CN116106885A - Radar ranging method, device, computer equipment, system and storage medium - Google Patents
Radar ranging method, device, computer equipment, system and storage medium Download PDFInfo
- Publication number
- CN116106885A CN116106885A CN202111335370.7A CN202111335370A CN116106885A CN 116106885 A CN116106885 A CN 116106885A CN 202111335370 A CN202111335370 A CN 202111335370A CN 116106885 A CN116106885 A CN 116106885A
- Authority
- CN
- China
- Prior art keywords
- corner reflector
- distance
- corner
- vertical
- radar
- 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.)
- Pending
Links
Images
Classifications
-
- 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
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
Abstract
The invention discloses a radar ranging method, a radar ranging device, computer equipment, a radar ranging system and a radar ranging storage medium. The method comprises the following steps: acquiring a plurality of vertical pitches between the plurality of corner reflectors; determining a target corner reflector based on the vertical distance and a first spectrogram, wherein the target corner reflector is the corner reflector with the strongest signal intensity in the plurality of corner reflectors, echo signals returned by part or all of the corner reflectors are displayed in the first spectrogram, and the echo signals are signals returned to the radar by corner reflection; and determining the distance between the radar and a first corner reflector based on the vertical distances and echo signals returned by the target corner reflector, wherein the first corner reflector is the corner reflector closest to the top of the hoistway among the corner reflectors. By using the method, the distance between the radar and the first corner reflector can be accurately measured.
Description
Technical Field
The embodiment of the invention relates to the technical field of ranging, in particular to a radar ranging method, a radar ranging device, computer equipment, a radar ranging system and a radar ranging storage medium.
Background
When a worker needs to take an elevator car into the bottom of a well during operation in a deeper well, in the process that the worker takes the elevator car to descend, in order to ensure the safety of the worker, determining the position of the elevator car becomes very important.
Current solutions for elevator car position measurement using radar are all implemented using a single or multiple corner reflectors placed at the top of the hoistway. However, as the descent distance of the elevator car increases, the echo signal reflected by the radar receiving corner reflector becomes weak, resulting in that the radar cannot accurately measure the distance.
Disclosure of Invention
The embodiment of the invention provides a radar ranging method, a radar ranging device, a radar ranging computer device, a radar ranging system and a radar ranging storage medium, which can accurately measure the distance between a radar and a first corner reflector.
In a first aspect, an embodiment of the present invention provides a radar ranging method, including:
acquiring a plurality of vertical pitches between the plurality of corner reflectors;
determining a target corner reflector based on the vertical distance and a first spectrogram, wherein the target corner reflector is the corner reflector with the strongest signal intensity in the plurality of corner reflectors, echo signals returned by part or all of the corner reflectors are displayed in the first spectrogram, and the echo signals are signals returned to the radar by corner reflection;
And determining the distance between the radar and a first corner reflector based on the vertical distances and echo signals returned by the target corner reflector, wherein the first corner reflector is the corner reflector closest to the top of the hoistway among the corner reflectors.
In a second aspect, an embodiment of the present invention further provides a radar ranging apparatus, including:
an acquisition module for acquiring a plurality of vertical pitches between the plurality of corner reflectors;
the first determining module is used for determining a target corner reflector based on the vertical distance and a first spectrogram, wherein the target corner reflector is the corner reflector with the strongest signal intensity in the plurality of corner reflectors, echo signals returned by part or all of the corner reflectors are displayed in the first spectrogram, and the echo signals are signals returned to the radar by corner reflection;
and the second determining module is used for determining the distance between the radar and a first corner reflector based on the vertical distances and echo signals returned by the target corner reflector, wherein the first corner reflector is the corner reflector closest to the top of the hoistway among the corner reflectors.
In a third aspect, an embodiment of the present invention further provides a computer apparatus, including:
One or more processors;
a storage means for storing one or more programs;
the one or more programs are executed by the one or more processors to cause the one or more processors to implement the radar ranging method described in any of the embodiments of the present invention.
In a fourth aspect, an embodiment of the present invention further provides a radar ranging system, including: radar, a plurality of corner reflectors, and a computer device;
the radar is arranged on the top outer wall of the elevator car, a first corner reflector of the plurality of corner reflectors is arranged on the top of the hoistway and is positioned right above the radar, and the other corner reflectors except the first corner reflector of the plurality of corner reflectors are arranged on the same side inner wall of the hoistway wall
The radar is used for transmitting electromagnetic waves to the corner reflectors and receiving echo signals returned by the corner reflectors;
the corner reflector is used for receiving electromagnetic waves emitted by the radar and returning echo signals to the radar;
the computer device is configured to determine a plurality of vertical distances between a plurality of corner reflectors based on the echo signals and determine a distance between the radar and a first corner reflector based on the plurality of vertical distances.
In a fifth aspect, embodiments of the present invention also provide a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a radar ranging method as provided by any of the embodiments of the present invention.
The embodiment of the invention provides a radar ranging method, a radar ranging device, a radar ranging system, a radar ranging computer device, a radar ranging system and a radar ranging storage medium, wherein the radar ranging method, the radar ranging device, the radar ranging computer device, the radar ranging system and the radar storage medium firstly acquire a plurality of vertical distances among a plurality of corner reflectors; then determining a target corner reflector based on the vertical distance and the first spectrogram; and finally, determining the distance between the radar and the first corner reflector based on the plurality of vertical distances and echo signals returned by the target corner reflector. By using the technical scheme, the distance between the radar and the first corner reflector can be accurately measured.
Drawings
Fig. 1 is a schematic view of a radar ranging method according to an embodiment of the present invention;
fig. 2 is a flowchart of a radar ranging method according to an embodiment of the present invention;
fig. 3 is an exemplary diagram of a first spectrogram in a radar ranging method according to an embodiment of the present invention;
fig. 4 is a flow chart of a radar ranging method according to a second embodiment of the present invention;
Fig. 5 is a schematic diagram of a corner reflector in a radar ranging method according to a second embodiment of the present invention;
fig. 6 is a schematic structural diagram of a radar ranging device according to a third embodiment of the present invention;
fig. 7 is a schematic structural diagram of a computer device according to a fourth embodiment of the present invention;
fig. 8 is a diagram of a radar ranging system according to a fifth embodiment of the present invention.
Detailed Description
Embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While the invention is susceptible of embodiment in the drawings, it is to be understood that the invention may be embodied in various forms and should not be construed as limited to the embodiments set forth herein, but rather are provided to provide a more thorough and complete understanding of the invention. It should be understood that the drawings and embodiments of the invention are for illustration purposes only and are not intended to limit the scope of the present invention.
It should be understood that the various steps recited in the method embodiments of the present invention may be performed in a different order and/or performed in parallel. Furthermore, method embodiments may include additional steps and/or omit performing the illustrated steps. The scope of the invention is not limited in this respect.
The term "including" and variations thereof as used herein are intended to be open-ended, i.e., including, but not limited to. The term "based on" is based at least in part on. The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments. Related definitions of other terms will be given in the description below.
It should be noted that the terms "first," "second," and the like herein are merely used for distinguishing between different devices, modules, or units and not for limiting the order or interdependence of the functions performed by such devices, modules, or units.
It should be noted that references to "one", "a plurality" and "a plurality" in this disclosure are intended to be illustrative rather than limiting, and those skilled in the art will appreciate that "one or more" is intended to be construed as "one or more" unless the context clearly indicates otherwise.
The names of messages or information interacted between the devices in the embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of such messages or information.
It should be appreciated that the classical radar equation is:
wherein P is t Represents radar transmit power, G t Indicating the gain of the transmitting antenna, G r Represents the gain of the receiving antenna, lambda represents the signal wavelength, sigma represents the effective dispersion area of the corner reflector, R represents the distance between the radar and the corner reflector, and P r Representing the received power.
The ranging accuracy formula is:
wherein d res Representing resolution, SNR representing signal-to-noise ratio, c representing radar electromagnetic wave velocity, and B representing signal bandwidth.
The signal to noise ratio formula is:
SNR＝10lg(P S /P N )
wherein P is S Representing signal power, P N Represents noise power, and P S ∝P r 。
From equation (1), the echo power P received by the radar r The attenuation is carried out in the power of 4 of the distance R, so that the signal to noise ratio is reduced, and finally the ranging accuracy is influenced.
In order to ensure the range accuracy of the radar, the received echo power P must be ensured in equation (1) r Is greater than a certain value. However, for a particular radar, its transmit power P t Gain G of transmitting antenna t Gain G of receiving antenna r And the wavelength lambda are constant, so that when the distance R increases, the effective scattering area sigma can only be increased by increasing the size of the corner reflector, thereby ensuring the measurement accuracy of the radar. However, in actual hoistway ranging, since it is impossible to increase the size of the corner reflector without limitation due to the influence of factors such as the hoistway size and other mounting components to ensure ranging accuracy, it is necessary to provide a radar ranging method so that the ranging accuracy of the radar is ensured without increasing the size of the corner reflector.
The embodiment of the invention can be suitable for the situation that a worker determines the relative position of the elevator car and the top of the well in real time after taking the elevator car in the well into the well. Alternatively, a radar may be installed on the top outer wall of the elevator car and a plurality of corner reflectors may be installed on the inner wall of the hoistway. The first corner reflectors can be mounted on the top of the hoistway and located right above the radar, the other corner reflectors can be mounted on the inner wall of the same side of the hoistway and a certain distance is reserved between the adjacent corner reflectors, and preferably, the other corner reflectors can be mounted on the wall of the hoistway on the side closer to the radar.
Fig. 1 is a schematic view of a scenario of a radar ranging method according to an embodiment of the present invention, as shown in fig. 1, an exemplary radar is installed on the right side of the top of an elevator car, a first corner reflector is installed on the top of a hoistway and is located directly above the radar, and a second corner reflector, a third corner reflector and a fourth corner reflector are sequentially installed on the right inner wall of the hoistway from top to bottom and are spaced apart by a certain distance. The distance between each adjacent corner reflector is a preset value, which can be set according to practical situations, and is not particularly limited herein.
Example 1
Fig. 2 is a schematic flow chart of a radar ranging method according to an embodiment of the present invention, which is applicable to a situation in which the position of an elevator car in a deep hoistway is measured, and the method may be performed by a radar ranging device, where the device may be implemented by software and/or hardware and is generally integrated on a computer device.
As shown in fig. 2, a radar ranging method provided in an embodiment of the present invention includes the following steps:
s110, acquiring a plurality of vertical distances among the plurality of corner reflectors.
In this embodiment, the plurality of vertical pitches between the plurality of corner reflectors are obtained by the computer device in the learning stage, and the computer device may store the plurality of vertical pitches after obtaining the plurality of vertical pitches, so that the plurality of vertical pitches may be directly obtained from the memory of the computer device in the working stage.
In the embodiment, in the learning stage, the elevator car is moved downwards from the top of the hoistway to the bottom of the hoistway, in the process, the radar can emit electromagnetic waves to the corner reflectors in the hoistway and receive echo signals returned by the corner reflectors, the computer equipment can obtain a spectrogram according to the echo signals, echo signal wave crests meeting preset conditions are matched on the spectrogram, and the vertical distance between two adjacent corner reflectors is determined according to the echo signal wave crests meeting the preset conditions. Here, a detailed description of a specific determination process of the plurality of vertical pitches will not be given, and the specific process may be referred to embodiment two.
And S120, determining a target corner reflector based on the vertical distance and the first spectrogram.
The target corner reflectors are corner reflectors with strongest signal intensities among the plurality of corner reflectors, echo signals returned by part or all of the corner reflectors are displayed in the first spectrogram, and the echo signals are signals returned to the radar by corner reflection.
It can be understood that the target corner reflector is the corner reflector closest to the radar, and in the working stage, the elevator car moves downwards from the top of the hoistway, in this process, the first vertical distance to the K-1 vertical distance can be used for matching on the first spectrogram in sequence until the matching can not be successful any more, the corner reflector corresponding to the echo signal peak value obtained after the last matching success is used as the first candidate corner reflector, and the corner reflector which is positioned above the first candidate corner reflector and closest to the first candidate corner reflector is used as the second candidate corner reflector, and the target corner reflector is determined from the first candidate corner reflector and the second candidate corner reflector. Wherein K is a positive integer greater than 2.
The first vertical distance is the vertical distance between the first corner reflector and the second corner reflector, the second vertical distance is the vertical distance between the second corner reflector and the third corner reflector, and the like, and the K-1 vertical distance is the vertical distance between the K-1 corner reflector and the K corner reflector.
The echo signal peak value displayed in the first spectrogram is determined according to the moving position of the elevator car, and if the elevator car moves to a position between the fourth corner reflector and the fifth corner reflector and stops, for example, only echo signal peak values returned from the first corner reflector to the fourth corner reflector are displayed in the first spectrogram.
Further, the determining the target corner reflector based on the vertical distance and the first spectrogram includes: determining a first candidate echo signal peak value obtained after the last matching success from the first spectrogram according to the vertical interval; determining a first candidate corner reflector corresponding to the first candidate echo signal peak value; and determining a target corner reflector from the first candidate corner reflector and a second candidate corner reflector, wherein the second candidate corner reflector is a corner reflector which is positioned above the first candidate corner reflector and is closest to the first candidate corner reflector.
It can be understood that as the elevator car moves down, the peak value of the echo signal returned by the new corner reflector appears on the spectrogram, and the signal intensity of the peak value is gradually increased from zero, so that the signal intensity of the first candidate corner reflector and the second candidate corner reflector can be judged first, and then the distance is calculated by using the peak value of the echo signal of which corner reflector is determined.
The first candidate echo signal peak value is an echo signal peak value obtained after the last matching is successful on the first spectrogram, and if the vertical interval of the last matching is the third vertical interval, the first candidate echo signal peak value is an echo signal peak value corresponding to the fourth corner reflector, and the first candidate corner reflector is the fourth corner reflector. And taking a corner reflector which is positioned above the fourth corner reflector and closest to the first candidate corner reflector, namely a third corner reflector as a second candidate corner reflector.
The method for determining the target corner reflector from the first candidate corner reflector and the second candidate corner reflector is as follows: and judging the signal intensity of the first candidate corner reflector and the second candidate corner reflector, and if the signal intensity of the first candidate corner reflector is greater than or equal to the signal intensity of the second candidate corner reflector, taking the first candidate corner reflector as a target corner reflector.
Fig. 3 is an exemplary diagram of a first spectrogram in a radar ranging method according to an embodiment of the present invention, as shown in fig. 3, the first spectrogram shows echo signal peaks returned by the first corner reflector to the fourth corner reflector, where the fourth reflector peak, that is, the echo signal peak returned by the fourth corner reflector, may be used as a first candidate echo signal peak, and the third reflector peak, that is, the echo signal peak returned by the third reflector, may be used as a second candidate echo signal peak, and as shown in fig. 3, the amplitude corresponding to the fourth corner reflector is greater than the amplitude corresponding to the third corner reflector, that is, the signal intensity of the fourth corner reflector is greater than the signal intensity of the third corner reflector, so that the fourth corner reflector may be used as a target corner reflector.
Further, the determining, according to the vertical distance, a first candidate echo signal peak value obtained after the last matching success from the first spectrogram includes: judging whether two first echo signal peaks with the first vertical interval can be matched from the first spectrogram; if so, judging whether two second echo signal peaks with the second vertical interval can be matched from the first spectrogram, wherein one first echo signal peak is included in the two second echo signal peaks, if so, continuing to match until the matching fails or all the vertical intervals are matched; and taking the echo signal peak value corresponding to the last successful matching as a first candidate echo signal peak value.
And if two echo signal peaks with the first vertical distance can be matched on the first spectrogram, continuing to match by using the second distance until the matching fails or all the vertical distances are matched.
For example, if the first vertical pitch is 20 meters and the second vertical pitch is 25 meters, the first vertical pitch is used to match the echo signal peak value A1 and the echo signal peak value A2 on the first spectrogram, that is, the echo signal peak value A1 and the echo signal peak value A2 are 20 meters apart, then the second vertical pitch is used to match the echo signal peak value A3 on the first spectrogram, that is, the distance between the echo signal peak value A2 and the echo signal peak value A3 is 25 meters, and so on until the matching fails or all the vertical pitch matching ends. The failure of matching indicates that no echo signal peak value meeting the condition is matched on the first spectrogram, and the end of matching can be understood as complete matching of all vertical intervals.
It should be noted that, since the vertical distance is utilized for the matching, and the radar is not on the same vertical line as the other corner reflectors except on the same vertical line as the first corner reflector, a certain error may exist, and a certain matching error needs to be reserved.
And S130, determining the distance between the radar and the first corner reflector based on the plurality of vertical distances and echo signals returned by the target corner reflector.
The first corner reflector is the corner reflector closest to the top of the hoistway among the plurality of corner reflectors.
In the present embodiment, since the target corner reflector is closest to the radar, the echo signal returned by the target corner reflector is strongest, and thus the distance measured by the target corner reflector is most accurate.
Specifically, determining the distance between the radar and the first corner reflector based on the plurality of vertical pitches and the echo signals returned by the target corner reflector includes: determining the relative distance between the target corner reflector and the radar according to the echo signal returned by the target corner reflector; selecting a plurality of reference vertical pitches from the vertical pitches, the plurality of reference vertical pitches including vertical pitches between all corner reflectors located at an upper end of the target corner reflector; the sum of the plurality of reference vertical pitches and the relative distance is taken as a distance between the radar and the first corner reflector.
The method for determining the relative distance between the target corner reflector and the radar may be to find the distance corresponding to the target corner reflector on the first spectrogram. The distance is the relative distance between the target corner reflector and the radar.
For example, if the target corner reflector is the kth corner reflector, the first vertical spacing S may be 1 Second vertical spacing S 2 To the K-1 th vertical spacing S K-1 As a referenceThe sum of the reference vertical pitch and the relative distance between the kth corner reflector and the radar is taken as the distance D between the radar and the first corner reflector at the moment, and the corresponding formula is as follows:
S＝S 1 +S 2 +…+S K-1 +D
the distance between the radar and the first corner reflector can be calculated from the above formula.
The first embodiment of the invention provides a radar ranging method, which comprises the steps of firstly obtaining a plurality of vertical distances among a plurality of corner reflectors; then determining a target corner reflector based on the vertical distance and the first spectrogram; and finally determining the distance between the radar and the first corner reflector based on the plurality of vertical distances and echo signals returned by the target corner reflector. By using the method, the distance between the radar and the first corner reflector can be accurately measured by using the accuracy of the distance measurement of the target corner reflector.
Example two
Fig. 4 is a schematic flow chart of a radar ranging method according to a second embodiment of the present invention, where the second embodiment is optimized based on the above embodiments. In the present embodiment, a plurality of vertical pitches between a plurality of corner reflectors will be acquired, further embodying: in the process that the elevator car moves downwards from the topmost layer, echo signal wave crests meeting preset conditions are matched from a second spectrogram by utilizing interval distances, wherein the interval distances comprise interval distances between two adjacent corner reflectors, and echo signals returned by the corner reflectors are displayed in the second spectrogram; and determining a plurality of vertical distances among the plurality of corner reflectors according to the echo signal wave peaks meeting preset conditions. For details not yet described in detail in this embodiment, refer to embodiment one.
As shown in fig. 4, a radar ranging method provided in a second embodiment of the present invention includes the following steps:
s210, matching echo signal wave peaks meeting preset conditions from the second spectrogram by utilizing the interval distance in the process that the elevator car moves downwards from the topmost layer.
The interval distance comprises the interval distance between two adjacent corner reflectors, and echo signals returned by the corner reflectors are displayed in the second spectrogram.
In this embodiment, the separation distance may be obtained by manually measuring. In the learning stage, the echo signals returned by each corner reflector can be displayed on the second spectrogram in the process that the elevator car moves downwards from the topmost layer.
Specifically, when the plurality of corner reflectors includes a first corner reflector and a second corner reflector, the separation distance includes a first vertical distance between the first corner reflector and the second corner reflector, and the preset condition includes echo signal peaks separated by the first vertical distance; correspondingly, the echo signal wave crest which accords with the preset condition is matched from the second spectrogram by utilizing the interval distance, and the method comprises the following steps: when the elevator car moves to a first target point, two first echo signal peaks which are separated from the first vertical distance are matched from a second spectrogram; respectively taking the distance values corresponding to the two first echo signal peaks on the second spectrogram as a first distance between the first corner reflector and the first target point and a second distance between the second corner reflector and the first target point; when the elevator car moves to a second target point, two second echo signal peaks which are separated from the first interval distance are matched from the second spectrogram.
The first target point is a point between the second corner reflector and the third corner reflector, and the second target point is a point between the third corner reflector and the fourth corner reflector. When the elevator car moves to a first target point, the second corner reflector has enough signal strength, and two echo signal peaks which are separated from the first vertical distance can be matched on the second spectrogram by using the first vertical distance to serve as first echo signal peaks; when the elevator continues to move downwards to the second target point, the third corner reflector has enough signal strength, and two echo signal peaks which are separated from the first vertical distance can be matched on the second spectrogram by using the first vertical distance to serve as second echo signal peaks.
Specifically, when the plurality of corner reflectors includes K corner reflectors, K is a positive integer greater than 2; the interval distance comprises the vertical distance between all adjacent two corner reflectors in the K corner reflectors, the vertical distance comprises a second vertical distance to a K-1 vertical distance, the second vertical distance is the vertical distance between the second corner reflector and the third corner reflector, and the K-1 vertical distance is the vertical distance between the K-1 corner reflector and the K corner reflector; the preset condition comprises echo signal wave crests respectively from the second vertical distance to the Kth vertical distance; correspondingly, the matching of the echo signal wave crest meeting the preset condition from the second spectrogram by using the interval distance comprises the following steps: when the elevator car moves to an Nth target point, K echo signal wave crests with the distance intervals of a first vertical distance and a second vertical distance to a Kth vertical distance are matched from the second spectrogram; selecting a K-1 echo signal wave crest from the K echo signal wave crests.
Wherein N is a positive integer greater than 2.
When the value of N is 3 and the value of k is 3, that is, when the elevator moves to the third target point, the third corner reflector has enough signal strength, three echo signal peaks with the distance interval of the first vertical distance and the second vertical distance can be matched from the second spectrogram, and two echo signal peaks with stronger signals are selected from the three echo signal peaks, namely the echo signal peaks returned by the second corner reflector and the third corner reflector.
S220, determining a plurality of vertical distances among the plurality of corner reflectors according to the echo signal wave crests meeting preset conditions.
This step is directed to determining a plurality of vertical pitches between the plurality of corner reflectors in a case where the plurality of corner reflectors includes the first corner reflector and the second corner reflector and in a case where the plurality of corner reflectors includes K corner reflectors.
When the plurality of corner reflectors include the first corner reflector and the second corner reflector, correspondingly, determining a plurality of vertical distances between the plurality of corner reflectors according to the echo signal wave crest meeting the preset condition includes: respectively taking the distance values corresponding to the two second echo signal peaks on the second spectrogram as a third distance between the first corner reflector and the second target point and a fourth distance between the second corner reflector and the second target point; a vertical separation between the first corner reflector and the second corner reflector is determined based on the first distance, the second distance, the third distance, and the fourth distance.
Further, the determining a vertical interval between the first corner reflector and the second corner reflector based on the first distance, the second distance, the third distance, and the fourth distance includes: and bringing the first distance, the second distance, the third distance and the fourth distance into a cosine theorem formula to obtain the degree of an included angle, wherein the included angle is formed by a first line segment and a second line segment, the first line segment is a line segment between the first target point and the second target point, and the second line segment is a line segment between the second target point and the position where the second corner reflector is located. Multiplying the length of the second line segment by the sine value of the included angle to obtain the horizontal interval between the first corner reflector and the second corner reflector; and multiplying the length of the second line segment by the cosine of the included angle to obtain the vertical interval between the second corner reflector and the second target point.
When the plurality of corner reflectors include K corner reflectors, correspondingly, determining a plurality of vertical distances between the plurality of corner reflectors according to the echo signal peaks meeting the preset condition, including: respectively taking the distance values corresponding to the Kth echo signal peak and the Kth echo signal peak on the second spectrogram as a fifth distance between a Kth corner reflector and the Nth target point and a sixth distance between the Kth corner reflector and the Nth target point; and the vertical distance between the Kth-1 corner reflector and the Kth corner reflector is obtained by differentiating a first numerical value and a second numerical value, wherein the first numerical value is obtained by dividing the square difference between the fifth distance and the horizontal interval by the root number, and the second numerical value is obtained by dividing the square difference between the sixth distance and the horizontal interval by the root number.
The following describes S220 and S230 described above with reference to specific examples. Fig. 5 is a schematic diagram of the positions of corner reflectors in a radar ranging method according to a second embodiment of the present invention, as shown in fig. 5, a first corner reflector, a second corner reflector, a third corner reflector, a K-1 corner reflector, and a K-1 corner reflector are respectively installed at points a, G, H, J, and K, and a first vertical distance d1, a second vertical distance d2, and up to a K-1 vertical distance dk-1 are manually measured.
Illustratively, when the elevator car is at the topmost floor, the radar is initially powered up; in the process that the elevator car moves downwards, the radar gradually receives echo signals returned by the second corner reflector, the radar has enough signal strength when moving to a point C, namely a first target point, along with the elevator car, the second corner reflector is matched with 2 peaks conforming to the interval on a second spectrogram by using d1, echo signal peaks returned by the first corner reflector and the second corner reflector are found out, and the distance value CA of the first corner reflector and the distance value CG of the second corner reflector on the second spectrogram are recorded. When the elevator car continuously moves downwards for a distance to a point D, namely a second target point, D1 is utilized to match 2 peaks which accord with the interval on the second spectrogram, echo signal wave crests returned by the first corner reflector and the second corner reflector are found out, and a distance value DA corresponding to the first corner reflector on the second spectrogram and a distance value DG of the second corner reflector are recorded respectively. From the cosine law:
The horizontal interval between the first corner reflector and the second corner reflector is d=bg=dg=sin+cdg;
the distance between the second target point and the top of the hoistway can be calculated by using the formula db=dg×cos +.cdg, and the first vertical interval between the first corner reflector and the second corner reflector is:
S1＝DA-DB
when the elevator car continues to move down to the point E, namely a third target point, the third corner reflector has enough signal intensity, 3 peaks conforming to the interval on the second spectrogram are matched by d1 and d2, the echo signal wave crest of the second corner reflector and the echo signal wave crest of the third corner reflector are found out, the distance value EG corresponding to the second corner reflector and the distance value EH corresponding to the third corner reflector on the second spectrogram are recorded respectively, and then the second vertical interval between the second corner reflector and the third corner reflector can be calculated:
similarly, a third vertical interval S between the third corner reflector and the fourth corner reflector is calculated 3 Until the Kth-1 vertical interval S between the Kth-1 corner reflector and the Kth corner reflector is calculated K-1 . Matching K wave peaks conforming to the interval on the second spectrogram by using d1 and d2 … dk-1, finding out the K-1 corner reflector and the wave peak corresponding to the K corner reflector, and respectively recording a distance value PJ corresponding to the K-1 corner reflector and a distance value PK corresponding to the K corner reflector on the second spectrogram, wherein S is K-1 The method comprises the following steps:
here, the vertical pitches between K corner reflectors can be calculated in the learning stage.
And S230, determining a target corner reflector based on the vertical distance and the first spectrogram.
And S240, determining the distance between the radar and the first corner reflector based on the plurality of vertical distances and echo signals returned by the target corner reflector.
The second embodiment of the invention provides a radar ranging method, which embodies a process of acquiring a plurality of vertical distances among a plurality of corner reflectors. According to the method, the vertical distance between the adjacent corner reflectors is obtained through calculation in the learning stage, the target corner reflector with the strongest signal strength can be matched and determined on the spectrogram based on the plurality of vertical distances in the working stage, and the accurate distance between the radar and the first corner reflector is obtained by utilizing the characteristics of high measurement accuracy and accurate measurement of the target corner reflector.
Example III
Fig. 6 is a schematic structural diagram of a radar ranging device according to a third embodiment of the present invention, which is applicable to a situation in which the position of an elevator car in a deep hoistway is measured, wherein the device may be implemented by software and/or hardware and is generally integrated on a computer device.
As shown in fig. 6, the apparatus includes: the acquisition module 110, the first determination module 120, and the second determination module 130.
An acquisition module 110 for acquiring a plurality of vertical pitches between the plurality of corner reflectors;
the first determining module 120 is configured to determine, based on the vertical distance and a first spectrogram, a target corner reflector, where the target corner reflector is a corner reflector with the strongest signal strength among the plurality of corner reflectors, and the first spectrogram displays echo signals returned by some or all of the corner reflectors, where the echo signals are signals returned by corner reflections to the radar;
and a second determining module 130, configured to determine a distance between the radar and a first corner reflector based on the vertical pitches and echo signals returned by the target corner reflector, where the first corner reflector is a corner reflector closest to a top of the hoistway among the plurality of corner reflectors.
In the present embodiment, the apparatus first acquires a plurality of vertical pitches between a plurality of corner reflectors through the acquisition module 110; then, determining, by the first determining module 120, a target corner reflector based on the vertical distance and a first spectrogram, where the target corner reflector is a corner reflector with the strongest signal intensity in the plurality of corner reflectors, and the first spectrogram displays echo signals returned by part or all of the corner reflectors, and the echo signals are signals returned by corner reflections to the radar; and finally, determining, by the second determining module 130, a distance between the radar and a first corner reflector based on the vertical distances and echo signals returned by the target corner reflector, where the first corner reflector is a corner reflector closest to the top of the hoistway among the corner reflectors.
The embodiment provides a radar ranging device capable of accurately measuring a distance between a radar and a first corner reflector.
Further, the obtaining module 110 is specifically configured to: in the process that the elevator car moves downwards from the topmost layer, echo signal wave crests meeting preset conditions are matched from a second spectrogram by utilizing interval distances, wherein the interval distances comprise interval distances between two adjacent corner reflectors, and echo signals returned by the corner reflectors are displayed in the second spectrogram; and determining a plurality of vertical distances among the plurality of corner reflectors according to the echo signal wave peaks meeting preset conditions.
Further, when the plurality of corner reflectors includes a first corner reflector and a second corner reflector, the separation distance includes a first vertical distance between the first corner reflector and the second corner reflector, and the preset condition includes echo signal peaks separated by the first vertical distance; correspondingly, the echo signal wave crest which accords with the preset condition is matched from the second spectrogram by utilizing the interval distance, and the method comprises the following steps:
when the elevator car moves to a first target point, two first echo signal peaks which are separated from the first vertical distance are matched from a second spectrogram; respectively taking the distance values corresponding to the two first echo signal peaks on the second spectrogram as a first distance between the first corner reflector and the first target point and a second distance between the second corner reflector and the first target point; when the elevator car moves to a second target point, two second echo signal peaks which are separated from the first interval distance are matched from the second spectrogram.
Based on the above technical solution, the determining the vertical distance between the plurality of corner reflectors according to the echo signal peak meeting the preset condition includes: respectively taking the distance values corresponding to the two second echo signal peaks on the second spectrogram as a third distance between the first corner reflector and the second target point and a fourth distance between the second corner reflector and the second target point; a vertical separation between the first corner reflector and the second corner reflector is determined based on the first distance, the second distance, the third distance, and the fourth distance.
Further, the determining a vertical interval between the first corner reflector and the second corner reflector based on the first distance, the second distance, the third distance, and the fourth distance includes:
bringing the first distance, the second distance, the third distance and the fourth distance into a cosine law to obtain the degree of an included angle, wherein the included angle is formed by a first line segment and a second line segment, the first line segment is a line segment between the first target point and the second target point, and the second line segment is a line segment between the second target point and the position of the second corner reflector;
Multiplying the length of the second line segment by the sine value of the included angle to obtain the horizontal interval between the first corner reflector and the second corner reflector;
and multiplying the length of the second line segment by the cosine of the included angle to obtain the vertical interval between the second corner reflector and the second target point.
Further, when the plurality of corner reflectors includes K corner reflectors, the K is a positive integer greater than 2; the interval distance comprises the vertical distance between all adjacent two corner reflectors in the K corner reflectors, the vertical distance comprises a second vertical distance to a K-1 vertical distance, the second vertical distance is the vertical distance between the second corner reflector and the third corner reflector, and the K-1 vertical distance is the vertical distance between the K-1 corner reflector and the K corner reflector; the preset condition comprises echo signal wave crests respectively from the second vertical distance to the Kth vertical distance;
correspondingly, the matching of the echo signal wave crest meeting the preset condition from the second spectrogram by using the interval distance comprises the following steps: when the elevator car moves to an Nth target point, K echo signal wave crests with the distance intervals of a first vertical distance and a second vertical distance to a K-1 th vertical distance are matched from the second spectrogram; selecting a K-1 echo signal wave crest from the K echo signal wave crests.
Further, the determining the vertical distance between the plurality of corner reflectors according to the echo signal wave crest meeting the preset condition includes:
respectively taking the distance values corresponding to the Kth echo signal peak and the Kth echo signal peak on the second spectrogram as a fifth distance between a Kth corner reflector and the Nth target point and a sixth distance between the Kth corner reflector and the Nth target point; and the vertical distance between the Kth-1 corner reflector and the Kth corner reflector is obtained by differentiating a first numerical value and a second numerical value, wherein the first numerical value is obtained by dividing the square difference between the fifth distance and the horizontal interval by the root number, and the second numerical value is obtained by dividing the square difference between the sixth distance and the horizontal interval by the root number.
Further, the first determining module 120 is specifically configured to: determining a first candidate echo signal peak value obtained after the last matching success from the first spectrogram according to the vertical interval; determining a first candidate corner reflector corresponding to the first candidate echo signal peak value; and determining a target corner reflector from the first candidate corner reflector and a second candidate corner reflector, wherein the second candidate corner reflector is a corner reflector which is positioned above the first candidate corner reflector and is closest to the first candidate corner reflector.
Further, the determining, according to the vertical distance, a first candidate echo signal peak value obtained after the last matching success from the first spectrogram includes: judging whether two first echo signal peaks with the first vertical interval can be matched from the first spectrogram; if so, judging whether two second echo signal peaks with the second vertical interval can be matched from the first spectrogram, wherein one first echo signal peak is included in the two second echo signal peaks, if so, continuing to match until the matching fails or all the vertical intervals are matched; and taking the echo signal peak value corresponding to the last successful matching as a first candidate echo signal peak value.
Further, the second determining module 130 is specifically configured to: determining the relative distance between the target corner reflector and the radar according to the echo signal returned by the target corner reflector; selecting a plurality of reference vertical pitches from the vertical pitches, the plurality of reference vertical pitches including vertical pitches between all corner reflectors located at an upper end of the target corner reflector; the sum of the plurality of reference vertical pitches and the relative distance is taken as a distance between the radar and the first corner reflector.
The radar ranging device can execute the radar ranging method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
Example IV
Fig. 7 is a schematic structural diagram of a computer device according to a fourth embodiment of the present invention. As shown in fig. 7, a computer device according to a fourth embodiment of the present invention includes: one or more processors 41 and a storage device 42; the number of processors 41 in the computer device may be one or more, one processor 41 being taken as an example in fig. 4; the storage device 42 is used for storing one or more programs; the one or more programs are executed by the one or more processors 41, such that the one or more processors 41 implement the radar ranging method as in any of the embodiments of the present invention.
The computer device may further include: an input device 43 and an output device 44.
The processor 41, the storage means 42, the input means 43 and the output means 44 in the computer device may be connected by a bus or by other means, in fig. 4 by way of example.
The storage device 42 in the computer apparatus is used as a computer readable storage medium, and may be used to store one or more programs, which may be a software program, a computer executable program, and a module, such as program instructions/modules corresponding to the radar ranging method provided in the first or second embodiments of the present invention (for example, the module in the radar ranging device shown in fig. 6 includes the acquisition module 110, the first determining module 120, and the second determining module 130). The processor 41 executes various functional applications of the computer device and data processing by running software programs, instructions and modules stored in the storage 42, i.e., implements the radar ranging method in the above-described method embodiment.
The storage device 42 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, at least one application program required for a function; the storage data area may store data created according to the use of the computer device, etc. In addition, the storage 42 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device. In some examples, storage 42 may further include memory located remotely from processor 41, which may be connected to the device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input means 43 may be used to receive entered numeric or character information and to generate key signal inputs related to user settings and function control of the computer device. The output device 44 may include a display device such as a display screen.
And, when one or more programs included in the above-mentioned computer device are executed by the one or more processors 41, the programs perform the following operations:
Acquiring a plurality of vertical pitches between the plurality of corner reflectors;
determining a target corner reflector based on the vertical distance and a first spectrogram, wherein the target corner reflector is the corner reflector with the strongest signal intensity in the plurality of corner reflectors, echo signals returned by part or all of the corner reflectors are displayed in the first spectrogram, and the echo signals are signals returned to the radar by corner reflection;
and determining the distance between the radar and a first corner reflector based on the vertical distances and echo signals returned by the target corner reflector, wherein the first corner reflector is the corner reflector closest to the top of the hoistway among the corner reflectors.
Example five
Fig. 8 is a radar ranging system according to a fifth embodiment of the present invention, the system includes: a radar 11, a plurality of corner reflectors 12, and a computer device 13 according to any embodiment of the present invention;
the radar 11 is arranged on the outer wall of the top of the elevator car, a first corner reflector of the plurality of corner reflectors 12 is arranged on the top of the hoistway, the corner reflectors are positioned right above the radar 11, and the other corner reflectors except the first corner reflector of the plurality of corner reflectors 12 are arranged on the inner wall of the same side of the hoistway wall;
The radar 11 is configured to emit electromagnetic waves to each corner reflector 12 and receive echo signals returned from each corner reflector 12;
the plurality of corner reflectors 12 are for receiving electromagnetic waves emitted from the radar 11 and returning echo signals to the radar 11;
the computer device 13 is configured to determine a plurality of vertical pitches between the plurality of corner reflectors 12 based on the echo signals, and to determine a distance between the radar 11 and the first corner reflector based on the plurality of vertical pitches.
In this embodiment, the computer device 13 may be installed in the background to acquire an echo signal returned by the radar, and the computer device 13 may execute the radar ranging method according to any embodiment of the present invention, specifically, the method includes:
acquiring a plurality of vertical pitches between the plurality of corner reflectors;
determining a target corner reflector based on the vertical distance and a first spectrogram, wherein the target corner reflector is the corner reflector with the strongest signal intensity in the plurality of corner reflectors, echo signals returned by part or all of the corner reflectors are displayed in the first spectrogram, and the echo signals are signals returned to the radar by corner reflection;
and determining the distance between the radar and a first corner reflector based on the vertical distances and echo signals returned by the target corner reflector, wherein the first corner reflector is the corner reflector closest to the top of the hoistway among the corner reflectors.
Example six
A sixth embodiment of the present invention provides a computer-readable storage medium having stored thereon a computer program for executing a radar ranging method when executed by a processor, the method comprising:
acquiring a plurality of vertical pitches between the plurality of corner reflectors;
determining a target corner reflector based on the vertical distance and a first spectrogram, wherein the target corner reflector is the corner reflector with the strongest signal intensity in the plurality of corner reflectors, echo signals returned by part or all of the corner reflectors are displayed in the first spectrogram, and the echo signals are signals returned to the radar by corner reflection;
and determining the distance between the radar and a first corner reflector based on the vertical distances and echo signals returned by the target corner reflector, wherein the first corner reflector is the corner reflector closest to the top of the hoistway among the corner reflectors.
Optionally, the program may be further configured to perform the radar ranging method provided by any embodiment of the present invention when executed by the processor.
The computer storage media of embodiments of the invention may take the form of any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access Memory (Random Access Memory, RAM), a Read-Only Memory (ROM), an erasable programmable Read-Only Memory (Erasable Programmable Read Only Memory, EPROM), a flash Memory, an optical fiber, a portable CD-ROM, an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. A computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to: electromagnetic signals, optical signals, or any suitable combination of the preceding. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, radio Frequency (RF), and the like, or any suitable combination of the foregoing.
Computer program code for carrying out operations of the present invention may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (14)
1. A radar ranging method, the method comprising:
acquiring a plurality of vertical pitches between the plurality of corner reflectors;
determining a target corner reflector based on the vertical distance and a first spectrogram, wherein the target corner reflector is the corner reflector with the strongest signal intensity in the plurality of corner reflectors, echo signals returned by part or all of the corner reflectors are displayed in the first spectrogram, and the echo signals are signals returned to the radar by corner reflection;
and determining the distance between the radar and a first corner reflector based on the vertical distances and echo signals returned by the target corner reflector, wherein the first corner reflector is the corner reflector closest to the top of the hoistway among the corner reflectors.
2. The method of claim 1, wherein the obtaining a plurality of vertical spacings between a plurality of corner reflectors comprises:
in the process that the elevator car moves downwards from the topmost layer, echo signal wave crests meeting preset conditions are matched from a second spectrogram by utilizing interval distances, wherein the interval distances comprise interval distances between two adjacent corner reflectors, and echo signals returned by the corner reflectors are displayed in the second spectrogram;
and determining a plurality of vertical distances among the plurality of corner reflectors according to the echo signal wave peaks meeting preset conditions.
3. The method of claim 2, wherein when the plurality of corner reflectors includes a first corner reflector and a second corner reflector, the separation distance includes a first vertical distance between the first corner reflector and the second corner reflector, and the preset condition includes echo signal peaks separated by the first vertical distance;
correspondingly, the echo signal wave crest which accords with the preset condition is matched from the second spectrogram by utilizing the interval distance, and the method comprises the following steps:
when the elevator car moves to a first target point, two first echo signal peaks which are separated from the first vertical distance are matched from a second spectrogram;
Respectively taking the distance values corresponding to the two first echo signal peaks on the second spectrogram as a first distance between the first corner reflector and the first target point and a second distance between the second corner reflector and the first target point;
when the elevator car moves to a second target point, two second echo signal peaks which are separated from the first interval distance are matched from the second spectrogram.
4. A method according to claim 3, wherein said determining the vertical spacing between the plurality of corner reflectors from the echo signal peaks meeting the preset condition comprises:
respectively taking the distance values corresponding to the two second echo signal peaks on the second spectrogram as a third distance between the first corner reflector and the second target point and a fourth distance between the second corner reflector and the second target point;
a vertical separation between the first corner reflector and the second corner reflector is determined based on the first distance, the second distance, the third distance, and the fourth distance.
5. The method of claim 4, wherein the determining a vertical separation between a first corner reflector and a second corner reflector based on the first distance, the second distance, the third distance, and the fourth distance comprises:
Bringing the first distance, the second distance, the third distance and the fourth distance into a cosine law to obtain the degree of an included angle, wherein the included angle is formed by a first line segment and a second line segment, the first line segment is a line segment between the first target point and the second target point, and the second line segment is a line segment between the second target point and the position of the second corner reflector;
multiplying the length of the second line segment by the sine value of the included angle to obtain the horizontal interval between the first corner reflector and the second corner reflector;
and multiplying the length of the second line segment by the cosine of the included angle to obtain the vertical interval between the second corner reflector and the second target point.
6. The method of claim 2, wherein when the plurality of corner reflectors comprises K corner reflectors, the K is a positive integer greater than 2;
the interval distance comprises the vertical distance between all adjacent two corner reflectors in the K corner reflectors, the vertical distance comprises a second vertical distance to a K-1 vertical distance, the second vertical distance is the vertical distance between the second corner reflector and the third corner reflector, and the K-1 vertical distance is the vertical distance between the K-1 corner reflector and the K corner reflector;
The preset condition comprises echo signal wave crests respectively from the second vertical distance to the Kth vertical distance;
correspondingly, the matching of the echo signal wave crest meeting the preset condition from the second spectrogram by using the interval distance comprises the following steps:
when the elevator car moves to an Nth target point, K echo signal wave crests with the distance intervals of a first vertical distance and a second vertical distance to a K-1 th vertical distance are matched from the second spectrogram;
selecting a K-1 echo signal wave crest from the K echo signal wave crests.
7. The method of claim 6, wherein determining the vertical spacing between the plurality of corner reflectors from the echo signal peaks meeting the preset condition comprises:
respectively taking the distance values corresponding to the Kth echo signal peak and the Kth echo signal peak on the second spectrogram as a fifth distance between a Kth corner reflector and the Nth target point and a sixth distance between the Kth corner reflector and the Nth target point;
and the vertical distance between the Kth-1 corner reflector and the Kth corner reflector is obtained by differentiating a first numerical value and a second numerical value, wherein the first numerical value is obtained by dividing the square difference between the fifth distance and the horizontal interval by the root number, and the second numerical value is obtained by dividing the square difference between the sixth distance and the horizontal interval by the root number.
8. The method of claim 1, wherein the determining a target corner reflector based on the vertical spacing and the first spectrogram comprises:
determining a first candidate echo signal peak value obtained after the last matching success from the first spectrogram according to the vertical interval;
determining a first candidate corner reflector corresponding to the first candidate echo signal peak value;
and determining a target corner reflector from the first candidate corner reflector and a second candidate corner reflector, wherein the second candidate corner reflector is a corner reflector which is positioned above the first candidate corner reflector and is closest to the first candidate corner reflector.
9. The method of claim 8, wherein determining the first candidate echo signal peak value obtained after the last successful match from the first spectrogram according to the vertical separation comprises:
judging whether two first echo signal peaks with the first vertical interval can be matched from the first spectrogram;
if so, judging whether two second echo signal peaks with a second vertical interval can be matched from the first spectrogram, wherein the two second echo signal peaks comprise one first echo signal peak
If yes, continuing to match until the matching fails or all vertical intervals are matched;
and taking the echo signal peak value corresponding to the last successful matching as a first candidate echo signal peak value.
10. The method of claim 1, wherein determining a distance between the radar and a first corner reflector based on the plurality of vertical pitches and echo signals returned by the target corner reflector comprises:
determining the relative distance between the target corner reflector and the radar according to the echo signal returned by the target corner reflector;
selecting a plurality of reference vertical pitches from the vertical pitches, the plurality of reference vertical pitches including vertical pitches between all corner reflectors located at an upper end of the target corner reflector;
the sum of the plurality of reference vertical pitches and the relative distance is taken as a distance between the radar and the first corner reflector.
11. A radar ranging device, the device comprising:
an acquisition module for acquiring a plurality of vertical pitches between the plurality of corner reflectors;
the first determining module is used for determining a target corner reflector based on the vertical distance and a first spectrogram, wherein the target corner reflector is the corner reflector with the strongest signal intensity in the plurality of corner reflectors, echo signals returned by part or all of the corner reflectors are displayed in the first spectrogram, and the echo signals are signals returned to the radar by corner reflection;
And the second determining module is used for determining the distance between the radar and a first corner reflector based on the vertical distances and echo signals returned by the target corner reflector, wherein the first corner reflector is the corner reflector closest to the top of the hoistway among the corner reflectors.
12. A computer device, comprising:
one or more processors;
a storage means for storing one or more programs;
the one or more programs being executable by the one or more processors such that the one or more processors are configured to perform the radar ranging method of any of claims 1-10.
13. A radar ranging system, characterized in that it comprises a radar, a plurality of corner reflectors and a computer device according to claim 10;
the radar is arranged on the outer wall of the top of the elevator car, a first corner reflector of the plurality of corner reflectors is arranged on the top of the hoistway and is positioned right above the radar, and other corner reflectors of the plurality of corner reflectors except the first corner reflector are arranged on the inner wall of the same side of the hoistway wall;
the radar is used for transmitting electromagnetic waves to the corner reflectors and receiving echo signals returned by the corner reflectors;
The plurality of corner reflectors are used for receiving electromagnetic waves emitted by the radar and returning echo signals to the radar;
the computer device is configured to determine a plurality of vertical distances between a plurality of corner reflectors based on the echo signals and determine a distance between the radar and a first corner reflector based on the plurality of vertical distances.
14. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the radar ranging method according to any of claims 1-10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111335370.7A CN116106885A (en) | 2021-11-11 | 2021-11-11 | Radar ranging method, device, computer equipment, system and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111335370.7A CN116106885A (en) | 2021-11-11 | 2021-11-11 | Radar ranging method, device, computer equipment, system and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116106885A true CN116106885A (en) | 2023-05-12 |
Family
ID=86258475
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111335370.7A Pending CN116106885A (en) | 2021-11-11 | 2021-11-11 | Radar ranging method, device, computer equipment, system and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116106885A (en) |
-
2021
- 2021-11-11 CN CN202111335370.7A patent/CN116106885A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP5197023B2 (en) | Laser radar equipment | |
| CN112534301A (en) | Distance measurement method, device and equipment | |
| US20150185328A1 (en) | Laser radar device and method of calculating speed of object to be measured | |
| CN106959446B (en) | Radar installations and its measurement mesh calibration method for vehicle | |
| KR102051855B1 (en) | Method and device for counting number of people using uwb radar | |
| RU2564385C1 (en) | Method of detecting, determining coordinates and tracking aerial objects | |
| JP2012522999A (en) | FMCW radar sensor and method for frequency matching | |
| CN110618413A (en) | Passable area detection method and device based on multi-line laser radar | |
| CN116106885A (en) | Radar ranging method, device, computer equipment, system and storage medium | |
| Guerin et al. | Passive direction finding | |
| CN113411743B (en) | Terminal positioning method and device and terminal | |
| CN110471075A (en) | Radar range finding method, apparatus and terminal device | |
| US11307306B2 (en) | Method and device for providing ultrasonic signal information | |
| CN105698915A (en) | Optical fiber vibration source recognition method, device, and system | |
| CN203177928U (en) | Echo sampling unit and pulse type radar material level meter with the same | |
| KR101877608B1 (en) | Indoor Positioning System and Method | |
| CN107747945B (en) | Attitude angle detection device of suspension platform | |
| US7650240B2 (en) | Estimating an attribute value using spatial interpolation and masking zones | |
| WO2023082504A1 (en) | Radar-based distance measurement method and apparatus, computer device, system, and medium | |
| CN115097420A (en) | Laser range finder signal calibration method and device based on AD data and electronic equipment | |
| CN113589326B (en) | Object identification method, device and equipment of laser radar and storage medium | |
| CN113406580A (en) | MIMO radar low interception performance evaluation method and device and storage medium | |
| CN108225496B (en) | Radar level meter echo signal automatic testing device, method and system | |
| TWI642962B (en) | Indoor localization system with received signal strength indicator and magnetic field features computation | |
| EP3672335B1 (en) | A method of and device for commissioning a lighting system |
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 |