CN117008122A - Method and system for positioning surrounding objects of engineering mechanical equipment based on multi-radar fusion - Google Patents
Method and system for positioning surrounding objects of engineering mechanical equipment based on multi-radar fusion Download PDFInfo
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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
- G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9315—Monitoring blind spots
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9327—Sensor installation details
- G01S2013/93274—Sensor installation details on the side of the vehicles
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Abstract
The invention discloses a method and a system for positioning surrounding objects of engineering machinery equipment based on multi-radar fusion, which are used for realizing accurate positioning information, reducing monitoring blind areas and dead angles, enabling the calculation process to be simpler, more convenient and faster, enabling the system to be realized and operated more conveniently, improving the working efficiency and response speed and realizing relatively lower cost by improving the data fusion process and the calculation method of detection results of a plurality of radar sensors. The method and the system can meet the object detection requirements of most engineering mechanical equipment in different environments such as mines, ports and the like, have wide application prospect and economic benefit, and have important significance in improving the working safety and efficiency.
Description
Technical Field
The invention relates to the technical field of radar detection and the technical field of engineering machinery remote control, in particular to a method and a system for positioning objects around engineering machinery based on multi-radar fusion.
Background
The traditional single radar positioning system has a limited recognition range, so that a large visual blind area exists when the system is applied to monitoring on a large-range or complex-environment operation site. There are solutions for locating objects by other sensors in combination with radar or by using multiple radars in combination. Aiming at the combination fusion scheme of different sensors, such as a fusion scheme of a radar and an ultrasonic sensor, a fusion scheme of a radar and a camera, and the like, the fusion process is complex and is difficult to feed back to a client in a unified form due to different output data types or response information; for the fusion scheme of multiple radars, if the purpose of fully covering is achieved by simply superposing the radar quantity periods, the problem of measurement errors and data inconsistency exists due to the superposition of the radar detection areas which is difficult to avoid, so that positioning information is inaccurate, for example, whether targets observed by the multiple radars come from the same entity or not cannot be determined, and data relevance is lacked. In the prior art, some multi-radar target detection systems applied to unmanned aerial vehicles can perform corresponding analysis processing on the relevance in the process of data fusion, but the processing method is complex, and the data processing capability requirement of data processing equipment is high.
Disclosure of Invention
Based on the prior art, the invention provides a novel method and a system for positioning surrounding objects of engineering mechanical equipment based on multi-radar fusion, which improve the data fusion process, make the data fusion more simple, convenient and quick, and are suitable for positioning the surrounding objects of the engineering mechanical equipment.
In order to achieve the above purpose, the present invention provides the following technical solutions:
the method for positioning the objects around the engineering mechanical equipment based on multi-radar fusion is characterized by comprising the following steps:
step S1: arranging a plurality of radar sensors along the circumferential direction of the engineering mechanical equipment, wherein each radar sensor corresponds to one unit scanning area, and adjusting the installation position and the installation angle of each radar sensor to ensure that each radar sensor is connected with at least one adjacent unit scanning area of the radar sensor to form a continuous scanning area with an expanded scanning range;
step S2: constructing a body coordinate system of the engineering mechanical equipment and each radar sensor, and taking the body coordinate system of the engineering mechanical equipment as a target coordinate system to obtain installation position parameters and installation angle parameters of each radar sensor in the target coordinate system;
step S3: when any radar sensor detects an object, obtaining a positioning parameter of the object in a current radar sensor body coordinate system, and marking the positioning parameter as a first positioning parameter;
transforming the first positioning parameters into a target coordinate system by utilizing the installation position parameters and the installation angle parameters of the radar sensor in the target coordinate system to obtain the positioning parameters of the object in the target coordinate system, and marking the positioning parameters as second positioning parameters;
step S4: comparing the second positioning parameters of the objects detected by different radar sensors in each scanning period, judging the objects with the same second positioning parameters in any scanning period as the same object, completing the association between data, and then entering step S5 or step S6;
step S5: displaying the positioned object and the positions of the engineering mechanical equipment in a visual coordinate graph or a scene graph based on a second positioning parameter of the positioned object in a corresponding interface of a display screen;
step S6: converting the target coordinate system into a polar coordinate system, converting the second positioning parameter into a positioning parameter in the polar coordinate system, generating a radar chart based on the converted polar coordinate system, and displaying the positions of the positioned object and the engineering mechanical equipment in the radar chart based on the converted positioning parameter in a corresponding interface of a display screen.
In addition to the above, a further improved or preferred embodiment further includes:
further, the target coordinate system and the body coordinate system of each radar sensor are two-dimensional coordinate systems parallel to the horizontal plane, the target coordinate system is a rectangular coordinate system, and the body coordinate system of each radar sensor is a polar coordinate system or a rectangular coordinate system.
Further, the installation position parameter of the radar sensor is the linear distance between the installation point of the radar sensor and the origin of the target coordinate system, and the origin or the pole of the coordinate system of the radar sensor body falls on the installation point;
the connecting line of the mounting point of the radar sensor and the origin of the target coordinate system is marked as a first straight line, and the mounting angle parameter of the radar sensor is the offset angle of the first straight line relative to the coordinate axis of the target coordinate system;
the first positioning parameters are the scanning distance and the scanning angle of the object, wherein the scanning distance is the linear distance between the object and the corresponding radar sensor mounting point, the connecting line between the object and the corresponding radar sensor mounting point is marked as a second straight line, and the scanning angle refers to the offset angle of the second straight line relative to the first straight line;
the second positioning parameters are the abscissa and the ordinate of the object in the target coordinate system.
Further, in step S3, the coordinate transformation is expressed by the following formula:
in the above formula:
x and y are the abscissa and ordinate of the object in the target coordinate system;
o is the installation position parameter of the radar sensor;
l is the scanning distance in the first positioning parameters of the object;
when alpha is the reference coordinate axis of the X axis of the target sensor, the installation angle parameter of the radar sensor takes a positive value or a negative value according to the preset positive direction of the angle deviation;
ρ is a scan angle in the first positioning parameter of the object, and takes a positive or negative value according to a preset angular offset positive direction.
Further, the engineering mechanical equipment is mobile equipment, and the plurality of radar sensors are distributed on two sides and the tail of the engineering mechanical equipment.
Further, step S1 includes:
the method comprises the steps of assigning numbers to the radar sensors, sequentially arranging the radar sensors along the circumferential direction of the equipment according to the numbers, arranging a first radar sensor on one side of engineering mechanical equipment, arranging a last radar sensor on the other side of the engineering mechanical equipment, and connecting each radar sensor with a unit scanning area of the next adjacent radar sensor when adjusting the installation position and the installation angle of each radar sensor.
A system for locating objects around a construction machine based on multi-radar fusion, for implementing the method as described above, comprising a controller, a display device, and a plurality of radar sensors;
the radar sensors are sequentially arranged along the circumferential direction of the engineering mechanical equipment, each radar sensor corresponds to one unit scanning area, and each radar sensor is connected with at least one unit scanning area of an adjacent radar sensor to form a continuous scanning area with an expanded scanning range;
the controller is used for constructing a body coordinate system of the engineering mechanical equipment and each radar sensor, taking the body coordinate system of the engineering mechanical equipment as a target coordinate system, and recording installation position parameters and installation angle parameters of each radar sensor in the target coordinate system; the positioning system comprises a target coordinate system, a radar sensor, a positioning sensor, a coordinate conversion calculation module and a positioning module, wherein the target coordinate system is used for acquiring a target coordinate system of an object; the method comprises the steps of comparing second positioning parameters of objects detected by different radar sensors in any preset scanning period, and judging that the objects with the same second positioning parameters are the same object;
the display device is a carrier of a user graphic interface, the signal input end of the display device and the signal output end of the controller, the user graphic interface is provided with a module for displaying a coordinate graph, a radar graph or a scene graph, and the positions of the object and the engineering mechanical device in the coordinate graph, the radar graph or the scene graph are displayed based on the second positioning parameter of the scanned object or the polar coordinate parameter corresponding to the second positioning parameter in any scanning period.
Further, the controller is provided with a data processing module for converting the target coordinate system into a polar coordinate system, converting the second positioning parameter into a positioning parameter in the polar coordinate system, and generating a radar map based on the converted polar coordinate system.
The beneficial effects of the invention include:
compared with the traditional single radar positioning system, the method and the system for positioning the surrounding objects of the engineering mechanical equipment based on multi-radar fusion can effectively reduce blind areas and dead angles, provide more comprehensive object sensing capability, can determine whether targets observed by a plurality of radars come from the same entity, can effectively correlate data, enable positioning information to be more accurate, and enable a calculation process to be simple and rapid, so that the system is more convenient to realize and operate, the requirement on the data processing capability of a controller is relatively low, and the implementation cost is effectively controlled while the working efficiency and the response speed are improved. The method and the system can meet the object detection requirements of most engineering mechanical equipment in different environments such as mines, ports and the like, have wide application prospect and economic benefit, and have important significance in improving the working safety and efficiency.
Drawings
FIG. 1 is a flow chart of an exemplary process of the method of the present invention;
FIG. 2 is a schematic diagram of the installation of the system of the present invention in an embodiment;
FIG. 3 is a radar pictorial view in a UI interface of the system of the present invention;
fig. 4 is a reference diagram of coordinate conversion.
Detailed Description
The invention will now be described in further detail with reference to the drawings and specific embodiments.
Example 1:
in the embodiment, an electric forklift for large engineering machinery equipment is taken as an example, and surrounding objects which are detected and positioned in the running and working processes of the electric forklift system are set as surrounding pedestrians.
The method for positioning objects around engineering machinery equipment based on multi-radar fusion in the embodiment comprises the following steps of:
step S1: according to the height range of staff on the operation field, four millimeter wave radar sensors are arranged at proper height along the circumferential direction of the engineering mechanical equipment, numbers are assigned to the millimeter wave radar sensors, the millimeter wave radar sensors are sequentially arranged, the first radar sensor is located on one side of the body of the engineering mechanical equipment, the fourth radar sensor is located on the other opposite side of the body of the engineering mechanical equipment, and the other two radar sensors are symmetrically arranged at the tail of the electric shovel car.
Each radar sensor corresponds to one unit scanning area, and when the installation position and the installation angle of each radar sensor are adjusted, each radar sensor is connected with the unit scanning area of the next adjacent radar sensor, so that a continuous scanning area with an enlarged scanning range is formed, and the blind area of the visual field of a driver is fully covered. The front of the electric shovel is in the visual field of the driver, and the front of the electric shovel is provided with the electric shovel of the operation mechanism, so the first radar sensor and the fourth radar sensor are not connected.
Step S2: and constructing a body coordinate system of the engineering mechanical equipment and each radar sensor, and taking the body coordinate system of the engineering mechanical equipment as a target coordinate system to obtain the installation position parameters and the installation angle parameters of each radar sensor in the target coordinate system.
The target coordinate system is a rectangular coordinate system, and the body coordinate system of the radar sensor is a polar coordinate system or a rectangular coordinate system. In this embodiment, the traveling direction of the construction machine is set to be the positive direction of the X-axis of the body coordinate system thereof, and the origin of the coordinate system thereof falls at the center of the vehicle body thereof. The radar sensor installation position parameter refers to the linear distance between a radar sensor installation point and an origin of a target coordinate system, and the origin or a pole of the radar sensor body coordinate system falls on the installation point; and (3) recording a connecting line of the mounting point of the radar sensor and the origin of the target coordinate system as a first straight line, wherein the mounting angle parameter of the radar sensor refers to the offset angle of the first straight line relative to the coordinate axis of the target coordinate system.
Step S3: when any radar sensor detects an object, obtaining a positioning parameter of the object in a current radar sensor body coordinate system, and marking the positioning parameter as a first positioning parameter; and carrying out coordinate conversion by utilizing the installation position parameter and the installation angle parameter of the radar sensor in the target coordinate system, converting the first positioning parameter into the target coordinate system, obtaining the positioning parameter of the object in the target coordinate system, and marking the positioning parameter as a second positioning parameter.
The first positioning parameters are the scanning distance and the scanning angle of the object, wherein the scanning distance is the linear distance between the object and the corresponding radar sensor mounting point, the connecting line between the object and the corresponding radar sensor mounting point is marked as a second straight line, and the scanning angle refers to the offset angle of the second straight line relative to the first straight line; the second positioning parameters are the abscissa and the ordinate of the object in the target coordinate system.
The coordinate transformation is achieved by the following formula:
in the above formula:
x and y are the abscissa and ordinate of the object in the target coordinate system;
o is the installation position parameter of the radar sensor;
l is the scanning distance in the first positioning parameters of the object;
alpha is the installation angle parameter of the radar sensor when the X axis of the target sensor is taken as a reference coordinate axis;
ρ is the scan angle in the first positioning parameters of the object.
According to the preset positive direction of the angular offset, the alpha and the rho can take a positive value or a negative value correspondingly according to the relative position relations of different radar sensors and objects. As shown in fig. 4, if the clockwise rotation is set to be in the positive direction, α is a positive value and ρ is a negative value.
Step S4: and comparing the second positioning parameters of the objects detected by different radar sensors in each scanning period, judging the objects with the same second positioning parameters in any scanning period as the same object, completing the association between data, and then entering step S5 or step S6.
Step S5: and displaying the positions of the positioned object and the engineering mechanical equipment in a visual coordinate graph or a scene graph based on the second positioning parameters of the positioned object in a corresponding interface of the display screen, and refreshing the position of the object according to the detection result of the next period after one scanning period.
Step S6: converting the target coordinate system into a polar coordinate system, converting the second positioning parameter into a positioning parameter in the polar coordinate system, generating a radar chart based on the converted polar coordinate system, displaying the positions of the positioned object and the engineering mechanical equipment in the radar chart based on the converted positioning parameter in a corresponding interface of a display screen, and refreshing the position of the object according to the detection result of the next period after one scanning period.
The following is a Python pseudo-code program demonstrating the calculation process of the present invention:
(1) Beginning to import the math module;
(2) Defining a radar_configurations list, which contains a plurality of dictionary elements, wherein each dictionary element represents one radar configuration information;
(3) A calculate target position function is defined which receives four parameters: offset, distance, ist_angle, scan_angle, return the position of the object under the coordinate system;
(4) A print target position function is defined, which receives two parameters: name and position, printing the object position;
(5) If the current script is the main program (i.e., not imported or invoked by other scripts):
(6) For each dictionary element in the radar_configurations, the following is performed:
(7) Acquiring name, offset, ist _angle, scan_angle and distance values of the current radar configuration;
(8) Calling a calculation_target_position function, and calculating the position of an object under a coordinate system;
(9) Calling a print_target_position function to print the object position;
(10) And (5) ending.
The above-described example program calculates and outputs the positions of the left side radar, the right side radar, the left rear radar, and the right rear radar in the work target coordinate system by setting the configuration information of the radar sensor. In the program, configuration information of the radar sensor including a name, an offset, an installation angle, a scanning angle, a distance, and the like is first defined. The position of each radar-corresponding object in the coordinate system is then calculated using the calculate_target_position function. Finally, the name and coordinates of each object are printed out using the print_target_position function. The function of this example program is to calculate coordinates of a plurality of objects in the work machine body coordinate system from given radar configuration information, and output the results to the controller.
The body coordinate system described above refers to a coordinate system attached to the corresponding moving body.
Example 2:
this embodiment provides a system for carrying out the method of embodiment 1.
The system for positioning objects around the engineering mechanical equipment based on multi-radar fusion comprises a controller, display equipment, a plurality of radar sensors and the like.
The radar sensors are sequentially arranged along the circumferential direction of the engineering mechanical equipment, each radar sensor corresponds to one unit scanning area, and each radar sensor is at least connected with the unit scanning area of one adjacent radar sensor to form a continuous scanning area with an expanded scanning range. The description of embodiment 1 is omitted herein.
The controller is used for constructing a body coordinate system of the engineering mechanical equipment and each radar sensor, taking the body coordinate system of the engineering mechanical equipment as a target coordinate system, and recording installation position parameters and installation angle parameters of each radar sensor in the target coordinate system; the positioning system comprises a target coordinate system, a radar sensor, a positioning sensor, a coordinate conversion calculation module and a positioning module, wherein the target coordinate system is used for acquiring a target coordinate system of an object; and the second positioning parameters are used for comparing the objects detected by the different radar sensors in any preset scanning period, and for the objects with the same second positioning parameters, the objects are judged to be the same object.
The display device is a carrier of a user graphical interface (UI), and a signal input end of the display device and a signal output end of the controller. The user graphic interface is provided with a module for displaying a coordinate graph, a radar graph or a scene graph (including a map, a field guide graph and the like), the detected object is represented by a set graphic symbol, and the positions of the object and the engineering mechanical equipment in the coordinate graph, the radar graph or the scene graph are displayed based on a second positioning parameter of the scanned object or a polar coordinate parameter corresponding to the second positioning parameter in any scanning period.
And aiming at the display form of the radar graph, a data processing module for converting the target coordinate system into a polar coordinate system, converting the second positioning parameter into a positioning parameter in the polar coordinate system and generating the radar graph based on the converted polar coordinate system is arranged in the controller. A radar chart integrating detection results of the respective radar sensors is shown in fig. 3.
And the positioned surrounding objects are displayed in real time through a user graphical interface, so that related users are reminded in a visual mode, and the operation safety and efficiency are effectively improved. The method and the system are simple and efficient in deployment, only a plurality of radar sensors are needed, other auxiliary sensors are not needed, and the calculation process is simple, convenient and quick, so that the system is more convenient to realize and operate, the working efficiency and the response speed can be improved, and the use and maintenance cost is low. Therefore, the method and the system are suitable for the engineering fields of construction, mines, water conservancy and the like, and have wide application prospect and economic benefit.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above examples, and all technical solutions belonging to the concept of the present invention belong to the protection scope of the present invention. It should be noted that modifications and adaptations to the invention without departing from the principles thereof are intended to be within the scope of the invention as set forth in the following claims.
Claims (8)
1. The method for positioning the objects around the engineering mechanical equipment based on multi-radar fusion is characterized by comprising the following steps:
step S1: arranging a plurality of radar sensors along the circumferential direction of the engineering mechanical equipment, wherein each radar sensor corresponds to one unit scanning area, and adjusting the installation position and the installation angle of each radar sensor to ensure that each radar sensor is connected with at least one adjacent unit scanning area of the radar sensor to form a continuous scanning area with an expanded scanning range;
step S2: constructing a body coordinate system of the engineering mechanical equipment and each radar sensor, and taking the body coordinate system of the engineering mechanical equipment as a target coordinate system to obtain installation position parameters and installation angle parameters of each radar sensor in the target coordinate system;
step S3: when any radar sensor detects an object, obtaining a positioning parameter of the object in a current radar sensor body coordinate system, and marking the positioning parameter as a first positioning parameter;
transforming the first positioning parameters into a target coordinate system by utilizing the installation position parameters and the installation angle parameters of the radar sensor in the target coordinate system to obtain the positioning parameters of the object in the target coordinate system, and marking the positioning parameters as second positioning parameters;
step S4: comparing the second positioning parameters of the objects detected by different radar sensors in each scanning period, judging the objects with the same second positioning parameters in any scanning period as the same object, completing the association between data, and then entering step S5 or step S6;
step S5: displaying the positioned object and the positions of the engineering mechanical equipment in a visual coordinate graph or a scene graph based on a second positioning parameter of the positioned object in a corresponding interface of a display screen;
step S6: converting the target coordinate system into a polar coordinate system, converting the second positioning parameter into a positioning parameter in the polar coordinate system, generating a radar chart based on the converted polar coordinate system, and displaying the positions of the positioned object and the engineering mechanical equipment in the radar chart based on the converted positioning parameter in a corresponding interface of a display screen.
2. The method for locating objects around a construction machine based on multi-radar fusion according to claim 1, wherein:
the target coordinate system and the body coordinate system of each radar sensor are two-dimensional coordinate systems parallel to the horizontal plane, the target coordinate system is a rectangular coordinate system, and the body coordinate system of each radar sensor is a polar coordinate system or a rectangular coordinate system.
3. The method for locating objects around a construction machine based on multi-radar fusion according to claim 2, wherein:
the installation position parameter of the radar sensor is the linear distance between the installation point of the radar sensor and the origin of the target coordinate system, and the origin or the pole of the coordinate system of the radar sensor body falls on the installation point;
the connecting line of the mounting point of the radar sensor and the origin of the target coordinate system is marked as a first straight line, and the mounting angle parameter of the radar sensor is the offset angle of the first straight line relative to the coordinate axis of the target coordinate system;
the first positioning parameters are the scanning distance and the scanning angle of the object, wherein the scanning distance is the linear distance between the object and the corresponding radar sensor mounting point, the connecting line between the object and the corresponding radar sensor mounting point is marked as a second straight line, and the scanning angle refers to the offset angle of the second straight line relative to the first straight line;
the second positioning parameters are the abscissa and the ordinate of the object in the target coordinate system.
4. A method for locating objects around a construction machine based on multi-radar fusion according to claim 3, wherein in step S3, the coordinate transformation is expressed by the following formula:
in the above formula:
x and y are the abscissa and ordinate of the object in the target coordinate system;
o is the installation position parameter of the radar sensor;
l is the scanning distance in the first positioning parameters of the object;
when alpha is the reference coordinate axis of the X axis of the target sensor, the installation angle parameter of the radar sensor takes a positive value or a negative value according to the preset positive direction of the angle deviation;
ρ is a scan angle in the first positioning parameter of the object, and takes a positive or negative value according to a preset angular offset positive direction.
5. The method for locating objects around a construction machine based on multi-radar fusion according to any one of claims 1 to 4, wherein:
the engineering mechanical equipment is mobile equipment, and the plurality of radar sensors are distributed on two sides and the tail of the engineering mechanical equipment.
6. The method for locating objects around a construction machine based on multi-radar fusion according to claim 5, wherein step S1 comprises:
the method comprises the steps of assigning numbers to the radar sensors, sequentially arranging the radar sensors along the circumferential direction of the equipment according to the numbers, arranging a first radar sensor on one side of engineering mechanical equipment, arranging a last radar sensor on the other side of the engineering mechanical equipment, and connecting each radar sensor with a unit scanning area of the next adjacent radar sensor when adjusting the installation position and the installation angle of each radar sensor.
7. A system for locating objects around a construction machine based on multi-radar fusion for implementing the method according to any one of claims 1-6, characterized by comprising a controller, a display device and a plurality of radar sensors;
the radar sensors are sequentially arranged along the circumferential direction of the engineering mechanical equipment, each radar sensor corresponds to one unit scanning area, and each radar sensor is connected with at least one unit scanning area of an adjacent radar sensor to form a continuous scanning area with an expanded scanning range;
the controller is used for constructing a body coordinate system of the engineering mechanical equipment and each radar sensor, taking the body coordinate system of the engineering mechanical equipment as a target coordinate system, and recording installation position parameters and installation angle parameters of each radar sensor in the target coordinate system; the positioning system comprises a target coordinate system, a radar sensor, a positioning sensor, a coordinate conversion calculation module and a positioning module, wherein the target coordinate system is used for acquiring a target coordinate system of an object; the method comprises the steps of comparing second positioning parameters of objects detected by different radar sensors in any preset scanning period, and judging that the objects with the same second positioning parameters are the same object;
the display device is a carrier of a user graphic interface, the signal input end of the display device and the signal output end of the controller, the user graphic interface is provided with a module for displaying a coordinate graph, a radar graph or a scene graph, and the positions of the object and the engineering mechanical device in the coordinate graph, the radar graph or the scene graph are displayed based on the second positioning parameter of the scanned object or the polar coordinate parameter corresponding to the second positioning parameter in any scanning period.
8. The system for locating objects around a construction machine based on multi-radar fusion of claim 7, wherein:
the controller is provided with a data processing module which converts the target coordinate system into a polar coordinate system, converts the second positioning parameter into a positioning parameter in the polar coordinate system and generates a radar map based on the converted polar coordinate system.
Priority Applications (1)
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