CN107783115A - Anti-collision millimeter-wave radar system for long-distance complex environment of rotor UAV - Google Patents
Anti-collision millimeter-wave radar system for long-distance complex environment of rotor UAV Download PDFInfo
- Publication number
- CN107783115A CN107783115A CN201610723718.2A CN201610723718A CN107783115A CN 107783115 A CN107783115 A CN 107783115A CN 201610723718 A CN201610723718 A CN 201610723718A CN 107783115 A CN107783115 A CN 107783115A
- Authority
- CN
- China
- Prior art keywords
- signal
- subsystem
- antenna
- complex environment
- frequency
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000012545 processing Methods 0.000 claims abstract description 13
- 238000001514 detection method Methods 0.000 claims abstract description 11
- 230000003750 conditioning effect Effects 0.000 claims abstract description 7
- 230000005540 biological transmission Effects 0.000 claims description 16
- 230000003321 amplification Effects 0.000 claims description 6
- 238000001914 filtration Methods 0.000 claims description 6
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 6
- 230000015572 biosynthetic process Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 description 10
- 230000004888 barrier function Effects 0.000 description 9
- 238000013461 design Methods 0.000 description 8
- 230000006870 function Effects 0.000 description 8
- 230000008859 change Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000005259 measurement Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 241000287531 Psittacidae Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 231100001261 hazardous Toxicity 0.000 description 1
- 238000011031 large-scale manufacturing process Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 210000003739 neck Anatomy 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 239000000575 pesticide Substances 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000002459 sustained effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/933—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
Rotor unmanned aerial vehicle remote complex environment anticollision millimeter wave radar system belongs to the radar field for realize rotor unmanned aerial vehicle remote complex environment anticollision, the technical essential is: a rotor unmanned aerial vehicle long-distance complex environment anti-collision millimeter wave radar system comprises an antenna subsystem, a radio frequency subsystem, a signal conditioning subsystem and a signal processing subsystem; the antenna subsystem forms transmitting and receiving beams required by radar detection, radiates a transmitting signal to a designated area and receives a target scattering echo signal in the designated area.
Description
Technical field
The invention belongs to field of radar, is related to a kind of remote complex environment anticollision millimetre-wave radar system of rotor wing unmanned aerial vehicle
System.
Background technology
In recent years, with the continuous development of technology, civil small-scale rotor wing unmanned aerial vehicle price is more and more lower, is widely used in navigating
The fields such as bat, film shooting, pesticide spraying, field rescue, the earth remote sensing mapping, the tour of high-voltage line power network.But because rotor
The collision between barrier easily occurs during unmanned plane low-latitude flying, causes the damage of rotor wing unmanned aerial vehicle.At present threaten rotor without
The object of man-machine outdoor low-latitude flying safety mainly has the natural forms such as trees and power line, electric pole, building etc. artificial
Object.
Development of UAV for many years, can already pass through GPS and judge the position of unmanned plane in the plane, it is outstanding thereby to carry out fixed point
Stop.But unmanned plane perceived distance how is allowed, avoidant disorder, it always is a very big problem.
Earliest distance measuring method is somewhat like radar for backing car in fact, through " sense of hearing " of similar bat, to ranging to as projecting
Electric wave, the direction and position of object are judged after perceived reflection.AR.Drone unmanned planes under French unmanned plane company Parrot,
Most already through ultrasonic wave mode toward lower section ranging, allow unmanned function to be fixed on sustained height and fly；And zero degree unmanned plane
Searcher's second generation (XIROXplorer2) then uses special 360 degree of rangings of infrared mode, thereby avoidant disorder thing.However,
The maximum of radar type ranging limits：It needs first emitting radio waves, then scouts radio wave attenuation；In endurance and wave transmission work(
Under the limitation of rate, it is difficult to carry out the ranging of long range：Such as the ParrotBebopDrone fixed height of ultrasonic wave, highest distance only have
8 meters, and the maximum avoidance radius of zero degree searcher 2, then only 6 meters.Big boundary Phantom4 or YuneecTyphoonH are passed through
Binocular inductor, as long as under the good environment of light, its automatic obstacle-avoiding distance is more much farther away than ultrasonic radar formula avoidance：
The binocular inductor of big boundary may determine that farthest about 15 meters obstacle, more remote than ParrotBebopDrone to connect by about one time.But
Avoidance is realized using vision, environmental change can produce tremendous influence to its barrier avoiding function, largely effect on its barrier avoiding function.
The content of the invention
The invention provides a kind of remote complex environment anticollision millimetre-wave radar system of rotor wing unmanned aerial vehicle, it is therefore intended that
To a kind of radar system, to realize the remote complex environment anticollision of rotor wing unmanned aerial vehicle.
The present invention adopts the following technical scheme that：
A kind of remote complex environment anticollision millimetre-wave radar system of rotor wing unmanned aerial vehicle, including antenna subsystem, radio frequency point
System, signal condition subsystem, signal transacting subsystem；
The antenna subsystem forms the transmitting needed for radar detection and receives wave beam, and by transmission signal to designated area
Radiation, and receive the target scattering echo-signal in designated area；
The radio frequency subsystem, the frequency for producing transmission signal and transmission signal are become according to the rule of modulated signal
Change, realize output linearity CW with frequency modulation；
The signal condition subsystem, filtering and amplitude amplification to analog intermediate frequency signal；
The signal transacting subsystem, the four road I/Q intermediate-freuqncy signals for exporting signal condition subsystem, collect AD collections
In passage, and carry out signal transacting and output.
Further, the antenna subsystem includes transmitting antenna and reception antenna, and the reception antenna is connect by three rows
Two reception antennas that antenna is made up of back side feeding network are received, use micro-strip rectangular patch formation group battle array；The transmitting day
Line, reception antenna are connected by via with back side microwave circuit.
Further, the signal transacting subsystem, including ARM chips, power module, serial port module and CAN module, institute
The four road I/Q intermediate-freuqncy signals that AMR chips export signal condition subsystem are stated, collect the four road AD collections that ARM chips carry
In passage, signal transacting is carried out by ARM chips, exported by serial port module and/or CAN module.
Further, antenna subsystem includes transmitting antenna and reception antenna, and the radio frequency subsystem includes VCO
Device and frequency mixer, the signal transacting subsystem include signal conditioning circuit and PLL phaselocked loops, the signal transacting subsystem bag
A/D converter and ARM chips are included, one end of ARM chips is connected to signal generator, and signal generator is connected to VCO
Device, voltage-controlled vibrator are connected to the first end of transmitter and frequency mixer, the second end connection receiver of frequency mixer, frequency mixer
Three-terminal link signal conditioning circuit, signal conditioning circuit connection A/D converter, A/D converter connection ARM chips it is another
End.
Beneficial effect：The invention provides a kind of remote complex environment anticollision millimetre-wave radar system of rotor wing unmanned aerial vehicle,
To realize the remote complex environment anticollision of rotor wing unmanned aerial vehicle.
Brief description of the drawings
Fig. 1 unmanned plane anticollision millimetre-wave radars system work block diagram；
Fig. 2 signal condition subsystem global design block diagrams；
Fig. 3 unmanned plane Anticollision Radar signal transacting subsystem hardware global design block diagrams.
Embodiment
Embodiment 1：What the present embodiment was mainly introduced is the barrier avoiding function that unmanned plane is realized using millimetre-wave radar.Millimeter wave
Radar mainly has detection performance stabilization, environment is well-adjusted, size is small, price is low, Ke Yi compared with other detection modes
The advantages that sleety weather of rather harsh uses.
For in the flight course of rotor wing unmanned aerial vehicle outfield to the deficiency of its flight environment of vehicle perception, especially to complicated ring
The avoidance scarce capacity or shortage of barrier in border, or the avoidance time it is too short lead to not timely avoiding barrier, so as to
The collision of caused rotor wing unmanned aerial vehicle, phenomena such as causing unmanned plane to damage, it is remote to present embodiments provide a kind of rotor wing unmanned aerial vehicle
Complex environment anticollision millimetre-wave radar system, by multiple obstacles in the range of detections of radar in environment in front of unmanned plane during flying
Thing, including static target and dynamic object, relative distance between unmanned plane, relative velocity and azimuthal can be obtained
Resolve.If the position of target obstacle is calculated in real time in certain time, it is possible to obtain the rail of moving-target barrier
So as to judge the absolute velocity of target and the direction of motion, position that can be following to moving-target is predicted for mark and flight path
And tracking, or the tracking of the real-time spatial position of static target, according to the flying speed of unmanned plane, avoidance road is carried out in advance
The planning in footpath.
The realization principle of the remote avoidance millimetre-wave radar of rotor wing unmanned aerial vehicle mainly passes through antenna to unmanned plane during flying
The certain beam space radiated electromagnetic energy in front, makes it propagate in the air, which part emittance is by from unmanned plane radar
Individual to be intercepted and captured apart from upper reflecting barrier thing target, the energy of intercepting and capturing is radiated on many directions by obstacle target again, its
The energy that a middle part radiates again is returned on unmanned plane radar antenna, is received by radar antenna.The phase of front obstacle
Information is closed after receiver amplification and suitable signal transacting, target echo signal is made in receiver output end and whether there is
Judgement, now, the position of target may just obtain about the information of target with other, such as relative velocity and azimuth
Etc. information.The present embodiment is primarily directed to hazardous collision existing for the unmanned plane during flying such as people, tree, wall, net and high-voltage line front
Target carries out avoidance.
The working frequency of millimetre-wave radar designed by the present embodiment is in 24GHz or 77GHz, using FMCW continuous wave bodies
System, using linear frequency modulation, its range resolution ratio is high.Waveform can use linear frequency modulation triangular wave FMCW, sawtooth waveforms and constant frequency ripple
Or the combined waveform of this several waveform.Using single triangular wave transmitted waveform, row distance and speed can be entered to target
Mainly to target range and azimuthal detection, constant frequency ripple is to target velocity and side for azimuthal detection, sawtooth waveforms
The resolving of parallactic angle, while the waveform formed by this several waveform combination, it is possible to achieve multiple target distance, speed and azimuthal
Resolve, the features such as false alarm rate is lower, transmitted waveform can be selected according to different application scenarios, so as to reach different application necks
Domain.
The maximum flying speed of the rotor wing unmanned aerial vehicle of the present embodiment design is 40km/h, and the radar of unmanned plane anticollision is maximum to be surveyed
Away from for 60m, many times are higher by than unmanned plane anticollision distance at present on the market.
The operation principle of unmanned plane anticollision millimetre-wave radar system is to utilize the frequency between transmission signal and echo-signal
Difference determines the distance of measured target, speed.The system is typically by modulation signal generator, voltage controlled oscillator (VCO), transmitting
Device, receiver, frequency mixer and signal processing module, digital signal processing module etc. form.Its composition frame chart is as shown in Figure 1.
As shown in figure 1, the remote complex environment CAS of rotor wing unmanned aerial vehicle is broadly divided into antenna by the present embodiment point is
System, radio frequency subsystem, signal condition subsystem, signal transacting subsystem and alarm control system etc..
The basic functional principle that the present embodiment provides unmanned plane anticollision millimetre-wave radar is：
1st, linear frequency modulation triangular wave is launched by controlling PLL phaselocked loops by ARM chips, i.e. output has certain amplitude
With the modulated signal (the present embodiment is linear frequency modulation continuous triangle ripple) of frequency, using phaselocked loop can be transmitted waveform data more
Precisely, so as to improving the performance of system
2nd, voltage controlled oscillator VCO produces a range of transmission signal and transmission signal in the presence of PLL phaselocked loops
Frequency be changed according to the rule of modulated signal, so as to realize linear frequency modulation continuous wave FMCW mode of operation.
3rd, transmission signal is radiated in the space in front of unmanned plane during flying by transmitter all the way, and another way is then with being reflected back
The echo-signal come is mixed.Echo-signal is compared with transmission signal before, and its frequency has occurred and that change, through frequency mixer
The signal obtained afterwards is exactly difference frequency signal.
4th, unmanned plane during flying objects ahead information is included in this difference frequency signal.By the way that difference frequency signal is adjusted by signal
Reason is to be input to ARM chips after signal amplification filters to carry out AD samplings.
5th, the two-way I/Q data after sampling is subjected to Digital Signal Processing in ARM chips.Digital Signal Processing is mainly wrapped
The change of FFT time-frequencies, CFAR Threshold detections and distance, speed decoupling computation, azimuthal calculating are included, may for some occasions
Need to carry out Moveing target indication (MTI) technology and moving-target detection (MTD) technology etc..
6 and then obtain the relevant informations such as range-to-go, speed, angle by certain signal transacting, by CAN or
Be other communication modes be linked into unmanned plane master controller output by wireless transmission method transfer back to host computer or
The terminals such as mobile phone carry out real-time display.
7th, the calculating to unmanned plane danger ahead obstacle distance, speed and orientation, unmanned plane master controller root are passed through
Data processing is carried out according to the data message to objects ahead real-time update, is mainly handled including filter forecasting etc., card can be used
The methods of Kalman Filtering and prediction, is carried out, and its preceding object target can be accomplished to examine in real time by filtering and prediction algorithm
Survey and track, by judging objects ahead distance and Velocity Azimuth angle, with reference to the flying speed of unmanned plane itself, advise in advance
Robot dodge strategy is pulled, so that unmanned plane completes whole avoidance process.
Below according to each subsystem, the major function and design method of subsystem is discussed in detail.
Antenna subsystem main task is to form transmitting needed for radar detection and receive wave beam, and by transmission signal to finger
Determine area radiation, and receive the target scattering echo-signal in designated area.Antenna array designed by the present embodiment includes one
Transmitting antenna, two row reception antenna units, it is micro- with the back side by via using micro-strip rectangular patch form group battle array dual-mode antenna
Wave circuit connects.The antenna launching beam can be designed according to application scenarios, may be selected horizontal direction using phase comparing method or
It is to carry out angle measurement or pitch orientation angle measurement than width hair method.The present embodiment selects microstrip antenna mainly due to microstrip antenna tool
Have the advantage that：Small volume, in light weight, low section, low cost, and in addition to outputing lead at distributing point, do not destroy
The mechanical structure of carrier；Performance variation, the micro-strip member greatest irradiation direction of design can be mapped in the range of end-fire on side
Adjustment, realizes a variety of geometric ways；Unified component can be integrated into active device, circuit, be adapted to large-scale production, it is simplified whole
The making and debugging of machine, substantially reduce cost.
The design method of radio frequency subsystem is mainly the application scenarios and function need according to unmanned plane anticollision millimetre-wave radar
Ask and be designed, main completion task is that voltage controlled oscillator VCO produces a range of transmitting in the presence of PLL phaselocked loops
The frequency of signal and transmission signal is changed according to the rule of modulated signal, so as to realize linear frequency modulation continuous wave Working mould
Formula.Radio frequency subsystem radio-frequency front-end is mainly made up of two parts of transmitting-receiving integrated chip BGT24MTR12 and phaselocked loop ADF4158.
Wherein Infineon's radar chip BGT24MTR12 is company of Infineon to be customized exclusively for 24G car radars, the inside be integrated with including
The transmittings such as VCO, PA, LNA, MIXER and all radio-frequency modules of receiving channel, the chip volume is small, and price is low, stable performance；
ADF4158 is the PLL for the industry rs only car radar application that ADI companies release, and its is vdiverse in function, easy to use and reliable.Work
When making, transmitted waveform (generally triangular wave, sawtooth waveforms and combinations thereof), then drives radar chip as needed for being produced ADF4158
VCO tunes pin, and VCO produces corresponding radiofrequency signal according to tuning pin voltage, wherein radiofrequency signal is sent by PA amplifications all the way
To transmitting antenna, divided all the way by frequency divider 6 in addition, be sent to ADF4158 inputs and locked.It is anti-that transmission signal runs into target
Penetrate, echo is sent to low noise amplifier LNA by reception antenna, during LNA is downconverted to after signal is amplified by frequency mixer MIXER
Frequency analog signal output.It is in order that VCO output frequencies are more stable to enter line-locked purpose using ADF4158.
Signal condition subsystem is mainly to realize the functions such as filtering and the amplitude amplification of analog intermediate frequency signal, is put comprising signal
Big and filtering two parts.Specific design method may be referred to Fig. 2, shown.
Signal transacting subsystem hardware components use single ARM processing structures；Main circuit includes ARM processing modules, power supply
Module, serial port module and CAN module.
ARM processing modules are mainly that four road I/Q intermediate-freuqncy signals lines of signal conditioning circuit output are passed through into signal condition mould
Block, enter the four road AD acquisition channels that ARM is carried.Pass through serial ports or CAN mouth output results after certain signal transacting.
Serial ports and CAN mouths can be selected according to different scenes.
Power module provides the voltage of whole signal processing module.And it is supplied to RF front-end module and signal condition mould
Block 5V and 3.3V voltage.Power input uses wide-range input voltage, compatible 12V and 24V.
Unmanned plane Anticollision Radar baseband signal processing module global design block diagram such as Fig. 3：
Signal transacting subsystem software part is substantially carried out controlling the transmitted waveform of radio-frequency front-end phase-locked loop pll and echo is believed
Number received, resolved and exported measurement result.
Controlling alarm subsystem mainly by signal transacting subsystem is obtained unmanned plane danger ahead barrier away from
From the further calculating in, speed and orientation, realize unmanned plane master controller according to the distance to objects ahead real-time update, speed
The data messages such as degree, angle, the processing such as prediction is filtered, controller is according to the data gone out of calculating, with reference to unmanned plane itself
State of flight, including flying speed etc., alarm and control decision is made in advance, so that unmanned plane can be in complex environment
In autonomous complete avoidance process.
It is described above, the only preferable embodiment of the invention, but the protection domain of the invention is not
This is confined to, any one skilled in the art is in the technical scope that the invention discloses, according to the present invention
The technical scheme of creation and its inventive concept are subject to equivalent substitution or change, should all cover the invention protection domain it
It is interior.
Claims (4)
1. a kind of remote complex environment anticollision millimetre-wave radar system of rotor wing unmanned aerial vehicle, it is characterised in that be including antenna point
System, radio frequency subsystem, signal condition subsystem, signal transacting subsystem；
The antenna subsystem forms the transmitting needed for radar detection and receives wave beam, and by transmission signal to designated area spoke
Penetrate, and receive the target scattering echo-signal in designated area；
The radio frequency subsystem, the frequency for producing transmission signal and transmission signal are changed according to the rule of modulated signal, real
Existing output linearity CW with frequency modulation；
The signal condition subsystem, filtering and amplitude amplification to analog intermediate frequency signal；
The signal transacting subsystem, the four road I/Q intermediate-freuqncy signals for exporting signal condition subsystem, collects AD acquisition channels
In, and carry out signal transacting and output.
2. the remote complex environment anticollision millimetre-wave radar system of rotor wing unmanned aerial vehicle as claimed in claim 1, it is characterised in that
The antenna subsystem includes transmitting antenna and reception antenna, and the reception antenna is to be fed by three row reception antennas by the back side
Two reception antennas of network composition, use micro-strip rectangular patch formation group battle array；The transmitting antenna, reception antenna pass through via
It is connected with back side microwave circuit.
3. the remote complex environment anticollision millimetre-wave radar system of rotor wing unmanned aerial vehicle as claimed in claim 1, it is characterised in that
The signal transacting subsystem, including ARM chips, power module, serial port module and CAN module, the AMR chips adjust signal
Four road I/Q intermediate-freuqncy signals of subsystem output are managed, collects in the four road AD acquisition channels that ARM chips carry, is entered by ARM chips
Row signal transacting, exported by serial port module and/or CAN module.
4. the remote complex environment anticollision millimetre-wave radar system of rotor wing unmanned aerial vehicle as claimed in claim 1, it is characterised in that
Antenna subsystem includes transmitting antenna and reception antenna, and the radio frequency subsystem includes voltage controlled oscillator and frequency mixer, the letter
Number processing subsystem includes signal conditioning circuit and PLL phaselocked loops, and the signal transacting subsystem includes A/D converter and ARM
Chip, one end of ARM chips are connected to signal generator, and signal generator is connected to voltage controlled oscillator, voltage-controlled vibrator difference
It is connected to the first end of transmitter and frequency mixer, the second end connection receiver of frequency mixer, the three-terminal link signal of frequency mixer
Modulate circuit, signal conditioning circuit connection A/D converter, A/D converter connect the other end of ARM chips.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610723718.2A CN107783115A (en) | 2016-08-25 | 2016-08-25 | Anti-collision millimeter-wave radar system for long-distance complex environment of rotor UAV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610723718.2A CN107783115A (en) | 2016-08-25 | 2016-08-25 | Anti-collision millimeter-wave radar system for long-distance complex environment of rotor UAV |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107783115A true CN107783115A (en) | 2018-03-09 |
Family
ID=61438528
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610723718.2A Pending CN107783115A (en) | 2016-08-25 | 2016-08-25 | Anti-collision millimeter-wave radar system for long-distance complex environment of rotor UAV |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107783115A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107783114A (en) * | 2016-08-25 | 2018-03-09 | 大连楼兰科技股份有限公司 | System and method for long-distance and complex environment collision avoidance millimeter-wave radar signal processing system and method for rotor UAV |
| CN109270533A (en) * | 2018-11-14 | 2019-01-25 | 北京遥感设备研究所 | A kind of airpark foreign bodies detection radar system and method |
| CN109633652A (en) * | 2019-01-14 | 2019-04-16 | 长沙莫之比智能科技有限公司 | Robot obstacle avoidance system based on millimeter wave radar and its application method |
| CN110988862A (en) * | 2019-11-30 | 2020-04-10 | 的卢技术有限公司 | Sensing method and system based on ultra-close distance millimeter wave radar |
| CN111880170A (en) * | 2020-08-14 | 2020-11-03 | 石家庄铁道大学 | LFMCW radar ranging system based on ARM |
| CN112424629A (en) * | 2018-06-26 | 2021-02-26 | 苏州宝时得电动工具有限公司 | Radar-applied electric device |
| CN112834987A (en) * | 2021-01-18 | 2021-05-25 | 成都老鹰信息技术有限公司 | Millimeter wave ranging system for wiping tail of airplane |
| CN114560096A (en) * | 2022-02-28 | 2022-05-31 | 山东交通学院 | Unmanned aerial vehicle system based on variable bionic bat ultrasonic transceiver |
| CN117111050A (en) * | 2023-08-31 | 2023-11-24 | 中咨泰克交通工程集团有限公司 | Long-distance roadside millimeter wave radar detection system |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101589508A (en) * | 2006-10-09 | 2009-11-25 | 株式会社Emw天线 | A direct feeding type patch antenna |
| CN102346453A (en) * | 2011-07-22 | 2012-02-08 | 中环天仪股份有限公司 | Analog data collection module based on industrial Ethernet |
| CN102707285A (en) * | 2012-05-28 | 2012-10-03 | 河海大学 | Method for detecting frequency domain constant false alarm of vehicle-mounted millimeter-wave anti-collision radar system |
| CN105204075A (en) * | 2015-09-22 | 2015-12-30 | 北京理工雷科电子信息技术有限公司 | Scene foreign matter detecting system based on millimeter wave radar |
| CN105353383A (en) * | 2015-09-29 | 2016-02-24 | 大连楼兰科技股份有限公司 | A kind of vehicle lane change anti-collision lidar system and its working method |
| CN107783114A (en) * | 2016-08-25 | 2018-03-09 | 大连楼兰科技股份有限公司 | System and method for long-distance and complex environment collision avoidance millimeter-wave radar signal processing system and method for rotor UAV |
-
2016
- 2016-08-25 CN CN201610723718.2A patent/CN107783115A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101589508A (en) * | 2006-10-09 | 2009-11-25 | 株式会社Emw天线 | A direct feeding type patch antenna |
| CN102346453A (en) * | 2011-07-22 | 2012-02-08 | 中环天仪股份有限公司 | Analog data collection module based on industrial Ethernet |
| CN102707285A (en) * | 2012-05-28 | 2012-10-03 | 河海大学 | Method for detecting frequency domain constant false alarm of vehicle-mounted millimeter-wave anti-collision radar system |
| CN105204075A (en) * | 2015-09-22 | 2015-12-30 | 北京理工雷科电子信息技术有限公司 | Scene foreign matter detecting system based on millimeter wave radar |
| CN105353383A (en) * | 2015-09-29 | 2016-02-24 | 大连楼兰科技股份有限公司 | A kind of vehicle lane change anti-collision lidar system and its working method |
| CN107783114A (en) * | 2016-08-25 | 2018-03-09 | 大连楼兰科技股份有限公司 | System and method for long-distance and complex environment collision avoidance millimeter-wave radar signal processing system and method for rotor UAV |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107783114A (en) * | 2016-08-25 | 2018-03-09 | 大连楼兰科技股份有限公司 | System and method for long-distance and complex environment collision avoidance millimeter-wave radar signal processing system and method for rotor UAV |
| CN112424629A (en) * | 2018-06-26 | 2021-02-26 | 苏州宝时得电动工具有限公司 | Radar-applied electric device |
| CN112424629B (en) * | 2018-06-26 | 2024-04-09 | 苏州宝时得电动工具有限公司 | Electric device using radar |
| CN109270533A (en) * | 2018-11-14 | 2019-01-25 | 北京遥感设备研究所 | A kind of airpark foreign bodies detection radar system and method |
| CN109633652A (en) * | 2019-01-14 | 2019-04-16 | 长沙莫之比智能科技有限公司 | Robot obstacle avoidance system based on millimeter wave radar and its application method |
| CN110988862A (en) * | 2019-11-30 | 2020-04-10 | 的卢技术有限公司 | Sensing method and system based on ultra-close distance millimeter wave radar |
| CN110988862B (en) * | 2019-11-30 | 2024-04-05 | 的卢技术有限公司 | Ultra-close millimeter wave radar sensing method and system |
| CN111880170A (en) * | 2020-08-14 | 2020-11-03 | 石家庄铁道大学 | LFMCW radar ranging system based on ARM |
| CN111880170B (en) * | 2020-08-14 | 2021-11-30 | 石家庄铁道大学 | LFMCW radar ranging system based on ARM |
| CN112834987A (en) * | 2021-01-18 | 2021-05-25 | 成都老鹰信息技术有限公司 | Millimeter wave ranging system for wiping tail of airplane |
| CN114560096A (en) * | 2022-02-28 | 2022-05-31 | 山东交通学院 | Unmanned aerial vehicle system based on variable bionic bat ultrasonic transceiver |
| CN117111050A (en) * | 2023-08-31 | 2023-11-24 | 中咨泰克交通工程集团有限公司 | Long-distance roadside millimeter wave radar detection system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107783115A (en) | Anti-collision millimeter-wave radar system for long-distance complex environment of rotor UAV | |
| US10205457B1 (en) | RADAR target detection system for autonomous vehicles with ultra lowphase noise frequency synthesizer | |
| US10404261B1 (en) | Radar target detection system for autonomous vehicles with ultra low phase noise frequency synthesizer | |
| CN107783116A (en) | Anti-collision millimeter-wave radar system for unmanned vehicles in complex environments | |
| US10598764B2 (en) | Radar target detection and imaging system for autonomous vehicles with ultra-low phase noise frequency synthesizer | |
| CN107783114A (en) | System and method for long-distance and complex environment collision avoidance millimeter-wave radar signal processing system and method for rotor UAV | |
| US20210208272A1 (en) | Radar target detection system for autonomous vehicles with ultra-low phase-noise frequency synthesizer | |
| US11495877B2 (en) | Multi-layer, multi-steering antenna system for autonomous vehicles | |
| CN107783123A (en) | Unmanned vehicle complex environment collision avoidance millimeter wave radar signal processing system and method | |
| CN202171644U (en) | Portable civil imaging monitoring radar and radar system | |
| CN107783133B (en) | Fixed-wing UAV anti-collision system and anti-collision method of millimeter wave radar | |
| CN101373218B (en) | Millimeter wave time-division passive frequency modulation multichannel colliding-proof radar for car | |
| US20220043108A1 (en) | Systems methods and apparatus for deep-learning multidimensional detection segmentation and classification | |
| US11152701B2 (en) | Phase compensated multi-layer, multi-steering antenna array for millimeter wave applications | |
| CN207867031U (en) | Radar sensor, Terrain Following System for plant protection drone terrain following | |
| CN107783128B (en) | Multi-target anti-collision system of fixed-wing unmanned aerial vehicle based on millimeter wave radar | |
| CN107783118A (en) | Anti-collision method of multi-target collision avoidance system for fixed-wing UAV based on millimeter-wave radar | |
| CN107144835A (en) | A kind of low target monitors method | |
| CN107015218A (en) | A kind of three coordinate low altitude small target radars | |
| CN107783107A (en) | Millimeter wave radar altimeter for plant protection rotor UAV | |
| CN108061892A (en) | A kind of spaceborne full spatial domain anticollision warning system | |
| CN207586425U (en) | A kind of light high reliability low latitude unmanned plane early warning detection radar system | |
| CN107247265A (en) | A kind of multiple antennas module unmanned plane millimetre-wave radar system | |
| CN112105951B (en) | Radar system, movable platform and control method of radar system | |
| CN107783124B (en) | Combination waveform based anti-collision radar system and signal processing method for rotor UAV complex environment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180309 |
|
| RJ01 | Rejection of invention patent application after publication |