Radar system, signal acquisition method and device for radar system, and storage medium
阅读说明：本技术 雷达系统、雷达系统的信号采集方法、设备及存储介质 (Radar system, signal acquisition method and device for radar system, and storage medium ) 是由 张皓渊 张文康 王春明 周东旭 谭洪仕 于 2019-04-25 设计创作，主要内容包括：一种雷达系统、信号采集方法、可移动平台及存储介质。通过转动装置带动雷达探测设备转动,使得该雷达探测设备可转动,该雷达探测设备包括处理器、多个模/数转换器和多个天线,通过处理器与多个模/数转换器中的每个模/数转换器电连接,每个模/数转换器与至少一个天线电连接,使得每个模/数转换器可以将其连接的至少一个天线接收到的反射信号转换为数字信号,通过该处理器在同一时刻同步采集多个模/数转换器转换后的数字信号,使得该雷达探测设备可在同一时刻获取多个通道的数据,提高了数据采集的效率、同步性和实时性。(A radar system, a signal acquisition method, a movable platform and a storage medium are provided. The radar detection equipment is driven to rotate through the rotating device, so that the radar detection equipment can rotate, the radar detection equipment comprises a processor, a plurality of analog-to-digital converters and a plurality of antennas, the processor is electrically connected with each analog-to-digital converter in the analog-to-digital converters, each analog-to-digital converter is electrically connected with at least one antenna, so that each analog-to-digital converter can convert a reflection signal received by at least one antenna connected with the analog-to-digital converter into a digital signal, the processor synchronously collects the digital signals converted by the analog-to-digital converters at the same time, the radar detection equipment can obtain data of a plurality of channels at the same time, and the efficiency, the synchronism and the real-time performance of data collection are improved.)
1. A radar system, characterized in that the radar system comprises: the radar detection device comprises radar detection equipment and a rotating device, wherein the rotating device is arranged on a movable platform, the radar detection equipment is loaded on the rotating device, and the rotating device is used for driving the radar detection equipment to rotate;
the radar detection device includes a processor electrically connected to each of the plurality of analog-to-digital converters, each of the analog-to-digital converters being electrically connected to at least one antenna, a plurality of analog-to-digital converters, and a plurality of antennas;
the analog-to-digital converter is used for converting a reflection signal received by the at least one antenna into a digital signal, and the processor is used for synchronously acquiring the digital signals converted by the plurality of analog-to-digital converters.
2. The system of claim 1, wherein the processor comprises a field programmable gate array device electrically connected to each of the plurality of analog-to-digital converters and configured to synchronously acquire the digital signals converted by the plurality of analog-to-digital converters via the field programmable gate array device.
3. The system of claim 1 or 2, wherein the radar detection device further comprises: the angle sensor is electrically connected with the processor and is used for detecting the rotating angle of the radar detection equipment;
the processor is further configured to:
acquiring the rotation angle of the radar detection equipment detected by the sensor;
and determining the azimuth angle of the transmitting signal of the radar detection equipment according to the angle.
4. The system of claim 1 or 2, wherein the radar detection device further comprises: the first memory and the second memory are respectively and electrically connected with the processor;
the first memory is used for storing program codes called by the processor;
the second memory is used for storing digital signals synchronously acquired by the processor from the plurality of analog-to-digital converters.
5. The system of claim 1, wherein the radar detection device further comprises: a wireless transmission system electrically connected with the processor;
and the wireless transmission system is used for sending the digital signals synchronously acquired by the processor from the plurality of analog-to-digital converters to a main control system in the movable platform.
6. The system of any of claims 1-5, wherein the radar detection device further comprises: a plurality of filters, each of the plurality of filters connected to one of the analog-to-digital converters;
each filter is used for carrying out filtering pretreatment on the reflected signals received by the at least one antenna.
7. The system of claim 6, wherein the filter is a programmable filter.
8. The system of claim 6 or 7, wherein the processor is further configured to: sending a control instruction to at least one of the plurality of filters, the control instruction being used to control parameters of the filter.
9. The system of claim 8, wherein the parameters of the filter comprise at least one of:
filter gain, cut-off frequency.
10. The system of claim 1, wherein the processor is further configured to:
sending a configuration instruction to at least one analog-to-digital converter in the plurality of analog-to-digital converters before synchronously acquiring the digital signals converted by the plurality of analog-to-digital converters, wherein the configuration instruction is used for synchronizing the analog-to-digital converters and the clocks of the processor.
11. The system of any one of claims 1-10, wherein the radar detection device further comprises: and the power supply system is electrically connected with the processor and is used for supplying power to the radar detection equipment.
12. The system of claim 11, wherein the power supply system comprises: the controller is electrically connected with each direct current voltage reducer in the direct current voltage reducers, and the controller is electrically connected with each low-voltage-difference linear voltage regulator in the low-voltage-difference linear voltage regulators;
each direct current voltage reducer in the plurality of direct current voltage reducers is electrically connected with the plurality of low dropout linear voltage regulators;
each of the plurality of low dropout linear regulators connected to each of the dc voltage reducers is electrically connected to one of the analog-to-digital converters.
13. The system of any one of claims 1-12, wherein the rotating device comprises:
the rotary table is used for bearing the radar detection equipment;
the electric adjusting plate is electrically connected with the motor and used for driving the motor to rotate and controlling the rotating state of the motor, and the motor is used for driving the rotary table to rotate;
and the interface board is electrically connected with the electric tuning board or/and the radar detection equipment and is used for electrically connecting with an external line.
14. The signal acquisition method of the radar system is characterized in that the radar system comprises radar detection equipment and a rotating device, the rotating device is arranged on a movable platform, the radar detection equipment is loaded on the rotating device, the rotating device is used for driving the radar detection equipment to rotate, the radar detection equipment comprises a plurality of antennas, and the method comprises the following steps:
controlling the radar detection equipment to rotate around a preset rotation axis continuously;
when the radar detection equipment continuously rotates, controlling the plurality of antennas to transmit detection signals and simultaneously receiving reflection signals through a plurality of channels;
converting the reflected signals received by the plurality of channels into digital signals; and
and synchronously acquiring digital signals of a plurality of channels.
15. The method of claim 14, wherein the radar detection device further comprises: an angle sensor for detecting an angle of rotation of the radar detection device;
the method further comprises the following steps:
acquiring the rotation angle of the radar detection equipment detected by the sensor;
and determining the azimuth angle of the transmitting signal of the radar detection equipment according to the angle.
16. The method of claim 14 or 15, wherein the radar detection device further comprises: a memory;
after the synchronously acquiring the digital signals of a plurality of channels, the method further comprises:
and storing the synchronously acquired digital signals of a plurality of channels into the memory.
17. The method of claim 14 or 15, wherein the radar detection device further comprises: a wireless transmission system;
after the synchronously acquiring the digital signals of a plurality of channels, the method further comprises:
and sending the synchronously acquired digital signals of the channels to a main control system in the movable platform through the wireless transmission system.
18. The method of any of claims 14-17, wherein the radar detection device further comprises: a plurality of filters;
after receiving the reflected signals over the plurality of channels, the method further comprises:
and carrying out filtering pretreatment on the reflection signals received by the channels through a plurality of filters.
19. The method of claim 18, wherein the filter is a programmable filter.
20. The method of claim 18 or 19, further comprising:
sending a control instruction to at least one of the plurality of filters, the control instruction being used to control parameters of the filter.
21. The method of claim 20, wherein the parameters of the filter comprise at least one of:
filter gain, cut-off frequency.
22. The method of claim 14, wherein the radar detection device further comprises: a plurality of analog-to-digital converters;
the converting the reflected signals received by the plurality of channels into digital signals comprises:
the reflected signals received by the plurality of channels are converted into digital signals by a plurality of said analog/digital converters.
23. The method of claim 22, wherein prior to said synchronously acquiring digital signals for a plurality of said channels, said method further comprises:
sending a configuration instruction to at least one of the plurality of analog-to-digital converters, the configuration instruction being used to synchronize clocks of the plurality of analog-to-digital converters.
24. A movable platform, comprising:
a body;
the power system is arranged on the machine body and used for providing moving power;
the main control system is in communication connection with the power system and is used for controlling the movable platform to move;
and
the radar system of any of claims 1-13, for detecting position information of obstacles in the direction of movement of the movable platform.
25. The movable platform of claim 24, wherein the movable platform comprises at least one of:
mobile robot, unmanned aerial vehicle, autopilot vehicle.
26. A computer-readable storage medium, having stored thereon a computer program for execution by a processor to perform the method of any one of claims 14-23.
Technical Field
The embodiment of the invention relates to the field of radar, in particular to a radar system, a signal acquisition method and device of the radar system, and a storage medium.
Background
Disclosure of Invention
The embodiment of the invention provides a radar system, a signal acquisition method and equipment of the radar system and a storage medium, and aims to improve the data acquisition efficiency, the synchronization and the real-time performance of the radar system.
A first aspect of an embodiment of the present invention provides a radar system, including: the radar detection device comprises radar detection equipment and a rotating device, wherein the rotating device is arranged on a movable platform, the radar detection equipment is loaded on the rotating device, and the rotating device is used for driving the radar detection equipment to rotate;
the radar detection device includes a processor electrically connected to each of the plurality of analog-to-digital converters, each of the analog-to-digital converters being electrically connected to at least one antenna, a plurality of analog-to-digital converters, and a plurality of antennas;
the analog-to-digital converter is used for converting a reflection signal received by the at least one antenna into a digital signal, and the processor is used for synchronously acquiring the digital signals converted by the plurality of analog-to-digital converters.
A second aspect of the embodiments of the present invention provides a signal acquisition method for a radar system, where the radar system includes a radar detection device and a rotating device, the rotating device is configured to be disposed on a movable platform, the radar detection device is mounted on the rotating device, the rotating device is configured to drive the radar detection device to rotate, the radar detection device includes a plurality of antennas, and the method includes:
controlling the radar detection equipment to rotate around a preset rotation axis continuously;
when the radar detection equipment continuously rotates, controlling the plurality of antennas to transmit detection signals and simultaneously receiving reflection signals through a plurality of channels;
converting the reflected signals received by the plurality of channels into digital signals; and
and synchronously acquiring digital signals of a plurality of channels.
A third aspect of an embodiment of the present invention is to provide a movable platform, including:
a body;
the power system is arranged on the machine body and used for providing moving power;
the main control system is in communication connection with the power system and is used for controlling the movable platform to move;
and the radar system of the first aspect, configured to detect position information of an obstacle in a moving direction of the movable platform.
A fourth aspect of embodiments of the present invention is to provide a computer-readable storage medium on which a computer program is stored, the computer program being executed by a processor to implement the method of the second aspect.
In the radar system, the signal collecting method, the device and the storage medium of the radar system provided by this embodiment, the radar detection device is driven to rotate by the rotating device, so that the radar detection device can rotate, the radar detection device includes a processor, a plurality of analog/digital converters and a plurality of antennas, the processor is electrically connected to each analog/digital converter in the plurality of analog/digital converters, each analog/digital converter is electrically connected to at least one antenna, so that each analog/digital converter can convert a reflected signal received by at least one antenna connected thereto into a digital signal, that is, each analog/digital converter can convert a reflected signal in at least one channel into a digital signal, and the processor synchronously collects the digital signals converted by the plurality of analog/digital converters at the same time, so that the radar detection device can obtain data of a plurality of channels at the same time, the efficiency, the synchronism and the real-time performance of data acquisition are improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.
Fig. 1 is a schematic structural diagram of a radar system according to an embodiment of the present invention;
fig. 2 is an installation manner of the radar system on the unmanned aerial vehicle according to the embodiment of the present invention;
fig. 3 is another installation manner of the radar system on the unmanned aerial vehicle according to the embodiment of the present invention;
fig. 4 is a schematic structural diagram of a radar detection device according to an embodiment of the present invention;
fig. 5 is another schematic structural diagram of a radar detection device according to an embodiment of the present invention;
fig. 6 is a schematic view of another structure of a radar detection device according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a power supply system according to an embodiment of the present invention;
fig. 8 is another schematic structural diagram of a radar system according to an embodiment of the present invention;
fig. 9 is a flowchart of a signal acquisition method of a radar system according to an embodiment of the present invention;
fig. 10 is a schematic structural diagram of the unmanned aerial vehicle provided in the embodiment of the present invention.
Reference numerals:
11: a radar detection device; 12: a rotating device; 111: an angle sensor;
112: a control system; 121: a motor; 20: an unmanned aerial vehicle;
21: a rotating shaft; 122: an electric tuning board; 123: a turntable;
124: an interface board; 100: an unmanned aerial vehicle;
106: a propeller; 107: a motor; 117: an electronic governor;
118: a flight controller; 102: a radar system.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
The embodiment of the invention provides a radar system. Fig. 1 is a schematic structural diagram of a radar system according to an embodiment of the present invention, and as shown in fig. 1, the radar system includes: a radar detection device 11 and a
In this embodiment, the movable platform comprises at least one of: mobile robot, unmanned aerial vehicle, autopilot vehicle. Here, taking the drone as an example, as shown in fig. 2, the radar system may be vertically installed above the fuselage of the
It can be understood that fig. 2 and fig. 3 are only two different installation manners of the radar system on the unmanned aerial vehicle, and this embodiment is not limited to these two installation manners, and other installation manners are also possible.
In the present embodiment, the radar detection device 11 includes a processor, a plurality of Analog-to-Digital converters (ADCs), and a plurality of antennas, the processor being electrically connected to each of the plurality of Analog-to-Digital converters, each of the Analog-to-Digital converters being electrically connected to at least one of the antennas; the analog-to-digital converter is used for converting a reflection signal received by the at least one antenna into a digital signal, and the processor is used for synchronously acquiring the digital signals converted by the plurality of analog-to-digital converters.
Fig. 4 is a schematic structural diagram of a radar detection device according to an embodiment of the present invention. The control system as described above may be specifically a portion other than the angle sensor in the radar detection device as shown in fig. 4. As shown in fig. 4, the radar detection device includes a processor, a plurality of analog/digital converters, for example, an analog/digital converter 1, an analog/digital converter 2, an analog/digital converter 3, an analog/digital converter 4, … …, an analog/digital converter N, respectively, that is, the radar detection device includes N analog/digital converters, N being greater than or equal to 2, and a plurality of antennas. In addition, the radar system provided in this embodiment is also applicable to a scenario where N is equal to 1, and only an example where N is greater than or equal to 2 is taken as an example for illustrative purposes. As shown in fig. 4, the processor is electrically connected to each analog/digital converter in the N analog/digital converters, and each analog/digital converter is electrically connected to one antenna, which is only schematically illustrated here, and the number of antennas connected to each analog/digital converter is not limited, that is, each analog/digital converter is not limited to being connected to one antenna, and in some scenarios, each analog/digital converter may be connected to multiple antennas, and in general, 4 antennas may be connected to one analog/digital converter.
Specifically, the processor may control the plurality of antennas to simultaneously transmit the detection signal, for example, during the rotation of the radar detection device, the plurality of antennas may simultaneously transmit the detection signal, and after the detection signal is reflected by the target object, the plurality of antennas may also simultaneously receive the reflected signal. Optionally, one antenna corresponds to one channel, and the channel may be specifically a channel between the processor and the antenna. When the plurality of antennas receive the reflected signals at the same time, the channel corresponding to each antenna can receive the reflected signals. The reflected signal may specifically be an analog signal, and the analog signal may therefore be converted into a digital signal by an analog/digital converter. As shown in fig. 4, each analog/digital converter is connected to an antenna, and each analog/digital converter can convert a reflected signal received by the antenna to which it is connected into a digital signal. In other embodiments, each analog-to-digital converter may further be connected with a plurality of antennas, and each analog-to-digital converter may convert the reflected signals received by the plurality of antennas connected thereto into digital signals, respectively. The processor can synchronously acquire the digital signals respectively converted by the plurality of analog-to-digital converters. That is, the input of each analog-to-digital converter is an analog reflected signal received by at least one antenna connected to the analog-to-digital converter, the output of each analog-to-digital converter is a digital signal, the output end of each analog-to-digital converter is connected to the processor, and the processor can synchronously acquire the digital signals respectively output by the analog-to-digital converters at the same time.
In this embodiment, the radar detection device is driven to rotate by the rotating device, so that the radar detection device can rotate, the radar detection device includes a processor, a plurality of analog-to-digital converters and a plurality of antennas, the processor is electrically connected with each analog-to-digital converter in the plurality of analog-to-digital converters, each analog-to-digital converter is electrically connected with at least one antenna, so that each analog-to-digital converter can convert a reflected signal received by at least one antenna connected with the analog-to-digital converter into a digital signal, that is, each analog-to-digital converter can convert a reflected signal in at least one channel into a digital signal, and the processor synchronously acquires the digital signals converted by the plurality of analog-to-digital converters at the same time, so that the radar detection device can acquire data of the plurality of channels at the same time, and the efficiency of data acquisition is improved, Synchronization and real-time.
On the basis of the above embodiments, the processor includes a Field-Programmable Gate Array (FPGA) device, which is electrically connected to each of the plurality of analog/digital converters, and synchronously collects the digital signals converted by the plurality of analog/digital converters through the FPGA device.
In addition, as shown in fig. 4, the radar detection apparatus further includes: the angle sensor is electrically connected with the processor and is used for detecting the rotating angle of the radar detection equipment; the processor is further configured to: acquiring the rotation angle of the radar detection equipment detected by the sensor; and determining the azimuth angle of the transmitting signal of the radar detection equipment according to the angle.
In this embodiment, the angle sensor may specifically be a grating sensor, the processor may obtain a current rotation angle of the radar detection device detected by the grating sensor, and the processor may determine, according to the current rotation angle, an azimuth angle of a current transmission signal of the radar detection device, that is, a current transmission signal of multiple antennas. Further, the processor can control the motor in the rotating device to rotate by different angles according to the azimuth angles of the current transmitting signals of the multiple antennas so as to adjust the azimuth angles of the transmitting signals of the multiple antennas at the next moment, so that the radar detection equipment can realize the scanning of the omnidirectional angle.
On the basis of the above embodiment, the radar detection device further includes: the first memory and the second memory are respectively and electrically connected with the processor; the first memory is used for storing program codes called by the processor; the second memory is used for storing digital signals synchronously acquired by the processor from the plurality of analog-to-digital converters.
As shown in fig. 5, on the basis of fig. 4, the radar detection device further includes: the first memory and the second memory are respectively electrically connected with the processor, the first memory can store program codes called by the processor, the second memory can be a high-capacity height data memory, and when the processor synchronously collects digital signals output by a plurality of analog-to-digital converters, the processor can store the digital signals in the high-capacity height data memory. In this embodiment, the high-capacity height data storage device can rotate together with the radar system, and compared with the method that data collected by the processor is transmitted back to a main control system or other communication equipment of the movable platform through cables, the problem of cable winding in the rotating process is solved, and the portability, configurability and maintainability of the radar detection equipment are improved. It will be appreciated that the radar system described in the above embodiments may be considered a subsystem in comparison to the main control system of the movable platform. In other embodiments, the radar detection device further comprises a memory, as shown in fig. 5, electrically connected to the processor.
In addition, the radar detection device further includes: a wireless transmission system electrically connected with the processor; and the wireless transmission system is used for sending the digital signals synchronously acquired by the processor from the plurality of analog-to-digital converters to a main control system in the movable platform.
For example, on the basis of fig. 5, as shown in fig. 6, the radar detection device further includes a wireless transmission system, and the embodiment does not limit the wireless transmission protocol adopted by the wireless transmission system, for example, the wireless transmission protocol may be a private protocol or another standard protocol. The wireless transmission system can transmit the digital signals synchronously acquired by the processor from the plurality of analog-to-digital converters to a main control system in the movable platform. In addition, as shown in fig. 6, the radar detection device further includes: the external communication system may specifically communicate with other devices other than the mobile platform, for example, the external communication system may communicate with a user terminal corresponding to the mobile platform, and specifically, the external communication system sends the digital signals synchronously acquired by the processor from the plurality of analog/digital converters to the user terminal.
In the embodiment, the digital signals synchronously acquired by the processor from the plurality of analog-to-digital converters are sent to the main control system in the movable platform through the wireless transmission system, that is, the data can be transmitted through the wireless transmission system, so that the main control system in the movable platform can monitor or process the data in real time.
On the basis of the above embodiment, the radar detection device further includes: a plurality of filters, each of the plurality of filters connected to one of the analog-to-digital converters; each filter is used for carrying out filtering pretreatment on the reflected signals received by the at least one antenna.
As shown in fig. 6, the radar detection device further includes a plurality of filters, each of the filters is connected to an analog-to-digital converter, when an antenna is connected to one of the analog-to-digital converters, the filter connected to the analog-to-digital converter performs filtering preprocessing on a reflected signal received by the antenna, and then the analog-to-digital converter performs analog-to-digital conversion on the reflected signal after filtering preprocessing by the filter. When one A/D converter is connected with a plurality of antennas, a filter connected with the A/D converter can simultaneously carry out filtering pretreatment on the reflected signals received by the antennas, and then the A/D converter carries out A/D conversion on the reflected signals subjected to filtering pretreatment by the filter.
Optionally, the filter is a programmable filter. That is, the filter shown in fig. 6 may be controlled by a processor.
Optionally, the processor is further configured to: sending a control instruction to at least one of the plurality of filters, the control instruction being used to control parameters of the filter. Optionally, the parameter of the filter includes at least one of: filter gain, cut-off frequency.
For example, the processor may adjust at least one of the plurality of filters before the processor synchronously acquires the digital signals output by the plurality of analog-to-digital converters; alternatively, the processor may adjust at least one of the plurality of filters after the processor synchronously acquires the digital signals output from the plurality of analog-to-digital converters. When at least one of the plurality of filters is adjusted, the processor may send a control instruction to the filter to be adjusted, where the control instruction may be used to adjust parameters such as gain and cut-off frequency of the filter.
As shown in fig. 4-6, the radar detection device includes a plurality of analog-to-digital converters, and in some embodiments, clocks of at least some of the analog-to-digital converters may be asynchronous with a clock of the processor, so that the processor can synchronously acquire digital signals converted by the analog-to-digital converters at the same time, the processor is further configured to: sending a configuration instruction to at least one analog-to-digital converter in the plurality of analog-to-digital converters before synchronously acquiring the digital signals converted by the plurality of analog-to-digital converters, wherein the configuration instruction is used for synchronizing the analog-to-digital converters and the clocks of the processor. And after the configuration is finished, the processor synchronously acquires the digital signals converted by the plurality of analog-to-digital converters.
In addition, as shown in fig. 4 to 6, the radar detection device further includes: and the power supply system is electrically connected with the processor and is used for supplying power to the radar detection equipment. Taking fig. 6 as an example, the power supply system may supply power to the processor, the angle sensor, the external communication system, the second storage, the wireless transmission system, the memory, the first storage, and the plurality of analog/digital converters.
Optionally, the power supply system includes: the low dropout regulator comprises a controller, a plurality of Direct Current (DC/DC) voltage reducers and a plurality of low dropout regulators (LDOs), wherein the controller is electrically connected with each of the plurality of DC voltage reducers, and the controller is electrically connected with each of the plurality of LDOs; each direct current voltage reducer in the plurality of direct current voltage reducers is electrically connected with the plurality of low dropout linear voltage regulators; each of the plurality of low dropout linear regulators connected to each of the dc voltage reducers is electrically connected to one of the analog-to-digital converters.
Fig. 7 is a schematic structural diagram of a power supply system according to an embodiment of the present invention. As shown in fig. 7, the power supply system includes a controller, N dc voltage reducers and a plurality of low dropout regulators, where each of the N dc voltage reducers is connected with N low dropout regulators, for example, the dc voltage reducer 1 is connected with the low dropout regulator 1, the low dropout regulators 2 and …, and the low dropout regulator N, and similarly, the dc voltage reducer 2, the dc voltage reducer 3, and the dc voltage reducer … may be connected with N low dropout regulators respectively.
The dc voltage reducer may convert a high-voltage dc power into a low-voltage dc power, or the dc voltage reducer may convert a low-voltage dc power into a high-voltage dc power. The controller is electrically connected to each of the N dc voltage reducers, and the controller is electrically connected to each of the plurality of low dropout regulators. Each of the N low dropout linear regulators to which each dc voltage dropper is connected may be electrically connected to an analog-to-digital converter. For example, the dc voltage reducer 1 is connected to a low dropout regulator 1, a low dropout regulator 2, …, and a low dropout regulator N, the low dropout regulator 1 may be connected to an analog-to-digital converter 1 as shown in fig. 6, the low dropout regulator 2 may be connected to an analog-to-digital converter 2 as shown in fig. 6, and so on, the low dropout regulator N may be connected to an analog-to-digital converter N as shown in fig. 6. Similarly, each of the N low dropout linear regulators respectively connected to the dc voltage reducer 2, the dc voltage reducer 3, and the … dc voltage reducer N may also be correspondingly connected to an analog-to-digital converter. The description is only illustrative, and the correspondence between the ldo linear regulator and the analog-to-digital converter is not limited. In this embodiment, the controller in the power supply system may perform power management. The controller is electrically connected to the processor of the radar detection device according to the above-mentioned embodiment. The input as shown in fig. 7 may be a power input of the power supply system.
In the embodiment, the voltage input range of the radar system can be expanded by the power supply system which is realized by combining the direct-current voltage reducer and the low-dropout linear regulator.
Fig. 8 is another schematic structural diagram of a radar system according to an embodiment of the present invention. On the basis of the above embodiment, the rotating device includes: the rotary table is used for bearing the radar detection equipment; the electric adjusting plate is electrically connected with the motor and used for driving the motor to rotate and controlling the rotating state of the motor, and the motor is used for driving the rotary table to rotate; and the interface board is electrically connected with the electric tuning board or/and the radar detection equipment and is used for electrically connecting with an external line.
As shown in fig. 8, the rotating
The embodiment of the invention provides a signal acquisition method of a radar system. Fig. 9 is a flowchart of a signal acquisition method of a radar system according to an embodiment of the present invention. In this embodiment, the radar system includes radar detection equipment and rotating device, rotating device is used for setting up at movable platform, the last car that carries of rotating device has radar detection equipment, rotating device is used for driving radar detection equipment rotates, radar detection equipment includes a plurality of antennas. The specific structure of the radar system is shown in the above embodiments, and will not be described herein. As shown in fig. 9, the method in this embodiment may include:
and step S901, controlling the radar detection equipment to continuously rotate around a preset rotation axis.
The execution subject of the method of the present embodiment may be a processor in the radar detection device shown in the above-described embodiment. The processor may be used to control the rotation of the motor 121 in the
And S902, controlling the plurality of antennas to transmit detection signals and simultaneously receiving reflection signals through a plurality of channels when the radar detection equipment continuously rotates.
The processor may control the plurality of antennas in the radar detection device 11 to simultaneously transmit detection signals while the radar detection device 11 is continuously rotated about the rotation axis 21, and to simultaneously receive reflected signals after the detection signals are reflected by the target object. Optionally, one antenna corresponds to one channel, and the channel may be specifically a channel between the processor and the antenna. When the plurality of antennas receive the reflected signals at the same time, the channel corresponding to each antenna can receive the reflected signals. The reflected signal may specifically be an analog signal.
Step S903, converting the reflection signals received by the plurality of channels into digital signals.
Optionally, the radar detection device further includes: a plurality of analog-to-digital converters; the converting the reflected signals received by the plurality of channels into digital signals comprises: the reflected signals received by the plurality of channels are converted into digital signals by a plurality of said analog/digital converters.
As shown in fig. 4 to 6, the radar detection device includes a plurality of analog/digital converters, for example, an analog/digital converter 1, an analog/digital converter 2, an analog/digital converter 3, analog/digital converters 4, … …, and an analog/digital converter N, respectively. The processor is electrically connected to each of the N analog-to-digital converters, each of which is electrically connected to one of the antennas, and in some scenarios, each of the analog-to-digital converters may be further connected to a plurality of antennas, and typically, 4 antennas may be connected to one of the analog-to-digital converters.
As shown in fig. 4, each analog/digital converter is connected to an antenna, and each analog/digital converter can convert a reflected signal received by the antenna to which it is connected into a digital signal. In other embodiments, each analog-to-digital converter may further be connected with a plurality of antennas, and each analog-to-digital converter may convert the reflected signals received by the plurality of antennas connected thereto into digital signals, respectively.
And step S904, synchronously acquiring digital signals of a plurality of channels.
The processor can synchronously acquire the digital signals respectively converted by the plurality of analog-to-digital converters. That is, the input of each analog-to-digital converter is an analog reflected signal received by at least one antenna connected to the analog-to-digital converter, the output of each analog-to-digital converter is a digital signal, the output end of each analog-to-digital converter is connected to the processor, and the processor can synchronously acquire the digital signals respectively output by the analog-to-digital converters at the same time.
In this embodiment, the radar detection device is driven to rotate by the rotating device, so that the radar detection device can rotate, the radar detection device includes a processor, a plurality of analog-to-digital converters and a plurality of antennas, the processor is electrically connected with each analog-to-digital converter in the plurality of analog-to-digital converters, each analog-to-digital converter is electrically connected with at least one antenna, so that each analog-to-digital converter can convert a reflected signal received by at least one antenna connected with the analog-to-digital converter into a digital signal, that is, each analog-to-digital converter can convert a reflected signal in at least one channel into a digital signal, and the processor synchronously acquires the digital signals converted by the plurality of analog-to-digital converters at the same time, so that the radar detection device can acquire data of the plurality of channels at the same time, and the efficiency of data acquisition is improved, Synchronization and real-time.
On the basis of the above embodiment, the radar detection device further includes: an angle sensor for detecting an angle of rotation of the radar detection device; the method further comprises the following steps: acquiring the rotation angle of the radar detection equipment detected by the sensor; and determining the azimuth angle of the transmitting signal of the radar detection equipment according to the angle.
In this embodiment, the angle sensor may specifically be a grating sensor, the processor may obtain a current rotation angle of the radar detection device detected by the grating sensor, and the processor may determine, according to the current rotation angle, an azimuth angle of a current transmission signal of the radar detection device, that is, a current transmission signal of multiple antennas. Further, the processor can control the motor in the rotating device to rotate by different angles according to the azimuth angles of the current transmitting signals of the multiple antennas so as to adjust the azimuth angles of the transmitting signals of the multiple antennas at the next moment, so that the radar detection equipment can realize the scanning of the omnidirectional angle.
Optionally, the radar detection device further includes: a memory; after the synchronously acquiring the digital signals of a plurality of channels, the method further comprises: and storing the synchronously acquired digital signals of a plurality of channels into the memory. The memory may specifically be the second memory as described in the above embodiments, and the second memory may specifically be a large-capacity height data memory, and when the processor synchronously collects the digital signals output by the plurality of analog/digital converters, the processor may store the digital signals in the large-capacity height data memory. The high-capacity height data storage can rotate along with the radar system, and compared with the mode that data collected by the processor are transmitted back to a main control system or other communication equipment of the movable platform through cables, the problem of cable winding in the rotating process is solved, and portability, configurability and maintainability of the radar detection equipment are improved.
In addition, the radar detection device further includes: a wireless transmission system; after the synchronously acquiring the digital signals of a plurality of channels, the method further comprises: and sending the synchronously acquired digital signals of the channels to a main control system in the movable platform through the wireless transmission system.
As shown in fig. 6, the wireless transmission system is electrically connected to the processor, and after the processor synchronously acquires the digital signals of the plurality of channels, the processor may further send the synchronously acquired digital signals of the plurality of channels to the main control system in the movable platform through the wireless transmission system.
The embodiment can realize the transparent transmission of data through the wireless transmission system, so that the main control system in the movable platform can monitor or process the data in real time, and compared with the main control system which transmits the data collected by the processor back to the movable platform through a cable, the configurability and the maintainability of the radar detection equipment are further improved.
Further, the radar detection device further includes: a plurality of filters; after receiving the reflected signals over the plurality of channels, the method further comprises: and carrying out filtering pretreatment on the reflection signals received by the channels through a plurality of filters.
As shown in fig. 6, the radar detection device further includes a plurality of filters, each of the filters is connected to an analog-to-digital converter, when an antenna is connected to one of the analog-to-digital converters, the filter connected to the analog-to-digital converter performs filtering preprocessing on a reflected signal received by the antenna, and then the analog-to-digital converter performs analog-to-digital conversion on the reflected signal after filtering preprocessing by the filter. When one A/D converter is connected with a plurality of antennas, a filter connected with the A/D converter can simultaneously carry out filtering pretreatment on the reflected signals received by the antennas, and then the A/D converter carries out A/D conversion on the reflected signals subjected to filtering pretreatment by the filter.
Optionally, the filter is a programmable filter.
Optionally, the method further includes: sending a control instruction to at least one of the plurality of filters, the control instruction being used to control parameters of the filter. Optionally, the parameter of the filter includes at least one of: filter gain, cut-off frequency.
For example, the processor may adjust at least one of the plurality of filters before the processor synchronously acquires the digital signals output by the plurality of analog-to-digital converters; alternatively, the processor may adjust at least one of the plurality of filters after the processor synchronously acquires the digital signals output from the plurality of analog-to-digital converters. When at least one of the plurality of filters is adjusted, the processor may send a control instruction to the filter to be adjusted, where the control instruction may be used to adjust parameters such as gain and cut-off frequency of the filter.
Optionally, before the synchronously acquiring the digital signals of the plurality of channels, the method further includes: sending a configuration instruction to at least one of the plurality of analog-to-digital converters, the configuration instruction being used to synchronize clocks of the plurality of analog-to-digital converters.
As shown in fig. 4-6, the radar detection device includes a plurality of analog-to-digital converters, and in some embodiments, clocks of at least some of the analog-to-digital converters may be asynchronous with a clock of the processor, so that the processor can synchronously acquire digital signals converted by the analog-to-digital converters at the same time, the processor is further configured to: sending a configuration instruction to at least one analog-to-digital converter in the plurality of analog-to-digital converters before synchronously acquiring the digital signals converted by the plurality of analog-to-digital converters, wherein the configuration instruction is used for synchronizing the analog-to-digital converters and the clocks of the processor. And after the configuration is finished, the processor synchronously acquires the digital signals converted by the plurality of analog-to-digital converters.
It can be understood that the radar system of the above embodiment may be used to implement the technical solution of the signal acquisition method of the radar system provided by the above embodiment, and the implementation principle and the technical effect are similar, which are not described herein again.
The embodiment of the invention provides a movable platform. The movable platform comprises: the radar system comprises a machine body, a power system, a master control system and the radar system, wherein the power system is arranged on the machine body and used for providing moving power; the main control system is in communication connection with the power system and is used for controlling the movable platform to move; the radar system is used for detecting position information of an obstacle of the movable platform in a moving direction. The specific structure, implementation principle and technical effect of the radar system are similar to those described in the above embodiments, and are not described herein again.
Optionally, the movable platform includes at least one of: mobile robot, unmanned aerial vehicle, autopilot vehicle.
Taking an unmanned aerial vehicle as an example, fig. 10 is a schematic structural diagram of the unmanned aerial vehicle provided by the embodiment of the present invention, as shown in fig. 10, the unmanned aerial vehicle 100 includes: a fuselage, a power system, a flight controller 118, and a radar system 102, the power system including at least one of: a motor 107, a propeller 106 and an electronic speed regulator 117, wherein a power system is arranged on the airframe and used for providing flight power; flight controller 118 with the driving system communication is connected for control the unmanned aerial vehicle flight. The flight controller 118 may be the main control system of the drone. Radar system 102 may be in communication with the flight controller 118. The specific structure, implementation principle and technical effect of the radar system 102 are similar to those described in the above embodiments, and are not described herein again. In addition, the drone shown in fig. 10 is only an illustrative example, and does not limit the installation manner of the radar system 102 on the drone, nor the installation position of the radar system 102 on the drone.
In addition, the present embodiment also provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the signal acquisition method of the radar system according to the foregoing embodiment.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
It is obvious to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional modules is merely used as an example, and in practical applications, the above function distribution may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to perform all or part of the above described functions. For the specific working process of the device described above, reference may be made to the corresponding process in the foregoing method embodiment, which is not described herein again.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
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