36 results about "3D radar" patented technology

The invention discloses a mechanical 3D radar control method and system, a storage medium and electronic equipment, and relates to the technical field of radar control. The method comprises the following steps: determining a scanning coverage area based on working state parameters of the mechanical 3D radar, and dividing the scanning coverage area into a plurality of scanning units; acquiring radar echo signals in each scanning unit, performing signal enhancement processing on the radar echo signals according to the spatial position information of each scanning unit, generating enhanced target echo data, performing time sequence analysis and coherent accumulation processing on the target echo data, and extracting frequency domain features based on a coherent accumulation result; performing target extraction on the target echo data according to the frequency domain features to obtain target feature information of each scanning unit; and determining control parameters of the mechanical 3D radar according to the target feature information, and controlling the mechanical 3D radar to execute according to the control parameters. By implementing the technical scheme provided by the invention, the resource utilization efficiency of the mechanical 3D radar can be improved.

The application provides a 3D radar measurement system capable of extending communication, comprising at least one communication branch; each communication branch comprises a first data transmission medium and at least one radar body; the radar body is used for generating measurement data; the measurement data is transmitted to a data communication relay module through the first data transmission medium and is transmitted to a central control end by the data communication relay module; for each radar body of any communication branch, when the distance of the first data transmission medium laid between the radar body and the data communication relay module or the central control end exceeds or approaches the limit distance of normal communication transmission of the first data transmission medium, at least one communication expansion module is laid between the corresponding radar body and the data communication relay module or the central control end. The application can optimize the wiring configuration of the measurement system, reduce the overall wiring cost of the measurement system, and make the measurement system have communication scalability, which is helpful to realize stable communication of the measurement system.

The application discloses a kind of millimeter wave radar point cloud registration methods and devices for vehicle-road cooperation automatic driving, belong to point cloud registration field.The application utilizes the complementary advantages of camera and millimeter wave radar, realizes the accurate registration of vehicle-infrastructure sparse disorder 3D radar point cloud, solves the problem of difficult extraction of sparse disorder radar point cloud semantic features and point pair difficult correspondence.Meanwhile, adaptive scheduling strategy is designed, considering the triggering factor of vehicle and the change degree of point cloud in infrastructure field of view to adaptively trigger data request to ensure real-time registration between multiple vehicles-infrastructure.The application takes camera data and radar point cloud data of vehicle and infrastructure as input and finally completes point cloud registration, while meeting the real-time and accuracy of millimeter wave radar point cloud registration, realizes the improvement of vehicle perception range and perception accuracy in heavy fog weather, and supports the further improvement of millimeter wave radar performance in target detection, path planning and other applications.

The utility model discloses a 3D radar level gauge installation device, which belongs to the technical field of level gauge installation, is used for a silo, a top plate of the silo is provided with an installation hole, the 3D radar level gauge is placed on the inner side of the silo through the installation hole, and is characterized in that the installation device comprises a counter bore cover plate and at least one screw rod; the counter bore cover plate is located on the outer side of the silo, and the counter bore cover plate is arranged on the mounting hole in a covering mode; one end of the screw rod is connected with the counter bore cover plate, and the other end of the screw rod is connected with a body flange at the bottom of the 3D radar level gauge. The 3D radar level gage is installed through the counter bore cover plate and the screw rod, so that the position of the 3D radar level gage sinks, pedestrians are prevented from being stumbled, the use safety is improved, it is guaranteed that obstacles are avoided below the installation position, the problem of measurement blind areas is solved, meanwhile, the counter bore cover plate can prevent coal on a belt from falling off to block the 3D radar level gage, and the safety of the 3D radar level gage is improved. And measuring errors are generated.

The application discloses a kind of accurate coal blending car loading system and method of coal preparation plant, the system includes warehouse belt, online coal quality detector a, coal bunker, 3D radar volume monitor, coal feeder, belt scale a, loading belt, online coal quality detector b and belt scale b;Online coal quality detector a is installed on warehouse belt, coal bunker is connected downstream of warehouse belt, 3D radar volume monitor is installed in coal bunker, the outlet of coal bunker is connected with coal feeder, the downstream of coal feeder is connected with belt scale a, the downstream of belt scale a is connected with loading belt, the downstream of loading belt is connected with loading train, online coal quality detector b and belt scale b are installed on loading belt.The method compares the coal quality detection result of loading coal sample and loading requirement, combines the coal quantity of loading and the coal quantity demand required for loading, adjusts the opening of coal feeder under coal bunker to adjust the blending ratio of different coal bunkers, and finally ensures that the coal quality of the whole loading train meets the standard.

1. Name of the product in this design: 3D radar scanner. 2. Purpose of this design: Scanning imaging. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design points: Component 1 3D view 1.

This invention provides a three-dimensional radar vision inspection method and system. The method first performs two-dimensional image inspection on the target object to preliminarily determine its material properties, and then sends a first electromagnetic wave to the target object to perform three-dimensional modeling. Next, material parameters are assigned to the target model, and electromagnetic wave propagation simulation is performed to obtain a simulated radar waveform. Ray tracing measurements are then performed on the target object using radar to obtain a measured radar waveform. The simulated radar waveform and the measured radar waveform are compared. If the difference between the two is within a first preset range, the material of the target object matches the material corresponding to the assigned material parameters. If the difference is still within the first preset range, the material parameters are updated, and the above steps are repeated. This inspection method can not only acquire the three-dimensional morphological information of the target object but also determine its surface material properties, overcoming the limitations of existing technology systems and providing comprehensive object recognition and material analysis capabilities.

The present application belongs to the technical field of tunnel cave data analysis, and in particular relates to a tunnel cave water inflow prediction analysis method and system based on a geological radar. The method first extracts amplitude intensity, hyperbolic shape and disorder degree from 3D radar volume data, then cooperatively identifies abnormal reflection regions, then for the abnormal cave sections, extracts abnormal parameters to comprehensively calculate a water inflow risk index, simultaneously calculates an effective water storage volume according to the abnormal body parameters, and combines radar data to identify the current water content, then combines the water inflow risk index, water content and water storage volume to calculate the estimated water inflow of each section, and finally comprehensively predicts and outputs the overall estimated water inflow of the tunnel cave according to a preset rule. The present application effectively improves the accuracy of the water inflow of the tunnel cave, can provide reliable data support for water inflow prevention and control decisions during tunnel construction, effectively reduces the risk of water inflow accidents, and ensures construction safety and efficiency.

The application discloses a kind of car stereoscopic navigation method, comprising: the situation around the vehicle body detected by 3D radar is collected by sensing module;Image information after processing is uploaded to cloud;The image combined with cloud information is transmitted to decision module, and the optimal path information of the navigation information of vehicle is made;After determining feasibility, generate navigation information;According to navigation information, generate prompt and path information display, finally navigation information and path information are displayed on the display of display module.The car stereoscopic navigation method provided by the application is more accurate, real-time, can help vehicle accurately find the road segment where it is located in complex road segment, avoid driver getting lost, so that driver fully understands surrounding state, judges road traffic condition in real time;Information exchange between vehicle and road is fed back to three-dimensional stereoscopic navigation, for monitoring road surface condition, guiding driver to select the best driving path.

The invention discloses a 3D radar control method and device, a program product and a storage medium, and relates to the technical field of radar control. A radar detection area is divided into a plurality of detection sub-areas, and reflected signal intensity, effective echo rate and background noise are respectively acquired in each detection sub-area, so that target characteristics and electromagnetic environment differences of each area are comprehensively reflected. And a target detection evaluation value is calculated based on the information, and different detection parameters are configured for the central region and the peripheral region of each detection sub-region, so that the detection parameters can be differentially configured according to region characteristics. According to the parameter configuration mode based on the regional characteristics, the detection performance of a key region can be improved in a targeted manner, and meanwhile, the detection requirements of a peripheral region are considered, so that the problem that the detection performance of a unified parameter configuration scheme is insufficient in a complex scene is solved, and the overall detection effect of the radar in the complex scene is improved.

The invention discloses an automatic leak repairing robot and a leak repairing method thereof, and the method comprises the following steps: S1, enabling the leak repairing robot to move to a target carriage along a track, positioning the position of the carriage through a scanning device, and recognizing the identification number of the carriage; s2, pre-stored compartment door parameters are called according to the compartment identification number; s3, moving to a vehicle door position according to the compartment door parameters, and identifying door slot information and adhesive residue information; s4, the moving speed is adjusted according to the door crack information and the residual glue information, and spraying and leak repairing are conducted on the door crack; and S5, after leakage repairing of the current vehicle door is completed, the vehicle door is moved to the next vehicle door, and S3 and S4 are executed circularly till leakage repairing operation of the whole compartment is completed. According to the invention, a machine vision perception technology is adopted, a 2D camera image and 3D radar point cloud data program algorithm is innovated, and the length, width and position information of the compartment door slot are accurately identified; interference factors such as dirt, residual glue and ambient light change of the compartment door slot are solved through processing modes such as noise filtering, data acquisition and intelligent compensation, and the recognition rate of the compartment door slot is effectively improved.

The invention belongs to the technical field of power transmission, and discloses a three-dimensional protection system and method for a power transmission line channel construction scene, and the system comprises a hoisting structure, a current transformer, a control box, and a radar unit. The current transformer is fixedly arranged on one side of the hoisting structure, and the current sensor is configured to be clamped on the outer side of the wire; the hoisting structure is fixedly connected with the top of the control box, and the radar unit is arranged at the bottom of the control box; a photovoltaic panel is arranged on the outer side face of the control box, a battery pack, a power management module and a main control unit are arranged in the control box, and the main control unit is in communication connection with the radar unit. And the photovoltaic panel, the current transformer and the battery pack are electrically connected with the power management module. According to the invention, 3D radar detection, a data processing algorithm, an integrated energy system and a stable communication system are fused, and real-time monitoring and accurate ranging early warning of potential threats of the power transmission line are realized, so that the occurrence rate of faults caused by external damage is effectively reduced, and safe and stable operation of a power grid is guaranteed.

1. Name of the product in this design: 3D radar level scanner. 2. Purpose of this design: For use in 3D radar level gauges. 3. The key design features of this product are the combination of shape and pattern. 4. The image or photograph that best illustrates the design's key points: a 3D model.

The utility model relates to the technical field of 3D radar imaging material level instruments, and discloses a multi-angle dynamic scanning type 3D radar imaging material level instrument which comprises a shell assembly which comprises a shell base cover, a shell bottom cover arranged at the bottom of the shell base cover, a meter head fixedly installed on the top of the shell base cover and an upper cover fixedly installed on the top of the meter head. And a waterproof and dustproof mounting cavity is formed in the shell assembly. According to the multi-angle dynamic scanning type 3D radar imaging material level instrument, a stepping motor drives a gear to drive three sets of medium gears and transmission shaft gears which are distributed in a 120-degree mode to conduct synchronous transmission, a worm shaft drives a worm to be meshed with a worm gear, reciprocating type mechanical scanning of the movable radar module is achieved, meanwhile, static detection of the four fixed radar modules is matched, and the multi-angle dynamic scanning type 3D radar imaging material level instrument is achieved. A dynamic and static complementary 3D radar imaging system is formed, tempered glass protects the display screen and ensures that data are visible, and the plastic base disc and the stainless steel disc are combined with the sealing ring to achieve waterproof wave transmission.

The present application relates to a 3D radar level gauge and a level scanning imaging system, belonging to the technical field of detection. The 3D radar level gauge includes: a mounting frame; a receiving frame horizontally rotatably connected to the mounting frame; a driving component mounted on the mounting frame for driving the receiving frame to rotate; a swinging frame swingably connected to the receiving frame; a swinging component mounted on the mounting frame for driving the swinging frame to swing; a probe mounted on the swinging frame; a protective housing covering the mounting frame, the receiving frame, the driving component, the swinging frame, the swinging component and the probe therein; and the protective housing is transparently arranged near the probe. The present application has the beneficial effect of improving space utilization rate.

The utility model relates to the technical field of 3D radar material level measurement, in particular to a 3D radar material level measuring instrument which comprises a 3D radar material level measuring instrument body, a cleaning mechanism and a protective shell, the cleaning mechanism comprises an arc-shaped seat, an L-shaped rod, an L-shaped frame and an electric push rod, a drainage groove is formed in the inner side of the arc-shaped seat, a rubber strip is arranged at the inner bottom of the drainage groove, and the inner bottom of the rubber strip is provided with a through hole. A fixing block is arranged at one end of the arc-shaped seat, a water collecting groove is formed in the fixing block, a collecting bottle is arranged below the fixing block in a threaded mode, a disc is arranged above the L-shaped rod, a water tank is arranged on the disc, a water pump is arranged in the water tank, the water outlet end of the water pump is communicated with a water outlet pipe, one end of the water outlet pipe is communicated with two flow dividing pipes, and a plurality of nozzles are arranged on the flow dividing pipes. By improving the cleaning technology, it is ensured that dust and cleaning water cannot directly fall on the ground, additional secondary cleaning work is avoided, and the time spent on cleaning the protective shell by workers is remarkably shortened.

This invention discloses a road target detection method that fuses 4D radar and visual sensors, belonging to the field of intelligent transportation environment perception and autonomous driving technology. First, radar point cloud data and camera image data are acquired and processed to obtain radar BEV features, 3D radar occupancy weights, and image features. Then, the radar BEV features and image features are input into an attention-guided depth distribution supervision module. By combining an attention mechanism with depth distribution supervision, a depth probability distribution map is generated. Next, by combining image features, 3D radar occupancy weights, and the depth probability distribution map, image BEV features are generated. Finally, the radar BEV features and image BEV features are input into a high-efficiency gated fusion module. By combining a difference-driven attention mechanism with gated residual fusion, fused BEV features are generated and input into the detection head, outputting the detection result. This invention can improve the accuracy and system stability of 3D road target detection.

1. Name of the designed product: detection vehicle (road surface digital holography and road structure ground penetrating three-dimensional radar). 2. Use of the designed product: used as a detection vehicle. 3. Design points of the designed product: in shape. 4. Picture or photo best indicating the design points: perspective view 1.

The application provides a yard slot safety detection method and system, a yard crane and a medium, and relates to the technical field of automation. The method is applied to a radar detection system, the radar detection system is in communication connection with a programmable logic controller (PLC) of a spreader and a 3D radar arranged at a short side of the spreader. The method responds to a lock signal sent by the PLC, determines the current state of the spreader according to the lock signal, and the current state of the spreader includes that the spreader is not loaded with a container and the spreader is loaded with a container. A detection processing module is used to determine the point cloud of the safety detection area corresponding to the current state of the spreader according to the point cloud data sent by the 3D radar, and to perform safety detection on the spreader in the yard slot according to the point cloud of the safety detection area. The method can avoid a safety detection blind area and improve the effect and efficiency of safety detection in the yard slot.

A control method and system of a mechanical 3D radar, a storage medium and an electronic device, relate to the technical field of radar control. The method comprises: determining a scanning coverage area based on the working state parameters of the mechanical 3D radar, and dividing it into multiple scanning units; collecting radar echo signals in each scanning unit, and performing signal enhancement processing on the radar echo signals according to the spatial position information of each scanning unit to generate enhanced target echo data; performing time series analysis and coherent accumulation processing on the target echo data, and extracting frequency domain features based on the coherent accumulation results; extracting targets from the target echo data according to the frequency domain features to obtain target feature information of each scanning unit; determining control parameters of the mechanical 3D radar according to the target feature information, and controlling the mechanical 3D radar to execute according to the control parameters. The technical solutions provided by the present application can improve the resource utilization efficiency of the mechanical 3D radar.

The utility model discloses an integrated injection molding antenna for a 3D radar, which comprises an antenna shell and a mounting base which are integrally formed by injection molding. According to the utility model, the antenna comprising the antenna shell and the mounting base is designed to be integrally injection-molded, and the rotating shaft on the antenna shell is also designed to be integrally injection-molded, so that the antenna structure is simplified, and a plurality of reinforcing ribs, mounting holes and wire slots are integrally arranged on the antenna shell; through the arrangement, the structure of the antenna shell is firmer and more stable, the laser ranging module, the angle sensor or the photoelectric coded disc and other components can be integrated conveniently, the fixation of the cable passing through the wire groove is good, cable bending and other damage caused by reciprocating motion can be greatly reduced, and the service life of the cable is greatly prolonged.

The invention provides a joint calibration method based on a 4D millimeter-wave radar and a monocular camera, and relates to the technical field of sensor calibration, comprising the steps of setting a calibration assembly, calibrating internal parameters of the monocular camera, preprocessing 4D millimeter-wave radar point cloud data of a triangular reflector and monocular camera image data, and calibrating the 4D millimeter-wave radar point cloud data of the triangular reflector and the monocular camera image data of the triangular reflector; 3D coordinates of vertexes of the triangular reflector are screened out from the 4D millimeter wave radar point cloud data, 3D coordinates of angular points in a checkerboard plane relative to a monocular camera are determined based on monocular camera image data and monocular camera calibration internal reference information, and according to the coordinates of the angular points in the checkerboard plane and geometric information of the triangular reflector, the 3D coordinates of the triangular reflector are determined. And calculating 3D coordinates of the vertex of the triangular reflector relative to the center of the monocular camera, and calculating external parameters between the 4D millimeter wave radar and the monocular camera based on the 3D radar coordinates and the 3D coordinates relative to the center of the monocular camera. According to the invention, internal reference calibration of the camera and joint calibration of the radar camera can be completed.

The application discloses a target capturing method based on vision and 3D radar, and belongs to the field of data processing, aiming to solve the problem of high precision requirement of 3D laser radar in identifying target objects. In the method, the target object is detected in real time through visual recognition, and when the target object is detected, the central angle thereof is output and transmitted to the 3D laser radar algorithm part through ROS2 topic communication. After the 3D laser radar receives the output angle value a0, data processing is performed to obtain a fifth distance; and then the obtained M fifth distances are sequentially subjected to average filtering, low-pass filtering, Kalman filtering and difference filtering, so that the final distance is obtained. The application can realize real-time capturing and positioning of the target object at a frequency of more than 10 Hz at a low cost, and complete the target object tracking task with long distance, high precision, high reliability and high frame rate. The final distance error obtained by the method is less than 5 cm.

The invention discloses a coal tower material level monitoring system based on 3D radar material level scanning imaging, relates to the technical field of coal tower material level monitoring, solves the technical problem that in the prior art, the accuracy of real-time radar detection cannot be deduced according to material storage environment detection during coal tower detection, and particularly relates to a radar interference analysis unit. The coal tower data acquisition and analysis module is used for detecting and analyzing a real-time coal tower storage environment, deducing a radar interference condition through data acquisition and analysis, and sending a real-time result to the coal tower control platform; the material level monitoring error analysis unit is used for carrying out measurement error analysis on the material storage process of the coal tower and deducing whether the material storage level of the coal tower has a monitoring error or not through the measurement error analysis; and the real-time material level monitoring unit is used for carrying out real-time material level monitoring on materials stored in the coal tower.

The invention provides a production line EOL calibration method of a vehicle-mounted millimeter wave radar, and belongs to the technical field of vehicle-mounted millimeter wave radar calibration. Comprising the steps that a rear radar calibration metal plate is installed on the rear side of a four-wheel positioning station, the width of the rear radar calibration metal plate is made to be larger than that of a calibration object, and the rear radar calibration metal plate serves as a rear side radar calibration target of the distributed millimeter wave radar; and the width of the front radar calibration metal plate is widened to be greater than the width of the calibration object, so that the front radar calibration metal plate is used as a front side radar calibration target of the distributed millimeter wave radar. By setting a calibration working mode and properly reducing the number of working array elements, the effective aperture of the radar is reduced, the existing production line station is reused to the maximum extent, the method is not only suitable for a traditional 3D radar, but also suitable for a 4D imaging radar, meanwhile, an OTA wireless communication scheme is used for replacing a wired communication scheme of a diagnostic instrument and an OBD interface, and the cost of calibration equipment is reduced.

This disclosure provides a mobile robot relocalization method, apparatus, device, and storage medium, relating to the field of localization technology. The method involves acquiring an initial pose estimate of the mobile robot; based on this initial pose estimate and the current frame's 3D radar point cloud, an improved NDT matching algorithm using a neighborhood search strategy for point-voxel association is used to match the target pose with a global point cloud map; the matching score of the target pose is calculated, and if the score is greater than a threshold, the system switches to localization mode; in localization mode, the pose covariance and point cloud matching rate are monitored in real time, and if the covariance exceeds a threshold or the matching rate is lower than a threshold, the system switches back to relocalization mode and reacquires the initial pose. This disclosure uses an improved NDT algorithm, eliminating the need for large amounts of labeled data and GPU computing power, thus reducing deployment costs; and improves the matching success rate and tolerance to initial errors through a neighborhood search strategy, enabling rapid cold start.

This invention discloses a method for loading mixed bagged products of multiple specifications and varieties onto a truck, comprising: Step S1, based on order information, identifying the types and specifications of materials to be loaded, and obtaining their corresponding dimensional information; Step S2, based on 3D radar scanning of the truck compartment data, obtaining the length, width, and height data of the truck compartment; Step S3, according to the material dimensional information, simulating the allocation of the truck compartment space, stacking the materials, and obtaining the stacking height and number of columns for each specification of material; Step S4, using the obtained stacking height and number of columns for each specification of material, iteratively applying the Levenberg-Marquardt algorithm to obtain a solution that satisfies a set minimum error range; Step S5, finally, determining the truck compartment allocation result based on the obtained solution with the set minimum error range, and then calculating the robot's movement path. This invention ensures the consistency of loading height, the stack is stable and not easily collapsed, and disassembly is also more convenient.

Method for producing a luminous 3D radar module cover (50) which is intended for arrangement in the region of a radiator grille of a motor vehicle, comprising at least the following method steps: - producing a three-dimensional structure (2) with at least one light guide (4) from a light-scattering first plastic by means of a first injection molding tool (10); - metallization and mirroring of the three-dimensional structure (2) with subsequent separation of the sprue (16); - producing a cover element (42) which at least partially covers the metallized three-dimensional structure (2') in the position of use and on which the contour of the three-dimensional structure (2, 2') is recessed, from a second plastic by means of a second injection molding tool (20) with subsequent separation of the sprue (26); - Embedding the metallized three-dimensional structure (2') together with the cover element (42) arranged thereon in a third plastic by means of a third injection molding tool (30) while simultaneously forming a holder (52) for a radar module (60) and a plurality of fastening points (54) on the molded component (50).

The embodiment of the invention discloses an antenna system, a detection method and computer equipment, and is applied to the technical field of UWB 3D radars. The antenna system comprises a PCB, a radio frequency chip, a radio frequency change-over switch and an antenna array module, the radio frequency chip comprises three radio frequency ports, the antenna array module comprises four antennas, and the first radio frequency port is connected with the first antenna based on a radio frequency line; the second radio frequency port passes through the radio frequency change-over switch and then is connected with the second antenna and the third antenna based on radio frequency lines. Based on the above connection mode, the antenna system can control the radio frequency change-over switch to be in different connection states based on detection requirements, so that the corresponding antenna is connected with the radio frequency port, and the position information of an object in the horizontal direction and the vertical direction can be detected. And the three-port UWB antenna system can realize radar detection with a 3D effect.