CN210864037U - Non-line-of-sight area moving target detection system based on multipath signals - Google Patents
Non-line-of-sight area moving target detection system based on multipath signals Download PDFInfo
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Abstract
The utility model belongs to radar target detection field discloses a non-stadia region moves target detecting system based on multipath signal. This system is by the revolving stage base, metal protection panel, the power supply mount pad, the signal processing unit, portable power source and voltage stabilizing module, the connecting wire, millimeter wave radar sensor installation panel, radar data acquisition unit, laser radar installation base, user operation display screen, user external interface constitutes, above each part has constituted external detection respectively, data processing, user control and demonstration, four systems of power supply, can realize scene prior information measurement, acquire target radar echo data and real-time processing, finally show the result or send to user APP's function. The utility model discloses satisfy the demand of city anti-terrorism combat task, solved the problem of the regional target detection difficulty of non-stadia, had advantages such as small, the quality is light, with low costs, easy operation, precision height and stable performance.
Description
Technical Field
The invention belongs to the field of radar target detection, and relates to a non-line-of-sight area moving target detection system based on multipath signals.
Background
Radar target detection is the basic function of radar, and conventional radar detection system carries out the situation perception through acquireing the stadia signal, nevertheless can appear intensive building in complicated urban environment and shelter from, and a large amount of useful information exist in the stadia blind area, bring very big puzzlement for target detection and early warning perception. For example, collision accidents often occur at corners of underground garages; in urban anti-terrorism action, enemies hidden in corner blind areas greatly increase casualties and task difficulty of our parties. It follows that it is useful and necessary to find a means of non-line-of-sight detection.
In the radar target detection field, the current non-line-of-sight detection means mainly detects targets through a through-wall radar, but has several problems in the practical application: 1) the general through-wall radar has lower frequency band and larger volume, and can have the problems of difficult carrying, inconvenient operation and the like under the environment with higher mobility requirements such as anti-terrorism battle; 2) the through-wall radar has complex signal processing, and the working performance has great relation with the thickness, the material and the like of the wall body; 3) in a corner area, a general wall body is thick and large, a through-wall radar is difficult to penetrate or echo signals are weak, and a target is submerged in clutter and noise and cannot be found effectively in time.
The non-line-of-sight moving target detection based on multipath has the advantages that the current commonly used target detection mode does not have: compared with the conventional sight distance detection, the method breaks through the limitation of sight distance areas and expands the measurement range; compared with a through-wall radar, the radar has the advantages of small volume, light weight and portability; compared with the common radar system, the radar system has the advantages of high resolution, integration and the like. Therefore, it is of great significance to develop multipath-based non-line-of-sight moving target detection, and several key technical problems need to be solved in developing multipath-based target detection: firstly, extracting effective multipath from weak and complex multipath signals; secondly, the system meets the actual combat requirement, needs high operation speed and is integrally portable; and thirdly, solving the problem of false splitting target under the multipath condition.
In the environment of utilizing multipath to detect a target such as urban anti-terrorism, an effective means is needed to be adopted to improve weak multipath signals and utilize the weak multipath signals, and a proper signal receiving and signal preprocessing module is designed to effectively enhance the multipath signals and extract useful multipath signals; meanwhile, in actual anti-terrorism battles, the real-time performance and the portability of the system are higher, the real-time performance can be met by designing an efficient data transmission processing mode, and the requirement on the portability can be met by designing a reasonable system structure and selecting materials.
A non-line-of-sight area moving target detection technology based on multipath signals belongs to radar signal processing and target detection leading edge technologies, and no related technology and system for detecting moving targets in blind areas of range by using the multipath signals are disclosed at present.
Disclosure of Invention
In order to solve the target detection problem in a non-line-of-sight area and overcome the defects of a through-wall radar, the invention breaks through the idea that the conventional radar inhibits multipath signals, utilizes the multipath signals to aim at the urban anti-terrorism requirement, designs and completes a non-line-of-sight moving target detection radar system based on the multipath signals, lays the radar in an enemy line-of-sight blind area by taking a radar moving target detection technology as a basis and combining multipath scenes, and realizes the following functions by using prior information and combining means such as joint detection, pseudo target correction, azimuth super-resolution, split target coherent superposition and the like: 1) acquiring scene prior information; 2) measuring the speed, distance and direction of a target; 3) accurately positioning a target; 4) real-time monitoring and situation perception.
The invention breaks through the conventional thought that the radar inhibits the multipath signals, utilizes the multipath signals, provides the non-line-of-sight area moving target detection system suitable for the complex wall body environment, is used for making up the problem that the scene applicability of the conventional radar detection system is incomplete, and has the advantages of high precision, high resolution, real-time performance, integration, easiness in carrying and the like.
The purpose of the invention is realized by the following technical scheme:
the system comprises a system panel mounting groove, a metal protection panel, a system screw fixing hole, a system turntable connector, a mobile power supply, a power supply control panel, a power supply charging hole, a power supply mounting seat, a voltage stabilizing module, a connecting wire, a millimeter wave radar sensor mounting panel, an electromagnetic wave transmitting hole, a radar data acquisition unit, a laser radar mounting base, a signal processing unit, a user operation display screen, a display screen mosaic panel and a user external interface; the metal protection panels comprise a system bottom plate, a system right side panel, a system left side panel and a system top cover, each protection panel is fixed through a system panel mounting groove and a system screw fixing hole, and the connecting lines comprise data network lines, USB connecting lines and video connecting lines; the radar data acquisition unit is connected with the millimeter wave radar sensor in a clinging manner, so that the aim of acquiring and storing data at a high speed is fulfilled, and the real-time performance of the system is improved; the laser radar is installed at the top of the system, the millimeter wave radar sensor is connected with a millimeter wave radar sensor installation panel made of plastic through four fixing columns, emitted electromagnetic waves are radiated outwards through an electromagnetic wave emission hole in the millimeter wave radar sensor installation panel, the signal processing unit and the voltage stabilizing module are fixed on a system bottom plate through system screw fixing holes, the mobile power supply is fixed on a system left side panel through a power supply installation seat, and a power supply charging hole and a user external interface are formed in the system left side panel; the user operation display screen is arranged on the display screen mosaic panel.
The detection system is functionally divided into an external detection system, a data processing system, a user control and display system and a power supply system.
The external detection system consists of a millimeter wave radar sensor, a millimeter wave radar sensor mounting panel, a radar data acquisition unit, a laser radar and a laser radar mounting base; the millimeter wave radar sensor is divided into a radio frequency/analog module, a radio frequency radio module, a user programming module and a main control module, wherein the core chip of the millimeter wave radar sensor is AWR1642, the radar receiving antenna of the millimeter wave radar sensor is a patch antenna which can send and receive signals 2 and 4, and the millimeter wave radar sensor has two working modes and has the characteristics of finding a target in advance at a long distance and accurately monitoring the target at a short distance; the millimeter wave radar sensor is fixed through four mounting holes on the millimeter wave radar sensor mounting panel; the millimeter wave radar sensor mounting panel is made of a hard plastic plate, the thickness of the millimeter wave radar sensor mounting panel is 3mm, so that interference of the shell on electromagnetic waves is reduced, and the millimeter wave radar sensor mounting panel is provided with a rectangular electromagnetic wave transmitting hole right facing the radar receiving antenna, so that the transmission of radar electromagnetic waves is not affected.
The millimeter wave radar sensor is used for acquiring radar echo original data and transmitting the radar echo original data to the signal processing unit in real time through the radar data acquisition unit; the laser radar is used for providing geometric prior information of a scene, the accurate geometric prior information of the scene is the key for correctly positioning a target under multipath, the laser radar is cylindrical with the radius of 30mm, the center of the cylinder and the center of an antenna of the laser radar are in the same vertical plane, the laser radar is connected with a laser radar mounting base through a system screw fixing hole and is fixed at the top of the whole system, 360-degree all-dimensional laser ranging scanning within the radius range of 30 meters of a two-dimensional plane can be realized, and a plane point cloud map of the space where the laser radar is located is generated, so that the geometric prior information of a detection scene is provided; the reflection echo generated after the laser signal sent by the laser radar irradiates on the target object is received by the vision acquisition system of the laser radar, then after real-time calculation, the irradiated distance value between the target object and the laser radar and the current included angle information are output from the communication interface and transmitted to the signal processing unit through the data transmission line.
The data processing system consists of a signal processing unit and a user external interface, wherein the signal processing unit adopts a TL6678-EasyEVM circuit as a signal comprehensive processor, the TL6678-EasyEVM core board has the physical size of 80 x 58mm, and the TL6678-EasyEVM core board is fixed on a system bottom board through system screw fixing holes; the signal processing unit receives target echo data from the millimeter wave radar sensor through a data network cable by utilizing a network port, controls the radar data acquisition unit through a USB (universal serial bus) connecting wire, is connected with the laser radar through the USB data cable, receives scanning data from the laser radar, and is connected with a user operation display screen through a video connecting wire; the signal processing unit is used for sending instructions to the millimeter wave radar sensor and the laser radar, receiving detection data in real time, processing the multipath signals in real time, and finally displaying the real-time processing result through a user operation display screen.
The user control and display system consists of a user operation display screen and a display screen mosaic panel, wherein the user operation display screen is an LCD display screen, is embedded in the display screen mosaic panel through a mounting groove, is connected with the TL6678-EasyEVM circuit through an HDMI video line and a USB control line, and is used for displaying a target detection result and target information;
the power supply system consists of a mobile power supply, two voltage stabilizing modules, a power supply control panel, a power supply mounting seat and power supply charging holes, wherein the mobile power supply can provide the cruising ability of 6 hours for the whole system; the output of the mobile power supply is respectively 9V/DC output and 24V/DC output, the 9V/DC output end is connected with a 5V voltage stabilizing module, and the 24V/DC output end is connected with a 12V voltage stabilizing module; the 12V voltage stabilizing module provides 12V/3A working voltage and current for the TL6678-EasyEVM circuit, the 5V voltage stabilizing module provides 5V/2.5A working voltage and current for the millimeter wave radar sensor, and the 5V output interface is used for directly supplying power for the laser radar and the user operation display screen.
Preferably, the lidar is an RPLIDAR a3 lidar.
Preferably, a heat radiation fan is additionally arranged at the mounting area of the TL6678-EasyEVM circuit so as to improve the service life and the working stability of hardware.
Preferably, the mobile power supply adopts a lithium battery to directly supply power to each system, so that the volume and the mass of the system are reduced.
Preferably, the size of the rectangular electromagnetic wave emitting hole is 80mm by 50 mm.
Preferably, the LCD display screen is a 7 inch (230mm 168mm) LCD display screen.
The beneficial effect of this system is:
the multipath-based non-line-of-sight area moving target detection system can adapt to working environments such as city anti-terrorism and the like, and can effectively find, position and track the target in the non-line-of-sight area in complex environments such as the city and the like. The system comprises a millimeter wave radar sensor, a laser radar sensor, a signal processing unit, a user interface and a signal processing unit, wherein the millimeter wave radar sensor and the laser radar are mainly used for external information detection, the signal processing unit is mainly used for rapidly receiving and processing data in real time and sending results, and the system has the capability of processing in real time and timely transmitting the results to the user interface; in addition, the system has small volume, light weight, simple and easy operation and stable and reliable performance.
The invention solves the problem of moving target detection in a non-line-of-sight area under the condition of multipath, and the system provided by the invention is not limited to detecting target information in the line-of-sight area and can effectively detect the moving target in the non-line-of-sight area.
The invention has wide applicability: the method has the advantages that comprehensive observation is carried out through an actual radar, various ground objects which are easy to generate mirror reflection and characteristics of the ground objects are summarized, and a multipath model is established by combining prior information, so that reference is provided for multipath detection under a complex urban environment. Compared with other detection means, the method has wider applicability in the military or civil field.
Drawings
FIG. 1 is a schematic diagram of an application scenario of the present invention;
FIG. 2 is a schematic diagram of the system architecture of the present invention;
FIG. 3 is a three-dimensional schematic overall effect diagram of the system of the present invention;
FIG. 4 is an exploded view of the system design of the present invention;
FIG. 5 is a pictorial exploded view of the system of the present invention;
FIG. 6 is a front view of the system of the present invention;
FIG. 7 is a rear view of the system of the present invention;
FIG. 8 is a left side view of the system of the present invention;
FIG. 9 is a right side view of the system of the present invention;
FIG. 10 is a top view of the system of the present invention;
FIG. 11 is a graph comparing the performance of a multipath detector versus a conventional detector
FIG. 12 is a diagram of an anti-terrorist scene simulation and system layout in the present invention;
FIG. 13 is a result graph of target distance information processed by the system of the present invention;
FIG. 14 is a graph showing the results of range-Doppler information for a target;
FIG. 15 is a diagram of the positioning result of an object;
fig. 16 is a system performance analysis diagram.
Description of reference numerals:
1-system panel mounting groove (fig. 2, fig. 3, fig. 4), 2-mobile power supply (fig. 2, fig. 4), 3-voltage stabilizing module (fig. 2, fig. 4), 4-system bottom plate (fig. 2, fig. 3, fig. 4), 5-radar data acquisition unit (fig. 2, fig. 4), 6-signal processing unit (fig. 2, fig. 4), 7-system right side panel (fig. 2, fig. 4, fig. 9), 8-user operation display screen (fig. 2, fig. 3, fig. 4, fig. 6, fig. 10), 9-system top cover (fig. 2, fig. 3, fig. 4, fig. 10), 10-laser radar (fig. 2, fig. 3, fig. 4), 11-laser radar mounting base (fig. 2, fig. 4), 12-millimeter wave radar sensor mounting panel (fig. 2, fig. 4, fig. 7), 13-millimeter wave radar sensor (fig. 4), 14-display screen mosaic panel (figure 4, figure 6, figure 10), 15-power control panel (system switch) (figure 3, figure 4, figure 8), 16-power charging hole (figure 3, figure 4, figure 8), 17-user external interface (figure 3, figure 4, figure 8), 18-system screw fixing hole (figure 3, figure 4, figure 10), 19-electromagnetic wave emission hole (figure 7), 20-system left side panel (figure 3, figure 4, figure 8), 21-system turntable connector (figure 4), 22-power installation seat (figure 4).
The specific implementation mode is as follows:
the technical solution of the present invention will be clearly and completely described by the following embodiments.
Fig. 1 is a schematic view of an application scenario of the present invention. In the figure, the radar is fixedly arranged, signals transmitted by the radar reach a target position after being reflected by the reflecting surface and return to the radar receiver, and the beam can cover the mirror surface position and the target position. The system is mainly used for scenes with more corners in urban anti-terrorism battles, but is not limited to the scenes.
In fig. 2, 3, 4 and 5, the system for detecting a moving target in a non-line-of-sight region based on a multipath signal according to the present invention is composed of a system panel mounting groove 1, a metal protection panel, a system screw fixing hole 18, a system turntable connector 21, a mobile power supply 2, a power control panel 15, a power charging hole 16, a power mounting seat 22, a voltage stabilizing module 3, a connecting wire, a millimeter wave radar sensor 13, a millimeter wave radar sensor mounting panel 12, a radar data acquisition unit 5, a laser radar 10, a laser radar mounting base 11, a signal processing unit 6, a user operation display screen 8, a display screen mosaic panel 14 and a user external interface 17; the metal protection panel comprises a system bottom plate 4, a system right side panel 7, a system left side panel 20 and a system top cover 9, each protection panel is fixed through a system panel mounting groove 1 and a system screw fixing hole 18, the connecting lines comprise data network lines, USB connecting lines and video connecting lines, and the radar data acquisition unit 5 is connected with the millimeter wave radar sensor 13 in a clinging mode so as to achieve the purposes of acquiring and storing data at a high speed and improve the real-time performance of the system; the laser radar 10 is installed at the top of the system, the millimeter wave radar sensor 13 is connected with a millimeter wave radar sensor installation panel 12 made of plastic through four fixing columns, emitted electromagnetic waves are radiated outwards through an electromagnetic wave emission hole 19 in the millimeter wave radar sensor installation panel 12, the signal processing unit 6 and the voltage stabilizing module 3 are fixed on a system bottom plate 4 through system screw fixing holes, the mobile power supply 2 is fixed on a system left side panel 20 through a power supply installation seat 22, and a power supply charging hole 16 and a user external interface 17 are formed in the system left side panel 20; the user operated display screen 8 is mounted on a display screen mosaic panel 14.
The detection system is functionally divided into an external detection system, a data processing system, a user control and display system and a power supply system.
The external detection system consists of a millimeter wave radar sensor 13, a millimeter wave radar sensor mounting panel 12, a radar data acquisition unit 5, a laser radar 10 and a laser radar mounting base 11; the millimeter wave radar sensor 13 is divided into a radio frequency/analog module, a radio frequency radio module, a user programming module and a main control module, a core chip of the millimeter wave radar sensor is AWR1642, a radar receiving antenna of the millimeter wave radar sensor is a patch antenna which can send and receive signals 2 and 4, and the millimeter wave radar sensor 13 has two working modes and has the characteristics of finding a target in advance at a long distance and accurately monitoring the target at a short distance; the millimeter wave radar sensor 13 is fixed through four mounting holes on the millimeter wave radar sensor mounting panel 12; the millimeter wave radar sensor mounting panel 12 is made of a hard plastic plate, the thickness of the plastic plate is 3mm, so that the interference of the shell on electromagnetic waves is reduced, and the millimeter wave radar sensor mounting panel 12 is provided with a rectangular electromagnetic wave emitting hole 19 at the position right opposite to a radar receiving antenna so as to ensure that the emission of radar electromagnetic waves is not influenced;
the millimeter wave radar sensor 13 is used for collecting radar echo original data and transmitting the radar echo original data to the signal processing unit 6 in real time through the radar data collecting unit 5; the laser radar 10 is used for providing geometric prior information of a scene, the accurate geometric prior information of the scene is the key of correct positioning of a target in a multipath scene, the laser radar 10 is cylindrical with the radius of 30mm, the center of the cylinder and the center of a radar receiving antenna are in the same vertical plane, the laser radar 10 is connected with a laser radar mounting base 11 through a system screw fixing hole and is fixed at the top of the whole system, 360-degree omnibearing laser ranging scanning in the radius range of 30 meters of a two-dimensional plane can be achieved, a plane point cloud map of the space where the laser radar is located is generated, and therefore the geometric prior information of a detection scene is provided; reflected echoes generated after laser signals emitted by the laser radar 10 irradiate a target object are received by a vision acquisition system of the laser radar 10, and then after real-time calculation, the distance value between the irradiated target object and the laser radar and the current included angle information are output from a communication interface and transmitted to the signal processing unit 6 through a data transmission line;
the data processing system consists of a signal processing unit 6 and a user external interface 17, wherein the signal processing unit 6 adopts a TL6678-EasyEVM circuit as a signal comprehensive processor, and a TL6678-EasyEVM core board is fixed on a system bottom plate 4 through system screw fixing holes, wherein the physical size of the TL6678-EasyEVM core board is 80 x 58 mm; the signal processing unit 6 receives target echo data from the millimeter wave radar sensor 13 through a data transmission network cable by using a network port, controls the radar data acquisition unit 5 through a USB connecting line, is connected with the laser radar 10 through a USB data cable, receives scanning data from the laser radar 10, and is connected with the user operation display screen 8 through a video connecting line; the signal processing unit 6 is used for sending instructions to the millimeter wave radar sensor 13 and the laser radar 10, receiving detection data in real time, processing multi-path signals in real time, and finally displaying real-time processing results through the user operation display screen 8;
the user control and display system consists of a user operation display screen 8 and a display screen mosaic panel 14, wherein the user operation display screen 8 is an LCD display screen, is embedded in the display screen mosaic panel 14 through a mounting groove, is connected with the TL6678-EasyEVM circuit through an HDMI video line and a USB control line, and is used for displaying a target detection result and target information;
the power supply system consists of a mobile power supply 2, a voltage stabilizing module 3, a power supply control panel 15, a power supply mounting seat 22 and a power supply charging hole 16, wherein the mobile power supply 2 can provide the cruising ability of 6 hours for the whole system, and the voltage stabilizing module 3 is divided into two parts; the output of the mobile power supply is respectively 9V/DC output and 24V/DC output, the 9V/DC output end is connected with a 5V voltage stabilizing module, and the 24V/DC output end is connected with a 12V voltage stabilizing module; the 12V voltage stabilizing module provides 12V/3A working voltage and current for the TL6678-EasyEVM circuit, the 5V voltage stabilizing module provides 5V/2.5A working voltage and current for the millimeter wave radar sensor 13, and the 5V output interface directly supplies power for the laser radar and the user operation display screen 8;
preferably, the lidar 10 is an RPLIDAR a3 lidar.
Preferably, a heat radiation fan is additionally arranged at the mounting area of the TL6678-EasyEVM circuit so as to improve the service life and the working stability of hardware.
Preferably, the mobile power supply 2 adopts a lithium battery to directly supply power to each system, so as to reduce the volume and the mass of the system.
Preferably, the size of the rectangular electromagnetic wave emitting hole 19 is 80mm by 50 mm.
Preferably, the LCD display 8 is a 7 inch (230mm 168mm) LCD display.
Fig. 6, 7, 8, 9 and 10 are front, rear, left, right and top views of the system of the present invention, respectively, from which the structural diagrams of the system of the present invention from different perspectives can be seen, mainly the aluminum alloy metal housing (7, 8, 9, 20) of the system and the lidar 10 placed on top of the system. In the front view 6, the system is mainly composed of a 7-inch (230mm × 168mm) user operation display screen 8 and a display screen mosaic panel 14, and the user operates the system through the display screen and views the result for a first view angle of the user; in the rear view 7, it is mainly composed of a millimeter wave radar sensor mounting panel 12 and an electromagnetic wave emission hole 19; in the left view 8, the system mainly comprises a power control panel 15, a power charging interface 16, a user external interface 17 and a system left side panel 20, wherein the power control panel 15 mainly comprises a display screen and a power (system) switch, and the power charging interface 16 and the user external interface 17 are reserved interfaces, so that the system can have continuous working capacity under the condition of not disassembling the box; in the right view 9, only the system right panel 7 is available, and if necessary, the redevelopment design can be carried out; in the top view 10, the overall shape of the system and the connection holes 18 between the panels can be clearly seen, and the lidar 10 on the system top cover 9 is used for acquiring scene prior information.
The above is the summary and the specific implementation of the present invention, and a method combining simulation and actual scene is adopted to verify the feasibility and the system performance of the present invention, specifically as follows:
firstly, simulation verification is carried out, aiming at explaining the feasibility and superiority of target detection by utilizing multipath signals, parameters are set as follows: transmission center frequency (f)c) Is 1GHz and the wavelength (lambda) is c/fcm (c speed of light), array element spacing (d) is lambda/2 m line-of-sight echo direction (theta)1) Is at an angle of 0 DEG,the multipath echo direction is (theta)2)30 deg., false alarm rate (P)fa) Is 10-4。
Fig. 11 is a graph comparing the performance of a multipath detector versus a conventional detector. The performance of the multi-path detector when the amplitude of the multi-path signal is respectively 0.1 time and 0.3 time of the sight distance amplitude and the detection performance of the traditional detector are respectively simulated. As can be seen from the figure, the detection performance of the multipath detector is better than that of the conventional detector, in other words, under the condition of the same signal to interference plus noise ratio (SINR), the utilization of multipath signals is helpful for improving the target detection probability. Therefore, the target detection problem in corner areas such as urban anti-terrorism can be effectively solved by utilizing the multipath signals.
And then, scene actual measurement is carried out, and the system is practically applied and detected. The specific operation and experimental results are as follows:
fig. 12 is a diagram of an anti-terrorist scene simulation and system layout in the present invention. When a ruffian moves indoors, the anti-terrorist personnel can use the system provided by the invention to place the ruffian at the corner outside a door, and the ruffian is detected and positioned by using multipath signals reflected by the wall surface.
FIG. 13 is a result graph of target distance information processed by the system of the present invention; FIG. 14 is a graph showing the results of range-Doppler information for a target; FIG. 15 is a diagram of the positioning result of an object; fig. 16 is a system performance analysis diagram.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.
Claims (6)
1. A non-line-of-sight area moving target detection system based on multipath signals is characterized in that: the device is composed of a system panel mounting groove (1), a metal protection panel, a system screw fixing hole (18), a system turntable connector (21), a mobile power supply (2), a power supply control panel (15), a power supply charging hole (16), a power supply mounting seat (22), a voltage stabilizing module (3), a connecting wire, a millimeter wave radar sensor (13), a millimeter wave radar sensor mounting panel (12), a radar data acquisition unit (5), a laser radar (10), a laser radar mounting base (11), a signal processing unit (6), a user operation display screen (8), a display screen mosaic panel (14) and a user external interface (17); the metal protection panel comprises a system bottom plate (4), a system right side panel (7), a system left side panel (20) and a system top cover (9), each protection panel is fixed through a system panel mounting groove (1) and a system screw fixing hole (18), the connecting line comprises a data network line, a USB connecting line and a video connecting line, and the radar data acquisition unit (5) is connected with the millimeter wave radar sensor (13) in a clinging manner; the laser radar (10) is installed at the top of the system, the millimeter wave radar sensor (13) is connected with a millimeter wave radar sensor installation panel (12) made of plastic through four fixing columns, emitted electromagnetic waves are radiated outwards through an electromagnetic wave emission hole (19) in the millimeter wave radar sensor installation panel (12), the signal processing unit (6) and the voltage stabilizing module (3) are fixed on a system bottom plate (4) through system screw fixing holes, the mobile power supply (2) is fixed on a system left side panel (20) through a power supply installation seat (22), and a power supply charging hole 16 and a user external interface (17) are further formed in the system left side panel (20); the user operation display screen (8) is arranged on the display screen mosaic panel (14);
the detection system is functionally divided into an external detection system, a data processing system, a user control and display system and a power supply system;
the external detection system consists of a millimeter wave radar sensor (13), a millimeter wave radar sensor mounting panel (12), a radar data acquisition unit (5), a laser radar (10) and a laser radar mounting base (11); the millimeter wave radar sensor (13) is divided into a radio frequency/analog module, a radio frequency radio module, a user programming module and a main control module, a core chip of the millimeter wave radar sensor is AWR1642, a radar receiving antenna of the millimeter wave radar sensor is a patch antenna which can send and receive signals 2 and 4, and the millimeter wave radar sensor (13) has two working modes and has the characteristics of finding a target in advance at a long distance and accurately monitoring the target at a short distance; the millimeter wave radar sensor (13) is fixed through four mounting holes on the millimeter wave radar sensor mounting panel (12); the millimeter wave radar sensor mounting panel (12) is made of a hard plastic plate, the thickness of the rigid plastic plate is 3mm, so that the interference of the shell on electromagnetic waves is reduced, and a rectangular electromagnetic wave transmitting hole (19) is formed in the position, right opposite to the radar receiving antenna, of the millimeter wave radar sensor mounting panel, so that the transmitting of radar electromagnetic waves is not influenced;
the millimeter wave radar sensor (13) is used for collecting radar echo original data and transmitting the radar echo original data to the signal processing unit (6) in real time through the radar data collecting unit (5); the laser radar (10) is used for providing geometric prior information of a scene, the laser radar (10) is cylindrical with the radius of 30mm, the center of the cylinder and the center of a radar receiving antenna are in the same vertical plane, the laser radar (10) is connected with a laser radar mounting base (11) through a system screw fixing hole and is fixed at the top of the whole system, 360-degree all-around laser ranging scanning can be achieved within the radius range of 30 meters of a two-dimensional plane, a plane point cloud map of the space where the laser radar is located is generated, and therefore the geometric prior information of the detected scene is provided; reflected echoes generated after laser signals emitted by the laser radar (10) irradiate a target object are received by a vision acquisition system of the laser radar (10), then the reflected echoes are resolved in real time, the distance value between the irradiated target object and the laser radar and the current included angle information are output from a communication interface and are transmitted to a signal processing unit (6) through a data transmission line;
the data processing system consists of a signal processing unit (6) and a user external interface (17), wherein the signal processing unit (6) adopts a TL6678-EasyEVM circuit as a signal comprehensive processor, and a TL6678-EasyEVM core board is 80 x 58mm in physical size and is fixed on a system bottom board (4) through system screw fixing holes; the signal processing unit (6) receives target echo data from the millimeter wave radar sensor (13) through a data transmission network cable by utilizing a network port, controls the radar data acquisition unit (5) through a USB (universal serial bus) connecting wire, is connected with the laser radar (10) through a USB data cable, receives scanning data from the laser radar (10), and is connected with the user operation display screen (8) through a video connecting wire; the signal processing unit (6) is used for sending instructions to the millimeter wave radar sensor (13) and the laser radar (10), receiving detection data in real time, processing multi-path signals in real time, and finally displaying real-time processing results through the user operation display screen (8);
the user control and display system comprises a user operation display screen (8) and a display screen mosaic panel (14), wherein the user operation display screen (8) is an LCD display screen, is embedded in the display screen mosaic panel (14) through a mounting groove, is connected with a TL6678-EasyEVM circuit through an HDMI video line and a USB control line, and is used for displaying a target detection result and target information;
the power supply system is composed of a mobile power supply (2), a voltage stabilizing module (3), a power supply control panel (15), a power supply mounting seat (22) and a power supply charging hole (16), wherein the mobile power supply (2) can provide 6h of cruising ability for the whole system, and the voltage stabilizing module (3) is divided into two parts; the output of the mobile power supply is respectively 9V/DC output and 24V/DC output, the 9V/DC output end is connected with a 5V voltage stabilizing module, and the 24V/DC output end is connected with a 12V voltage stabilizing module; the 12V voltage stabilizing module provides 12V/3A working voltage and current for the TL6678-EasyEVM circuit, the 5V voltage stabilizing module provides 5V/2.5A working voltage and current for the millimeter wave radar sensor (13), and the 5V output interface is used for directly supplying power for the laser radar and the user operation display screen (8).
2. The multi-path signal based non-line-of-sight zone moving object detection system of claim 1, wherein: the lidar (10) is an RPLIDAR a3 lidar.
3. The multi-path signal based non-line-of-sight zone moving object detection system of claim 1, wherein: and a heat radiation fan is additionally arranged at the mounting area of the L6678-EasyEVM circuit.
4. The multi-path signal based non-line-of-sight zone moving object detection system of claim 1, wherein: the mobile power supply (2) adopts a lithium battery.
5. The multi-path signal based non-line-of-sight zone moving object detection system of claim 1, wherein: the size of the rectangular electromagnetic wave emitting hole (19) is 80mm x 50 mm.
6. The multi-path signal based non-line-of-sight zone moving object detection system of claim 1, wherein: the LCD display screen is a 7-inch LCD display screen.
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| CN201921594650.8U CN210864037U (en) | 2019-09-24 | 2019-09-24 | Non-line-of-sight area moving target detection system based on multipath signals |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110515068A (en) * | 2019-09-24 | 2019-11-29 | 中国人民解放军国防科技大学 | Non-line-of-sight area moving target detection system based on multipath signals |
| CN110515068B (en) * | 2019-09-24 | 2024-05-31 | 中国人民解放军国防科技大学 | Non-line-of-sight area moving target detection system based on multipath signals |
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2019
- 2019-09-24 CN CN201921594650.8U patent/CN210864037U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110515068A (en) * | 2019-09-24 | 2019-11-29 | 中国人民解放军国防科技大学 | Non-line-of-sight area moving target detection system based on multipath signals |
| CN110515068B (en) * | 2019-09-24 | 2024-05-31 | 中国人民解放军国防科技大学 | Non-line-of-sight area moving target detection system based on multipath signals |
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