CN116263497A - Target object distance determining method and device, radar level gauge and intelligent container - Google Patents
Target object distance determining method and device, radar level gauge and intelligent container Download PDFInfo
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- CN116263497A CN116263497A CN202111529288.8A CN202111529288A CN116263497A CN 116263497 A CN116263497 A CN 116263497A CN 202111529288 A CN202111529288 A CN 202111529288A CN 116263497 A CN116263497 A CN 116263497A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F23/00—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
- G01F23/22—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water
- G01F23/28—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water by measuring the variations of parameters of electromagnetic or acoustic waves applied directly to the liquid or fluent solid material
- G01F23/284—Electromagnetic waves
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Abstract
The application discloses a distance determining method and device of a target object, a radar level gauge and an intelligent container, wherein the method comprises the following steps: acquiring initial area array data acquired by a millimeter wave radar; performing time-frequency conversion of the distance dimension on the initial area array data to obtain first target area array data, wherein the first target area array data is the frequency spectrum information of all area array channels corresponding to the initial area array data; determining a distance set corresponding to the first target area array data according to the frequency spectrum information; and determining the distance between the millimeter wave radar and the target object according to the included angle between the antenna surface of the millimeter wave radar and the plane of the target object and the distance value in the distance set, so as to realize the technical effects of miniaturization of radar measurement equipment and convenience and accuracy in the measurement process.
Description
Technical Field
The application relates to the field of radar ranging, in particular to a method and a device for determining the distance of a target object, a radar level gauge and an intelligent container.
Background
Most of the existing millimeter wave radar level gauges use horn antennas, and the volume is large and the space is wasted; on the other hand, the existing flow rate and liquid level are all discrete radar modules, and higher cost and larger volume support are required, so that the radar measurement equipment is large and the measurement flow is complicated.
Disclosure of Invention
The embodiment of the application provides a distance determining method and device of a target object, a radar liquid level gauge and an intelligent container, and aims to at least solve the technical problems of large-scale radar measurement equipment and complicated measurement flow.
According to an aspect of the embodiments of the present application, there is provided a distance determining method of a target object, including: acquiring initial area array data acquired by a millimeter wave radar; performing time-frequency conversion of the distance dimension on the initial area array data to obtain first target area array data, wherein the first target area array data is the frequency spectrum information of all area array channels corresponding to the initial area array data; determining a distance set corresponding to the first target area array data according to the frequency spectrum information; and determining the distance between the millimeter wave radar and the target object according to the included angle between the antenna surface of the millimeter wave radar and the plane where the target object is located and the distance value in the distance set.
Optionally, matrix data corresponding to a plurality of second target area array channels are selected from the first target area array data corresponding to all the area array channels of the millimeter wave radar, wherein the array shape of the matrix data corresponding to the plurality of second target area array channels in the first target area array is a regular graph.
Optionally, determining the distance between the millimeter wave radar and the target object according to the included angle between the antenna surface of the millimeter wave radar and the plane where the target object is located and the distance value in the distance set includes: determining a preset amplitude threshold; detecting the frequency spectrum corresponding to the frequency spectrum information by adopting the preset amplitude threshold value, and selecting an effective distance from the distance set according to a detection result to obtain an effective distance set; and determining the distance between the millimeter wave radar and the target object according to the included angle between the antenna surface of the millimeter wave radar and the plane where the target object is located and the effective distance in the effective distance set.
Optionally, determining the distance between the millimeter wave radar and the target object according to the included angle between the antenna surface of the millimeter wave radar and the plane where the target object is located and the effective distance in the effective distance set includes: for each effective distance in the effective distance set, performing Fourier transform on the longitudinal direction and the transverse direction of the first target area array data respectively to obtain an angle spectrum, wherein the transverse direction of the angle spectrum is a transverse angle, and the longitudinal direction of the angle spectrum is a longitudinal angle; and selecting a target distance from the effective distances in the effective distance set based on the angle spectrum, and determining the distance between the millimeter wave radar and the target object based on the included angle between the antenna surface of the millimeter wave radar and the plane where the target object is located and the target distance.
Optionally, selecting a target distance from the set of effective distances based on the angular spectrum includes: and determining the effective distance corresponding to the case that the transverse angle and the longitudinal angle in the angle spectrum are both preset values from the effective distances, and taking the effective distance corresponding to the case that the transverse angle and the longitudinal angle are both preset values as the target distance.
Optionally, the target object is an object in a moving state in a scanning area of the millimeter wave radar; the method further comprises the steps of: performing time-frequency conversion of the speed dimension on the data corresponding to the frequency spectrum information to obtain the frequency spectrum information of the speed dimension; and determining speed information corresponding to a distance between the millimeter wave radar and the target object based on the frequency spectrum information of the speed dimension, wherein the speed information comprises a moving speed of the target object.
Optionally, before determining, from the effective distances, the effective distances corresponding to when the lateral angle and the longitudinal angle in the angle spectrum are both preset values, the method further includes: and carrying out phase compensation on the longitudinal angle based on the speed information.
Optionally, the determining the distance between the millimeter wave radar and the target object based on the included angle between the antenna surface of the millimeter wave radar and the plane where the target object is located and the target distance includes: counting target distances in a preset time period to obtain a counting result; and carrying out median filtering on all target distances in the statistical result, and obtaining a distance value as the distance between the millimeter wave radar and the target object after median filtering.
Optionally, the preset amplitude threshold is determined based on a degree of attenuation of the millimeter wave radar.
According to another aspect of the embodiments of the present application, there is also provided a distance determining apparatus of a target object, including: the acquisition module is used for acquiring initial area array data acquired by the millimeter wave radar; the conversion module is used for performing time-frequency conversion of the distance dimension on the initial area array data to obtain first target area array data, wherein the first target area array data is the frequency spectrum information of all area array channels corresponding to the initial area array data; the determining module is used for determining a distance set corresponding to the first target area array data according to the frequency spectrum information; and the calculation module is used for determining the distance between the millimeter wave radar and the target object according to the included angle between the antenna surface of the millimeter wave radar and the plane where the target object is located and the distance value in the distance set.
According to still another aspect of the embodiments of the present application, there is also provided a nonvolatile storage medium including a stored program, wherein the device in which the nonvolatile storage medium is controlled to execute the above distance determining method of the target object when the program runs.
According to still another aspect of the embodiments of the present application, there is also provided a radar level gauge, including: a signal transceiving circuit for transmitting and receiving wireless signals; a memory for storing a program; and a processor for running a program stored in the memory, the program executing the distance determining method of the target object at the time of running.
According to still another aspect of the embodiments of the present application, there is further provided a smart container, including: a liquid container and a radar level gauge mounted above the level of the liquid stored in the liquid container; the radar level gauge is the radar level gauge according to the embodiment of the present application.
According to still another aspect of the embodiments of the present application, there is also provided a working apparatus including: the intelligent container in the embodiment of the application.
In the embodiment of the application, initial area array data acquired by the millimeter wave radar are acquired; performing time-frequency conversion of the distance dimension on the initial area array data to obtain first target area array data, wherein the first target area array data is the frequency spectrum information of all area array channels corresponding to the initial area array data; determining a distance set corresponding to the first target area array data according to the frequency spectrum information; and determining the distance between the millimeter wave radar and the target object according to the included angle between the antenna surface of the millimeter wave radar and the plane of the target object and the distance value in the distance set, so as to realize the technical effects of miniaturization of radar measurement equipment and convenience and accuracy in the measurement process.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:
FIG. 1 is a flow chart of a method of determining a distance of a target object according to an embodiment of the present application;
fig. 2 is a schematic diagram of placement of a radar antenna according to an embodiment of the present application;
FIG. 3 is a schematic diagram of radar antenna channel matrix data according to an embodiment of the present application;
FIG. 4 is a schematic diagram of a range spectrum detection according to an embodiment of the present application;
FIG. 5 is a 2-dimensional FFT angular spectrum schematic of a target object according to an embodiment of the application;
FIG. 6 is a schematic illustration of an apparatus for placing a millimeter wave radar level gauge in a plant protection on-board medical kit according to an embodiment of the present application;
FIG. 7 is a schematic diagram of a measurement of a distance determining device of a target object according to an embodiment of the present application;
FIG. 8 is a schematic diagram of a distance determining apparatus for a target object according to an embodiment of the present application;
FIG. 9 is a schematic diagram of a radar level gauge device according to an embodiment of the present application;
wherein, 1-millimeter wave radar level gauge; 2-plant protection machine carries medical kit.
Detailed Description
In order to make the present invention better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are intended to be within the scope of the present invention based on the embodiments herein.
It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that embodiments of the present application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Most of related art millimeter wave radar level gauges use horn antennas, which are large in size and take up space; on the other hand, the existing flow rate and liquid level are separate radar modules, requiring higher cost and greater volume support. According to the method, the multiple using directions of radar ranging and speed measuring are combined, the distance between the measuring point and the plane where the target object is located is quickly determined by utilizing frequency spectrum conversion and sampling data, meanwhile, the distance between the millimeter wave radar and the target object is quickly and accurately determined by combining the included angle between the antenna surface and the plane where the target object is located, and when the radar liquid level meter based on the measuring method is applied to different products, quick and accurate measurement of the distance measurement required by the products can be further achieved. In the embodiment of the application, initial area array data acquired by the millimeter wave radar are acquired; performing time-frequency conversion of the distance dimension on the initial area array data to obtain first target area array data, wherein the first target area array data is the frequency spectrum information of all area array channels corresponding to the initial area array data; determining a distance set corresponding to the first target area array data according to the frequency spectrum information; according to the included angle between the antenna surface of the millimeter wave radar and the plane of the target object and the distance value in the distance set, the distance between the millimeter wave radar and the target object is determined, the obtained radar area array data is subjected to time-frequency conversion, and meanwhile, the distance between a radar measurement point and the target object is rapidly determined by combining the included angle between the radar antenna surface and the target object, so that the technical effects of miniaturization of radar measurement equipment and convenience and accuracy in the measurement process are achieved.
According to an embodiment of the present invention, there is provided a method embodiment of a distance determining method of a target object, it should be noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different from that herein.
In the above-mentioned operating environment, fig. 1 is a flowchart of a method for determining a distance between target objects according to an embodiment of the present application, as shown in fig. 1, the method includes the following steps:
step S102, acquiring initial area array data acquired by a millimeter wave radar;
it should be noted that, the radar used in the embodiment of the present application is a millimeter wave radar, and in an alternative implementation, the millimeter wave radar antenna may adopt a 4-transmit 12-receive scheme, that is, 4 transmitting antennas and 12 receiving antennas, including but not limited to a radio frequency scheme adopting ums (Unified Messaging Service, unified message service). The antenna arranging manner in the embodiment of the present application may be as shown in fig. 2, but is not limited to this manner, and the method provided in the present application may be applied to a radar capable of implementing a 4D area array.
In some embodiments of the present application, acquiring initial area array data acquired by a millimeter wave radar includes: the initial radar signal matrix data acquired through each area array channel of the millimeter wave radar needs to be described, for convenience in description, the millimeter wave radar used in the embodiments of the present application may use an fmcw (Frequency Modulated Continuous Wave, frequency modulation continuous wave) modulation mechanism, so as to better explain the flow of acquiring the area array data, for example: the 4 transmitting antennas emit 19 chirp (saw-tooth wave modulation signals), wherein the saw-tooth wave modulation signals are sine wave signals with the frequency linearly changed in a saw-tooth shape along with time. A total of 16chirp, a transmission channel TX2, a transmission channel TX3 and a transmission channel TX4 are respectively 1 chirp; each time the transmitting channel TX transmits, the receiving channels RX1 to RX12 simultaneously receive the adc samples, and obtain the sequence data of 1TX x12 RX x 16 chips of 16 chips, and also obtain the channel matrix data of 4TX x12 RX of 1 chips. In the process of transmitting signals, the wave guide medium is not needed to guide the antenna transmitting signals, the antenna transmitting surface is directly directed to the target object to transmit signals, the mode of transmitting signals is simple, convenient and easy to operate, meanwhile, by transmitting as many saw-tooth wave modulation signals as possible, more matrix data are received, so that the acquired area array data are more comprehensive, and more basic calculation data are obtained.
S104, performing time-frequency conversion of the distance dimension on the initial area array data to obtain first target area array data, wherein the first target area array data is the frequency spectrum information of all area array channels corresponding to the initial area array data;
the time-frequency conversion of the distance dimension is performed on the initial area array data to obtain first target area array data, where the time-frequency conversion may be processed by fourier transform, so as to obtain spectrum information.
S106, determining a distance set corresponding to the first target area array data according to the frequency spectrum information;
in some embodiments of the present application, in order to further reduce the data calculation amount and improve the recognition efficiency, before determining the distance set corresponding to the target area array data according to the spectrum information, matrix data corresponding to a plurality of second target area array channels may also be selected from the first target area array data corresponding to all area array channels of the millimeter wave radar, where an arrangement shape of the matrix data corresponding to the plurality of second target area array channels in the first target area array is a regular pattern, as shown in fig. 3, and a portion 4*9 in a dashed-line frame in a channel matrix data middle of 4tx x12 rx of 1chirp is used as an area array, that is, a selected regular pattern, and of course, may also be fully taken to improve the lateral resolution; and carrying out FFT (fast Fourier transform ) on each channel of the 4*9 channel array to obtain 4*9 channel distance dimension FFT results, thereby obtaining a distance spectrum.
In some embodiments of the present application, the determination of the effective distance is by determining a preset amplitude threshold; and detecting the frequency spectrum corresponding to the frequency spectrum information by adopting the preset amplitude threshold, and selecting an effective distance from the distance set according to a detection result to obtain an effective distance set.
The spectrum detection process may include: the distance higher than the preset amplitude threshold in the spectrum information is determined as an effective distance value, as shown in fig. 4, a position shown by a horizontal line in the figure can be regarded as a straight line where the preset amplitude threshold is located, based on the effective distance value, a value higher than the horizontal line in the distance spectrum waveform can be used as an effective distance value, wherein the preset amplitude threshold can be determined based on the attenuation degree of the millimeter wave radar, for example, the attenuation degree can be determined through a cfar algorithm. Through the screening of the effective distance, the signal strength is ensured, so that the accuracy of the acquired distance is ensured, and the data is more accurate.
It should be noted that, by using the millimeter wave radar to transmit the 1tx x12 rx x 16 chips sequence data generated by the sawtooth wave modulation signal, the longitudinal and transverse FFTs are performed to obtain the distance and the corresponding radial speed of the radiation target higher than the threshold value in the radar field angle, and the fast fourier transform is used here, so that the calculation amount required by the computer to calculate the fourier transform is greatly reduced, especially the more the number of transformed sampling points is, the more significant the calculation amount of the fast fourier transform algorithm is saved, the calculation time is significantly reduced, and the data acquisition efficiency is improved.
S108, determining the distance between the millimeter wave radar and the target object according to the included angle between the antenna surface of the millimeter wave radar and the plane of the target object and the distance value in the distance set;
in some embodiments of the present application, determining the distance between the millimeter wave radar and the target object according to the included angle between the antenna surface of the millimeter wave radar and the plane in which the target object is located and the effective distance in the effective distance set includes: for each effective distance in the effective distance set, performing Fourier transform on the longitudinal direction and the transverse direction of the first target area array data respectively to obtain an angle spectrum, wherein the transverse direction of the angle spectrum is a horizontal angle, and the longitudinal direction of the angle spectrum is a longitudinal angle; and selecting a target distance from the effective distances in the effective distance set based on the angle spectrum, and determining the distance between the millimeter wave radar and the target object based on the included angle between the antenna surface of the millimeter wave radar and the plane where the target object is located and the target distance.
Specifically, determining the effective distance corresponding to the case that the transverse angle and the longitudinal angle in the angle spectrum are both preset values from the effective distances, and taking the effective distance corresponding to the case that the transverse angle and the longitudinal angle are both preset values as the target distance. The accuracy of the extracted effective distance is further improved through the corresponding effective distance when the transverse angle and the longitudinal angle in the angle spectrum are both preset values.
In some embodiments of the present application, the target object is an object in a moving state located in a scanning area of the millimeter wave radar; the method can also perform time-frequency conversion of the speed dimension on the data corresponding to the frequency spectrum information to obtain the frequency spectrum information of the speed dimension; and determining speed information corresponding to the distance between the millimeter wave radar and the target object based on the frequency spectrum information of the speed dimension, wherein the speed information is the moving speed of the target object.
It should be noted that, when the preset values of the central transverse angle and the longitudinal angle of the radar board are 0 in a period of time, the measured distance is a distance value range0 of a target (the accuracy range can be set according to the requirement) right below the center of the radar board, and a speed level 0 corresponding to the distance range0 is obtained according to the steps; when the preset value of the included angle between the radar antenna surface and the horizontal line is not 0 and alpha, obtaining the height h=range 0 cos alpha of the liquid level from the radar according to the geometric relation; flow v=vel 0/cos (pi/2- α).
It should be noted that, by performing fast fourier transform on the transverse 9 channels and then performing fast fourier transform on the longitudinal 4 channels for each distance effective value of the obtained distance spectrum result, since there is a time interval between signal transmissions of the four transmission channels, a virtual channel composed of all four transmission channels, that is, the longitudinal direction of the area array is utilized when calculating the longitudinal angle.
In some embodiments of the present application, if the target has a velocity, the transformation of the velocity will cause the phase of the echo to change, then an error will be introduced when the longitudinal angle is calculated by using the channel, resulting in inaccurate vertical measurement, so before determining, from the effective distances, the effective distances corresponding to the case where the transverse angle and the longitudinal angle in the angle spectrum are both preset values, the method may perform phase compensation on the longitudinal angle based on the velocity information, and perform compensation, where the method includes: after the target distance and the speed of the target object are obtained, the phase difference introduced by the speed is subtracted when the longitudinal angle is calculated, so that the longitudinal angle after phase compensation is obtained. Thereby, angle phase compensation of the longitudinal angle according to the speed of the target object can be realized; the 2-dimensional fft angle spectrum after phase compensation may be shown in fig. 5, where the horizontal axis represents a horizontal angle, and the vertical axis represents a vertical angle, where the horizontal angle is the above-mentioned lateral angle, and the vertical angle is the above-mentioned longitudinal angle. In the embodiment where the preset value of the transverse angle and the longitudinal angle is 0, only the target point corresponding to the distance value of the transverse angle and the longitudinal angle is 0 is considered to be the position of the target, and the target point can be considered to be the target to be detected at the position right below the center of the radar board.
In some embodiments of the present application, to further improve the detection result of the millimeter wave radar on the target, the determining the distance between the millimeter wave radar and the target object based on the included angle between the antenna surface of the millimeter wave radar and the plane where the target object is located and the target distance may further include: counting target distances in a preset time period to obtain a counting result; and carrying out median filtering on all target distances in the statistical result, and obtaining a distance value as the distance between the millimeter wave radar and the target object after median filtering.
In some embodiments of the present application, the solution of the present invention may be used for measuring the liquid level of a liquid medicine in a plant protection machine medicine tank, and may also be used for measuring the height of remaining particulate matter in the tank. The device is used in a medicine chest, can also be used for measuring the speed and correcting the influence of fluctuation generated in the flight process of the aircraft on the liquid level based on the speed.
In addition, as the prior plant protection machine liquid level gauge mostly uses a contact type liquid level gauge, namely a Hall sensor or a buoy liquid level gauge and the like, the liquid in a medicine carrying box of the plant protection machine is often corrosive and sticky, which can lead to corrosion of the contact type liquid level gauge or inaccurate measurement caused by sticky pesticides; on the other hand, most of the existing millimeter wave radar level gauges use horn antennas, are large in size and consume space, and cannot be used in some scenes with smaller containers, such as medicine carrying boxes of plant protection machines.
The present application also proposes a plant protection machine-carried medicine box with a millimeter wave radar level gauge 1 based on the same inventive concept, the level gauge is small in size, is not sticky or corroded by the medicine-carried material, and can obtain accurate measurement values even if the plant protection machine shakes, and the radar level gauge 1 is located in the plant protection machine-carried medicine box 2, as shown in fig. 6. In this way, in the process of measuring the liquid level height by using the millimeter wave radar level gauge 1 through the distance determining method of the target object, steps S102 to S108 may be cyclically executed within a preset time period, so as to obtain the liquid level distance right below the radar within the preset time period, and obtain a statistical result; and then carrying out median filtering on all target distances in the statistical result, taking a distance value obtained after median filtering as the distance between the millimeter wave radar and the liquid level, and then calculating the height of the residual liquid medicine in the medicine carrying box based on the height of the medicine carrying box and the distance value after median filtering. Therefore, the influence of the operation equipment on the liquid level height measurement value due to large-angle shaking can be reduced by carrying out filtering processing on a plurality of distance values in a preset time period. Wherein, the operation equipment can include the plant protection machine, can also include unmanned vehicles.
In some embodiments of the present application, the ranging, the speed measuring and the angle measuring are realized by using a mimo (multiple input multiple output, how near and how far) millimeter wave radar of a microstrip antenna and a modulation mode of a frequency modulation continuous wave fmcw, and the installation angle obtained automatically by an angle sensor has no requirement on the wave speed width, so that the area of the antenna is reduced; for a water flow velocity measurement scene, calculating the height and the flow velocity of the liquid level by utilizing a geometric relationship; the installation angle of the liquid level flow rate radar has no strict requirement, and the measurement of the liquid level and the flow rate is realized by the volume of a single module veneer; for the height measurement scene of the materials in the container, the liquid level of the non-contact plant protection machine pesticide box with low cost, small volume, corrosion resistance and adhesion resistance can be measured; and finally, performing median filtering to eliminate the influence of large-angle shaking of the aircraft on liquid level fluctuation, and finally obtaining a stable and reliable liquid level height value.
In some embodiments of the present application, the distance determining method of the target object of the present application may also be applied to a water flow velocity measurement scenario in a canal or river, so as to implement detection of a water flow velocity or a liquid level height as shown in fig. 7. In addition, in some embodiments, the influence on the liquid level measurement result caused by the fluctuation generated by the river or canal flow can be reduced by the measure for reducing the influence of the fluctuation on the measurement result, so that the accuracy of the liquid level measurement is improved, and the details are not repeated here.
In some embodiments of the present application, there is further provided a distance determining apparatus for a target object, as shown in fig. 8, including: the acquisition module 10 is used for acquiring initial area array data acquired by the millimeter wave radar; the conversion module 12 is configured to perform time-frequency conversion of the distance dimension on the initial area array data to obtain first target area array data, where the first target area array data is spectrum information of all area array channels corresponding to the initial area array data; a determining module 14, configured to determine a distance set corresponding to the first target area array data according to the spectrum information; the calculating module 16 is configured to determine a distance between the millimeter wave radar and the target object according to an included angle between an antenna surface of the millimeter wave radar and a plane in which the target object is located, and a distance value in the distance set.
Wherein the conversion module 12 comprises: the conversion sub-module is used for performing time-frequency conversion of the distance dimension on the initial area array data to obtain first target area array data; the selecting submodule is used for selecting matrix data corresponding to a plurality of second target area array channels from first target area array data corresponding to all area array channels of the millimeter wave radar, wherein the array shape of the matrix data corresponding to the plurality of second target area array channels in the first target area array is a regular graph.
The computing module 16 comprises a first computing sub-module, a second computing sub-module, a third computing sub-module, a fourth computing sub-module and a filtering sub-module, wherein the first computing sub-module is used for determining a preset amplitude threshold; detecting the frequency spectrum corresponding to the frequency spectrum information by adopting the preset amplitude threshold value, and selecting an effective distance from the distance set according to a detection result to obtain an effective distance set; determining the distance between the millimeter wave radar and the target object according to the included angle between the antenna surface of the millimeter wave radar and the plane where the target object is located and the effective distance in the effective distance set; the second calculation submodule is used for carrying out Fourier transform on each effective distance in the effective distance set in the longitudinal direction and the transverse direction of the first target area array data respectively to obtain an angle spectrum, wherein the transverse direction of the angle spectrum is a transverse angle, and the longitudinal direction of the angle spectrum is a longitudinal angle; selecting a target distance from the effective distances in the effective distance set based on the angle spectrum, and determining the distance between the millimeter wave radar and the target object based on the included angle between the antenna surface of the millimeter wave radar and the plane where the target object is located and the target distance; the third calculation sub-module is used for determining the effective distance corresponding to the case that the transverse angle and the longitudinal angle in the angle spectrum are both preset values from the effective distances, and taking the effective distance corresponding to the case that the transverse angle and the longitudinal angle are both the preset values as the target distance; the fourth calculation submodule is used for carrying out time-frequency conversion on the data corresponding to the frequency spectrum information in a speed dimension to obtain the frequency spectrum information in the speed dimension; determining speed information corresponding to a distance between the millimeter wave radar and the target object based on the frequency spectrum information of the speed dimension, wherein the speed information includes a moving speed of the target object; the filtering submodule is used for counting the target distance in a preset time period to obtain a counting result; and carrying out median filtering on all target distances in the statistical result, and obtaining a distance value as the distance between the millimeter wave radar and the target object after median filtering.
In some embodiments of the present application, there is also provided a radar level gauge 30, as shown in fig. 9, comprising: a signal transceiving circuit 301 for transmitting and receiving wireless signals; a memory 303 for storing a program; a processor 302 for running a program stored in the memory 303, which program, when run, performs a distance determination method of a target object.
In some embodiments of the present application, there is also provided a smart container, including: a liquid container and a radar level gauge mounted above the level of the liquid stored in the liquid container; the radar level gauge is the radar level gauge in the embodiment of the application, based on the manufacturing principle of the intelligent container, a box body which comprises but not limited to a plant protection machine-mounted medicine box with the millimeter wave radar level gauge 1 and the like and can measure the liquid level height inside the container in real time can be manufactured.
In some embodiments of the present application, there is also provided a working apparatus including: the intelligent container in the embodiment of the application.
In particular, the working equipment may be a working aircraft loaded with a plant protection machine kit, a car, train, aircraft, etc. loaded with a real-time measurement tank level.
In some embodiments of the present application, there is further provided a non-volatile storage medium including a stored program, where a device in which the non-volatile storage medium is controlled to execute a distance determining method of a target object when the program runs.
The foregoing embodiment numbers of the present application are merely for describing, and do not represent advantages or disadvantages of the embodiments.
In the foregoing embodiments of the present application, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed technology content may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units, for example, may be a logic function division, and may be implemented in another manner, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be essentially or a part contributing to the related art or all or part of the technical solution may be embodied in the form of a software product stored in a storage medium, including several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely a preferred embodiment of the present application and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present application and are intended to be comprehended within the scope of the present application.
Claims (14)
1. A method for determining a distance to a target object, comprising:
acquiring initial area array data acquired by a millimeter wave radar;
performing time-frequency conversion of the distance dimension on the initial area array data to obtain first target area array data, wherein the first target area array data is the frequency spectrum information of all area array channels corresponding to the initial area array data;
determining a distance set corresponding to the first target area array data according to the frequency spectrum information;
and determining the distance between the millimeter wave radar and the target object according to the included angle between the antenna surface of the millimeter wave radar and the plane where the target object is located and the distance value in the distance set.
2. The method of claim 1, wherein prior to determining the set of distances corresponding to the target area array data from the spectral information, the method further comprises:
and selecting matrix data corresponding to a plurality of second target area array channels from the first target area array data corresponding to all the area array channels of the millimeter wave radar, wherein the array shape of the matrix data corresponding to the plurality of second target area array channels in the first target area array is a regular graph.
3. The method of claim 1, wherein determining the distance between the millimeter wave radar and the target object based on the angle between the antenna surface of the millimeter wave radar and the plane in which the target object is located, and the distance value in the distance set, comprises:
determining a preset amplitude threshold;
detecting the frequency spectrum corresponding to the frequency spectrum information by adopting the preset amplitude threshold value, and selecting an effective distance from the distance set according to a detection result to obtain an effective distance set;
and determining the distance between the millimeter wave radar and the target object according to the included angle between the antenna surface of the millimeter wave radar and the plane where the target object is located and the effective distance in the effective distance set.
4. The method of claim 3, wherein determining the distance between the millimeter wave radar and the target object based on the angle between the antenna surface of the millimeter wave radar and the plane in which the target object is located, and the effective distances in the set of effective distances, comprises:
for each effective distance in the effective distance set, performing Fourier transform on the longitudinal direction and the transverse direction of the first target area array data respectively to obtain an angle spectrum, wherein the transverse direction of the angle spectrum is a transverse angle, and the longitudinal direction of the angle spectrum is a longitudinal angle;
and selecting a target distance from the effective distances in the effective distance set based on the angle spectrum, and determining the distance between the millimeter wave radar and the target object based on the included angle between the antenna surface of the millimeter wave radar and the plane where the target object is located and the target distance.
5. The method of claim 4, wherein selecting a target distance from the set of effective distances based on the angular spectrum comprises:
and determining the effective distance corresponding to the case that the transverse angle and the longitudinal angle in the angle spectrum are both preset values from the effective distances, and taking the effective distance corresponding to the case that the transverse angle and the longitudinal angle are both preset values as the target distance.
6. The method according to claim 5, wherein the target object is an object in a moving state located in a scanning area of the millimeter wave radar; the method further comprises the steps of:
performing time-frequency conversion of the speed dimension on the data corresponding to the frequency spectrum information to obtain the frequency spectrum information of the speed dimension;
and determining speed information corresponding to a distance between the millimeter wave radar and the target object based on the frequency spectrum information of the speed dimension, wherein the speed information comprises a moving speed of the target object.
7. The method of claim 6, wherein prior to determining, from the effective distances, a corresponding effective distance for the angle spectrum when the lateral angle and the longitudinal angle are both preset values, the method further comprises:
and carrying out phase compensation on the longitudinal angle based on the speed information.
8. The method of claim 4, wherein the determining the distance between the millimeter wave radar and the target object based on the angle between the antenna surface of the millimeter wave radar and the plane in which the target object is located, and the target distance, comprises:
counting target distances in a preset time period to obtain a counting result;
and carrying out median filtering on all target distances in the statistical result, and obtaining a distance value as the distance between the millimeter wave radar and the target object after median filtering.
9. A method according to claim 3, wherein the preset amplitude threshold value is determined based on a degree of attenuation of the millimeter wave radar.
10. A distance determining apparatus of a target object, comprising:
the acquisition module is used for acquiring initial area array data acquired by the millimeter wave radar;
the conversion module is used for performing time-frequency conversion of the distance dimension on the initial area array data to obtain first target area array data, wherein the first target area array data is the frequency spectrum information of all area array channels corresponding to the initial area array data;
the determining module is used for determining a distance set corresponding to the first target area array data according to the frequency spectrum information;
and the calculation module is used for determining the distance between the millimeter wave radar and the target object according to the included angle between the antenna surface of the millimeter wave radar and the plane where the target object is located and the distance value in the distance set.
11. A nonvolatile storage medium including a stored program, wherein the device in which the nonvolatile storage medium is controlled to execute the distance determining method of the target object according to any one of claims 1 to 9 when the program is run.
12. A radar level gauge, comprising: a signal transceiving circuit for transmitting and receiving wireless signals; a memory for storing a program; a processor for executing a program stored in the memory, the program executing the distance determining method of the target object according to any one of claims 1 to 9 at the time of execution.
13. An intelligent container, comprising:
a liquid container and a radar level gauge mounted above the level of the liquid stored in the liquid container; the radar level gauge according to claim 12.
14. A work apparatus, comprising: the smart container of claim 13.
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| CN117367541A (en) * | 2023-09-28 | 2024-01-09 | 深圳妙月科技有限公司 | Water level monitoring method and device, electronic equipment and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117367541A (en) * | 2023-09-28 | 2024-01-09 | 深圳妙月科技有限公司 | Water level monitoring method and device, electronic equipment and storage medium |
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