller, and microcontroller is ordered for receiving control
It enables, and signal is sent to motor, while according to the initial position of device and two stepper motors in order to control by control command conversion
The goniometer turned over calculates the current location of rotation mechanism, and the current position state of rotation mechanism 10 is fed back to
Data processing unit 12；The whole face forward 18 under the drive of the first stepper motor 8 of the rotation mechanism 10 does level
180 ° of period back and forth movement, while the face forward 20 under the drive of the second stepper motor 9 of millimetre-wave radar 1 does vertical 180 °
Period back and forth movement；
As shown in figure 5, data processing unit 12 is defeated including data acquisition unit 13, delay revise subelemen 14 and coordinate
Go out subelement 15, data acquisition unit 13 receives millimetre-wave radar 1 and measures its obtained distance value ρ with target, connects simultaneously
The vertical rotary angle α and rotate horizontally angle beta and millimetre-wave radar 1 scan angle theta of itself that microcontroller sends are received, so as to obtain
The position of complete millimetre-wave radar data and the plane of scanning motion；As shown in figure 5, set a certain target 17 that millimetre-wave radar 1 measures
Reading for (ρ, α, β, θ), and define：α=0 ° when millimetre-wave radar 1 is horizontal, when millimetre-wave radar 1 is in water
α values are just, α values are negative when millimetre-wave radar 1 is horizontal lower section when prosposition puts top；When the second rotary shaft 4 and intelligence
β=0 ° when direction is vertical immediately ahead of apparatus for sorting article, β is positive value when millimetre-wave radar 1 is located at the right side of β=0 °, when in the least
β is negative value when metre wave radar 1 is located at the left side of β=0 °；When itself scanning direction of millimetre-wave radar 1 and 1 institute of millimetre-wave radar
θ=0 ° when plane is vertical, θ is positive value when itself scanning direction is located at the top of θ=0 °, when itself scanning direction is located at θ
θ is negative value during=0 ° of lower section.As shown in Figure 3 the rotation angle β of the first rotary shaft 3 be millimetre-wave radar 1 in the horizontal direction
Rotation angle.
Preferably, delay effect refers to, since the present apparatus is using the technical solution of three dimensionality dual rotary, in thunder
Up to detection wave during be issued to return, the position of radar has occurred that certain offset, although this period is very short,
But when rotary speed is higher, the error of this part is still very important, this is that the present apparatus is filled with the detection of other fixed radars
Put different place, it is therefore necessary to introduce dedicated delay correction factor.Delay revise subelemen 14 is repaiied including range measurement
Positive module, horizontal sweep correcting module and vertical scanning correcting module：Range measurement correcting module, for the survey for the value ρ that adjusts the distance
Magnitude carries out the amendment for delay effect in detections of radar wave two-way process, and the modifying factor of output is：
When | α1+θ1| ＞ | α2+θ2| and | β1| ＞ | β2| when, illustrate that the rotation of device is towards the direction movement of target point
, the actual value measured at this time is less than normal, therefore above formula uses positive sign, at this time λρ＞ 1, otherwise using negative sign, at this time λρ＜ 1；Meanwhile
Due to t1-t2It is the value of a very little, therefore the specific correction value of this correcting module depends entirely on the swing circle T of motor, rotation
Turn faster T it is smaller, then correction factor with 1 absolute value of the difference it is bigger, it is on the contrary then smaller.
Vertical scanning correcting module, for carrying out imitating for being delayed in detections of radar wave two-way process to vertical rotary angle α
The amendment answered, the modifying factor of outputWhen | α1| ＞ | α2| when, above formula takes positive sign, otherwise takes
Negative sign；
Horizontal sweep correcting module, for rotating horizontally angle beta imitate for being delayed in detections of radar wave two-way process
The amendment answered, the modifying factor of outputWhen | β1| ＞ | β2| when, above formula takes positive sign, otherwise
Take negative sign；
Maximum detectable ranges of the wherein m for millimetre-wave radar 1, and ρ≤m；For reaction detection target 17 and millimeter wave
Influence of the distance to delay effect between radar 1, target 17 be then delayed closer to millimetre-wave radar 1 it is smaller, otherwise delay it is bigger；
t1For the time sent out to the 17 detections of radar wave of target, t2For detections of radar wave return time, then | t1-t2| represent thunder
Time needed for being travelled to and fro between target 17 and millimetre-wave radar 1 up to detection wave；t1Horizontal rotation week for millimetre-wave radar 1
Phase, t2Vertical swing circle for millimetre-wave radar 1；α1For t1When α values, α2For t2When α values；β1For t1When β value, β2For
t2When β value；θ1For t1When θ values, θ2For t2When θ values；T1=2s, T2=2.4s, sampling interval of millimetre-wave radar for 2 °/
s。
Coordinate exports subelement 15：The object space coordinate exported after being delayed revise subelemen amendment is：
Wherein,
Data processing unit further includes target RCS fluctuation characteristics and measures subelement, for the RCS sequence variations system to target
Number measures, the ability of radar cross section (RCS) value characterization reception antenna direction target echo, by measuring target
RCS fluctuation characteristics, which can compare, determines different target types.
For being in the complex target of optical region, it is assumed that it is made of N number of scattering center, it can according to radar scattering theory
Know, radar return can regard the echo Vector modulation of multi-scattering centers as, due to sight of each scattering center with respect to radar
Angle is different so that in Vector modulation, respective relative phase changes the fluctuations for leading to echo signal amplitude, RCS at random
Value, which follows, also there are fluctuations.Therefore radar target RCS changes very sensitive, target RCS time sequences to the attitude angle of target
Row are substantially variable quantities of the RCS with azimuth of target, are a relief volumes, then the RCS of multi-scattering centers target is expressed as mesh
Mark azimuthal function：
Wherein, σiRepresent that i-th of scattering center RCS, α+θ represents target with respect to the azimuth of millimetre-wave radar, RiRepresent the
I scattering center is with respect to radar center distance；λ is the parameter being manually set；
Then RCS sequence variations coefficient is expressed as：Wherein σ (k) represents kth time detection
The RCS values of target, RCS serial meansSequence variations coefficient and azimuth are inputted as characteristic parameter
Target identification system is the identification completed to target.
In this embodiment, new millimetre-wave radar three-dimensional environment sensory perceptual system is devised for intelligent article sorter,
It is covered, and economy and durability simple in structure so as to fulfill 180 ° of front horizontal and being scanned without dead angle for 180 ° of vertical direction, it is anti-interference
Ability is strong；Other components is coordinated to realize Automatic Control function using step-by-step motor, it is easy to control accurate；For new-type rotation
The characteristics of turning radar system and delay effect devise range measurement correcting module, horizontal sweep correcting module, vertical scanning
The correcting modules such as correcting module so that the coordinate setting function of radar is more accurate, sets T1=2.2s, T2=2.6s, millimeter wave thunder
The sampling interval reached is 1.5 °/s, is realizing that measurement error is less than 0.8% while detection without dead angle, is measuring delay rate and be 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；Needle
To the Novel rotary mechanical device, new RCS fluctuation characteristic measuring devices are employed so that the measurement of the RCS coefficient of variation is more
Precisely, it is more advantageous to target identification；The size of the components such as rotating disk, rotary shaft can flexibly be chosen as the case may be, be various
The applicability of different size of intelligent article sorter provides condition.
Embodiment 3：
A kind of intelligent article sorter with identification function as shown in Figs 1-4, including apparatus for sorting article and peace
Millimetre-wave radar three-dimensional environment sensory perceptual system on apparatus for sorting article；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 packet 10 includes first
Rotary shaft 3,2 and second rotary shaft 4 of rotating disk, the first rotary shaft 3 arrangement and affixed with the center of rotating disk 2 vertically, described the
One rotary shaft 3 is driven by the first stepper motor 8 to be rotated；The horizontal set of the second rotary shaft 4 of rotation is driven by the second stepper motor 9
In bearing block 5, the bearing block 5 is fixed in by 2 support shafts arranged vertically 6 in rotating disk 2；Second rotation
The midpoint of axis 4 is provided with connecting portion 7, and the connecting portion 7 is integrally formed perpendicular to the second rotary shaft 4 and with the second rotary shaft 4,
Millimetre-wave radar 1 is vertical with connecting portion 7 affixed；Itself intrinsic plane of scanning motion of the millimetre-wave radar 1 is perpendicular to 2 institute of rotating disk
In plane, and scanning range angle is ± 30 °；The rotating disk 2 has notch 16,16 place of notch in the side of arrangement support shaft 6
Straight line parallel in the straight line where the second rotary shaft 4, and any support shaft 6 and the distance of 16 place straight line of notch are less than
50mm；First stepper motor, 8 and second stepper motor 9 is controlled by microcontroller, and microcontroller is ordered for receiving control
It enables, and signal is sent to motor, while according to the initial position of device and two stepper motors in order to control by control command conversion
The goniometer turned over calculates the current location of rotation mechanism, and the current position state of rotation mechanism 10 is fed back to
Data processing unit 12；The whole face forward 18 under the drive of the first stepper motor 8 of the rotation mechanism 10 does level
180 ° of period back and forth movement, while the face forward 20 under the drive of the second stepper motor 9 of millimetre-wave radar 1 does vertical 180 °
Period back and forth movement；
As shown in figure 5, data processing unit 12 is defeated including data acquisition unit 13, delay revise subelemen 14 and coordinate
Go out subelement 15, data acquisition unit 13 receives millimetre-wave radar 1 and measures its obtained distance value ρ with target, connects simultaneously
The vertical rotary angle α and rotate horizontally angle beta and millimetre-wave radar 1 scan angle theta of itself that microcontroller sends are received, so as to obtain
The position of complete millimetre-wave radar data and the plane of scanning motion；As shown in figure 5, set a certain target 17 that millimetre-wave radar 1 measures
Reading for (ρ, α, β, θ), and define：α=0 ° when millimetre-wave radar 1 is horizontal, when millimetre-wave radar 1 is in water
α values are just, α values are negative when millimetre-wave radar 1 is horizontal lower section when prosposition puts top；When the second rotary shaft 4 and intelligence
β=0 ° when direction is vertical immediately ahead of apparatus for sorting article, β is positive value when millimetre-wave radar 1 is located at the right side of β=0 °, when in the least
β is negative value when metre wave radar 1 is located at the left side of β=0 °；When itself scanning direction of millimetre-wave radar 1 and 1 institute of millimetre-wave radar
θ=0 ° when plane is vertical, θ is positive value when itself scanning direction is located at the top of θ=0 °, when itself scanning direction is located at θ
θ is negative value during=0 ° of lower section.As shown in Figure 3 the rotation angle β of the first rotary shaft 3 be millimetre-wave radar 1 in the horizontal direction
Rotation angle.
Preferably, delay effect refers to, since the present apparatus is using the technical solution of three dimensionality dual rotary, in thunder
Up to detection wave during be issued to return, the position of radar has occurred that certain offset, although this period is very short,
But when rotary speed is higher, the error of this part is still very important, this is that the present apparatus is filled with the detection of other fixed radars
Put different place, it is therefore necessary to introduce dedicated delay correction factor.Delay revise subelemen 14 is repaiied including range measurement
Positive module, horizontal sweep correcting module and vertical scanning correcting module：Range measurement correcting module, for the survey for the value ρ that adjusts the distance
Magnitude carries out the amendment for delay effect in detections of radar wave two-way process, and the modifying factor of output is：
When | α1+θ1| ＞ | α2+θ2| and | β1| ＞ | β2| when, illustrate that the rotation of device is towards the direction movement of target point
, the actual value measured at this time is less than normal, therefore above formula uses positive sign, at this time λρ＞ 1, otherwise using negative sign, at this time λρ＜ 1；Meanwhile
Due to t1-t2It is the value of a very little, therefore the specific correction value of this correcting module depends entirely on the swing circle T of motor, rotation
Turn faster T it is smaller, then correction factor with 1 absolute value of the difference it is bigger, it is on the contrary then smaller.
Vertical scanning correcting module, for carrying out imitating for being delayed in detections of radar wave two-way process to vertical rotary angle α
The amendment answered, the modifying factor of outputWhen | α1| ＞ | α2| when, above formula takes positive sign, otherwise takes
Negative sign；
Horizontal sweep correcting module, for rotating horizontally angle beta imitate for being delayed in detections of radar wave two-way process
The amendment answered, the modifying factor of outputWhen | β1| ＞ | β2| when, above formula takes positive sign, otherwise
Take negative sign；
Maximum detectable ranges of the wherein m for millimetre-wave radar 1, and ρ≤m；For reaction detection target 17 and millimeter wave
Influence of the distance to delay effect between radar 1, target 17 be then delayed closer to millimetre-wave radar 1 it is smaller, otherwise delay it is bigger；
t1For the time sent out to the 17 detections of radar wave of target, t2For detections of radar wave return time, then | t1-t2| represent thunder
Time needed for being travelled to and fro between target 17 and millimetre-wave radar 1 up to detection wave；t1Horizontal rotation week for millimetre-wave radar 1
Phase, t2Vertical swing circle for millimetre-wave radar 1；α1For t1When α values, α2For t2When α values；β1For t1When β value, β2For
t2When β value；θ1For t1When θ values, θ2For t2When θ values；T1=2s, T2=2.4s, sampling interval of millimetre-wave radar for 2 °/
s。
Coordinate exports subelement 15：The object space coordinate exported after being delayed revise subelemen amendment is：
Wherein,
Data processing unit further includes target RCS fluctuation characteristics and measures subelement, for the RCS sequence variations system to target
Number measures, the ability of radar cross section (RCS) value characterization reception antenna direction target echo, by measuring target
RCS fluctuation characteristics, which can compare, determines different target types.
For being in the complex target of optical region, it is assumed that it is made of N number of scattering center, it can according to radar scattering theory
Know, radar return can regard the echo Vector modulation of multi-scattering centers as, due to sight of each scattering center with respect to radar
Angle is different so that in Vector modulation, respective relative phase changes the fluctuations for leading to echo signal amplitude, RCS at random
Value, which follows, also there are fluctuations.Therefore radar target RCS changes very sensitive, target RCS time sequences to the attitude angle of target
Row are substantially variable quantities of the RCS with azimuth of target, are a relief volumes, then the RCS of multi-scattering centers target is expressed as mesh
Mark azimuthal function：
Wherein, σiRepresent that i-th of scattering center RCS, α+θ represents target with respect to the azimuth of millimetre-wave radar, RiRepresent the
I scattering center is with respect to radar center distance；λ is the parameter being manually set；
Then RCS sequence variations coefficient is expressed as：Wherein σ (k) represents kth time detection
The RCS values of target, RCS serial meansSequence variations coefficient and azimuth are inputted as characteristic parameter
Target identification system is the identification completed to target.
In this embodiment, new millimetre-wave radar three-dimensional environment sensory perceptual system is devised for intelligent article sorter,
It is covered, and economy and durability simple in structure so as to fulfill 180 ° of front horizontal and being scanned without dead angle for 180 ° of vertical direction, it is anti-interference
Ability is strong；Other components is coordinated to realize Automatic Control function using step-by-step motor, it is easy to control accurate；For new-type rotation
The characteristics of turning radar system and delay effect devise range measurement correcting module, horizontal sweep correcting module, vertical scanning
The correcting modules such as correcting module so that the coordinate setting function of radar is more accurate, sets T1=2.4s, T2=2.7s, millimeter wave thunder
The sampling interval reached is 1.8 °/s, is realizing that measurement error is less than 0.7% while detection without dead angle, is measuring delay rate and be 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；Needle
To the Novel rotary mechanical device, new RCS fluctuation characteristic measuring devices are employed so that the measurement of the RCS coefficient of variation is more
Precisely, it is more advantageous to target identification；The size of the components such as rotating disk, rotary shaft can flexibly be chosen as the case may be, be various
The applicability of different size of intelligent article sorter provides condition.
Embodiment 4：
A kind of intelligent article sorter with identification function as shown in Figs 1-4, including apparatus for sorting article and peace
Millimetre-wave radar three-dimensional environment sensory perceptual system on apparatus for sorting article；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 packet 10 includes first
Rotary shaft 3,2 and second rotary shaft 4 of rotating disk, the first rotary shaft 3 arrangement and affixed with the center of rotating disk 2 vertically, described the
One rotary shaft 3 is driven by the first stepper motor 8 to be rotated；The horizontal set of the second rotary shaft 4 of rotation is driven by the second stepper motor 9
In bearing block 5, the bearing block 5 is fixed in by 2 support shafts arranged vertically 6 in rotating disk 2；Second rotation
The midpoint of axis 4 is provided with connecting portion 7, and the connecting portion 7 is integrally formed perpendicular to the second rotary shaft 4 and with the second rotary shaft 4,
Millimetre-wave radar 1 is vertical with connecting portion 7 affixed；Itself intrinsic plane of scanning motion of the millimetre-wave radar 1 is perpendicular to 2 institute of rotating disk
In plane, and scanning range angle is ± 30 °；The rotating disk 2 has notch 16,16 place of notch in the side of arrangement support shaft 6
Straight line parallel in the straight line where the second rotary shaft 4, and any support shaft 6 and the distance of 16 place straight line of notch are less than
50mm；First stepper motor, 8 and second stepper motor 9 is controlled by microcontroller, and microcontroller is ordered for receiving control
It enables, and signal is sent to motor, while according to the initial position of device and two stepper motors in order to control by control command conversion
The goniometer turned over calculates the current location of rotation mechanism, and the current position state of rotation mechanism 10 is fed back to
Data processing unit 12；The whole face forward 18 under the drive of the first stepper motor 8 of the rotation mechanism 10 does level
180 ° of period back and forth movement, while the face forward 20 under the drive of the second stepper motor 9 of millimetre-wave radar 1 does vertical 180 °
Period back and forth movement；
As shown in figure 5, data processing unit 12 is defeated including data acquisition unit 13, delay revise subelemen 14 and coordinate
Go out subelement 15, data acquisition unit 13 receives millimetre-wave radar 1 and measures its obtained distance value ρ with target, connects simultaneously
The vertical rotary angle α and rotate horizontally angle beta and millimetre-wave radar 1 scan angle theta of itself that microcontroller sends are received, so as to obtain
The position of complete millimetre-wave radar data and the plane of scanning motion；As shown in figure 5, set a certain target 17 that millimetre-wave radar 1 measures
Reading for (ρ, α, β, θ), and define：α=0 ° when millimetre-wave radar 1 is horizontal, when millimetre-wave radar 1 is in water
α values are just, α values are negative when millimetre-wave radar 1 is horizontal lower section when prosposition puts top；When the second rotary shaft 4 and intelligence
β=0 ° when direction is vertical immediately ahead of apparatus for sorting article, β is positive value when millimetre-wave radar 1 is located at the right side of β=0 °, when in the least
β is negative value when metre wave radar 1 is located at the left side of β=0 °；When itself scanning direction of millimetre-wave radar 1 and 1 institute of millimetre-wave radar
θ=0 ° when plane is vertical, θ is positive value when itself scanning direction is located at the top of θ=0 °, when itself scanning direction is located at θ
θ is negative value during=0 ° of lower section.As shown in Figure 3 the rotation angle β of the first rotary shaft 3 be millimetre-wave radar 1 in the horizontal direction
Rotation angle.
Preferably, delay effect refers to, since the present apparatus is using the technical solution of three dimensionality dual rotary, in thunder
Up to detection wave during be issued to return, the position of radar has occurred that certain offset, although this period is very short,
But when rotary speed is higher, the error of this part is still very important, this is that the present apparatus is filled with the detection of other fixed radars
Put different place, it is therefore necessary to introduce dedicated delay correction factor.Delay revise subelemen 14 is repaiied including range measurement
Positive module, horizontal sweep correcting module and vertical scanning correcting module：Range measurement correcting module, for the survey for the value ρ that adjusts the distance
Magnitude carries out the amendment for delay effect in detections of radar wave two-way process, and the modifying factor of output is：
When | α1+θ1| ＞ | α2+θ2| and | β1| ＞ | β2| when, illustrate that the rotation of device is towards the direction movement of target point
, the actual value measured at this time is less than normal, therefore above formula uses positive sign, at this time λρ＞ 1, otherwise using negative sign, at this time λρ＜ 1；Meanwhile
Due to t1-t2It is the value of a very little, therefore the specific correction value of this correcting module depends entirely on the swing circle T of motor, rotation
Turn faster T it is smaller, then correction factor with 1 absolute value of the difference it is bigger, it is on the contrary then smaller.
Vertical scanning correcting module, for carrying out imitating for being delayed in detections of radar wave two-way process to vertical rotary angle α
The amendment answered, the modifying factor of outputWhen | α1| ＞ | α2| when, above formula takes positive sign, otherwise takes
Negative sign；
Horizontal sweep correcting module, for rotating horizontally angle beta imitate for being delayed in detections of radar wave two-way process
The amendment answered, the modifying factor of outputWhen | β1| ＞ | β2| when, above formula takes positive sign, otherwise
Take negative sign；
Maximum detectable ranges of the wherein m for millimetre-wave radar 1, and ρ≤m；For reaction detection target 17 and millimeter wave
Influence of the distance to delay effect between radar 1, target 17 be then delayed closer to millimetre-wave radar 1 it is smaller, otherwise delay it is bigger；
t1For the time sent out to the 17 detections of radar wave of target, t2For detections of radar wave return time, then | t1-t2| represent thunder
Time needed for being travelled to and fro between target 17 and millimetre-wave radar 1 up to detection wave；t1Horizontal rotation week for millimetre-wave radar 1
Phase, t2Vertical swing circle for millimetre-wave radar 1；α1For t1When α values, α2For t2When α values；β1For t1When β value, β2For
t2When β value；θ1For t1When θ values, θ2For t2When θ values；T1=2s, T2=2.4s, sampling interval of millimetre-wave radar for 2 °/
s。
Coordinate exports subelement 15：The object space coordinate exported after being delayed revise subelemen amendment is：
Wherein,
Data processing unit further includes target RCS fluctuation characteristics and measures subelement, for the RCS sequence variations system to target
Number measures, the ability of radar cross section (RCS) value characterization reception antenna direction target echo, by measuring target
RCS fluctuation characteristics, which can compare, determines different target types.
For being in the complex target of optical region, it is assumed that it is made of N number of scattering center, it can according to radar scattering theory
Know, radar return can regard the echo Vector modulation of multi-scattering centers as, due to sight of each scattering center with respect to radar
Angle is different so that in Vector modulation, respective relative phase changes the fluctuations for leading to echo signal amplitude, RCS at random
Value, which follows, also there are fluctuations.Therefore radar target RCS changes very sensitive, target RCS time sequences to the attitude angle of target
Row are substantially variable quantities of the RCS with azimuth of target, are a relief volumes, then the RCS of multi-scattering centers target is expressed as mesh
Mark azimuthal function：
Wherein, σiRepresent that i-th of scattering center RCS, α+θ represents target with respect to the azimuth of millimetre-wave radar, RiRepresent the
I scattering center is with respect to radar center distance；λ is the parameter being manually set；
Then RCS sequence variations coefficient is expressed as：Wherein σ (k) represents kth time detection
The RCS values of target, RCS serial meansSequence variations coefficient and azimuth are inputted as characteristic parameter
Target identification system is the identification completed to target.
In this embodiment, new millimetre-wave radar three-dimensional environment sensory perceptual system is devised for intelligent article sorter,
It is covered, and economy and durability simple in structure so as to fulfill 180 ° of front horizontal and being scanned without dead angle for 180 ° of vertical direction, it is anti-interference
Ability is strong；Other components is coordinated to realize Automatic Control function using step-by-step motor, it is easy to control accurate；For new-type rotation
The characteristics of turning radar system and delay effect devise range measurement correcting module, horizontal sweep correcting module, vertical scanning
The correcting modules such as correcting module so that the coordinate setting function of radar is more accurate, sets T1=2.5s, T2=2.8s, millimeter wave thunder
The sampling interval reached is 1.3 °/s.It is realizing that measurement error is less than 0.6% while detection without dead angle, is measuring delay rate and be 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；Needle
To the Novel rotary mechanical device, new RCS fluctuation characteristic measuring devices are employed so that the measurement of the RCS coefficient of variation is more
Precisely, it is more advantageous to target identification；The size of the components such as rotating disk, rotary shaft can flexibly be chosen as the case may be, be various
The applicability of different size of intelligent article sorter provides condition.
Embodiment 5：
A kind of intelligent article sorter with identification function as shown in Figs 1-4, including apparatus for sorting article and peace
Millimetre-wave radar three-dimensional environment sensory perceptual system on apparatus for sorting article；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 packet 10 includes first
Rotary shaft 3,2 and second rotary shaft 4 of rotating disk, the first rotary shaft 3 arrangement and affixed with the center of rotating disk 2 vertically, described the
One rotary shaft 3 is driven by the first stepper motor 8 to be rotated；The horizontal set of the second rotary shaft 4 of rotation is driven by the second stepper motor 9
In bearing block 5, the bearing block 5 is fixed in by 2 support shafts arranged vertically 6 in rotating disk 2；Second rotation
The midpoint of axis 4 is provided with connecting portion 7, and the connecting portion 7 is integrally formed perpendicular to the second rotary shaft 4 and with the second rotary shaft 4,
Millimetre-wave radar 1 is vertical with connecting portion 7 affixed；Itself intrinsic plane of scanning motion of the millimetre-wave radar 1 is perpendicular to 2 institute of rotating disk
In plane, and scanning range angle is ± 30 °；The rotating disk 2 has notch 16,16 place of notch in the side of arrangement support shaft 6
Straight line parallel in the straight line where the second rotary shaft 4, and any support shaft 6 and the distance of 16 place straight line of notch are less than
50mm；First stepper motor, 8 and second stepper motor 9 is controlled by microcontroller, and microcontroller is ordered for receiving control
It enables, and signal is sent to motor, while according to the initial position of device and two stepper motors in order to control by control command conversion
The goniometer turned over calculates the current location of rotation mechanism, and the current position state of rotation mechanism 10 is fed back to
Data processing unit 12；The whole face forward 18 under the drive of the first stepper motor 8 of the rotation mechanism 10 does level
180 ° of period back and forth movement, while the face forward 20 under the drive of the second stepper motor 9 of millimetre-wave radar 1 does vertical 180 °
Period back and forth movement；
As shown in figure 5, data processing unit 12 is defeated including data acquisition unit 13, delay revise subelemen 14 and coordinate
Go out subelement 15, data acquisition unit 13 receives millimetre-wave radar 1 and measures its obtained distance value ρ with target, connects simultaneously
The vertical rotary angle α and rotate horizontally angle beta and millimetre-wave radar 1 scan angle theta of itself that microcontroller sends are received, so as to obtain
The position of complete millimetre-wave radar data and the plane of scanning motion；As shown in figure 5, set a certain target 17 that millimetre-wave radar 1 measures
Reading for (ρ, α, β, θ), and define：α=0 ° when millimetre-wave radar 1 is horizontal, when millimetre-wave radar 1 is in water
α values are just, α values are negative when millimetre-wave radar 1 is horizontal lower section when prosposition puts top；When the second rotary shaft 4 and intelligence
β=0 ° when direction is vertical immediately ahead of apparatus for sorting article, β is positive value when millimetre-wave radar 1 is located at the right side of β=0 °, when in the least
β is negative value when metre wave radar 1 is located at the left side of β=0 °；When itself scanning direction of millimetre-wave radar 1 and 1 institute of millimetre-wave radar
θ=0 ° when plane is vertical, θ is positive value when itself scanning direction is located at the top of θ=0 °, when itself scanning direction is located at θ
θ is negative value during=0 ° of lower section.As shown in Figure 3 the rotation angle β of the first rotary shaft 3 be millimetre-wave radar 1 in the horizontal direction
Rotation angle.
Preferably, delay effect refers to, since the present apparatus is using the technical solution of three dimensionality dual rotary, in thunder
Up to detection wave during be issued to return, the position of radar has occurred that certain offset, although this period is very short,
But when rotary speed is higher, the error of this part is still very important, this is that the present apparatus is filled with the detection of other fixed radars
Put different place, it is therefore necessary to introduce dedicated delay correction factor.Delay revise subelemen 14 is repaiied including range measurement
Positive module, horizontal sweep correcting module and vertical scanning correcting module：Range measurement correcting module, for the survey for the value ρ that adjusts the distance
Magnitude carries out the amendment for delay effect in detections of radar wave two-way process, and the modifying factor of output is：
When | α1+θ1| ＞ | α2+θ2| and | β1| ＞ | β2| when, illustrate that the rotation of device is towards the direction movement of target point
, the actual value measured at this time is less than normal, therefore above formula uses positive sign, at this time λρ＞ 1, otherwise using negative sign, at this time λρ＜ 1；Meanwhile
Due to t1-t2It is the value of a very little, therefore the specific correction value of this correcting module depends entirely on the swing circle T of motor, rotation
Turn faster T it is smaller, then correction factor with 1 absolute value of the difference it is bigger, it is on the contrary then smaller.
Vertical scanning correcting module, for carrying out imitating for being delayed in detections of radar wave two-way process to vertical rotary angle α
The amendment answered, the modifying factor of outputWhen | α1| ＞ | α2| when, above formula takes positive sign, otherwise takes
Negative sign；
Horizontal sweep correcting module, for rotating horizontally angle beta imitate for being delayed in detections of radar wave two-way process
The amendment answered, the modifying factor of outputWhen | β1| ＞ | β2| when, above formula takes positive sign, otherwise
Take negative sign；
Maximum detectable ranges of the wherein m for millimetre-wave radar 1, and ρ≤m；For reaction detection target 17 and millimeter
Influence of the distance to delay effect between wave 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 out to the 17 detections of radar wave of target, t2For detections of radar wave return time, then | t1-t2| it represents
Detections of radar wave travels to and fro between the time required between target 17 and millimetre-wave radar 1；t1Horizontal rotation week for millimetre-wave radar 1
Phase, t2Vertical swing circle for millimetre-wave radar 1；α1For t1When α values, α2For t2When α values；β1For t1When β value, β2For
t2When β value；θ1For t1When θ values, θ2For t2When θ values；T1=2s, T2=2.4s, sampling interval of millimetre-wave radar for 2 °/
s。
Coordinate exports subelement 15：The object space coordinate exported after being delayed revise subelemen amendment is：
Wherein,
Data processing unit further includes target RCS fluctuation characteristics and measures subelement, for the RCS sequence variations system to target
Number measures, the ability of radar cross section (RCS) value characterization reception antenna direction target echo, by measuring target
RCS fluctuation characteristics, which can compare, determines different target types.
For being in the complex target of optical region, it is assumed that it is made of N number of scattering center, it can according to radar scattering theory
Know, radar return can regard the echo Vector modulation of multi-scattering centers as, due to sight of each scattering center with respect to radar
Angle is different so that in Vector modulation, respective relative phase changes the fluctuations for leading to echo signal amplitude, RCS at random
Value, which follows, also there are fluctuations.Therefore radar target RCS changes very sensitive, target RCS time sequences to the attitude angle of target
Row are substantially variable quantities of the RCS with azimuth of target, are a relief volumes, then the RCS of multi-scattering centers target is expressed as mesh
Mark azimuthal function：
Wherein, σiRepresent that i-th of scattering center RCS, α+θ represents target with respect to the azimuth of millimetre-wave radar, RiRepresent the
I scattering center is with respect to radar center distance；λ is the parameter being manually set；
Then RCS sequence variations coefficient is expressed as：Wherein σ (k) represents kth time detection
The RCS values of target, RCS serial meansSequence variations coefficient and azimuth are inputted as characteristic parameter
Target identification system is the identification completed to target.
In this embodiment, new millimetre-wave radar three-dimensional environment sensory perceptual system is devised for intelligent article sorter,
It is covered, and economy and durability simple in structure so as to fulfill 180 ° of front horizontal and being scanned without dead angle for 180 ° of vertical direction, it is anti-interference
Ability is strong；Other components is coordinated to realize Automatic Control function using step-by-step motor, it is easy to control accurate；For new-type rotation
The characteristics of turning radar system and delay effect devise range measurement correcting module, horizontal sweep correcting module, vertical scanning
The correcting modules such as correcting module so that the coordinate setting function of radar is more accurate, T1=2.6s, T2=2.9s, millimetre-wave radar
Sampling interval is 1.2 °/s, is realizing that measurement error is less than 0.5% while detection without dead angle, is measuring delay rate and be less than
0.2%, and real-time is stronger；Accurate Coordinate calculation method is given, is provided the foundation to automatically control with control errors；Needle
To the Novel rotary mechanical device, new RCS fluctuation characteristic measuring devices are employed so that the measurement of the RCS coefficient of variation is more
Precisely, it is more advantageous to target identification；The size of the components such as rotating disk, rotary shaft can flexibly be chosen as the case may be, be various
The applicability of different size of intelligent article sorter provides condition.
Finally it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention rather than the present invention is protected
The limitation of range is protected, although being explained in detail with reference to preferred embodiment to the present invention, those of ordinary skill in the art should
Work as understanding, technical scheme of the present invention can be modified or replaced equivalently, without departing from the reality of technical solution of the present invention
Matter and range.
Claims (1)
1. a kind of intelligent article sorter with identification function, it is characterized in that, including apparatus for sorting article and mounted on object
Millimetre-wave radar three-dimensional environment sensory perceptual system on product sorter；Millimetre-wave radar three-dimensional environment sensory perceptual system includes millimeter wave
Radar, rotation mechanism, control unit and data processing unit；Rotation mechanism include the first rotary shaft, rotating disk and
Second rotary shaft, the first rotary shaft vertically arrangement and it is affixed with the center of rotating disk, first rotary shaft passes through the first stepping
Motor driving rotation；It is sleeved in bearing block by the second rotation axis horizontal of the second stepper motor driving rotation, the bearing block
The support shaft arranged vertically by 2 is affixed on the rotating pan；The midpoint of second rotary shaft is provided with connecting portion, described
Connecting portion is integrally formed perpendicular to the second rotary shaft and with the second rotary shaft, and millimetre-wave radar is vertical with connecting portion affixed；It is described
Itself intrinsic plane of scanning motion of millimetre-wave radar is perpendicular to plane where rotating disk, and scanning range angle is ± 30 °；The rotation
Disk has notch in the side of arrangement support shaft, and the straight line parallel where notch is in the straight line where the second rotary shaft, and any
The distance for supportting axis and straight line where notch is less than 50mm；First stepper motor and the second stepper motor by microcontroller come
Control, microcontroller is for receiving control command, and signal is sent to motor, while according to device in order to control by control command conversion
Initial position and the goniometer that turns over of two stepper motors calculate the current location of rotation mechanism, and rotating machinery is filled
The current position state put feeds back to data processing unit；The rotation mechanism is whole under the drive of the first stepper motor
Face forward does the period back and forth movement of 180 ° of level, while millimetre-wave radar face forward under the drive of the second stepper motor
Do vertical 180 ° of period back and forth movement；
Data processing unit includes data acquisition unit, delay revise subelemen and coordinate output subelement；Data acquisition
Unit receives its distance value ρ with target that millimetre-wave radar measurement obtains, while receives the vertical rotary angle α of microcontroller transmission
With itself scan angle theta for rotating horizontally angle beta and millimetre-wave radar；If millimetre-wave radar to the reading of a certain target for (ρ, α,
β, θ), and define：α=0 ° when radar is horizontal, α values is just when radar is horizontal top, at radar
α values be negative when below the horizontal position, β=0 ° when the second rotary shaft is vertical with intelligent article sorter front direction,
β is positive value when radar is located at the right side of β=0 °, and β is negative value when radar is located at the left side of β=0 °；When millimetre-wave radar
θ=0 ° when plane where itself scanning direction and millimetre-wave radar is vertical, the θ when itself scanning direction is located at the top of θ=0 °
For positive value, θ is negative value when itself scanning direction is located at the lower section of θ=0 °；
The revise subelemen that is delayed includes range measurement correcting module, horizontal sweep correcting module and vertical scanning correcting module：Away from
From measuring correcting module, be directed to delay effect in detections of radar wave two-way process for the measured value for the value ρ that adjusts the distance and repair
Just, the modifying factor of output is：
When | α1+θ1| ＞ | α2+θ2| and | β1| ＞ | β2| when, above formula takes positive sign, otherwise takes negative sign；
Vertical scanning correcting module, for being carried out to vertical rotary angle α for delay effect in detections of radar wave two-way process
It corrects, the modifying factor of outputWhen | α1| ＞ | α2| when, above formula takes positive sign, otherwise takes negative
Number；
Horizontal sweep correcting module, for being carried out to rotating horizontally angle beta for delay effect in detections of radar wave two-way process
It corrects, the modifying factor of outputWhen | β1| ＞ | β2| when, above formula takes positive sign, otherwise takes negative
Number；
Maximum detectable ranges of the wherein m for millimetre-wave radar, and ρ≤m；For reaction detection target and millimetre-wave radar it
Between influence of the distance to delay effect, target be then delayed closer to radar it is smaller, otherwise delay it is bigger；t1For to the target radar
The time that detection wave is sent out, t2The time returned for detections of radar wave；|t1-t2| represent detections of radar wave travel to and fro between target and
Time needed between radar；T1For the horizontal rotation period of millimetre-wave radar, T2Vertical swing circle for millimetre-wave radar；
α1For t1When α values, α2For t2When α values；β1For t1When β value, β2For t2When β value；θ1For t1When θ values, θ2For t2When θ
Value；T1=2s, T2=2.4s, the sampling interval of millimetre-wave radar is 2 °/s；
Coordinate exports subelement：The object space coordinate exported after being delayed revise subelemen amendment is：
Wherein,
Data processing unit further include target RCS fluctuation characteristics measure subelement, for the RCS sequence variations coefficient to target into
Row measures：
For being in the complex target of optical region, it is assumed that be made of N number of scattering center, then the RCS tables of multi-scattering centers target
It is shown as the function of azimuth of target：
Wherein, σiRepresent that i-th of scattering center RCS, α+θ represents target with respect to the azimuth of millimetre-wave radar, RiIt represents i-th
Scattering center is with respect to radar center distance；λ is the parameter being manually set；
Then RCS sequence variations coefficient is expressed as：Wherein σ (k) represents kth time detection target
RCS values, RCS serial means
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