CN108535714A - A kind of millimetre-wave radar detection open space blocks the method and device of object - Google Patents
A kind of millimetre-wave radar detection open space blocks the method and device of object Download PDFInfo
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- CN108535714A CN108535714A CN201810532075.2A CN201810532075A CN108535714A CN 108535714 A CN108535714 A CN 108535714A CN 201810532075 A CN201810532075 A CN 201810532075A CN 108535714 A CN108535714 A CN 108535714A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/411—Identification of targets based on measurements of radar reflectivity
- G01S7/412—Identification of targets based on measurements of radar reflectivity based on a comparison between measured values and known or stored values
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- Geophysics And Detection Of Objects (AREA)
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Abstract
The invention discloses the methods that a kind of millimetre-wave radar detection open space blocks object, including：The electromagnetic wave of fixed frequency is sent to open space to be detected by millimetre-wave radar, and obtains the first echo signal of the electromagnetic wave；The electromagnetic wave and the first echo signal are handled, environmental information to be detected is obtained；The environmental information of open space when not blocking according to the environmental information to be detected and object detects to whether there is in presently described open space and blocks object.Correspondingly, the invention also discloses the devices that a kind of millimetre-wave radar detection open space blocks object.Using the embodiment of the present invention, the object that blocks on specific direction can be detected, algorithm is simple, highly practical, and reliability is high.
Description
Technical field
The present invention relates to the sides that field of communication technology more particularly to a kind of millimetre-wave radar detection open space block object
Method and device.
Background technology
Millimetre-wave radar is mostly used to detect the speed and distance of target object, and in the prior art to blocking the inspection of object
It surveys, is mostly combined with vision algorithm and feature, radar data is combined with spatial data, to the general profile of judgment object, calculate
The complexity of method is higher, is not directed to the direct algorithm of simple environment.
Invention content
The embodiment of the present invention proposes that a kind of millimetre-wave radar detection open space blocks the method and device of object, can be right
The object that blocks on specific direction is detected, and algorithm is simple, highly practical, and reliability is high.
The embodiment of the present invention provides a kind of method that millimetre-wave radar detection open space blocks object, including：
The electromagnetic wave of fixed frequency is sent to open space to be detected by millimetre-wave radar, and obtains the electromagnetic wave
First echo signal；
The electromagnetic wave and the first echo signal are handled, environmental information to be detected is obtained；
The environmental information of open space when not blocking according to the environmental information to be detected and object, detection are worked as
It whether there is in the preceding open space and block object.
Further, described that the electromagnetic wave and the first echo signal are handled, obtain environment letter to be detected
Breath, specifically includes：
The electromagnetic wave and the first echo signal are mixed, and obtain the first difference frequency signal after mixing；
The first DC component is extracted from first difference frequency signal, and using first DC component as described to be checked
Survey environmental information.
Further, in the environment of the open space according to the environmental information to be detected and when not blocking object
Information detects in presently described open space with the presence or absence of before blocking object, further includes：
The electromagnetic wave of fixed frequency is sent to the open space for not blocking object by millimetre-wave radar, and is obtained
The second echo signal of the electromagnetic wave；
The electromagnetic wave and the second echo signal are mixed, and obtain the second difference frequency signal after mixing；
Extract the second DC component from second difference frequency signal, and using second DC component as not blocking
The environmental information of open space when object.
Further, the ring of the open space according to the environmental information to be detected and when not blocking object
Border information is detected in presently described open space with the presence or absence of object is blocked, is specifically included：
Calculate the component difference of first DC component and second DC component；
According to the component difference and predetermined threshold value object is blocked to detect to whether there is in presently described open space.
Further, described whether to be deposited according to the component difference and predetermined threshold value to detect in presently described open space
Object is being blocked, is being specifically included：
The component difference is compared with the predetermined threshold value；
If the component difference is more than the predetermined threshold value, judges to exist in presently described open space and block object；
If the component difference is less than the predetermined threshold value, judge that shelter is not present in presently described open space
Body.
Correspondingly, the embodiment of the present invention also provides the device that a kind of millimetre-wave radar detection open space blocks object, packet
It includes：
First signal acquisition module, the electricity for sending fixed frequency to open space to be detected by millimetre-wave radar
Magnetic wave, and obtain the first echo signal of the electromagnetic wave；
First information acquisition module obtains to be checked for handling the electromagnetic wave and the first echo signal
Survey environmental information；And
Detection module, the ring for the open space according to the environmental information to be detected and when not blocking object
Border information detects to whether there is in presently described open space and blocks object.
Further, the first information acquisition module specifically includes：
Mixing unit, for the electromagnetic wave and the first echo signal to be mixed, and obtain after mixing the
One difference frequency signal；And
Extraction unit divides for extracting the first DC component from first difference frequency signal, and by first direct current
Amount is used as the environmental information to be detected.
Further, described device further includes：
Second signal acquisition module, it is solid for being sent to the open space for not blocking object by millimetre-wave radar
Determine the electromagnetic wave of frequency, and obtains the second echo signal of the electromagnetic wave；
Frequency mixing module, for the electromagnetic wave and the second echo signal to be mixed, and obtain after mixing the
Two difference frequency signals；And
Second data obtaining module, for extracting the second DC component from second difference frequency signal, and by described
Environmental information of two DC components as open space when not blocking object.
Further, the detection module specifically includes：
Computing unit, the component difference for calculating first DC component and second DC component；
Detection unit, for whether being deposited according to the component difference and predetermined threshold value to detect in presently described open space
Blocking object.
Further, the detection unit is specifically used for：
The component difference is compared with the predetermined threshold value；
If the component difference is more than the predetermined threshold value, judges to exist in presently described open space and block object；
If the component difference is less than the predetermined threshold value, judge that shelter is not present in presently described open space
Body.Implement the embodiment of the present invention, has the advantages that：
Millimetre-wave radar provided in an embodiment of the present invention detection open space blocks the method and device of object, from radar to
Environmental information to be detected is extracted in the echo-signal of electromagnetic wave and reflection that open space to be detected is sent, by environment to be detected
Environmental information when information does not block object with the open space is compared, and is to detect in presently described open space
It is no to realize the detection for blocking object in particular directions in the presence of object is blocked, and be not necessarily to mutually tie with vision algorithm, spatial data
It closes, algorithm is simple, highly practical, and reliability is high.
Description of the drawings
Fig. 1 is the stream of the one embodiment for the method that millimetre-wave radar detection open space provided by the invention blocks object
Journey schematic diagram；
Fig. 2 is the knot of the one embodiment for the method that millimetre-wave radar detection open space provided by the invention blocks object
Structure schematic diagram.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without creative efforts
Embodiment shall fall within the protection scope of the present invention.
Referring to Fig. 1, the method that millimetre-wave radar detection open space provided by the invention blocks object, including：
S1, the electromagnetic wave for sending fixed frequency to open space to be detected by millimetre-wave radar, and obtain the electricity
The first echo signal of magnetic wave；
S2, the electromagnetic wave and the first echo signal are handled, obtains environmental information to be detected；
The environmental information of S3, the open space according to the environmental information to be detected and when not blocking object, inspection
It surveys to whether there is in presently described open space and blocks object.
It should be noted that millimetre-wave radar is to the constant electromagnetic wave of the open space transmission frequency of specific direction, and connect
Receive the first echo signal of electromagnetic wave.Wherein, specific direction is radar main lobe direction, and first echo signal is current open space
The signal of middle all objects reflection may include that be detected block object in all objects, it is also possible to not include to be detected
Block object.In turn, the environment of presently described open space can be obtained according to the echo-signal of the electromagnetic wave of transmitting and feedback
Information, i.e., environmental information to be detected.Environment when blocking object only not to be detected in the open space is obtained in advance to believe
Breath, and be compared with environmental information to be detected, you can it detects in presently described open space and is blocked with the presence or absence of to be detected
Object.The present embodiment can realize the detection for blocking object in particular directions, and algorithm is simple, highly practical, and reliability is high.
Further, in step s 2, described that the electromagnetic wave and the first echo signal are handled, it is waited for
Environmental information is detected, is specifically included：
The electromagnetic wave and the first echo signal are mixed, and obtain the first difference frequency signal after mixing；
The first DC component is extracted from first difference frequency signal, and using first DC component as described to be checked
Survey environmental information.
It should be noted that the electromagnetic wave that radar is sent is mixed with the first echo signal received, and to mixed
Difference frequency signal after frequency is handled, i.e., constantly detects the difference frequency signal after mixing, and first is extracted from difference frequency signal
DC component P1.Wherein, the extracting mode of the first DC component can be directly to block AC compounent by circuit design, only permit
Perhaps DC component by by obtain, can also by spectrum analysis (FFT etc.), observe frequency spectrum in DC component amplitude size and
It obtains.
Further, before step S3, i.e., in the institute according to the environmental information to be detected and when not blocking object
The environmental information for stating open space detects in presently described open space with the presence or absence of before blocking object, further includes：
The electromagnetic wave of fixed frequency is sent to the open space for not blocking object by millimetre-wave radar, and is obtained
The second echo signal of the electromagnetic wave；
The electromagnetic wave and the second echo signal are mixed, and obtain the second difference frequency signal after mixing；
Extract the second DC component from second difference frequency signal, and using second DC component as not blocking
The environmental information of open space when object.
It should be noted that before being detected to environmental information to be detected, also needs to obtain and only do not have in the open space
There is environmental information when blocking object to be detected.Millimetre-wave radar is to without the open space hair for blocking object to be detected
The electromagnetic wave of identical frequency is sent, and receives the second echo signal of electromagnetic wave, which is to own in open space
The signal of object reflection, centainly blocks object in all objects without to be detected at this time.By radar send electromagnetic wave and
The second echo signal received is mixed, and is handled the difference frequency signal after mixing, i.e., constantly detection is by mixing
Difference frequency signal afterwards, and the second DC component P2 is extracted from difference frequency signal.Wherein, the extracting mode of the second DC component and
The extracting mode of one DC component is identical, and in this not go into detail.
Further, in step s3, it is described according to the environmental information to be detected and when not blocking object described in
The environmental information of open space is detected in presently described open space with the presence or absence of object is blocked, is specifically included：
Calculate the component difference of first DC component and second DC component；
According to the component difference and predetermined threshold value object is blocked to detect to whether there is in presently described open space.
Specifically, described to whether there is to detect in presently described open space according to the component difference and predetermined threshold value
Object is blocked, is specifically included：
The component difference is compared with the predetermined threshold value；
If the component difference is more than the predetermined threshold value, judges to exist in presently described open space and block object；
If the component difference is less than the predetermined threshold value, judge that shelter is not present in presently described open space
Body.
It should be noted that calculating the component difference P of the first DC component P1 and the second DC component P2, you can waited for
Detection environmental information with only without it is to be detected block object when open space environmental information difference.By component difference and in advance
If threshold value P0 is compared, if P>P0 can then determine that there are to be checked in a certain range of open space in particular directions
That surveys blocks object, and object is blocked conversely, being then not present.Wherein, specific direction is radar main lobe direction, and a certain range can basis
Radar directional diagram carries out calculating determination, typically refers to the 3dB ranges of main lobe, and specific range can be due to the design of antenna difference
It is different.
In addition, the setting of predetermined threshold value can be according to specific antenna, intensity, detection range and the ambient enviroment of transmitting signal
Deng determination.
It is extracted in the echo-signal of electromagnetic wave from radar to open space to be detected and reflection that the embodiment of the present invention is sent from
Go out environmental information to be detected, environmental information when environmental information to be detected is not blocked object with the open space compares
Compared with, to detect in presently described open space with the presence or absence of object is blocked, realize the detection for blocking object in particular directions,
And without being combined with vision algorithm, spatial data, algorithm is simple, highly practical, reliability is high.
Correspondingly, the present invention also provides the device that a kind of millimetre-wave radar detection open space blocks object, can realize
Above-mentioned millimetre-wave radar detection open space blocks all flows of the method for object.
It is an implementation of the device that millimetre-wave radar detection open space provided by the invention blocks object referring to Fig. 2
The structural schematic diagram of example, including：
First signal acquisition module 1, for sending fixed frequency to open space to be detected by millimetre-wave radar
Electromagnetic wave, and obtain the first echo signal of the electromagnetic wave；
First information acquisition module 2 obtains to be checked for handling the electromagnetic wave and the first echo signal
Survey environmental information；And
Detection module 3, for the open space according to the environmental information to be detected and when not blocking object
Environmental information detects to whether there is in presently described open space and blocks object.
Further, the first information acquisition module specifically includes：
Mixing unit, for the electromagnetic wave and the first echo signal to be mixed, and obtain after mixing the
One difference frequency signal；And
Extraction unit divides for extracting the first DC component from first difference frequency signal, and by first direct current
Amount is used as the environmental information to be detected.
Further, described device further includes：
Second signal acquisition module, it is solid for being sent to the open space for not blocking object by millimetre-wave radar
Determine the electromagnetic wave of frequency, and obtains the second echo signal of the electromagnetic wave；
Frequency mixing module, for the electromagnetic wave and the second echo signal to be mixed, and obtain after mixing the
Two difference frequency signals；And
Second data obtaining module, for extracting the second DC component from second difference frequency signal, and by described
Environmental information of two DC components as open space when not blocking object.
Further, the detection module specifically includes：
Computing unit, the component difference for calculating first DC component and second DC component；
Detection unit, for whether being deposited according to the component difference and predetermined threshold value to detect in presently described open space
Blocking object.
Further, the detection unit is specifically used for：
The component difference is compared with the predetermined threshold value；
If the component difference is more than the predetermined threshold value, judges to exist in presently described open space and block object；
If the component difference is less than the predetermined threshold value, judge that shelter is not present in presently described open space
Body.
It is extracted in the echo-signal of electromagnetic wave from radar to open space to be detected and reflection that the embodiment of the present invention is sent from
Go out environmental information to be detected, environmental information when environmental information to be detected is not blocked object with the open space compares
Compared with, to detect in presently described open space with the presence or absence of object is blocked, realize the detection for blocking object in particular directions,
And without being combined with vision algorithm, spatial data, algorithm is simple, highly practical, reliability is high.
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also considered as
Protection scope of the present invention.
Claims (10)
1. a kind of method that millimetre-wave radar detection open space blocks object, which is characterized in that including：
The electromagnetic wave of fixed frequency is sent to open space to be detected by millimetre-wave radar, and obtains the of the electromagnetic wave
One echo-signal；
The electromagnetic wave and the first echo signal are handled, environmental information to be detected is obtained；
The environmental information of open space when not blocking according to the environmental information to be detected and object, detects current institute
It states to whether there is in open space and blocks object.
2. the method that millimetre-wave radar detection open space as described in claim 1 blocks object, which is characterized in that described right
The electromagnetic wave and the first echo signal are handled, and are obtained environmental information to be detected, are specifically included：
The electromagnetic wave and the first echo signal are mixed, and obtain the first difference frequency signal after mixing；
The first DC component is extracted from first difference frequency signal, and using first DC component as the ring to be detected
Border information.
3. the method that millimetre-wave radar detection open space as claimed in claim 2 blocks object, which is characterized in that in basis
The environmental information of the environmental information to be detected and open space when not blocking object detects presently described open empty
Between in the presence or absence of before blocking object, further include：
The electromagnetic wave of fixed frequency is sent to the open space for not blocking object by millimetre-wave radar, and described in acquisition
The second echo signal of electromagnetic wave；
The electromagnetic wave and the second echo signal are mixed, and obtain the second difference frequency signal after mixing；
Extract the second DC component from second difference frequency signal, and using second DC component as not blocking object
When the open space environmental information.
4. the method that millimetre-wave radar detection open space as claimed in claim 3 blocks object, which is characterized in that described
The environmental information of open space when not blocking according to the environmental information to be detected and object, detects presently described opening
With the presence or absence of object is blocked in space, specifically include：
Calculate the component difference of first DC component and second DC component；
According to the component difference and predetermined threshold value object is blocked to detect to whether there is in presently described open space.
5. the method that millimetre-wave radar detection open space as claimed in claim 4 blocks object, which is characterized in that described
It detects in presently described open space with the presence or absence of object is blocked, specifically includes according to the component difference and predetermined threshold value：
The component difference is compared with the predetermined threshold value；
If the component difference is more than the predetermined threshold value, judges to exist in presently described open space and block object；
If the component difference is less than the predetermined threshold value, judge that there is no block object in presently described open space.
6. a kind of millimetre-wave radar detection open space blocks the device of object, which is characterized in that including：
First signal acquisition module, the electromagnetism for sending fixed frequency to open space to be detected by millimetre-wave radar
Wave, and obtain the first echo signal of the electromagnetic wave；
First information acquisition module obtains ring to be detected for handling the electromagnetic wave and the first echo signal
Border information；And
Detection module, the environment letter for the open space according to the environmental information to be detected and when not blocking object
Breath detects to whether there is in presently described open space and blocks object.
7. millimetre-wave radar as claimed in claim 6 detection open space blocks the device of object, which is characterized in that described the
One data obtaining module specifically includes：
Mixing unit, for the electromagnetic wave and the first echo signal to be mixed, and obtain it is first poor after mixing
Frequency signal；And
Extraction unit is made for extracting the first DC component from first difference frequency signal, and by first DC component
For the environmental information to be detected.
8. millimetre-wave radar detection open space as claimed in claim 7 blocks the device of object, which is characterized in that the dress
It sets and further includes：
Second signal acquisition module, for sending fixed frequency to the open space for not blocking object by millimetre-wave radar
The electromagnetic wave of rate, and obtain the second echo signal of the electromagnetic wave；
Frequency mixing module, for the electromagnetic wave and the second echo signal to be mixed, and obtain it is second poor after mixing
Frequency signal；And
Second data obtaining module, for extracting the second DC component from second difference frequency signal, and it is straight by described second
Environmental information of the flow component as open space when not blocking object.
9. millimetre-wave radar detection open space as claimed in claim 8 blocks the device of object, which is characterized in that the inspection
Module is surveyed to specifically include：
Computing unit, the component difference for calculating first DC component and second DC component；
Detection unit, for being detected in presently described open space with the presence or absence of screening according to the component difference and predetermined threshold value
Block material body.
10. millimetre-wave radar detection open space as claimed in claim 9 blocks the device of object, which is characterized in that described
Detection unit is specifically used for：
The component difference is compared with the predetermined threshold value；
If the component difference is more than the predetermined threshold value, judges to exist in presently described open space and block object；
If the component difference is less than the predetermined threshold value, judge that there is no block object in presently described open space.
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| CN110441753A (en) * | 2019-09-19 | 2019-11-12 | 森思泰克河北科技有限公司 | Radar occlusion detection method and radar |
| CN110927684A (en) * | 2018-09-20 | 2020-03-27 | 北京行易道科技有限公司 | Method and device for detecting radar shielding state of automobile |
| CN111665483A (en) * | 2020-05-07 | 2020-09-15 | 隔空（上海）智能科技有限公司 | Moving target detection method of Doppler radar |
| CN112698292A (en) * | 2020-12-21 | 2021-04-23 | 广州极飞科技有限公司 | Radar signal processing method and device and aircraft |
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