Radar speed measurement system and method

Abstract

The invention provides a radar speed measurement system and method, and belongs to the technical field of industrial speed measurement, and the system comprises a first speed measurement module which is used for obtaining first speed measurement data of a calibration object in a first monitoring area at a first data collection frequency; the second speed measurement module is used for acquiring second speed measurement data of the calibration object in a second monitoring area at a second data acquisition frequency, and the first speed determination module is used for determining an initial speed and a test confidence coefficient of the calibration object according to the first speed measurement data and the second speed measurement data; the calibration speed measurement module is used for acquiring calibration speed measurement data of the calibration object in the calibration detection area at a third data acquisition frequency, and the second speed determination module is used for correcting the initial speed according to the calibration speed measurement data and determining the speed of the production line conveyor belt. The objective of the invention is to improve the problem of low speed measurement precision of a production line of a product with a large range and poor transportation reflection capability in an existing scheme.

Description

Technical Field

[0001] The present application relates to the technical field of industrial speed measurement, and in particular to a radar speed measurement system and method. Background Art

[0002] Radar speed measurement is a method of measuring the speed of an object or other moving target using radar technology. The radar speed measurement system transmits electromagnetic waves (usually microwaves or millimeter waves) and uses the reflected signals to measure the speed of the target object. In industrial production lines, the radar speed measurement system can be used to obtain the running speed of the products on the production line, thereby monitoring the production process.

[0003] Currently, the radar speed measurement system has low speed measurement accuracy for production lines with large ranges and products with poor transport reflectivity. Summary of the invention

[0004] The present application provides a radar speed measurement system and method, and the present application adopts the following technical solutions: A first aspect provides a radar speed measurement system, the system comprising a first monitoring area and a plurality of second monitoring areas, and the system further comprising: A first speed measurement module, used for acquiring first speed measurement data of the calibration object within the first monitoring area at a first data acquisition frequency; A second speed measurement module, used for acquiring second speed measurement data of the calibration object in the second monitoring area at a second data acquisition frequency, wherein the first data acquisition rate is higher than the second data acquisition frequency; A first speed determination module, used to determine an initial speed and a test confidence of the calibration object according to the first speed measurement data and the second speed measurement data; A determination module, configured to determine the next second monitoring area as a calibration detection area when the test confidence is less than or equal to a preset threshold; A calibration speed measurement module, used to obtain calibration speed measurement data of the calibration object in the calibration detection area at a third data acquisition frequency, the third data acquisition rate being higher than the first data acquisition frequency; The second speed determination module is used to correct the initial speed according to the calibration speed measurement data to determine the speed of the production line conveyor belt.

[0005] In one embodiment of the present application, the first speed determination module includes: A first evaluation submodule, configured to determine a first initial speed and a first speed measurement evaluation model according to the first speed measurement data and the second speed measurement data of the Nth second monitoring area; A second evaluation submodule, used to determine a second initial speed and a second speed measurement evaluation model according to the first speed measurement data and the second speed measurement data of the N+1th second monitoring area; The third evaluation submodule determines the test confidence according to the second initial speed and the first speed measurement evaluation model.

[0006] In one embodiment of the present application, the first evaluation submodule includes: A first coefficient determination unit, configured to determine a first correction coefficient according to a deviation result between the first speed measurement data and the second speed measurement data of the Nth second monitoring area; A second coefficient determination unit, used to obtain a second correction coefficient, where the second correction coefficient is determined according to a change in operating conditions from the first monitoring area to the Nth second monitoring area; The first calculation unit determines a first initial speed and a first speed measurement evaluation model according to the first speed measurement data, the second speed measurement data of the Nth second monitoring area, the first correction coefficient and the second correction coefficient.

[0007] In one embodiment of the present application, the second evaluation submodule includes: A third coefficient determination unit, used to determine a third correction coefficient according to a deviation result between the first speed measurement data and the second speed measurement data of the N+1th second monitoring area; a fourth coefficient determination unit, used to obtain a fourth correction coefficient, where the fourth correction coefficient is determined according to a change in operating conditions from the first monitoring area to the N+1th second monitoring area; The second calculation unit is used to determine a second initial speed and a second speed measurement evaluation model according to the first speed measurement data, the second speed measurement data of the N+1th second monitoring area, the first correction coefficient and the second correction coefficient.

[0008] In one embodiment of the present application, the third evaluation submodule includes: Obtaining a predicted speed of the calibration object in the second monitoring area determined according to the first speed measurement evaluation model; The test confidence is determined according to the difference between the predicted speed and the second initial speed.

[0009] In one embodiment of the present application, the calibration speed measurement module includes: An image calibration submodule, used for acquiring image speed measurement data of the calibration object in the calibration detection area at a third data acquisition frequency; A speed calibration submodule, used for acquiring speed measurement data of the calibration object in the calibration detection area at a third data acquisition frequency; The coefficient determination submodule is used to determine a third correction coefficient according to the image speed measurement data and the speed measurement data.

[0010] In one embodiment of the present application, the system further includes a third speed determination module; The third speed determination module is used to determine the initial speed of the calibration object as the speed of the production line conveyor belt when the test confidence is greater than a preset threshold.

[0011] In a second aspect, based on the same inventive concept, a radar speed measurement method is provided, which is applied to any radar speed measurement system of the first aspect, and the method includes: Acquire first speed measurement data of the calibration object in the first monitoring area at a first data acquisition frequency; Acquiring second speed measurement data of the calibration object in the second monitoring area at a second data acquisition frequency, wherein the first data acquisition rate is higher than the second data acquisition frequency; Determine an initial speed and a test confidence of the calibration object according to the first speed measurement data and the plurality of second speed measurement data; When the test confidence is less than or equal to a preset threshold, determining the next second monitoring area as a calibration detection area; Acquiring calibration speed measurement data of the calibration object in the calibration detection area at a third data acquisition frequency; Based on the calibrated speed measurement data, the initial speed is corrected to determine the speed of the production line conveyor belt.

[0012] In an embodiment of the present application, determining the initial speed and test confidence of the calibration object according to the first speed measurement data and the plurality of second speed measurement data includes: Determine a first initial speed and a first speed measurement evaluation model according to the first speed measurement data and the second speed measurement data of the Nth second monitoring area; Determine a second initial speed and a second speed measurement evaluation model according to the first speed measurement data and the second speed measurement data of the N+1th second monitoring area; A test confidence is determined based on the second initial speed and the first speed measurement evaluation model.

[0013] In an embodiment of the present application, determining the first initial speed and the first speed measurement evaluation model according to the first speed measurement data and the second speed measurement data of the Nth second monitoring area includes: Determine a first correction coefficient according to a deviation result between the first speed measurement data and the second speed measurement data of the Nth second monitoring area; Obtaining a second correction coefficient, where the second correction coefficient is determined according to a change in operating conditions from the first monitoring area to the second monitoring area; A first initial speed and a first speed measurement evaluation model are determined according to the first speed measurement data, the second speed measurement data of the Nth second monitoring area, the first correction coefficient, and the second correction coefficient.

[0014] In an embodiment of the present application, determining the second initial speed and the second speed measurement evaluation model according to the first speed measurement data and the second speed measurement data of the N+1th second monitoring area includes: Determine a third correction coefficient according to a deviation result between the first speed measurement data and the second speed measurement data of the N+1th second monitoring area; Obtaining a second correction coefficient, wherein the fourth correction coefficient is determined according to a change in operating conditions from the first monitoring area to the N+1th second monitoring area; A second initial speed and a second speed measurement evaluation model are determined according to the first speed measurement data, the second speed measurement data of the N+1th second monitoring area, the first correction coefficient, and the second correction coefficient.

[0015] In an embodiment of the present application, determining the test confidence according to the second initial speed and the first speed measurement evaluation model includes: Obtaining a predicted speed of the calibration object in the second monitoring area determined according to the first speed measurement evaluation model; The test confidence is determined according to the difference between the predicted speed and the second initial speed.

[0016] In one embodiment of the present application, obtaining calibration speed measurement data of the calibration object in the calibration detection area at the third data acquisition frequency includes: Acquiring image speed measurement data of the calibration object within the calibration detection area at a third data acquisition frequency; Acquiring speed measurement data of the calibration object within the calibration detection area at a third data acquisition frequency; A third correction coefficient is determined based on the image speed measurement data and the speed speed measurement data.

[0017] In an embodiment of the present application, the method further includes: The third speed determination module is used to determine the initial speed of the calibration object as the speed of the production line conveyor belt when the test confidence is greater than a preset threshold.

[0018] In summary, the above radar speed measurement system and method have the following technical effects: The radar speed measurement system provided by the present application collects speed measurement data in two different monitoring areas and sets different data collection frequencies to ensure that differentiated measurements can be performed between high-speed areas and low-speed areas. According to the first speed measurement data and the second speed measurement data obtained in different monitoring areas, the initial speed of the calibration object is comprehensively calculated. The prediction accuracy of the target speed is improved by statistics and analysis of multiple low-frequency data. When the test confidence is less than or equal to the preset threshold, the system will dynamically adjust the detection area and use the next monitoring area as the calibration area for speed measurement. Through this dynamic adjustment, the system can adapt to environmental changes and maintain high-precision measurements. During the calibration cycle, the calibration speed measurement data of the calibration object is obtained in the determined calibration detection area. At this time, the system will combine more information to correct the previous speed measurement results and improve the measurement accuracy. Based on the speed measurement data in the calibration detection area, the system corrects the initial speed to obtain a more accurate production line conveyor belt speed. Through continuous calibration and correction, a high-precision production line speed value is finally provided for process control and equipment adjustment. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A schematic diagram of the functional modules of a radar speed measurement system provided in an embodiment of the present application; Figure 2 A schematic diagram of the steps of a radar speed measurement method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0020] The terms used in the following embodiments are only for the purpose of describing specific embodiments, and are not intended to be used as limitations to the present application. As used in the specification and appended claims of the present application, the singular expressions "one", "a kind of", "", "above", "the" and "this" are intended to also include expressions such as "one or more", unless there is a clear contrary indication in the context. It should also be understood that in the following embodiments of the present application, "at least one", "one or more" refer to one or more than two (including two). The character " / " generally indicates that the objects associated before and after are in a "or" relationship.

[0021] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments.

[0022] In the following, the terms "first", "second", etc. are used only for convenience of description and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise specified, "plurality" means two or more. For example, a plurality of processing units refers to two or more processing units.

[0023] In addition, in the embodiments of the present application, "upper", "lower", "left" and "right" are not limited to being defined relative to the orientation of the components schematically placed in the drawings. It should be understood that these directional terms can be relative concepts, which are used for description and clarification relative to the components, and can change accordingly according to the change in the orientation of the components placed in the drawings. In the drawings, for the sake of clarity, the thickness of the layers and regions is exaggerated, and the size ratio relationship between the parts in the drawings does not reflect the actual size ratio relationship.

[0024] In the embodiments of the present application, unless otherwise clearly specified and limited, the term "connection" should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium. In addition, the term "electrical connection" can be a direct electrical connection or an indirect electrical connection through an intermediate medium.

[0025] In the embodiments of the present application, the term "module" is generally a functional structure divided according to logic, and the "module" can be implemented by pure hardware, or by a combination of software and hardware. In the embodiments of the present application, "and / or" describes the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, B exists alone, and A and B exist at the same time.

[0026] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0027] The technical solution in this application will be described below in conjunction with the accompanying drawings.

[0028] In industrial automation, radar speed measurement is widely used in products that require high-precision, long-distance, all-weather measurement of speed and dynamic behavior, such as conveyor systems, robots, logistics systems, wind turbine blades, metal rolling speed in steel manufacturing, particle flow rate in material transportation, and high-speed object detection on automated production lines. Radar speed measurement can maintain stable performance in harsh environments (such as high temperature, dust, moisture, etc.), and is particularly suitable for high-speed or long-distance moving objects that cannot be touched or difficult to monitor directly.

[0029] However, the current radar speed measurement system will be greatly affected in terms of measurement accuracy when facing products with a large production line range and poor reflectivity of the target object. This is because the accuracy of radar speed measurement is highly dependent on the reflection effect of the target object on the radar wave. If the surface of the target object is smooth and has a high reflectivity, the radar signal can be reflected back smoothly, and the system can accurately measure the speed of the target. However, if the surface of the target object is rough and has a strong ability to absorb or scatter radar waves, the reflected signal will become weak or unstable, resulting in the radar being unable to accurately capture the speed data. Especially in the case of long production lines and wide distribution of workpieces, the propagation of radar waves will be more attenuated and interfered, resulting in increased measurement errors. Therefore, for these products, the measurement accuracy of the radar speed measurement system is often low, and it is difficult to provide accurate speed data.

[0030] Based on this, the applicant proposed the inventive concept of this application: by using different data collection frequencies in different monitoring areas, combining the analysis of speed measurement data with confidence assessment, dynamically adjusting the calibration area, and making adaptive adjustments when the test confidence is low. By continuously calibrating and correcting the initial speed, the accurate measurement of the conveyor belt speed of the production line is ensured, which is particularly suitable for situations where the reflection signal is weak or the object movement is uneven in complex environments, and improves the speed measurement accuracy, system stability and efficiency.

[0031] Reference Figure 1, an embodiment of the present invention provides a radar speed measurement system, including a first monitoring area and multiple second monitoring areas. The first monitoring area and the second monitoring area are different areas divided on the production line conveyor belt or equipment, and are used for radar speed measurement and image acquisition at different positions. These areas are divided into different monitoring areas according to the needs of acquisition and the frequency of data. The first monitoring area is usually an area with a higher data acquisition frequency. This area is generally located at a more important position of the conveyor belt, such as the position when the item just enters or is about to leave a certain workstation. This area usually requires more detailed monitoring to ensure that the speed and position of the target object can be measured with high precision. Through high-frequency acquisition, the first monitoring area can capture more detailed speed measurement data to ensure accurate measurement of fast or critical movements. The second monitoring area usually collects data at a lower frequency and is suitable for areas where speed measurement does not require too high precision. This area may be some other position of the conveyor belt, where the speed of the object is relatively stable or the reflected signal is weak. The second monitoring area is used to capture lower-frequency speed measurement data to reduce the burden on the system, and is suitable for target objects with small speed changes or relatively static. In the present application, the production line conveyor belt to be monitored can be spatially divided into multiple monitoring areas, wherein only a radar speed measurement module is provided in the first monitoring area, and a radar speed measurement module and an image acquisition module are provided in each second monitoring area.

[0032] The first monitoring area is located at the key position of the movement of the calibration object (such as the area just entered or about to leave). At this time, the real-time speed data is collected through the higher frequency radar speed measurement module. In this area, the radar speed measurement module is used to quickly capture the speed changes of the calibration object and provide instant speed information. However, since the calibration object may move at high speed or the reflection signal is weak, relying solely on radar data may have accuracy problems. At this time, only radar data is needed for preliminary measurement to provide basic information for subsequent analysis.

[0033] The second monitoring area is located in other areas of the production line, where the speed of the object is relatively stable or the radar signal reflection is weak. At this time, it is necessary to improve the reliability and accuracy of the measurement through the combination of radar and image acquisition. The radar speed measurement module is responsible for measuring the speed data, while the image acquisition module can provide the visual data of the calibration object. By fusing the image data with the radar data, the actual motion state of the target object can be more accurately verified and the speed measurement error can be reduced. Image acquisition can fill in the gaps in the radar data and ensure that the system can work stably under complex conditions.

[0034] The radar speed measurement module is used to collect radar speed measurement data of the calibration object, and the image acquisition module is used to collect image data of the calibration object. The calibration object refers to the product moving on the conveyor belt on the production line during the actual production process. It is the target object for speed measurement and calibration in the radar speed measurement system. The radar speed measurement system also includes: The first speed measurement module 101 is used to obtain first speed measurement data of the calibration object in the first monitoring area at a first data acquisition frequency.

[0035] In this embodiment, when the calibration object passes through the first monitoring area, the radar speed measurement module in the first monitoring area collects the speed measurement data of the calibration object at a higher frequency. The speed measurement data may include the real-time speed, position change, movement direction, acceleration and other information of the calibration object. Specifically, the speed measurement data may include the following: Real-time speed: The instantaneous speed of the calibration object in the first monitoring area, usually in meters per second (m / s), reflecting the movement rate of the calibration object. Position change: The position change information of the calibration object in the first monitoring area can be used to track its spatial position at a specific time point. Movement direction: The movement direction of the calibration object relative to the radar speed measurement module, indicating whether the calibration object is moving forward, backward or laterally. Acceleration: The rate of change of the speed of the calibration object can reflect whether the calibration object is accelerating or decelerating, helping to analyze the movement state. Although the radar speed measurement module collects data at a higher frequency in the first monitoring area, the reflection effect of the radar wave may be affected due to the faster movement speed or weaker reflection signal of the calibration object in this area, resulting in a decrease in the accuracy of the speed measurement data. Fast-moving objects may shorten the reflection time of radar waves, resulting in the signal received by the radar being not stable or clear enough, especially when the surface of the object is rough and the reflectivity is low, the speed measurement accuracy will be significantly reduced. In addition, high-speed movement may also cause the influence of the Doppler effect, making it difficult for the system to accurately measure the true speed of the object. Therefore, relying solely on the radar data of the first monitoring area may not provide sufficiently accurate speed information, and further correction and calibration are required in combination with data from other monitoring areas.

[0036] The second speed measurement module 102 is used to obtain second speed measurement data of the calibration object in the second monitoring area at a second data acquisition frequency, and the first data acquisition rate is higher than the second data acquisition frequency.

[0037] In this embodiment, when the calibration object passes through the first monitoring area and enters the second monitoring area adjacent to the first monitoring area, the radar speed measurement module in the second monitoring area collects the speed measurement data of the calibration object at a lower frequency. Since the second monitoring area is usually located at a position where the calibration object moves more smoothly or the reflected signal is stronger, a lower frequency can be used for speed measurement collection to reduce the system burden and optimize data processing efficiency. The data type of the second speed measurement data can be the same as the type of the first speed measurement data, so it will not be repeated.

[0038] The first speed determination module 103 is used to determine the initial speed and test confidence of the calibration object according to the first speed measurement data and the second speed measurement data.

[0039] After obtaining the first speed measurement data and the second speed measurement data, the initial speed of the calibration object and the test confidence can be determined according to the first speed measurement data and the second speed measurement data. By comprehensively analyzing the two sets of data, the initial speed of the calibration object and the test confidence can be determined. Specifically, the initial speed can be obtained by analyzing the first speed measurement data, and the test confidence can be evaluated by comparing the consistency between the first speed measurement data and the second speed measurement data.

[0040] In a feasible implementation manner, the first speed determination module 103 includes: A first evaluation submodule, configured to determine a first initial speed and a first speed measurement evaluation model according to the first speed measurement data and the second speed measurement data of the Nth second monitoring area; A second evaluation submodule, used to determine a second initial speed and a second speed measurement evaluation model according to the first speed measurement data and the second speed measurement data of the N+1th second monitoring area; The third evaluation submodule determines the test confidence according to the second initial speed and the first speed measurement evaluation model.

[0041] In this implementation, through phased evaluation and optimization, the accuracy of the speed measurement model is gradually improved to ensure the accuracy of the initial speed. The data of different monitoring areas are combined to make full use of the characteristics of each area to improve the reliability of the speed measurement results. The confidence of the speed measurement results is quantified to provide a basis for subsequent decision-making. In addition, the system can adaptively adjust the speed measurement model according to the data characteristics of different areas to adapt to complex industrial environments.

[0042] In a feasible implementation, the first evaluation submodule includes: A first coefficient determination unit, configured to determine a first correction coefficient according to a deviation result between the first speed measurement data and the second speed measurement data of the Nth second monitoring area; A second coefficient determination unit, used to obtain a second correction coefficient, where the second correction coefficient is determined according to a change in operating conditions from the first monitoring area to the Nth second monitoring area; The first calculation unit determines a first initial speed and a first speed measurement evaluation model according to the first speed measurement data, the second speed measurement data of the Nth second monitoring area, the first correction coefficient and the second correction coefficient.

[0043] In this embodiment, when the calibration object enters the Nth second monitoring area from the first monitoring area. In the first monitoring area, the radar speed measurement module collects the speed measurement data of the calibration object at a higher frequency to obtain the first speed measurement data. In the Nth second monitoring area, the radar speed measurement module collects the speed measurement data of the calibration object at a lower frequency to obtain the second speed measurement data. By analyzing the deviation of the first speed measurement data and the second speed measurement data, the first coefficient determination unit calculates the first correction coefficient. At the same time, the operating condition changes from the first monitoring area to the Nth second monitoring area are analyzed, and the second coefficient determination unit calculates the second correction coefficient. Finally, the first calculation unit combines the above data and coefficients to determine the initial speed of the calibration object, and establishes a corresponding speed measurement model evaluation model. Through the above process, the radar speed measurement system can accurately determine the initial speed of the calibration object and evaluate the confidence of the speed measurement results, thereby improving the accuracy and stability of speed measurement in the industrial automation process.

[0044] As an example, assume that the speed of the calibration object measured in the first monitoring area is 10 m / s, and the speed measured in the first second monitoring area is 9.8 m / s. Deviation = 10 m / s - 9.8 m / s = 0.2 m / s. Through statistical analysis, the first correction coefficient is calculated to be 0.98. Analyze the working condition changes from the first monitoring area to the Nth second monitoring area, including environmental factors such as temperature, humidity, air pressure, as well as factors such as equipment status and transmission medium. Assume that during the process from the first monitoring area to the Nth second monitoring area, the ambient temperature rises from 20°C to 25°C. According to the influence of temperature on the propagation speed of the radar signal, the second correction coefficient is calculated to be 1.02. The first speed measurement data is 10 m / s, the second speed measurement data is 9.8 m / s, the first correction coefficient is 0.98, and the second correction coefficient is 1.02. Then the first initial speed = (10 m / s × 0.98) × 1.02 = 9.996 m / s.

[0045] When determining the first speed measurement evaluation model, the collected speed measurement data is preprocessed by denoising and filtering to improve the data quality. According to the preprocessed data, an appropriate mathematical model (such as linear regression, polynomial regression, etc.) is selected to establish a speed measurement evaluation model. Statistical analysis methods (such as mean square error, correlation coefficient, etc.) are used to evaluate the model's fitting effect and prediction accuracy.

[0046] In a feasible implementation, the second evaluation submodule includes: A third coefficient determination unit, used to determine a third correction coefficient according to a deviation result between the first speed measurement data and the second speed measurement data of the N+1th second monitoring area; a fourth coefficient determination unit, used to obtain a fourth correction coefficient, where the fourth correction coefficient is determined according to a change in operating conditions from the first monitoring area to the N+1th second monitoring area; The second calculation unit is used to determine a second initial speed and a second speed measurement evaluation model according to the first speed measurement data, the second speed measurement data of the N+1th second monitoring area, the first correction coefficient and the second correction coefficient.

[0047] The implementation principle of the second evaluation submodule is similar to that of the first evaluation submodule, so it will not be described in detail.

[0048] In a feasible implementation, the third evaluation submodule includes: Obtaining a predicted speed of the calibration object in the second monitoring area determined according to the first speed measurement evaluation model; The test confidence is determined according to the difference between the predicted speed and the second initial speed.

[0049] In this embodiment, the main task of the third evaluation submodule is to evaluate the model according to the first speed measurement model, obtain the predicted speed of the calibration object in the second monitoring area, and determine the test confidence according to the difference between the predicted speed and the second initial speed.

[0050] First, the first speed measurement model is used to evaluate the model, and the speed measurement data of the calibration object in the first monitoring area is input to predict its speed in the second monitoring area. Then the predicted speed is compared with the actual measured second initial speed, and the difference between the two is calculated. According to the size of the difference, the confidence of the speed measurement result is evaluated.

[0051] As an example, assuming that the speed of the calibration object measured in the first monitoring area is 10 m / s, the first speed measurement model evaluation model predicts that its speed in the second monitoring area is 9.8 m / s, and the actually measured second initial speed is 9.9 m / s.

[0052] Difference = 9.8 m / s - 9.9 m / s |= 0.1 m / s.

[0053] According to the preset confidence evaluation standard, when the difference is less than 0.2 m / s, the speed measurement result is considered to have high confidence. Therefore, the test confidence is high, indicating that the speed measurement result is reliable. Through the above process, the third evaluation submodule can effectively evaluate the confidence of the speed measurement result and ensure the measurement accuracy and reliability of the radar speed measurement system.

[0054] The determination module 104 is used to determine the next second monitoring area as the calibration detection area when the test confidence is less than or equal to a preset threshold.

[0055] In this embodiment, after determining the test confidence, it should be noted that at least two speed measurement intervals must satisfy the test confidence less than or equal to the preset threshold before the next second monitoring area can be determined as the calibration detection area, thereby ensuring the accuracy and reliability of the speed measurement system.

[0056] The calibration speed measurement module 105 is used to obtain calibration speed measurement data of the calibration object in the calibration detection area at a third data acquisition frequency.

[0057] In this embodiment, the main function of the calibration speed measurement module 105 is to obtain the calibration speed measurement data of the calibration object in the calibration detection area at the third data acquisition frequency. It should be noted that the third data acquisition frequency is usually higher than the first data acquisition frequency and the second data acquisition frequency. This design is intended to balance the measurement accuracy and system load to ensure that the required data can be effectively obtained during the calibration process.

[0058] In a feasible implementation manner, calibrating the speed measurement module includes: An image calibration submodule, used for acquiring image speed measurement data of the calibration object in the calibration detection area at a third data acquisition frequency; A speed calibration submodule, used for acquiring speed measurement data of the calibration object in the calibration detection area at a third data acquisition frequency; The coefficient determination submodule is used to determine a third correction coefficient according to the image speed measurement data and the speed measurement data.

[0059] In this embodiment, after the calibration object enters the calibration detection area, the radar speed measurement module and the image acquisition module in the calibration detection area are in working state and collect data at a faster rate, and then the third correction coefficient is determined based on the image speed measurement data and the speed speed measurement data. Image speed measurement data refers to the evaluation result of the reflection ability of the calibration object obtained by the image acquisition module. These data usually include characteristic information such as the reflection intensity, shape, size, etc. of the calibration object in the image. By analyzing these image features, the reflection ability of the calibration object can be evaluated, thereby providing auxiliary information for speed measurement. When determining the third correction coefficient, first collect and align the image and speed data, and then extract the object motion information through image processing. Then, by establishing a mathematical model, analyze the relationship between the two, and calculate the third correction coefficient through a fitting method (such as the least squares method).

[0060] The specific process may include: first, it is necessary to collect and align image speed measurement data and radar speed measurement data to ensure that the two are synchronized in the time dimension to improve the accuracy of subsequent analysis. Image speed measurement data can be extracted through methods such as target detection, feature point matching, optical flow analysis or inter-frame difference method to obtain the object's motion trajectory and speed estimation value. At the same time, radar speed measurement data is provided by the radar speed measurement module to directly measure the moving speed of the object.

[0061] In order to analyze the relationship between the two, a mathematical model needs to be established. A linear regression model or other statistical models can be used to describe the correspondence between radar speed measurement data and image speed measurement data. Specifically, by collecting a large amount of synchronized image speed measurement data and radar speed measurement data, a mapping function can be constructed that can reflect the error trend between the two. For example, due to factors such as camera angle, lighting conditions, and object surface reflection characteristics, there may be a systematic deviation in image speed measurement data compared to radar speed measurement data.

[0062] After the mathematical model is established, the third correction coefficient is calculated by a fitting method (such as the least square method), which is used to correct the radar speed measurement data or the image speed measurement data to make the two more matched. In the subsequent speed measurement process, whenever new image speed measurement data is obtained, the correction coefficient can be used for calibration, thereby improving the overall speed measurement system.

[0063] By combining image speed measurement data, speed speed measurement data and radar data, multi-sensor data fusion can be achieved to form a more comprehensive and accurate measurement system. The third correction coefficient plays a key role in this process, enabling data from different sources to be reasonably integrated in the calculation, thereby reducing the deviation that may be caused by a single sensor. The radar reflection ability of an object may change with changes in environmental conditions (such as humidity, temperature or surface smoothness). By dynamically adjusting the third correction coefficient, the performance of the speed measurement system can be adjusted in different environments to ensure that accurate speed data can still be obtained in complex production environments.

[0064] The second speed determination module 106 corrects the initial speed according to the calibration speed measurement data to determine the speed of the production line conveyor belt.

[0065] In this embodiment, after determining the third correction coefficient, the correction coefficient is applied to the initially measured speed data to correct it, thereby obtaining a more accurate actual speed of the conveyor belt. The corrected speed data can be directly used for production line control to ensure that the conveyor belt runs at the set precise speed and avoid product quality problems caused by errors.

[0066] In a feasible implementation, the system further includes a third speed determination module; The third speed determination module is used to determine the initial speed of the calibration object as the speed of the production line conveyor belt when the test confidence is greater than a preset threshold.

[0067] The radar speed measurement system provided by the present application collects speed measurement data in two different monitoring areas and sets different data collection frequencies to ensure that differentiated measurements can be performed between high-speed areas and low-speed areas. According to the first speed measurement data and the second speed measurement data obtained in different monitoring areas, the initial speed of the calibration object is comprehensively calculated. The prediction accuracy of the target speed is improved by statistics and analysis of multiple low-frequency data. When the test confidence is less than or equal to the preset threshold, the system will dynamically adjust the detection area and use the next monitoring area as the calibration area for speed measurement. Through this dynamic adjustment, the system can adapt to environmental changes and maintain high-precision measurements. During the calibration cycle, the calibration speed measurement data of the calibration object is obtained in the determined calibration detection area. At this time, the system will combine more information to correct the previous speed measurement results and improve the measurement accuracy. Based on the speed measurement data in the calibration detection area, the system corrects the initial speed to obtain a more accurate production line conveyor belt speed. Through continuous calibration and correction, a high-precision production line speed value is finally provided for process control and equipment adjustment.

[0068] In the second aspect, based on the same inventive concept, refer to Figure 2 , shows a radar speed measurement method provided by an embodiment of the present application, the method comprising: S201: Acquire first speed measurement data of a calibration object within a first monitoring area at a first data acquisition frequency; S202: Acquiring second speed measurement data of the calibration object in the second monitoring area at a second data acquisition frequency, wherein the first data acquisition rate is higher than the second data acquisition frequency; S203: determining an initial speed and a test confidence of the calibration object according to the first speed measurement data and the plurality of second speed measurement data; S204: When the test confidence is less than or equal to a preset threshold, determining the next second monitoring area as a calibration detection area; S205: Acquiring calibration speed measurement data of the calibration object in the calibration detection area at a third data acquisition frequency; S206: According to the calibration speed measurement data, the initial speed is corrected to determine the speed of the production line conveyor belt.

[0069] In an embodiment of the present application, determining the initial speed and test confidence of the calibration object according to the first speed measurement data and the plurality of second speed measurement data includes: Determine a first initial speed and a first speed measurement evaluation model according to the first speed measurement data and the second speed measurement data of the Nth second monitoring area; Determine a second initial speed and a second speed measurement evaluation model according to the first speed measurement data and the second speed measurement data of the N+1th second monitoring area; A test confidence is determined based on the second initial speed and the first speed measurement evaluation model.

[0070] In an embodiment of the present application, determining the first initial speed and the first speed measurement evaluation model according to the first speed measurement data and the second speed measurement data of the Nth second monitoring area includes: Determine a first correction coefficient according to a deviation result between the first speed measurement data and the second speed measurement data of the Nth second monitoring area; Obtaining a second correction coefficient, where the second correction coefficient is determined according to a change in operating conditions from the first monitoring area to the second monitoring area; A first initial speed and a first speed measurement evaluation model are determined according to the first speed measurement data, the second speed measurement data of the Nth second monitoring area, the first correction coefficient, and the second correction coefficient.

[0071] In an embodiment of the present application, determining the second initial speed and the second speed measurement evaluation model according to the first speed measurement data and the second speed measurement data of the N+1th second monitoring area includes: Determine a third correction coefficient according to a deviation result between the first speed measurement data and the second speed measurement data of the N+1th second monitoring area; Obtaining a second correction coefficient, wherein the fourth correction coefficient is determined according to a change in operating conditions from the first monitoring area to the N+1th second monitoring area; A second initial speed and a second speed measurement evaluation model are determined according to the first speed measurement data, the second speed measurement data of the N+1th second monitoring area, the first correction coefficient, and the second correction coefficient.

[0072] In an embodiment of the present application, determining the test confidence according to the second initial speed and the first speed measurement evaluation model includes: Obtaining a predicted speed of the calibration object in the second monitoring area determined according to the first speed measurement evaluation model; The test confidence is determined according to the difference between the predicted speed and the second initial speed.

[0073] In one embodiment of the present application, obtaining calibration speed measurement data of the calibration object in the calibration detection area at the third data acquisition frequency includes: Acquiring image speed measurement data of the calibration object within the calibration detection area at a third data acquisition frequency; Acquiring speed measurement data of the calibration object within the calibration detection area at a third data acquisition frequency; A third correction coefficient is determined based on the image speed measurement data and the speed speed measurement data.

[0074] In an embodiment of the present application, the method further includes: The third speed determination module is used to determine the initial speed of the calibration object as the speed of the production line conveyor belt when the test confidence is greater than a preset threshold.

[0075] The above embodiments can be implemented in whole or in part by software, hardware (such as circuits), firmware or any other combination. When implemented using software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When a computer instruction or computer program is loaded or executed on a computer, a process or function according to an embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network or other programmable system. The computer program or instruction can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer program or instruction can be transmitted from one website site, computer, server or data center to another website site, computer, server or data center by wired (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that contains one or more available media sets. The available medium can be a magnetic medium (for example, a floppy disk, a hard disk, a tape), an optical medium (for example, a DVD) or a semiconductor medium. The semiconductor medium can be a solid-state hard disk.

[0076] It should be understood that the term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. A and B can be singular or plural. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship, but it may also indicate an "and / or" relationship. Please refer to the context for specific understanding.

[0077] In this application, "at least one" means one or more, and "plurality" means two or more. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0078] It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0079] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0080] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described systems, systems and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0081] In the several embodiments provided in the present application, it should be understood that the disclosed systems, systems and methods can be implemented in other ways. For example, the system embodiments described above are only schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation. 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 mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the system or unit can be electrical, mechanical or other forms.

[0082] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0083] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0084] If the function 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, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, and other media that can store program codes.

[0085] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A radar speed measurement system, characterized in that: The system includes a first monitoring area and a plurality of second monitoring areas, and the system further includes: A first speed measurement module, used for acquiring first speed measurement data of the calibration object in the first monitoring area at a first data acquisition frequency; A second speed measurement module, used for acquiring second speed measurement data of the calibration object in the second monitoring area at a second data acquisition frequency, wherein the first data acquisition rate is higher than the second data acquisition frequency; a first speed determination module, configured to determine an initial speed and a test confidence of the calibration object according to the first speed measurement data and the second speed measurement data; A determination module, configured to determine the next second monitoring area as a calibration detection area when the test confidence is less than or equal to a preset threshold; a calibration speed measurement module, configured to obtain calibration speed measurement data of the calibration object in the calibration detection area at a third data acquisition frequency, wherein the third data acquisition rate is higher than the first data acquisition frequency; The second speed determination module is used to correct the initial speed according to the calibration speed measurement data to determine the speed of the production line conveyor belt.

2. The radar speed measurement system according to claim 1, characterized in that: The first speed determination module comprises: A first evaluation submodule, configured to determine a first initial speed and a first speed measurement evaluation model according to the first speed measurement data and the second speed measurement data of the Nth second monitoring area; A second evaluation submodule, used to determine a second initial speed and a second speed measurement evaluation model according to the first speed measurement data and the second speed measurement data of the N+1th second monitoring area; The third evaluation submodule determines the test confidence according to the second initial speed and the first speed measurement evaluation model.

3. The radar speed measurement system according to claim 2, characterized in that: The first evaluation submodule comprises: A first coefficient determination unit, configured to determine a first correction coefficient according to a deviation result between the first speed measurement data and the second speed measurement data of the Nth second monitoring area; A second coefficient determination unit, used for obtaining a second correction coefficient, where the second correction coefficient is determined according to a change in operating conditions from the first monitoring area to the Nth second monitoring area; The first calculation unit determines the first initial speed and the first speed measurement evaluation model according to the first speed measurement data, the second speed measurement data of the Nth second monitoring area, the first correction coefficient, and the second correction coefficient.

4. The radar speed measurement system according to claim 2, characterized in that: The second evaluation submodule includes: A third coefficient determination unit, configured to determine a third correction coefficient according to a deviation result between the first speed measurement data and the second speed measurement data of the N+1th second monitoring area; a fourth coefficient determination unit, configured to obtain a fourth correction coefficient, wherein the fourth correction coefficient is determined according to a change in operating conditions from the first monitoring area to the N+1th second monitoring area; The second calculation unit is used to determine the second initial speed and the second speed measurement evaluation model according to the first speed measurement data, the second speed measurement data of the N+1th second monitoring area, the first correction coefficient and the second correction coefficient.

5. The radar speed measurement system according to claim 2, characterized in that: The third evaluation submodule comprises: Obtaining a predicted speed of the calibration object in the second monitoring area determined according to the first speed measurement assessment model; The test confidence is determined according to a difference result between the predicted speed and the second initial speed.

6. The radar speed measurement system according to claim 2, characterized in that: The calibration speed measurement module comprises: An image calibration submodule, configured to acquire image speed measurement data of the calibration object in the calibration detection area at a third data acquisition frequency; A speed calibration submodule, configured to obtain speed measurement data of the calibration object within the calibration detection area at a third data acquisition frequency; The coefficient determination submodule is used to determine a third correction coefficient according to the image speed measurement data and the speed measurement data.

7. The radar speed measurement system according to claim 1, characterized in that: The system also includes a third speed determination module; The third speed determination module is used to determine the initial speed of the calibration object as the speed of the production line conveyor belt when the test confidence is greater than a preset threshold.

8. A radar speed measurement method, characterized in that: Applied to the radar speed measurement system according to any one of claims 1 to 7, the method comprising: Acquire first speed measurement data of the calibration object in the first monitoring area at a first data acquisition frequency; Acquiring second speed measurement data of the calibration object in the second monitoring area at a second data acquisition frequency, wherein the first data acquisition rate is higher than the second data acquisition frequency; Determining an initial speed and a test confidence of the calibration object according to the first speed measurement data and a plurality of the second speed measurement data; When the test confidence is less than or equal to a preset threshold, determining the next second monitoring area as a calibration detection area; Acquiring calibration speed measurement data of the calibration object in the calibration detection area at a third data acquisition frequency, wherein the third data acquisition rate is higher than the first data acquisition frequency; The initial speed is corrected according to the calibration speed measurement data to determine the speed of the production line conveyor belt.

9. The radar speed measurement method according to claim 8, characterized in that: Determining the initial speed and test confidence of the calibration object according to the first speed measurement data and the plurality of the second speed measurement data includes: Determine a first initial speed and a first speed measurement evaluation model according to the first speed measurement data and the second speed measurement data of the Nth second monitoring area; Determine a second initial speed and a second speed measurement evaluation model according to the first speed measurement data and the second speed measurement data of the N+1th second monitoring area; The test confidence is determined according to the second initial speed and the first speed measurement evaluation model.

10. The radar speed measurement method according to claim 9, characterized in that: Determining the first initial speed and the first speed measurement evaluation model according to the first speed measurement data and the second speed measurement data of the Nth second monitoring area includes: Determine a first correction coefficient according to a deviation result between the first speed measurement data and the second speed measurement data of the Nth second monitoring area; Obtaining a second correction coefficient, where the second correction coefficient is determined according to a change in operating conditions from the first monitoring area to the Nth second monitoring area; The first initial speed and the first speed measurement evaluation model are determined according to the first speed measurement data, the second speed measurement data of the Nth second monitoring area, the first correction coefficient, and the second correction coefficient.

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