53 results about "3D radar" patented technology

A low cost, all weather, high definition RF radar system for an autonomous vehicle is described. The high definition RF radar system generates true target object data suitable for imaging, scene understanding, and all weather navigation of the autonomous vehicle. The high definition RF radar system includes a pair of independent orthogonal linear arrays. Data from both linear arrays is fed to a processor that performs data association to form true target detections and target positions. A Boolean association method for determining true target detections and target positions reduces many of the ghosts or incorrect detections that can produce image artifacts. The high definition RF radar system provides near optimal imaging in any dense scene for autonomous vehicle navigation, including during visually obscured weather conditions such as fog.

A 3D rendered image of a radar-scanned terrain surface is provided from a radar return signal from the surface, wherein the return signal includes data indicative of azimuth, elevation, and range of a radar-illuminated area of the surface. The data are processed for transformation into X, Y, and Z coordinates. The X and Y coordinates corresponding to each illuminated area are triangulated so as to create a mesh of triangles representing the terrain surface, each of the triangles in the mesh being defined by a vertex triplet. 3D imaging information (grey scale shading and / or coloring information) is added to each triangle in the mesh, based on the amplitude of the radar return signal from the coordinates represented by each vertex in the triplet and the value of the Z coordinate at each vertex, so as to form the 3D rendered image.

A low cost, all weather, high definition imaging system for an autonomous vehicle is described. The imaging system generates true target object data suitable for imaging, scene understanding, and all weather navigation of the autonomous vehicle. Data from multiple arrays is fed to a processor that performs data association to form true target detections and target positions. A Boolean associator uses an association method for determining true target detections and target positions to reduce many of the ghosts or incorrect detections that can produce image artifacts. The imaging system provides near optimal imaging in any dense scene for autonomous vehicle navigation, including during visually obscured weather conditions such as fog. The system and method can be applied to variety of imaging technologies, including an RF system, a Lidar system, a sonar system, an ultrasound system, and / or an optical system.

The invention relates to a medical unit comprises a 3D radar array for the detection of positional or movement data of objects in an examination space and a processing unit for the evaluation of the detected data, with the processing unit being connected to the medical unit and to the 3D radar array, and with the evaluated data being used to control the medical unit or for post-processing data acquired by the medical diagnostic or therapeutic unit. The invention also relates to a method for improving examination or treatment workflows with the medical unit, comprising: detecting positional or movement data of objects in the examination space by the 3D radar array; generating control commands for the medical unit based on the detected data; and post-processing image or spectroscopy data received by the medical based on the detected data. The medical unit is a medical diagnostic or therapeutic unit.

The invention discloses a target tracking method based on measurement conversion Kalman filtering state fusion, which belongs to the field of radar target tracking, and particularly relates to a statistical property calculation method utilizing Doppler radar measurement conversion errors. The state fusion target tracking method comprises the steps of: calculating statistical properties of converted measurement errors based on a predicted value measurement conversion method, regarding a position predicted value in a rectangular coordinate system as a condition to obtain a mean value and a covariance of the converted measurement errors, and eliminating correlation between the covariance of the converted measurement errors and measurement errors; and then performing state estimation on a position and Doppler measurement, and finally using a least mean square error criterion to fuse estimation results of the position and Doppler measurement, so as to obtain a final state estimation. The tracking method can be further extended to CV and CA motion models of a 3D radar.

A method of generating a three-dimensional radar image of a body part having multiple image points. The method comprises receiving radiation information (11) obtained at an array of scan locations relative to the body part, surface profile information (12) relating to the body part, and estimates of body part properties (13). The method further comprises constructing each image point by: determining the minimum optical paths between each scan location and the image point based on the scan locations, surface profile information and body part properties; phase-shifting the radiation information based on the minimum optical paths to equalise the radiation information; and then summing the equalised radiation information to provide a value for the image point. The 3D radar image of the body part is then generated based on the values of each of the image points.

Disclosure is a forward-looking 3D imaging radar, comprising: a transmitting unit which generates RF signals to be radiated for observing object in front of the radar; a transmitting antenna which radiates the RF signal generated by the transmitting unit; a receiving antenna which receives signals radiated from the transmitting antenna and reflected by the object in front of the radar; a receiving unit which mixes the signal received by the receiving antenna and the branched signal from the transmitting unit, and converts the signal to digital signal; and a signal processor which controls the operations of the transmitting unit and receiving unit, sends command to the transmitting unit to generate RF signals, receives the digitally converted signal from the receiving unit and extracts phase information of the object in front of the radar, and generates 3D radar image by producing altitude information based on the principle of interferometer.

A 3D rendered image of a radar-scanned terrain surface is provided from a radar return signal from the surface, wherein the return signal includes data indicative of azimuth, elevation, and range of a radar-illuminated area of the surface. The data are processed for transformation into X, Y, and Z coordinates. The X and Y coordinates corresponding to each illuminated area are triangulated so as to create a mesh of triangles representing the terrain surface, each of the triangles in the mesh being defined by a vertex triplet. 3D imaging information (grey scale shading and / or coloring information) is added to each triangle in the mesh, based on the amplitude of the radar return signal from the coordinates represented by each vertex in the triplet and the value of the Z coordinate at each vertex, so as to form the 3D rendered image.

The invention provides a radar-triggering-based system for automatically recording red light running. The system comprises a radar and an intelligent snapshot unit and is characterized in that the 3D radar can acquire speeds and outlines of multiple targets, and the intelligent snapshot unit judges whether a vehicle breaks a traffic law according to the speeds and coordinate data sent by the radar. A detecting method of the radar-triggering-based system comprises the steps: (a) mounting a device; (b) establishing a traffic marking; (c) setting a coordinate value output by the radar; (d) judging whether the vehicles are overspeed; (e) calculating the outlines of the vehicles; (f) judging whether the vehicles press a line; (g) determining the types of the vehicles; taking a picture to obtain evidences. The radar-triggering-based system for automatically recording red light running and the detecting method can analyze the speeds and the moving tracks of the outlines of the vehicles and effectively identify if the vehicles break the traffic law. Compared with coil detecting and video detecting, the radar-triggering-based system has higher adaptability to severe weather conditions, detecting efficiency is higher, the omission rate is lower, and the radar-triggering-based system is suitable for application and popularization.

A radar wave imaging device (10) comprises a radar transmitter unit (18) having at least one radar transmit antenna (20) for transmitting radar waves towards a scene and a radar receiving unit (22) including a plurality of radar receiver members (24) that are arranged as a two-dimensional array, for receiving reflected radar waves. The radar receiving unit (22) includes an imaging radar optics unit (32) for imaging at least a portion of a scene onto at least a portion of the two-dimensional array of radar receiver members (24).The imaging radar optics unit (32) comprises at least a first radarlens (36) that is arranged between the radar receiver members (24) and the scene. The radar receiver members (24) are arranged in direct contact to a surface of the first radar lens (36) that is facing away from the scene.

A belt material flow control system comprises a driving motor, carrier rollers, a conveying belt, a fixing bracket, a 3D radar scanner, a speed sensor, a radioactive density meter, a controller and anupper computer; the driving motor is used for driving the conveying belt to rotate; the conveying belt is arranged on the carrier rollers; the 3D radar scanner is fixed to the fixing bracket and located above the conveying belt; the 3D radar scanner, the speed sensor, the radioactive density meter and the driving motor are in communication connection with the controller, and the controller is incommunication connection with the upper computer; the 3D radar scanner is used for measuring 3D contour line information of a material; the speed sensor is used for measuring speed information of theconveying belt; the radioactive density meter is used for measuring density information of the material; and the controller is used for selectively controlling the rotation speed of the driving motoraccording to the material mass or material volume. Thus, data of the material on the conveying belt can be precisely measured, the speed of the conveying belt is controlled, thus, the material flow onthe belt can be the best, energy saving and consumption reducing are achieved, and the service life of a belt conveyor is prolonged.

A radar wave imaging device includes a radar transmitter unit having at least one radar transmit antenna for transmitting radar waves towards a scene and a radar receiving unit including a plurality of radar receiver members that are arranged as a two-dimensional array, for receiving reflected radar waves. The radar receiving unit includes an imaging radar optics unit for imaging at least a portion of a scene onto at least a portion of the two-dimensional array of radar receiver members. The imaging radar optics unit includes at least a first radar lens that is arranged between the radar receiver members and the scene. The radar receiver members are arranged in direct contact to a surface of the first radar lens that is facing away from the scene.

A novel system that allows for 3D radar detection that simultaneously captures the lateral and depth features of a target is disclosed. This system uses only a single transceiver, a set of delay-lines, and a passive antenna array, all without requiring mechanical rotation. By using the delay lines, a set of beat frequencies corresponding to the target presence can be generated in continuous wave radar systems. Likewise, in pulsed radar systems, the delays also allow the system to determine the 3D aspects of the target(s). Compared to existing solutions, the invention, in embodiments, allows for the implementation of simple, reliable, and power efficient 3D radars.

Embodiments of the invention disclose a ladder data acquisition method and apparatus based on a laser radar, and are applied to a biped robot on which a laser radar is installed. The method includes the steps of acquiring and storing several frames of sampling data collected by a laser radar, wherein each frame of sample data includes N sampling points of the laser radar, where N is a natural number; classifying the sampling points to extract valid sampling points; and calculating ladder data according to the sampling data corresponding to the valid sampling points. The embodiments of the invention reduce the cost of the biped robot, avoid the construction of a multi-radar system, avoid the use of expensive 3D radars, and avoid the construction of a complex radar installation mechanical structure; and the solution hardware configuration is simple and easy to understand, the algorithm used is simple, efficient and controllable, and the control process is simplified.

The present invention uses a Single Instruction Multiple Data (SIMD) architecture to form real time 3D radar images recorded in cylindrical near field scenarios using a wavefront reconstruction approach. A novel interpolation approach is executed in parallel, significantly reducing the reconstruction time without compromising the spatial accuracy and signal to noise ratios of the resulting images. Since each point in the problem space can be processed independently, the proposed technique was implemented using an approach on a General Purpose Graphics Processing Unit (GPGPU) to take advantage of the high performance computing capabilities of this platform.

The invention relates to a multidimensional mechanical arm 3D radar material level scanner, comprising a track, a base, a first mechanical arm (the first mechanical arm can be replaced by a stacker-reclaimer mounted on the track or a hoist and a crane), a second mechanical arm and a radar. The radar is mounted at an end part of the second mechanical arm. The radar can carries out rotation motion on the end part of the second mechanical arm. The top end of the second mechanical arm is sleeved at the end part of the first mechanical arm. The top end of the first mechanical arm is mounted on a flange. The flange is mounted on the base. The base is mounted on the track and can carry out reciprocating motion along a length direction of the track. According to the scanner, through utilization ofthe advantages that a single-point pulse or frequency modulated continuous wave radar is rapid in response speed, two-dimensional or multidimensional mobile radar probe detection direction measurement is carried out through utilization of a stepping motor or a servo motor system. A plurality of instruments can be replaced by an instrument. The number of detection signal points is many, and density is high, so a measurement range is improved, and cost performance is improved.

The invention provides a railway loading metering method and system based on 3D radar material level scanners. The method comprises the steps: enabling mineral aggregate to enter a carriage of a mine car from a mineral aggregate bin, scanning the carriage through a plurality of 3D radar material level scanners in a multi-radar beam and multi-point scanning measurement mode, and obtaining the holographic information of a material surface in the carriage, wherein the holographic information comprising the material level of the mineral aggregate; according to the holographic information of the charge level in the carriage of the mine car, obtaining the mass of mineral aggregate in the carriage; and monitoring the mass of the mineral aggregate in the carriage, so that the final weight of the mineral aggregate in the carriage is not greater than the limited load of the carriage. The 3D radar material level scanners can be used to accurately and truly reflect the material level change condition of the ore, and the ore conveying index is improved.

A low cost, all weather, high definition imaging system for an autonomous vehicle is described. The imaging system generates true target object data suitable for imaging, scene understanding, and all weather navigation of the autonomous vehicle. Data from multiple arrays is fed to a processor that performs data association to form true target detections and target positions. A Boolean associator uses an association method for determining true target detections and target positions to reduce many of the ghosts or incorrect detections that can produce image artifacts. The imaging system provides near optimal imaging in any dense scene for autonomous vehicle navigation, including during visually obscured weather conditions such as fog. The system and method can be applied to variety of imaging technologies, including an RF system, a Lidar system, a sonar system, an ultrasound system, and / or an optical system.

The invention relates to a method and device for detecting obstacles in 3D radar point cloud continuous frame data, electronic equipment and a computer readable storage medium. The method comprises the following steps: collecting continuous frames of point cloud data, and dividing the point cloud data of the current frame into a ground point set and an obstacle point set; obtaining a road edge of the current frame according to the ground point set; according to the road edge, obtaining the position of the obstacle, wherein the position comprises a road surface and a non-road surface; and on the basis of the position information of the obstacles, detecting categories of all the obstacles contained in the current frame. The category of the object is detected in advance through an algorithm, so that the workload of subsequent manual labeling is reduced, and the labeling efficiency is improved; and a road edge detection method is introduced, the whole detection scene is classified into a road surface area and a non-road surface area, the precision and efficiency of obstacle category detection are improved through priori knowledge, and the method is suitable for task scenes with high real-time performance requirements.

The invention discloses an ice sublayer structure extraction method based on a multi-scale attention mechanism, and relates to the field of computer vision. The invention provides a novel MsANet network, the network takes a double-branch convolutional network as a backbone network, not only fuses multi-scale features, but also uses a 3D attention mechanism to further carry out additional feature modeling on unique features of different ice layers in a 3D radar topological sequence, so that refining processing of spatial relationships of different ice layers is realized. The attention multi-scale module formed by the 3D attention mechanism and the multi-scale module enables detected important ice layer features to obtain richer scale features by using the multi-scale module, and further strengthens the modeling capability of the key ice layer features. According to the method, the positions of a plurality of ice layers are detected at the same time as different tasks, the unique features of the ice layers at different positions are learned through the two branch structures respectively, and finally a rapid and high-precision ice layer structure extraction algorithm based on the MsANet network is achieved.

The invention discloses an automatic classification method and device for the precipitation cloud type based on diversified 3D radar echo characteristics. The method comprises the following steps: analyzing networking radar data to obtain a plurality of radar echo characteristics, randomly selecting two echo characteristics from the plurality of echo characteristics, obtaining an optimal solutionof a cost function by using a neural network model, and drawing a learning curve graph; calculating a high variance and a high deviation based on the drawn learning curve graph, increasing the numberof training samples of the neural network when the high variance condition is met, inputting the increased training samples of the neural network into the neural network model, and drawing the learning curve graph again; when the high deviation condition is met, increasing the number of echo characteristics; inputting the added echo characteristics into the neural network model, and drawing a learning curve graph again; when the high variance condition is not met and the high deviation condition is not met, an optimization model is obtained; obtaining the optimized characteristics and the optimized characteristic quantity for training; and inputting data to be classified into the trained model, and carrying out classification to obtain a classification result. Thus, automatic cloud body classification of high recognition accuracy and speed is realized.

The invention relates to a 3d radar lens. The3d radar lens comprises a main lens barrel, a front lens group, a diaphragm and a rear lens group sequentially arranged in the main lens barrel along the incident direction of light, and a photosensitive chip arranged at the rear end of the main lens barrel. The focal power of the front lens group is 8-20mm, and the focal power of the rear lens group is8.5-15mm; the front lens group comprises a first lens, a second lens and a third lens which are sequentially arranged along the incident direction of light, and the rear lens group comprises a fourthlens, a fifth lens, a sixth lens and a seventh lens which are sequentially arranged along the incident direction of light; the first lens is a biconcave lens, the second lens is a biconvex lens, thethird lens is a biconvex lens, the fourth lens is a biconcave lens, the fifth lens is a biconvex lens, the sixth lens is a biconvex lens, and the seventh lens is a meniscus lens. The invention provides the 3d radar lens of which the aperture can reach 0.8, the lens has strong light receiving capability, and the ranging distance of laser radar can be effectively improved.

The invention relates to a method and an assembly suitable for performing the method, which are used for producing a luminescent 3D-radar module cover. The radar module cover is arranged in a region of a radiator grill of a motor vehicle. In a separate method step, a three-dimensional structure is produced from a first plastic that scatters light by means of a first injection-molding tool, the three-dimensional structure has at least one light conductor, the three-dimensional structure is metal-coated and mirrored, and then a main flow is separated; a cover element is produced from a second plastic by means of a second injection-molding tool, and then the main flow path is separated; the cover element at least partially covers the metal-coated three-dimensional structure at a use positionin a planar manner, an outline of the three-dimensional structure is notched at the cover element, and at the same time the three-dimensional structure is metallized together with the cover element disposed thereon and is embedded in a third plastic material with the aid of a third injection-molding tool while molding a mount for a radar module and fastening points on the molded component.

The invention relates to a coal bunker 3D material state automatic inspection system based on the 5G technology, and belongs to the field of coal bunker management. Information such as the material level height, the size and the mass of coal bunker materials is detected in real time by installing a 3D radar material level meter above a coal bunker, and then field 3D radar material level meter information is transmitted to the coal bunker through a 5G wireless transmission access mode; a 5G industrial adaptive gateway (an RS485 port of an access end) is accessed through an RS485 port, so that material information data transmission is realized; according to an intelligent monitoring system for stored materials in the coal bunker, information such as the material level and the volume of the materials in the coal bunker on site is received and processed through the 5G industrial adaptive gateway, a 3D visual graph is formed through processing, site management personnel can check the stock material level condition of the coal bunker in real time through a computer and a mobile phone mobile terminal, and master the stock condition of the coal bunker visually through dispatching monitoring personnel; and coal bunker production scheduling is facilitated, and the production efficiency is improved.

The present invention provides a 3D radar scanner for blast furnace charge level imaging and a blast furnace charge level detection system. The 3D radar scanner includes a base component installed on the top of the blast furnace, a high-temperature isolation cover component and a multi-dimensional radar component. The seat component includes the base protective tube and the base flange; the high temperature isolation cover component includes the isolation cover protective tube, the heat insulation plate and the isolation cover flange; the radar component includes the radar flange, the junction box, the boom, and the multi-dimensional manipulator and a radar ranging unit. The blast furnace charging level detection system includes: at least one 3D radar scanner as mentioned above and a host computer. The invention can continuously measure the shape of the material surface in the blast furnace, provides visual data basis for ironworkers to adjust the charging process of the blast furnace, and has high economic benefits.

An embodiment of the invention provides a compartment congestion degree detecting method, a compartment congestion degree detecting device and a compartment congestion degree detecting system based on3D radar scanning. The compartment congestion degree detecting method comprises the steps of: acquiring point cloud data of passengers getting on and off scanned by means of 3D radars installed abovecompartment doors, acquiring two-dimensional feature data from the point cloud data, and marking target two-dimensional feature data corresponding to the passengers from the two-dimensional feature data by means of a pre-trained identification model; and tracking a walking direction of the passenger corresponding to each piece of target two-dimensional feature data, further counting numbers of people getting on and off at a current station according to the walking directions of the passengers, calculating a number of passengers in the compartments when a train leaves the station, transmittingthe number of passengers to a next station, and displaying the number of passengers in the next station. According to the compartment congestion degree detecting method, the counted number of the passengers in the compartments is displayed before the passengers arrives at the next station, such that the waiting passengers can select platforms according to the number of passengers in the compartments, thereby avoiding blindly waiting for the train, and improving the carrying capacity of the train.

The invention relates to a method and device for detecting ground points in 3D radar point cloud data and a medium. The method for detecting the ground points in the 3D radar point cloud data comprises the following steps: acquiring point cloud data to be subjected to ground detection; determining a reference plane based on the point cloud data; taking the projection of the radar center of the point cloud data on the reference plane as a polar coordinate circle center point, and performing grid division on the reference plane to obtain a plurality of grids to be detected; and determining ground point cloud data in the point cloud data based on the height distance of each point data in the plurality of grids to be detected on the Z axis. According to the method for detecting the ground point in the 3D radar point cloud data provided by the invention, the ground point cloud data in the point cloud data to be subjected to ground detection is determined based on the height distance of each point data on the Z axis, so that the obtained ground point cloud data is more accurate and better fits the real road surface height, and the applicability of the ground point cloud data is enhanced.

The invention is applicable to the technical field of radars and provides with a millimeter wave 3D radar system and signal processing flow. The millimeter wave 3D radar system comprises a signal source, an emission signal source power dividing network, a receiving signal source power dividing network, a control module, an array radio frequency front end and a digital rear end. The millimeter wave3D radar system has the advantages that the millimeter wave 3D radar system is designed by using the time division multiplexing-multiple-input-multiple-output technology and the two-dimensional planar thinned array technology, three-dimensional detection can be performed on fixed targets, low-speed targets and the like in a complex environment can be achieved, and the hardware complexity and costof the radar system are lowered greatly.

The invention provides a multifunctional 3D radar transceiver and an operation method, and the method comprises the steps: obtaining a receiving and transmitting signal of the multifunctional 3D radartransceiver, carrying out the fast Fourier transform of the receiving and transmitting signal, and obtaining a signal processing result; acquiring radar information of the transceiving signal based on the signal processing result; performing information encoding on the radar information, and generating a control instruction based on the information encoding; controlling the operation of the multifunctional 3D radar transceiver according to the control instruction; and through the multifunctional 3D radar transceiver, obtaining a corresponding transmit-receive signal, performing signal processing to accurately acquire a control instruction, and achieving accurate control of operation of the multifunctional 3D radar transceiver.

The invention discloses a cement bin material level height detection device. A 3D radar scanner (2) is arranged at the top end in a cement bin (1), a radar meter head (9) is arranged on the radar scanner (2), and the radar meter head (9) is installed on a machine body of the 3D radar scanner (2) through a transmission mechanism (8). By adopting the technical scheme, the rotary 3D radar scanner isstable in echo data, high in resolution, good in charge level simulation degree and high in reliability, and the production safety is improved; meanwhile, the rotary 3D radar scanner can bear the influence of high temperature, pressure and dust; the data can be recovered according to the data stored in history; historical curve change rules of the materials can be checked, and a basis is providedfor arrangement of the production schedule.