4D millimeter wave radar control system based on ROS series system

Abstract

The utility model discloses a 4D millimeter wave radar control system based on an ROS series system. The 4D millimeter wave radar control system comprises a base station PC, an upper computer control / processing module and a 4D millimeter wave radar module. The base station PC is wirelessly connected with the upper computer control / processing module through the wireless local area network technology module; and the upper computer control / processing module is in wired connection with the 4D millimeter wave radar by using an asynchronous transceiving transmission protocol of an asynchronous transceiving transmitter. According to the utility model, the ROS function packet of the 4D millimeter-wave radar module is created on the upper computer control / processing module and is operated, so that the control of the radar and the processing of the acquired data are realized, and the ROS function packets of other behavior decisions are operated based on the radar data to complete the behaviors such as obstacle avoidance, navigation, tracing and the like. And monitoring and debugging of the system and visual display of radar data are realized by operating an ROS visual tool on the base station PC.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a 4D millimeter wave radar control system based on a ROS series system. Background Art

[0002] The Robot Operating System (ROS) is an open source software library and tool set for robot operations.

[0003] The emergence of the robot operating system takes into account the three aspects of target perception, system decision-making, and terminal control required for making robots, and builds a bridge for communication between these parts. However, the first generation of ROS system did not take into account the stability, life cycle management, multi-machine collaboration, data encryption and other issues required for commercialization. Therefore, the ROS2 system came into being and assumed an important task in the future development of robots. The ROS2 system can run on multiple versions of operating systems, including but not limited to Windows, Linux and other systems.

[0004] The emergence of 4D millimeter radar is a major revolution in radar systems. Compared with laser radar, 4D millimeter-wave radar has better environmental adaptability and can be used in extreme weather. It has lower energy consumption and lower cost than laser radar. Compared with traditional millimeter-wave radar, 4D millimeter-wave radar has increased pitch angle acquisition and can identify the height of objects, which is of great significance in obstacle avoidance, road detection and other aspects.

[0005] The Chinese utility model patent with application number CN116540696A discloses a multi-modal obstacle avoidance system for multi-sensor fusion of unmanned ships based on ROS. The laser radar and industrial cameras mentioned therein cannot operate in extreme or changeable weather conditions due to the principles of light refraction and scattering. However, the weather on the sea surface changes rapidly and is prone to fog, so they cannot work well in foggy conditions on the sea surface. However, millimeter waves are less affected by this, and millimeter-wave radars are less affected by fog, rain and other reasons, and can better adapt to the changing environment of the sea surface. In addition, the detection distance of laser radar is short, usually less than 150 meters, and it cannot adapt well to the wide sea environment, while millimeter-wave radar can easily reach a detection distance of 300 meters, and the detection distance can be further increased according to needs. Therefore, the utility model mentions a 4D millimeter-wave radar control system based on the ROS series system.

[0006] Compared with existing technologies, it has the characteristics of resistance to severe weather and long detection distance.

[0007] The utility model patent with application number 202121070795.5 discloses a ROS multi-sensor fusion unmanned vehicle. The laser radar and binocular camera mentioned therein generate a very large amount of data, which easily leads to the inability of the vehicle to perform navigation and mapping functions in real time. Compared with the huge amount of data of the laser radar, the millimeter-wave radar only accounts for one-tenth of its data volume and can be processed at a higher speed. And compared with the high energy consumption of the laser radar, the energy consumption of the millimeter-wave radar is much less than that of the laser radar, so that the millimeter-wave radar can work longer with the same capacity of battery. Therefore, compared with the prior art, the 4D millimeter-wave radar control system based on the ROS series system mentioned in the utility model has the characteristics of low energy consumption, long battery life, and fast data processing speed. Utility Model Content

[0008] The purpose of the utility model is to provide a 4D millimeter wave radar control system based on the ROS series system to solve the problems raised in the above background technology.

[0009] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a 4D millimeter-wave radar control system based on the ROS series system, wherein the system comprises a 4D millimeter-wave radar module, a host computer control / processing module and a base station PC, and the 4D millimeter-wave radar module, the host computer control / processing module and the base station PC are connected in sequence, the 4D millimeter-wave radar module comprises an analog-to-digital conversion module and a data acquisition module, the host computer control / processing module and the base station PC comprise a radar control node, a radar data collection node, a data processing node and a decision judgment node, and the base station PC comprises a visualization module.

[0010] Preferably, the 4D millimeter wave radar module includes but is not limited to an antenna part, a radio frequency front-end part, an MCU and a DSP part, and is responsible for collecting the distance, speed, azimuth and pitch angle information of the target.

[0011] Preferably, the host computer control / processing module controls the 4D millimeter wave radar module, receives and processes radar data, and performs other behavior decision tasks.

[0012] Preferably, the base station PC runs the ROS system and remotely controls the host computer control / processing module through but not limited to the SSH protocol, and receives radar data for visual display.

[0013] Preferably, the 4D millimeter-wave radar module is wiredly connected to the host computer control / processing module using but not limited to the universal asynchronous receiver-transmitter asynchronous receiver-transmitter transmission protocol to power the 4D millimeter-wave radar module and receive data collected by the radar.

[0014] Preferably, the host computer control / processing module and the base station PC are wirelessly connected using but not limited to a wireless local area network technology module, so that the base station PC can control the host computer control / processing module and receive topic information.

[0015] Preferably, the host computer control / processing module runs the ROS function package of the 4D millimeter-wave radar module in the ROS system environment, establishes related 4D millimeter-wave radar nodes, realizes parameter configuration and control of the radar, and processes the data collected by the 4D millimeter-wave radar through but not limited to FFT, CFAR, and MVDR algorithms, and converts the results into distance, speed, azimuth, and pitch angle information formats adapted to ROS, and generates topics for external release. The 4D millimeter-wave radar node completes the configuration changes of the 4D millimeter-wave radar by subscribing to the behavior decision topic, and completes but is not limited to increasing the detection distance and reducing the detection distance.

[0016] Preferably, the host computer control / processing module runs other behavior decision function packages in the ROS system environment, generates a decision judgment node, obtains radar data by subscribing to the topic published by the 4D millimeter wave radar node, processes the radar data and publishes the behavior decision topic. The behavior decision includes but is not limited to clustering, classification, mapping, navigation, obstacle avoidance, and tracking.

[0017] Preferably, the base station PC terminal remotely controls the host computer control / processing module through, but not limited to, the SSH protocol in the ROS system environment to execute the 4D millimeter wave radar module ROS function package and decision function package to complete data collection and decision-making functions;

[0018] The base station PC remotely monitors the ROS nodes, topics, messages, and parameter information of the host computer control / processing module in the ROS system environment through, but not limited to, the SSH protocol, and is used to debug and configure each component in the ROS system.

[0019] Preferably, the base station PC obtains radar data by subscribing to topics published by the 4D millimeter-wave radar node in the host computer control / processing module through but not limited to the SSH protocol in the ROS environment, and visualizes the data through visualization tools including but not limited to RVIZ, so that operators can view in real time the data collected by the 4D millimeter-wave radar module and processed and uploaded by the host computer control / processing module, including but not limited to: point cloud map, speed curve graph, Kalman filter estimation result curve.

[0020] Compared with the prior art, the beneficial effects of the utility model are:

[0021] The utility model uses the ROS series system, which makes it more convenient for implementers to operate the 4D millimeter wave radar under various operating system conditions and is no longer limited to a single Linux operating system.

[0022] The utility model uses the ROS series system as middleware to easily realize data interaction and collaborative work between 4D millimeter wave radar and other devices, modules or subsystems.

[0023] The utility model uses the ROS series system and has a mature visual debugging tool, which can display the communication relationship between the 4D millimeter wave radar and other equipment modules or subsystems in real time.

[0024] Compared with laser radar, the 4D millimeter-wave radar carried by the utility model can be used in a variety of extreme weather conditions, including but not limited to heavy rain and haze weather.

[0025] The 4D millimeter-wave radar carried by the utility model collects much less data than the laser radar, thereby achieving the purpose of high-speed real-time processing.

[0026] The 4D millimeter-wave radar carried by the utility model has lower energy consumption than the laser radar.

[0027] Compared with general millimeter-wave radars, the 4D millimeter-wave radar carried by the utility model can identify the height information of the target, and has irreplaceable advantages in various projects such as obstacle avoidance and map drawing.

[0028] The base station PC and the host computer control / processing module adopted in the utility model use a wireless local area network technology module for communication, so that the utility model can be applied in a wider range of scenarios without being restricted by the length of the transmission line.

[0029] The utility model adopts the base station PC visual operation, adopts RVIZ and other tools to provide the implementer with real-time visual data, which is more conducive to the implementer's next decision. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is the overall structure diagram of the utility model;

[0031] Figure 2 A flowchart for specific implementation;

[0032] Figure 3 Use the real-time visualization 3D point cloud provided by RVIZ for the base station PC;

[0033] Figure 4 Use Matlab to provide real-time visualization of 3D point cloud images for the base station PC;

[0034] Figure 5 Use Matlab to provide real-time visualization of the distance map of the measured object for the base station PC;

[0035] Figure 6The base station PC uses Matlab to provide real-time visualization of the velocity diagram of the object being measured. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0037] See also Figure 1-6 The utility model provides a technical solution: a 4D millimeter-wave radar control system based on the ROS series system, the system includes a base station PC, a host computer control / processing module, a 4D millimeter-wave radar module, a wireless local area network technology module between the base station PC and the host computer control / processing module is wirelessly connected through the SSH protocol, and the host computer control / processing module and the 4D millimeter-wave radar module are wiredly connected using the universal asynchronous receive / transmitter asynchronous receive / transmitter transmission protocol.

[0038] The utility model uses TI's IWR6843AOP as 4D millimeter-wave radar hardware, uses the Luban Cat main control board as the upper computer control / processing module hardware to run the ROS system, uses a computer as a base station PC unit, and the rest are other specific implementation units.

[0039] The 4D millimeter wave radar module is an implementation terminal. It transmits millimeter waves and receives reflected waves, performs mixing and filtering sampling on them to obtain ADC raw data, and then calculates the intermediate frequency through fast Fourier transform. According to the basic principles of 4D millimeter wave radar ranging, speed measurement, and angle measurement, the target's distance, speed, azimuth and pitch angle information are converted, and then the data is uploaded to the Luban Cat ROS main control board.

[0040] The host computer control / processing module, equipped with the ROS series robot control system, can divide the task into multiple parts for processing. In this example, it is divided into four parts: data collection part, data processing part, decision-making part and radar control part.

[0041] like Figure 2The four parts of data collection, data processing, decision-making and radar control are expressed in the form of nodes: radar data collection node, data processing node, decision-making node, radar control node. The nodes communicate in the form of topics. Publishers and subscribers are defined in each node to publish and subscribe to topics. The content of each node can be transmitted to the base station PC through the wireless LAN technology module using the SSH protocol.

[0042] At the radar data collection node, the host computer control / processing module uses the asynchronous receive / send transmission protocol to receive the radar raw data through a wired connection. After the host computer receives the raw target information, it broadcasts the information in the form of a topic through a publisher.

[0043] In the data processing node, the topic broadcast by the radar data collection node is subscribed through the subscriber (Publisher), and various algorithm operations such as FFT, Doppler FFT, CFAR, etc. are performed on the radar data to obtain the target's distance, speed, azimuth, pitch angle and other information, and this information is processed into a specific message format and broadcasted through the publisher (Publisher) in the form of a topic.

[0044] At the decision-making node, the topic published by the data processing node is subscribed to through the subscriber (Publisher), and the received distance, speed, azimuth, and pitch angle data are analyzed. The radar and other specific implementation units are further configured and operated through this information, and these commands are published and broadcasted through the publisher (Publisher) in the form of topics.

[0045] At the radar control node, the topic published by the decision-making node is first subscribed through the subscriber (Publisher), or the command topic of the base station PC (computer) side can be subscribed wirelessly through the SSH protocol, and these configuration information and operation commands are transmitted to the 4D millimeter-wave radar end through a wired connection using the asynchronous receive and send transmission protocol to complete the issuance of radar commands.

[0046] Other specific real-time units complete behaviors such as obstacle avoidance, navigation, and tracking by executing instructions issued by decision-making nodes.

[0047] The base station PC uses the SSH protocol to communicate with the host computer control / processing module. It has visualization equipment and ROS visualization tools RVIZ, RQT, etc. The RVIZ tool subscribes to the topics of data processing nodes and decision nodes, allowing operators to observe the target object information identified by the 4D millimeter wave radar on the PC side, so as to have a basic judgment on the next operation. RQT monitors all nodes, topics, and message information in the ROS system of this example in real time to realize the monitoring and debugging of the overall system.

[0048] As an example Figure 3 ,example Figure 4 ,example Figure 5 ,example Figure 6 As shown, the utility model subscribes to the 4D millimeter-wave radar point cloud information under the control of the ROS system through the base station PC, and obtains its distance, speed, azimuth, and pitch angle information data, meeting the utility model requirements.

[0049] The contents not described in detail in this specification belong to the prior art known to professional and technical personnel in the field. Although the embodiments of the utility model have been shown and described, it is understandable to those of ordinary skill in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principle and spirit of the utility model. The scope of the utility model is defined by the attached claims and their equivalents.

Claims

1. A 4D millimeter wave radar control system based on the ROS series system, characterized by: The system includes a 4D millimeter-wave radar module, a host computer control / processing module and a base station PC, and the 4D millimeter-wave radar module, the host computer control / processing module and the base station PC are connected in sequence. The 4D millimeter-wave radar module includes an analog-to-digital conversion module and a data acquisition module. The host computer control / processing module and the base station PC include a radar control node, a radar data collection node, a data processing node and a decision-making node. The base station PC includes a visualization module.

2. A 4D millimeter wave radar control system based on ROS series system according to claim 1, characterized in that: The 4D millimeter wave radar module includes but is not limited to an antenna part, a radio frequency front-end part, an MCU and a DSP part, and is responsible for collecting information on the distance, speed, azimuth and pitch angle of the target.

3. The 4D millimeter wave radar control system based on the ROS series system according to claim 1, characterized in that: The host computer control / processing module controls the 4D millimeter wave radar module, receives and processes radar data, and performs other behavior decision-making tasks.

4. The 4D millimeter wave radar control system based on the ROS series system according to claim 1, characterized in that: The base station PC runs the ROS system and remotely controls the host computer control / processing module through but not limited to the SSH protocol, and receives radar data for visual display.

5. The 4D millimeter wave radar control system based on the ROS series system according to claim 1, characterized in that: The 4D millimeter-wave radar module is wiredly connected to the host computer control / processing module using, but not limited to, a universal asynchronous receiver / transmitter asynchronous receiver / transmitter transmission protocol to power the 4D millimeter-wave radar module and receive data collected by the radar.

6. The 4D millimeter wave radar control system based on the ROS series system according to claim 1, characterized in that: The host computer control / processing module and the base station PC are wirelessly connected using but not limited to a wireless local area network technology module, so that the base station PC can control the host computer control / processing module and receive topic information.

7. The 4D millimeter wave radar control system based on the ROS series system according to claim 1, characterized in that: The base station PC obtains radar data by subscribing to topics published by the 4D millimeter-wave radar node in the host computer control / processing module through, but not limited to, the SSH protocol in the ROS environment, and visualizes the data through visualization tools including, but not limited to, RVIZ, so that operators can view in real time the data collected by the 4D millimeter-wave radar module and processed and uploaded by the host computer control / processing module, including, but not limited to, point cloud images, velocity curves, and Kalman filter estimation result curves.

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