CN116540229A - Method and device for calculating flow velocity of solid fluid substance based on millimeter wave radar - Google Patents

Method and device for calculating flow velocity of solid fluid substance based on millimeter wave radar Download PDF

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Publication number
CN116540229A
CN116540229A CN202310732465.5A CN202310732465A CN116540229A CN 116540229 A CN116540229 A CN 116540229A CN 202310732465 A CN202310732465 A CN 202310732465A CN 116540229 A CN116540229 A CN 116540229A
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China
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solid fluid
millimeter wave
information
wave radar
fluid substance
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CN202310732465.5A
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Chinese (zh)
Inventor
龚超
于巍巍
陈伟业
范丽丽
朱林
丁季明
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Shanghai Weibiao Auto Parts Manufacturing Co Ltd
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Shanghai Weibiao Auto Parts Manufacturing Co Ltd
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Priority to CN202310732465.5A priority Critical patent/CN116540229A/en
Publication of CN116540229A publication Critical patent/CN116540229A/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P5/00—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft
    • 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
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G01S13/583—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets
    • 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
    • G01S7/411—Identification of targets based on measurements of radar reflectivity
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
    • Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

The invention belongs to the technical field of measurement, and provides a method and a device for calculating the flow rate of solid fluid substances based on millimeter wave radar, wherein the method comprises the following steps: acquiring distance information and angle information between the solid fluid material and the solid fluid material through a millimeter wave radar; according to the distance information and the angle information, calculating to obtain coordinate information of each measuring point in the millimeter wave radar and the solid fluid substance; calculating to obtain the volume change information of the solid fluid substance by utilizing the coordinate information of the millimeter wave radar and the measuring point; and calculating the flow rate of the solid fluid substance based on the volume change information of the solid fluid substance and the known total volume of the solid fluid substance. The volume change of the solid fluid substance in unit time is calculated through the relative distance and angle measurement data of the millimeter wave radar, so that the flow velocity of the solid fluid substance can be rapidly and accurately calculated, and the problem of inaccurate flow velocity calculation caused by environmental factors is avoided.

Description

Method and device for calculating flow velocity of solid fluid substance based on millimeter wave radar
Technical Field
The invention relates to the technical field of measurement, in particular to a method and a device for calculating the flow rate of solid fluid substances based on millimeter wave radar.
Background
In general, a propagation time difference method is known as a method for measuring a flow rate and a flow rate of a fluid by using ultrasonic waves. In this method, ultrasonic waves are transmitted and received in the forward flow direction and the backward flow direction with respect to the flow rate of the fluid to utilize the following phenomena: the difference in propagation time of the ultrasonic waves in these two directions varies according to the flow velocity of the fluid. In the propagation time difference method, the sound velocity of ultrasonic waves is not fixed but is changed by other physical quantities such as temperature.
Therefore, how to make the flow velocity measurement of the fluid not limited by any environment becomes a problem to be solved.
Disclosure of Invention
The invention aims to provide a method and a device for calculating the flow rate of solid fluid substances based on millimeter wave radar, which solve the problems.
The technical scheme provided by the invention is as follows:
in one aspect, the invention provides a method for calculating the flow rate of solid fluid substances based on millimeter wave radar, comprising the following steps:
acquiring distance information and angle information between the solid fluid material and the solid fluid material through a millimeter wave radar;
according to the distance information and the angle information, calculating to obtain coordinate information of each measuring point in the millimeter wave radar and the solid fluid substance;
calculating to obtain the volume change information of the solid fluid substance by utilizing the coordinate information of the millimeter wave radar and the measuring point;
and calculating the flow rate of the solid fluid substance based on the volume change information of the solid fluid substance and the known total volume of the solid fluid substance.
In some embodiments, the acquiring distance information and angle information from the solid fluid substance by millimeter wave radar includes:
receiving, by the millimeter wave radar, millimeter wave signals reflected by the solid fluid material;
calculating the distance information between the solid fluid substance and the millimeter wave radar and the included angle between the solid fluid substance and the normal of the millimeter wave radar according to the millimeter wave signal; and the included angle between the solid fluid substance and the normal of the millimeter wave radar is the angle information.
In some embodiments, the calculating, according to the distance information and the angle information, coordinate information of each measuring point in the millimeter wave radar and the solid fluid substance includes:
substituting the distance information and the included angle information into the following formula to calculate and obtain the travel height between the millimeter wave radar and the measuring point in the height direction:
h＝cosθ*R；
wherein, R represents the relative distance, θ represents the relative included angle, and h represents the stroke height.
In some embodiments, the calculating, using the coordinate information of the millimeter wave radar and the measuring point, the volume change information of the solid fluid substance includes:
let the coordinates of the first measurement point A be (h A ,L A ) The coordinates of the second measuring point C are (h C ,L C ) The method comprises the steps of carrying out a first treatment on the surface of the The coordinate information comprises distance information and height information of the millimeter wave radar and the measuring point;
calculating a first volume of the solid fluid substance at a start time and a second volume of the solid fluid substance at an end time by:
V 1 ＝π*L 1 2 *(h C1 -h A1 )；
V 2 ＝π*L 2 2 *(h C2 -h A2 )；
obtaining volume change information of the solid fluid substance according to the difference value between the first volume and the second volume;
wherein V is 1 A first volume of the solid fluid substance at a start time; l (L) 1 Distance information of the first measuring point at the starting time is obtained; h is a C1 Height information of the second measuring point at the starting time is obtained; h is a A1 Height information of the first measuring point at the starting time is obtained; v (V) 2 A second volume of the solid fluid material at an end time; l (L) 2 Distance information of the first measuring point at the ending time is obtained; h is a C2 Height information of the second measuring point at the starting time is obtained; h is a A2 And the height information of the first measuring point at the starting time is obtained.
In some embodiments, the calculating the flow rate of the solid fluid substance based on the volume change information of the solid fluid substance and the known total volume of the solid fluid substance includes:
the flow rate of the solid fluid material is calculated by the following formula:
wherein S is s A flow rate for the solid fluid substance; v (V) 1 A first volume of the solid fluid substance at a start time; v (V) 2 A second volume of the solid fluid material at an end time; t is t 2 Is the end time; t is t 1 For the start time.
In some embodiments, the present invention also provides a solid state fluid substance flow rate calculation device based on millimeter wave radar, comprising:
the acquisition module is used for acquiring distance information and angle information of the solid fluid substance through the millimeter wave radar;
the calculation module is used for calculating coordinate information of each measuring point in the millimeter wave radar and the solid fluid substance according to the distance information and the angle information;
the calculation module is further used for calculating and obtaining the volume change information of the solid fluid substance by utilizing the coordinate information of the millimeter wave radar and the measuring point;
the calculation module is further configured to calculate a flow rate of the solid fluid substance based on the volume change information of the solid fluid substance and a known total volume of the solid fluid substance.
In some embodiments, the obtaining module is configured to:
receiving, by the millimeter wave radar, millimeter wave signals reflected by the solid fluid material;
calculating the distance information between the solid fluid substance and the millimeter wave radar and the included angle between the solid fluid substance and the normal of the millimeter wave radar according to the millimeter wave signal; and the included angle between the solid fluid substance and the normal of the millimeter wave radar is the angle information.
In some embodiments, the computing module is configured to:
substituting the distance information and the included angle information into the following formula to calculate and obtain the travel height between the millimeter wave radar and the measuring point in the height direction:
h＝cosθ*R；
wherein, R represents the relative distance, θ represents the relative included angle, and h represents the stroke height.
In some embodiments, the computing module is configured to:
let the coordinates of the first measurement point A be (h A ,L A ) The coordinates of the second measuring point C are (h C ,L C ) The method comprises the steps of carrying out a first treatment on the surface of the The coordinate information comprises distance information and height information of the millimeter wave radar and the measuring point;
calculating a first volume of the solid fluid substance at a start time and a second volume of the solid fluid substance at an end time by:
V 1 ＝π*L 1 2 *(h C1 -h A1 )；
V 2 ＝π*L 2 2 *(h C2 -h A2 )；
obtaining volume change information of the solid fluid substance according to the difference value between the first volume and the second volume;
wherein V is 1 A first volume of the solid fluid substance at a start time; l (L) 1 Distance information of the first measuring point at the starting time is obtained; h is a C1 Height information of the second measuring point at the starting time is obtained; h is a A1 Height information of the first measuring point at the starting time is obtained; v (V) 2 A second volume of the solid fluid material at an end time; l (L) 2 Distance information of the first measuring point at the ending time is obtained; h is a C2 Height information of the second measuring point at the starting time is obtained; h is a A2 And the height information of the first measuring point at the starting time is obtained.
In some embodiments, the computing module is configured to:
the flow rate of the solid fluid material is calculated by the following formula:
wherein S is s A flow rate for the solid fluid substance; v (V) 1 A first volume of the solid fluid substance at a start time; v (V) 2 A second volume of the solid fluid material at an end time; t is t 2 Is the end time; t is t 1 For the start time.
The method and the device for calculating the flow velocity of the solid fluid substance based on the millimeter wave radar have the following beneficial effects:
the volume change of the solid fluid substance in unit time is calculated through the relative distance and angle measurement data of the millimeter wave radar, so that the flow velocity of the solid fluid substance is calculated, the flow velocity of the solid fluid substance can be calculated rapidly and accurately, and the problem of inaccurate flow velocity calculation caused by environmental factors is solved.
Drawings
The above features, technical features, advantages and implementation manners of a method and apparatus for calculating a flow rate of a solid fluid substance based on a millimeter wave radar will be further described in the following description of preferred embodiments with reference to the accompanying drawings in a clearly understandable manner.
FIG. 1 is a flow chart of one embodiment of a method for calculating solid state fluid mass flow rate based on millimeter wave radar in accordance with the present invention;
FIG. 2 is a flowchart of the operation of the millimeter wave radar of the present invention;
FIG. 3 is a schematic diagram of a relationship between a detection point of a method for calculating a flow rate of a solid fluid substance based on a millimeter wave radar and a receiving and transmitting electromagnetic wave of the millimeter wave radar in the present invention;
FIG. 4 is a schematic illustration of an application of a millimeter wave radar-based solid fluid mass flow rate calculation device of the present invention;
FIG. 5 is a schematic diagram of a radar measurement installation of a fluid solid in the present invention;
fig. 6 is a schematic diagram of an application of the millimeter wave radar flow rate meter in the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system configurations, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
For the sake of simplicity of the drawing, the parts relevant to the present invention are shown only schematically in the figures, which do not represent the actual structure thereof as a product. Additionally, in order to simplify the drawing for ease of understanding, components having the same structure or function in some of the drawings are shown schematically with only one of them, or only one of them is labeled. Herein, "a" means not only "only this one" but also "more than one" case.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
In addition, in the description of the present application, the terms "first," "second," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will explain the specific embodiments of the present invention with reference to the accompanying drawings. It is evident that the drawings in the following description are only examples of the invention, from which other drawings and other embodiments can be obtained by a person skilled in the art without inventive effort.
In one aspect, the invention provides a method for calculating the flow rate of solid fluid substances based on millimeter wave radar, comprising the following steps:
s101 acquires distance information and angle information from the solid fluid substance by millimeter wave radar.
Specifically, the area of the level detection of the millimeter wave radar is: a region of 0-45 meters within an angle of + -60 degrees; the height is 0-10 m; the area of vertical plane detection of the millimeter wave radar is: a region of 0-45 meters within an angle of + -60 degrees; the height is 0-10 m.
For example, as shown in the schematic workflow diagram of the millimeter wave radar shown in fig. 2, the radar transmitting antenna sends out 76GHZ to 81GHZ signal sources, the 76GHZ to 81GHZ signal sources are reflected by the ground, the radar receiving antenna receives the ground reflected signal sources, and the radar calculates the distance R.
Specifically, according to a distance calculation formula, calculating the distance between the solid fluid substance and the current millimeter wave radar according to millimeter wave signals, wherein the distance calculation formula is as follows:
R＝(1/2)C*Δt；
wherein R is the distance between the solid fluid substance and the current millimeter wave radar, c is the speed of light, and T is the time interval between the emission of an electromagnetic wave signal source from the millimeter wave radar transmitting antenna and the reception of an electromagnetic wave signal reflected by an object to be detected by the receiving antenna.
According to an included angle calculation formula, calculating an included angle between an object to be detected and a current millimeter wave radar according to millimeter wave signals, wherein the included angle calculation formula is as follows:
wherein θ is the included angle between the object to be measured and the current millimeter wave radar, λ is the electromagnetic wave wavelength, ΔΦ is the phase difference, and L is the distance between the transmitting antenna and the receiving antenna of the millimeter wave radar.
Specifically, the millimeter wave radar feeds back the calculation information to a controller of the carrying platform, and records the distance and the angle relation of each measuring point in the real-time detection area.
S102, calculating coordinate information of each measuring point in the millimeter wave radar and the solid fluid substance according to the distance information and the angle information.
Substituting the following formulas into the relative distance and the relative included angle to calculate and obtain the travel height between the millimeter wave radar and the measuring point in the height direction:
h＝cosθ*R；
wherein, R represents the relative distance, θ represents the relative included angle, and h represents the stroke height.
S103, calculating to obtain the volume change information of the solid fluid substance by utilizing the coordinate information of the millimeter wave radar and the measuring point.
S104 calculates a flow rate of the solid fluid substance based on the volume change information of the solid fluid substance and the known total volume of the solid fluid substance.
In this embodiment, the volume change of the solid fluid substance in unit time is calculated by the relative distance and angle measurement data of the millimeter wave radar, so that the flow velocity of the solid fluid substance is calculated, and the flow velocity of the solid fluid substance can be rapidly and accurately calculated, thereby avoiding the problem of inaccurate calculation of the flow velocity due to environmental factors.
In one embodiment, the acquiring distance information and angle information from the solid fluid substance by the millimeter wave radar includes:
receiving, by the millimeter wave radar, millimeter wave signals reflected by the solid fluid material;
calculating the distance information between the solid fluid substance and the millimeter wave radar and the included angle between the solid fluid substance and the normal of the millimeter wave radar according to the millimeter wave signal; and the included angle between the solid fluid substance and the normal of the millimeter wave radar is the angle information.
In one embodiment, the calculating, by using the coordinate information of the millimeter wave radar and the measuring point, the volume change information of the solid fluid substance includes:
let the coordinates of the first measurement point A be (h A ,L A ) The coordinates of the second measuring point C are (h C ,L C ) The method comprises the steps of carrying out a first treatment on the surface of the The coordinate information comprises distance information and height information of the millimeter wave radar and the measuring point;
calculating a first volume of the solid fluid substance at a start time and a second volume of the solid fluid substance at an end time by:
V 1 ＝π*L 1 2 *(h C1 -h A1 )；
V 2 ＝π*L 2 2 *(h C2 -h A2 )；
obtaining volume change information of the solid fluid substance according to the difference value between the first volume and the second volume;
wherein V is 1 A first volume of the solid fluid substance at a start time; l (L) 1 Distance information of the first measuring point at the starting time is obtained; h is a C1 Height information of the second measuring point at the starting time is obtained; h is a A1 Height information of the first measuring point at the starting time is obtained; v (V) 2 A second volume of the solid fluid material at an end time; l (L) 2 Distance information of the first measuring point at the ending time is obtained; h is a C2 Height information of the second measuring point at the starting time is obtained; h is a A2 And the height information of the first measuring point at the starting time is obtained.
Specifically, as shown in fig. 3, the coordinate position of the first measurement point a is set to (h A ,L A ) The coordinate position of the second measuring point C is (h C ,L C ) The distance from the millimeter wave radar to the second measuring point C is h, and the coordinate position of the millimeter wave radar is (r, theta, h).
The calculating to obtain the height information of the millimeter wave radar and each measuring point according to the distance information and the angle information comprises the following steps:
calculating the position coordinates of each measuring point of the solid fluid substance under the coordinate system of the millimeter wave radar according to the distance between the solid fluid substance and the millimeter wave radar and the included angle between the solid fluid substance and the normal line of the millimeter wave radar; the position coordinates include altitude information.
Specifically, through electromagnetic wave detection of the millimeter wave radar, a plurality of measuring points can be obtained at a time, as A, B, C … … shown in fig. 3 uses points a and C as examples to perform the following conversion, the UAV obtains longitude and latitude information of the beidou, GPS and glabrous system in real time, and records the longitude and latitude coordinate information at the moment, and the calculation formula is as follows:
sinθ*r＝L；
cosθ*r＝h；
and acquiring L, h by using θ as an angle measured by the radar and r as a distance measured by the radar, and converting longitude and latitude of the point A according to longitude and latitude information and distance L of the current UAV.
In one embodiment, the calculating the flow rate of the solid fluid substance based on the volume change information of the solid fluid substance and the known total volume of the solid fluid substance includes:
the flow rate of the solid fluid material is calculated by the following formula:
wherein S is s A flow rate for the solid fluid substance; v (V) 1 A first volume of the solid fluid substance at a start time; v (V) 2 A second volume of the solid fluid material at an end time; t is t 2 Is the end time; t is t 1 For the start time.
By way of example, as shown in fig. 3, 5 and 6, several measuring points can be obtained at a time by radar electromagnetic wave detection, as shown schematically at A, B, C … …
The following conversion is performed using points a and C as examples:
recording measurement values from A point to C point in different time periods in real time by the radar, and calculating a difference value;
taking the point A as an example, the values r and θ are measured to obtain the A coordinate (h A ,L A ) The method comprises the steps of carrying out a first treatment on the surface of the The coordinate of the point C is the measurement value h of the point C C ；
L is the R of the cone; the h value at point C changes to the height of the cone (hC-hA);
the volume change in unit time is the start time V1 and the end time V2;
according to the cone volume calculation formula: v=pi×r 2 *h；
Thus: v (V) 1 ＝π*L 1 2 *(h C1 -h A1 )；V 2 ＝π*L 2 2 *(h C2 -h A2 )。
In one embodiment, the present invention also provides a solid state fluid substance flow rate calculation device based on millimeter wave radar, comprising:
and the acquisition module is used for acquiring distance information and angle information of the solid fluid substance through the millimeter wave radar.
Specifically, the area of the level detection of the millimeter wave radar is: a region of 0-45 meters within an angle of + -60 degrees; the height is 0-10 m; the area of vertical plane detection of the millimeter wave radar is: a region of 0-45 meters within an angle of + -60 degrees; the height is 0-10 m.
For example, as shown in the schematic workflow diagram of the millimeter wave radar shown in fig. 2, the radar transmitting antenna sends out 76GHZ to 81GHZ signal sources, the 76GHZ to 81GHZ signal sources are reflected by the ground, the radar receiving antenna receives the ground reflected signal sources, and the radar calculates the distance R.
Specifically, according to a distance calculation formula, calculating the distance between the solid fluid substance and the current millimeter wave radar according to millimeter wave signals, wherein the distance calculation formula is as follows:
R＝(1/2)C*Δt；
wherein R is the distance between the solid fluid substance and the current millimeter wave radar, c is the speed of light, and T is the time interval between the emission of an electromagnetic wave signal source from the millimeter wave radar transmitting antenna and the reception of an electromagnetic wave signal reflected by an object to be detected by the receiving antenna.
According to an included angle calculation formula, calculating an included angle between an object to be detected and a current millimeter wave radar according to millimeter wave signals, wherein the included angle calculation formula is as follows:
wherein θ is the included angle between the object to be measured and the current millimeter wave radar, λ is the electromagnetic wave wavelength, ΔΦ is the phase difference, and L is the distance between the transmitting antenna and the receiving antenna of the millimeter wave radar.
Specifically, the millimeter wave radar feeds back the calculation information to a controller of the carrying platform, and records the distance and the angle relation of each measuring point in the real-time detection area.
And the calculation module is used for calculating coordinate information of each measuring point in the millimeter wave radar and the solid fluid substance according to the distance information and the angle information.
Substituting the following formulas into the relative distance and the relative included angle to calculate and obtain the travel height between the millimeter wave radar and the measuring point in the height direction:
h＝cosθ*R；
wherein, R represents the relative distance, θ represents the relative included angle, and h represents the stroke height.
The calculation module is further used for calculating and obtaining the volume change information of the solid fluid substance by utilizing the coordinate information of the millimeter wave radar and the measuring point;
the calculation module is further configured to calculate a flow rate of the solid fluid substance based on the volume change information of the solid fluid substance and a known total volume of the solid fluid substance.
Specifically, as shown in fig. 3 and 4, the whole device structure includes a millimeter wave radar transmitting and receiving antenna of the millimeter wave radar and a data operation processor.
In one embodiment, the acquiring module is configured to:
receiving, by the millimeter wave radar, millimeter wave signals reflected by the solid fluid material;
calculating the distance information between the solid fluid substance and the millimeter wave radar and the included angle between the solid fluid substance and the normal of the millimeter wave radar according to the millimeter wave signal; and the included angle between the solid fluid substance and the normal of the millimeter wave radar is the angle information.
And the included angle between the solid fluid substance and the normal of the millimeter wave radar is theta.
In one embodiment, the computing module is configured to:
let the coordinates of the first measurement point A be (h A ,L A ) The coordinates of the second measuring point C are (h C ,L C ) The method comprises the steps of carrying out a first treatment on the surface of the The coordinate information comprises distance information and height information of the millimeter wave radar and the measuring point;
calculating a first volume of the solid fluid substance at a start time and a second volume of the solid fluid substance at an end time by:
V 1 ＝π*L 1 2 *(h C1 -h A1 )；
V 2 ＝π*L 2 2 *(h C2 -h A2 )；
obtaining volume change information of the solid fluid substance according to the difference value between the first volume and the second volume;
wherein V is 1 A first volume of the solid fluid substance at a start time; l (L) 1 Distance information of the first measuring point at the starting time is obtained; h is a C1 Height information of the second measuring point at the starting time is obtained; h is a A1 Height information of the first measuring point at the starting time is obtained; v (V) 2 A second volume of the solid fluid material at an end time; l (L) 2 Distance information of the first measuring point at the ending time is obtained; h is a C2 Height information of the second measuring point at the starting time is obtained; h is a A2 And the height information of the first measuring point at the starting time is obtained.
Specifically, as shown in fig. 3, the coordinate position of the first measurement point a is set to (h A ,L A ) The coordinate position of the second measuring point C is (h C ,L C ) The distance from the millimeter wave radar to the second measuring point C is h, and the coordinate position of the millimeter wave radar is (r, theta, h).
Exemplary, as shown in FIG. 3, several measurement points can be obtained at a time by radar electromagnetic wave detection, as illustrated by A, B, C … …
The following conversion is performed using points a and C as examples:
recording measurement values from A point to C point in different time periods in real time by the radar, and calculating a difference value;
taking the point A as an example, the values r and θ are measured to obtain the A coordinate (h A ,L A ) The method comprises the steps of carrying out a first treatment on the surface of the The coordinate of the point C is the measurement value h of the point C C ；
L is the R of the cone; the h value at point C changes to the height of the cone (hC-hA);
the volume change in unit time is the start time V1 and the end time V2;
according to the cone volume calculation formula: v=pi×r 2 *h；
Thus: v (V) 1 ＝π*L 1 2 *(h C1 -h A1 )；V 2 ＝π*L 2 2 *(h C2 -h A2 )。
The calculating to obtain the height information of the millimeter wave radar and each measuring point according to the distance information and the angle information comprises the following steps:
calculating the position coordinates of each measuring point of the solid fluid substance under the coordinate system of the millimeter wave radar according to the distance between the solid fluid substance and the millimeter wave radar and the included angle between the solid fluid substance and the normal line of the millimeter wave radar; the position coordinates include altitude information.
Specifically, as shown in fig. 5, through electromagnetic wave detection of the millimeter wave radar, a plurality of measuring points can be obtained at a time, as shown in fig. 5, A, B, C … … uses point a and point C as examples to perform the following conversion, and the UAV obtains longitude and latitude information of the beidou, GPS and guerberry system in real time, records the longitude and latitude coordinate information at the moment, and the calculation formula is as follows:
sinθ*r＝L；
cosθ*r＝h；
and acquiring L, h by using θ as an angle measured by the radar and r as a distance measured by the radar, and converting longitude and latitude of the point A according to longitude and latitude information and distance L of the current UAV.
In one embodiment, the computing module is configured to:
the flow rate of the solid fluid material is calculated by the following formula:
wherein S is s As said solid fluid substanceA flow rate; v (V) 1 A first volume of the solid fluid substance at a start time; v (V) 2 A second volume of the solid fluid material at an end time; t is t 2 Is the end time; t is t 1 For the start time.
In the foregoing embodiments, the descriptions of the embodiments are focused on, and the parts of a certain embodiment that are not described or depicted in detail may be referred to in the related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/electronic device and method may be implemented in other manners. The apparatus/electronic device embodiments described above are exemplary only, and the modules or elements are exemplary only, as there may be additional divisions of logic functions, actual implementations, exemplary, multiple elements or components may be combined or 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 may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network 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 the embodiments 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.
It should be noted that the above embodiments can be freely combined as needed. The foregoing is merely a preferred embodiment of the present invention 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 invention, which are intended to be comprehended within the scope of the present invention.

Claims (10)

1. The method for calculating the flow rate of the solid fluid substance based on the millimeter wave radar is characterized by comprising the following steps:
acquiring distance information and angle information between the solid fluid material and the solid fluid material through a millimeter wave radar;
according to the distance information and the angle information, calculating to obtain coordinate information of each measuring point in the millimeter wave radar and the solid fluid substance;
calculating to obtain the volume change information of the solid fluid substance by utilizing the coordinate information of the millimeter wave radar and the measuring point;
and calculating the flow rate of the solid fluid substance based on the volume change information of the solid fluid substance and the known total volume of the solid fluid substance.
2. The method for calculating the flow rate of the solid fluid substance based on the millimeter wave radar according to claim 1, wherein the obtaining of the distance information and the angle information from the solid fluid substance by the millimeter wave radar includes:
receiving, by the millimeter wave radar, millimeter wave signals reflected by the solid fluid material;
calculating the distance information between the solid fluid substance and the millimeter wave radar and the included angle between the solid fluid substance and the normal of the millimeter wave radar according to the millimeter wave signal; and the included angle between the solid fluid substance and the normal of the millimeter wave radar is the angle information.
3. The method for calculating a flow rate of a solid fluid substance based on a millimeter wave radar according to claim 1, wherein the calculating the coordinate information of each measuring point in the millimeter wave radar and the solid fluid substance according to the distance information and the angle information includes:
substituting the distance information and the included angle information into the following formula to calculate and obtain the travel height between the millimeter wave radar and the measuring point in the height direction:
h＝cosθ*R；
wherein, R represents the relative distance, θ represents the relative included angle, and h represents the stroke height.
4. The method for calculating a flow rate of a solid fluid substance based on a millimeter wave radar according to claim 1, wherein calculating the volume change information of the solid fluid substance using the coordinate information of the millimeter wave radar and the measurement point comprises:
let the coordinates of the first measurement point A be (h A ,L A ) The coordinates of the second measuring point C are (h C ,L C ) The method comprises the steps of carrying out a first treatment on the surface of the The coordinate information comprises distance information and height information of the millimeter wave radar and the measuring point;
calculating a first volume of the solid fluid substance at a start time and a second volume of the solid fluid substance at an end time by:
V 1 ＝π*L 1 2 *(h C1 -h A1 )；
V 2 ＝π*L 2 2 *(h C2 -h A2 )；
obtaining volume change information of the solid fluid substance according to the difference value between the first volume and the second volume;
wherein V is 1 A first volume of the solid fluid substance at a start time; l (L) 1 Distance information of the first measuring point at the starting time is obtained; h is a C1 Height information of the second measuring point at the starting time is obtained; h is a A1 Height information of the first measuring point at the starting time is obtained; v (V) 2 A second volume of the solid fluid material at an end time; l (L) 2 Distance information of the first measuring point at the ending time is obtained; h is a C2 Height information of the second measuring point at the starting time is obtained; h is a A2 And the height information of the first measuring point at the starting time is obtained.
5. The millimeter wave radar-based solid fluid material flow rate calculation method according to any one of claims 1 to 4, wherein the calculating the flow rate of the solid fluid material based on the volume change information of the solid fluid material and the known total volume of the solid fluid material includes:
the flow rate of the solid fluid material is calculated by the following formula:
wherein S is s A flow rate for the solid fluid substance; v (V) 1 A first volume of the solid fluid substance at a start time; v (V) 2 A second volume of the solid fluid material at an end time; t is t 2 Is the end time; t is t 1 For the start time.
6. A millimeter wave radar-based solid-state fluid substance flow rate calculation device, comprising:
the acquisition module is used for acquiring distance information and angle information of the solid fluid substance through the millimeter wave radar;
the calculation module is used for calculating coordinate information of each measuring point in the millimeter wave radar and the solid fluid substance according to the distance information and the angle information;
the calculation module is further used for calculating and obtaining the volume change information of the solid fluid substance by utilizing the coordinate information of the millimeter wave radar and the measuring point;
the calculation module is further configured to calculate a flow rate of the solid fluid substance based on the volume change information of the solid fluid substance and a known total volume of the solid fluid substance.
7. The millimeter wave radar-based solid state fluid matter flow rate computing device of claim 6, wherein the acquisition module is configured to:
receiving, by the millimeter wave radar, millimeter wave signals reflected by the solid fluid material;
calculating the distance information between the solid fluid substance and the millimeter wave radar and the included angle between the solid fluid substance and the normal of the millimeter wave radar according to the millimeter wave signal; and the included angle between the solid fluid substance and the normal of the millimeter wave radar is the angle information.
8. The millimeter wave radar-based solid state fluid matter flow rate computing device of claim 1, wherein the computing module comprises:
substituting the distance information and the included angle information into the following formula to calculate and obtain the travel height between the millimeter wave radar and the measuring point in the height direction:
h＝cosθ*R；
wherein, R represents the relative distance, θ represents the relative included angle, and h represents the stroke height.
9. The millimeter wave radar-based solid state fluid matter flow rate computing device of claim 6, wherein the computing module is configured to:
let the coordinates of the first measurement point A be (h A ,L A ) The coordinates of the second measuring point C are (h C ,L C ) The method comprises the steps of carrying out a first treatment on the surface of the The coordinate information comprises distance information and height information of the millimeter wave radar and the measuring point;
calculating a first volume of the solid fluid substance at a start time and a second volume of the solid fluid substance at an end time by:
V 1 ＝π*L 1 2 *(h C1 -h A1 )；
V 2 ＝π*L 2 2 *(h C2 -h A2 )；
obtaining volume change information of the solid fluid substance according to the difference value between the first volume and the second volume;
wherein V is 1 A first volume of the solid fluid substance at a start time; l (L) 1 Distance information of the first measuring point at the starting time is obtained; h is a C1 Height information of the second measuring point at the starting time is obtained; h is a A1 Height information of the first measuring point at the starting time is obtained; v (V) 2 A second volume of the solid fluid material at an end time; l (L) 2 Distance information of the first measuring point at the ending time is obtained; h is a C2 Height information of the second measuring point at the starting time is obtained; h is a A2 And the height information of the first measuring point at the starting time is obtained.
10. The millimeter wave radar-based solid state fluid matter flow rate computing device of any one of claims 6 to 9, wherein the computing module is configured to:
the flow rate of the solid fluid material is calculated by the following formula:
wherein S is s A flow rate for the solid fluid substance; v (V) 1 A first volume of the solid fluid substance at a start time; v (V) 2 At the end time for the solid fluid substanceA second volume; t is t 2 Is the end time; t is t 1 For the start time.
CN202310732465.5A 2023-06-20 2023-06-20 Method and device for calculating flow velocity of solid fluid substance based on millimeter wave radar Pending CN116540229A (en)

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CN202310732465.5A CN116540229A (en) 2023-06-20 2023-06-20 Method and device for calculating flow velocity of solid fluid substance based on millimeter wave radar

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CN202310732465.5A CN116540229A (en) 2023-06-20 2023-06-20 Method and device for calculating flow velocity of solid fluid substance based on millimeter wave radar

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CN116540229A true CN116540229A (en) 2023-08-04

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