CN115542324A - Millimeter wave radar device for sensing obstacles on railway - Google Patents
Millimeter wave radar device for sensing obstacles on railway Download PDFInfo
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- CN115542324A CN115542324A CN202110735599.3A CN202110735599A CN115542324A CN 115542324 A CN115542324 A CN 115542324A CN 202110735599 A CN202110735599 A CN 202110735599A CN 115542324 A CN115542324 A CN 115542324A
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- obstacle
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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
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/04—Systems determining presence of a target
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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
- G01S13/886—Radar or analogous systems specially adapted for specific applications for alarm systems
-
- 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
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9328—Rail vehicles
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
A millimeter wave radar device for sensing obstacles on a railway is applied to a railway and an obstacle and comprises a user interface and a millimeter wave radar. The user interface is configured to control the millimeter wave radar; the millimeter wave radar is configured to send a radar wave to a predetermined range on the railway; the millimeter wave radar is configured to receive a reflected radar wave reflected from the preset range on the railway based on the radar wave; the user interface is configured to determine whether the obstacle is within the preset range on the railway based on the reflected radar waves; the user interface is configured to provide a warning if the user interface determines that the obstacle is within the predetermined range on the railway.
Description
Technical Field
The present invention relates to a millimeter wave radar device, and more particularly, to a millimeter wave radar device for sensing obstacles on a railway.
Background
A train rapidly traveling on a railway often carries a large number of passengers or freight, and thus the safety of the train is very important. One of the biggest important points affecting the safety of trains is whether there is an obstacle on the railway; once there is an obstacle on the railway, the passing train is very dangerous. However, the current railway obstacle warning system is often not instant and accurate enough, which seriously affects the safety of the train.
Disclosure of Invention
To solve the above problems, it is an object of the present invention to provide a millimeter wave radar apparatus for sensing an obstacle on a railway.
To achieve the above object, the present invention provides a millimeter wave radar apparatus for sensing an obstacle on a railway, which is applied to a railway and an obstacle, the millimeter wave radar apparatus for sensing an obstacle on a railway comprising: a user interface; and a millimeter wave radar electrically connected to the user interface, wherein the user interface is configured to control the millimeter wave radar; the millimeter wave radar is configured to send a radar wave to a predetermined range on the railway; the millimeter wave radar is configured to receive a reflected radar wave reflected from the preset range on the railway based on the radar wave; the user interface is configured to determine whether the obstacle is within the preset range on the railway based on the reflected radar waves; the user interface is configured to provide a warning if the user interface determines that the obstacle is within the predetermined range on the railway.
Furthermore, in an embodiment of the millimeter wave radar apparatus for sensing obstacles on a railway according to the present invention, the millimeter wave radar apparatus for sensing obstacles on a railway further includes: a camera lens electrically connected to the user interface, wherein the user interface is configured to control the camera lens; if the user interface determines that the obstacle is within the preset range on the railway, the user interface is configured to control the camera lens to photograph the obstacle within the preset range on the railway.
Furthermore, in an embodiment of the millimeter wave radar apparatus for sensing obstacles on a railway according to the present invention as described above, the user interface comprises: and the microprocessor is electrically connected to the millimeter wave radar and the camera lens.
Furthermore, in an embodiment of the millimeter wave radar apparatus for sensing obstacles on a railway according to the present invention as described above, the microprocessor comprises: a dynamic object tracking unit electrically connected to the millimeter wave radar, wherein the dynamic object tracking unit comprises: a point cloud acquisition subunit electrically connected to the millimeter wave radar, wherein the point cloud acquisition subunit is configured to obtain a point cloud information based on the reflected radar wave.
Furthermore, in an embodiment of the millimeter wave radar apparatus for sensing obstacles on a railway according to the present invention as described above, the dynamic object tracking unit further includes: a point cloud reliability checking subunit electrically connected to the point cloud acquisition subunit, wherein the point cloud reliability checking subunit is configured to check the point cloud information.
Furthermore, in an embodiment of the millimeter wave radar apparatus for sensing obstacles on a railway according to the present invention as described above, the dynamic object tracking unit further includes: a point cloud classification subunit electrically connected to the point cloud acquisition subunit, wherein if the point cloud information checked by the point cloud reliability check subunit is correct, the point cloud acquisition subunit is configured to transmit the point cloud information to the point cloud classification subunit; the point cloud classification subunit is configured to classify the point cloud information to obtain point cloud classification information.
Furthermore, in an embodiment of the millimeter wave radar apparatus for sensing obstacles on a railway according to the present invention as described above, the dynamic object tracking unit further includes: a point cloud change tracking subunit electrically connected to the point cloud classification subunit, wherein the point cloud classification subunit is configured to transmit the point cloud classification information to the point cloud change tracking subunit; the point cloud change tracking subunit is configured to determine whether the obstacle is dynamically within the preset range on the railway based on the point cloud classification information, and the point cloud change tracking subunit is configured to determine a movement track and a movement speed of the obstacle based on the point cloud classification information; if the point cloud change tracking subunit determines that the obstacle is dynamically within the preset range on the railway based on the point cloud classification information, the user interface is configured to determine that the obstacle is within the preset range on the railway based on the reflected radar waves.
Furthermore, in an embodiment of the millimeter wave radar apparatus for sensing obstacles on a railway according to the present invention as described above, the microprocessor further comprises: a static object determination unit electrically connected to the millimeter wave radar, wherein before the millimeter wave radar starts sensing, the millimeter wave radar and the static object determination unit are configured to use a range angle technique to record a background reflection information within the preset range on the railway; then, after the millimeter wave radar starts sensing, the millimeter wave radar and the static object determination unit are configured to subtract the background reflection information from a current reflection information to determine whether the obstacle is statically within the preset range on the railway; if the millimeter wave radar and the static object determination unit determine that the obstacle is statically within the preset range on the railway for more than a predetermined time, the user interface is configured to determine that the obstacle is within the preset range on the railway based on the reflected radar waves.
Furthermore, in an embodiment of the millimeter wave radar apparatus for sensing obstacles on a railway according to the present invention, the millimeter wave radar apparatus for sensing obstacles on a railway is applied to a cloud system, wherein the user interface further includes: a warning light electrically connected to the microprocessor; and an alarm bell electrically connected to the microprocessor, wherein if the user interface determines that the obstacle is within the predetermined range on the railway, the user interface is configured to control the camera lens to photograph the obstacle within the predetermined range on the railway and upload the photographed obstacle to the cloud system and illuminate the alarm lamp and drive the alarm bell to generate an alarm sound; the warning light is configured to further display the warning; the cloud system is configured to store an issue frame picture, an obstacle distance, an issue location coordinate, and an issue time.
Furthermore, in an embodiment of the millimeter wave radar apparatus for sensing obstacles on a railway according to the present invention as described above, the user interface further includes: a timer electrically connected to the microprocessor, wherein if the user interface determines that the obstacle is within the predetermined range on the railway, the user interface is configured to provide the warning and to record a time of occurrence of the obstacle using the timer; if the user interface determines that the obstacle departs from the preset range on the railway, the user interface is configured to stop providing the warning and record a departure time of the obstacle using the timer.
The invention has the effect of immediately and accurately warning the obstacle on the railway so as to improve the safety of the train running on the railway.
The invention is described in detail below with reference to the drawings and specific examples, but the invention is not limited thereto.
Drawings
Fig. 1 is a block diagram of a millimeter wave radar apparatus for sensing obstacles on a railway according to the present invention.
Fig. 2 is a schematic view of a first application of the millimeter wave radar apparatus for sensing an obstacle on a railway according to the present invention.
Fig. 3 is a schematic view of a second application of the millimeter wave radar apparatus for sensing obstacles on a railway according to the present invention.
Fig. 4 is a schematic view of a third application of the millimeter wave radar apparatus for sensing obstacles on a railway according to the present invention.
Fig. 5 is a schematic view showing a fourth application of the millimeter wave radar apparatus for sensing an obstacle on a railway according to the present invention.
FIG. 6 is a block diagram illustrating an embodiment of the microprocessor of the present invention.
Fig. 7 is a block diagram of the millimeter wave radar according to an embodiment of the present invention.
FIG. 8 is a block diagram of an embodiment of the ADC circuit according to the present invention.
Fig. 9 is a block diagram of a portion of the millimeter wave receiving circuit according to an embodiment of the present invention.
Fig. 10 is another block diagram of a portion of the millimeter wave receiving circuit according to an embodiment of the present invention.
Fig. 11 is a block diagram of the millimeter wave transmitting circuit according to an embodiment of the present invention.
Wherein, the reference numbers:
millimeter wave radar device for sensing obstacles on railway
20: railway
30 obstacle
102 microprocessor
104 millimeter wave radar
106 radar wave
108 reflection of radar waves
110 camera lens
112 preset range
114 warning
116 user interface
118 dynamic object tracking unit
120 point cloud acquisition subunit
122 point cloud reliability checking subunit
124, point cloud classification subunit
126 point cloud classification information
128 point cloud change tracking subunit
130 warning lamp
132 timer
134 point cloud information
136 analog to digital conversion circuit
138 millimeter wave receiving circuit
140 millimeter wave transmitting circuit
142 analog signal
144 digital signal
146 digital front-end sampling filter
148 buffer for converting analog to digital
150 hardware accelerator
152 first analog to digital converter
154 second analog to digital converter
156 third analog to digital converter
158 fourth analog-to-digital converter
160 first intermediate frequency filter
162 second intermediate frequency filter
164 third IF Filter
166 fourth IF filter
168 first mixer
170 second mixer
172 third frequency mixer
174 fourth Mixer
176 first low noise amplifier
178 second Low noise Amplifier
180 third Low noise Amplifier
182 fourth low noise amplifier
184 first receiving antenna
186 second receiving antenna
188 third receiving antenna
190 fourth receiving antenna
192 first phase shifter
194 second phase shifter
196 third phase shifter
198 frequency multiplier
200 frequency synthesizer
202 oblique wave generator
204 first power amplifier
206 second power amplifier
208 third power amplifier
210 first transmitting antenna
212 second transmitting antenna
214 third transmitting antenna
216 static object judging unit
218 alarm bell
220 cloud system
Detailed Description
In the description, numerous specific details are provided to provide a thorough understanding of embodiments of the invention; one skilled in the relevant art will recognize, however, that the invention can be practiced without one or more of the specific details; in other instances, well-known details are not shown or described to avoid obscuring aspects of the invention. The technical content and the detailed description of the invention are described as follows with the accompanying drawings:
please refer to fig. 1, which is a block diagram of a millimeter wave radar apparatus for sensing obstacles on a railway according to the present invention. The millimeter wave radar apparatus 10 for sensing obstacles on a railway of the present invention comprises a user interface 116, a millimeter wave radar 104 and a camera lens 110, wherein the user interface 116 comprises a microprocessor 102, a warning light 130, an alarm bell 218 and a timer 132, which are electrically connected to each other; the present invention only requires the user interface 116 and the millimeter wave radar 104 to achieve the functions and objectives of the present invention.
Please refer to fig. 2, which is a schematic diagram illustrating a first application of the millimeter wave radar apparatus for sensing obstacles on a railway according to the present invention; please refer to fig. 3, which is a diagram illustrating a second application of the millimeter wave radar apparatus for sensing obstacles on a railway according to the present invention; please refer to fig. 4, which is a schematic diagram illustrating a third application of the millimeter wave radar apparatus for sensing obstacles on a railway according to the present invention; please refer to fig. 5, which is a diagram illustrating a fourth application of the millimeter wave radar apparatus for sensing obstacles on a railway according to the present invention; please refer to fig. 1 to 5 simultaneously.
The millimeter wave radar apparatus 10 for sensing obstacles on a railway according to the present invention is applied to a railway 20, an obstacle 30 and a cloud system 220. The user interface 116 is configured to control the millimeter-wave radar 104 and the camera lens 110; the millimeter-wave radar 104 is configured to send a radar wave 106 to a predetermined range 112 on the railway 20; the millimeter-wave radar 104 is configured to receive a reflected radar wave 108 based on the radar wave 106 reflected from the predetermined range 112 on the railway 20; the user interface 116 is configured to determine whether the obstacle 30 is within the predetermined range 112 on the railway 20 based on the reflected radar waves 108. Further, the millimeter wave radar 104 and the camera lens 110 may be mounted at any location around the periphery of the railway 20.
If the user interface 116 determines that the obstacle 30 is within the predetermined range 112 on the railway 20, the user interface 116 is configured to provide a warning 114 and to illuminate the warning light 130 and to actuate the alarm bell 218 to sound a warning, the warning light 130 is configured to further display the warning 114, the user interface 116 is configured to record an occurrence time of the obstacle 30 using the timer 132, and the user interface 116 is configured to control the camera lens 110 to photograph the obstacle 30 within the predetermined range 112 on the railway 20 and upload to the cloud system 220. The cloud system 220 is configured to store a picture of an issue, an obstacle distance, an issue location coordinate, and an issue time.
If the user interface 116 determines that the obstacle 30 departs from the predetermined range 112 on the railway 20, the user interface 116 is configured to stop providing the warning 114 and record a departure time of the obstacle 30 using the timer 132.
FIG. 2 shows the MMW radar 104 sensing whether the obstacle 30 is within the predetermined range 112 on the railway 20, while FIG. 2 shows the obstacle 30 not within the predetermined range 112 on the railway 20; FIG. 3 shows that if the MMW radar 104 senses that the obstacle 30 (e.g., a rock fall) is within the predetermined range 112 on the railway 20, the user interface 116 provides the warning 114 and records the time of the occurrence of the obstacle 30, and the camera lens 110 takes a picture of the obstacle 30 within the predetermined range 112 on the railway 20; fig. 4 shows that if the obstacle 30 departs from the predetermined range 112 on the railway 20, the user interface 116 stops providing the warning 114 and records the departure time of the obstacle 30; fig. 5 shows another type of barrier 30, such as a vehicle running into the railway 20.
FIG. 6 is a block diagram illustrating an embodiment of a microprocessor according to the present invention; please refer to fig. 1 to fig. 5. The microprocessor 102 includes a dynamic object tracking unit 118 and a static object determining unit 216, wherein the dynamic object tracking unit 118 includes a point cloud obtaining subunit 120, a point cloud reliability checking subunit 122, a point cloud classifying subunit 124, and a point cloud change tracking subunit 128, which are electrically connected to each other.
The point cloud acquisition subunit 120 is configured to obtain a point cloud information 134 based on the reflected radar waves 108; the point cloud reliability checking subunit 122 is configured to check the point cloud information 134; if the point cloud information 134 checked by the point cloud reliability checking subunit 122 is correct, the point cloud obtaining subunit 120 is configured to transmit the point cloud information 134 to the point cloud classification subunit 124. In other words, the point cloud reliability checking subunit 122 has a determination mechanism (i.e., a determination criterion) to determine whether the point cloud information 134 is correct; if the point cloud information 134 passes the determination criteria, the point cloud information 134 can be used; if the point cloud information 134 does not meet the determination criteria, the point cloud information 134 needs to be collected again.
The point cloud classification subunit 124 is configured to classify the point cloud information 134 to obtain point cloud classification information 126; the point cloud classification subunit 124 is configured to send the point cloud classification information 126 to the point cloud change tracking subunit 128; the point cloud change tracking sub-unit 128 is configured to determine whether the obstacle 30 is dynamically within the predetermined range 112 on the railway 20 based on the point cloud classification information 126, and the point cloud change tracking sub-unit 128 is configured to determine a moving track and a moving speed of the obstacle 30 based on the point cloud classification information 126; if the point cloud change tracking subunit 128 determines that the obstacle 30 is dynamically within the predetermined range 112 on the railway 20 based on the point cloud classification information 126, the user interface 116 is configured to determine that the obstacle 30 is within the predetermined range 112 on the railway 20 based on the reflected radar waves 108 (i.e., "the point cloud change tracking subunit 128 determines that the obstacle 30 is dynamically within the predetermined range 112 on the railway 20 based on the point cloud classification information 126" means that "the user interface 116 is configured to determine that the obstacle 30 is within the predetermined range 112 on the railway 20 based on the reflected radar waves 108").
Before the millimeter-wave radar 104 begins sensing, the millimeter-wave radar 104 and the static object determination unit 216 are configured to use a range angle spread (also known as a range angle thermograph) technique to record a background reflection information within the predetermined range 112 on the railway 20; then, after the millimeter wave radar 104 starts sensing, the millimeter wave radar 104 and the static object determination unit 216 are configured to subtract the background reflection information from a current reflection information to determine whether the obstacle 30 is statically within the predetermined range 112 on the railway 20; if the MMDAR 104 and the static object determination unit 216 determine that the obstacle 30 is statically within the predetermined range 112 on the railway 20 for more than a predetermined time, the user interface 116 is configured to determine that the obstacle 30 is within the predetermined range 112 on the railway 20 based on the reflected radar waves 108 (i.e., "determining that the obstacle 30 is statically within the predetermined range 112 on the railway 20 for more than a predetermined time by the MMDAR 104 and the static object determination unit 216" means "that the user interface 116 is configured to determine that the obstacle 30 is within the predetermined range 112 on the railway 20 based on the reflected radar waves 108").
Furthermore, the dynamic object tracking unit 118 and the static object determination unit 216 of the microprocessor 102 of the present invention are configured to determine a size status of the obstacle 30; if the dynamic object tracking unit 118 and the static object determining unit 216 of the microprocessor 102 determine that the size state of the obstacle 30 is less than a predetermined ignore size state, the dynamic object tracking unit 118 and the static object determining unit 216 of the microprocessor 102 are configured to ignore the obstacle 30; therefore, the present invention does not determine that small stones or the like, which do not affect the travel and safety of the train, are the obstacle 30.
The dynamic object tracking unit 118, the static object determining unit 216, the point cloud obtaining subunit 120, the point cloud reliability checking subunit 122, the point cloud classification subunit 124, and the point cloud change tracking subunit 128 may be integrated within the microprocessor 102; that is, the respective operations of the units/sub-units described above are performed by the microprocessor 102. Alternatively, the units/sub-units are separate microprocessors, signal processors or electronic devices for performing the separate operations of the units/sub-units.
For example, the dynamic object tracking unit 118 is a first microprocessor or a first signal processor, the static object determining unit 216 is a second microprocessor or a second signal processor, the point cloud obtaining subunit 120 is a third microprocessor or a third signal processor, the point cloud reliability checking subunit 122 is a fourth microprocessor or a fourth signal processor, the point cloud classifying subunit 124 is a fifth microprocessor or a fifth signal processor, and the point cloud change tracking subunit 128 is a sixth microprocessor or a sixth signal processor.
Please refer to fig. 7, which is a block diagram of the millimeter wave radar according to an embodiment of the present invention; please refer to fig. 1 to fig. 6. The millimeter-wave radar 104 includes an analog-to-digital circuit 136, a millimeter-wave receiving circuit 138, and a millimeter-wave transmitting circuit 140. The analog-to-digital circuit 136 is electrically connected to the microprocessor 102; the millimeter wave receiving circuit 138 is electrically connected to the analog-to-digital circuit 136; the millimeter wave transmitter circuit 140 is electrically connected to the millimeter wave receiver circuit 138. The millimeter wave transmitting circuit 140 is configured to transmit the radar wave 106 to the predetermined range 112 on the railway 20; the millimeter wave receive circuit 138 is configured to receive the reflected radar waves 108 reflected from the predetermined range 112 on the railway 20 based on the radar waves 106; the millimeter-wave receiving circuit 138 is configured to process the reflected radar wave 108 to obtain an analog signal 142; the millimeter wave receive circuit 138 is configured to transmit the analog signal 142 to the analog-to-digital circuit 136; the analog-to-digital circuit 136 is configured to process the analog signal 142 to obtain a digital signal 144; the analog-to-digital circuit 136 is configured to transmit the digital signal 144 to the microprocessor 102; the digital signal 144 contains the point cloud information 134.
Please refer to fig. 8, which is a block diagram of an embodiment of the adc circuit according to the present invention; please refer to fig. 1 to fig. 7. The adc circuit 136 includes a digital front-end decimation filter 146, an adc buffer 148, a hardware accelerator 150, a first adc 152, a second adc 154, a third adc 156, and a fourth adc 158. The digital front-end decimation filter 146 is electrically connected to the microprocessor 102; the adc buffer 148 is electrically connected to the digital front-end decimation filter 146; the hardware accelerator 150 is electrically connected to the adc buffer 148; the first adc 152 is electrically connected to the digital front-end decimation filter 146 and the mm-wave receiving circuit 138; the second adc 154 is electrically connected to the digital front-end decimation filter 146 and the millimeter wave receiving circuit 138; the third adc 156 is electrically connected to the digital front-end decimation filter 146 and the mm-wave receiving circuit 138; the fourth adc 158 is electrically connected to the digital front-end sampling filter 146 and the mm-wave receiving circuit 138.
Please refer to fig. 9, which is a block diagram of a portion of the millimeter wave receiving circuit according to an embodiment of the present invention; please refer to fig. 1 to fig. 8. The millimeter wave receiving circuit 138 includes a first if filter 160, a second if filter 162, a third if filter 164, a fourth if filter 166, a first mixer 168, a second mixer 170, a third mixer 172, and a fourth mixer 174. The first if filter 160 is electrically connected to the first adc 152; the second if filter 162 is electrically connected to the second adc 154; the third if filter 164 is electrically connected to the third adc 156; the fourth if filter 166 is electrically connected to the fourth adc 158; the first mixer 168 is electrically connected to the first if filter 160 and the mm wave transmitting circuit 140; the second mixer 170 is electrically connected to the second intermediate frequency filter 162 and the millimeter wave transmitting circuit 140; the third mixer 172 is electrically connected to the third if filter 164 and the mm-wave transmitting circuit 140; the fourth mixer 174 is electrically connected to the fourth if filter 166 and the mm-wave transmitting circuit 140.
Please refer to fig. 10, which is a block diagram of another part of the millimeter wave receiving circuit according to an embodiment of the present invention; please refer to fig. 1 to fig. 9. The millimeter wave receiving circuit 138 further includes a first low noise amplifier 176, a second low noise amplifier 178, a third low noise amplifier 180, a fourth low noise amplifier 182, a first receiving antenna 184, a second receiving antenna 186, a third receiving antenna 188, and a fourth receiving antenna 190. The first low noise amplifier 176 is electrically connected to the first mixer 168; the second low noise amplifier 178 is electrically connected to the second mixer 170; the third low noise amplifier 180 is electrically connected to the third mixer 172; the fourth lna 182 is electrically connected to the fourth mixer 174; the first receiving antenna 184 is electrically connected to the first low noise amplifier 176; the second receiving antenna 186 is electrically connected to the second low noise amplifier 178; the third receiving antenna 188 is electrically connected to the third lna 180; the fourth receiving antenna 190 is electrically connected to the fourth low noise amplifier 182.
Please refer to fig. 11, which is a block diagram of the millimeter wave transmitter according to an embodiment of the present invention; please refer to fig. 1 to fig. 10. The millimeter wave transmitter circuit 140 includes a first phase shifter 192, a second phase shifter 194, a third phase shifter 196, a frequency multiplier 198, a frequency synthesizer 200 and a ramp generator 202. The first phase shifter 192 is electrically connected to the millimeter wave receiving circuit 138; the second phase shifter 194 is electrically connected to the millimeter wave receiving circuit 138; the third phase shifter 196 is electrically connected to the millimeter wave receiving circuit 138; the frequency multiplier 198 is electrically connected to the millimeter wave receiving circuit 138, the first phase shifter 192, the second phase shifter 194 and the third phase shifter 196; the frequency synthesizer 200 is electrically connected to the frequency multiplier 198; the ramp generator 202 is electrically connected to the frequency synthesizer 200.
Furthermore, according to fig. 11, the millimeter wave transmitting circuit 140 further includes a first power amplifier 204, a second power amplifier 206, a third power amplifier 208, a first transmitting antenna 210, a second transmitting antenna 212 and a third transmitting antenna 214. The first power amplifier 204 is electrically connected to the first phase shifter 192; the second power amplifier 206 is electrically connected to the second phase shifter 194; the third power amplifier 208 is electrically connected to the third phase shifter 196; the first transmitting antenna 210 is electrically connected to the first power amplifier 204; the second transmitting antenna 212 is electrically connected to the second power amplifier 206; the third transmitting antenna 214 is electrically connected to the third power amplifier 208.
The invention has the effect of immediately and accurately warning the obstacle on the railway so as to improve the safety of the train running on the railway. When the obstacle 30 invades the railway 20, the alarm bell 218, the warning light 130 and the camera lens 110 are triggered, warning data is uploaded to the cloud system 220, and a train driver can know the road condition ahead in advance according to the warning result of the cloud system 220, so that accidents are reduced.
However, the above-mentioned embodiments are only preferred embodiments of the present invention, and the scope of the present invention should not be limited by the above-mentioned embodiments, and all equivalent changes and modifications made by the claims of the present invention should be covered by the protection scope of the present invention. The present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof, and it should be understood that various changes and modifications can be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. A millimeter wave radar apparatus for sensing an obstacle on a railway, applied to a railway and an obstacle, the millimeter wave radar apparatus for sensing an obstacle on a railway comprising:
a user interface; and
a millimeter-wave radar electrically connected to the user interface,
wherein the user interface is configured to control the millimeter wave radar; the millimeter wave radar is configured to send a radar wave to a preset range on the railway; the millimeter wave radar is configured to receive a reflected radar wave reflected from the preset range on the railway based on the radar wave; the user interface is configured to determine whether the obstacle is within the preset range on the railway based on the reflected radar waves; the user interface is configured to provide a warning if the user interface determines that the obstacle is within the predetermined range on the railway.
2. The millimeter wave radar apparatus for sensing obstacles on a railway of claim 1, further comprising:
a camera lens electrically connected to the user interface,
wherein the user interface is configured to control the camera lens; if the user interface determines that the obstacle is within the preset range on the railway, the user interface is configured to control the camera lens to photograph the obstacle within the preset range on the railway.
3. The millimeter wave radar apparatus for sensing obstacles on a railway of claim 2, wherein the user interface comprises:
and the microprocessor is electrically connected to the millimeter wave radar and the camera lens.
4. The millimeter wave radar apparatus for sensing obstacles on a railway of claim 3, wherein the microprocessor comprises:
a dynamic object tracking unit electrically connected to the millimeter wave radar,
wherein the dynamic object tracking unit comprises:
a point cloud obtaining subunit, electrically connected to the millimeter wave radar,
wherein the point cloud obtaining subunit is configured to obtain a point cloud information based on the reflected radar wave.
5. The millimeter-wave radar apparatus for sensing obstacles on a railway of claim 4, wherein the dynamic object tracking unit further comprises:
a point cloud reliability checking subunit electrically connected to the point cloud obtaining subunit,
wherein the point cloud reliability checking subunit is configured to check the point cloud information.
6. The millimeter-wave radar apparatus for sensing obstacles on a railway of claim 5, wherein the dynamic object tracking unit further comprises:
a point cloud classifying subunit electrically connected to the point cloud obtaining subunit,
wherein the point cloud obtaining subunit is configured to send the point cloud information to the point cloud classifying subunit if the point cloud information checked by the point cloud reliability checking subunit is correct; the point cloud classification subunit is configured to classify the point cloud information to obtain point cloud classification information.
7. The millimeter-wave radar apparatus for sensing obstacles on a railway of claim 6, wherein the dynamic object tracking unit further comprises:
a point cloud change tracking subunit electrically connected to the point cloud classifying subunit,
wherein the point cloud classification subunit is configured to transmit the point cloud classification information to the point cloud change tracking subunit; the point cloud change tracking subunit is configured to determine whether the obstacle is dynamically within the preset range on the railway based on the point cloud classification information, and the point cloud change tracking subunit is configured to determine a movement track and a movement speed of the obstacle based on the point cloud classification information; if the point cloud change tracking subunit determines that the obstacle is dynamically within the preset range on the railway based on the point cloud classification information, the user interface is configured to determine that the obstacle is within the preset range on the railway based on the reflected radar waves.
8. The millimeter wave radar device for sensing obstacles on a railway of claim 7, wherein the microprocessor further comprises:
a static object determination unit electrically connected to the millimeter wave radar,
wherein before the millimeter wave radar starts sensing, the millimeter wave radar and the static object determination unit are configured to use a distance angle range technique to record a background reflection information within the preset range on the railway; then, after the millimeter wave radar starts sensing, the millimeter wave radar and the static object determination unit are configured to subtract the background reflection information from a current reflection information to determine whether the obstacle is statically within the preset range on the railway; if the millimeter wave radar and the static object determination unit determine that the obstacle is statically within the preset range on the railway for more than a predetermined time, the user interface is configured to determine that the obstacle is within the preset range on the railway based on the reflected radar waves.
9. The millimeter-wave radar apparatus for sensing obstacles on a railway of claim 8, applied to a cloud-based system, wherein the user interface further comprises:
a warning light electrically connected to the microprocessor; and
an alarm bell electrically connected to the microprocessor,
wherein if the user interface determines that the obstacle is within the predetermined range on the railway, the user interface is configured to control the camera lens to photograph the obstacle within the predetermined range on the railway and upload the photographed obstacle to the cloud system and illuminate the warning light and drive the alarm bell to generate a warning sound; the warning light is configured to further display the warning; the cloud system is configured to store an issue frame picture, an obstacle distance, an issue location coordinate, and an issue time.
10. The millimeter wave radar device for sensing obstacles on a railway of claim 9, wherein the user interface further comprises:
a timer electrically connected to the microprocessor,
wherein if the user interface determines that the obstacle is within the predetermined range on the railway, the user interface is configured to provide the warning and record an occurrence time of the obstacle using the timer; if the user interface determines that the obstacle departs from the preset range on the railway, the user interface is configured to stop providing the warning and record a departure time of the obstacle using the timer.
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| CN202110735599.3A CN115542324A (en) | 2021-06-30 | 2021-06-30 | Millimeter wave radar device for sensing obstacles on railway |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110735599.3A CN115542324A (en) | 2021-06-30 | 2021-06-30 | Millimeter wave radar device for sensing obstacles on railway |
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