CN109633652A - Robot obstacle-avoiding system and its application method based on millimetre-wave radar - Google Patents
Robot obstacle-avoiding system and its application method based on millimetre-wave radar Download PDFInfo
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- 230000004888 barrier function Effects 0.000 claims abstract description 15
- 230000005540 biological transmission Effects 0.000 claims abstract description 11
- 239000000203 mixture Substances 0.000 claims description 9
- 238000004321 preservation Methods 0.000 claims description 6
- 238000005070 sampling Methods 0.000 claims description 4
- 230000009897 systematic effect Effects 0.000 claims description 3
- 230000010365 information processing Effects 0.000 claims description 2
- 238000004891 communication Methods 0.000 description 3
- 230000007812 deficiency Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
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- 230000008447 perception Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/38—Jamming means, e.g. producing false echoes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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- Engineering & Computer Science (AREA)
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- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The present invention provides the robot obstacle-avoiding system based on millimetre-wave radar, it include: 1) millimeter wave radar module: using being run 76 to 81GHz frequency range, the mimo antenna and radio-frequency front-end of multiple-input multiple-output are as receiving and transmitting front end, it include signal processing chip DSP and microprocessor ARM in the millimeter wave radar module, the signal processing chip DSP is responsible for handling the data of radio-frequency front-end transmission, treated that data are packaged into data protocol is sent to processor by the signal processing chip DSP by the microprocessor ARM, the MIMO radar sensor can detect the distance of multiple barriers simultaneously, speed and azimuth；2) mobile underpan: it is used for mobile robot；3) processor: the processor runs robot system, the millimeter wave radar module passes through serial ports with mobile underpan respectively and connect on a processor, the processor handles the barrier data information that millimeter wave radar module detects, and then carries out space configuration.
Description
Technical field
The invention belongs to robot obstacle-avoiding technical field more particularly to millimetre-wave radar obstacle avoidance systems, specifically based on milli
The robot obstacle-avoiding system and its application method of metre wave radar.
Background technique
With the change of human society life mode and the development of science and technology, robot moves towards multiple fields, society extensively
It can be more more and more intense to machine Man's Demands.Intelligent robot can establish model according to environmental parameter, and perception surrounding is simultaneously done
Judge out, is finally completed instruction.Wherein, robot obstacle-avoiding is intelligent robot one basic key technology, robot obstacle-avoiding skill
The core of art includes the selection of sensor and the selection of algorithm, in general, it would be desirable to give robot to provide by sensor
The robot obstacle-avoiding sensor plan of ambient condition information, high-precision and low cost is badly in need of proposing and be solved.
Different sensors have the characteristics that different, traditional robot obstacle-avoiding system and its problem is that: traditional machine
Device people's avoidance uses laser radar sensor or ultrasonic sensor；Ultrasonic sensor response speed is slow, and blind area is larger leads
Cause frequent missing inspection erroneous detection；Laser radar sensor is at high cost, is difficult to detect to the transparent materials object such as glass.
Robot obstacle-avoiding system, the Global localization of Yao Shixian robot and navigation, building map play vital work
With in the millimetre-wave radar sensor that 76 to 81GHz frequency range run, range accuracy can reach 0.04m, can detect multiple mesh simultaneously
Target distance, speed and azimuth information, and cost is relatively low, can make up the deficiency of existing robot obstacle-avoiding sensor well, side
It helps robot constructing environment map and realizes avoidance.
Summary of the invention
Aiming at the problem that background technique proposes, it is an object of the present invention to provide the robot obstacle-avoidings based on millimetre-wave radar
The millimetre-wave radar of system, use works 76 to 81GHz frequency range, and range accuracy can reach 0.04m, can detect multiple mesh simultaneously
Target distance, speed and azimuth information, and cost is relatively low, can make up the deficiency of existing robot obstacle-avoiding sensor well.
To achieve the above object, the present invention adopts the following technical scheme:
Robot obstacle-avoiding system based on millimetre-wave radar, comprising:
1) millimeter wave radar module: make using in 76 to 81GHz frequency range mimo antennas run, multiple-input multiple-output and radio-frequency front-end
For receiving and transmitting front end, the interior millimeter wave radar module includes signal processing chip DSP and microprocessor ARM, the signal processing
Chip DSP is responsible for handling the data of radio-frequency front-end transmission, and the microprocessor ARM will be after signal processing chip DSP processing
Data be packaged into data protocol and be sent to processor, the millimeter wave radar module can detect simultaneously multiple barriers away from
From, speed and azimuth；
2) mobile underpan: it is used for mobile robot；
3) processor: the processor runs robot system, and the millimeter wave radar module and mobile underpan are distinguished
On a processor by serial ports connection, processor sends order starting millimeter wave radar module and mobile underpan, millimeter
Wave radar module is fixed in robot, as chassis is mobile；Obstacle information is led in millimeter wave radar module moving process
Serial ports to be crossed to be sent on processor, the processor handles the barrier data information that millimeter wave radar module detects,
And then carry out map structuring；At this point, obstacle information can be stored in map, the map is reloaded, makes robot with order
The independent navigation on this map, entire robot system can realize automatic obstacle avoiding.
Further, the robot obstacle-avoiding system based on millimetre-wave radar, after the millimeter wave radar module starting,
CW/FM continuous wave/frequency modulated modulated is sent by the transmission antenna of mimo antenna, while its receiving antenna does not stop receives echo-signal, the echo
Signal and the transmitting signal are by the frequency mixer generation mixed frequency signal of radio-frequency front-end in module, and the mixed frequency signal is by millimeter
Signal processing chip DSP is handled in wave radar module, comprising: ADC sampling, and to sampled data one-dimensional FFT processing, obtain target
Range information obtains target speed information then to the processing of target range information Two-dimensional FFT；It adjusts the distance and does perseverance with speed data
False-alarm processing and angle estimation, filter out false target, finally, the information of each target include target two-dimensional plane coordinate (x,
Y), target velocity, four information of target angle information and Target Signal Strength.
Further, the robot obstacle-avoiding system based on millimetre-wave radar, after the processor completes space configuration,
The map newly constructed is saved, the barrier in robot motion's area of space can all be shown on the map of preservation, processor
Control mobile underpan avoiding obstacles and realization independent navigation on this map.
Further, the robot obstacle-avoiding system based on millimetre-wave radar, the millimeter wave radar module work exist
77GHz frequency range.
Further, the robot obstacle-avoiding system based on millimetre-wave radar, the maximum of the millimeter wave radar module
Modulation bandwidth is 4GHz, and maximum distance resolution ratio is 0.04m.
Robot obstacle-avoiding systematic difference method based on millimetre-wave radar, including following applying step:
Step 1: processor sends start command to millimeter wave radar module and mobile underpan by serial ports；
Step 2: CW/FM continuous wave/frequency modulated modulated can be sent by transmission antenna after millimeter wave radar module starting, while its receiving antenna is not
Stop receives echo-signal, echo-signal and transmitting signal and mixed frequency signal is generated by frequency mixer, the mixed frequency signal passes through millimeter
ADC is sampled in wave radar module, and to sampled data one-dimensional FFT processing, is obtained target range information, then believed target range
Two-dimensional FFT processing is ceased, target speed information is obtained；It adjusts the distance and does constant false alarm processing and angle estimation with speed data, filter out
False target, finally, the information of each target includes target two-dimensional plane coordinate (x, y), target velocity, target angle information and
Four information of Target Signal Strength；
Step 3: millimeter wave radar module sends obstacle information on processor by serial ports, processor is to millimeter wave thunder
The obstacle information acquired up to module handles and carries out space configuration；
Step 4: the processor completes space configuration, and the map newly constructed is saved, at this point, robot motion space region
Barrier in domain can all be shown on the map of preservation；
Step 5: restarting chassis, the map saved by order the 4th step of load；Processor controls mobile underpan
Avoiding obstacles and independent navigation on this map.
The beneficial effect comprise that the data using millimetre-wave radar construct space map, kept away with other robot
Barrier module is compared, and cost is lower, and environmental suitability is more preferable；Multiple target can be detected simultaneously, and detection accuracy is high；Robot avoidance system
System use millimetre-wave radar work in 77GHz frequency range, range accuracy can reach 0.04m, can detect simultaneously multiple targets away from
From, speed and azimuth information, and cost is relatively low, can make up the deficiency of existing robot obstacle-avoiding sensor well.
Detailed description of the invention
Fig. 1 is connected figure based on the robot obstacle-avoiding system of millimetre-wave radar；
Fig. 2 millimeter wave radar module structure chart；
Fig. 3 MMW RADAR SIGNAL USING treatment process schematic diagram.
Specific embodiment
With reference to the accompanying drawing, the present invention is further illustrated, in order to those skilled in the art understand that the present invention.
As shown in Fig. 1, the robot obstacle-avoiding system based on millimetre-wave radar, comprising: 1) millimeter wave radar module, 2) machine
Device people mobile chassis, 3) processor three parts, the processor run robot system, the millimeter wave radar module and processing
Device is connected by serial ports, and the robot chassis is connect with processor by serial ports.
1) millimeter wave radar module: the millimeter wave radar module internal structure is as shown in Figure 2, comprising: power module, receipts
Send out front end, signal processing chip DSP, microprocessor ARM and communication module；The power module is receiving and transmitting front end, signal processing
Chip DSP, microprocessor ARM and communication module power supply；The receiving and transmitting front end is running, multiple more 76 to 81GHz frequency range
The mimo antenna and radio-frequency front-end of receipts, the millimeter wave radar module can detect the distance, speed and side of multiple barriers simultaneously
Parallactic angle, the signal processing chip DSP are responsible for handling the data of radio-frequency front-end transmission；The Radar Signal Processing process of transmitting-receiving is for example attached
Shown in Fig. 3, the mimo antenna includes transmission antenna and receiving antenna, and the transmission antenna sends CW/FM continuous wave/frequency modulated modulated, meanwhile, institute
It states receiving antenna and does not stop receives echo-signal, the echo-signal and the transmitting signal are raw by the frequency mixer in radio-frequency front-end
At mixed frequency signal, the mixed frequency signal carries out ADC sampling by the signal processing chip DSP in millimeter wave radar module, and right
The one-dimensional FFT processing of sampled data, obtains target range information, then to the processing of target range information Two-dimensional FFT, obtains target speed
Spend information；It adjusts the distance and does constant false alarm processing and angle estimation with speed data, filter out false target, finally, each target
Information includes target two-dimensional plane coordinate (x, y), target velocity, four information of target angle information and Target Signal Strength；Institute
Stating microprocessor ARM, treated that data (information comprising each target) are packaged into data by the signal processing chip DSP
Agreement is sent to processor by communication module；In a specific embodiment, the millimeter wave radar module work exists
77GHz frequency range, maximum modulation bandwidth position 4GHz, the maximum distance resolution ratio of the millimeter wave radar module are 0.04m.
2) mobile underpan: the mobile underpan is used for mobile robot.
3) processor: the processor runs robot system, the millimeter wave radar module and mobile underpan
Respectively on a processor by serial ports connection, processor sends order starting millimeter wave radar module and mobile underpan,
Millimeter wave radar module can be mobile with chassis, sends obstacle information on processor by serial ports, the processor pair
The barrier data information of millimeter wave radar module detection is handled, and then carries out space configuration；The processor is completed empty
Between after composition, the map newly constructed is saved, the barrier in robot motion's area of space can all be shown on the map of preservation
Show；The map is reloaded after the completion of composition, processor controls mobile underpan avoiding obstacles and reality on this map
Existing independent navigation.Composition is the data progress environment composition that robot is sent back using millimetre-wave radar, and realization passes through millimeter wave
Composition.
Robot obstacle-avoiding systematic difference method based on millimetre-wave radar, including following applying step:
Step 1: processor sends start command to millimeter wave radar module and mobile underpan by serial ports；
Step 2: CW/FM continuous wave/frequency modulated modulated can be sent by transmission antenna after millimeter wave radar module starting, while its receiving antenna is not
Stop receives echo-signal, echo-signal and transmitting signal and passes through the frequency mixer generation mixed frequency signal in receiving and transmitting front end, the mixing
Signal carries out ADC sampling by the signal processing chip DSP in millimeter wave radar module, and to the one-dimensional FFT of sampled data at
Reason, obtains target range information, then to the processing of target range information Two-dimensional FFT, obtains target speed information；It adjusts the distance and fast
Degree filters out false target according to constant false alarm processing and angle estimation is done；Finally, the information of each target is flat comprising target two dimension
Areal coordinate (x, y), target velocity, four information of target angle information and Target Signal Strength；
Step 3: millimeter wave radar module sends obstacle information on processor by serial ports, processor is to millimeter wave thunder
The obstacle information processing acquired up to module and composition；
Step 4: the processor completes composition, and the map newly constructed is saved, at this point, in robot motion's area of space
Barrier can all be shown on the map of preservation；
Step 5: restarting chassis, the map saved by order the 4th step of load；Processor controls mobile underpan
Avoiding obstacles and independent navigation on this map.
Above embodiments are merely to illustrate a specific embodiment of the invention, rather than for limiting the present invention, the present invention
Range claimed is subject to described in claims.
Claims (6)
1. the robot obstacle-avoiding system based on millimetre-wave radar characterized by comprising
1) millimeter wave radar module: being fixed in robot, using in 76 to 81GHz frequency range MIMO run, multiple-input multiple-output
As receiving and transmitting front end, the interior millimeter wave radar module includes signal processing chip DSP and microprocessor for antenna and radio-frequency front-end
ARM, the signal processing chip DSP are responsible for handling the data of radio-frequency front-end transmission, and the microprocessor ARM will be at the signal
Treated that data are packaged into data protocol is sent to processor by reason chip DSP, and the millimeter wave radar module can detect simultaneously
Distance, speed and the azimuth of multiple barriers；
2) mobile underpan: it is used for mobile robot；
3) processor: being fixed in robot, and the processor runs robot system, the millimeter wave radar module and machine
People's mobile chassis is connected on a processor by serial ports respectively, and processor sends order starting millimeter wave radar module and robot
Mobile chassis, millimeter wave radar module can be mobile with chassis, send obstacle information on processor by serial ports, described
Processor handles the barrier data information that millimeter wave radar module detects, and then carries out space configuration, independent navigation
And avoidance.
2. the robot obstacle-avoiding system based on millimetre-wave radar according to claim 1, which is characterized in that the millimeter wave thunder
Up to after module starting, CW/FM continuous wave/frequency modulated modulated is sent by the transmission antenna of mimo antenna, while its receiving antenna does not stop to receive echo
Signal, the echo-signal and the transmitting signal generate mixed frequency signal, the mixing letter by the frequency mixer in radio-frequency front-end
Number ADC sampling is carried out by the signal processing chip DSP described in millimeter wave radar module, and to sampled data one-dimensional FFT processing,
Target range information is obtained, then to the processing of target range information Two-dimensional FFT, obtains target speed information；It adjusts the distance and speed
Data do constant false alarm processing and angle estimation, filter out false target；Finally, the information of each target includes target two-dimensional surface
Coordinate (x, y), target velocity, four information of target angle information and Target Signal Strength.
3. the robot obstacle-avoiding system based on millimetre-wave radar according to claim 1, which is characterized in that the processor is complete
After space configuration, the map newly constructed is saved, the barrier in robot motion's area of space all can be in the map of preservation
Upper display, processor control mobile underpan avoiding obstacles and realization independent navigation on this map.
4. the robot obstacle-avoiding system based on millimetre-wave radar according to claim 1, which is characterized in that the millimeter wave thunder
It works up to module in 77GHz frequency range.
5. the robot obstacle-avoiding system based on millimetre-wave radar according to claim 1, which is characterized in that the millimeter wave thunder
Maximum modulation bandwidth up to module is 4GHz, and maximum distance resolution ratio is 0.04m.
6. any robot obstacle-avoiding systematic difference method based on millimetre-wave radar according to claim 1 ~ 5, including such as
Lower applying step:
Step 1: processor sends start command to millimeter wave radar module and mobile underpan by serial ports；
Step 2: CW/FM continuous wave/frequency modulated modulated can be sent by transmission antenna after millimeter wave radar module starting, while its receiving antenna is not
Stop receives echo-signal, echo-signal and transmitting signal and mixed frequency signal is generated by frequency mixer, the mixed frequency signal passes through millimeter
ADC is sampled in wave radar module, and to sampled data one-dimensional FFT processing, is obtained target range information, then believed target range
Two-dimensional FFT processing is ceased, target speed information is obtained；It adjusts the distance and does constant false alarm processing and angle estimation with speed data, filter out
False target；Finally, the information of each obstacle target includes target two-dimensional plane coordinate (x, y), target velocity, target angle
Four information of information and Target Signal Strength；
Step 3: millimeter wave radar module sends obstacle information on processor by serial ports, processor is to millimeter wave thunder
The obstacle information processing acquired up to module and composition；
Step 4: the processor completes composition, and the map newly constructed is saved, at this point, in robot motion's area of space
Barrier can all be shown on the map of preservation；
Step 5: restarting chassis, the map saved by order the 4th step of load；Processor controls mobile underpan
Avoiding obstacles and independent navigation on this map.
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110058195A (en) * | 2019-05-24 | 2019-07-26 | 珠海格力电器股份有限公司 | Method and device for determining working range state of industrial robot |
| CN110441765A (en) * | 2019-08-14 | 2019-11-12 | 电子科技大学 | A kind of more radar installations of intelligent family moving platform and information fusion method |
| CN110806574A (en) * | 2019-11-30 | 2020-02-18 | 的卢技术有限公司 | Millimeter wave range unit of high accuracy range finding |
| CN111098890A (en) * | 2019-12-18 | 2020-05-05 | 中铁电气化局集团有限公司 | Train collision avoidance method and device based on millimeter wave radar |
| CN111566505A (en) * | 2019-06-28 | 2020-08-21 | 深圳市大疆创新科技有限公司 | Calibration method and system for installation angle of millimeter wave radar component and movable platform |
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| CN112805591A (en) * | 2019-06-20 | 2021-05-14 | 华为技术有限公司 | Radar system |
| CN111566505A (en) * | 2019-06-28 | 2020-08-21 | 深圳市大疆创新科技有限公司 | Calibration method and system for installation angle of millimeter wave radar component and movable platform |
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| CN111098890B (en) * | 2019-12-18 | 2023-04-07 | 中铁电气化局集团有限公司 | Train collision avoidance method and device based on millimeter wave radar |
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