Distance measurement device and method based on terahertz radar in high-dust environment

Abstract

The invention provides a distance measurement device and method based on a terahertz radar in a high dust environment, in the device, a terahertz radar unit comprises a radar fixing frame, a radar core board and a quasi-optical lens, the core board emits a detection signal and receives echoes, the target distance is calculated through Zoom-FFT unwrapping processing, and the terahertz radar unit is fixed at the top of a rotation driving unit; the rotation driving unit is provided with a bottom shell and an internal rotation motor and can drive the radar unit to continuously rotate by 360 degrees. The sensor shell covers the radar unit and is in threaded connection with the bottom shell of the rotary driving unit; the shell dust removal unit is arranged outside the sensor shell, comprises high-voltage and dust removal electrodes and removes dust through electrostatic adsorption, and the dust removal period is synchronous with the radar scanning period. According to the device, the structural design of the rotary driving unit, the shell dust removal unit and the like is adopted, 360-degree scanning and shell dust removal are achieved, the measurement precision and stability are effectively improved, and the distance measurement requirement in the underground high-dust environment is met.

Description

Technical Field

[0001] The present invention relates to the technical field of terahertz radar sensors, and particularly to a distance measurement device and method based on terahertz radar in a high-dust environment. Background Technique

[0002] The statements in this part only provide background technical information related to the present invention and do not necessarily constitute prior art.

[0003] The shuttle car underground is an important device for realizing short-distance and rapid transportation in coal mines. With the continuous development of mine mining technology, realizing the unmanned operation of the shuttle car underground can, on the one hand, improve the coal loading and transportation efficiency and save costs; on the other hand, it can reduce unnecessary casualties to locomotive operators in the event of dangerous accidents. However, compared with driverless on the ground or in open-pit mines, the underground environment is complex and changeable, especially the characteristic of high dust, which puts higher requirements on the performance of shuttle car sensors.

[0004] To address the challenges posed by the high-dust environment underground to the intelligent perception of shuttle cars, improved laser detection and infrared sensing technologies, as well as emerging millimeter-wave detection technologies, have been applied at multiple coal mine sites. To overcome the technical problems of intelligent perception in the complex high-dust environment underground, it is necessary to integrate new millimeter-wave detection technologies with less influence from dust. However, most current technical solutions adopt the existing design methods of passenger car millimeter-wave radars and do not adaptively develop for the high-dust environment underground and the intelligent perception requirements of shuttle car driverless operation, resulting in deficiencies such as short detection distance, poor resolution, and inability to image. Therefore, how to develop a terahertz sensor for shuttle cars underground based on terahertz waves with wavelengths shorter than millimeter waves and also less affected by dust, combined with array radar systems and distributed sensor network technologies, so as to improve the distance detection accuracy in a dust environment under the same power, is an urgent problem to be solved. Summary of the Invention

[0005] To solve the above problems, the present invention proposes a distance measurement device and method based on terahertz radar in a high-dust environment. By emitting terahertz signals into the underground environment, collecting echo signals and performing mixing and filtering processing, and then using Zoom-FFT technology to refine the spectrum of the intermediate-frequency signal, combined with phase extraction and phase unwrapping operations, the target distance is accurately calculated based on the phase slope and frequency change amount. At the same time, the device adopts structural designs such as a rotary drive unit and a housing dust removal unit to achieve 360-degree scanning and housing dust removal, effectively improving the measurement accuracy and stability and meeting the distance measurement requirements in a high-dust environment underground.

[0006] To achieve the above object, the present invention adopts the following technical solutions: In the first aspect, the present invention provides a distance measurement device based on terahertz radar in a high-dust environment, including: The terahertz radar unit includes a radar fixing bracket and a radar core board and a quasi-optical lens fixed thereon; the radar core board is used to periodically transmit terahertz detection signals to the underground space to be measured; receive the echo signals reflected by the space to be measured, adopt Zoom-FFT and perform phase extraction and phase unwrapping to obtain the unwrapped phase; establish the mapping relationship between the unwrapped phase and the distance, and calculate the target distance; the terahertz radar unit is fixed on the top of the rotary drive unit; The rotary drive unit includes a bottom housing and a rotary motor inside it. The rotary motor is used to drive the terahertz radar unit to achieve 360-degree continuous rotation; The sensor housing is used to cover the terahertz radar unit and is threadedly connected to the bottom housing of the rotary drive unit; The housing dust removal unit is arranged outside the sensor housing and includes a high-voltage electrode and a dust removal electrode, and removes the dust on the surface of the housing by electrostatic adsorption. The dust removal period is synchronized with the radar scanning period.

[0007] In a second aspect, the present invention provides a distance measurement method based on a terahertz radar in a high-dust environment, including: During the 360-degree continuous rotation scan, periodically transmit terahertz detection signals to the underground space to be measured; wherein, during the scan period, an electrostatic dust removal operation is synchronously performed, and its start-stop timing is synchronized with the scan period of the detection signal; Receive the echo signals reflected by the space to be measured, adopt Zoom-FFT and perform phase extraction and phase unwrapping to obtain the unwrapped phase; establish the mapping relationship between the unwrapped phase and the distance, and calculate the target distance.

[0008] In a third aspect, the present invention provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, the steps in the distance measurement method based on a terahertz radar in a high-dust environment described in the second aspect are implemented.

[0009] In a fourth aspect, the present invention provides a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, the steps in the distance measurement method based on a terahertz radar in a high-dust environment described in the second aspect are implemented.

[0010] Compared with the prior art, the beneficial effects of the present invention are: (1) In the terahertz radar unit of the present invention, the radar core board cooperates with the quasi-optical lens. The core board emits and receives signals, and the quasi-optical lens optimizes signal propagation. Its coaxial structure reduces the interference of dust on the signals and ensures stable signal transmission. Among them, by processing the echo signals through Zoom-FFT and phase unwrapping, the phase information can be accurately obtained and the target distance can be accurately calculated. The rotation drive unit drives the radar to rotate continuously by 360 degrees to achieve omnidirectional scanning and obtain more comprehensive measurement data. The sensor housing protects the radar unit and reduces the intrusion of dust. The housing dust removal unit is synchronized with the radar scanning cycle and removes the dust on the housing in time through electrostatic adsorption, avoiding the blocking and scattering of signals by dust, ensuring the stable transmission and reception of radar signals, and thus effectively improving the accuracy and reliability of distance measurement in a high-dust environment. The device has strong penetrability to dust. When working underground in a high-dust environment, it can have a high detection distance and generate high-resolution image data.

[0011] (2) In the present invention, the core board is responsible for emitting terahertz detection signals and receiving echo signals, and the quasi-optical lens performs optical processing such as focusing and collimating on the signals. The cooperation of the two enables precise signal emission and efficient reception, enhancing the signal strength and quality. And the two are mounted back-to-back on the front and rear sides of the support plate to form a coaxial optical structure, ensuring the coaxiality of signal emission and reception. In a high-dust environment, the interference of dust will weaken the signals. This structure reduces the signal propagation deviation and loss, reduces the influence of dust, makes the signal transmission path more stable, ensures that the terahertz wave accurately reaches the target area and brings back reliable echoes, laying a foundation for accurately calculating the target distance, and significantly improving the accuracy and reliability of distance measurement.

[0012] (3) The Zoom-FFT adopted in the present invention can refine the local spectrum of the intermediate-frequency signal, amplify the key spectrum area, improve the frequency resolution, accurately identify the useful components of the signal, and obtain more accurate frequency information. And by performing phase extraction and unwrapping operations on the frequency-shifted signals, the problem of phase wrapping distortion caused by dust interference can be solved, and the true phase information can be restored. Based on the accurate phase information, a mapping relationship with the distance is established, and then the target distance can be calculated more accurately, effectively reducing the measurement error caused by dust interference, ensuring the accuracy and reliability of distance measurement in a high-dust environment, and making the measurement results closer to the actual distance.

[0013] (4) The dust removal unit of the present invention removes dust in time through electrostatic adsorption, ensures stable signal propagation, reduces scattering interference, and makes the echo signal more real. At the same time, it can prevent dust from penetrating into the radar interior, avoid damage to key components, and ensure the reliability of the equipment. In addition, the dust removal cycle is synchronized with the radar scanning cycle, ensuring that the housing of the radar is always clean during scanning, maintaining the continuity and stability of the measurement work, avoiding the influence of measurement due to dust accumulation, and comprehensively improving the quality and reliability of distance measurement in a high-dust environment.

[0014] Advantages of additional aspects of the present invention will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The accompanying drawings forming a part of this specification are used to provide a further understanding of the present invention. The schematic embodiments and descriptions thereof of the present invention are used to explain the present invention and do not constitute a limitation to the present invention.

[0016] Figure 1 FIG. is a schematic structural diagram of a distance measurement device based on terahertz radar in a high-dust environment provided for an embodiment of the present invention from one perspective; Figure 2 FIG. is a schematic structural diagram of a distance measurement device based on terahertz radar in a high-dust environment provided for an embodiment of the present invention from another perspective; Figure 3 FIG. is a main flow chart of a distance measurement method based on terahertz radar in a high-dust environment provided for an embodiment of the present invention; Wherein, 1 - radar fixing frame; 11 - support base; 12 - support plate; 2 - radar core board; 3 - quasi-optical lens; 4 - connecting rod; 5 - bottom housing; 6 - rotating motor; 7 - sensor housing; 8 - connecting frame. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0017] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0018] Embodiment 1 As Figure 1 、 Figure 2 shown, this embodiment provides a distance measurement device based on terahertz radar in a high-dust environment, including a terahertz radar unit, a rotation drive unit, a sensor housing, and a housing dust removal unit ( Figure 1 not shown in the figure). Specifically: The terahertz radar unit includes a radar fixing frame 1 and a radar core board 2 and a quasi-optical lens 3 fixed thereon; the radar core board 2 is used to periodically emit terahertz detection signals into the underground measured space; receive the echo signals reflected by the measured space, adopt Zoom-FFT and perform phase extraction and phase unwrapping to obtain the unwrapped phase; establish the mapping relationship between the unwrapped phase and the distance, and calculate the target distance; the terahertz radar unit is fixed on the top of the rotation drive unit; The rotation drive unit includes a bottom housing 5 and a rotating motor 6 inside it. The rotating motor 6 is used to drive the terahertz radar unit to achieve 360-degree continuous rotation; The sensor housing 7 is used to cover the terahertz radar unit and is threadedly connected to the bottom housing 5 of the rotation drive unit; The outer shell dust removal unit is arranged outside the sensor outer shell 7 and includes a high-voltage electrode and a dust removal electrode, which removes dust on the outer shell surface through electrostatic adsorption, and the dust removal cycle is synchronized with the radar scanning cycle.

[0019] Among them, the radar fixing bracket 1 includes a support base 11 and a support plate 12; the radar core board 2 is fixed to the front side of the support plate 12, and the quasi-optical lens 3 is mounted back-to-back with the radar core board 2 on the rear side of the support plate 12 through a connecting rod 4, and the radar core board 2 and the quasi-optical lens 3 form a coaxial optical structure.

[0020] In this embodiment, the radar core board is responsible for periodically emitting terahertz detection signals to the underground measurement space, and at the same time receiving the echo signals reflected back from the measurement space. The quasi-optical lens plays the role of focusing and collimating the terahertz wave during this process. The cooperation of the two can make the terahertz detection signal be emitted more accurately to the target area and collect the echo signal more effectively, improving the intensity and quality of the signal.

[0021] At the same time, the radar core board is fixed to the front side of the support plate, and the quasi-optical lens is mounted back-to-back with the radar core board on the rear side of the support plate through a connecting rod to form a coaxial optical structure. This position layout ensures the coaxiality of terahertz wave emission and reception, reducing the deviation and loss during signal propagation. In a high-dust environment, dust will cause interference such as scattering and absorption to the terahertz wave, while the coaxial optical structure can make the detection signal and the echo signal propagate along a more stable path, reducing the impact of dust interference on the signal, thereby improving the accuracy and reliability of distance measurement.

[0022] The support base 11 is provided with a plurality of bolts for fixedly connecting with the rotating motor 6. The radar core board passes through the sensor outer shell 7 and the outer shell dust removal unit. The sensor outer shell 7 is threadedly connected with the bottom outer shell 5 through a connecting frame 8, ensuring that the entire device can still obtain high-resolution images in a high-dust environment.

[0023] The front of the sensor outer shell is respectively provided with a transmitting hole and a receiving hole, the top surface is provided with a hole, the back is fixedly connected with a support block, and the inner wall is provided with a battery slot. Among them, the sensor outer shell itself is made of heat-insulating and waterproof materials, its outer surface is made of composite steel, the inside is provided with nano heat-insulating materials, and the inner wall is made of hard plastic, which can better protect the operation of other internal devices.

[0024] Furthermore, the terahertz radar unit needs to emit terahertz detection signals and receive echo signals for distance measurement. If a large amount of dust adheres to the surface of the sensor outer shell, it will block the propagation of the terahertz wave, weaken the intensity of the transmitted signal, and the quality of the echo signal will also decline.

[0025] Therefore, in this embodiment, a housing dust removal unit is introduced to timely remove the dust on the housing surface through electrostatic adsorption, ensuring that terahertz waves can be smoothly transmitted and received and maintaining the stability of signal propagation. The angular range effectively covered by the electrostatic field and adsorption effect generated by the internal electrodes of the housing dust removal unit is 180 degrees.

[0026] The housing dust removal unit is arranged on the outer side of the sensor housing. It can be set at a suitable position on the housing according to actual needs. However, it should be noted that the key areas for radar signal transmission and reception should be avoided. It doesn't necessarily have to be at the vertex of the housing. For example, it can be at a relatively flat part in the middle of the housing that can effectively cover the dust-attached area, which is convenient for generating a relatively stable and effective electrostatic field to adsorb dust.

[0027] The dust removal cycle is synchronized with the radar scanning cycle, that is, during the process of radar scanning and measurement, the housing can always maintain a relatively clean state. Within each scanning cycle, the dust removal unit timely removes the accumulated dust without interfering with the normal operation of the radar, ensuring the continuity and stability of distance measurement. This synchronous cooperation method enables the terahertz radar unit to continuously and accurately measure distances in a high-dust environment.

[0028] As an implementation method, the rotating motor is a DC brushless motor. The core materials are preferably high-quality 0.2mm silicon steel sheets and high-temperature resistant and strong magnetic permanent magnets. The working voltage is 12 - 48V, and it supports RS485 bus interface and CAN bus interface.

[0029] The radar core board is preferably made based on the IWR6843AOP chip, with a working bandwidth of 60 - 64GHz and a transmit power of 12.5dBm.

[0030] A quasi-optical lens with a lens angle parameter of 5° is mounted on the core board, enabling the radar range to reach 120m and the accuracy to reach 0.5mm.

[0031] It should be understood that those skilled in the art can select different models of rotating motors, radar core boards, etc. according to needs. The selection of models in this embodiment only provides an example.

[0032] As an implementation method, in an underground high-dust environment, the radar is installed on the top of the shuttle car. While the shuttle car slowly moves in the roadway, the radar rotating motor drives the radar core board to continuously rotate 360°, ensuring that the radar beam scans the underground environment omnidirectionally and obtaining real-time surrounding distance profile data. The radar core board continuously transmits and receives terahertz wave signals during rotation and transmits the collected raw data to the signal processing unit for real-time analysis to generate an accurate distance profile map.

[0033] The radar core board is used to periodically transmit terahertz detection signals to the underground space to be measured; receive the echo signals reflected by the space to be measured, use Zoom-FFT and perform phase extraction and unwrapping to obtain the unwrapped phase; establish the mapping relationship between the unwrapped phase and the distance, and calculate the target distance, specifically including: The core board IWR6843AOP chip used in the radar device of this embodiment is a terahertz radar sensor using frequency-modulated continuous wave (FMCW). By transmitting a signal whose frequency changes linearly with time (referred to as a linear frequency-modulated signal or chirp signal), and calculating the distance of the target by the frequency difference (referred to as the beat frequency) between the received target echo signal and the transmitted signal. Its transmitted signal is:

[0034] wherein, is the starting frequency, B is the frequency modulation bandwidth, and T is the modulation period.

[0035] The echo signal (i.e., the signal after the delay time τ) is:

[0036] Furthermore, a method combining Zoom-FFT and phase spectrum estimation is adopted to achieve high-precision distance measurement and contour reconstruction.

[0037] First, the terahertz echo signal received by the radar is mixed and low-pass filtered to obtain an intermediate frequency signal :

[0038] wherein, is the carrier frequency of the intermediate frequency signal, ϕ is the signal phase, and n(t) is the noise component.

[0039] After that, Zoom-FFT is used to perform local spectrum refinement analysis on the intermediate frequency signal. Specifically, the intermediate frequency signal is multiplied by the complex exponential signal to shift the target frequency band to the baseband:

[0040] wherein, is the center frequency of the target frequency band. After performing operations such as low-pass filtering and resampling on the shifted signal, finally, an FFT transform is performed to obtain the transformed signal .

[0041] In a high-dust environment, the echo signal will be interfered by dust and become complex, and the spectrum may become blurred and broad. In this embodiment, Zoom-FFT can be used to refine the local spectrum of the intermediate-frequency signal, magnify and analyze in detail the spectrum region of interest. In this way, the useful components in the echo signal can be identified more accurately, the frequency resolution can be improved, and thus the information related to the target distance can be extracted more precisely.

[0042] Based on Zoom-FFT, the phase spectrum estimation method is further used to improve the distance measurement accuracy. Specifically, the phase extraction and phase unwrapping are performed on the Zoom-FFT result to eliminate the phase jump:

[0043] wherein, represents taking the phase angle of the complex number, represents the phase unwrapping operation.

[0044] Furthermore, the slope k of the phase spectrum is calculated by linear fitting:

[0045] wherein, is the phase change amount, and Δf is the frequency change amount.

[0046] Finally, the target distance can be calculated according to the relationship between the phase slope and the distance :

[0047] In this embodiment, the phase extraction and phase unwrapping operations are performed on the frequency shift signal after Zoom-FFT processing. In a complex high-dust environment, the phase of the echo signal may be wrapped and distorted. The phase unwrapping operation can restore the true phase information and establish an accurate mapping relationship between the unwrapped phase and the distance. In this way, the target distance can be calculated more precisely, the measurement error caused by dust interference can be reduced, and the quality of distance measurement can be improved.

[0048] Furthermore, since the shuttle car travels slowly and the radar scans quickly, the measurement error caused by its own movement can be eliminated.

[0049] Each mechanism works together through the central control system, and the working states of the rotation motor, the radar core board and the dust removal device are uniformly scheduled by the control system to ensure stable and efficient measurement and dust removal functions in the high-dust environment underground.

[0050] The whole measurement process is controlled by a remote host computer, and the measurement results can be observed manually in real time to facilitate flexible response to various roadway terrains.

[0051] As an implementation manner, the distance measurement device based on terahertz radar in a high-dust environment can be remotely controlled based on the host computer program made by Matlab. The operation process of the remote host computer is as follows: Step 1: Connect the terahertz radar sensor to the computer through the serial port, turn on the power supply, and open the host computer program of the terahertz 2D scanning radar.

[0052] Step 2: Open the serial port search program, debug and find the number corresponding to the serial port connected by the radar and the computer, and select the corresponding motor port and data port in the host computer program.

[0053] Step 3: Adjust the host computer parameters, set the data update to 60Hz / s, the number of bytes per group to 96 (the general program default is fine), set the rotation speed from 0.5 revolutions per second to 2 revolutions per second (depending on the actual situation, too high a rotation speed may cause the measurement result contour map to be unstable or inaccurate), and at the same time check the "Whether to save data" button.

[0054] Step 4: Manipulate the shuttle car to move slowly and evenly, click "Click to work", observe the generation status of the contour result map in real time, and save the data.

[0055] Step 5: Click "Click to stop" to end the measurement and analyze the saved data.

[0056] In this specific embodiment, terahertz signals are transmitted and received, combined with signal processing technologies such as mixing, filtering, and Zoom-FFT, to accurately calculate the target distance. The back-to-back coaxial optical structure of the radar core board and the quasi-optical lens optimizes the signal transmission and reception effects. The rotation drive unit enables the radar to rotate and scan 360 degrees, comprehensively covering the underground environment. The housing dust removal unit timely removes the dust on the housing to ensure the stable operation of the radar. The entire device works in coordination, not only improving the measurement accuracy and range, but also enhancing the environmental adaptability of the device, providing a reliable guarantee for the safe and efficient operation of the underground shuttle car, and having extremely high practical value and popularization significance.

[0057] Embodiment 2 As Figure 1 shown, this embodiment discloses a distance measurement method based on terahertz radar in a high-dust environment, including the following steps: S1: During the 360-degree continuous rotation scan, periodically transmit terahertz detection signals to the underground space to be measured; among them, during the scan cycle, the electrostatic dust removal operation is synchronously executed, and its start-stop timing is synchronized with the scan cycle of the detection signal; S2: Receive the echo signal reflected by the space to be measured, use Zoom-FFT and perform phase extraction and phase unwrapping to obtain the unwrapped phase; establish the mapping relationship between the unwrapped phase and the distance, and calculate the target distance.

[0058] Embodiment III This embodiment provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, it implements the steps in a distance measurement method based on a terahertz radar in a high-dust environment as described in Embodiment II above.

[0059] Embodiment IV This embodiment provides a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, it implements the steps in a distance measurement method based on a terahertz radar in a high-dust environment as described in Embodiment II above.

[0060] The steps or modules involved in Embodiments II to IV above correspond to those in Embodiment I. For specific implementation manners, reference may be made to the relevant description part of Embodiment I. The term "computer-readable storage medium" should be understood to include a single medium or multiple media containing one or more instruction sets; it should also be understood to include any medium that can store, encode, or carry an instruction set for execution by a processor and enable the processor to execute any method in the present invention.

[0061] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A distance measurement device based on terahertz radar in a high dust environment, characterized in that: include: The terahertz radar unit includes a radar fixing frame and a radar core board and a quasi-optical lens fixed thereon; the radar core board is used to periodically transmit a terahertz detection signal to the measured space underground; receive the echo signal reflected by the measured space, use Zoom-FFT and perform phase extraction and unwrapping to obtain an unwrapped phase; establish a mapping relationship between the unwrapped phase and the distance, and calculate the target distance; the terahertz radar unit is fixed on the top of the rotation drive unit; A rotation drive unit, including a bottom housing and a rotation motor therein, the rotation motor is used to drive the terahertz radar unit to achieve 360-degree continuous rotation; A sensor housing, used for covering the terahertz radar unit, and threadedly connected to a bottom housing of the rotation drive unit; The outer shell dust removal unit is arranged on the outside of the sensor shell and includes a high-voltage electrode and a dust removal electrode. It removes dust on the surface of the outer shell by electrostatic adsorption. The dust removal cycle is synchronized with the radar scanning cycle.

2. A distance measurement device based on terahertz radar in a high dust environment as claimed in claim 1, characterized in that: The radar fixing frame includes a supporting base and a supporting plate; the radar core board is fixed to the front side of the supporting plate, and the quasi-optical lens is installed back-to-back with the radar core board on the rear side of the supporting plate through a connecting rod, and the radar core board and the quasi-optical lens form a coaxial optical structure.

3. A distance measurement device based on terahertz radar in a high dust environment as claimed in claim 1, characterized in that: The lens angle parameter of the collimating lens is 5°.

4. The distance measurement device based on terahertz radar in a high dust environment according to claim 1, characterized in that: The receiving of the echo signal reflected by the measured space, using Zoom-FFT and performing phase extraction and unwrapping to obtain the unwrapped phase specifically includes: The echo signal is mixed and low-pass filtered to obtain an intermediate frequency signal; Multiply the intermediate frequency signal with the complex exponential signal, perform local spectrum refinement through Zoom-FFT, and generate a frequency-shifted signal; Perform phase extraction and unwrapping operations on the frequency shift signal to obtain an unwrapped phase.

5. The distance measurement device based on terahertz radar in a high dust environment according to claim 1, characterized in that: The mapping relationship between the unwrapped phase and the distance is established to calculate the target distance, specifically: in, is the target distance, is the speed of light, Δf is the frequency change, k is the slope of the phase spectrum, The unwrapping phase.

6. A distance measurement method based on terahertz radar in a high dust environment, based on the distance measurement device according to claim 1, characterized in that: include: During the 360-degree continuous rotation scanning process, terahertz detection signals are periodically emitted to the measured space underground; wherein, electrostatic dust removal operation is synchronously performed during the scanning cycle, and its start and stop timing is synchronized with the scanning cycle of the detection signal; The echo signal reflected by the measured space is received, and the phase is extracted and unwrapped using Zoom-FFT to obtain an unwrapped phase; a mapping relationship between the unwrapped phase and the distance is established to calculate the target distance.

7. The distance measurement method based on terahertz radar in a high dust environment as claimed in claim 6, characterized in that: The receiving of the echo signal reflected by the measured space, using Zoom-FFT and performing phase extraction and unwrapping to obtain the unwrapped phase specifically includes: The echo signal is mixed and low-pass filtered to obtain an intermediate frequency signal; Multiply the intermediate frequency signal with the complex exponential signal, perform local spectrum refinement through Zoom-FFT, and generate a frequency-shifted signal; Perform phase extraction and unwrapping operations on the frequency shift signal to obtain an unwrapped phase.

8. The distance measurement method based on terahertz radar in a high dust environment as claimed in claim 6, characterized in that: The mapping relationship between the unwrapped phase and the distance is established to calculate the target distance, specifically: in, is the target distance, is the speed of light, Δf is the frequency change, k is the slope of the phase spectrum, The unwrapping phase.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by the processor, the steps of the distance measurement method based on terahertz radar in a high dust environment as described in any one of claims 6 to 8 are implemented.

10. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps of the distance measurement method based on terahertz radar in a high dust environment are implemented as described in any one of claims 6 to 8.

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