CN113030889B - Debugging method for accurate adjustment of radar angle - Google Patents
Debugging method for accurate adjustment of radar angle Download PDFInfo
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- CN113030889B CN113030889B CN202110259999.1A CN202110259999A CN113030889B CN 113030889 B CN113030889 B CN 113030889B CN 202110259999 A CN202110259999 A CN 202110259999A CN 113030889 B CN113030889 B CN 113030889B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
Abstract
The invention provides a debugging method for accurately adjusting radar angle, which relates to the technical field of surveying and mapping and comprises the following steps: s1: obtaining an adjusting angle value theta; s2: adjusting the theta degree to obtain a first image; s3: judging whether the radar can rotate reversely, if so, adjusting the negative theta degree, and then adjusting 2 times of the theta degree to obtain a second image; s4: judging whether the rotation can be carried out by 360 degrees or not, and adjusting 360 degrees plus theta degrees to obtain a third image; s5: judging whether the similarity between the second image and the first image is high and the similarity between the third image and the first image is high, if so, judging that the precision is qualified, otherwise, judging that the precision is unqualified; s6: driving and adjusting theta/2 degrees twice to obtain a fourth image; s7: judging whether the similarity between the fourth image and the first image is high or not, if so, judging that the precision is qualified; otherwise, the product is not qualified. The radar angle adjusting device is convenient and fast to use, does not need to disassemble the radar and the turntable, can debug and detect the accuracy of radar angle adjustment, ensures the accuracy and safety of the radar, does not need manual calibration, and has higher reliability.
Description
Technical Field
The invention relates to the technical field of surveying and mapping measurement,
in particular, the invention relates to a debugging method for the precise adjustment of the radar angle.
Background
At present, along with the development of science and technology, when carrying out accurate range finding to remote object, the error appears easily in traditional yardstick measurement mode, and measurement of efficiency is low, and people begin to use accurate range finding instrument, for example laser radar, millimeter wave radar etc. but need accurate angle control when using to the device of these accurate detections, in case angle regulation has the mistake, also can bring great error for accurate detection, and the accurate detection characteristic of these devices will also have no meaning.
Generally need use the radar carousel to radar installation's angle modulation, adjust the direction of radar through rotating the radar carousel, so require very high to the reliability of the accuracy of radar carousel, present most carousel radars are computer intelligent control, but radar carousel pivoted scale all etches in advance on the carousel base, and whether controller real time monitoring reaches predetermined corner, reaches the corner and then stops further rotation.
However, in this case, since the radar and the radar turntable have large weights, after the turntable base is used for a long time, the turntable base may bend and incline or cause abrasion of angle scales, the accuracy of radar angle adjustment is lowered slightly, the radar and the turntable may topple and be damaged seriously, or even danger may occur during measurement.
Therefore, in order to solve the above problems, it is necessary to design a reasonable tuning method for precise adjustment of radar angle.
Disclosure of Invention
The invention aims to provide the debugging method for the accurate adjustment of the radar angle, which is convenient to use, does not need to disassemble the radar and a turntable, can debug and detect the accuracy of the adjustment of the radar angle, ensures the accuracy and the safety of the radar after long-time use, does not need manual calibration, and has higher reliability in use.
In order to achieve the purpose, the invention is realized by adopting the following technical scheme:
a debugging method for radar angle accurate adjustment comprises the following steps:
s1: acquiring an angle value theta of radar angle adjustment;
s2: driving a radar turntable to adjust theta degrees, acquiring an image in front of the radar as a first image, and returning the radar to an initial state;
s3: judging whether the radar can rotate in the direction opposite to the angle value, if so, driving a radar turntable to adjust the negative theta degree, then driving the radar turntable to adjust 2 times of the theta degree, acquiring an image in front of the radar as a second image, returning the radar to an initial state, and executing the step S4; otherwise, directly executing the step S6;
s4: judging whether the radar rotation angle is not less than 360 degrees or not, if so, driving a radar turntable to adjust 360 degrees plus theta degrees, acquiring an image in front of the radar as a third image, returning the radar to an initial state, and executing the step S5; otherwise, directly executing the step S6;
s5: judging whether the similarity between the second image and the first image is higher than a first preset threshold value and the similarity between the third image and the first image is higher than a second preset threshold value, if so, judging that the radar angle adjusting precision is qualified, otherwise, judging that the radar angle adjusting precision is unqualified;
s6: driving a radar turntable to adjust the theta/2 degree, adjusting twice, acquiring an image in front of the radar as a fourth image, returning the radar to an initial state, and executing the step S7;
s7: judging whether the similarity between the fourth image and the first image is higher than a third preset threshold value or not, and if so, determining that the radar angle adjusting precision is qualified; otherwise, the radar angle adjusting precision is unqualified.
As a preference of the present invention, when step S1 is performed, the angle value θ includes a positive number and a negative number.
Preferably, when steps S2 to S4 are performed, the first image, the second image and the third image are all fed back to a control center electrically connected to the radar.
As a preferable aspect of the present invention, the first predetermined threshold value and the second predetermined threshold value are set at the control center before step S5 is executed.
Preferably, when step S5 is executed, the first predetermined threshold is greater than the second predetermined threshold.
As a preference of the present invention, a third predetermined threshold is set at the control center before step S7 is executed.
Preferably, when step S7 is executed, the third predetermined threshold is greater than the first predetermined threshold.
Preferably, step S6 is executed by feeding back the fourth image to a control center electrically connected to the radar.
Preferably, the step S5 is executed by the following steps:
s51: acquiring a first image, a second image and a third image;
s52: judging whether the similarity between the second image and the first image is higher than a first preset threshold value or not; if yes, go to step S53; otherwise, the radar angle adjusting accuracy is unqualified;
s53: judging whether the similarity between the third image and the first image is higher than a second preset threshold value or not; if yes, the radar angle adjusting accuracy is qualified; otherwise, the radar angle adjusting precision is unqualified.
The debugging method for the accurate adjustment of the radar angle has the beneficial effects that: the use is convenient, need not to dismantle radar and carousel, can debug and detect the accuracy of radar angle modulation, guarantees the accuracy and the security of radar after long-time the use, need not artifical calibration, and the reliability during the use is higher.
Drawings
Fig. 1 is a schematic flowchart of a debugging method for precisely adjusting a radar angle according to the present invention.
Detailed Description
The following are specific examples of the present invention and further describe the technical solutions of the present invention, but the present invention is not limited to these examples.
Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the modules and structures set forth in these embodiments does not limit the scope of the invention unless specifically stated otherwise.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.
Techniques, methods, and systems known to those of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.
Example (b): as shown in fig. 1, which is only one embodiment of the present invention, a method for debugging the precise adjustment of radar angle includes the following steps:
s1: obtaining an angle value theta of radar angle adjustment;
in fact, the radar needs to be debugged for angle adjustment, a rotation angle instruction needs to be given to the radar, then the radar turntable drives the radar to rotate by the angle value theta, and then an error between the actual rotation angle value and the theoretical rotation angle value is judged.
Certainly, when step S1 is executed, the angle value θ includes a positive number and a negative number, that is, clockwise rotation and counterclockwise rotation, and it is default that clockwise rotation is a positive number, and counterclockwise rotation is a negative number, and the angle value θ may be positive or negative, and if the positive rotation is clockwise rotation, it is responsible for counterclockwise rotation.
S2: driving a radar turntable to adjust theta degrees, acquiring an image in front of the radar as a first image, and returning the radar to an initial state;
the radar carousel drives the radar and rotates regulation theta value, and is actually, and the actual rotation angle value of radar is unknown this moment, obtains the image directly in front of the radar this moment as first image, also is the contrast image, judges in theory whether first image accords with the standard and just can judge that the actual rotation angle value of radar is theta.
And the radar is adjusted back to the initial state so as to obtain other images for comparison with the first image for the convenience of next rotation of the radar.
S3: judging whether the radar can rotate in the direction opposite to the angle value, if so, driving a radar turntable to adjust the negative theta degree, then driving the radar turntable to adjust 2 times of the theta degree, acquiring an image in front of the radar as a second image, returning the radar to an initial state, and executing the step S4; otherwise, directly executing the step S6;
if the radar can rotate in two directions, the radar rotates reversely (opposite to theta) and then rotates forwards (positive to theta) from the initial position, the radar still completes the rotation of the theta value to obtain a second image, and certainly, the radar still needs to be restored.
S4: judging whether the radar rotation angle is not less than 360 degrees or not, if so, driving a radar turntable to adjust 360 degrees plus theta degrees, acquiring an image in front of the radar as a third image, returning the radar to an initial state, and executing the step S5; otherwise, directly executing the step S6;
if the radar can rotate by 360 degrees, the radar rotates by an angle theta value after completing a full circle of rotation from the initial position, and the front image of the radar is obtained as a third image, and the radar still needs to be restored certainly.
S5: judging whether the similarity between the second image and the first image is higher than a first preset threshold value and the similarity between the third image and the first image is higher than a second preset threshold value, if so, judging that the radar angle adjusting precision is qualified, otherwise, judging that the radar angle adjusting precision is unqualified;
before step S5 is performed, a first predetermined threshold value and a second predetermined threshold value are set at the control center, the first predetermined threshold value being larger than the second predetermined threshold value, of course. In general, the third image is magnified many times on a base basis (the multiple n is 360 divided by θ and then added by one), and the exact required value of the third image is lower.
Here, the multiple n = (360 ° + θ)/θ =360 °/θ +1.
In summary, when step S5 is executed, the following steps are included:
s51: acquiring a first image, a second image and a third image;
s52: judging whether the similarity between the second image and the first image is higher than a first preset threshold value or not; if yes, go to step S53; otherwise, the radar angle adjusting accuracy is unqualified;
s53: judging whether the similarity between the third image and the first image is higher than a second preset threshold value or not; if so, the radar angle adjusting precision is qualified; otherwise, the radar angle adjusting precision is unqualified.
Generally, the similarity between the second image and the first image is higher than 99.7%, and the similarity between the third image and the first image is higher than 99%, which can indicate that the radar angle adjustment precision is qualified, otherwise, the radar angle adjustment precision is unqualified.
It should be noted that if the radar is not reversible or cannot be rotated by 360 °, the second image or the third image is lacking, the above method is not reliable, and the following method needs to be performed.
S6: driving a radar turntable to adjust theta/2 degrees twice, acquiring an image in front of the radar as a fourth image, returning the radar to an initial state, and executing a step S7;
it should be noted that the predetermined time, which may be ten seconds or ten minutes, needs to be stopped between the two adjustments, if the radar dial is completely stationary after the first adjustment is performed, the angle is adjusted for the second time, and such an adjustment manner makes it easier to obtain the insecurity when the radar dial is adjusted.
S7: judging whether the similarity between the fourth image and the first image is higher than a third preset threshold value or not, and if so, determining that the radar angle adjusting precision is qualified; otherwise, the radar angle adjusting precision is unqualified.
Of course, before step S7 is performed, a third predetermined threshold is set at the control center, and the third predetermined threshold is greater than the first predetermined threshold.
Because the obtaining error value of the fourth image value is small, the accuracy of the third predetermined threshold value is required to be extremely high, generally speaking, the similarity between the fourth image and the first image needs to be higher than 99.9%, and the radar angle adjusting accuracy is judged to be qualified, otherwise, the radar angle adjusting accuracy is not qualified.
It should be noted that, when steps S2, S3, S4 and S6 are executed, the first image, the second image, the third image and the fourth image are all fed back to a control center electrically connected to the radar, so that comparison is convenient.
The debugging method for the precise adjustment of the radar angle is convenient to use and simple in structure, does not need to disassemble the bearing rod, can be used for precisely detecting the bending and the cracks of the bearing rod, and ensures the use quality of the bearing rod.
The present invention is not limited to the above-described specific embodiments, and various modifications and changes can be made to the present invention. Any modifications, equivalents, improvements and the like made to the above embodiments in accordance with the technical spirit of the present invention should be included in the scope of the present invention.
Claims (9)
1. A debugging method for accurately adjusting a radar angle is characterized by comprising the following steps:
s1: acquiring an angle value theta of radar angle adjustment;
s2: driving a radar turntable to adjust theta degrees, acquiring an image in front of the radar as a first image, and returning the radar to an initial state;
s3: judging whether the radar can rotate in the direction opposite to the angle value, if so, driving a radar turntable to adjust the negative theta degree, then driving the radar turntable to adjust 2 times of the theta degree, acquiring an image in front of the radar as a second image, returning the radar to an initial state, and executing the step S4; otherwise, directly executing the step S6;
s4: judging whether the radar rotation angle is not less than 360 degrees, if so, driving a radar turntable to adjust 360 degrees plus theta degrees, acquiring an image in front of the radar as a third image, returning the radar to an initial state, and executing the step S5; otherwise, directly executing the step S6;
s5: judging whether the similarity between the second image and the first image is higher than a first preset threshold value and the similarity between the third image and the first image is higher than a second preset threshold value, if so, judging that the radar angle adjusting precision is qualified, otherwise, judging that the radar angle adjusting precision is unqualified;
s6: driving a radar turntable to adjust theta/2 degrees for 2 times, acquiring an image in front of the radar as a fourth image, returning the radar to an initial state, and executing the step S7;
s7: judging whether the similarity between the fourth image and the first image is higher than a third preset threshold value or not, and if so, judging that the radar angle adjusting precision is qualified; otherwise, the radar angle adjusting precision is unqualified.
2. The debugging method for the precise adjustment of the radar angle according to claim 1, wherein:
in executing step S1, the angle value θ includes a positive number and a negative number.
3. The debugging method for the precise adjustment of the radar angle according to claim 1, wherein:
and when the steps S2 to S4 are executed, feeding back the first image, the second image and the third image to a control center electrically connected with the radar.
4. The debugging method for the precise adjustment of the radar angle according to claim 3, wherein:
before step S5 is performed, a first predetermined threshold value and a second predetermined threshold value are set at the control center.
5. The debugging method for the precise adjustment of the radar angle according to claim 4, wherein:
when step S5 is executed, the first predetermined threshold is greater than the second predetermined threshold.
6. The debugging method for the precise adjustment of the radar angle according to claim 5, wherein:
before step S7 is performed, a third predetermined threshold is set at the control center.
7. The debugging method for the precise adjustment of radar angle according to claim 6, wherein:
when step S7 is executed, the third predetermined threshold is greater than the first predetermined threshold.
8. The debugging method for the precise adjustment of the radar angle according to claim 1, wherein:
and when the step S6 is executed, feeding back the fourth image to a control center electrically connected with the radar.
9. The debugging method for the precise adjustment of the radar angle according to claim 1, wherein:
when step S5 is executed, the following steps are included:
s51: acquiring a first image, a second image and a third image;
s52: judging whether the similarity between the second image and the first image is higher than a first preset threshold value or not;
if yes, go to step S53; otherwise, the radar angle adjusting accuracy is unqualified;
s53: judging whether the similarity between the third image and the first image is higher than a second preset threshold value or not;
if yes, the radar angle adjusting accuracy is qualified; otherwise, the radar angle adjusting precision is unqualified.
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