CN109490858A - A kind of thunder ball sizing system and method - Google Patents
A kind of thunder ball sizing system and method Download PDFInfo
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- CN109490858A CN109490858A CN201811313343.8A CN201811313343A CN109490858A CN 109490858 A CN109490858 A CN 109490858A CN 201811313343 A CN201811313343 A CN 201811313343A CN 109490858 A CN109490858 A CN 109490858A
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- distance
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- ball
- thunder
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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
- G01S7/40—Means for monitoring or calibrating
Abstract
The invention discloses a kind of thunder ball sizing system and methods, thunder ball sizing system includes radar, ball machine, control module and distance measuring sensor, distance measuring sensor obtains the distance between itself and ball machine, and control module controls one circle of ball machine rotation according to preset rotation step-length；And the every rotation of ball machine is primary, receives the distance that distance measuring sensor is sent and determines the corresponding target range of ball machine symmetric points according to each distance received；Using the corresponding ball machine rotational angle of target range as thunder ball sizing angle.Due to being provided with distance measuring sensor and control module in thunder ball sizing system, control module controls one circle of ball machine rotation, the every rotation of ball machine is primary, receive the distance that distance measuring sensor is sent, according to each distance received, the corresponding target range of ball machine symmetric points is determined, using the corresponding ball machine rotational angle of target range as thunder ball sizing angle.So that 0 ° of line of 0 ° of line of ball machine polar coordinates and radar polar coordinates is overlapped, so that thunder ball sizing is more acurrate.
Description
Technical field
The present invention relates to coordinate system collimation technique field more particularly to a kind of thunder ball sizing system and methods.
Background technique
In the change that security protection market makes rapid progress is regenerated, radar gradually enters into the sight of device manufacturer.Radar is as biography
The blind accessory of benefit of system security product video camera, has benefited from its excellent anti-interference, and not by shadows such as temperature, weather, illumination
Loud characteristic can supplement good night detectivity and real-time tracking ability to traditional monitoring scheme.Due to radar detection
The location information of target can be provided after to target, which will be directly used in ball machine and track to the vision of target, therefore
Radar and the calibration of ball machine coordinate system are just particularly important, and accurate coordinate system calibration accuracy can guarantee that ball machine can accurately be seen
The target arrived to radar detection.
The prior art generally uses manual calibration thunder spherical coordinate system, and the specific method is as follows:
0 ° of line of 0 ° of line of ball machine polar coordinates and radar polar coordinates before showing the correction of thunder spherical coordinate system in Fig. 1, the seat of ball machine
Mark system refers to the horizontal polar system of control ball machine horizontal rotation angle, and the coordinate system is related with ball machine installation site, will not
It is rotated as ball machine rotates；Radar fix system refers to the horizontal polar system with radar symmetrical centre for 0 degree of angle, if thunder
Up to horizontally rotating, radar fix system also can and then be rotated.As shown in Fig. 2, people (point P) original place in radar coverage is shaken
Dynamic or small range is walked about, and triggers radar warning, radar can provide the angle information α of point P based on the polar coordinate system of oneself at this time.So
Artificially control ball machine turns to reference point locations, the people of alignment manufacture alarm point, as shown in figure 3, it is opposite to obtain current ball machine afterwards
In the horizontal angle angle value β of ball machine coordinate system (value can be directly read from ball machine).Later, the angle that radar detection is arrived is θ's
Target, it is only necessary to which the angle that (β-α) is added in the angle that radar provides can be exchanged into the target in ball machine coordinate system
Angle.
Problem of the existing technology is that when alarm object original place is shaken or small range is walked about, radar detection is had centainly
Deviation, and artificially control ball machine turns to reference point locations, and the people of alignment manufacture alarm point also has deviation, this will lead to
Prior art thunder ball sizing inaccuracy.
Summary of the invention
The embodiment of the invention provides a kind of thunder ball sizing system and methods, to solve thunder ball sizing in the prior art not
Accurate problem.
The embodiment of the invention provides a kind of thunder ball sizing system, the thunder ball sizing system includes radar and ball machine, institute
State thunder ball sizing system further include: control module and distance measuring sensor, wherein the distance measuring sensor and the fixed company of the radar
It connects, and the distance measuring sensor is consistent with the radar horizon detection direction；
The distance measuring sensor is connect with the control module, for obtaining the distance between itself and the ball machine, with
And the distance that will acquire is sent to the control module；
The control module is connect with the ball machine, for controlling the ball machine rotation one according to preset rotation step-length
Circle；And the every rotation of the ball machine is primary, and the control module receives the distance that the distance measuring sensor is sent, according to receiving
Each distance, determine the corresponding target range of the ball machine symmetric points；By the corresponding ball machine rotational angle of the target range
As thunder ball sizing angle.
Further, the control module, specifically for carrying out each distance received according to ball machine rotational angle
Sequence determines centered on the distance for each distance, the difference of the symmetrical every two distance of two side positions it is absolute
Value, calculate this apart from corresponding each absolute value and value；Each of will obtain and value in, the smallest and corresponding distance of value is true
It is set to the corresponding target range of the ball machine symmetric points.
Further, the thunder ball sizing system further includes laser indicator lamp；Wherein, the laser indicator lamp and the survey
It is less than preset distance threshold away from the mounting distance between sensor, and towards consistent.
Further, the distance measuring sensor includes:
Flight time TOF sensor or ultrasonic sensor.
Further, the preset rotation step-length is 1 degree.
On the other hand, the embodiment of the invention provides a kind of thunder ball sizing methods, which comprises
Control module controls one circle of ball machine rotation according to preset rotation step-length；And the every rotation of ball machine is primary, connects
Receive the distance that distance measuring sensor is sent；Wherein, the distance be distance measuring sensor obtain itself between the ball machine away from
From；
According to each distance received, the corresponding target range of the ball machine symmetric points is determined；By the target range
Corresponding ball machine rotational angle is as thunder ball sizing angle.
Further, each distance that the basis receives determines the corresponding target range packet of the ball machine symmetric points
It includes:
The each distance received is ranked up according to ball machine rotational angle, for each distance, is determined with the distance
Centered on, the absolute value of the difference of the symmetrical every two distance of two side positions calculates this apart from corresponding each absolute value
And value；Each of will obtain and value in, it is the smallest be determined as with the corresponding distance of value the corresponding target of the ball machine symmetric points away from
From.
Further, the distance measuring sensor includes:
Flight time TOF sensor or ultrasonic sensor.
Further, the preset rotation step-length is 1 degree.
The embodiment of the invention provides a kind of thunder ball sizing system and method, the thunder ball sizing system includes radar and ball
Machine, the thunder ball sizing system further include: control module and distance measuring sensor, wherein the distance measuring sensor and the radar
It is fixedly connected, and the distance measuring sensor is consistent with the radar horizon detection direction；The distance measuring sensor and the control
Module connection, for obtaining the distance between itself and the ball machine, the distance that will acquire is sent to the control module；It is described
Control module is connect with the ball machine, for controlling one circle of ball machine rotation according to preset rotation step-length；And the ball
The every rotation of machine is primary, receives the distance that the distance measuring sensor is sent and determines the ball machine pair according to each distance received
Claim point corresponding target range；Using the corresponding ball machine rotational angle of the target range as thunder ball sizing angle.
Due in embodiments of the present invention, being provided with distance measuring sensor and control module in thunder ball sizing system, ranging is passed
The distance between sensor available itself and ball machine, control module control one circle of ball machine rotation, and the every rotation of ball machine is primary, receives
The distance that distance measuring sensor is sent determines the corresponding target range of ball machine symmetric points, by target according to each distance received
Apart from corresponding ball machine rotational angle as thunder ball sizing angle.In this way according to thunder ball sizing angle calibration system thunder spherical coordinate system
When, it can just make 0 ° of line of 0 ° of line of ball machine polar coordinates and radar polar coordinates be overlapped, so that thunder ball sizing is more acurrate.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly introduced, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this
For the those of ordinary skill in field, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is that 0 ° of line of 0 ° of line of ball machine polar coordinates and radar polar coordinates before the thunder spherical coordinate system correction that the prior art provides shows
It is intended to；
Fig. 2 is the schematic diagram for the angle information α that the radar that the prior art provides provides point P based on the polar coordinate system of oneself；
Fig. 3 is the schematic diagram for obtaining horizontal angle angle value β of the current ball machine relative to ball machine coordinate system that the prior art provides；
Fig. 4 is the thunder ball sizing system structure diagram that the embodiment of the present invention 1 provides；
Fig. 5 be the ball machine rotational angle that provides of the embodiment of the present invention 1 with distance measuring sensor measure at a distance from corresponding relationship
Schematic diagram；
Fig. 6 is the structural schematic diagram of the embodiment of the present invention 1 distance measuring sensor provided and ball machine；
Fig. 7 is the thunder ball sizing system structure diagram that the embodiment of the present invention 3 provides；
Fig. 8 is the thunder ball sizing process schematic that the embodiment of the present invention 4 provides；
Fig. 9 is the thunder ball sizing detailed process schematic diagram that the embodiment of the present invention 5 provides.
Specific embodiment
The present invention will be describe below in further detail with reference to the accompanying drawings, it is clear that described embodiment is only this
Invention a part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art exist
All other embodiment obtained under the premise of creative work is not made, shall fall within the protection scope of the present invention.
Embodiment 1:
Fig. 4 is thunder ball sizing system structure diagram provided in an embodiment of the present invention, and the thunder ball sizing system includes thunder
Up to 11 and ball machine 12, the thunder ball sizing system further include: control module 13 and distance measuring sensor 14, wherein the ranging passes
Sensor 14 is fixedly connected with the radar 11, and the distance measuring sensor 14 is consistent with the 11 level detection direction of radar；
The distance measuring sensor 14 is connect with the control module 13, for obtain itself between the ball machine 12 away from
From, and the distance that will acquire is sent to the control module 13；
The control module 13 is connect with the ball machine 12, for controlling the ball machine 12 according to preset rotation step-length
One circle of rotation；And the every rotation of the ball machine 12 is primary, the control module 13 receive that the distance measuring sensor 14 sends away from
From determining the corresponding target range of 12 symmetric points of ball machine according to each distance received；The target range is corresponding
Ball machine rotational angle as thunder ball sizing angle.
As shown in figure 4, thunder ball sizing system includes radar 11 and ball machine 12.Radar in the embodiment of the present invention can be milli
Metre wave radar, thunder ball sizing system further include: control module 13 and distance measuring sensor 14, wherein distance measuring sensor 14 and radar
11 are fixedly connected, and distance measuring sensor 14 is consistent with 11 level detection direction of radar.The function of radar 11 is detection a certain range
Interior moving target.The function of distance measuring sensor 14 be measured by way of sending light pulse itself object aligned with it
Between distance, precision can reach 0.1 millimeter, and in embodiments of the present invention, distance measuring sensor 14 is used for instrumentation radar 11 and ball
The distance between machine 12.
The distance measuring sensor includes:
Flight time (Time of Flight, TOF) sensor or ultrasonic sensor.
In actual application, radar 11 can determine object in radar fix after detecting object
Angle in system, then sends control module 13 for the angle, and control module 13 determines object in ball according to the angle
Then angle in machine coordinate system rotates according to the angle control ball machine 12 in ball machine coordinate system and tracks object.The present invention
Embodiment is intended to accurately determine the angular error of ball machine coordinate system and radar fix system, so that more acurrate to thunder ball sizing.
The process for the angular error for determining ball machine coordinate system and radar fix system is illustrated below.
In embodiments of the present invention, distance measuring sensor is for obtaining the distance between itself and ball machine, and is sent to control
Module, control module are used to control one circle of ball machine rotation according to preset rotation step-length.Also, it is every that control module controls ball machine
Rotation is primary, just receives the distance that distance measuring sensor is sent.Preset rotation step-length can be 2 degree, 3 degree etc., preferably, can be with
It is 1 degree.For example, preset rotation step-length is 1 degree, ball machine, which turns around, comes to 360 degree, and control module receives distance measuring sensor
360 distances of distance of transmission.Wherein, 1 degree of corresponding distance is d1, and 2 degree of corresponding distances are d2 ... ..., and 360 degree corresponding
Distance is d360.Fig. 5 is the correspondence diagram at a distance from ball machine rotational angle and distance measuring sensor measure.
Control module is after 360 distances for receiving distance measuring sensor transmission, can be with according to each distance received
Determine the corresponding target range of ball machine symmetric points.
Specifically, Fig. 6 is the structural schematic diagram of distance measuring sensor and ball machine, as shown in fig. 6, distance measuring sensor measures itself
It is farthest at a distance from two square positions of ball machine camera lens shown in fig. 6, and the position Q of ball machine symmetric points is placed exactly in Fig. 6 institute
The middle position at two right angles of ball machine camera lens shown.Based on this, control module get distance measuring sensor transmission 360 away from
From rear, it can identify two maximum distances, then determine that the two are maximum apart from corresponding ball machine rotational angle respectively, then
Determine the mean value of the two ball machine rotational angles, the corresponding distance of the mean value is the corresponding target range of ball machine symmetric points, should
Mean value i.e. thunder ball sizing angle.
Due in embodiments of the present invention, being provided with distance measuring sensor and control module in thunder ball sizing system, ranging is passed
The distance between sensor available itself and ball machine, control module control one circle of ball machine rotation, and the every rotation of ball machine is primary, receives
The distance that distance measuring sensor is sent determines the corresponding target range of ball machine symmetric points, by target according to each distance received
Apart from corresponding ball machine rotational angle as thunder ball sizing angle.In this way according to thunder ball sizing angle calibration system thunder spherical coordinate system
When, it can just make 0 ° of line of 0 ° of line of ball machine polar coordinates and radar polar coordinates be overlapped, so that thunder ball sizing is more acurrate.
Embodiment 2:
In order to keep thunder ball system calibration more acurrate, need accurately to determine the corresponding target range of ball machine symmetric points, above-mentioned
On the basis of embodiment, in embodiments of the present invention, the control module, specifically for by each distance received according to ball
Machine rotational angle is ranked up, and for each distance, determines the symmetrical every two distance of two side positions centered on the distance
Difference absolute value, calculate this apart from corresponding each absolute value and value；Each of will obtain and value in, it is the smallest and be worth
Corresponding distance is determined as the corresponding target range of the ball machine symmetric points.
In embodiments of the present invention, control module will connect first after 360 distances for getting distance measuring sensor transmission
The each distance received is ranked up according to ball machine rotational angle, that is, according to 1 degree to 360 degree by each clustering order, when
It so can also be according to 360 degree to 1 degree by each clustering order.After sequence, for each distance, determine centered on the distance,
The absolute value of the difference of the symmetrical every two distance of two side positions.For example, then being distinguished centered on 1 degree of corresponding distance d1
Calculate the absolute value of difference of 2 degree of corresponding distance d2 and 360 degree of corresponding distance d360,3 degree of corresponding distance d3 and 359 degree
The absolute value of difference etc. of corresponding distance d359.Calculate the absolute of the difference of the symmetrical every two distance of two side positions
After value, these absolute values are summed, as distance d1 it is corresponding and value.Centered on each distance, it can obtain corresponding
And value, each of then will obtain and value in, it is the smallest be determined as with the corresponding distance of value the corresponding target of ball machine symmetric points away from
From.And then using the corresponding ball machine rotational angle of target range as thunder ball sizing angle.
For example, d50 is corresponding and value is minimum, then it can determine that thunder ball sizing angle is 50 degree.
Since in embodiments of the present invention, control module arranges each distance received according to ball machine rotational angle
Sequence, determining centered on the distance for each distance, the absolute value of the difference of the symmetrical every two distance of two side positions,
The each absolute value being calculated and value；Each of will obtain and value in, described in the smallest and corresponding distance of value is determined as
The corresponding target range of ball machine symmetric points.So that the corresponding target range of ball machine symmetric points determined is more acurrate, and then make
It is more acurrate to obtain the system calibration of thunder ball.
Embodiment 3:
On the basis of the various embodiments described above, Fig. 7 is thunder ball sizing system structure diagram provided in an embodiment of the present invention,
The thunder ball sizing system further includes laser indicator lamp 21；Wherein, the laser indicator lamp 21 and the distance measuring sensor 14 it
Between mounting distance be less than preset distance threshold, and towards consistent.
In embodiments of the present invention, preset distance threshold is lesser value, such as 1 centimetre, 1.5 centimetres etc..Laser refers to
Showing the effect of lamp 21 is, the mounting distance between laser indicator lamp 21 and distance measuring sensor 14 is less than preset distance threshold and court
To consistent, then the signified direction of laser indicator lamp 21 is exactly the direction of 14 rangings of distance measuring sensor, laser indicator lamp is added
21, which can be used family, more intuitively confirms whether distance measuring sensor 14 measures the plane that user wants to measure.And then use can be improved
Family experience.
Embodiment 4:
Fig. 8 be thunder ball sizing process schematic provided in an embodiment of the present invention, the process the following steps are included:
S101: control module controls one circle of ball machine rotation according to preset rotation step-length；And the every rotation one of ball machine
It is secondary, receive the distance that distance measuring sensor is sent；Wherein, the distance be distance measuring sensor obtain itself between the ball machine
Distance.
S102: according to each distance received, the corresponding target range of the ball machine symmetric points is determined；By the target
Apart from corresponding ball machine rotational angle as thunder ball sizing angle.
Thunder ball sizing system includes radar and ball machine.Radar in the embodiment of the present invention can be millimetre-wave radar, thunder ball
Calibration system further include: control module and distance measuring sensor, wherein distance measuring sensor is fixedly connected with radar, and ranging senses
Device is consistent with radar horizon detection direction.The function of radar is a certain range of moving target of detection.The function of distance measuring sensor
It can be that itself the distance between object aligned with it is measured by way of sending light pulse, precision can reach 0.1 millimeter,
In embodiments of the present invention, distance measuring sensor is used for the distance between instrumentation radar and ball machine.The distance measuring sensor includes:
TOF sensor or ultrasonic sensor.Thunder ball sizing method provided in an embodiment of the present invention is applied to control module.
In actual application, radar can determine object in radar fix system after detecting object
In angle, then send control module for the angle, control module determines object in ball machine coordinate according to the angle
Then angle in system rotates according to the angle control ball machine in ball machine coordinate system and tracks object.Meaning of the embodiment of the present invention
In the angular error for accurately determining ball machine coordinate system and radar fix system, so that more acurrate to thunder ball sizing.
The process for the angular error for determining ball machine coordinate system and radar fix system is illustrated below.
In embodiments of the present invention, distance measuring sensor is for obtaining the distance between itself and ball machine, and is sent to control
Module, control module are used to control one circle of ball machine rotation according to preset rotation step-length.Also, it is every that control module controls ball machine
Rotation is primary, just receives the distance that distance measuring sensor is sent.Preset rotation step-length can be 2 degree, 3 degree etc., preferably, can be with
It is 1 degree.For example, preset rotation step-length is 1 degree, ball machine, which turns around, comes to 360 degree, and control module receives distance measuring sensor
360 distances of distance of transmission.Wherein, 1 degree of corresponding distance is d1, and 2 degree of corresponding distances are d2 ... ..., and 360 degree corresponding
Distance is d360.Control module is after 360 distances for receiving distance measuring sensor transmission, according to each distance received,
It can determine the corresponding target range of ball machine symmetric points.
As shown in fig. 6, distance measuring sensor measure itself at two square positions of ball machine camera lens shown in fig. 6 at a distance from most
Far, and the position Q of ball machine symmetric points is placed exactly in the middle position at two right angles of ball machine camera lens shown in fig. 6.Based on this, control
Module can identify two maximum distances, then determine this respectively after 360 distances for getting distance measuring sensor transmission
Two maximum apart from corresponding ball machine rotational angle, then determines the mean value of the two ball machine rotational angles, and the mean value is corresponding
The distance as corresponding target range of ball machine symmetric points, the mean value i.e. thunder ball sizing angle.
Due in embodiments of the present invention, being provided with distance measuring sensor and control module in thunder ball sizing system, ranging is passed
The distance between sensor available itself and ball machine, control module control one circle of ball machine rotation, and the every rotation of ball machine is primary, receives
The distance that distance measuring sensor is sent determines the corresponding target range of ball machine symmetric points, by target according to each distance received
Apart from corresponding ball machine rotational angle as thunder ball sizing angle.In this way according to thunder ball sizing angle calibration system thunder spherical coordinate system
When, it can just make 0 ° of line of 0 ° of line of ball machine polar coordinates and radar polar coordinates be overlapped, so that thunder ball sizing is more acurrate.
Embodiment 5:
In order to keep thunder ball system calibration more acurrate, need accurately to determine the corresponding target range of ball machine symmetric points, above-mentioned
On the basis of embodiment, in embodiments of the present invention, each distance that the basis receives determines the ball machine symmetric points pair
The target range answered includes:
The each distance received is ranked up according to ball machine rotational angle, for each distance, is determined with the distance
Centered on, the absolute value of the difference of the symmetrical every two distance of two side positions calculates this apart from corresponding each absolute value
And value；Each of will obtain and value in, it is the smallest be determined as with the corresponding distance of value the corresponding target of the ball machine symmetric points away from
From.
In embodiments of the present invention, control module will connect first after 360 distances for getting distance measuring sensor transmission
The each distance received is ranked up according to ball machine rotational angle, that is, according to 1 degree to 360 degree by each clustering order, when
It so can also be according to 360 degree to 1 degree by each clustering order.After sequence, for each distance, determine centered on the distance,
The absolute value of the difference of the symmetrical every two distance of two side positions.For example, then being distinguished centered on 1 degree of corresponding distance d1
Calculate the absolute value of difference of 2 degree of corresponding distance d2 and 360 degree of corresponding distance d360,3 degree of corresponding distance d3 and 359 degree
The absolute value of difference etc. of corresponding distance d359.Calculate the absolute of the difference of the symmetrical every two distance of two side positions
After value, these absolute values are summed, as distance d1 it is corresponding and value.Centered on each distance, it can obtain corresponding
And value, each of then will obtain and value in, it is the smallest be determined as with the corresponding distance of value the corresponding target of ball machine symmetric points away from
From.And then using the corresponding ball machine rotational angle of target range as thunder ball sizing angle.
For example, d50 is corresponding and value is minimum, then it can determine that thunder ball sizing angle is 50 degree.
Since in embodiments of the present invention, control module arranges each distance received according to ball machine rotational angle
Sequence, determining centered on the distance for each distance, the absolute value of the difference of the symmetrical every two distance of two side positions,
The each absolute value being calculated and value；Each of will obtain and value in, described in the smallest and corresponding distance of value is determined as
The corresponding target range of ball machine symmetric points.So that the corresponding target range of ball machine symmetric points determined is more acurrate, and then make
It is more acurrate to obtain the system calibration of thunder ball.
Fig. 9 is thunder ball sizing detailed process schematic diagram provided in an embodiment of the present invention, as shown in figure 9, control ball machine is with 1 °
Step-length carry out horizontal direction rotation, while distance measuring sensor measured in each step-length itself arrive ball machine distance, rotation
After circling, will obtain 360 distance d1, d2 ..., d360.360 distances can be with 360 angles one of control ball machine
One is mapped.For each distance, determine centered on the distance, the difference of the symmetrical every two distance of two side positions
Absolute value, calculate this apart from corresponding each absolute value and value.Specifically, being counted respectively centered on 1 degree of corresponding distance d1
Calculate the absolute value of difference of 2 degree of corresponding distance d2 and 360 degree of corresponding distance d360,3 degree of corresponding distance d3 and 359 degree pairs
The absolute value of the difference of the distance d359 answered, and so on, the absolute value of all differences is added up and obtains one and value, should and be worth
For characterizing the position of ball machine symmetric points.Next centered on 2 degree of corresponding distance d2,1 degree of corresponding distance is calculated separately
The difference of the absolute value of the difference of d1 and 3 degree of corresponding distance d3,360 degree of corresponding distance d3360 and 4 degree of corresponding distance d4
Absolute value, and so on obtain one and value for the absolute value of all differences is cumulative, should and value for characterizing ball machine symmetric points
Position.Continue to obtain cumulative and value centered on third, the 4th ... the 360th distance.Compare all and value,
Find out one the smallest, the smallest and to be worth corresponding centre distance be dmin, dmin is target range.Obtain target range
Afterwards, using the corresponding ball machine rotational angle of target range as thunder ball sizing angle.
It should be noted that in embodiments of the present invention, the ball machine symmetric points determined are likely to be shown in Fig. 6
Q point, it is also possible to be the point of Q ' shown in Fig. 6.When using this method in the later period, if determining thunder according to embodiments of the present invention
Ball sizing angle can not see tracking target in ball machine, it is only necessary to be plus 180 degree on the basis of thunder ball sizing angle
It can.
The embodiment of the invention provides a kind of thunder ball sizing system and method, the thunder ball sizing system includes radar and ball
Machine, the thunder ball sizing system further include: control module and distance measuring sensor, wherein the distance measuring sensor and the radar
It is fixedly connected, and the distance measuring sensor is consistent with the radar horizon detection direction；The distance measuring sensor and the control
Module connection, for obtaining the distance between itself and the ball machine, the distance that will acquire is sent to the control module；It is described
Control module is connect with the ball machine, for controlling one circle of ball machine rotation according to preset rotation step-length；And the ball
The every rotation of machine is primary, receives the distance that the distance measuring sensor is sent and determines the ball machine pair according to each distance received
Claim point corresponding target range；Using the corresponding ball machine rotational angle of the target range as thunder ball sizing angle.
Due in embodiments of the present invention, being provided with distance measuring sensor and control module in thunder ball sizing system, ranging is passed
The distance between sensor available itself and ball machine, control module control one circle of ball machine rotation, and the every rotation of ball machine is primary, receives
The distance that distance measuring sensor is sent determines the corresponding target range of ball machine symmetric points, by target according to each distance received
Apart from corresponding ball machine rotational angle as thunder ball sizing angle.In this way according to thunder ball sizing angle calibration system thunder spherical coordinate system
When, it can just make 0 ° of line of 0 ° of line of ball machine polar coordinates and radar polar coordinates be overlapped, so that thunder ball sizing is more acurrate.
The present invention be referring to according to the method for the embodiment of the present invention, the process of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Although preferred embodiments of the present invention have been described, it is created once a person skilled in the art knows basic
Property concept, then additional changes and modifications may be made to these embodiments.So it includes excellent that the following claims are intended to be interpreted as
It selects embodiment and falls into all change and modification of the scope of the invention.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (9)
1. a kind of thunder ball sizing system, the thunder ball sizing system includes radar and ball machine, which is characterized in that the thunder ball sizing
System further include: control module and distance measuring sensor, wherein the distance measuring sensor is fixedly connected with the radar, and described
Distance measuring sensor is consistent with the radar horizon detection direction；
The distance measuring sensor is connect with the control module, for obtaining the distance between itself and the ball machine, and general
The distance of acquisition is sent to the control module；
The control module is connect with the ball machine, for controlling one circle of ball machine rotation according to preset rotation step-length；And
And the every rotation of ball machine is once, the control module receives the distance that the distance measuring sensor is sent, every according to what is received
A distance determines the corresponding target range of the ball machine symmetric points；Using the corresponding ball machine rotational angle of the target range as
Thunder ball sizing angle.
2. thunder ball sizing system as described in claim 1, which is characterized in that the control module, specifically for that will receive
Each distance be ranked up according to ball machine rotational angle, for each distance, determine the two side position phases centered on the distance
The absolute value of the difference of symmetrical every two distance, calculate this apart from corresponding each absolute value and value；Each of will obtain
In value, the smallest and corresponding distance of value is determined as the corresponding target range of the ball machine symmetric points.
3. thunder ball sizing system as described in claim 1, which is characterized in that the thunder ball sizing system further includes laser designation
Lamp；Wherein, the mounting distance between the laser indicator lamp and the distance measuring sensor is less than preset distance threshold, and direction
Unanimously.
4. thunder ball sizing system as described in claim 1, which is characterized in that the distance measuring sensor includes:
Flight time TOF sensor or ultrasonic sensor.
5. thunder ball sizing system as described in claim 1, which is characterized in that the preset rotation step-length is 1 degree.
6. a kind of thunder ball sizing method, which is characterized in that the described method includes:
Control module controls one circle of ball machine rotation according to preset rotation step-length；And the every rotation of ball machine is primary, receives and surveys
The distance sent away from sensor；Wherein, the distance is the distance between itself and the ball machine that distance measuring sensor obtains；
According to each distance received, the corresponding target range of the ball machine symmetric points is determined；The target range is corresponding
Ball machine rotational angle as thunder ball sizing angle.
7. method as claimed in claim 6, which is characterized in that each distance that the basis receives determines the ball machine
The corresponding target range of symmetric points includes:
The each distance received is ranked up according to ball machine rotational angle, for each distance, determines with the distance and is
The heart, the absolute value of the difference of the symmetrical every two distance of two side positions, calculate this apart from corresponding each absolute value and value；
Each of will obtain and value in, it is the smallest to be determined as the corresponding target range of the ball machine symmetric points with the corresponding distance of value.
8. method as claimed in claim 6, which is characterized in that the distance measuring sensor includes:
Flight time TOF sensor or ultrasonic sensor.
9. method as claimed in claim 6, which is characterized in that the preset rotation step-length is 1 degree.
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