CN111308473A - Active three-dimensional through-wall radar equipment - Google Patents

Active three-dimensional through-wall radar equipment Download PDF

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Publication number
CN111308473A
CN111308473A CN202010291275.0A CN202010291275A CN111308473A CN 111308473 A CN111308473 A CN 111308473A CN 202010291275 A CN202010291275 A CN 202010291275A CN 111308473 A CN111308473 A CN 111308473A
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China
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module
display
dimensional
radar
target
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CN202010291275.0A
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Chinese (zh)
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汪星星
方海涛
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Anhui Weidun Safety Equipment Technology Co Ltd
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Anhui Weidun Safety Equipment Technology Co Ltd
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Priority to CN202010291275.0A priority Critical patent/CN111308473A/en
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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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/08—Systems for measuring distance only
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
    • 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
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/521—Constructional features
    • 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
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/56—Display arrangements

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

The invention discloses active three-dimensional through-wall radar equipment, which comprises a radar, wherein a control module is arranged inside a display, and a multi-dimensional display module, a parameter module and a connecting module are arranged inside the radar; the control module is connected with the multi-dimensional display module and the connecting module; the multi-dimensional display module comprises a two-dimensional positioning module and a three-dimensional imaging module. The real-time condition of target can be shown through the three-dimensional imaging module who sets up, including the target for standing or crouching, half squat, half kneeling's condition indoor through three-dimensional imaging module with image transfer for the display screen, demonstrate the profile on the display screen, just so can be used for assisting the special police to judge indoor condition. The image is formed by radar detection, thereby facilitating observation of real-time conditions behind the obstacle.

Description

Active three-dimensional through-wall radar equipment
Technical Field
The invention belongs to the technical field of radars, and particularly relates to active three-dimensional through-wall radar equipment.
Background
The radar is used as a detection device, the application range is wide, and a plurality of places can solve the problem only by using the radar. At present, special policemen can meet more challenges when executing special tasks, and when saving the hostage, the positions and the conditions of the hostage are difficult to be comprehensively known, the conditions of the hostage indoors cannot be known, and the indoor states of the hostage are not clear, so that great difficulty is caused when the rescue is carried out again.
Disclosure of Invention
The invention aims to provide active three-dimensional through-wall radar equipment, which can solve the problem that when a special police executes a special task at present, more challenges are met, when people are rescued, the positions and the conditions of the people are difficult to be comprehensively known, the conditions of the people in the room cannot be known, and the states of the people in the room are not clear, so that the rescue is carried out again, and great difficulty is caused.
The purpose of the invention can be realized by the following technical scheme:
an active three-dimensional through-wall radar device comprises a radar and a display arranged on the radar, wherein a lifting handle used for moving the radar is arranged on the radar, and a tripod in detachable connection is arranged at the bottom of the radar; a control module is arranged inside the display, and a multi-dimensional display module, a parameter module and a connecting module are arranged inside the radar; the control module is connected with the multi-dimensional display module and the connecting module; the multi-dimensional display module comprises a two-dimensional positioning module and a three-dimensional imaging module, wherein the two-dimensional positioning module utilizes a formula SN＝Sn-Sn-1,Sn＝vn*tn，Sn-1＝vn-1*tn-1And positioning the target through a two-dimensional positioning module, wherein the specific processing steps are as follows:
the method comprises the following steps: obtaining a real-time information tag tnWherein n is 1.. m, and by the formula Sn＝vn*tnObtaining SnPosition of (1), wherein SnIs the current time position; v. ofnIs the average velocity of the target movement;
step two: the two-dimensional positioning module measures the distance from the radar to an indoor position target through an ultrasonic transmitter and an ultrasonic receiver in the radar, displays the position from the radar to the target on a display, and connects the two points through a straight line;
step three: the three-dimensional imaging module positions the appearance of the target through the two-dimensional positioning module to form a three-dimensional structure, and the three-dimensional structure is displayed on a display;
step four: the positioning of the target shape is realized by the steps that through position information received by the ultrasonic transmitter and the receiver and a three-dimensional coordinate system in the three-dimensional imaging module, each point is displayed through the two-dimensional positioning module, so that the outline of the target shape is displayed, and the three-dimensional shape and the position of the target are displayed on a display screen;
step five: firstly, a target is positioned in real time through a two-dimensional positioning module, the two-dimensional positioning module carries out range prediction on the moving track of the target in the next three seconds, and the position is displayed through a display through a three-dimensional imaging module, so that judgment and prediction are carried out;
step six: the prediction of the running track range is represented by formula SN＝Sn-Sn-1Measure SNAnd by a distance of SNIs the unit radius, using the formula: sX＝π*(3SN)2Obtaining the area S of the range of the next 3 seconds of operation of the trackX。
The display and the radar are fixed together through the buckle, the display and the radar can be connected through the data line, when the data line is not needed, the display and the radar can be connected together through the established Bluetooth or data, when the radar is needed to move, if the data line is not connected, the display can be detached from the radar only by lifting the display upwards, if the data line is connected, the end part of the data line connected to the display is pulled out, the display can be detached from the radar by lifting the display upwards, the two sides of the radar are provided with the handles convenient to carry, because the radar is inconvenient to carry by one hand, the two handles convenient to hold by the hand are arranged on the radar, the radar can be carried and carried only by lifting the handles, and the height of the radar can be adjusted through the tripod, the radar is placed stably when the radar is used, and the radar is not needed to be nursed by a person after being placed stably, so that the radar is convenient to use, and the time can be saved when a special police acts; the radar is small in size, light in weight and more stable to carry by two hands.
The two-dimensional positioning module comprises a predicted position module and a real-time position module, when the indoor personnel are always in a moving state, the predicted position module can predict the position which is possibly generated in the next 3 seconds according to the running track and time, and the predicted position is displayed through the display; the real-time position module synchronously displays the distance measured by the radar on a display; the real-time module is matched with the prediction position module through the current time period, the real-time module displays a three-dimensional image formed by the target in real time through the multi-dimensional display module, and displays the predicted moving position of the target within 3 seconds in the future on the display module through the prediction position module, so that the prediction can be carried out in advance for the special police in the action process, and the special police can be assisted to take action.
Preferably, the parameter module is used for modeling the distance measured by the ultrasonic transmitter and the ultrasonic receiver, and storing and displaying data by establishing a two-dimensional coordinate system and a three-dimensional coordinate system, wherein the transverse coordinate of the two-dimensional coordinate system is XaAxis, vertical coordinate YaAxis, in meters; the transverse coordinate of the three-dimensional coordinate system is XBAxis, vertical coordinate YBAxis, longitudinal coordinate ZBIn meters, X in a two-dimensional coordinate systemaX in axial, three-dimensional coordinate systemBThe axis is oriented east; y in a two-dimensional coordinate systemaAxial, Y in three-dimensional coordinate systemBWith axes all facing north, Z in a three-dimensional coordinate systemBPerpendicular XBAnd YBA plane of formation; displaying data on a screen of a display through a control module; the parameter module displays the two-dimensional positioning module and the three-dimensional imaging module on the display through switching data; the parameter module comprises the distance between the radar and the target displayed on the display screen and the multi-dimensional display moduleOrientation of the interior of the block.
The real-time condition of target can be shown through the three-dimensional imaging module who sets up, including the target for standing or crouching, half squat, half kneeling's condition indoor through three-dimensional imaging module with image transfer for the display screen, demonstrate the profile on the display screen, just so can be used for assisting the special police to judge indoor condition. The radar can penetrate through non-metallic barriers, and can penetrate through a series of non-metallic barriers such as brick walls, wood boards and concrete pouring walls. The image is formed by radar detection, thereby facilitating observation of real-time conditions behind the obstacle.
Preferably, the connection module is configured to connect the radar and the display, and the connection module transmits data and images displayed by the target through the multidimensional display module to the display, and displays the data and images on a display screen of the display, and the specific transmission steps are as follows:
s1: connecting the radar with the display through a network, and connecting in a data connection mode;
s2: the Bluetooth on the display is paired with the Bluetooth in the radar, so that the Bluetooth is stably connected, when the network is unstable, the Bluetooth connection is adopted, and the Bluetooth connection has a range covering the radar when in use;
s3: the display links together through data line and radar, and the inside parameter module of radar can be with the form of data conversion signal transmission for the display, and the display can show the signal of receiving through the display screen with the form of image.
When the Bluetooth is connected, the Bluetooth on the radar is opened, and the Bluetooth in the display is opened, so that the Bluetooth in the display and the Bluetooth on the radar are paired; before a task is not executed, each display is paired with a plurality of radars, and when the Bluetooth module is used, the display and the Bluetooth on the radars are directly opened, so that the two Bluetooth modules are directly paired and connected; when the radar is connected with the network, the network inside the display is only required to be opened, so that the radar is connected to the network sent by the display, and the network cannot be disconnected when the radar is used because the radar is not far away from the display. Because the display and the radar can be separated, the special police can conveniently carry the special police when performing tasks.
Preferably, the control module processes information transmitted from the interior of the radar to the display, and the specific steps of the processing are as follows:
the method comprises the following steps: the control module stores the acquired information in a storage module in the display, transmits the received information to a display module through the storage module and displays the information through a display screen, and the control module manually contacts the display screen to select a mode;
step two: control module passes through ultrasonic transmitter and ultrasonic receiver on with the radar, the transmission, received information is handled through parameter module, the data of processing can pass through control module and give multidimensional display module with data information transmission, multidimensional display module can give the display with information transmission and show on the display screen, control module makes radar and display connect through direct contact's form through connection module, make radar and display connect through the form of separation.
The data that parameter module needs to show can be shown through display module to can let the more audio-visual data of looking over of user, realize the connection of whole radar and display through control module, thereby guarantee the normal work of radar and display.
Preferably, the storage module is used for storing the signal transmitted by the ultrasonic transmitter and the signal received by the ultrasonic receiver, and the storage module transmits the stored signal to the inside of the parameter module through the connection module after storage; parameter module passes formula S to signaln＝vn*tnWill SnCalculating; and will calculate SnTo store vnIs the propagation velocity of the ultrasonic wave, tnIn seconds. The storage module transmits the signal to the control module after the storage is finished, and the control module transmits the signal to the display. By the formula SN＝Sn-Sn-1To measure SNThrough SNThe position of the mobile phone is in a trend,therefore, the data processing can be conveniently carried out by the parameter module, and the data is displayed on the display screen through the display module.
Preferably, the display module comprises a display screen for displaying images, and the parameter module is displayed on the display screen.
The invention has the beneficial effects that:
1. the display and the radar are fixed together through the buckle, the display and the radar can be connected through the data line, when the data line is not needed, the display and the radar can be connected together through the established Bluetooth or data, when the radar is needed to move, if the data line is not connected, the display can be detached from the radar only by lifting the display upwards, if the data line is connected, the end part of the data line connected to the display is pulled out, the display can be detached from the radar by lifting the display upwards, the two sides of the radar are provided with the handles convenient to carry, because the radar is inconvenient to carry by one hand, the two handles convenient to hold by the hand are arranged on the radar, the radar can be carried and carried only by lifting the handles, and the height of the radar can be adjusted through the tripod, the radar is placed stably when the radar is used, and the radar is not needed to be nursed by a person after being placed stably, so that the radar is convenient to use, and the time can be saved when a special police acts; the radar is small in size, light in weight and more stable to carry by two hands.
2. The two-dimensional positioning module comprises a predicted position module and a real-time position module, when the indoor personnel are always in a moving state, the predicted position module can predict the position which is possibly generated in the next 3 seconds according to the running track and time, and the predicted position is displayed through the display; the real-time position module synchronously displays the distance measured by the radar on a display; the real-time module is matched with the prediction position module through the current time period, the real-time module displays a three-dimensional image formed by the target in real time through the multi-dimensional display module, and displays the predicted moving position of the target within 3 seconds in the future on the display module through the prediction position module, so that the prediction can be carried out in advance for the special police in the action process, and the special police can be assisted to take action. The parameter module comprises the distance between the radar and the target displayed on the display screen and the azimuth displayed inside the multi-dimensional display module.
The real-time condition of target can be shown through the three-dimensional imaging module who sets up, including the target for standing or crouching, half squat, half kneeling's condition indoor through three-dimensional imaging module with image transfer for the display screen, demonstrate the profile on the display screen, just so can be used for assisting the special police to judge indoor condition. The radar can penetrate through non-metallic barriers, and can penetrate through a series of non-metallic barriers such as brick walls, wood boards and concrete pouring walls. The image is formed by radar detection, thereby facilitating observation of real-time conditions behind the obstacle. When the Bluetooth is connected, the Bluetooth on the radar is opened, and the Bluetooth in the display is opened, so that the Bluetooth in the display and the Bluetooth on the radar are paired; before a task is not executed, each display is paired with a plurality of radars, and when the Bluetooth module is used, the display and the Bluetooth on the radars are directly opened, so that the two Bluetooth modules are directly paired and connected; when the radar is connected with the network, the network inside the display is only required to be opened, so that the radar is connected to the network sent by the display, and the network cannot be disconnected when the radar is used because the radar is not far away from the display. Because the display and the radar can be separated, the special police can conveniently carry the special police when performing tasks. The control module stores the acquired information in a storage module in the display, transmits the received information to a display module through the storage module and displays the information through a display screen, and the control module manually contacts the display screen to select a mode; control module passes through ultrasonic transmitter and ultrasonic receiver on with the radar, the transmission, received information is handled through parameter module, the data of processing can pass through control module and transmit data information for multidimensional display module, multidimensional display module can transmit information for the display and show on the display screen, control module makes radar and display connect through direct contact's form through connection module, make radar and display pass through the shape of separationAnd (4) connecting. The data that parameter module needs to show can be shown through display module to can let the more audio-visual data of looking over of user, realize the connection of whole radar and display through control module, thereby guarantee the normal work of radar and display. The storage module transmits the signal to the control module after the storage is finished, and the control module transmits the signal to the display. By the formula SN＝Sn-Sn-1To measure SNThrough SNThe position trend of (2) to can be convenient for the parameter module to carry out data processing, show on the display screen through the display module.
Drawings
In order to facilitate understanding for those skilled in the art, the present invention will be further described with reference to the accompanying drawings.
FIG. 1 is a schematic view of the overall structure of the present invention;
in the figure: 1. a display; 2. a radar; 3. a handle; 4. a tripod.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, an active three-dimensional through-wall radar device includes a radar 2, and a display 1 mounted on the radar 2, wherein a handle 3 for moving the radar 2 is disposed on the radar 2, and a tripod 4 detachably connected to the bottom of the radar 2; a control module is arranged inside the display 1, and a multi-dimensional display module, a parameter module and a connecting module are arranged inside the radar 2; the control module is connected with the multi-dimensional display module and the connecting module; the multi-dimensional display module comprises a two-dimensional positioning module and a three-dimensional imaging module, wherein the two-dimensional positioning module utilizes a formula SN＝Sn-Sn-1,Sn＝vn*tn，Sn-1＝vn-1*tn-1And positioning the target through a two-dimensional positioning module, wherein the specific processing steps are as follows:
the method comprises the following steps: obtaining a real-time information tag tnWherein (n ═ 1.. m), and by the formula Sn＝vn*tnObtaining SnPosition of (1), wherein SnIs the current time position; v. ofnIs the average velocity of the target movement;
step two: the two-dimensional positioning module measures the distance from the radar 2 to an indoor position target through an ultrasonic transmitter and an ultrasonic receiver in the radar 2, displays the position from the radar 2 to the target on the display 1, and connects the two points through a straight line;
step three: the three-dimensional imaging module positions the appearance of the target through the two-dimensional positioning module to form a three-dimensional structure, and the three-dimensional structure is displayed on the display 1;
step four: the positioning of the target shape is realized by the steps that through position information received by the ultrasonic transmitter and the receiver and a three-dimensional coordinate system in the three-dimensional imaging module, each point is displayed through the two-dimensional positioning module, so that the outline of the target shape is displayed, and the three-dimensional shape and the position of the target are displayed on a display screen;
step five: firstly, a target is positioned in real time through a two-dimensional positioning module, the two-dimensional positioning module carries out range prediction on the moving track of the target in the next three seconds, and the position is displayed through a display 1 through a three-dimensional imaging module, so that judgment and prediction are carried out;
step six: the prediction of the running track range is represented by formula SN＝Sn-Sn-1Measure SNAnd by a distance of SNIs the unit radius, using the formula: sX＝π*(3SN)2The range of the next 3 seconds of travel of the trajectory is obtained.
Specifically, the display 1 and the radar 2 are fixed together through a buckle, the display 1 and the radar 2 can be connected through a data line, when the data line is not needed, the display 1 and the radar 2 can be connected together through the established Bluetooth or data, when the mobile terminal needs to move, if the data line is not connected, the display 1 can be detached from the radar 2 only by lifting up the display 1, if the data line is connected, the end part of the data line connected to the display 1 is pulled out, the display 1 can be detached from the radar 2 by lifting up the display 1, the handles 1 convenient to carry are arranged on two sides of the radar 2, because the radar 2 is inconvenient to carry by one hand, two handles 1 convenient to hold by hand are arranged on the radar 2, the radar 2 can be carried and carried only by lifting up the handles 1, the height of the radar 2 can be adjusted through the tripod 4, a proper angle can be found, the radar 2 can be placed stably when the device is used, personnel do not need to nurse after the device is placed stably, the device is convenient to use, and time can be saved when special polices act; the radar 2 is small in size, light in weight and more stable to carry by two hands.
Specifically, the two-dimensional positioning module comprises a predicted position module and a real-time position module, when the indoor personnel are always in a moving state, the predicted position module can predict the position which is possibly generated in the next 3 seconds according to the running track and time, and the predicted position is displayed through the display 1; the real-time position module is synchronously displayed on the display 1 through the distance measured by the radar 2; the real-time module is matched with the prediction position module through the current time period, the real-time module displays a three-dimensional image formed by the target in real time through the multi-dimensional display module, and displays the predicted moving position of the target within 3 seconds in the future on the display module through the prediction position module, so that the prediction can be carried out in advance for the special police in the action process, and the special police can be assisted to take action.
Specifically, the parameter module is used for modeling the distance measured by the ultrasonic transmitter and the ultrasonic receiver, and storing and displaying data by establishing a two-dimensional coordinate system and a three-dimensional coordinate system, wherein the transverse coordinate of the two-dimensional coordinate system is XaAxis, vertical coordinate YaAxis, in meters; IIIThe transverse coordinate of the dimensional coordinate system is XBAxis, vertical coordinate YBAxis, longitudinal coordinate ZBIn meters, X in a two-dimensional coordinate systemaX in axial, three-dimensional coordinate systemBThe axis is oriented east; y in a two-dimensional coordinate systemaAxial, Y in three-dimensional coordinate systemBWith axes all facing north, Z in a three-dimensional coordinate systemBPerpendicular XBAnd YBA plane of formation; displaying data on a screen of the display 1 through the control module; the parameter module displays a two-dimensional positioning module and a three-dimensional imaging module on the display 1 through switching data; the parameter module includes the distance of the radar 2 and the target displayed on the display screen, and the orientation displayed inside the multi-dimensional display module.
The system comprises a three-dimensional imaging module, a display screen and a control module, wherein the three-dimensional imaging module is arranged on the display screen, and the display screen is used for displaying the real-time situation of a target, the target is standing indoors or lying down, half squatting and half kneeling, the image is transmitted to the display screen through the three-dimensional imaging module, and the outline is displayed on the display screen, so that the system can be used for assisting a special police to judge the indoor situation. The radar 2 can penetrate through non-metallic barriers, and can penetrate through a series of non-metallic barriers such as brick walls, wood boards and concrete pouring walls. The image is detected by the radar 2, thereby facilitating the observation of real time conditions behind the obstacle.
Specifically, the connection module is used for connecting the radar 2 with the display 1, the connection module transmits data and images displayed by the target through the multidimensional display module to the display 1, and displays the data and images on a display screen of the display 1, and the specific transmission steps are as follows:
s1: connecting the radar 2 with the display 1 through a network, and adopting a data connection mode for connection;
s2: the Bluetooth on the display 1 is paired with the Bluetooth inside the radar 2, so that the Bluetooth is stably connected, when the network is unstable, the Bluetooth connection is adopted, and the Bluetooth connection has a range covering the radar 2 when in use;
s3: display 1 links together through data line and radar 2, and the inside parameter module of radar 2 can be transmitted the form of signal with data conversion to display 1, and display 1 can show the signal of receiving through the display screen with the form of image.
Specifically, when the Bluetooth is connected, the Bluetooth on the radar 2 is turned on, and the Bluetooth inside the display 1 is turned on, so that the Bluetooth inside the display 1 and the Bluetooth on the radar 2 are paired; before a task is not executed, each display 1 and a plurality of radars 2 are paired, and when the device is used, the Bluetooth on the display 1 and the Bluetooth on the radar 2 are directly turned on, so that the two Bluetooth are directly paired and connected; when the network is connected, the network inside the display 1 is only required to be opened, so that the radar 2 is connected to the network sent by the display 1, and the network cannot be disconnected when the radar 2 is used because the distance between the placement position of the radar 2 and the position of the display 1 is not long. Because the display 1 and the radar 2 can be separated, the special police can conveniently carry the special police when performing tasks.
Specifically, the control module processes the information transmitted from the inside of the radar 2 to the display 1, and the specific steps of the processing are as follows:
the method comprises the following steps: the control module stores the acquired information in a storage module in the display 1, the received information is transmitted to a display module through the storage module and displayed through a display screen, and the control module manually contacts the display screen to select a mode;
step two: control module is with passing through ultrasonic transmitter and ultrasonic receiver on 2 radars, the transmission, received information is handled through the parameter module, the data of processing can pass through control module and transmit data message for multidimensional display module, multidimensional display module can transmit information for display 1 and show on the display screen, control module makes 2 radars and display 1 connect through direct contact's form through link module, make 2 radars and display 1 connect through the form of separation.
Specifically, the data that parameter module needs to be displayed can be displayed through the display module, so that a user can view the data more intuitively, the connection between the whole radar 2 and the display 1 is realized through the control module, and the radar 2 and the display are ensured1, normal operation. The storage module is used for storing signals transmitted by the ultrasonic transmitter and signals received by the ultrasonic receiver, and the storage module can transmit the stored signals to the inside of the parameter module through the connecting module after the storage module stores the signals; parameter module passes formula S to signaln＝vn*tnWill SnCalculating; and will calculate SnTo store vnIs the propagation velocity of the ultrasonic wave, tnIn seconds. The storage module transmits the signal to the control module after the storage is finished, and the control module transmits the signal to the display 1. By the formula SN＝Sn-Sn-1To measure SNThrough SNThe position trend of (2) to can be convenient for the parameter module to carry out data processing, show on the display screen through the display module. The display module comprises a display screen for displaying images, and the parameter module is displayed on the display screen.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise forms disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims (6)

1. An active three-dimensional through-wall radar device is characterized by comprising a radar and a display arranged on the radar, wherein a lifting handle used for moving the radar is arranged on the radar, and a tripod detachably connected is arranged at the bottom of the radar;
a control module is arranged inside the display, and a multi-dimensional display module, a parameter module and a connecting module are arranged inside the radar; the control module is connected with the multi-dimensional display module and the connecting module;
the multi-dimensional display module comprises a two-dimensional positioning module and a three-dimensional imaging module, the two-dimensional positioning module is used for positioning a target, and the specific processing steps are as follows:
the method comprises the following steps: obtaining a real-time information tag tnWherein n is 1.. m, and by the formula Sn＝vn*tnObtaining SnPosition of (1), wherein SnIs the current time position; v. ofnIs the average velocity of the target movement;
step two: the two-dimensional positioning module measures the distance from the radar to an indoor position target through an ultrasonic transmitter and an ultrasonic receiver in the radar, displays the position from the radar to the target on a display, and connects the two points through a straight line;
step three: the three-dimensional imaging module positions the appearance of the target through the two-dimensional positioning module to form a three-dimensional structure, and the three-dimensional structure is displayed on a display;
step four: the positioning of the target shape is realized by the steps that through position information received by the ultrasonic transmitter and the receiver and a three-dimensional coordinate system in the three-dimensional imaging module, each point is displayed through the two-dimensional positioning module, so that the outline of the target shape is displayed, and the three-dimensional shape and the position of the target are displayed on a display screen;
step five: firstly, a target is positioned in real time through a two-dimensional positioning module, the two-dimensional positioning module carries out range prediction on the moving track of the target in the next three seconds, and the position is displayed through a display through a three-dimensional imaging module, so that judgment and prediction are carried out;
step six: the prediction of the running track range is represented by formula SN＝Sn-Sn-1，S0When it is 0, S is measuredNAnd by a distance of SNIs the unit radius, using the formula: sX＝π*(3SN)2Obtaining the area S of the range of the next 3 seconds of operation of the trackX。
2. An active three-dimensional through-wall radar apparatus according to claim 1, whereinCharacterized in that the parameter module is used for modeling the distance measured by the ultrasonic transmitter and the ultrasonic receiver and storing and displaying data by establishing a two-dimensional coordinate system and a three-dimensional coordinate system, wherein the transverse coordinate of the two-dimensional coordinate system is XaAxis, vertical coordinate YaAxis, in meters; the transverse coordinate of the three-dimensional coordinate system is XBAxis, vertical coordinate YBAxis, longitudinal coordinate ZBIn meters, X in a two-dimensional coordinate systemaX in axial, three-dimensional coordinate systemBThe axis is oriented east; y in a two-dimensional coordinate systemaAxial, Y in three-dimensional coordinate systemBWith axes all facing north, Z in a three-dimensional coordinate systemBPerpendicular XBAnd YBA plane of formation; displaying data on a screen of a display through a control module; the parameter module displays the two-dimensional positioning module and the three-dimensional imaging module on the display through switching data; the parameter module comprises the distance between the radar and the target displayed on the display screen and the azimuth displayed inside the multi-dimensional display module.
3. The active three-dimensional through-wall radar device according to claim 2, wherein the connection module is configured to connect the radar and the display, and the connection module transmits data and images of the target displayed by the multi-dimensional display module to the display and displays the data and images on a display screen of the display, and the specific transmission steps are as follows:
s1: connecting the radar with the display through a network, and connecting in a data connection mode;
s2: the Bluetooth on the display is paired with the Bluetooth in the radar, so that the Bluetooth is stably connected, when the network is unstable, the Bluetooth connection is adopted, and the Bluetooth connection has a range covering the radar when in use;
s3: the display links together through data line and radar, and the inside parameter module of radar can be with the form of data conversion signal transmission for the display, and the display can show the signal of receiving through the display screen with the form of image.
4. The active three-dimensional through-wall radar device of claim 3, wherein the control module processes information transmitted from the interior of the radar to the display, and the specific steps of the processing are as follows:
the method comprises the following steps: the control module stores the acquired information in a storage module in the display, transmits the received information to a display module through the storage module and displays the information through a display screen, and the control module manually contacts the display screen to select a mode;
step two: the control module processes transmitted and received information on the radar through the ultrasonic transmitter and the ultrasonic receiver through the parameter module, processed data can transmit data information to the multi-dimensional display module through the control module, the multi-dimensional display module can transmit the information to the display to be displayed on the display screen, and the control module enables the radar and the display to be connected in a direct contact mode through the connecting module; so that the radar and the display are connected in a separate form.
5. The active three-dimensional through-wall radar device according to claim 4, wherein the storage module is used for storing the signal transmitted by the ultrasonic transmitter and the signal received by the ultrasonic receiver, and the storage module transmits the stored signal to the inside of the parameter module through the connection module after the storage; parameter module passes formula S to signaln＝vn*tnWill SnCalculating; and will calculate SnTo store vnIs the propagation velocity of the ultrasonic wave, tnIn seconds.
6. The active three-dimensional through-wall radar device of claim 5, wherein the display module comprises a display screen for displaying images, and the parameter module is displayed on the display screen.
CN202010291275.0A 2020-04-14 2020-04-14 Active three-dimensional through-wall radar equipment Pending CN111308473A (en)

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CN103605130A (en) * 2013-11-26 2014-02-26 桂林电子科技大学 Ultra-wide band through-wall radar hidden moving object detecting and imaging method
CN104569964A (en) * 2015-01-30 2015-04-29 中国科学院电子学研究所 Moving target two-dimensional detecting and tracking method for ultra-wideband through-wall radar
CN107643752A (en) * 2017-05-09 2018-01-30 清研华宇智能机器人（天津）有限责任公司 Omni-directional mobile robots path planning algorithm based on pedestrian track prediction
CN108344989A (en) * 2017-01-24 2018-07-31 北京朗森基科技发展有限公司 A kind of radar identifying system with ultra wide band

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103605130A (en) * 2013-11-26 2014-02-26 桂林电子科技大学 Ultra-wide band through-wall radar hidden moving object detecting and imaging method
CN104569964A (en) * 2015-01-30 2015-04-29 中国科学院电子学研究所 Moving target two-dimensional detecting and tracking method for ultra-wideband through-wall radar
CN108344989A (en) * 2017-01-24 2018-07-31 北京朗森基科技发展有限公司 A kind of radar identifying system with ultra wide band
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