Radar Scanning Mechanism Design Method, Terminal and Storage Medium

Abstract

The present invention provides a radar scanning mechanism design method, a terminal, and a storage medium. The method includes: establishing a parameter vector, where the parameter vector includes multiple design parameters of the radar scanning mechanism; obtaining a candidate motor parameter table, which includes motors of multiple models; establishing multiple objective functions according to the multiple design parameters and the motor parameters of each model of motor in the candidate motor parameter table, where the first objective function represents the total weight of the radar scanning mechanism, the second objective function represents the motor torque of the radar scanning mechanism, and the third objective function represents the size of the radar scanning mechanism; performing optimization according to the optimization objectives to determine the values of each design parameter in the parameter vector and determine the model of the target motor in the candidate motor parameter table, where the optimization objectives include minimizing the values of the first objective function and the third objective function and maximizing the value of the second objective function. The present invention can optimize the multiple design objectives of the radar scanning mechanism as a whole.

Description

Technical Field

[0001] The present invention relates to the technical field of radar design, and particularly to a design method, a terminal and a storage medium for a radar scanning mechanism. Background Art

[0002] In the initial stage of the design of a radar scanning mechanism, the quality of the radar scanning mechanism has not been determined, the torque cannot be clarified, and it is difficult to determine the type selection of the stepping motor. Only preliminary type selection can be carried out relying on experience. To ensure the best overall performance of the radar scanning mechanism, its design goal is: to ensure that the size and quality of the radar scanning mechanism are as small as possible, and the motor torque is as large as possible.

[0003] However, when the transmission ratio is fixed, the size of the radar scanning mechanism is fixed. Only a motor with a larger torque can be selected to provide a larger torque to the radar scanning mechanism. The mass of the motor with a larger torque increases accordingly, which leads to an increase in the mass of the radar scanning mechanism. When the motor torque is fixed, only the transmission ratio can be increased to provide a larger torque to the radar scanning mechanism, which leads to an increase in the size of the radar scanning mechanism. The larger the transmission ratio, the larger the size of the radar scanning mechanism, the smaller the required motor torque, and the smaller the mass of the radar scanning mechanism. The larger the motor torque, the larger the mechanism mass, the smaller the required transmission ratio, and the smaller the size of the radar scanning mechanism.

[0004] Through the above analysis, it can be seen that in the design process of the radar scanning mechanism, it is impossible to optimize the overall design goal. Summary of the Invention

[0005] In view of this, the present invention provides a design method, a terminal and a storage medium for a radar scanning mechanism, which can solve the problem that multiple design goals of the radar scanning mechanism cannot be optimized as a whole.

[0006] In a first aspect, an embodiment of the present invention provides a design method for a radar scanning mechanism, including:

[0007] Establish a parameter vector, where the parameter vector includes multiple design parameters of the radar scanning mechanism, and for each design parameter, the design parameter corresponds to a preset value range;

[0008] Obtain a candidate motor parameter table, where the candidate motor parameter table includes multiple models of motors, and for each model of motor, the candidate motor parameter table includes the motor parameters of the model of motor;

[0009] Based on the multiple design parameters and the motor parameters of each motor model in the candidate motor parameter table, multiple objective functions are established. The multiple objective functions include a first objective function, a second objective function, and a third objective function. The first objective function is used to represent the total weight of the radar scanning mechanism, the second objective function is used to represent the motor torque of the radar scanning mechanism, and the third objective function is used to represent the size of the radar scanning mechanism.

[0010] Optimize according to the optimization objectives to determine the values of each design parameter in the parameter vector and determine the model of the target motor in the candidate motor parameter table. Among them, the optimization objectives include that the values of the first objective function and the third objective function are the smallest, and the value of the second objective function is the largest.

[0011] In a possible implementation manner, the multiple objective functions further include a fourth objective function and a fifth objective function. The fourth objective function is used to represent the rotation speed of the radar scanning mechanism, and the fifth objective function is used to represent the load torque of the radar scanning mechanism. The optimization objectives further include that the value of the second objective function is greater than the value of the fifth objective function, the value of the fourth objective function is the largest, and the value of the fifth objective function is the smallest.

[0012] In a possible implementation manner, the multiple design parameters include transmission ratio, load weight, rotation radius, acceleration time, and operating speed. For each motor model, the motor parameters of this model of motor include motor weight, motor rotor inertia, and the torque-frequency parameter of this model of motor. The torque-frequency parameter is used to represent the mapping relationship between the rotation speed and torque of this model of motor.

[0013] In a possible implementation manner, the establishment of multiple objective functions according to the multiple design parameters and the motor parameters of each motor model in the candidate motor parameter table includes:

[0014] Establish the first objective function according to the load weight and the motor weight of each motor model;

[0015] Establish the second objective function according to the torque-frequency parameter of each motor model;

[0016] Establish the third objective function according to the transmission ratio;

[0017] Establish the fourth objective function according to the operating speed;

[0018] Establish the fifth objective function according to the first objective function, the fourth objective function, the transmission ratio, the rotation radius, the acceleration time, and the motor rotor inertia of the motor.

[0019] In a possible implementation, the first objective function is

[0020] f 1x = m0 + m x

[0021] where f 1x is used to represent the total weight when the radar scanning mechanism configures the motor of the x-th model in the candidate motor parameter table, m0 is used to represent the load weight, and m x is used to represent the motor mass of the motor of the x-th model in the candidate motor parameter table;

[0022] The fourth objective function is

[0023] f4 = n

[0024] where f4 is used to represent the rotation speed of the radar scanning mechanism, and n is used to represent the operating rotation speed;

[0025] The fifth objective function is

[0026]

[0027] where f 5x is used to represent the load torque when the radar scanning mechanism configures the motor of the x-th model in the candidate motor parameter table, r is used to represent the radius of rotation, i is used to represent the transmission ratio, J mx is used to represent the moment of inertia of the motor rotor of the x-th model motor, π is used to represent the value of pi, and t is used to represent the acceleration time.

[0028] In a possible implementation, the second objective function is

[0029] f 2x = an 2 + bn + c

[0030] where f 2x is used to represent the motor torque when the radar scanning mechanism configures the motor of the x-th model in the candidate motor parameter table, n is used to represent the operating rotation speed, and a, b, and c are coefficient values obtained by fitting according to the torque-frequency parameters of the x-th model motor.

[0031] In a possible implementation, the radar scanning mechanism includes a driving wheel and a driven wheel, the transmission ratio is the pitch diameter of the driven wheel divided by the pitch diameter of the driving wheel, and the third objective function is

[0032] f3 = k(d + di)

[0033] Among them, f3 is used to represent the size of the radar scanning mechanism, k is a preset coefficient, d is used to represent the pitch diameter of the driving wheel, and i is used to represent the transmission ratio.

[0034] In a possible implementation manner, the optimization according to the optimization objective includes:

[0035] Performing minimum value optimization direction search through an improved non-dominated sorting genetic algorithm, including that the value of the second objective function is greater than the value of the fifth objective function, and the values of the first objective function, the reciprocal of the second objective function, the third objective function, the reciprocal of the fourth objective function, and the fifth objective function are the smallest;

[0036] Alternatively, performing maximum value optimization direction search through an improved non-dominated sorting genetic algorithm, including that the value of the second objective function is greater than the value of the fifth objective function, and the values of the reciprocal of the first objective function, the second objective function, the reciprocal of the third objective function, the fourth objective function, and the reciprocal of the fifth objective function are the largest.

[0037] In a second aspect, an embodiment of the present invention provides a terminal, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the method described in the first aspect or any possible implementation manner of the first aspect above are implemented.

[0038] In a third aspect, an embodiment of the present invention provides a computer-readable storage medium storing a computer program, and when the computer program is executed by a processor, the steps of the method described in the first aspect or any possible implementation manner of the first aspect above are implemented.

[0039] The beneficial effects of the embodiments of the present invention compared with the prior art are:

[0040] The present invention pre-determines multiple design parameters in the design process of the radar scanning mechanism, pre-determines the value ranges of each design parameter, establishes a parameter vector according to the multiple design parameters, and obtains a candidate motor parameter table containing the motor parameters of each type of candidate motor. Through the multiple design parameters and motor parameters, a first objective function for representing the total weight of the radar scanning mechanism, a second objective function for representing the motor torque of the radar scanning mechanism, and a third objective function for representing the size of the radar scanning mechanism are established. With the minimum values of the first objective function and the third objective function, and the maximum value of the second objective function as the optimization objectives, optimization is performed to determine the values of each design parameter in the parameter vector and the model of the target motor, achieving the purpose of overall optimization of multiple design objectives. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] To more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0042] Figure 1 It is a flowchart of the implementation of a radar scanning mechanism design method provided by an embodiment of the present invention;

[0043] Figure 2 It is a schematic structural diagram of a radar scanning mechanism;

[0044] Figure 3 As shown in Figure 2 It is a schematic structural diagram of the rotating mechanism in the radar scanning mechanism shown;

[0045] Figure 4 It is a schematic structural diagram of a radar scanning mechanism design device provided by an embodiment of the present invention;

[0046] Figure 5 It is a schematic diagram of a terminal provided by an embodiment of the present invention. Detailed implementation manners

[0047] In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present invention. However, those skilled in the art should clearly understand that the present invention can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid unnecessary details from interfering with the description of the present invention.

[0048] To make the purpose, technical solutions, and advantages of the present invention clearer, the following will be described through specific embodiments with reference to the drawings.

[0049] Refer to Figure 1 , which shows the flowchart of the implementation of the radar scanning mechanism design method provided by an embodiment of the present invention, and is described in detail as follows:

[0050] In step 101, a parameter vector is established. The parameter vector includes multiple design parameters of the radar scanning mechanism. For each design parameter, the design parameter corresponds to a preset value range.

[0051] Figure 2 It is a schematic structural diagram of a radar scanning mechanism. Combining Figure 2, the radar scanning mechanism is composed of a rotating mechanism connected to a swinging mechanism, and a radar detection unit is arranged at the end of the swinging mechanism. The first axis and the second axis are perpendicular in space. The rotating mechanism can rotate 360 degrees along the first axis, and the swinging mechanism can swing 180 degrees along the second axis. The load of the swinging mechanism is very small and the rotational speed requirement is very low, so directly selecting a small model stepping motor can meet the requirements. The main difficulty lies in the motor selection and parameter optimization of the rotating mechanism.

[0052] When the radar is working, since the rotating mechanism can rotate 360 degrees along the first axis and the swinging mechanism swings 180 degrees along the second axis, the radar detection unit can rotate along two rotational dimensions of the first axis and the second axis.

[0053] Figure 3 is Figure 2 The structural schematic diagram of the rotating mechanism in the radar scanning mechanism shown, where the rotating mechanism is driven by a stepping motor, as Figure 3 shown, the rotating mechanism includes a driving wheel and a driven wheel. The motor is fixed on the rotating mechanism. The driving wheel is directly installed on the motor shaft. The driven wheel is installed at the central axis of the mechanism, that is, fixed at the first axis, and a synchronous belt connects the driving wheel and the driven wheel. When the motor drives, since the driven wheel is fixed, the rotating mechanism rotates 360 degrees along the first axis.

[0054] When designing the radar scanning mechanism as Figure 2 shown, the method provided by the embodiment of the present invention mainly designs the rotating mechanism therein, that is, the rotating mechanism as Figure 3 shown. It should be noted that Figure 2 the radar scanning mechanism shown is only an example of an application scenario of the method provided by the embodiment of the present invention, rather than a limitation. For other types of radar scanning mechanisms, the method provided by the embodiment of the present invention can also be applied for design, and the embodiment of the present invention will not list them one by one here.

[0055] In a possible implementation manner, multiple design parameters of the radar scanning mechanism include transmission ratio i, load weight m0, rotation radius r, acceleration time t, and operating rotational speed n.

[0056] In the embodiment of the present invention, for each design parameter, the design parameter corresponds to a preset value range.

[0057] For example, defining the unit of weight as kg, the unit of rotation radius as m, the unit of acceleration time as s, and the unit of operating rotational speed as r / min, in a specific example, the value range of each design parameter is as follows:

[0058] 1≤i≤4

[0059] 2.5≤m0≤3

[0060] 0.12 ≤ r ≤ 0.2

[0061] 0.1 ≤ t ≤ 1

[0062] 50 ≤ n ≤ 150

[0063] Establish a parameter vector P, then:

[0064] P = [i, m0, r, t, n] T

[0065] In an embodiment of the present invention, it is determined as an optimization problem, which is to find a vector P and determine the values of each design parameter in P to achieve the overall optimization of each design parameter of the radar scanning mechanism.

[0066] In step 102, obtain a candidate motor parameter table, which includes motors of various models. For each model of motor, the candidate motor parameter table includes the motor parameters of that model of motor.

[0067] In an embodiment of the present invention, the candidate motor parameters are parameters that affect the design objectives of the radar scanning mechanism, such as those representing motor performance and motor weight.

[0068] In a possible implementation, for each model of motor, the motor parameters of that model of motor include the motor weight, the moment of inertia of the motor rotor, and the torque-frequency parameter of that model of motor. The torque-frequency parameter is used to represent the mapping relationship between the rotational speed and torque of that model of motor.

[0069] Combined with the example in step 101, for example, there are now candidate motors with model numbers Motor 1, Motor 2, and Motor 3 respectively. The candidate motor parameter table consists of a total of 4 tables, namely Table 1 to Table 4 below. Among them, Table 1 is the candidate motor rotor inertia table, which includes the weight of each motor and the moment of inertia J of the motor rotor m , J m The unit of J is g·cm 2 ; Table 2 is the torque-frequency parameter of Motor 1, Table 3 is the torque-frequency parameter of Motor 2, and Table 4 is the torque-frequency parameter of Motor 3. In a possible implementation, Motors 1 to 3 can be stepper motors. Since the best rotational speed of a stepper motor is in the range of 100 - 400 r / min, the torque-frequency characteristic information within this rotational speed range is selected, that is, the torque-frequency parameter.

[0070] Table 1

[0071]

[0072] Table 2

[0073]

[0074] Table 3

[0075]

[0076] Table 4

[0077]

[0078] In step 103, according to multiple design parameters and the motor parameters of each type of motor in the candidate motor parameter table, multiple objective functions are established. The multiple objective functions include a first objective function, a second objective function, and a third objective function. The first objective function is used to represent the total weight of the radar scanning mechanism, the second objective function is used to represent the motor torque of the radar scanning mechanism, and the third objective function is used to represent the size of the radar scanning mechanism.

[0079] In a possible implementation, the multiple objective functions further include a fourth objective function and a fifth objective function. The fourth objective function is used to represent the rotation speed of the radar scanning mechanism, and the fifth objective function is used to represent the load torque of the radar scanning mechanism.

[0080] In a possible implementation, the first objective function is established according to the load weight and the motor weight of each type of motor;

[0081] The second objective function is established according to the torque-frequency parameters of each type of motor;

[0082] The third objective function is established according to the transmission ratio;

[0083] The fourth objective function is established according to the operating speed;

[0084] The fifth objective function is established according to the first objective function, the fourth objective function, the transmission ratio, the rotation radius, the acceleration time, and the moment of inertia of the motor rotor of the motor.

[0085] In a possible implementation, the first objective function is

[0086] f 1x = m0 + m x

[0087] where f 1x is used to represent the total weight of the radar scanning mechanism when configuring the x-th type of motor in the candidate motor parameter table, m0 is used to represent the load weight, and m x is used to represent the motor mass of the x-th type of motor in the candidate motor parameter table.

[0088] Combined with the example in step 102, the first type of motor is motor 1, the second type of motor is motor 2, and the third type of motor is motor 3. Then, referring to Table 1, m1 = 0.4, m2 = 0.5, and m3 = 0.7.

[0089] Then:

[0090] f 11 = m0 + 0.4

[0091] f 12 = m0 + 0.5

[0092] f 13 = m0 + 0.7

[0093] In a possible implementation, the fourth objective function is

[0094] f4 = n

[0095] where f2 is used to represent the rotational speed of the radar scanning mechanism, and n is used to represent the operating rotational speed.

[0096] In a possible implementation, the fifth objective function is

[0097]

[0098] where f 5x is used to represent the load torque when the x-th type of motor in the candidate motor parameter table of the radar scanning mechanism is configured, r is used to represent the radius of rotation, i is used to represent the transmission ratio, J mx is used to represent the moment of inertia of the motor rotor of the x-th type of motor, π is used to represent the value of pi, and t is used to represent the acceleration time.

[0099] In the embodiments of the present invention, the derivation process of the fifth objective function is described.

[0100] In the Figure 3 shown rotating mechanism, the first joint composed of the driving wheel, the driven wheel and the conveyor belt can be simplified to a cylinder, and its load torque includes the operating torque and the acceleration torque. The bearing supports the load, and the operating torque is extremely small, not in the same order of magnitude as the acceleration torque, and is often ignored during calculation. That is, the first formula:

[0101] T = T f + T a = T a

[0102] where T is used to represent the load torque; T f is used to represent the operating torque; T a is used to represent the acceleration torque.

[0103] The load torque calculation formula is the second formula:

[0104] T = T a = 2(J m + J t ) × π × n / t

[0105] Among them, J m is used to represent the moment of inertia of the motor rotor of the motor; J t is used to represent the moment of inertia of the motor shaft; π is used to represent the value of pi; n is used to represent the operating speed, and t is used to represent the acceleration time.

[0106] The moment of inertia of the cylinder rotating mechanism is the third formula:

[0107]

[0108] Among them, J0 is used to represent the moment of inertia of the cylinder rotating mechanism, and f 1x is used to represent the total weight when the x-th type of motor in the candidate motor parameter table of the radar scanning mechanism is configured, and the unit can be kg; r is used to represent the radius of rotation, and the unit can be set to m.

[0109] The moment of inertia reduced to the motor shaft is the fourth formula:

[0110]

[0111] Among them, i is used to represent the transmission ratio.

[0112] Combining the second formula to the fourth formula, we get:

[0113]

[0114] In a possible implementation manner, the second objective function is

[0115] f 2x = an 2 + bn + c

[0116] Among them, f 2x is used to represent the motor torque when the x-th type of motor in the candidate motor parameter table of the radar scanning mechanism is configured, n is used to represent the operating speed, and a, b, and c are coefficient values obtained by fitting according to the torque-frequency parameters of the x-th type of motor.

[0117] Combining the example in step 102, the motor is a stepper motor, and the optimal operating speed of the stepper motor is taken as 100 - 400 r / min. According to the torque-frequency parameters of each type of motor, the second objective function is obtained by fitting, that is, the torque-frequency function of each motor.

[0118] Combining the example in step 102, combining Table 2, that is, the torque-frequency parameters of motor 1, the motor torque f 21 of motor 1 is obtained by fitting. Combining Table 3, that is, the torque-frequency parameters of motor 2, the motor torque f 22 of motor 2 is obtained by fitting. Combining Table 4, that is, the torque-frequency parameters of motor 3, the motor torque f 23 of motor 3 is obtained by fitting, that is:

[0119] f 21 = 2.286×10 -6 n 2 -0.001714n + 0.477

[0120] f 22 = 4.762×10 -7 n 2 -0.0009952n + 0.5186

[0121] f 23 = 1.857×10 -6 n 2 -0.00225n + 0.9536

[0122] In a possible implementation, the radar scanning mechanism includes a driving wheel and a driven wheel. The transmission ratio is the pitch diameter of the driven wheel divided by the pitch diameter of the driving wheel. The third objective function is

[0123] f3 = k(d + di)

[0124] where f3 is used to represent the size of the radar scanning mechanism, k is a preset coefficient, d is used to represent the pitch diameter of the driving wheel, and i is used to represent the transmission ratio.

[0125] The parameters affecting the size of the radar scanning mechanism are mainly the center distance a between the driving wheel and the driven wheel. The larger the center distance a, the larger the radius r of the mechanism, that is, the rotation radius r. The value range of the center distance a is

[0126] k1(d1 + d2) < a < k2(d1 + d2)

[0127] In the formula, both k1 and k2 are coefficient values and are both positive numbers, k1 < k2, d1 is the pitch diameter of the driving wheel, and d2 is the pitch diameter of the driven wheel.

[0128] In a possible implementation, k1 = 0.7, k2 = 2, that is

[0129] 0.7(d1 + d2) < a < 2(d1 + d2)

[0130] In a possible implementation, a = k(d1 + d2), where k1 < k < k2.

[0131] Since d2 = d1i, taking d1 = d, the third function

[0132] f3 = a = k(d + di)

[0133] Considering the direct connection between the motor shaft and the driving wheel, taking the pitch diameter of the small synchronous pulley d1 = d = 10.19 mm, then

[0134] d2 = 10.19i

[0135] Considering the mechanism transmission layout, taking k = 1.2, then

[0136] a = 1.2(d1 + d2)

[0137] That is

[0138] f3 = a = 1.2(10.19 + 10.19i) = 12.228 + 12.228i

[0139] In step 104, optimization is carried out according to the optimization objective to determine the value of each design parameter in the parameter vector and determine the model of the target motor in the candidate motor parameter table. Among them, the optimization objective includes that the values of the first objective function and the third objective function are the smallest, and the value of the second objective function is the largest.

[0140] In a possible implementation manner, when the multiple objective functions in step 103 further include a fourth objective function and a fifth objective function, the optimization objective further includes that the value of the second objective function is greater than the value of the fifth objective function, the value of the fourth objective function is the largest, and the value of the fifth objective function is the smallest.

[0141] That is to say, in the embodiment of the present invention, the optimization objective is: the value of the second objective function is greater than the value of the fifth objective function, that is, the motor torque of the radar scanning mechanism is greater than the load torque; the value of the first objective function f 1x is the smallest, that is, the smaller the total weight of the radar scanning mechanism, the better; the value of the fourth objective function f4 is the largest, that is, the higher the rotation speed of the radar scanning mechanism, the better; the value of the fifth objective function f 5x is the smallest, that is, the smaller the load torque of the radar scanning mechanism, the better; the value of the second objective function f 2x is the largest, that is, the greater the motor torque, the better the performance of the radar scanning mechanism; the value of the third objective function f3 is the smallest, that is, the smaller the size of the radar scanning mechanism, the better.

[0142] In a possible implementation manner, the minimum value optimization direction is searched by an improved non-dominated sorting genetic algorithm, including that the value of the second objective function is greater than the value of the fifth objective function, and the values of the first objective function, the reciprocal of the second objective function, the third objective function, the reciprocal of the fourth objective function, and the fifth objective function are the smallest.

[0143] The non-dominated sorting genetic algorithm (NSGA-II) is one of the multi-objective genetic algorithms. It reduces the complexity of the non-dominated sorting genetic algorithm and has the advantages of fast running speed and good convergence of the solution set, becoming the benchmark for the performance of other multi-objective optimization algorithms.

[0144] First, unify the optimization algorithm. When optimizing the direction to find the minimum value, since the larger the values of the second objective function and the fourth objective function in the optimization objective are, the better. When unifying the optimization direction, obtain the reciprocals of the second objective function and the fourth objective function, and determine that the optimization objective is that the value of the second objective function is greater than the value of the fifth objective function, and the values of the first objective function, the reciprocal of the second objective function, the third objective function, the reciprocal of the fourth objective function, and the fifth objective function are the smallest.

[0145] That is, minF(P) = min(f1, 1 / f2, f3, 1 / f4, f5) T

[0146] In a possible implementation, use the improved non-dominated sorting genetic algorithm to optimize the direction to find the maximum value, including that the value of the second objective function is greater than the value of the fifth objective function, and the values of the reciprocal of the first objective function, the second objective function, the reciprocal of the third objective function, the fourth objective function, and the reciprocal of the fifth objective function are the largest.

[0147] When optimizing the direction to find the maximum value, that is, maxF(P) = max(1 / f1, f2, 1 / f3, f4, 1 / f5) T 。

[0148] Combined with the above example, use the non-dominated sorting genetic algorithm to optimize the direction to find the minimum value, and obtain:

[0149] Parameter vector P = [3.17, 2.86, 0.18, 0.73, 134.55] T , and obtain that the model of the target motor is motor 2.

[0150] In the present invention, by pre-determining multiple design parameters in the design process of the radar scanning mechanism, pre-determining the value range of each design parameter, establishing a parameter vector according to the multiple design parameters, and obtaining a candidate motor parameter table including the motor parameters of each model of candidate motor, establish a first objective function for representing the total weight of the radar scanning mechanism, a second objective function for representing the motor torque of the radar scanning mechanism, and a third objective function for representing the size of the radar scanning mechanism. Taking the smallest values of the first objective function and the third objective function and the largest value of the second objective function as the optimization objective, perform optimization to determine the value of each design parameter in the parameter vector and the model of the target motor, so as to achieve the overall optimal goal of multiple design objectives.

[0151] It should be understood that the magnitudes of the sequence numbers of the steps in the above embodiments do not mean the order of execution. The order of execution of each process should be determined according to its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

[0152] The following is an apparatus embodiment of the present invention. For details not described in detail, reference may be made to the corresponding method embodiment above.

[0153] Figure 4 The structural schematic diagram of the radar scanning mechanism design apparatus provided by the embodiment of the present invention is shown. For the convenience of description, only the part related to the embodiment of the present invention is shown and is described in detail as follows:

[0154] As Figure 4 shown, the radar scanning mechanism design apparatus 4 includes: a first establishment module 41, an acquisition module 42, a second establishment module 43, and an optimization module 44;

[0155] The first establishment module 41 is used to establish a parameter vector, the parameter vector includes multiple design parameters of the radar scanning mechanism, and for each design parameter, the design parameter corresponds to a preset value range;

[0156] The acquisition module 42 is used to acquire a candidate motor parameter table, the candidate motor parameter table includes various models of motors, and for each model of motor, the candidate motor parameter table includes the motor parameters of the model of motor;

[0157] The second establishment module 43 is used to establish multiple objective functions according to the multiple design parameters and the motor parameters of each model of motor in the candidate motor parameter table. The multiple objective functions include a first objective function, a second objective function, and a third objective function. The first objective function is used to represent the total weight of the radar scanning mechanism, the second objective function is used to represent the motor torque of the radar scanning mechanism, and the third objective function is used to represent the size of the radar scanning mechanism;

[0158] The optimization module 44 is used to perform optimization according to the optimization objectives, determine the value of each design parameter in the parameter vector and determine the model of the target motor in the candidate motor parameter table, where the optimization objectives include that the values of the first objective function and the third objective function are the smallest, and the value of the second objective function is the largest.

[0159] The present invention pre-determines multiple design parameters in the design process of the radar scanning mechanism, pre-determines the value range of each design parameter, establishes a parameter vector according to the multiple design parameters, and acquires a candidate motor parameter table including the motor parameters of each model of candidate motor. Through the multiple design parameters and the motor parameters, a first objective function for representing the total weight of the radar scanning mechanism, a second objective function for representing the motor torque of the radar scanning mechanism, and a third objective function for representing the size of the radar scanning mechanism are established. Taking the values of the first objective function and the third objective function as the smallest and the value of the second objective function as the largest as the optimization objectives, optimization is performed to determine the value of each design parameter in the parameter vector and the model of the target motor, so as to achieve the overall optimum of multiple design objectives.

[0160] In a possible implementation, the multiple objective functions further include a fourth objective function and a fifth objective function. The fourth objective function is used to represent the rotation speed of the radar scanning mechanism, and the fifth objective function is used to represent the load torque of the radar scanning mechanism. The optimization objectives further include that the value of the second objective function is greater than the value of the fifth objective function, the value of the fourth objective function is the largest, and the value of the fifth objective function is the smallest.

[0161] In a possible implementation, the multiple design parameters include transmission ratio, load weight, rotation radius, acceleration time, and operating speed. For each type of motor, the motor parameters of this type of motor include motor weight, motor rotor inertia, and the torque-frequency parameter of this type of motor. The torque-frequency parameter is used to represent the mapping relationship between the rotation speed and torque of this type of motor.

[0162] In a possible implementation, the second establishment module 43 is used for:

[0163] Establish a first objective function according to the load weight and the motor weight of each type of motor;

[0164] Establish a second objective function according to the torque-frequency parameter of each type of motor;

[0165] Establish a third objective function according to the transmission ratio;

[0166] Establish a fourth objective function according to the operating speed;

[0167] Establish a fifth objective function according to the first objective function, the fourth objective function, the transmission ratio, the rotation radius, the acceleration time, and the motor rotor inertia of the motor.

[0168] In a possible implementation, the first objective function is

[0169] f 1x = m0 + m x

[0170] where f 1x is used to represent the total weight when the x-th type of motor in the candidate motor parameter table for the radar scanning mechanism is configured, m0 is used to represent the load weight, and m x is used to represent the motor mass of the x-th type of motor in the candidate motor parameter table;

[0171] The fourth objective function is

[0172] f4 = n

[0173] where f4 is used to represent the rotation speed of the radar scanning mechanism, and n is used to represent the operating speed;

[0174] The fifth objective function is

[0175]

[0176] Among them, f 5x is used to represent the load torque when the x-th type of motor in the candidate motor parameter table of the radar scanning mechanism is configured, r is used to represent the rotation radius, i is used to represent the transmission ratio, and J mx is used to represent the moment of inertia of the motor rotor of the x-th type of motor, π is used to represent the value of pi, and t is used to represent the acceleration time.

[0177] In a possible implementation manner, the second objective function is

[0178] f 2x = an 2 + bn + c

[0179] Among them, f 2x is used to represent the motor torque when the x-th type of motor in the candidate motor parameter table of the radar scanning mechanism is configured, n is used to represent the operating speed, and a, b, and c are coefficient values obtained by fitting according to the torque-frequency parameters of the x-th type of motor.

[0180] In a possible implementation manner, the radar scanning mechanism includes a driving wheel and a driven wheel, and the transmission ratio is the pitch diameter of the driven wheel divided by the pitch diameter of the driving wheel. The third objective function is

[0181] f3 = k(d + di)

[0182] Among them, f3 is used to represent the size of the radar scanning mechanism, k is a preset coefficient, d is used to represent the pitch diameter of the driving wheel, and i is used to represent the transmission ratio.

[0183] In a possible implementation manner, the optimization module 44 is used for:

[0184] Performing minimum value optimization direction search through an improved non-dominated sorting genetic algorithm, including that the value of the second objective function is greater than the value of the fifth objective function, and the values of the first objective function, the reciprocal of the second objective function, the third objective function, the reciprocal of the fourth objective function, and the fifth objective function are the smallest;

[0185] Or, performing maximum value optimization direction search through an improved non-dominated sorting genetic algorithm, including that the value of the second objective function is greater than the value of the fifth objective function, and the values of the reciprocal of the first objective function, the second objective function, the reciprocal of the third objective function, the fourth objective function, and the reciprocal of the fifth objective function are the largest.

[0186] The radar scanning mechanism design device provided in this embodiment can be used to execute the above-mentioned radar scanning mechanism design method embodiment, and its implementation principle and technical effect are similar, which will not be elaborated here in this embodiment.

[0187] Figure 5 is a schematic diagram of a terminal provided in an embodiment of the present invention. AsFigure 5 As shown, the terminal 5 of this embodiment includes: a processor 50, a memory 51, and a computer program 52 stored in the memory 51 and executable on the processor 50. When the processor 50 executes the computer program 52, it implements the steps in the above-mentioned embodiments of each radar scanning mechanism design method, such as Figure 1 the steps 101 to 104 shown. Alternatively, when the processor 50 executes the computer program 52, it implements the functions of each module / unit in the above-mentioned device embodiments, such as Figure 4 the functions of the modules 41 to 44 shown.

[0188] Exemplarily, the computer program 52 can be divided into one or more modules / units. The one or more modules / units are stored in the memory 51 and executed by the processor 50 to complete the present invention. The one or more modules / units can be a series of computer program instruction segments capable of performing specific functions, and these instruction segments are used to describe the execution process of the computer program 52 in the terminal 5.

[0189] The terminal 5 can be a computing device such as a desktop computer, a notebook, a palm computer, and a cloud server. The terminal 5 may include, but is not limited to, a processor 50 and a memory 51. Those skilled in the art can understand that Figure 5 this is only an example of the terminal 5 and does not constitute a limitation on the terminal 5. It may include more or fewer components than shown in the figure, or combine certain components, or different components. For example, the terminal may further include input / output devices, network access devices, a bus, etc.

[0190] The processor 50 may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0191] The memory 51 may be an internal storage unit of the terminal 5, such as the hard disk or memory of the terminal 5. The memory 51 may also be an external storage device of the terminal 5, such as a plug-in hard disk equipped on the terminal 5, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, etc. Further, the memory 51 may also include both the internal storage unit of the terminal 5 and the external storage device. The memory 51 is used to store the computer program and other programs and data required by the terminal. The memory 51 may also be used to temporarily store the data that has been output or will be output.

[0192] Those skilled in the art can clearly understand that, for the convenience and conciseness of description, only the above division of each functional unit and module is used as an example. In actual applications, the above functions can be allocated to different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated into a processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit. In addition, the specific names of each functional unit and module are only for the convenience of mutual distinction and do not limit the protection scope of the present application. The specific working process of the units and modules in the above system can refer to the corresponding process in the foregoing method embodiment and will not be described in detail here.

[0193] In the above embodiments, the descriptions of the various embodiments have their own emphases. For the parts not detailed or recorded in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0194] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or by a combination of computer software and electronic hardware. Whether these functions are executed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled professionals can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0195] In the embodiments provided by the present invention, it should be understood that the disclosed device / terminal and method can be implemented in other ways. For example, the device / terminal embodiments described above are merely illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections between each other can be through some interfaces. The indirect couplings or communication connections of the devices or units can be in electrical, mechanical or other forms.

[0196] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0197] In addition, in each embodiment of the present invention, the functional units can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated units can be implemented in the form of hardware or in the form of software functional units.

[0198] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, to implement all or part of the processes in the above method embodiments of the present invention, it can also be completed by a computer program instructing relevant hardware. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above method embodiments of each radar scanning mechanism design can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file or some intermediate form, etc. The computer-readable medium can include: any entity or device that can carry the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electrical carrier signal, telecommunication signal, and software distribution medium, etc. It should be noted that the content included in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0199] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A design method for a radar scanning mechanism, characterized in that, Including: Establish a parameter vector, where the parameter vector includes multiple design parameters of the radar scanning mechanism, and for each design parameter, there is a corresponding preset value range; Obtain a candidate motor parameter table, where the candidate motor parameter table includes motors of multiple models, and for each model of motor, the candidate motor parameter table includes the motor parameters of that model of motor; Based on the multiple design parameters and the motor parameters of each model of motor in the candidate motor parameter table, establish multiple objective functions, where the multiple objective functions include a first objective function, a second objective function, and a third objective function. The first objective function is used to represent the total weight of the radar scanning mechanism, the second objective function is used to represent the motor torque of the radar scanning mechanism, and the third objective function is used to represent the size of the radar scanning mechanism; Perform optimization according to the optimization objective to determine the value of each design parameter in the parameter vector and determine the model of the target motor in the candidate motor parameter table. Among them, the optimization objective includes that the values of the first objective function and the third objective function are the smallest, and the value of the second objective function is the largest.

2. The method according to claim 1, characterized in that The multiple objective functions further include a fourth objective function and a fifth objective function. The fourth objective function is used to represent the rotation speed of the radar scanning mechanism, and the fifth objective function is used to represent the load torque of the radar scanning mechanism; the optimization objective further includes that the value of the second objective function is greater than the value of the fifth objective function, the value of the fourth objective function is the largest, and the value of the fifth objective function is the smallest.

3. The method according to claim 2, wherein The multiple design parameters include transmission ratio, load weight, rotation radius, acceleration time, and operating speed. For each model of motor, the motor parameters of that model of motor include motor weight, motor rotor inertia, and the torque-frequency parameter of that model of motor, and the torque-frequency parameter is used to represent the mapping relationship between the rotation speed and torque of that model of motor.

4. The method according to claim 3, wherein The establishing of multiple objective functions according to the multiple design parameters and the motor parameters of each model of motor in the candidate motor parameter table includes: Establish the first objective function according to the load weight and the motor weight of each model of motor; Establish the second objective function according to the torque-frequency parameter and the motor torque of each model of motor; Establish the third objective function according to the transmission ratio and the pitch diameter of the driving wheel; Establish the fourth objective function according to the operating speed; Establish the fifth objective function according to the first objective function, the fourth objective function, the transmission ratio, the rotation radius, the acceleration time, and the motor rotor inertia of the motor.

5. The method according to claim 4, wherein The first objective function is f 1x = m0 + m x where f 1x is used to represent the total weight when the radar scanning mechanism configures the motor of the x-th model in the candidate motor parameter table, m0 is used to represent the load weight, and m x is used to represent the motor mass of the motor of the x-th model in the candidate motor parameter table; The fourth objective function is f4 = n where f4 is used to represent the rotation speed of the radar scanning mechanism, and n is used to represent the operating speed; The fifth objective function is Among them, f 5x is used to represent the load torque when the radar scanning mechanism configures the motor of the x-th model in the candidate motor parameter table, r is used to represent the rotation radius, i is used to represent the transmission ratio, J mx is used to represent the moment of inertia of the motor rotor of the x-th model motor, π is used to represent the value of pi, and t is used to represent the acceleration time.

6. The method according to claim 4, wherein The second objective function is f 2x = an 2 + bn + c where f 2x is used to represent the motor torque when the radar scanning mechanism configures the motor of the x-th model in the candidate motor parameter table, n is used to represent the operating speed, and a, b, and c are coefficient values obtained by fitting according to the torque-frequency parameters of the x-th model motor.

7. The method according to claim 4, wherein The radar scanning mechanism includes a driving wheel and a driven wheel. The transmission ratio is the pitch diameter of the driven wheel divided by the pitch diameter of the driving wheel. The third objective function is f3 = k(d + di) Among them, f3 is used to represent the size of the radar scanning mechanism, k is a preset coefficient, d is used to represent the pitch diameter of the driving wheel, and i is used to represent the transmission ratio.

8. The method according to any one of claims 2 to 7, characterized in that, The optimization according to the optimization objective includes: Performing optimization in the minimum value optimization direction through an improved non-dominated sorting genetic algorithm, including that the value of the second objective function is greater than the value of the fifth objective function, and the values of the first objective function, the reciprocal of the second objective function, the third objective function, the reciprocal of the fourth objective function, and the fifth objective function are the smallest; Alternatively, performing optimization in the maximum value optimization direction through an improved non-dominated sorting genetic algorithm, including that the value of the second objective function is greater than the value of the fifth objective function, and the values of the reciprocal of the first objective function, the second objective function, the reciprocal of the third objective function, the fourth objective function, and the reciprocal of the fifth objective function are the largest.

9. A terminal, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 8 above.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the method according to any one of claims 1 to 8 above.

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