CN110441765B - Intelligent mobile platform multi-radar device and information fusion method - Google Patents
Intelligent mobile platform multi-radar device and information fusion method Download PDFInfo
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- CN110441765B CN110441765B CN201910746868.9A CN201910746868A CN110441765B CN 110441765 B CN110441765 B CN 110441765B CN 201910746868 A CN201910746868 A CN 201910746868A CN 110441765 B CN110441765 B CN 110441765B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
- G01S13/878—Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/885—Radar or analogous systems specially adapted for specific applications for ground probing
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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
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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
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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
- G01S7/415—Identification of targets based on measurements of movement associated with the target
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Abstract
The invention discloses an intelligent mobile platform multi-radar device and an information fusion method.
Description
Technical Field
The invention relates to the field of millimeter wave radars, in particular to an intelligent mobile platform multi-radar device and an information fusion method.
Background
High accuracy, low cost, miniaturization and environmental factor insensitive measurement are advantages of radar sensors in intelligent mobile platform motion-assisted applications. The traditional moving platform adopts a laser radar sensor or an ultrasonic radar sensor when in motion. The ultrasonic sensor has the advantages of low response speed, short detection distance, large blind area, low precision, high power consumption and high cost of the laser radar sensor, and is easy to detect the failure of transparent target objects such as transparent glass, mirror reflection and the like, which is difficult to detect. The millimeter wave radar sensor has accuracy, response speed and environmental adaptability which cannot be simultaneously provided by other sensors. The millimeter wave radar sensor can detect a target and provide distance, speed and angle information of the target, the ranging precision of the technology can reach a sub-millimeter level, and the technology can penetrate materials such as plastics, dry walls, clothes and the like. In addition, millimeter wave detection is not influenced by weather conditions such as rain, snow, fog, haze and smoke dust, and can also work normally under the conditions of strong light and darkness. Therefore, the millimeter wave radar sensor well meets the requirement of the mobile platform sensor on environment perception by virtue of excellent performance. But receive the restriction of field of view scope, single radar sensor can produce the detection blind area, can not survey surrounding environment and place ahead topography simultaneously moreover, in order to acquire and predict the environmental information that locates fast and accurately, makes mobile platform realize intelligent motion better, can utilize 2 central operating frequency to measure and fuse sensor information for 77 GHz's millimeter wave radar sensor.
Disclosure of Invention
Aiming at the defects in the prior art, the intelligent mobile platform multi-radar information fusion and environment perception method provided by the invention solves the problems caused by adopting a laser radar sensor or an ultrasonic radar sensor when the traditional mobile platform moves: the ultrasonic sensor has the advantages of low response speed, short detection distance, low precision, high power consumption of the laser radar sensor, high cost and easy omission of detection of failures of transparent and mirror reflection targets.
In order to achieve the purpose of the invention, the invention adopts the technical scheme that: a smart mobile platform multi-radar apparatus, comprising: the system comprises a mobile platform, a tray, a first radar cover, a multi-axis mechanical arm, a second radar cover, a tray motor, a first millimeter wave radar sensor shell, a second millimeter wave radar sensor shell, a first millimeter wave radar sensor, a second millimeter wave radar sensor and a vehicle-mounted electromechanical system; the first millimeter wave radar sensor is arranged in a first millimeter wave radar sensor shell, and the second millimeter wave radar sensor is arranged in a second millimeter wave radar sensor shell; the tray is arranged at the top end of the mobile platform and is rotationally connected with the mobile platform; the first millimeter wave radar sensor shell is arranged in a cavity formed by the first radar cover and the tray and is fixedly connected with the tray; one end of the multi-axis mechanical arm is installed at the front end of the mobile platform, the other end of the multi-axis mechanical arm is fixedly connected with the second radar cover, the second millimeter wave radar sensor shell is installed inside the second radar cover and fixedly connected with the second radar cover, the tray motor is installed in the mobile platform shell, an output shaft of the tray motor is fixedly connected with the tray, and the vehicle-mounted electromechanical system is respectively electrically connected with the multi-axis mechanical arm and the tray motor.
Further: the multi-axis manipulator is 3 arms, 3 arms include: a first elbow, a second elbow, a third elbow, a fourth elbow, a first elbow joint, a second elbow joint, and a third elbow joint;
one end of the first mechanical elbow is fixedly connected with the moving platform, and the other end of the first mechanical elbow is fixedly connected with one end of the first elbow joint; the other end of the first elbow joint is rotatably connected with one end of a second mechanical elbow; the other end of the second mechanical elbow is fixedly connected with one end of a second elbow joint, and the other end of the second elbow joint is rotatably connected with one end of a third mechanical elbow; the other end of the third mechanical elbow is fixedly connected with one end of a third elbow joint; the other end of the third elbow joint is rotatably connected with one end of a fourth mechanical elbow, and the other end of the fourth mechanical elbow is fixedly connected with the second radome.
Further: first millimeter wave radar sensor and second millimeter wave radar sensor structure are the same, all include: the system comprises 4 receiving antenna arrays, 2 transmitting antenna arrays, an FMCW waveform generator, a mixer, a low-pass filter, an ADC module and a signal processing module; the output ends of the 4 receiving antenna arrays are connected with the first input end of the mixer, the input ends of the 2 transmitting antenna arrays are connected with the first output end of the FMCW waveform generator, the second output end of the FMCW waveform generator is connected with the second input end of the mixer, and the output end of the mixer is connected with the input end of the low-pass filter; the output end of the low-pass filter is connected with the input end of the ADC module, and the output end of the ADC module is connected with the signal processing module; the signal processing module comprises two MICRO USB interfaces.
The invention has the beneficial effects that: compared with the traditional ultrasonic radar sensor and the traditional laser radar sensor, the millimeter wave radar sensor has the advantages of high response speed, low cost and capability of realizing high-precision measurement, wherein the high-precision measurement comprises the information of the distance, the speed and the azimuth angle of a plurality of targets, and the distance resolution is as high as 0.04 m;
the first millimeter wave radar sensor arranged at the top end of the mobile platform can realize the switching of a distance measurement mode through an upper computer, the second millimeter wave radar sensor arranged at the front end of the multi-shaft mechanical arm can scan the ground in a small range and scan the ground in a large-angle pitching mode through the stretching of the mechanical arm, the detection information of the two millimeter wave radar sensors is fused, the all-dimensional detection of the surrounding environment and the terrain can be realized, and the motion assistance of the mobile platform is better realized.
An information fusion method for the intelligent mobile platform multi-radar device comprises the following steps:
s1, starting the mobile platform and carrying out power-on detection on the first millimeter wave radar sensor and the second millimeter wave radar sensor;
s2, recording the position information of the mobile platform, and starting a second millimeter wave radar sensor;
s3, controlling the orientation of a radar antenna of the second millimeter wave radar sensor by using the multi-elbow mechanical arm, and performing baseband processing on a radar signal to obtain front road condition point cloud data;
s4, driving the vehicle-mounted electromechanical system to enable the mobile platform to move forward at a constant speed, and starting the first millimeter wave radar sensor;
s5, starting a tray motor to enable the first millimeter wave radar sensor to rotate and scan, and performing baseband processing on radar signals to obtain space point cloud data on the mobile platform;
s6, storing the spatial point cloud data and the front road condition point cloud data into a local memory, and uploading the spatial point cloud data and the front road condition point cloud data to an upper computer;
and S7, performing information blending on the spatial point cloud data and the road condition point cloud data in front to obtain environmental point cloud data.
Further: the step S3 of baseband processing the radar signal to obtain the point cloud data of the front road condition comprises the following steps:
s31, obtaining a first intermediate frequency signal by passing the emission signal and the echo signal of the second millimeter wave radar sensor through a mixer;
s32, performing low-pass filtering on the first intermediate frequency signal, and performing ADC sampling to obtain first sampling data;
s33, performing one-dimensional FFT processing on the first sampling data to obtain first target distance information;
s34, performing two-dimensional FFT processing on the first target distance information to obtain first target speed information;
s35, performing three-dimensional FFT processing on the first target speed information to obtain first target azimuth information;
and S36, carrying out clustering algorithm processing and tracking algorithm processing on the first target azimuth information to obtain front road condition point cloud data.
Further: in step S5, performing baseband processing on the radar signal to obtain spatial point cloud data includes the following steps:
s51, obtaining a second intermediate frequency signal by the transmitting signal and the echo signal of the first millimeter wave radar sensor through a mixer;
s52, performing low-pass filtering on the second intermediate frequency signal, and performing ADC sampling to obtain second sampling data;
s53, performing one-dimensional FFT processing on the second sampling data to obtain second target distance information;
s54, performing two-dimensional FFT processing on the second target distance information to obtain second target speed information;
s55, performing three-dimensional FFT processing on the second target speed information to obtain second target azimuth information;
and S56, carrying out clustering algorithm processing and tracking algorithm processing on the second target azimuth information to obtain spatial point cloud data.
Further: and step S7, performing information blending on the spatial point cloud data and the road condition point cloud data in front by adopting a distance compensation correction algorithm to obtain environmental point cloud data.
The invention has the beneficial effects that: the millimeter wave radar sensor connected with the top end of the mobile platform can perform mode switching of short distance and long distance in measurement. The short-distance mode can finely scan the environment, the range is 20m, and the distance resolution is as high as 0.04 m; the long-distance mode can detect the obstacles, the range can reach 80m, and the distance resolution is 0.36 m. The millimeter wave radar sensor connected with the front end of the mobile platform scans the ground in a small range and scans the ground in a pitching mode in a larger angle through stretching of the multi-axis mechanical arm, the distance resolution is as high as 0.04m, and the ground can be scanned more finely.
Drawings
FIG. 1 is a schematic diagram of an intelligent mobile platform multi-radar apparatus;
FIG. 2 is a block diagram of a millimeter wave radar sensor module;
FIG. 3 is a flow chart of a method for information fusion for an intelligent mobile platform multi-radar device;
wherein: 1. a mobile platform; 2. a tray; 3. a first radar cover; 4. a multi-axis robotic arm; 5. a second radome; 401. a first mechanical elbow; 402. a second mechanical elbow; 403. a third mechanical elbow; 404. a fourth mechanical elbow; 405. a first elbow joint; 406. a second elbow joint; 407. the third elbow joint.
Detailed Description
The following description of the embodiments of the present invention is provided to facilitate the understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and it will be apparent to those skilled in the art that various changes may be made without departing from the spirit and scope of the invention as defined and defined in the appended claims, and all matters produced by the invention using the inventive concept are protected.
As shown in fig. 1, an intelligent mobile platform multi-radar apparatus includes: the device comprises a mobile platform 1, a tray 2, a first radar cover 3, a multi-axis mechanical arm 4, a second radar cover 5, a tray motor, a first millimeter wave radar sensor shell, a second millimeter wave radar sensor shell, a first millimeter wave radar sensor, a second millimeter wave radar sensor and a vehicle-mounted electromechanical system; the first millimeter wave radar sensor is arranged in a first millimeter wave radar sensor shell, and the second millimeter wave radar sensor is arranged in a second millimeter wave radar sensor shell; the tray 2 is arranged at the top end of the movable platform 1 and is rotationally connected with the movable platform 1; the first radar cover 3 is fixedly connected with the tray 2, and the first millimeter wave radar sensor shell is arranged in a cavity formed by the first radar cover 3 and the tray 2 and is fixedly connected with the tray 2; one end of the multi-axis mechanical arm 4 is installed at the front end of the mobile platform 1, the other end of the multi-axis mechanical arm is fixedly connected with the second radar cover 5, the second millimeter wave radar sensor shell is installed inside the second radar cover 5 and is fixedly connected with the second radar cover 5, the tray motor is installed inside the mobile platform 1 shell, an output shaft of the tray motor is fixedly connected with the tray 2, and the vehicle-mounted electromechanical system is respectively electrically connected with the multi-axis mechanical arm 4 and the tray motor.
The multi-axis robot arm 4 is a 3-axis robot arm, the 3-axis robot arm includes: a first mechanical elbow 401, a second mechanical elbow 402, a third mechanical elbow 403, a fourth mechanical elbow 404, a first elbow joint 405, a second elbow joint 406, and a third elbow joint 407;
one end of the first mechanical elbow 401 is fixedly connected with the mobile platform 1, and the other end of the first mechanical elbow is fixedly connected with one end of a first elbow joint 405; the other end of the first elbow joint 405 is rotatably connected with one end of the second mechanical elbow 402; the other end of the second mechanical elbow 402 is fixedly connected with one end of a second elbow joint 406, and the other end of the second elbow joint 406 is rotatably connected with one end of a third mechanical elbow 403; the other end of the third mechanical elbow 403 is fixedly connected with one end of a third elbow joint 407; the other end of the third elbow joint 407 is rotatably connected to one end of the fourth elbow 404, and the other end of the fourth elbow 404 is fixedly connected to the second radar housing 5.
The first elbow joint 405, the second elbow joint 406 and the third elbow joint 407 all adopt rotatable two-end mechanical modules with built-in stepping motors, the rotating shafts of the two-end mechanical modules are rotatably connected with one mechanical elbow, and the fixed end of the two-end mechanical module is fixedly connected with one mechanical elbow to realize rotation among the mechanical elbows.
The vehicle-mounted electromechanical system respectively controls the internal motors of the first elbow joint 405, the second elbow joint 406 and the third elbow joint 407 and the tray motor to work.
As shown in fig. 2, the first millimeter wave radar sensor and the second millimeter wave radar sensor have the same structure, and both include: the system comprises 4 receiving antenna arrays, 2 transmitting antenna arrays, an FMCW waveform generator, a mixer, a low-pass filter, an ADC module and a signal processing module; the output ends of the 4 receiving antenna arrays are connected with the first input end of the mixer, the input ends of the 2 transmitting antenna arrays are connected with the first output end of the FMCW waveform generator, the second output end of the FMCW waveform generator is connected with the second input end of the mixer, and the output end of the mixer is connected with the input end of the low-pass filter; the output end of the low-pass filter is connected with the input end of the ADC module, and the output end of the ADC module is connected with the signal processing module; the signal processing module comprises two MICRO USB interfaces.
The invention has the beneficial effects that: compared with the traditional ultrasonic radar sensor and the traditional laser radar sensor, the millimeter wave radar sensor has the advantages of high response speed, low cost and capability of realizing high-precision measurement, wherein the high-precision measurement comprises the information of the distance, the speed and the azimuth angle of a plurality of targets, and the distance resolution is as high as 0.04 m;
the first millimeter wave radar sensor arranged at the top end of the mobile platform 1 can realize the switching of a distance measurement mode through an upper computer, the second millimeter wave radar sensor arranged at the front end of the multi-axis mechanical arm 4 can scan the ground in a small range and scan the ground in a large angle in a pitching mode through the stretching of the mechanical arm, the detection information of the two millimeter wave radar sensors is fused, the all-dimensional detection of the surrounding environment and the terrain can be realized, and the motion assistance of the mobile platform 1 is better realized.
As shown in fig. 3, an information fusion method for the intelligent mobile platform multi-radar device includes the following steps:
s1, starting the mobile platform 1 and carrying out power-on detection on the first millimeter wave radar sensor and the second millimeter wave radar sensor;
s2, recording the position information of the mobile platform 1, and starting a second millimeter wave radar sensor;
s3, controlling the orientation of a radar antenna of the second millimeter wave radar sensor by using the multi-elbow mechanical arm 4, and performing baseband processing on a radar signal to obtain spatial point cloud data on the mobile platform 1;
the step S3 of baseband processing the radar signal to obtain the point cloud data of the front road condition comprises the following steps:
s31, obtaining a first intermediate frequency signal by passing the emission signal and the echo signal of the second millimeter wave radar sensor through a mixer;
s32, performing low-pass filtering on the first intermediate frequency signal, and performing ADC sampling to obtain first sampling data;
s33, performing one-dimensional FFT processing on the first sampling data to obtain first target distance information;
s34, performing two-dimensional FFT processing on the first target distance information to obtain first target speed information;
s35, performing three-dimensional FFT processing on the first target speed information to obtain first target azimuth information;
and S36, carrying out clustering algorithm processing and tracking algorithm processing on the first target azimuth information to obtain front road condition point cloud data.
S4, driving the vehicle-mounted electromechanical system to enable the mobile platform 1 to move forward at a constant speed, and starting the first millimeter wave radar sensor;
s5, starting a tray motor to enable the first millimeter wave radar sensor to rotate and scan, and performing baseband processing on radar signals to obtain front road condition point cloud data;
in step S5, performing baseband processing on the radar signal to obtain spatial point cloud data includes the following steps:
s51, obtaining a second intermediate frequency signal by the transmitting signal and the echo signal of the first millimeter wave radar sensor through a mixer;
s52, performing low-pass filtering on the second intermediate frequency signal, and performing ADC sampling to obtain second sampling data;
s53, performing one-dimensional FFT processing on the second sampling data to obtain second target distance information;
s54, performing two-dimensional FFT processing on the second target distance information to obtain second target speed information;
s55, performing three-dimensional FFT processing on the second target speed information to obtain second target azimuth information;
and S56, carrying out clustering algorithm processing and tracking algorithm processing on the second target azimuth information to obtain spatial point cloud data.
S6, storing the spatial point cloud data and the front road condition point cloud data into a local memory, and uploading the spatial point cloud data and the front road condition point cloud data to an upper computer;
and S7, performing information blending on the spatial point cloud data and the road condition point cloud data in front to obtain environmental point cloud data.
And step S7, performing information blending on the spatial point cloud data and the road condition point cloud data in front by adopting a distance compensation correction algorithm to obtain environmental point cloud data.
The first millimeter wave radar sensor and the second millimeter wave radar sensor are connected with an upper computer through a MICRO USB port, and information fusion is carried out on the spatial point cloud data and the front road condition point cloud data to obtain environment point cloud data.
The invention has the beneficial effects that: the millimeter wave radar sensor connected with the top end of the mobile platform 1 can perform mode switching of short distance and long distance in measurement. The short-distance mode can finely scan the environment, the range is 20m, and the distance resolution is as high as 0.04 m; the long-distance mode can detect the obstacles, the range can reach 80m, and the distance resolution is 0.36 m. The millimeter wave radar sensor connected with the front end of the mobile platform 1 scans the ground in a small range and scans the ground in a pitching mode in a larger angle through the stretching of the multi-axis mechanical arm 4, the distance resolution is as high as 0.04m, and the ground can be scanned more finely.
Claims (6)
1. An intelligent mobile platform multi-radar apparatus, comprising: the device comprises a mobile platform (1), a tray (2), a first radome (3), a multi-axis mechanical arm (4), a second radome (5), a tray motor, a first millimeter wave radar sensor shell, a second millimeter wave radar sensor shell, a first millimeter wave radar sensor, a second millimeter wave radar sensor and a vehicle-mounted electromechanical system; the first millimeter wave radar sensor is arranged in a first millimeter wave radar sensor shell, and the second millimeter wave radar sensor is arranged in a second millimeter wave radar sensor shell; the tray (2) is arranged at the top end of the movable platform (1) and is rotationally connected with the movable platform (1); the first radar cover (3) is fixedly connected with the tray (2), and the first millimeter wave radar sensor shell is arranged in a cavity formed by the first radar cover (3) and the tray (2) and is fixedly connected with the tray (2); one end of the multi-axis mechanical arm (4) is installed at the front end of the mobile platform (1), the other end of the multi-axis mechanical arm is fixedly connected with the second radar cover (5), the shell of the second millimeter wave radar sensor is installed inside the second radar cover (5) and is fixedly connected with the second radar cover (5), the tray motor is installed inside the shell of the mobile platform (1), the output shaft of the tray motor is fixedly connected with the tray (2), and the vehicle-mounted electromechanical system is respectively electrically connected with the multi-axis mechanical arm (4) and the tray motor;
multiaxis arm (4) are 3 arms, 3 arms include: a first mechanical elbow (401), a second mechanical elbow (402), a third mechanical elbow (403), a fourth mechanical elbow (404), a first elbow joint (405), a second elbow joint (406), and a third elbow joint (407);
one end of the first mechanical elbow (401) is fixedly connected with the mobile platform (1), and the other end of the first mechanical elbow is fixedly connected with one end of the first elbow joint (405); the other end of the first elbow joint (405) is rotatably connected with one end of a second mechanical elbow (402); the other end of the second mechanical elbow (402) is fixedly connected with one end of a second elbow joint (406), and the other end of the second elbow joint (406) is rotatably connected with one end of a third mechanical elbow (403); the other end of the third mechanical elbow (403) is fixedly connected with one end of a third elbow joint (407); the other end of the third elbow joint (407) is rotatably connected with one end of a fourth mechanical elbow (404), and the other end of the fourth mechanical elbow (404) is fixedly connected with the second radome (5).
2. The smart mobile platform multi-radar apparatus of claim 1, wherein the first millimeter wave radar sensor and the second millimeter wave radar sensor are identical in structure and each comprise: the system comprises 4 receiving antenna arrays, 2 transmitting antenna arrays, an FMCW waveform generator, a mixer, a low-pass filter, an ADC module and a signal processing module; the output ends of the 4 receiving antenna arrays are connected with the first input end of the mixer, the input ends of the 2 transmitting antenna arrays are connected with the first output end of the FMCW waveform generator, the second output end of the FMCW waveform generator is connected with the second input end of the mixer, and the output end of the mixer is connected with the input end of the low-pass filter; the output end of the low-pass filter is connected with the input end of the ADC module, and the output end of the ADC module is connected with the signal processing module; the signal processing module comprises two MICRO USB interfaces.
3. The information fusion method of the intelligent mobile platform multi-radar device according to any one of claims 1-2, characterized by comprising the following steps:
s1, starting the mobile platform (1) and carrying out power-on detection on the first millimeter wave radar sensor and the second millimeter wave radar sensor;
s2, recording the position information of the mobile platform (1), and starting a second millimeter wave radar sensor;
s3, controlling the orientation of a radar antenna of the second millimeter wave radar sensor by using the multi-axis mechanical arm (4), and performing baseband processing on a radar signal to obtain front road condition point cloud data;
s4, driving the vehicle-mounted electromechanical system to enable the mobile platform (1) to move forward at a constant speed, and starting the first millimeter wave radar sensor;
s5, starting a tray motor to enable the first millimeter wave radar sensor to rotate and scan, and performing baseband processing on radar signals to obtain spatial point cloud data on the mobile platform (1);
s6, storing the spatial point cloud data and the front road condition point cloud data into a local memory, and uploading the spatial point cloud data and the front road condition point cloud data to an upper computer;
and S7, performing information blending on the spatial point cloud data and the road condition point cloud data in front to obtain environmental point cloud data.
4. The information fusion method of the intelligent mobile platform multi-radar device as claimed in claim 3, wherein the step S3 of performing baseband processing on the radar signal to obtain the point cloud data of the road condition ahead comprises the following steps:
s31, obtaining a first intermediate frequency signal by passing the emission signal and the echo signal of the second millimeter wave radar sensor through a mixer;
s32, performing low-pass filtering on the first intermediate frequency signal, and performing ADC sampling to obtain first sampling data;
s33, performing one-dimensional FFT processing on the first sampling data to obtain first target distance information;
s34, performing two-dimensional FFT processing on the first target distance information to obtain first target speed information;
s35, performing three-dimensional FFT processing on the first target speed information to obtain first target azimuth information;
and S36, carrying out clustering algorithm processing and tracking algorithm processing on the first target azimuth information to obtain front road condition point cloud data.
5. The information fusion method of the intelligent mobile platform multi-radar device according to claim 3, wherein the step S5 of performing baseband processing on the radar signal to obtain the spatial point cloud data comprises the following steps:
s51, obtaining a second intermediate frequency signal by the transmitting signal and the echo signal of the first millimeter wave radar sensor through a mixer;
s52, performing low-pass filtering on the second intermediate frequency signal, and performing ADC sampling to obtain second sampling data;
s53, performing one-dimensional FFT processing on the second sampling data to obtain second target distance information;
s54, performing two-dimensional FFT processing on the second target distance information to obtain second target speed information;
s55, performing three-dimensional FFT processing on the second target speed information to obtain second target azimuth information;
and S56, carrying out clustering algorithm processing and tracking algorithm processing on the second target azimuth information to obtain spatial point cloud data.
6. The information fusion method of the intelligent mobile platform multi-radar device of claim 3, wherein in the step S7, a distance compensation correction algorithm is adopted to perform information fusion on the spatial point cloud data and the forward road condition point cloud data to obtain the environmental point cloud data.
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| CN109633652A (en) * | 2019-01-14 | 2019-04-16 | 长沙莫之比智能科技有限公司 | Robot obstacle-avoiding system and its application method based on millimetre-wave radar |
| CN110007300B (en) * | 2019-03-28 | 2021-08-06 | 东软睿驰汽车技术（沈阳）有限公司 | Method and device for obtaining point cloud data |
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