CN116008989A - Wisdom traffic is with many concatenation multidimensional omnidirectional scanning millimeter wave radar - Google Patents
Wisdom traffic is with many concatenation multidimensional omnidirectional scanning millimeter wave radar Download PDFInfo
- Publication number
- CN116008989A CN116008989A CN202211664271.8A CN202211664271A CN116008989A CN 116008989 A CN116008989 A CN 116008989A CN 202211664271 A CN202211664271 A CN 202211664271A CN 116008989 A CN116008989 A CN 116008989A
- Authority
- CN
- China
- Prior art keywords
- target
- radar
- module
- data
- scanning
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000004891 communication Methods 0.000 claims abstract description 43
- 238000001514 detection method Methods 0.000 claims abstract description 36
- 238000012546 transfer Methods 0.000 claims abstract description 3
- 230000004927 fusion Effects 0.000 claims description 45
- 238000012545 processing Methods 0.000 claims description 36
- 230000001360 synchronised effect Effects 0.000 claims description 15
- 238000000034 method Methods 0.000 claims description 12
- 230000036541 health Effects 0.000 claims description 11
- 230000005540 biological transmission Effects 0.000 claims description 10
- 238000012544 monitoring process Methods 0.000 claims description 8
- 230000000875 corresponding effect Effects 0.000 claims description 7
- 230000002159 abnormal effect Effects 0.000 claims description 6
- 230000005856 abnormality Effects 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 4
- 230000008439 repair process Effects 0.000 claims description 4
- 230000009471 action Effects 0.000 claims description 3
- 230000002035 prolonged effect Effects 0.000 abstract description 2
- 239000007787 solid Substances 0.000 abstract 3
- 230000008901 benefit Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000005259 measurement Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 208000025274 Lightning injury Diseases 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000000779 smoke Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Landscapes
- Radar Systems Or Details Thereof (AREA)
Abstract
The utility model provides a wisdom is multi-splice multi-dimensional omnidirectional scanning millimeter wave radar for traffic, includes the main control board, main control board electric connection several regional radar unit, regional radar unit fixed setting, main control board electric connection communication unit, temperature sensor and location time service antenna, main control board connect power supply unit, the main control board carry out data transfer through communication unit and radar upper application platform or third party platform. The invention adopts a solid radar detection mode, and can realize 360-degree detection without the need of a mechanical structure to drive the solid radar to rotate, so that the situation that the solid radar cannot be used due to the damage of the mechanical structure is avoided, and the service life is prolonged; meanwhile, the plurality of regional radar units are fixedly arranged to synchronously receive and transmit signals, so that the working efficiency is greatly improved, and the accuracy, the quantity of tracking target objects and the detection radius are greatly improved compared with those of single radar, so that the millimeter wave radar can be better popularized and applied.
Description
Technical Field
The invention belongs to the field of intelligent traffic, and particularly relates to a multi-splice multi-dimension omnidirectional scanning millimeter wave radar for intelligent traffic.
Background
Along with the continuous development of society at present, the application of millimeter wave radar in intelligent transportation trip is more and more wide, and millimeter wave radar generally refers to electromagnetic wave in the 30-300GHz frequency domain. Compared with microwaves, the millimeter wave has high resolution, good directivity, strong anti-interference capability and good detection performance; compared with infrared, the millimeter wave has reduced atmospheric attenuation, better penetrability to smoke and dust and less influence from weather. In addition, millimeter wave radars also exhibit better performance in measuring distance, speed and angle of objects than other sensors such as lidar and cameras. Meanwhile, the millimeter wave radar is also a main force sensor of an advanced driving auxiliary system of the automobile, and is an important guarantee for automatic driving and stable work; and millimeter wave radars have important technical advantages when detecting data such as distances within 1 km in the fields of navigation, boundary measurement and the like.
However, millimeter wave radars used in the related field of traffic travel at present are all single radar detection, the millimeter wave radars need to rotate through a mechanical structure to realize omnidirectional scanning, but because in order to ensure the accuracy of sending and receiving signals, the rotation speed of the mechanical structure of the conventional millimeter wave radars is low, so that the efficiency is low, the number of tracking targets is low, the detection radius is small, the mechanical structure is always rotated to cause the damage of the mechanical structure, the service life of the mechanical structure is influenced, the rotating mechanical structure of the conventional millimeter wave radars is imported, and the maintenance and replacement cost of the conventional millimeter wave radars is high, so that the use of the conventional millimeter wave radars in the fields of traffic travel and the like is influenced.
Disclosure of Invention
The invention provides a multi-splice multi-dimension omni-directional scanning millimeter wave radar for intelligent traffic, which is used for solving the defects in the prior art.
The invention is realized by the following technical scheme:
the utility model provides a wisdom is multi-splice multi-dimensional omnidirectional scanning millimeter wave radar for traffic, includes the main control board, main control board electric connection several regional radar unit, regional radar unit fixed setting, regional radar's window angle sum be greater than 360, main control board electric connection communication unit, temperature sensor and location time service antenna, main control board connect power supply unit, main control board carry out data transfer with radar upper application platform or third party platform through communication unit;
the intelligent traffic multi-splice multi-dimensional omnidirectional scanning millimeter wave radar comprises a main control board, a control module, a data acquisition module, a data cache module, a core processing module, a control module, a temperature module, a coding and decoding input/output module, a health monitoring and protecting module and a communication module, wherein the main control board comprises an interface module, a positioning time service module, a data acquisition module, a data cache module, a core processing module, a control module, a temperature module, a coding and decoding input/output module, a health monitoring and protecting module and a communication module;
the interface module is in charge of being electrically connected with the regional radar unit, the communication unit, the temperature sensor and the positioning time service antenna;
the positioning time service module utilizes the Beidou/GPS positioning time service module to accurately position the working position of the equipment and synchronously time service the local system, wherein the synchronous time service can adopt the Beidou/GPS positioning time service module to carry out local time service and can also adopt a remote NTP time service server to carry out remote time service;
the data acquisition module is used for collecting transmission signals and sending the transmission signals into the data caching module for caching;
the data buffer module is used for storing and loading programs and data when the system runs;
the core processing module carries out operation, fusion, control, calling, configuration, logic judgment and analysis on various data acquired by each port according to the pre-embedded application program and rule, and sends the processed data to each unit to execute corresponding action and output;
the control module is used for receiving the control command sent by the core processing module, analyzing the control command and sending the control command into the corresponding functional unit to realize the functional control of different requirements;
the temperature detection module is used for receiving signals of a temperature sensor for detecting the overall working environment temperature in the cavity of the regional radar unit, and immediately sending relevant information to an upper platform when the overall working environment temperature in the cavity of the regional radar unit is higher than or lower than an allowable range value specified by equipment;
the encoding and decoding input/output module encodes or decodes the data sent by the core processing module or the data sent by the communication module according to a preset data format protocol, and then sends the decoded data or the encoded and encrypted data to the core processing module or the communication module respectively;
the health monitoring and protecting module detects the health state of each functional module and mechanical module of the regional radar unit by using a locally operated self-diagnosis program, and once an abnormality of a certain device, a certain component or functional module, the working environment and the working state of equipment is detected, alarm information is sent to an upper layer platform so as to prompt related personnel to repair and restore the whole or part of the equipment;
the communication module is used for establishing a bridge for realizing remote control data transmission between the client and the server.
The intelligent traffic multi-splice multi-dimensional omni-directional scanning millimeter wave radar is characterized in that the number of the regional radar units is 3-6.
The operation mode of the regional radar unit comprises asynchronous scanning stacking fusion output and synchronous scanning stacking fusion output.
As described above, the operation mode of the multi-splice multi-dimensional omni-directional scanning millimeter wave radar for intelligent traffic, and the asynchronous scanning, stacking and fusion output is as follows: the method comprises the steps that regional radar units sequentially scan in a clockwise scanning mode according to different responsible scanning areas, data obtained by scanning are sent to a main control board for cache calling, a core processing module fuses the same target data acquired by two adjacent regional radar units through a multi-dimensional space-time fusion and shadow accompanying data fusion algorithm, new unique identity information is endowed to the targets and is continuously placed into a data cache unit for waiting calling, all regional radar units are scanned, and after all overlapping areas are fused to generate unique target data, the core processing unit outputs the complete 360-degree radar scanning data which are acquired finally through asynchronous scanning of a multi-splice radar.
As described above, the operation mode of the synchronous scanning, stacking and fusion output is as follows: the method comprises the steps that according to different responsible scanning areas, the area radar units synchronously scan the responsible areas in a simultaneous scanning mode, target data in the areas are obtained simultaneously and are sent to a data caching module for cache calling, a core data processing unit fuses target data acquired by overlapping areas between every two adjacent radars through multidimensional space-time fusion and shadow accompanying data fusion algorithms, the same target data acquired by the two adjacent radars are endowed with new unique identity information, the target data are continuously placed in the data caching unit for waiting for calling, all area radars are scanned, and after all overlapping areas are fused to generate unique target data, the radar data processing unit outputs the multi-spliced radars to the outside through synchronous scanning and finally acquired complete 360-degree radar scanning data.
As described above, the multi-splice multi-dimensional omnidirectional scanning millimeter wave radar for intelligent traffic is characterized in that the fusion operation of the target data acquired in the overlapping area is as follows: when a target enters an overlapping detection area of two adjacent radars, the two radars can scan the target at the same time, the scanned radar original data is analyzed and processed by a core processing unit to obtain dynamic data of the target, and because the positions of the two adjacent radars are different, the scanning process is asynchronous, the target is different relative to the running direction of the two radars, the set parameters are different, the tracking and positioning precision of the target has various reasons, even the same target can obtain two different dynamic data information and ID (identity) number information in the system due to the reasons, ghost or shadow phenomenon can occur in the system, the system can track a1 target with complete information as a real target or a main target, and the other radar scans the same target a2 as a false target or an auxiliary target; the dynamic information of the tracked and positioned target comprises: the method comprises the steps of setting a relevant target range by taking a real target as a center, wherein all targets in the range are listed as effective relevant target objects, targets exceeding the range are listed as invalid target relevant objects, comparing relevant objects with reference to an invalid target relevant object system by taking the real-time movement speed, the movement direction, the longitude and latitude of the target, the target size, the target type and the lane of the target as reference, and continuously repeating the occurrence times M of the radar scanning targets with preset relevant combined values as reference values and the tracks according with the rule point as judging conditions for judging whether relevant fusion exists, wherein M is an integer in 1-10; and (3) correlating the real targets meeting the requirements with the false targets, fusing the real targets and the false targets in a preset target correlation fusion overlapping area, correcting the ID identity numbers in the fused target dynamic information based on the false target dynamic information, keeping the ID identity numbers consistent with the ID identity numbers of the previous real targets, continuing the action, forming a complete data information by the corrected result and the characteristic information of the targets, outputting the complete data information into a permanent database for calling, and taking the corrected complete target information as the real target information of the next overlapping area.
According to the multi-splice multi-dimensional omnidirectional scanning millimeter wave radar for intelligent traffic, the main control board is electrically connected with the electronic compass, the gesture module is arranged in the main control board, and the gesture detection module is used for detecting whether equipment is in a correct gesture and giving out abnormal gesture alarms.
As described above, the intelligent traffic multi-splice multi-dimensional omnidirectional scanning millimeter wave radar is characterized in that the main control board is internally provided with the power supply module.
As the multi-splice multi-dimensional omni-directional scanning millimeter wave radar for intelligent traffic is provided, the communication module can adopt any one or the combination of more than two of a 4G communication module, a 5G communication module, a WIFI communication module or a wired network communication module.
As described above, the intelligent traffic multi-splice multi-dimensional omnidirectional scanning millimeter wave radar, the main control board is provided with the local storage module.
The invention has the advantages that: the invention adopts a solid-state radar multi-splicing mode that a plurality of regional radar units are fixedly arranged for detection, and can realize 360-degree detection without the need of a mechanical structure to drive the detection to rotate, so that the situation that the detection cannot be used due to the damage of the mechanical structure is avoided, and the service life is prolonged; meanwhile, the working sequence and the working mode of each splicing unit are accurately controlled to realize asynchronous scanning and synchronous scanning, so that the working efficiency is greatly improved, and the accuracy, the quantity of tracked targets and the detection radius are greatly improved compared with those of single radar; in addition, the invention realizes 360-degree scanning and unique target data output through multi-dimensional space-time fusion and a target association mechanism, thereby improving the accuracy of radar data output and further enabling the millimeter wave radar to be better applied to the fields of intelligent traffic, boundary measurement and the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it will be obvious that the drawings in the following description are some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort to a person skilled in the art.
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic diagram of the performance structure of the main control board of the present invention;
FIG. 3 is a schematic diagram of an area radar unit asynchronous scan stack fusion output scan approach;
FIG. 4 is a schematic diagram of a synchronous scanning, stacking, fusion and output scanning mode of a regional radar unit;
FIG. 5 is a schematic illustration of target fusion in an overlap region;
FIG. 6 is a flow chart of target fusion within an overlap region;
fig. 7 is a flow chart illustrating the operation of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1, the multi-splice multi-dimensional omnidirectional scanning millimeter wave radar for intelligent traffic comprises a main control board, wherein the main control board is electrically connected with a plurality of regional radar units, the regional radar units are fixedly arranged, the sum of windowing angles of the regional radar is larger than 360 degrees, the main control board is electrically connected with a communication unit, a temperature sensor and a positioning time service antenna, the main control board is connected with a power supply device, and the main control board performs data transmission with a radar upper application platform or a third party platform through the communication unit;
as shown in fig. 2, the main control board comprises an interface module, a positioning time service module, a data acquisition module, a data cache module, a core processing module, a control module, a temperature module, a coding and decoding input/output module, a health monitoring and protecting module and a communication module;
the interface module is in charge of being electrically connected with the regional radar unit, the communication unit, the temperature sensor and the positioning time service antenna;
the positioning time service module utilizes the Beidou/GPS positioning time service module to accurately position the working position of the equipment and synchronously time service the local system, wherein the synchronous time service can adopt the Beidou/GPS positioning time service module to carry out local time service and can also adopt a remote NTP time service server to carry out remote time service; the positioning time service module automatically sends position information to an upper platform when the system detects that the equipment deviates from a preset area, the system sends out information of the lost stolen alarm of the equipment, so that management staff can perform positioning and recovery work on the lost equipment as soon as possible;
the data acquisition module is used for collecting transmission signals and sending the transmission signals into the data caching module for caching;
the data buffer module is used for storing and loading programs and data when the system runs;
the core processing module carries out operation, fusion, control, calling, configuration, logic judgment and analysis on various data acquired by each port according to the pre-embedded application program and rule, and sends the processed data to each unit to execute corresponding action and output;
the control module is used for receiving the control command sent by the core processing module, analyzing the control command and sending the control command into the corresponding functional unit to realize the functional control of different requirements;
the control module can realize the control of the switching of the scanning mode and the selection of the communication mode by receiving the command sent by the core processing module.
The temperature detection module is used for receiving signals of a temperature sensor for detecting the overall working environment temperature in the cavity of the regional radar unit, and immediately sending relevant information to an upper platform when the overall working environment temperature in the cavity of the regional radar unit is higher than or lower than an allowable range value specified by equipment;
the encoding and decoding input/output module encodes or decodes the data sent by the core processing module or the data sent by the communication module according to a preset data format protocol, and then sends the decoded data or the encoded and encrypted data to the core processing module or the communication module respectively;
the health monitoring and protecting module detects the health state of each functional module and mechanical module of the regional radar unit by using a locally operated self-diagnosis program, and once an abnormality of a certain device, a certain component or functional module, the working environment and the working state of equipment is detected, alarm information is sent to an upper layer platform so as to prompt related personnel to repair and restore the whole or part of the equipment; health monitoring and protection module: the protection module is mainly used for rapidly protecting each functional module of the omnidirectional 360-degree scanning millimeter wave radar based on multi-splicing multi-dimensional space-time data fusion when overvoltage, overcurrent, lightning stroke, electromagnetic interference, vibration, environment and temperature exceed the range values allowed by the system so as to avoid larger damage to equipment;
the communication module is used for establishing a bridge for realizing remote control data transmission between the client and the server,
as shown in fig. 7, the operation steps are:
step one: a unified space coordinate system is established in the system by utilizing X, Y, Z three-axis data of the radar (for example, no Z-axis variable in target variables at the radar output can adopt two-axis data);
step two: setting and synchronizing an area radar detection unit and an internal operation clock of equipment, and establishing a unified time coordinate system;
step three: setting overlapping detection areas of two adjacent radar detection units;
step four: setting the principle that overlapping detection areas of two adjacent area radar detection units detect the same target data to carry out information merging and fusion output;
step five: setting working parameters, 360-degree scanning modes, data acquisition contents, logic analysis, behavior analysis, abnormal event detection and data acquisition rules of the regional radar detection unit;
step six: and starting the radar to perform 360-degree omnidirectional scanning to acquire various corresponding data information finally produced by the system, and performing data interaction with an upper radar system platform or a third party system platform according to a preset communication mode, a preset data format and a preset output frequency.
Specifically, the number of the area radar units in this embodiment is 3-6. According to practical research, the accurate detection of targets under different conditions can be well completed when the number of regional radar units is 3-6, and the regional radar units are generally produced into 4 regional radar units which are fixedly arranged according to the actual conditions in the fields of traffic detection, unmanned or boundary measurement, ship mutual distance detection and the like in intelligent traffic, wherein the opening angle of each regional radar unit is 90-180 degrees; and according to the angle mounting plate of the regional radar unit of actual use condition selection, angle mounting plate is according to the actual use condition selection, and angle mounting plate divide into upward slope and downward sloping multiple different specifications, and its inclination is 1 times.
More specifically, the operation mode of the regional radar unit described in this embodiment includes an asynchronous scan stack fusion output and a synchronous scan stack fusion output. Taking 4 area radar units as an example, the 4 area radar units are sequentially started to scan clockwise to form asynchronous scanning stacking fusion output, and the 4 area radar units are simultaneously started to scan to form synchronous scanning stacking fusion output.
As shown in fig. 3, the operation mode of the asynchronous scan stack fusion output is: the 4 regional radar units sequentially scan according to different responsible scanning regions by adopting a clockwise scanning mode and send data obtained by respective scanning to a main control board for cache calling, a core processing module fuses the same target data acquired by two adjacent regional radar units by using a multi-dimensional space-time fusion and shadow accompanying data fusion algorithm and endows the target with new unique identity information, the data are continuously placed in a data cache unit for waiting for calling, all regional radar units are scanned, and after all overlapping regions are fused to generate unique target data, the core processing unit outputs the complete 360-degree radar scanning data which are acquired finally by asynchronously scanning multiple spliced radars to the outside. The greatest advantage of the working mode is that the detection area and the content covered by each radar can be flexibly adjusted.
As shown in fig. 4: the operation mode of synchronous scanning stacking fusion output is as follows: the method comprises the steps that 4 regional radar units synchronously scan the respective responsible regions according to the respective different responsible scanning regions in a simultaneous scanning mode, target data in the respective regions are obtained simultaneously and are sent to a data caching module for caching and calling, a core data processing unit fuses target data acquired by overlapping regions between every two adjacent radars through a multidimensional space-time fusion and shadow accompanying data fusion algorithm, the same target data acquired by the two adjacent radars are endowed with new unique identity information, the target data are continuously placed in the data caching unit for waiting and calling, all regional radars are scanned completely, and after all overlapping regions are fused completely to generate unique target data, the radar data processing unit outputs complete 360-degree radar scanning data acquired finally through synchronous scanning of multiple spliced radars. The greatest advantage of the working mode is that the scanning speed and the data output speed are high.
As shown in fig. 5, when a target passes through two adjacent radar overlapping areas 4, data with complete information of a tracked target are divided into a first radar module 1 and a second radar module 2 through a main and auxiliary target association mechanism and a target associated information correction mechanism, the two adjacent radar sensors are divided into the first radar module 1 and the second radar module 2, the first radar module 1 scans the first radar detection area 1, the second radar module 2 scans the second radar detection area 2, a radar overlapping area 4 is arranged between the first radar detection area 1 and the second radar detection area 2, data information of the same vehicle scanned by two adjacent radars simultaneously are associated and fused together and target information is corrected, the corrected target complete information is sent into a radar master control board core processing unit for real-time processing, the radar master control board core processing unit receives the target information and uses the target information a1 as a control board core processing unit, the original data acquired by the local radar sensor is processed to obtain the tracked target a1 only, the target complete information is continuously corrected according to the target information until the target leaves the radar overlapping area 4 and the target complete information is not required to be transmitted to the same as an identity information of the target, the radar is always required to be matched with the target ID (identity information), and the identity information of the same vehicle is not required to be transmitted between the target complete, and the target ID information is ensured, and the target ID is not to be overlapped.
As shown in fig. 6, the fusion operation of the target data acquired in the overlapping area is as follows: when a target enters an overlapping detection area of two adjacent radars, the two radars can scan the target at the same time, the scanned radar original data is analyzed and processed by a core processing unit to obtain dynamic data of the target, and because the positions of the two adjacent radars are different, the scanning process is asynchronous, the target is different relative to the running direction of the two radars, the set parameters are different, the tracking and positioning precision of the target has various reasons, even the same target can obtain two different dynamic data information and ID (identity) number information in the system due to the reasons, ghost or shadow phenomenon can occur in the system, the system can track a1 target with complete information as a real target or a main target, and the other radar scans the same target a2 as a false target or an auxiliary target; the dynamic information of the tracked and positioned target comprises: the method comprises the steps of setting a target real-time moving speed, moving direction, longitude and latitude, target size, target type, direction angle, position, XYZ coordinate value of a target distance radar target surface, unique ID identity number in each radar area, occurrence of abnormal conditions of the target and other important information, wherein the radar scanning target has certain positioning precision, measuring a reference standard by the positioning precision, setting an associated target range by taking a real target as a center, for example, taking a circle with the real target as a center radius of 5 meters (the value can be arbitrarily set and is any value from 0 to infinite), taking all targets in the range as effective associated target objects, taking targets exceeding the range as invalid target associated objects, taking the real-time moving speed, the target moving direction, the longitude and latitude of the target size, the target type and the lane of the target as reference associated objects for the invalid target associated object system, taking a preset associated combined value as a reference value and taking the continuous repeated occurrence number M of points as a judgment condition for judging whether associated fusion or not, and taking M as an integer in 1-10; and (3) correlating the real targets meeting the requirements with the false targets, fusing the real targets and the false targets in a preset target correlation fusion overlapping area, correcting the ID identity numbers in the fused target dynamic information based on the false target dynamic information, keeping the ID identity numbers consistent with the ID identity numbers of the previous real targets, continuing the action, forming a complete data information by the corrected result and the characteristic information of the targets, outputting the complete data information into a permanent database for calling, and taking the corrected complete target information as the real target information of the next overlapping area.
Further, in this embodiment, the main control board is electrically connected to the electronic compass, the main control board is internally provided with a gesture module, the gesture detection module is used for detecting whether the equipment is in a correct gesture and sending out an abnormal gesture alarm, the equipment can output gesture state data information of the equipment in normal operation to the gesture detection module in real time through the built-in electronic compass, when the working gesture of the equipment changes and the changing range exceeds the allowable range value set by the system, the gesture detection module immediately sends out alarm information to an upper layer platform or a third party platform to inform a manager that the equipment is in an abnormal working state, and needs to maintain or repair the equipment as soon as possible by the manager, and returns to the optimal working state again.
Furthermore, a power module is disposed in the main control board in this embodiment. The power module is mainly used for supplying power to each functional module of the equipment in an emergency when the equipment and the external power supply device are disconnected, and sending an alarm signal to an upper-layer platform or a third-party platform in time, so that management staff is ensured to know abnormality and process the abnormality in time.
Still further, the communication module in this embodiment may be any one or a combination of two or more of a 4G communication module, a 5G communication module, a WIFI communication module, and a wired network communication module.
Further, the main control board in this embodiment is provided with a local storage module. The local storage module can timely store data when external communication is problematic, and timely upload the data after external communication is recovered, so that the data is ensured not to be lost.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A wisdom traffic is with many concatenation multidimensional omnidirectional scanning millimeter wave radar, its characterized in that: including the main control board, main control board electric connection several regional radar unit, regional radar unit fixed setting, regional radar's window angle sum be greater than 360, main control board electric connection communication unit, temperature sensor and location time service antenna, the main control board connect power supply unit, the main control board carry out data transfer through communication unit and radar upper application platform or third party platform.
2. The intelligent transportation multi-splice multi-dimensional omni-directional scanning millimeter wave radar of claim 1, wherein: the main control board comprises an interface module, a positioning time service module, a data acquisition module, a data buffer module, a core processing module, a control module, a temperature module, a coding and decoding input and output module, a health monitoring and protecting module and a communication module;
the interface module is in charge of being electrically connected with the regional radar unit, the communication unit, the temperature sensor and the positioning time service antenna;
the positioning time service module utilizes the Beidou/GPS positioning time service module to accurately position the working position of the equipment and synchronously time service the local system, wherein the synchronous time service can adopt the Beidou/GPS positioning time service module to carry out local time service and can also adopt a remote NTP time service server to carry out remote time service;
the data acquisition module is used for collecting transmission signals and sending the transmission signals into the data caching module for caching;
the data buffer module is used for storing and loading programs and data when the system runs;
the core processing module carries out operation, fusion, control, calling, configuration, logic judgment and analysis on various data acquired by each port according to the pre-embedded application program and rule, and sends the processed data to each unit to execute corresponding action and output;
the control module is used for receiving the control command sent by the core processing module, analyzing the control command and sending the control command into the corresponding functional unit to realize the functional control of different requirements;
the temperature detection module is used for receiving signals of a temperature sensor for detecting the overall working environment temperature in the cavity of the regional radar unit, and immediately sending relevant information to an upper platform when the overall working environment temperature in the cavity of the regional radar unit is higher than or lower than an allowable range value specified by equipment;
the encoding and decoding input/output module encodes or decodes the data sent by the core processing module or the data sent by the communication module according to a preset data format protocol, and then sends the decoded data or the encoded and encrypted data to the core processing module or the communication module respectively;
the health monitoring and protecting module detects the health state of each functional module and mechanical module of the regional radar unit by using a locally operated self-diagnosis program, and once an abnormality of a certain device, a certain component or functional module, the working environment and the working state of equipment is detected, alarm information is sent to an upper layer platform so as to prompt related personnel to repair and restore the whole or part of the equipment;
the communication module is used for establishing a bridge for realizing remote control data transmission between the client and the server.
3. The intelligent transportation multi-splice multi-dimensional omni-directional scanning millimeter wave radar of claim 1, wherein: the operation mode of the regional radar unit comprises asynchronous scanning stacking fusion output and synchronous scanning stacking fusion output.
4. The intelligent transportation multi-splice multi-dimensional omni-directional scanning millimeter wave radar according to claim 3, wherein: the operation mode of the asynchronous scanning stacking fusion output is as follows: the method comprises the steps that regional radar units sequentially scan in a clockwise scanning mode according to different responsible scanning areas, data obtained by scanning are sent to a main control board for cache calling, a core processing module fuses the same target data acquired by two adjacent regional radar units through a multi-dimensional space-time fusion and shadow accompanying data fusion algorithm, new unique identity information is endowed to the targets and is continuously placed into a data cache unit for waiting calling, all regional radar units are scanned, and after all overlapping areas are fused to generate unique target data, the core processing unit outputs the complete 360-degree radar scanning data which are acquired finally through asynchronous scanning of a multi-splice radar.
5. The intelligent transportation multi-splice multi-dimensional omni-directional scanning millimeter wave radar according to claim 3, wherein: the operation mode of the synchronous scanning stacking fusion output is as follows: the method comprises the steps that according to different responsible scanning areas, the area radar units synchronously scan the responsible areas in a simultaneous scanning mode, target data in the areas are obtained simultaneously and are sent to a data caching module for cache calling, a core data processing unit fuses target data acquired by overlapping areas between every two adjacent radars through multidimensional space-time fusion and shadow accompanying data fusion algorithms, the same target data acquired by the two adjacent radars are endowed with new unique identity information, the target data are continuously placed in the data caching unit for waiting for calling, all area radars are scanned, and after all overlapping areas are fused to generate unique target data, the radar data processing unit outputs the multi-spliced radars to the outside through synchronous scanning and finally acquired complete 360-degree radar scanning data.
6. The intelligent traffic multi-splice multi-dimensional omni-directional scanning millimeter wave radar of claim 4 or 5, wherein: the fusion operation of the target data acquired by the overlapping area is as follows: when a target enters an overlapping detection area of two adjacent radars, the two radars can scan the target at the same time, the scanned radar original data is analyzed and processed by a core processing unit to obtain dynamic data of the target, and because the positions of the two adjacent radars are different, the scanning process is asynchronous, the target is different relative to the running direction of the two radars, the set parameters are different, the tracking and positioning precision of the target has various reasons, even the same target can obtain two different dynamic data information and ID (identity) number information in the system due to the reasons, ghost or shadow phenomenon can occur in the system, the system can track a1 target with complete information as a real target or a main target, and the other radar scans the same target a2 as a false target or an auxiliary target; the dynamic information of the tracked and positioned target comprises: the method comprises the steps of setting a relevant target range by taking a real target as a center, wherein all targets in the range are listed as effective relevant target objects, targets exceeding the range are listed as invalid target relevant objects, comparing relevant objects with reference to an invalid target relevant object system by taking the real-time movement speed, the movement direction, the longitude and latitude of the target, the target size, the target type and the lane of the target as reference, and continuously repeating the occurrence times M of the radar scanning targets with preset relevant combined values as reference values and the tracks according with the rule point as judging conditions for judging whether relevant fusion exists, wherein M is an integer in 1-10; and (3) correlating the real targets meeting the requirements with the false targets, fusing the real targets and the false targets in a preset target correlation fusion overlapping area, correcting the ID identity numbers in the fused target dynamic information based on the false target dynamic information, keeping the ID identity numbers consistent with the ID identity numbers of the previous real targets, continuing the action, forming a complete data information by the corrected result and the characteristic information of the targets, outputting the complete data information into a permanent database for calling, and taking the corrected complete target information as the real target information of the next overlapping area.
7. The intelligent transportation multi-splice multi-dimensional omni-directional scanning millimeter wave radar of claim 1, wherein: the main control board is electrically connected with the electronic compass, and the main control board is internally provided with a gesture module which is used for detecting whether the equipment is in a correct gesture and giving out an abnormal gesture alarm.
8. The intelligent transportation multi-splice multi-dimensional omni-directional scanning millimeter wave radar of claim 1, wherein: and a power supply module is arranged in the main control board.
9. The intelligent transportation multi-splice multi-dimensional omni-directional scanning millimeter wave radar of claim 1, wherein: the communication module can adopt any one or the combination of more than two of a 4G communication module, a 5G communication module, a WIFI communication module or a wired network communication module.
10. The intelligent transportation multi-splice multi-dimensional omni-directional scanning millimeter wave radar of claim 1, wherein: the main control board is provided with a local storage module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211664271.8A CN116008989B (en) | 2022-12-23 | 2022-12-23 | Wisdom traffic is with many concatenation multidimensional omnidirectional scanning millimeter wave radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211664271.8A CN116008989B (en) | 2022-12-23 | 2022-12-23 | Wisdom traffic is with many concatenation multidimensional omnidirectional scanning millimeter wave radar |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116008989A true CN116008989A (en) | 2023-04-25 |
| CN116008989B CN116008989B (en) | 2023-11-10 |
Family
ID=86020332
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211664271.8A Active CN116008989B (en) | 2022-12-23 | 2022-12-23 | Wisdom traffic is with many concatenation multidimensional omnidirectional scanning millimeter wave radar |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116008989B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117129982A (en) * | 2023-08-28 | 2023-11-28 | 河北德冠隆电子科技有限公司 | Linear scanning angle accurate adjustable data dynamic fusion perception radar |
| CN117192528A (en) * | 2023-08-28 | 2023-12-08 | 河北德冠隆电子科技有限公司 | Linear scanning angle adjustable data dynamic fusion radar integrated machine |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113391305A (en) * | 2021-06-11 | 2021-09-14 | 森思泰克河北科技有限公司 | False target suppression method and device for multi-radar fusion and terminal equipment |
| CN114518573A (en) * | 2022-04-21 | 2022-05-20 | 山东科技大学 | Vehicle tracking method, equipment and medium for multiple radars |
| CN115267718A (en) * | 2022-08-10 | 2022-11-01 | 上海西虹桥导航技术有限公司 | 360-degree detection implementation method for panoramic radar based on point cloud splicing |
| CN217766841U (en) * | 2022-05-25 | 2022-11-08 | 广州极飞科技股份有限公司 | Omnidirectional scanning radar, movable detection equipment and radar detection system |
-
2022
- 2022-12-23 CN CN202211664271.8A patent/CN116008989B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113391305A (en) * | 2021-06-11 | 2021-09-14 | 森思泰克河北科技有限公司 | False target suppression method and device for multi-radar fusion and terminal equipment |
| CN114518573A (en) * | 2022-04-21 | 2022-05-20 | 山东科技大学 | Vehicle tracking method, equipment and medium for multiple radars |
| CN217766841U (en) * | 2022-05-25 | 2022-11-08 | 广州极飞科技股份有限公司 | Omnidirectional scanning radar, movable detection equipment and radar detection system |
| CN115267718A (en) * | 2022-08-10 | 2022-11-01 | 上海西虹桥导航技术有限公司 | 360-degree detection implementation method for panoramic radar based on point cloud splicing |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117129982A (en) * | 2023-08-28 | 2023-11-28 | 河北德冠隆电子科技有限公司 | Linear scanning angle accurate adjustable data dynamic fusion perception radar |
| CN117192528A (en) * | 2023-08-28 | 2023-12-08 | 河北德冠隆电子科技有限公司 | Linear scanning angle adjustable data dynamic fusion radar integrated machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116008989B (en) | 2023-11-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN116008989B (en) | Wisdom traffic is with many concatenation multidimensional omnidirectional scanning millimeter wave radar | |
| CN103235562B (en) | Transformer station is based on the comprehensive parameters detection system of crusing robot and method for inspecting | |
| CN109407128A (en) | A kind of electric power line pole tower system for monitoring displacement and method | |
| CN101833099B (en) | Locked tracking method of helicopter in the inspection process of electric power circuits | |
| CN206194076U (en) | Substation equipment detecting system | |
| CN109961157A (en) | The method for inspecting and system of solar photovoltaic generation system | |
| CN105204092A (en) | Thunder and lightening prewarning system with honeycomb layout | |
| CN111596293A (en) | Radar security and protection integrated machine and monitoring method thereof | |
| CN112398926A (en) | Power transmission line state on-line monitoring and safety situation sensing system | |
| CN110764083B (en) | Anti-intrusion data fusion method and system for millimeter wave radar | |
| CN110726850A (en) | Railway crosswind early warning system based on wind direction decomposition and crosswind strength calculation method | |
| CN113905327B (en) | Power transmission line external damage prevention alarm method and system based on multiple positioning parameters | |
| CN112556632A (en) | Method and structure for monitoring deformation of geologic body by using cooperative precision positioning | |
| CN115686063A (en) | Mobile unmanned aerial vehicle and nest management and control system for distribution network circuit inspection | |
| CN112637802A (en) | Power disaster monitoring node patrol detector based on wireless network | |
| CN115985095A (en) | Wisdom is multidimension degree thunder for traffic and is looked integration all-in-one | |
| CN206863216U (en) | A kind of marine positioning data prediction device | |
| CN116953704A (en) | Wisdom is adjustable omnidirectionally scanning millimeter wave radar of multidimension angle for transportation | |
| CN115733877A (en) | Combined navigation positioning system based on 5G, GNSS and multi-sensor fusion | |
| CN116299565A (en) | 5 G+Beidou-based power transmission tower large-span deformation monitoring system and method | |
| CN110531397B (en) | Outdoor inspection robot positioning system and method based on GPS and microwave | |
| Xue et al. | Point-cloud map update for connected and autonomous vehicles based on vehicle infrastructure cooperation: framework and field experiments | |
| CN114166274A (en) | Wire sag online monitoring system based on differential Beidou technology | |
| CN113917492A (en) | Unmanned aerial vehicle cluster real-time monitoring system based on big dipper CORS | |
| CN117192528A (en) | Linear scanning angle adjustable data dynamic fusion radar integrated machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |