A radar speed measurement system and method

Abstract

The present application provides a radar speed measurement system and method, belonging to the technical field of industrial speed measurement. In the present application, the system includes: a first speed measurement module for obtaining first speed measurement data of a calibration object in a first monitoring area at a first data acquisition frequency. A second speed measurement module for obtaining second speed measurement data of the calibration object in a second monitoring area at a second data acquisition frequency. A first speed determination module for determining an initial speed and a test confidence level of the calibration object according to the first speed measurement data and the second speed measurement data. A calibration speed measurement module for obtaining calibration speed measurement data of the calibration object in a calibration detection area at a third data acquisition frequency. A second speed determination module for correcting the initial speed according to the calibration speed measurement data to determine the speed of the production line conveyor belt. The purpose of the present application is to improve the problem of low speed measurement accuracy of the production line for products with a large range and poor transport reflection ability in the existing solutions.

Description

Technical Field

[0001] This application relates to the technical field of industrial speed measurement, and particularly to a radar speed measurement system and method. Background Art

[0002] Radar speed measurement is a method of using radar technology to measure the speed of other moving objects. The radar speed measurement system measures the speed of the target object by transmitting electromagnetic waves (usually microwaves or millimeter waves) and using the reflected signals. In an industrial production line, the operating speed of the products on the production line can be obtained through the radar speed measurement system, so as to monitor the production process.

[0003] Currently, the radar speed measurement system has a low speed measurement accuracy for production lines with products that have a large range and poor transport reflection ability. Summary of the Invention

[0004] The embodiments of this application provide a radar speed measurement system and method. This application adopts the following technical solutions:

[0005] In a first aspect, a radar speed measurement system is provided. The system includes a first monitoring area and multiple second monitoring areas. The system further includes:

[0006] A first speed measurement module, configured to obtain first speed measurement data of a calibration object in the first monitoring area at a first data acquisition frequency;

[0007] A second speed measurement module, configured 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;

[0008] A first speed determination module, configured to determine the initial speed and test confidence level of the calibration object according to the first speed measurement data and the second speed measurement data;

[0009] A determination module, configured to determine the next second monitoring area as a calibration detection area when the test confidence level is less than or equal to a preset threshold;

[0010] 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, and the third data acquisition rate is higher than the first data acquisition frequency;

[0011] A second speed determination module, configured to correct the initial speed according to the calibration speed measurement data and determine the speed of the production line conveyor belt.

[0012] In an embodiment of this application, the first speed determination module includes:

[0013] The first evaluation sub-module is used 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;

[0014] The second evaluation sub-module is 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 + 1)th second monitoring area;

[0015] The third evaluation sub-module determines a test confidence level according to the second initial speed and the first speed measurement evaluation model.

[0016] In an embodiment of the present application, the first evaluation sub-module includes:

[0017] The first coefficient determination unit is used to determine a first correction coefficient according to the deviation result between the first speed measurement data and the second speed measurement data of the Nth second monitoring area;

[0018] The second coefficient determination unit is used to obtain a second correction coefficient, and the second correction coefficient is determined according to the working condition change from the first monitoring area to the Nth second monitoring area;

[0019] 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.

[0020] In an embodiment of the present application, the second evaluation sub-module includes:

[0021] The third coefficient determination unit is used to determine a third correction coefficient according to the deviation result between the first speed measurement data and the second speed measurement data of the (N + 1)th second monitoring area;

[0022] The fourth coefficient determination unit is used to obtain a fourth correction coefficient, and the fourth correction coefficient is determined according to the working condition change from the first monitoring area to the (N + 1)th second monitoring area;

[0023] 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 + 1)th second monitoring area, the first correction coefficient, and the second correction coefficient.

[0024] In an embodiment of the present application, the third evaluation sub-module includes:

[0025] Obtain the predicted speed of the calibration object in the second monitoring area determined according to the first speed measurement evaluation model;

[0026] Determine the test confidence level according to the difference result between the predicted speed and the second initial speed.

[0027] In an embodiment of the present application, the calibration speed measurement module includes:

[0028] An image calibration sub-module, configured to obtain image speed measurement data of a calibration object within a calibration detection area at a third data acquisition frequency;

[0029] A speed calibration sub-module, configured to obtain speed measurement data of a calibration object within a calibration detection area at a third data acquisition frequency;

[0030] A coefficient determination sub-module, configured to determine a third correction coefficient according to the image speed measurement data and the speed measurement data.

[0031] In an embodiment of the present application, the system further includes a third speed determination module;

[0032] The third speed determination module is configured to determine the initial speed of the calibration object as the speed of the production line conveyor belt when the test confidence level is greater than a preset threshold.

[0033] In a second aspect, based on the same inventive concept, there is provided a radar speed measurement method, applied to the radar speed measurement system according to any one of the first aspect, the method including:

[0034] Obtaining first speed measurement data of a calibration object within a first monitoring area at a first data acquisition frequency;

[0035] Obtaining second speed measurement data of the calibration object within a second monitoring area at a second data acquisition frequency, the first data acquisition rate being higher than the second data acquisition frequency;

[0036] Determining the initial speed and test confidence level of the calibration object according to the first speed measurement data and multiple second speed measurement data;

[0037] When the test confidence level is less than or equal to the preset threshold, determining the next second monitoring area as the calibration detection area;

[0038] Obtaining calibration speed measurement data of the calibration object within the calibration detection area at a third data acquisition frequency;

[0039] Correcting the initial speed according to the calibration speed measurement data to determine the speed of the production line conveyor belt.

[0040] In an embodiment of the present application, determining the initial speed and test confidence level of the calibration object according to the first speed measurement data and multiple second speed measurement data includes:

[0041] Determining 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;

[0042] Determining 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 + 1)th second monitoring area;

[0043] Determine the test confidence level according to the second initial velocity and the first velocity measurement evaluation model.

[0044] In an embodiment of the present application, determining the first initial velocity and the first velocity measurement evaluation model according to the first velocity measurement data and the second velocity measurement data of the Nth second monitoring area includes:

[0045] Determine the first correction coefficient according to the deviation result between the first velocity measurement data and the second velocity measurement data of the Nth second monitoring area;

[0046] Obtain the second correction coefficient, which is determined according to the working condition change from the first monitoring area to...;

[0047] Determine the first initial velocity and the first velocity measurement evaluation model according to the first velocity measurement data, the second velocity measurement data of the Nth second monitoring area, the first correction coefficient, and the second correction coefficient.

[0048] In an embodiment of the present application, determining the second initial velocity and the second velocity measurement evaluation model according to the first velocity measurement data and the second velocity measurement data of the (N + 1)th second monitoring area includes:

[0049] Determine the third correction coefficient according to the deviation result between the first velocity measurement data and the second velocity measurement data of the (N + 1)th second monitoring area;

[0050] Obtain the second correction coefficient, and the fourth correction coefficient is determined according to the working condition change from the first monitoring area to the (N + 1)th second monitoring area;

[0051] Determine the second initial velocity and the second velocity measurement evaluation model according to the first velocity measurement data, the second velocity measurement data of the (N + 1)th second monitoring area, the first correction coefficient, and the second correction coefficient.

[0052] In an embodiment of the present application, determining the test confidence level according to the second initial velocity and the first velocity measurement evaluation model includes:

[0053] Obtain the predicted velocity of the calibration object in the second monitoring area determined according to the first velocity measurement evaluation model;

[0054] Determine the test confidence level according to the difference result between the predicted velocity and the second initial velocity.

[0055] In an embodiment of the present application, obtaining the calibration velocity measurement data of the calibration object in the calibration detection area at the third data acquisition frequency includes:

[0056] Obtain the image velocity measurement data of the calibration object in the calibration detection area at the third data acquisition frequency;

[0057] Obtain the velocity velocity measurement data of the calibration object in the calibration detection area at the third data acquisition frequency;

[0058] Determine a third correction coefficient according to the image velocity measurement data and the velocity measurement data.

[0059] In an embodiment of the present application, the method further includes:

[0060] The third velocity determination module is configured to determine the initial velocity of the calibration object as the velocity of the production line conveyor belt when the test confidence is greater than a preset threshold.

[0061] In summary, the above radar velocity measurement system and method have the following technical effects:

[0062] The radar velocity measurement system provided by the present application collects velocity measurement data in two different monitoring areas and sets different data collection frequencies to ensure differential measurement between the high-speed area and the low-speed area. According to the first velocity measurement data and the second velocity measurement data obtained in different monitoring areas, the initial velocity of the calibration object is comprehensively calculated. By statistically analyzing multiple low-frequency data, the prediction accuracy of the target velocity is improved. When the test confidence is less than or equal to the preset threshold, the system dynamically adjusts the detection area and uses the next monitoring area as the calibration area for velocity measurement. Through this dynamic adjustment, the system can adapt to environmental changes and maintain high-precision measurement. During the calibration period, calibration velocity measurement data of the calibration object is obtained in the determined calibration detection area. At this time, the system combines more information to correct the previous velocity measurement result and improve the measurement accuracy. Based on the velocity measurement data in the calibration detection area, the system corrects the initial velocity to obtain a more accurate velocity of the production line conveyor belt. Through continuous calibration and correction, a high-precision production line velocity value is finally provided for process control and equipment adjustment. Description of the Drawings

[0063] Figure 1 It is a schematic diagram of the functional modules of a radar velocity measurement system provided by an embodiment of the present application;

[0064] Figure 2 It is a schematic diagram of the steps of a radar velocity measurement method provided by an embodiment of the present application. Detailed Embodiments

[0065] The terms used in the following embodiments are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in the specification and appended claims of the present application, the singular forms "a", "an", "", "the above", "the" and "this" are also intended to include, for example, the expression "one or more", unless the context clearly indicates otherwise. It should also be understood that in the following embodiments of the present application, "at least one" and "one or more" mean one or more than two (including two). The character " / " generally indicates an "or" relationship between the associated objects before and after.

[0066] Next, the technical solutions in the embodiments of the present application will be described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments.

[0067] Hereinafter, terms such as "first" and "second" are only used for convenience of description, and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present application, unless otherwise specified, the meaning of "a plurality" is two or more. For example, a plurality of processing units means two or more processing units.

[0068] In addition, in the embodiments of the present application, "up", "down", "left", and "right" are not defined only in terms of the orientation of the components shown in the relative drawings. It should be understood that these directional terms can be relative concepts, which are used for relative description and clarification, and they can change accordingly with the change of the orientation of the components shown in the drawings. In the drawings, for clarity, the thickness of layers and regions is exaggerated, and the dimensional proportional relationships between the various parts in the drawings do not reflect the actual dimensional proportional relationships.

[0069] 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 integrated; it can be directly connected, or indirectly connected 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.

[0070] In the embodiments of the present application, the term "module" is usually a functional structure divided according to logic, and this "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 simultaneously, these three situations.

[0071] In the embodiments of the present application, words such as "exemplary" or "for example" are used to represent examples, illustrations, or explanations. Any embodiment or design solution described as "exemplary" or "for example" in the embodiments of the present application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Exactly speaking, using words such as "exemplary" or "for example" is intended to present relevant concepts in a specific manner.

[0072] Next, the technical solutions in the present application will be described in conjunction with the accompanying drawings.

[0073] In industrial automation, radar speed measurement is widely used in products that require high-precision, long-distance, and all-weather measurement of speed and dynamic behavior, such as conveyor belt systems, robots, logistics systems, wind turbine blades, the rolling speed of metals in the steel manufacturing process, the flow rate of particles in the material conveying process, and the detection of high-speed objects 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 contacted or are difficult to directly monitor.

[0074] However, the current radar speed measurement system will be greatly affected in measurement accuracy when facing products with a large production line range and poor reflection ability of the target object. This is because the accuracy of radar speed measurement highly depends on the reflection effect of the target object on radar waves. If the surface of the target object is smooth and has a high reflectivity, the radar signal can be smoothly reflected back, and the system can accurately measure the speed of the target. However, if the surface of the target object is rough, 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 a long production line and a wide distribution of workpieces, the propagation of radar waves will be more attenuated and interfered, resulting in an increase in measurement error. 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.

[0075] Based on this, the applicant proposed the inventive concept of this application: by adopting different data acquisition frequencies in different monitoring areas, combining the analysis of speed measurement data with confidence evaluation, 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 reflected signal is weak or the object movement is uneven in a complex environment, improving the speed measurement accuracy, system stability, and efficiency.

[0076] Refer to Figure 1, embodiments of the present invention provide a radar speed measurement system, including a first monitoring area and multiple second monitoring areas. The first monitoring area and the second monitoring areas are different areas divided on the production line conveyor belt or equipment, and are areas for radar speed measurement and image acquisition at different positions. These areas are divided into different monitoring areas according to different acquisition requirements and data frequencies. The first monitoring area is usually an area with a set higher data acquisition frequency. This area is generally located at more important positions on the conveyor belt, such as the position when an item just enters or is about to leave a certain workstation. This area usually requires more refined 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 areas usually acquire data at a lower frequency and are applicable to areas where overly high-precision speed measurement is not required. This area may be some other positions on the conveyor belt where the speed of the object is relatively stable or the reflected signal is weak. The second monitoring areas are used to capture lower-frequency speed measurement data to reduce the system burden and are applicable to target objects with relatively small speed changes or relatively stationary ones. In this application, the production line conveyor belt to be monitored can be spatially divided into multiple monitoring areas. 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.

[0077] The first monitoring area is located at the key position of the calibration object's movement (such as the area when it just enters or is about to leave). At this time, real-time speed data is acquired through a radar speed measurement module with a higher frequency. Within this area, the radar speed measurement module is used to quickly capture the speed change of the calibration object and provide instant speed information. However, due to the possible high-speed movement of the calibration object or weak reflected signal, 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.

[0078] The second monitoring areas are 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, combined acquisition of radar and images is required to improve the reliability and accuracy of measurement. The radar speed measurement module is responsible for measuring speed data, while the image acquisition module can provide visual data of the calibration object. Through the fusion of image data and radar data, the actual movement state of the target object can be verified more accurately, reducing the speed measurement error. Image acquisition can supplement the gaps in radar data to ensure the stable operation of the system under complex conditions.

[0079] The radar speed measurement module is used to acquire radar speed measurement data of the calibration object, and the image acquisition module is used to acquire image data of the calibration object. The calibration object refers to the product that moves on the conveyor belt during the actual production process. It is the target object used for speed measurement and calibration in the radar speed measurement system. The radar speed measurement system further includes:

[0080] The first speed measurement module 101 is configured to obtain first speed measurement data of the calibration object in the first monitoring area at a first data acquisition frequency.

[0081] In this embodiment, when the calibration object passes through the first monitoring area, the radar speed measurement module in the first monitoring area acquires the speed measurement data of the calibration object at a relatively high frequency. The speed measurement data may include information such as the real-time speed, position change, movement direction, and acceleration of the calibration object. Specifically, the speed measurement data may include the following:

[0082] Real-time speed: The instantaneous speed of the calibration object in the first monitoring area, usually measured in meters per second (m / s), which reflects the movement rate of the calibration object. Position change: The position change information of the calibration object in the first monitoring area, which 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, which can reflect whether there is an acceleration or deceleration phenomenon of the calibration object and help analyze the movement state. Although the radar speed measurement module acquires data at a relatively high frequency in the first monitoring area, due to the relatively fast movement speed or weak reflection signal of the calibration object in this area, the reflection effect of the radar wave may be affected, resulting in a decrease in the accuracy of the speed measurement data. Fast-moving objects may cause the reflection time of the radar wave to become shorter, resulting in the signal received by the radar being unstable or unclear. Especially when the surface of the object is rough and the reflectivity is low, the speed measurement accuracy will decrease significantly. 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, simply relying on the radar data in the first monitoring area may not provide sufficiently accurate speed information, and it is necessary to combine the data in other monitoring areas for further correction and calibration.

[0083] The second speed measurement module 102 is configured 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.

[0084] 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 acquires the speed measurement data of the calibration object at a relatively low frequency. Since the second monitoring area is usually located at a position where the movement of the calibration object is relatively stable or the reflection signal is strong, a relatively low frequency can be used for speed measurement acquisition to reduce the system burden and optimize the data processing efficiency. The data type of the second speed measurement data may be the same as that of the first speed measurement data, so it will not be elaborated here.

[0085] The first speed determination module 103 is configured to determine the initial speed and the test confidence level of the calibration object according to the first speed measurement data and the second speed measurement data.

[0086] When the first speed measurement data and the second speed measurement data are obtained, the initial speed and the test confidence level of the calibration object can be determined according to the first speed measurement data and the second speed measurement data. By comprehensively analyzing these two sets of data, the initial speed and the test confidence level of the calibration object can be determined. Specifically, the initial speed can be obtained by analyzing the first speed measurement data, and the test confidence level is evaluated by comparing the consistency between the first speed measurement data and the second speed measurement data.

[0087] In a feasible implementation manner, the first speed determination module 103 includes:

[0088] The first evaluation sub-module is configured to determine 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;

[0089] The second evaluation sub-module is configured to determine 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 + 1)th second monitoring area;

[0090] The third evaluation sub-module determines the test confidence level according to the second initial speed and the first speed measurement evaluation model.

[0091] In this implementation manner, through staged evaluation and optimization, the accuracy of the speed measurement model is gradually improved to ensure the accuracy of the initial speed. By combining the data of different monitoring areas and making full use of the characteristics of each area, the reliability of the speed measurement result is enhanced. The confidence level of the speed measurement result is quantified to provide a basis for subsequent decisions. And the system can adaptively adjust the speed measurement model according to the data characteristics of different areas to adapt to complex industrial environments.

[0092] In a feasible implementation manner, the first evaluation sub-module includes:

[0093] The first coefficient determination unit is configured to determine the first correction coefficient according to the deviation result between the first speed measurement data and the second speed measurement data of the Nth second monitoring area;

[0094] The second coefficient determination unit is configured to obtain the second correction coefficient, and the second correction coefficient is determined according to the working condition change from the first monitoring area to the Nth second monitoring area;

[0095] 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.

[0096] 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. Through the deviation analysis 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, by analyzing the working condition changes from the first monitoring area to the Nth second monitoring area, the second coefficient determination unit calculates the second correction coefficient. Finally, the first calculation unit synthesizes the above data and coefficients to determine the initial speed of the calibration object and establish 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 level of the speed measurement result, thereby improving the accuracy and stability of speed measurement in the industrial automation process.

[0097] 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, and 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 environmental temperature rises from 20°C to 25°C. According to the influence of temperature on the propagation speed of radar signals, 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.

[0098] When determining the first speed measurement evaluation model, preprocess the collected speed measurement data, such as denoising and filtering, to improve the data quality. According to the preprocessed data, select an appropriate mathematical model (such as linear regression, polynomial regression, etc.) to establish a speed measurement evaluation model. Use statistical analysis methods (such as mean square error, correlation coefficient, etc.) to evaluate the fitting effect and prediction accuracy of the model.

[0099] In a feasible embodiment, the second evaluation sub-module includes:

[0100] A third coefficient determination unit, configured to determine a third correction coefficient according to the deviation result of the first speed measurement data and the second speed measurement data of the (N + 1)th second monitoring area;

[0101] The fourth coefficient determination unit is configured to obtain a fourth correction coefficient, which is determined according to the operating condition changes in the first monitoring area to the (N + 1)-th second monitoring area;

[0102] The second calculation unit is configured to determine a second initial velocity and a second velocity measurement evaluation model according to the first velocity measurement data, the second velocity measurement data of the (N + 1)-th second monitoring area, the first correction coefficient, and the second correction coefficient.

[0103] The implementation principle of the second evaluation sub-module is similar to that of the first evaluation sub-module, so it will not be elaborated here.

[0104] In a feasible implementation manner, the third evaluation sub-module includes:

[0105] Obtain the predicted velocity of the calibration object in the second monitoring area determined according to the first velocity measurement evaluation model;

[0106] Determine the test confidence according to the difference result between the predicted velocity and the second initial velocity.

[0107] In this implementation manner, the main task of the third evaluation sub-module is to obtain the predicted velocity of the calibration object in the second monitoring area according to the first velocity measurement model evaluation model, and determine the test confidence according to the difference between the predicted velocity and the second initial velocity.

[0108] First, use the first velocity measurement model evaluation model to input the velocity measurement data of the calibration object in the first monitoring area and predict its velocity in the second monitoring area. Then compare the predicted velocity with the actually measured second initial velocity and calculate the difference between the two. According to the magnitude of the difference, evaluate the confidence of the velocity measurement result.

[0109] As an example, assume that the velocity of the calibration object measured in the first monitoring area is 10 m / s, the first velocity measurement model evaluation model predicts its velocity in the second monitoring area to be 9.8 m / s, and the actually measured second initial velocity is 9.9 m / s.

[0110] Difference = |9.8 m / s - 9.9 m / s| = 0.1 m / s.

[0111] According to the preset confidence evaluation criterion, when the difference is less than 0.2 m / s, it is considered that the velocity measurement result has a high confidence. Therefore, the test confidence is high, indicating that the velocity measurement result is reliable. Through the above process, the third evaluation sub-module can effectively evaluate the confidence of the velocity measurement result and ensure the measurement accuracy and reliability of the radar velocity measurement system.

[0112] The determination module 104 is configured to determine the next second monitoring area as the calibration detection area when the test confidence is less than or equal to the preset threshold.

[0113] In this embodiment, after determining the test confidence level, it should be noted that at least two speed measurement intervals need to satisfy that the test confidence level is less than or equal to the preset threshold before the next second monitoring area can be determined as the calibration detection area, so as to ensure the accuracy and reliability of the speed measurement system.

[0114] The calibration speed measurement module 105 is used to obtain the calibration speed measurement data of the calibration object in the calibration detection area at the third data acquisition frequency.

[0115] 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 aims to balance the measurement accuracy and system load to ensure that the required data can be effectively obtained during the calibration process.

[0116] In a feasible embodiment, the calibration speed measurement module includes:

[0117] An image calibration sub-module, which is used to obtain the image speed measurement data of the calibration object in the calibration detection area at the third data acquisition frequency;

[0118] A speed calibration sub-module, which is used to obtain the speed speed measurement data of the calibration object in the calibration detection area at the third data acquisition frequency;

[0119] A coefficient determination sub-module, which is used to determine the third correction coefficient according to the image speed measurement data and the speed speed measurement data.

[0120] 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 both in working state and collect data at a relatively fast rate, and then determine the third correction coefficient according to the image speed measurement data and the speed speed measurement data. The image speed measurement data refers to the evaluation result of the reflection ability of the calibration object obtained through the image acquisition module. These data usually include characteristic information such as the reflection intensity, shape, and size of the calibration object in the image. By analyzing these image characteristics, the reflection ability of the calibration object can be evaluated, so as to provide auxiliary information for speed measurement. When determining the third correction coefficient, first collect and align the image and speed data, 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).

[0121] The specific process may include: First, it is necessary to collect and align the image speed measurement data and the radar speed measurement data to ensure their synchronization in the time dimension and improve the accuracy of subsequent analysis. The image speed measurement data can be extracted by methods such as object detection, feature point matching, optical flow analysis, or inter-frame difference method to obtain the motion trajectory and speed estimation value of the object. At the same time, the radar speed measurement data is provided by the radar speed measurement module, which directly measures the moving speed of the object.

[0122] 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 corresponding relationship between the radar speed measurement data and the 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, which can reflect the error trend between the two. For example, due to factors such as the camera angle, lighting conditions, and the reflection characteristics of the object surface, there may be a systematic deviation in the image speed measurement data compared to the radar speed measurement data.

[0123] After establishing the mathematical model, the third correction coefficient is calculated through a fitting method (such as the least squares method). This coefficient is used to correct the radar speed measurement data or the image speed measurement data to make them more matched. During subsequent speed measurement, whenever new image speed measurement data is obtained, this correction coefficient can be used for calibration, thereby improving the overall performance of the speed measurement system.

[0124] By combining the image speed measurement data, the speed measurement data, and the radar data, multi-sensor data fusion can be achieved, forming a more comprehensive and accurate measurement system. The third correction coefficient plays a key role in this process, enabling the reasonable integration of data from different sources in the calculation, thereby reducing the deviation that may be brought by a single sensor. The radar reflection ability of an object may change with the change of environmental conditions (such as humidity, temperature, or surface smoothness, etc.). 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 a complex production environment.

[0125] The second speed determination module 106 corrects the initial speed according to the calibrated speed measurement data to determine the speed of the production line conveyor belt.

[0126] In this embodiment, after determining the third correction coefficient, this 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.

[0127] In a feasible embodiment, the system further includes a third speed determination module;

[0128] 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 the preset threshold.

[0129] 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 differential measurement between the high-speed area and the low-speed area. 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. Through the statistics and analysis of multiple low-frequency data, the prediction accuracy of the target speed is improved. When the test confidence is less than or equal to the preset threshold, the system dynamically adjusts the detection area and uses 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 measurement. During the calibration period, calibration speed measurement data of the calibration object is obtained in the determined calibration detection area. At this time, the system combines 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 speed of the production line conveyor belt. Through continuous calibration and correction, a high-precision production line speed value is finally provided for process control and equipment adjustment.

[0130] In a second aspect, based on the same inventive concept, referring to Figure 2 , there is shown a radar speed measurement method provided by an embodiment of the present application. The method includes:

[0131] S201: Obtain first speed measurement data of the calibration object in the first monitoring area at the first data collection frequency;

[0132] S202: Obtain second speed measurement data of the calibration object in the second monitoring area at the second data collection frequency, where the first data collection rate is higher than the second data collection frequency;

[0133] S203: Determine the initial speed and test confidence of the calibration object according to the first speed measurement data and multiple second speed measurement data;

[0134] S204: When the test confidence is less than or equal to the preset threshold, determine the next second monitoring area as the calibration detection area;

[0135] S205: Obtain calibration speed measurement data of the calibration object in the calibration detection area at the third data collection frequency;

[0136] S206: Correct the initial speed according to the calibration speed measurement data to determine the speed of the production line conveyor belt.

[0137] 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 multiple second speed measurement data includes:

[0138] 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.

[0139] 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 + 1)th second monitoring area.

[0140] Determine a test confidence level according to the second initial speed and the first speed measurement evaluation model.

[0141] In an embodiment of the present application, determining 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 includes:

[0142] Determine a first correction coefficient according to the deviation result between the first speed measurement data and the second speed measurement data of the Nth second monitoring area.

[0143] Obtain a second correction coefficient, where the second correction coefficient is determined according to the working condition change from the first monitoring area to...

[0144] Determine 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.

[0145] In an embodiment of the present application, determining 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 + 1)th second monitoring area includes:

[0146] Determine a third correction coefficient according to the deviation result between the first speed measurement data and the second speed measurement data of the (N + 1)th second monitoring area.

[0147] Obtain a second correction coefficient, where the fourth correction coefficient is determined according to the working condition change from the first monitoring area to the (N + 1)th second monitoring area.

[0148] 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 + 1)th second monitoring area, the first correction coefficient, and the second correction coefficient.

[0149] In an embodiment of the present application, determining a test confidence level according to the second initial speed and the first speed measurement evaluation model includes:

[0150] Obtain the predicted speed of the calibration object in the second monitoring area determined according to the first speed measurement evaluation model.

[0151] Determine a test confidence level according to the difference result between the predicted speed and the second initial speed.

[0152] In an embodiment of the present application, obtaining calibration speed measurement data of a calibration object in a calibration detection area at a third data acquisition frequency includes:

[0153] Obtaining image speed measurement data of the calibration object in the calibration detection area at the third data acquisition frequency;

[0154] Obtaining speed measurement data of the calibration object in the calibration detection area at the third data acquisition frequency;

[0155] Determining a third correction coefficient according to the image speed measurement data and the speed measurement data.

[0156] In an embodiment of the present application, the method further includes:

[0157] 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.

[0158] 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 the computer instructions or computer programs are loaded or executed on a computer, the processes or functions according to the embodiments of the present application are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable systems. The computer program or instructions 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 instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that the computer can access, or a data storage device such as a server or data center that includes one or more collections of available media. The available medium can be a magnetic medium (such as a floppy disk, hard disk, magnetic tape), an optical medium (such as a DVD), or a semiconductor medium. The semiconductor medium can be a solid-state drive.

[0159] 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 simultaneously, and B exists alone. Here, A and B can be singular or plural. In addition, the character " / " in this article generally represents an "or" relationship between the associated objects before and after, but it may also represent an "and / or" relationship, which can be specifically understood with reference to the context before and after.

[0160] In this application, "at least one" means one or more, and "a plurality of" means two or more. "At least one of the following" or a similar expression means any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can represent: a, b, c, a - b, a - c, b - c, or a - b - c, where a, b, and c can be single or plural.

[0161] It should be understood that in various embodiments of this application, the magnitudes of the serial numbers of the above processes do not mean the order of execution. The order of execution of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of this application.

[0162] 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 a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians 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 this application.

[0163] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the systems, systems, and units described above can refer to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0164] In several embodiments provided in this 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 merely illustrative. For example, the division of units is only a logical function division. In actual implementation, there can 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 to each other can be through some interfaces. The indirect couplings or communication connections of systems or units can be in electrical, mechanical, or other forms.

[0165] The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they can be located in one place or 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.

[0166] In addition, in each embodiment of the present application, each functional unit may be integrated into one processing unit, may exist physically alone for each unit, or two or more units may be integrated into one unit.

[0167] 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 such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or a 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 and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods in the various embodiments of the present application. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs that can store program codes.

[0168] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of changes or substitutions, which should all be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to 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 frequency 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 frequency is higher than the first data acquisition frequency; A second speed determination module, used to correct the initial speed according to the calibration speed measurement data to determine the speed of the production line conveyor belt; 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; a third evaluation submodule, determining the test confidence according to the second initial speed and the first speed measurement evaluation model; 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; a first calculation unit, determining 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; 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; a second calculation unit, configured 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; 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; Determining the test confidence according to a difference result between the predicted speed and the second initial speed; 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; a coefficient determination submodule, configured to determine a third correction coefficient according to the image speed measurement data and the speed speed measurement data; 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.

2. A radar speed measurement method, characterized in that: Applied to the radar speed measurement system of claim 1, the method comprises: 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 frequency 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 frequency 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.

3. The radar speed measurement method according to claim 2, 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.

4. The radar speed measurement method according to claim 3, 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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