3532 results about "Wave radar" patented technology

Guided wave radar (GWR) pulses are launched onto an electromagnetic guide wire using a compact launcher that includes an impedance matching element. The impedance matching element produces reflections that cancel launcher reflections. Short range echoes can be accurately detected after impedance matching. GWR operation in small tanks and in tanks containing low dielectric constant materials, such as propane, can be enhanced with the compact impedance-matched launcher.

The invention relates to the technical field of radar, in particular to a millimeter-wave quasi-optical integrated dielectric lens antenna and an array thereof. The array consists of a microstrip integrated antenna, a dielectric lens, an objective lens, an array base, a reflecting mirror, a protective cover and a beam transfer switch; one end face of the dielectric lens is a hemisphere or an ellipsoid, while the other end face is a cylindrical section; the microstrip integrated antenna is generated by an dielectric substrate, the front surface of the dielectric substrate is closely adhered tothe cylindrical section of the dielectric lens and serves as a feed source, and the back surface is grounded; the hemispherical or ellipsoidal end face of the dielectric lens is an antenna radiating surface; the length of the cylindrical part of the dielectric lens can be changed; the antenna array is arranged into a linear array or an area array; the array base and the reflecting mirror have conical quasi-optical reflecting mirror surfaces; the focus of the objective lens of the linear array or the area array aligns with the central line of the dielectric lens; the protective cover is arranged outside; and the antenna array is controlled by the beam transfer switch. The antenna structure has strong shock resistance and dust prevention, and is suitable for millimeter-wave radars for planes, automobiles and ships, and receiving / emitting sensing of communication equipment.

The invention discloses a method for detecting and tracking obstacles in front of a vehicle, aiming to overcome the defect and shortage in detection and tracking of obstacles in front of the vehicle by using a single-type sensor. The method comprises the following steps of: 1. establishing a relation for realizing data conversion between a millimeter wave radar coordinate system and a camera coordinate system; 2. receiving, resolving and processing the millimeter wave radar data, and carrying out preliminary classification on the obstacles; 3. synchronously collecting a camera image and receiving millimeter wave radar data; 4. classifying the obstacles in front of the vehicle: 1) projecting scanning points of the millimeter wave radar data on a camera coordinate system by combining the methods of millimeter wave radar and monocular vision, and establishing a region of interest (ROI) of the obstacles on the image; 2) carrying out preliminary classification on different obstacles in theROI established on the image, and confirming the types of the obstacles by using different image processing algorithms; and 5. tracking the obstacles in front of the vehicle.

The invention discloses a multi-sensor information fusion-based forward collision and lane departure pre-warning device, which comprises a millimeter-wave radar, a communication interface module, a video camera, an image acquisition module, a display module, a warning module and a vehicle-mounted processing unit, wherein the vehicle-mounted processing unit can perform fusion processing of radar signals and machine visual information from the communication interface module and the image acquisition module. The pre-warning device is used for warning of forward collision and lane departure of a vehicle, and a pre-warning method comprises the steps of: driving devices; receiving and processing radar data and image data; fusing information; and finally displaying the fused information. According to the multi-sensor information fusion-based forward collision and lane departure pre-warning device disclosed by the invention, potential risk of collision during running of the vehicle can be found through the radar and the video camera so as to provide warning information for a driver. According to the pre-warning method disclosed by the invention, since a method of visible sensation combined with the radar is adopted, the accuracy rate of prevention of collision and lane departure of the vehicle is fundamentally improved, and the degree of accuracy can be increased by 5-20 percent as proved by experiments.

The invention relates to the technical field of radar, in particular to a millimeter-wave quasi-optical integrated dielectric lens antenna and an array thereof. The array consists of a microstrip integrated antenna, a dielectric lens, an objective lens, an array base, a reflecting mirror, a protective cover and a beam transfer switch; one end face of the dielectric lens is a hemisphere or an ellipsoid, while the other end face is a cylindrical section; the microstrip integrated antenna is generated by an dielectric substrate, the front surface of the dielectric substrate is closely adhered tothe cylindrical section of the dielectric lens and serves as a feed source, and the back surface is grounded; the hemispherical or ellipsoidal end face of the dielectric lens is an antenna radiating surface; the length of the cylindrical part of the dielectric lens can be changed; the antenna array is arranged into a linear array or an area array; the array base and the reflecting mirror have conical quasi-optical reflecting mirror surfaces; the focus of the objective lens of the linear array or the area array aligns with the central line of the dielectric lens; the protective cover is arranged outside; and the antenna array is controlled by the beam transfer switch. The antenna structure has strong shock resistance and dust prevention, and is suitable for millimeter-wave radars for planes, automobiles and ships, and receiving / emitting sensing of communication equipment.

A vehicle surroundings monitoring apparatus comprises image solid object detecting means for detecting image solid objects based on image information outputted from a CCD camera, millimeter wave solid object detecting means for detecting millimeter wave solid objects based on signals outputted from a millimeter wave radar, fusion solid object establishing means for establishing fusion solid objects composed of single image solid objects, single millimeter wave solid objects and a combination of the image solid objects and the millimeter wave solid objects by fusing the image solid objects and the millimeter wave solid objects, first reliability judging means for judging a degree of reliability of the fusion solid objects based on a detecting situation of the respective fusion solid objects by the image solid object detecting means, second reliability judging means for judging a degree of reliability of the fusion solid objects based on a detecting situation of the respective fusion solid objects by the millimeter wave solid object detecting means and preceding vehicle selecting means for selecting a preceding vehicle from the fusion solid objects when it is judged that the fusion solid objects have a specified level of reliability according to either of the first reliability judging means and the second reliability judging means.

An imaging millimeter wave radar system. The system includes a millimeter wave transmitter transmitting a frequency scanned millimeter beam that is narrow in the scanned direction and wide in a direction perpendicular to the scanned direction. The system includes a receive antenna and a Rotman type lens for forming a one-dimensional image in the perpendicular direction of targets in the antennas field of view based on millimeter wave radiation reflected from the targets. A computer creates a two dimensional image based on the scanning direction of the transmit beam of the transmit antenna and the one dimensional image from the receive antenna. Distance to the target is determined based on difference in frequency of the transmit signal and the receive signal. Thus, a three dimensional view of the systems field of view is determined by the system. This view can be displayed on a monitor using color to represent target distance. In a preferred embodiment the scanned direction is the vertical direction and the receive antenna forms a horizontal image from signals reflected from targets in the field of view. In this preferred embodiment the transmit antenna is a variable frequency millimeter wave single channel wave guide antenna operating in the 78 GHz to 81 Ghz spectral range to produce a scanning range of 10 degrees and a scanning rate of 60 Hz. The receive antenna is a multi-channel (176 channels) strip-line antenna also operating in the 78 GHz to 81 GHz spectral range, which with the Rotman lens, provides 192 horizontal pixel resolution.

The invention discloses a long-distance automatic parking system and method based on multi-sensor fusion. The system comprises a central data processing module, a path planning module, a mapping module, a parking module, a communication module and a control unit. The sensor comprises but is not limited to an IMU, a vehicle-mounted all-round looking camera, an ultrasonic wave radar and a binocular camera. According to the embodiment of the invention, through planning paths for the obtained parking lot map, obstacle information, parking place information and road information within a vehicle running range are judged according to a disparity map obtained by the binocular camera and are fed back to the central data processing module in real time; and after calculation, the central data processing module gives an instruction to the control unit so as to realize long-distance automatic parking of vehicles from entering the parking lot to parking in the parking place.

The invention relates to a laser radar and machine vision-based information fusion and vehicle detection system. The system comprises a millimeter-wave radar data processing module, a radar and visiondata fusion module and an air of interest-based image detection and verification module, wherein the millimeter-wave radar data processing module is capable of obtaining a relatively reliable and accurate effective target and movement state information of the effective target to serve as input of a multi-sensor data fusion module; the radar and vision data fusion module is capable of obtaining aprojection point, on a machine vision image pixel plane, of a front vehicle detected by millimeter-wave radar, establishing an area of interest around the projection point and completing multi-sensordata space fusion; and the image detection and verification module is capable of correctly positioning the size and position of an imaging area of the front vehicle and verifying whether the imaging area is a vehicle image or not. According to the system, barriers in front of vehicles can be effectively detected, and effective tracking targets can be correctly, stably and reliably screened throughcarrying out data analysis and processing on data acquired by sensors.

The invention discloses a multi-sensor fusion-based autonomous obstacle avoidance unmanned aerial vehicle system and a control method. The system includes an environment information real-time detection module which carries out real-time detection on surrounding environment through adopting a multi-sensor fusion technology and transmits detected information to an obstacle data analysis processing module, the obstacle data analysis processing module which carries out environment structure sensing construction on the received information of the surrounding environment so as to determine an obstacle, and an obstacle avoidance decision-making module which determines an obstacle avoidance decision according to the output result of the obstacle data analysis processing module, so as to achieve obstacle avoidance of an unmanned aerial vehicle through the driving of power modules which is performed by a flight control system. According to the multi-sensor fusion-based autonomous obstacle avoidance unmanned aerial vehicle system and the control method of the invention, binocular machine vision systems are arranged around the body of the unmanned aerial vehicle, so that 3D space reconstruction can be realized; and an ultrasonic device and a millimeter wave radar in an advancing direction are used in cooperation, so that an obstacle avoidance method is more comprehensive. The system has the advantages of high real-time performance of obstacle detection, long visual detection distance and high resolution.

The invention relates to a night preceding vehicle detection method based on a millimeter-wave radar and machine vision, which belongs to the field of vehicle control. The night preceding vehicle detection method comprises the following steps: (1) performing camera calibration, so as to obtain a projection matrix of world coordinates to image pixel coordinates, establishing a transition relation between a radar coordinate system and a world coordinate system, and converting radar coordinates into the image pixel coordinates; (2) resolving received millimeter-wave radar data, excluding false targets and determining effective targets through data processing, and synchronously collecting camera images; (3) projecting radar scanning points under the world coordinate system to an image pixel coordinate system, and establishing an region of interest (ROI) on the images according to projective points; (4) detecting whether a vehicle exists in the region of interest based on an image processing method. Compared with the prior art, the night preceding vehicle detection method has the characteristics of fusion of the millimeter-wave radar and the machine vision, high real-time performance and high accuracy.

A microwave level gauge for measuring a level of a process material in a tank includes a ceramic seal and a microwave conductor. The ceramic seal is disposed adjacent to an opening in the tank and adapted to isolate circuitry from the process material. The microwave conductor is electrically coupled to the circuitry and extends through the hermetic seal and into the process material in the tank. The ceramic seal and an isolating adapter cooperate to isolate the microwave conductor from the process fluid and from external forces.

The invention relates to a method and a system for detecting a road barrier. The invention discloses a first barrier detection model based on a video pick-up device, a second barrier detection model based on the video pick-up device and a millimeter-wave radar, and a third barrier detection model based on a three-dimensional laser radar and an infrared pick-up device, wherein complementary detection for the multiple models is formed through a rough set based fuzzy neural network algorithm, so that characteristic information of the road barrier can be obtained in real time. The method and system for detecting the road barrier can carry out real-time and effective road barrier detection under the conditions of different road scenes and different weathers to obtain parameters such as the travelling speed and direction of different barriers exactly, can extract and analyze surrounding environment information of vehicles from the road traffic environment, and can judge abnormal traffic behaviors so as to relieve the current urban traffic pressure and improve traffic management efficiency.

The invention discloses an obstacle detecting method and an obstacle detecting device used for a vehicle-mounted radar system. The obstacle detecting method is implemented by the specific steps of: detecting a first point cloud data set of calibration objects arranged at a plurality of preset positions, and detecting a first two-dimensional data set of the calibration objects; calibrating the vehicle-mounted radar system based on a preset installation position, the first point cloud data set and the first two-dimensional data set, so as to obtain a calibrated steering angle difference, a calibrated displacement difference and a calibrated vertical coordinate; detecting second point cloud data of an obstacle, and detecting second two-dimensional data of the obstacle; converting the second two-dimensional data into a laser radar coordination system based on the calibrated steering angle difference, the calibrated displacement difference and the calibrated vertical coordinate, so as to obtain converted third-dimensional coordinates; and merging the second point cloud data and the converted third-dimensional coordinates, so as to determine a position of the obstacle. Through the implementation of the obstacle detecting method and the obstacle detecting device, the obstacle can be precisely detected by effectively utilizing a laser radar and a millimeter-wave radar simultaneously.

There is provided a running support system for a vehicle, which supports running of a vehicle by using a radar and image recognition means as obstacle detecting means, and in which appropriate support control based on a result of detection performed by each control means is set. A result of obstacle detection performed by a millimeter wave radar (21) is checked against a result of obstacle detection performed by image recognition means (22). Then, a starting condition for the running support control is changed depending on whether an obstacle has been detected by both the millimeter wave radar (21) and the image recognition means (22), or an obstacle has been detected by only one of the millimeter wave radar (21) and the image recognition means (22). Thus, the control support is performed based on an inattentive condition of a driver.

The invention discloses a vehicle-mounted millimeter-wave radar moving target recognizer. The vehicle-mounted millimeter-wave radar moving target recognizer is characterized in that the recognizer is a frequency synthesizer; a frequency agility continuous signal is modulated into a pulse signal and then is processed into a millimeter-wave signal by up-conversion; after being amplified by a power amplifier, the millimeter-wave signal is transmitted out; an antenna receives a radar echo signal back to a circulator and then the signal is transmitted into a frequency mixer; a high-frequency echo pulse and constant-amplitude high-frequency voltage generated by a high-stability local oscillator are mixed and the signal is reduced to a middle frequency and then is processed by a middle-frequency amplifier; the middle-frequency signal is directly sampled by an A / D (Analogue / Digital) conversion module; after being sampled, echo signals of a whole pulse string are stored into a storage unit; and information of targets, such as quantity, speed and direction, is measured by a signal processing unit and then is transmitted to an alarm executing unit. With the adoption of the structure, the vehicle-mounted millimeter-wave radar moving target recognizer has the advantages that 1 the distance measuring precision and the angle measuring precision of a moving target are improved; and 2 excessive hardware does not need to be added and the production cost is lower.

The present invention provides a ball measuring apparatus capable of measuring a trajectory of a ball from a hitting position to a landing position, the landing position and a stop position. A ball measuring apparatus 100 according to a first embodiment includes a first millimeter wave radar device 1 capable of carrying out a measurement from the hitting position to a predetermined position of the trajectory and having at least one transmitting antenna and a plurality of receiving antennas, and a second millimeter wave radar device 2 capable of measuring the stop position and having at least one transmitting antenna and a plurality of receiving antennas. A ball measuring apparatus 101 according to a second embodiment has a millimeter wave radar device 31 and a CCD camera 32.

The present invention discloses a driving behavior decision system of an automatic driving public traffic vehicle. The system comprises an external environment perception module, an information fusion processing module, a driving scene determination module and a driving behavior decision module. The external environment perception module comprises a vision sensor, a laser radar, a millimeter wave radar, a GPS location module and a high-precision map. The driving behavior decision module employs a limitation state machine model, and the driving behavior decision module employs a driving behavior determination decision model based on an ID3 decision tree; and the information fusion processing module performs fusion processing of the environment information sent by an external environment perception module and sends the information after fusion processing to the driving scene determination module and the driving behavior decision module. The driving behavior decision system of the automatic driving public traffic vehicle can improve the driving safety of the automatic driving public traffic vehicle and effectively reduce the probability of traffic accidents.

The invention discloses a control method for avoiding collision during emergent lane changing of a vehicle in a high-speed state and belongs to the technical field of vehicle active safety. A detecting unit obtains a road adhesion coefficient as well as the speeds, distance and accelerated speeds of the vehicle and a vehicle on an adjacent lane through a GPS / INS, millimeter-wave radar, a high-definition camera, a speed sensor and an accelerated speed sensor. A processing unit judges whether an alarm is given or an emergent lane changing collision avoiding intervention measure is taken under the collision risk situation according to the data of the detecting unit. An alarm unit carries out voice prompting and carries out displaying through a vehicle-mounted terminal. An executing unit achieves lane changing collision avoiding intervention through a braking controller and a steering controller. According to the method, risk early warning and lane changing prompting are achieved, under the situation that accidents cannot be avoided through emergent braking, the lane changing direction is judged according to the speed, accelerated speed and distance of the vehicle on the adjacent lane, an emergent lane changing trajectory is planned reasonably, and thus the purpose of avoiding accidents by avoiding collision during emergent lane changing is realized.

The present invention provides a portable handheld security device. The security device comprises a central processing unit in communication with a memory storage device, a video display screen, at least one camera, a transmitting device, a receiving device, an input device, and a power supply. The security device further comprises a device for generating ultra wide band ground penetrating radar and / or millimeter wave radar for identifying objects of interest in closed containers. In addition, the transmitting device and the receiving device are ideally capable of selecting between available communication network signals, determining which network signal is the best signal at a given time, and automatically switching between the available signals to maintain optimum reception and transmission quality. The input device has a first set of user-interface controls and a second set of user-interface controls, wherein the first and second sets of user-interface controls are selectively operable by users either independently or simultaneously.

The invention discloses a vehicle cooperative formation driving system, belonging to the field of vehicle network-connected automatic driving. The vehicle cooperative formation driving system comprises a network layer, a link layer, a coordination layer, a control layer and a physical layer from top to bottom; wherein a vehicular unit in the network layer is communicated with a wireless router inthe link layer through a wireless network; the wireless router is communicated with a central service unit CSU and a road side unit RSU respectively through Ethernet; and the ZeroMQ communication is adopted by the central service unit CSU and the road side unit RSU. The vehicle cooperative formation driving system adds low cost vehicular sensors such as vision and millimeter wave radars, and integrates perception fusion, path planning and decision control into a same software architecture, so as to integrate vehicle road environment information, and achieve reliable vehicle formation driving function through high precision controllers; the vehicle cooperative formation driving system is in line with the development trend of the network-connected vehicle formation driving, which is highly modular and easy to expand function; and the decentralized following strategy can reduce the impact of network communication uncertainty.

The invention belongs to the field of networking automatic driving of vehicles, and discloses a cooperative vehicle formation driving method and a cooperative vehicle formation driving system. Sensinginformation of vehicles and absolute position information of the vehicles are captured for sensing fusion, path planning and decision-making control, and road environment information of the vehiclesis integrated to implement formation converging, following, quitting, parking and cooperative lane changing co-driving strategies for the vehicles. According to the method and the system, connection of all modules and direct communication between the modules are implemented in a 5G (5th-generation) manner, meanwhile, low-cost vehicle-mounted sensors such as a visual sensor and a millimeter wave radar are additionally arranged, sensing fusion, path planning and decision-making control are integrated into the same software architecture, the road environment information of the vehicles is integrated, and a reliable vehicle formation driving function is realized by a high-accuracy controller. The system is consistent with the development trend of networking vehicle formation driving, high in modulation degree and easy to functionally extend, and by a decentralized following strategy, the influence of uncertainties of network communication can be reduced.

A vehicle radar apparatus that controls millimeter-wave radar operation is provided. The radar apparatus is configured to control the radar operation based on the speed of the vehicle. In the radar apparatus, the vehicle speed is detected and the output power of the radar apparatus (radar output power) is controlled such that the radar output power is set with at least two different output power levels in response to the vehicle speed.

A microwave level gauge for measuring a level of a process material in a tank includes a ceramic seal and a microwave conductor. The ceramic seal is disposed adjacent to an opening in the tank and adapted to isolate circuitry from the process material. The microwave conductor is electrically coupled to the circuitry and extends through the hermetic seal and into the process material in the tank. The ceramic seal and an isolating adapter cooperate to isolate the microwave conductor from the process fluid and from external forces.

The invention belongs to the technical field of automobile active safety, and particularly relates to a tracking and predicting device of the motion state of a front vehicle and a predicating method thereof. The tracking and predicting device of the motion state of the front vehicle comprises the vehicle, an ARM9 processor, a camera fixed to the center of the outer side of the front windshield of the vehicle, a lane line sensor for detecting the position relation between the vehicle and a lane line where the vehicle is located, a vehicle speed sensor for collecting driving speed data of the vehicle and a millimeter-wave radar for emitting signals to the position in front of the vehicle; a lens of the camera faces the position in front of the vehicle; the lane line sensor is fixed to the center of the outer side of the front windshield of the vehicle; the millimeter-wave radar is fixed to the outer side of an air inlet grating of the vehicle; the signal input end of the ARM9 process is electrically connected with the signal output end of the vehicle speed sensor, the signal output end of the lane line sensor, the signal output end of the camera and the signal output end of the millimeter-wave radar.

In a millimeter-wave radar, full-duplex operation comprises identifying a leakage signal in a digital baseband received signal, estimating the leakage signal, synthesizing an estimated leakage signal, and subtracting the estimated leakage signal from the digital baseband received signal. The time interval during which the leakage signal occurs may be measured, and samples of the digital baseband received signal within the time interval are masked to remove the leakage.

The invention provides a personnel detection and counting system based on a millimeter wave radar, wherein the millimeter wave radar is installed at a set position of a monitoring area, the millimeterwave radar transmits millimeter wave band radio frequency signals to the monitoring area through a multi-transmitting and multi-receiving antenna of the millimeter wave radar and receives echo signals at the same time, the echo signals are subjected to frequency mixing with the transmitted signals and then subjected to down-conversion to obtain beat intermediate frequency signals, and the beat intermediate frequency signals are sampled to obtain an echo sampling sequence. A digital signal processor reads the echo sampling sequence and performs signal processing to obtain a detected point cloud data set. An ARM processor reads the point cloud data set, meanwhile, Kalman filtering tracking is carried out on the point cloud data, continuous observation of states and the number of a pluralityof human body moving targets is achieved, the positions and the number of people in the monitoring area are obtained, and the number of people in the monitoring area is counted. The personnel detection and counting system based on the millimeter wave radar can track at least 20 targets simultaneously, provide the position and speed information of the targets, effectively judge the state of the targets and give early warning in time.

A radar level gauge system, for determining a filling level of a product contained in a tank, the radar level gauge system comprising: a transceiver for generating, transmitting and receiving electromagnetic signals; a probe electrically connected to the transceiver at a probe-transceiver connection and arranged to extend towards and into the product contained in the tank, for guiding a transmitted signal from the transceiver towards a surface of the product, and for returning a surface echo signal resulting from reflection of the transmitted signal at the surface back towards the transceiver; an impedance matching device arranged to extend along a portion of the probe inside the tank, an extension of the impedance matching device, in a direction perpendicular to the probe, decreasing along the portion of the probe with increasing distance from the probe-transceiver connection, to thereby provide impedance matching between an impedance of the probe-transceiver connection and an impedance of the probe; and processing circuitry connected to the transceiver for determining the filling level based on the surface echo signal.