CN110658505B - Microwave radar parameter self-adaptive program adjusting method - Google Patents
Microwave radar parameter self-adaptive program adjusting method Download PDFInfo
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- CN110658505B CN110658505B CN201911126821.9A CN201911126821A CN110658505B CN 110658505 B CN110658505 B CN 110658505B CN 201911126821 A CN201911126821 A CN 201911126821A CN 110658505 B CN110658505 B CN 110658505B
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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
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Abstract
The invention relates to a microwave radar parameter self-adaptive adjusting program method, which comprises the following steps: step 1: installing a radar, triggering a learning mode of the radar, and arranging a marker on the left side/right side of a detection normal of the radar; step 2: judging whether the marker is on the left side/right side of the radar detection normal line by detecting the signal strength of the farthest distance signal and the nearest distance signal between the radar detection normal line and the marker; and step 3: detecting a marker signal, screening out a marker terminal signal, obtaining the length of the marker, setting the length as a Y value, combining an angle value theta of a radar transmitted wireless wave, and obtaining a vertical distance X value between a radar detection normal line and the marker through a built-in trigonometric function algorithm; and 4, step 4: moving the position of the radar detection normal line to be 0 +/-X (X value) in the algorithm coordinate through a built-in algorithm; and 5: and (6) locking. The invention can automatically judge the orientation of the marker; and the range of the inner side of the detection direction can be enlarged, and self-adaptive adjustment is realized.
Description
Technical Field
The invention relates to the technical field of microwave radars, in particular to a microwave radar parameter self-adaptive program adjusting method.
Background
Radar systems may be used for detection and tracking in various applications, such as in vehicles (e.g., automobiles, construction equipment, farm equipment), automation plants, spacecraft. At present, a special application is provided in the radar application range, in some applications, the detection range of the radar needs to be centered on a radar detection normal line, only the range of one side of the normal line is detected, the range of the other side of the normal line needs to be shielded or a detection algorithm does not need to be carried out, the detection application of the left side and the right side of the normal line needs to be determined according to the actual installation position and the field environment, and the left side or the right side needs to be detected when the installation cannot be judged autonomously; another method is to enable data on one side of the normal line, mask data on the other side of the normal line, and label an arrow on the effective side of the radar, for example: the effective side is on the left side, and the radar installation identification arrow is installed towards the left side when the radar installation identification arrow is installed on the left side; when the radar is installed on the right side, in order to ensure that the effective area detects the right side, the radar needs to be installed in a reverse mode, and therefore the radar installation identification arrow can indicate towards the right;
however, these two methods are only suitable for customized products and can accept a customer group with an appearance incongruity problem caused by installation inconsistency, as opposed to the left and right radar installation methods.
After the radar is installed, parameter adjustment is required according to actual parameters of an installation site, including but not limited to parameters such as a detection range and a detection target; in some special applications, the detection range of the radar is far smaller than the detection range of the radar, only the limited area range needs to be detected, and no detection is carried out on the out-of-range area, so that the detection range and angle need to be set in a program, but the faced client groups are inconsistent, the parameter is a floating value, and a specific numerical value needs to be changed; however, the radar at present cannot adjust relevant parameters autonomously. The radar on the market has two corresponding solutions, one is communicated with a client to obtain relevant parameters when leaving a factory, and the relevant parameters are directly input when a program is written; the other is that after the external handheld device (mobile phone, computer, external device) is connected with the radar for communication, the corresponding field parameters are changed on the external handheld device; the device is suitable for technicians who know radar and handheld equipment operation in a clear day.
In addition, in some special applications of the radar, after the detected direction is confirmed, the detected direction is often not in the same position as the detection normal of the radar, the accuracy of the radar is affected, and the detection range is also reduced.
The main disadvantages of this technique are:
1. the radar cannot autonomously judge the direction and range to be detected;
2. external equipment is indispensable and inconvenient to carry and operate on site;
3. the electronic equipment does not need to be held by an installer for installation, and the technical problems that the protection level is low and equipment failure is easy to occur during debugging in a severe environment due to the fact that the handheld electronic equipment needs to be relied on in the prior art are solved;
4. the method has no requirement on the foundation of radar installation personnel, and solves the technical problems that the installation personnel need to understand the foundation of the radar technology, need to know the communication connection diagram of the handheld device and the radar and need to operate the handheld device in the prior art;
disclosure of Invention
Aiming at the problems, the invention provides a microwave radar parameter self-adaptive adjusting program method which is light in work, simple in operation and free of any damage to products.
The technical scheme adopted by the invention for solving the technical problems is as follows: a microwave radar parameter self-adaptive adjusting program method comprises the following steps:
step 1: installing a radar, triggering a learning mode of the radar, and arranging a marker on the left side/right side of a detection normal of the radar;
step 2: judging whether the marker is on the left side/right side of the radar detection normal line by detecting the signal strength of the farthest distance signal and the nearest distance signal between the radar detection normal line and the marker;
and step 3: detecting a marker signal, screening out a marker tail end signal through an algorithm, obtaining the length of the marker, setting the length as a Y value, combining an angle value theta of a radar transmitted wireless wave, and obtaining a vertical distance X value between a radar detection normal line and the marker through a built-in trigonometric function algorithm;
and 4, step 4: moving the position of the radar detection normal line to 0 +/-X (X value) in an algorithm coordinate through a built-in algorithm;
and 5: and (4) locking.
Preferably, in step 1, the marker is left vacant on the other side of the position where the marker is located on the side of the laser normal.
Preferably, the marker is a metal rod.
Preferably, the end of the metal rod is provided with a reinforced reflection block.
Preferably, after the marker length is obtained as a Y value in step 3, a Y-Y1 value is obtained through a built-in function algorithm, and the detection range of the radar is obtained, wherein 300mm and Y1 are combined and 500mm is combined.
Compared with the prior art, the invention has the following beneficial effects:
1. the radar can autonomously judge the direction and the range to be detected, and time and labor are saved;
2. the field parameters are not required to be changed and adjusted by means of external equipment, and the carrying, use and complex debugging modes of the equipment are reduced;
3. the portable type air conditioner is easy to carry, and is extremely convenient to operate on site without external equipment when being installed and used;
4. the electronic equipment with low protection level does not need to be carried, and the electronic equipment with low protection level cannot be installed due to faults when the electronic equipment is debugged in a severe environment;
5. the method has no special requirements on installation personnel, and the installation personnel do not need to know the radar technology, know the communication connection diagram of the handheld equipment and the radar, and operate the handheld equipment;
6. according to the invention, after the calculated X value is translated, the detection normal line of the radar is coincided with the detection azimuth edge, so that the influence of a target outside the detection azimuth on the accuracy of the radar is avoided, and the range of the inner side of the detection azimuth is enlarged;
7. the invention also avoids the technical problem of radar line damage caused by artificial misoperation;
8. the invention avoids errors caused by artificially measuring the X value and the Y value and the risk of mistaken input of the input numerical value.
Drawings
FIG. 1 is a schematic diagram of the present invention showing a metal rod on the left/right side of a radar;
FIG. 2 is a schematic view of the metal rod of FIG. 1 shown to the left of the radar;
FIG. 3 is a schematic view of the metal rod of FIG. 1 shown to the right of the radar;
fig. 4 is a schematic diagram of the method for adaptively adjusting the program according to the present invention.
FIG. 5 is a schematic view of a metal rod positioned to the left of the radar detection normal and prior to translation;
FIG. 6 is a schematic view of a metal rod positioned to the right of the radar detection normal and prior to translation;
FIG. 7 is a schematic diagram of the translational movement of the radar detection normal-X within the algorithm;
FIG. 8 is a schematic diagram of a translational movement of the radar detection normal + X within the algorithm;
Detailed Description
The present invention will be described in detail with reference to fig. 1 to 8, and the exemplary embodiments and descriptions of the present invention are provided to explain the present invention, but not to limit the present invention.
A microwave radar parameter adaptive adjustment program method comprises the following steps:
step 1: installing the radar 1, triggering a learning mode of the radar, and arranging a marker on the left side/right side of a radar detection normal line 4; the marker is a metal rod or a metal block, and the metal rod and the metal block have certain lengths.
Step 2: judging whether the marker is on the left side/right side of the radar detection normal line by detecting the signal strength of the farthest distance signal and the nearest distance signal between the radar detection normal line and the marker; the present invention is explained by taking a metal rod as an example, and in the drawings, 2 denotes a left metal rod located on the left side of the normal line of radar detection, 3 denotes a right metal rod located on the right side of the normal line of radar detection, and 5 denotes a radar detection area.
And step 3: detecting a marker signal, screening out a marker terminal signal through an algorithm to obtain the length of the marker, setting the length as a Y value, and obtaining a vertical distance X value between a radar detection normal line and the marker through a built-in trigonometric function algorithm in combination with an angle value theta of a radar transmitted wireless wave;
and 4, step 4: moving the position of the radar detection normal line to 0 +/-X (X value) in an algorithm coordinate through a built-in algorithm;
and 5: and (6) locking. By detecting and judging the orientation of the marker, the learning program is locked, and the follow-up working efficiency is facilitated.
In the step 1, the other side of the position of the marker on one side of the laser normal line is kept in an empty state. The idle state is set to reduce interference as much as possible and improve accuracy.
The tail end of the metal rod is provided with a reinforced reflection block. The reinforced reflection block is used for facilitating the reinforced reflection of the signal, so that the signal of the metal rod can be detected more easily.
And 3, obtaining a Y-Y1 value through a built-in function algorithm after the marker length is obtained to be a Y value in the step 3, and obtaining the detection range of the radar, wherein 300mm and Y1 are constructed and 500mm.
In step 4, the built-in algorithm specifically comprises: and performing logic judgment through signal feedback after radar detection, constructing a trigonometric function, calculating a Y value and an X value, coinciding a coordinate zero point with the rod after the X value is translated through a coordinate system, confirming that the radar detection range is one side of the rod, then obtaining a Y-Y1 value through an algorithm, limiting the longitudinal range of the radar detection range within the length of the metal rod, and determining that the range exceeding the length of the metal rod is a non-detection range.
In the implementation process, in some special applications of the radar, the detection range of the radar needs to take the detection normal of the radar as a center, and only one side range (left side or right side) of the detection normal of the radar needs to be detected;
as shown in fig. 1; according to the self-adaptive program adjusting method, after the radar is installed according to a uniform installation mode, the corresponding wire harness of the radar is quickly short-circuited for 3 times, the red light of the radar flickers into a learning mode of the radar, a metal block or a metal rod is placed on the azimuth side, namely the left side or the right side of the radar, which needs to be detected by the radar, and the other side is empty as much as possible; the radar detects high-intensity signals of the metal blocks or the metal rods through a learning mode, and the metal blocks or the metal rods can be judged and locked on the left side or the right side of the radar automatically through an algorithm in the learning mode. Wherein, fig. 2 is a schematic diagram of the metal rod on the left side of the radar: after the radar is installed, the radar autonomously detects whether the metal rod is on the left side or the right side through a learning mode, and then locks the left metal rod when the metal rod is determined to be on the left side through a built-in algorithm; fig. 3 is a schematic view of a metal rod on the right side of the radar: after the radar is installed, the radar autonomously detects whether the metal rod is on the left side or the right side through a learning mode, and then locks the right metal rod when the metal rod is determined to be on the right side through a built-in algorithm;
in addition, in some special applications, the detection range of the radar is far smaller than the detection range of the radar, only a limited range area needs to be detected, and no detection is needed for the beyond area, so that the range and the angle of the radar detection area need to be set in a program, but the range and the angle are inconsistent for a client group, the parameter is a floating value, and a specific numerical value needs to be changed;
as shown in fig. 4, after the radar confirms whether the azimuth is left or right, it is necessary to confirm a bar length Y value, a distance X value between a normal line detected by the radar and a bar normal line (the bar length Y value and the distance X value are exemplified and include the size, but are not limited to the size), where the bar length Y value is obtained by receiving a signal from the end of a metal bar and then performing a built-in algorithm, and the specific algorithm is common knowledge, and is not described in detail herein. And obtaining a Y-Y1 value through a built-in function algorithm after obtaining the Y value of the marker length, and obtaining the detection range of the radar. The detection range of the application cannot exceed the value of the rod length Y, and is smaller than the rod length Y1 (300 mm-500 mm).
In some special applications of the radar, after the detected direction is confirmed, the detection normal of the radar needs to be overlapped with the edge of the detected direction, so that the influence of a target outside the detected direction on the accuracy of the radar is avoided, the range inside the detected direction is enlarged, and the calculated +/-distance X value needs to be translated in an algorithm through a built-in algorithm. After the position is detected, the signal of the metal rod is detected, the terminal signal of the metal rod is screened out through an algorithm to obtain the Y value of the metal rod, the distance X value is obtained through a built-in trigonometric function algorithm in combination with the angle theta of the transmitted wireless wave, and then the position of the radar detection normal line is moved to the position of 0 +/-X in the algorithm coordinate through the algorithm.
As shown in fig. 5-8, the adaptive program adjusting method of the present invention can trigger the learning mode of the radar to autonomously judge and lock the azimuth, then detect the signal of the metal rod, screen out the signal at the end of the metal rod through the algorithm to obtain the Y value of the metal rod, obtain the distance X value through the built-in trigonometric function algorithm in combination with the angle θ of the transmitted wireless wave, and then move the position of the radar detection normal to 0 ± (X) within the algorithm coordinate through the algorithm. FIG. 5 is a schematic view of a metal rod positioned to the left of the radar detection normal and prior to translation; FIG. 6 is a schematic view of a metal rod positioned to the right of the radar detection normal and prior to translation; FIG. 7 is a schematic diagram of a translational movement-X of the radar detection normal within the algorithm, after which the radar detection normal 4 coincides with the left metal rod normal 21; fig. 8 is a schematic diagram of the translational movement + X of the radar detection normal within the algorithm, after which the radar detection normal coincides with the right metal rod normal 31. According to the invention, the detection normal of the radar is overlapped with the detection azimuth edge, so that the influence of targets outside the detection azimuth on the accuracy of the radar is avoided, and the range of the inner side of the detection azimuth is enlarged.
The self-adaptive program adjusting method can automatically judge the direction and range to be detected through the learning mode of the radar; the field parameters are not required to be changed and adjusted by means of external equipment, and the carrying, use and complex debugging modes of the equipment are reduced; the field parameter adjustment can be realized by simply installing the specification without the installation and construction of professional radar technicians and the experience and literacy of the installed product
The technical solutions provided by the embodiments of the present invention are described in detail above, and the principles and embodiments of the present invention are explained herein by using specific examples, and the descriptions of the embodiments are only used to help understanding the principles of the embodiments of the present invention; meanwhile, for a person skilled in the art, according to the embodiments of the present invention, the specific implementation manners and the application ranges may be changed, and in conclusion, the content of the present specification should not be construed as limiting the invention.
Claims (5)
1. A microwave radar parameter self-adaptive program adjusting method is characterized by comprising the following steps: the method comprises the following steps:
step 1: installing a radar, triggering a learning mode of the radar, and arranging a marker on the left side/right side of a detection normal of the radar;
step 2: judging whether the marker is on the left side/right side of the radar detection normal line by detecting the signal strength of the farthest distance signal and the nearest distance signal between the radar detection normal line and the marker;
and step 3: detecting a marker signal, screening out a marker terminal signal through an algorithm to obtain the length of the marker, setting the length as a Y value, and obtaining a vertical distance X value between a radar detection normal line and the marker through a built-in trigonometric function algorithm in combination with an angle value theta of a radar transmitted wireless wave;
and 4, step 4: moving the position of the radar detection normal line to 0 +/-X (X value) in an algorithm coordinate through a built-in algorithm;
and 5: and (6) locking.
2. The microwave radar parameter adaptive adjustment program method according to claim 1, wherein: in the step 1, the other side of the position of the marker on one side of the laser normal line is kept in an empty state.
3. The microwave radar parameter adaptive adjustment program method according to claim 1, wherein: the marker is a metal rod.
4. The microwave radar parameter adaptive adjustment program method according to claim 3, wherein: the tail end of the metal rod is provided with a reinforced reflection block.
5. The microwave radar parameter adaptive adjustment program method according to claim 1, wherein: and 3, obtaining a Y-Y1 value through a built-in function algorithm after the marker length is obtained as a Y value in the step 3, and obtaining the detection range of the radar, wherein 300mm-type Y1-type 500mm-type.
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| CN109061627B (en) * | 2018-09-11 | 2021-02-26 | 长光禹辰信息技术与装备(青岛)有限公司 | Radar photoelectric linkage system and control method thereof |
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