CN113960534A

CN113960534A - Camera and millimeter wave radar integrated device for sensing agricultural machinery working environment

Info

Publication number: CN113960534A
Application number: CN202111257187.XA
Authority: CN
Inventors: 张岩; 解印山; 李彦明; 刘成良; 莫锦秋
Original assignee: Shanghai Jiaotong University
Current assignee: Shanghai Jiaotong University
Priority date: 2021-10-27
Filing date: 2021-10-27
Publication date: 2022-01-21

Abstract

The invention provides a camera and millimeter wave radar integrated device for sensing an agricultural machinery working environment, which comprises an integrated mounting bracket, a camera system and a radar system, wherein the camera system and the radar system are both arranged on the integrated mounting bracket; the camera system includes: a camera head-up unit and a camera head-down unit, both provided with at least one on the integrated mounting bracket; the radar system includes: the radar horizontal installation unit and the radar vertical installation unit are at least provided with one on the integrated mounting bracket; and a bottom plate sensing station for detachably mounting the camera head-up unit, the camera overlooking unit, the radar flush mounting unit or the radar vertical mounting unit is arranged on the integrated mounting support. The sensor integration processing method has the advantages that the sensor integration processing method can be freely combined, mutual position relations among the sensors are relatively fixed on the integrated mounting support, the accuracy of subsequent multi-sensor information integration processing results is improved, and the applicability is high.

Description

Camera and millimeter wave radar integrated device for sensing agricultural machinery working environment

Technical Field

The invention relates to the technical field of modern agriculture, in particular to a camera and millimeter wave radar integrated device for sensing the working environment of agricultural machinery.

Background

The environment perception is the basis for realizing the autonomous navigation operation of the agricultural machinery, the camera and the millimeter wave radar are environment perception sensors suitable for the operation environment of the agricultural machinery, the camera and the millimeter wave radar are often used in combination, the shape and the distance of a detection target are obtained based on multi-sensor information fusion processing, and a perception conclusion is made.

From the perception mechanism, the camera is divided into two mounting modes of horizontal view and overlooking, and the millimeter wave radar is divided into two mounting modes of horizontal mounting and vertical mounting. The millimeter wave radar flush mounting also comprises a left rotation direction and a right rotation direction, and the millimeter wave radars arranged in the two different rotation directions can form an outward rotation millimeter wave radar pair and an inward rotation millimeter wave radar pair. In different environment perceptions, the number, the installation mode and the mutual position relation of the selected cameras and the millimeter wave radars are different.

Therefore, the requirement of farmland environment sensing based on multi-sensor information fusion can be used for installing cameras and millimeter wave radars in different forms, the requirement is not only that the installation is reliable, but also that the relative position among the sensors is ensured to ensure the accuracy of the subsequent information fusion processing result.

The prior Chinese patent with publication number CN212781778U discloses an intelligent vehicle based on visual SLAM, which comprises a chassis, wherein an integrated bin is arranged above the chassis, and a vehicle-mounted host loaded with a visual SLAM system is arranged in the integrated bin; the front and the rear of the integration bin are provided with depth cameras, the depth cameras are connected with the vehicle-mounted host, and the cameras collect image information of the surrounding environment of the intelligent vehicle and transmit the image information to the vehicle-mounted host; the top cover of the integrated bin is provided with a laser radar and a millimeter wave radar, and the laser radar and the millimeter wave radar are connected with the vehicle-mounted host machine and used for ranging and obstacle avoidance of the intelligent vehicle and transmitting detected information to the vehicle-mounted host machine; and the vehicle-mounted host builds a map according to the received information.

The inventor thinks that in the prior art, the camera and the millimeter wave mine are respectively fixedly installed on the vehicle body, are difficult to adjust, have poor applicability and have a part to be improved.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide a camera and millimeter wave radar integrated device for sensing the working environment of agricultural machinery.

The camera and millimeter wave radar integrated device for sensing the working environment of the agricultural machinery comprises an integrated mounting bracket, a camera system and a radar system, wherein the camera system and the radar system are both arranged on the integrated mounting bracket; the camera system includes: a camera heads-up unit and a camera heads-down unit, both provided with at least one on an integrated mounting bracket; the radar system includes: the radar horizontal installation unit and the radar vertical installation unit are at least provided with one on the integrated mounting bracket; and a bottom plate sensing station for detachably mounting the camera head-up unit, the camera overlooking unit, the radar flush mounting unit or the radar vertical mounting unit is arranged on the integrated mounting support.

Preferably, the integrated mounting bracket comprises a mounting base plate and a connecting screw rod, the connecting screw rod penetrates through the mounting base plate and is fixedly connected with the mounting base plate through a nut, and the base plate sensing station is arranged on the mounting base plate.

Preferably, the bottom plate sensing station comprises a bottom plate mounting left hole, a bottom plate mounting middle hole, a bottom plate mounting right hole and a bottom plate limiting hole; the bottom plate mounting left hole, the bottom plate mounting right hole and the bottom plate mounting middle hole are all through holes arranged on the upper surface and the lower surface of the mounting bottom plate, and the bottom plate mounting left hole and the bottom plate mounting right hole are symmetrical relative to the bottom plate mounting middle hole; the bottom plate limiting hole is a through hole which is arranged on the mounting bottom plate and adjacent to the upper side and the lower side of the mounting bottom plate.

Preferably, the camera heads-up unit includes a camera and a heads-up block; the camera head-up limiting block is provided with a first mounting hole corresponding to the bottom plate sensing station, and is fixedly connected with the integrated mounting bracket through the matching of a bolt and a nut by means of the first mounting hole and the bottom plate sensing station; the camera is arranged on the bottom plate sensing station and is in contact fit with the head-up limiting block.

Preferably, the camera overlooking unit comprises a camera, an overlooking limit block and an overlooking base; the overlooking limiting block is provided with a second mounting hole corresponding to the bottom plate sensing station, and is fixedly connected with the integrated mounting bracket through the matching of a bolt and a nut by virtue of the second mounting hole and the bottom plate sensing station; overlook the base setting at bottom plate installation station upside, overlook the upper surface of base and be the slope setting, just the camera setting is overlooking the upper surface of base, the camera with overlook the stopper contact cooperation.

Preferably, radar flush mounting unit and radar erect the unit and all include the radar subassembly, the radar subassembly includes millimeter wave radar and radar holder, radar holder centre gripping millimeter wave radar.

Preferably, the radar flush mounting unit further comprises a radar rotation limiting block; the radar rotary limiting block is provided with a third mounting hole corresponding to the bottom plate sensing station, and is fixedly connected with the integrated mounting bracket through the matching of bolts and nuts by means of the third mounting hole and the bottom plate sensing station; the radar assembly is rotatably installed on a bottom plate sensing station of the integrated installation support, and the radar is limited by the radar rotating limiting block to rotate the radar assembly.

Preferably, the radar revolves to the stopper and includes spacing face, the slope is personally submitted in the installation of integrated installing support to spacing face, just radar subassembly and spacing face contact cooperation.

Preferably, the limiting surface is inclined from left to right and/or inclined from right to left on the mounting surface of the integrated mounting bracket.

Preferably, the radar vertical installation unit further comprises a radar vertical installation base, and a fourth installation hole of a threaded through hole corresponding to the bottom plate sensing station is formed in the radar vertical installation base; the bolt is respectively connected with the fourth mounting hole through the bottom plate mounting left hole and the bottom plate mounting right hole of the bottom plate sensing station, the radar is vertically installed on the base and mounted on the upper surface of the bottom plate sensing station, and the radar assembly is arranged on the radar vertical installation base.

Compared with the prior art, the invention has the following beneficial effects:

1. the detachable installation of the camera head-up unit, the camera overlooking unit, the radar flush unit and the radar vertical installation unit is realized by utilizing the bottom plate sensing station on the integrated installation support, the camera head-up unit, the camera overlooking unit, the radar flush unit and the radar vertical installation unit can be freely combined, the mutual position relation among the sensors is relatively fixed on the integrated installation support, the accuracy of the subsequent multi-sensor information fusion processing result is improved, and the applicability is high;

2. the camera horizontal-looking unit, the camera overlooking unit, the radar horizontal-mounting unit and the radar vertical-mounting unit are constrained and fixed in all directions, so that the stability of mounting on the integrated mounting bracket is improved, and the camera horizontal-mounting unit is suitable for a farmland operation environment;

3. the integrated mounting bracket is used for loading the camera head-up unit, the camera overlooking unit, the radar flush mounting unit and the radar vertical mounting unit, so that the integrated mounting bracket can be mounted and combined with any agricultural machinery, and the applicability and the use flexibility of the integrated mounting bracket are improved.

Drawings

Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

FIG. 1 is a schematic view of a combination of a camera peacetime unit and a radar peacetime unit on an integrated mounting bracket embodying the present invention;

FIG. 2 is a schematic view of a combination of a camera down view unit and a radar erection unit on an integrated mounting bracket according to the present invention

FIG. 3 is an exploded view of a camera heads-up unit embodying the principles of the present invention;

FIG. 4 is an exploded view of a top view unit of a camera embodying the invention;

FIG. 5 is an exploded view of a radar level mounted unit embodying the present invention;

fig. 6 is an exploded schematic view of a radar erection unit embodying the present invention.

Shown in the figure:

Detailed Description

The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.

Example 1

As shown in fig. 1, the camera and millimeter wave radar integrated device for sensing the working environment of the agricultural machinery provided by the invention comprises an integrated mounting bracket 1, a camera system and a radar system, wherein both the camera system and the radar system are mounted on the integrated mounting bracket 1.

As shown in fig. 1 and 2, the camera system includes: a camera head-up unit 2 and a camera head-down unit 3; the radar system includes: a radar flush mounting unit 4 and a radar upright mounting unit 5. The integrated mounting bracket 1 is provided with a bottom plate sensing station 6 for detachably mounting a camera head-up unit 2, a camera overlooking unit 3, a radar flush-mounted unit 4 or a radar vertical-mounted unit 5. The camera head-up unit 2, the camera overlooking unit 3, the radar flush-mounting unit 4 and the radar upright-mounting unit 5 can be freely mounted on the bottom plate sensing station 6 on the integrated mounting bracket 1 to form different combinations of camera systems and radar systems, so that the use flexibility and applicability of the integrated device are improved.

The integrated mounting support 1 comprises a mounting base plate 7 and a connecting screw rod 8, the mounting base plate 7 is a flat strip, and three base plate sensing stations 6 are arranged on the mounting base plate 7 according to the requirement of the distance between sensors horizontally mounted. The connecting screw 8 vertically penetrates through the mounting bottom plate 7 and is tightly connected with the mounting bottom plate through a nut, and the length of the connecting screw 8 depends on the vertical spacing requirement of the adjacent sensors in the vertical direction.

Two mounting base plates 7 are provided, two ends of the connecting screw rod 8 respectively penetrate through the two mounting base plates 7 which need to be connected in the vertical direction, and the vertical distance between the two mounting base plates 7 is determined to lock the front and rear nuts of the rear plate. In order to improve the overall stability of the integrated mounting bracket 1, two connecting screws 8 are symmetrically arranged on the two mounting bottom plates 7 in the middle of the length direction of the mounting bottom plates 7.

The bottom plate sensing station 6 comprises a bottom plate mounting left hole 9, a bottom plate mounting middle hole 10, a bottom plate mounting right hole 11 and a bottom plate limiting hole 12; the bottom plate mounting left hole 9, the bottom plate mounting right hole 11 and the bottom plate mounting middle hole 10 are all through holes on the upper surface and the lower surface of the mounting bottom plate 7, and the bottom plate mounting left hole 9 and the bottom plate mounting right hole 11 are symmetrical about the bottom plate mounting middle hole 10. The bottom plate limiting holes 12 are through holes provided on the front and rear surfaces of the mounting bottom plate 7, and two bottom plate limiting holes 12 are symmetrically provided about the bottom plate mounting center hole 10.

Two mounting plate 7 have six bottom plate sensing station 6 altogether, camera look head unit 2, camera look down unit 3, radar flush mounting unit 4 and radar erect and adorn unit 5 four and all adopt unified form demountable installation on bottom plate sensing station 6, improved the convenience of installation, and the inventor thinks, mounting plate 7 and connecting screw 8's quantity can add and subtract according to operating condition, and camera system and radar system's quantity also can freely arrange according to the demand.

Example 2

As shown in fig. 3, according to the camera and millimeter wave radar integrated device for agricultural machinery working environment perception of embodiment 1, the camera head-up unit 2 includes a camera and a head-up block 13. The head-up stopper 13 is a right-angle L-shaped member having a pair of through holes, i.e., first mounting holes 14, opened on a long side thereof, and a plane parallel to a long side surface as a front end surface of the short side extending out. The camera is provided with a threaded mounting hole on the lower surface and a rear surface parallel to the imaging surface.

The two bolts respectively pass through the two first mounting holes 14 of the head-up limiting block 13 and the two bottom plate limiting holes 12 of the bottom plate sensing station 6, and the head-up limiting block 13 is mounted on the rear surface of the bottom plate sensing station 6.

The bolt penetrates through a bottom plate mounting central hole 10 of the bottom plate sensing station 6 to be connected with a mounting hole on the lower surface of the camera, and the camera is fixed on the upper surface of the bottom plate sensing station 6. And the rear surface of the camera reliably contacts with the short side extending front end face of the head-up limiting block 13, so that the left-right swing of the camera is limited. Thereby achieving head-up mounting of the camera.

Example 3

As shown in fig. 4, according to the camera and millimeter wave radar integrated device for sensing the working environment of the agricultural machinery in embodiment 1, the camera looking down unit 3 includes a camera, a looking down limiting block 15 and a looking down base 16. The camera is provided with a threaded mounting hole on the lower surface and a rear surface parallel to the imaging surface.

The upper surface of the base 16 is inclined, and the upper surface and the lower surface of the base 16 are overlooked to have a predetermined overlooking angle. Looking down on the lower surface of the base 16, there are a pair of threaded through holes whose axes are perpendicular to the lower surface, i.e., looking down on the mounting holes, and the upper surface has a threaded through hole whose axis is perpendicular to the upper surface, i.e., a camera mounting hole. The two bolts are respectively connected with the overlooking mounting hole on the lower surface of the overlooking base 16 through the bottom plate mounting left hole 9 and the bottom plate mounting right hole 10 of the bottom plate sensing station 6, and the overlooking base 16 is mounted on the upper surface of the bottom plate sensing station 6. The camera is fixed to the upper surface of the downward looking base 16 by connecting the camera mounting hole on the lower surface of the camera and the camera mounting hole on the upper surface of the downward looking base 16 with a stud bolt.

Overlook stopper 15 and be right angle L type spare, long side division has a pair of through-holes namely second mounting hole (22), and the short side stretches out the preceding terminal surface and is the semicylinder parallel with the long side. Overlooking the limiting block 15 and the bottom plate limiting hole 12 of the bottom plate sensing station 6 are fixedly connected with the integrated mounting bracket 1 through bolt and nut matching by means of a second mounting hole (22). The nut locking causes the short side of the overlook limiting block 15 to extend out of the front end profile to contact the rear surface of the camera, thereby limiting the side-to-side swing of the camera.

The inventor believes that looking down on the downward angle of the base 16 can set its angle of inclination according to the actual operating conditions.

Example 4

As shown in fig. 5, according to the camera and millimeter wave radar integrated device for sensing the working environment of the agricultural machinery in embodiment 1, the radar flush mounting unit 4 includes a radar component 17 and a radar rotation limiting block 18. The radar component 17 comprises a millimeter wave radar and a radar holder, the millimeter wave radar is held by the radar holder, and a back mounting screw hole and a lower end mounting screw hole are respectively arranged on the back and the lower end of the radar holder.

The bolt penetrates through a bottom plate mounting center hole 10 of the bottom plate sensing station 6 to be connected with a lower end mounting screw hole of the radar holder, and the radar component 17 is rotatably mounted on the upper surface of the bottom plate sensing station 6.

The radar revolves to stopper 18 and is right angle L type spare, and the long side has a pair of through-hole promptly third mounting hole 19, and the short side stretches out the front end and is the plane of certain angle promptly spacing face with the long side, and this angle is radar soon angle promptly. The bolts respectively pass through the two third mounting holes 19 of the radar turning limiting block 18 and the two bottom plate limiting holes 12 of the bottom plate sensing station 6, and the radar turning limiting block 18 is mounted on the rear surface of the bottom plate sensing station 6.

The nut locking enables the radar to be screwed to the short side of the limiting block 18 and extend out of the limiting surface of the front end to be reliably contacted with the rear surface of the radar component 17, and the radar component 17 is limited to rotate left and right. At this time, the radar rotation angle of the radar rotation limiting block 18 causes an angle difference to exist between the radar component 17 and the front and back directions of the bottom plate sensing station 6.

The inventor believes that the radar turning angle on the limiting surface includes a left-right inclination or a right-left inclination on the mounting surface of the integrated mounting bracket 1, thereby forming a left-hand rotation and a right-hand rotation of the radar flush-mounted unit 4.

Example 5

As shown in fig. 6, according to the camera and millimeter wave radar integrated device for sensing the working environment of the agricultural machinery in embodiment 1, each radar vertical mounting unit 5 comprises a radar component 17 and a radar vertical mounting base 20. The radar component 17 comprises a millimeter wave radar and a radar holder, the millimeter wave radar is held by the radar holder, and a back mounting screw hole and a lower end mounting screw hole are respectively arranged on the back and the lower end of the radar holder.

The radar erects dress base 20 is the cuboid, and the mounting hole is adorned promptly to the perpendicular screw thread through-hole of a pair of axis of lower surface and lower surface, fourth mounting hole 21 promptly, and the front surface has an axis and the perpendicular screw thread through-hole of front surface promptly radar mounting hole.

The two bolts are respectively connected with a fourth mounting hole 21 of the radar vertical mounting base 20 through a bottom plate mounting left hole 9 and a bottom plate mounting right hole 10 of the bottom plate sensing station 6, and the radar vertical mounting base 20 is mounted on the upper surface of the bottom plate sensing station 6. And the mounting screw hole at the back of the radar holder and the radar mounting hole on the front surface of the radar vertical mounting base 20 are connected by adopting a stud bolt, and the radar component 17 is fixed on the front surface of the radar vertical mounting base 20. The bolts respectively pass through the two bottom plate limiting holes 12 of the bottom plate sensing station 6, the nuts are locked to enable the studs to extend out of the lower end of the radar component 17, the bolts limit vertical swing of the radar component 17, and vertical installation of the radar component 17 is achieved.

In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.

The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.

Claims

1. A camera and millimeter wave radar integrated device for sensing the working environment of agricultural machinery is characterized by comprising an integrated mounting bracket (1), a camera system and a radar system, wherein the camera system and the radar system are both arranged on the integrated mounting bracket (1);

the camera system includes: a camera head-up unit (2) and a camera head-down unit (3), both the camera head-up unit (2) and the camera head-down unit (3) being provided with at least one on the integrated mounting bracket (1);

the radar system includes: the radar horizontal installation unit (4) and the radar vertical installation unit (5) are arranged, and at least one of the radar horizontal installation unit (4) and the radar vertical installation unit (5) is arranged on the integrated mounting bracket (1);

and a bottom plate sensing station (6) for detachably mounting the camera head-up unit (2), the camera overlooking unit (3), the radar flush mounting unit (4) or the radar vertical mounting unit (5) is arranged on the integrated mounting bracket (1).

2. The camera and millimeter wave radar integrated device for sensing the working environment of the agricultural machinery as claimed in claim 1, wherein the integrated mounting bracket (1) comprises a mounting base plate (7) and a connecting screw (8), the connecting screw (8) passes through the mounting base plate (7) and is fixedly connected with the mounting base plate through a nut, and the base plate sensing station (6) is arranged on the mounting base plate (7).

3. The integrated camera and millimeter wave radar device for sensing the working environment of agricultural machinery as claimed in claim 2, wherein the bottom plate sensing station (6) comprises a bottom plate mounting left hole (9), a bottom plate mounting middle hole (10), a bottom plate mounting right hole (11) and a bottom plate limiting hole (12);

the bottom plate mounting left hole (9), the bottom plate mounting right hole (11) and the bottom plate mounting middle hole (10) are all through holes in the upper surface and the lower surface of the mounting bottom plate (7), and the bottom plate mounting left hole (9) and the bottom plate mounting right hole (11) are symmetrical about the bottom plate mounting middle hole (10);

the bottom plate limiting hole (12) is a through hole which is arranged on the mounting bottom plate (7) and is adjacent to the upper side and the lower side of the mounting bottom plate.

4. The camera, millimeter wave radar integrated device for agricultural work environment perception as claimed in claim 1, characterized in that said camera head-up unit (2) comprises a camera and a head-of-sight limit block (13);

the camera head-up limiting block (13) is provided with a first mounting hole (14) corresponding to the bottom plate sensing station (6), and the head-up limiting block (13) is fixedly connected with the integrated mounting bracket (1) through the matching of a bolt and a nut by means of the first mounting hole (14) and the bottom plate sensing station (6);

the camera is arranged on the bottom plate sensing station (6) and is in contact fit with the head-up limiting block (13).

5. The integrated camera and millimeter wave radar device for sensing the working environment of agricultural machinery as claimed in claim 1, wherein the camera looking down unit (3) comprises a camera, a looking down limiting block (15) and a looking down base (16); a second mounting hole (22) corresponding to the bottom plate sensing station (6) is formed in the overlooking limiting block (15), and the overlooking limiting block (15) is fixedly connected with the integrated mounting bracket (1) through the matching of a bolt and a nut by means of the second mounting hole (22) and the bottom plate sensing station (6);

overlook base (16) and set up the upside at bottom plate installation station (6), overlook the upper surface of base (16) and be the slope setting, just the camera setting is in overlook the upper surface of base (16), the camera with overlook stopper (15) contact cooperation.

6. The camera and millimeter wave radar integrated device for sensing of agricultural machinery working environment as claimed in claim 1, wherein the radar flush-mounted unit (4) and the radar upright-mounted unit (5) each comprise a radar component (17), and the radar component (17) comprises a millimeter wave radar and a radar holder, and the radar holder holds the millimeter wave radar.

7. The integrated camera and millimeter wave radar device for sensing the working environment of agricultural machinery as claimed in claim 6, wherein said radar flush mounting unit (4) further comprises a radar turning limiting block (18);

a third mounting hole (19) corresponding to the bottom plate sensing station (6) is formed in the radar screwing direction limiting block (18), and the radar screwing direction limiting block (18) is fixedly connected with the integrated mounting bracket (1) through the cooperation of a bolt and a nut by means of the third mounting hole (19) and the bottom plate sensing station (6);

radar subassembly (17) rotate and install bottom plate sensing station (6) at integrated installing support (1), just the radar revolves to stopper (18) and produces spacingly to the rotation of radar subassembly (17).

8. The integrated device of the camera and the millimeter wave radar for sensing the working environment of the agricultural machinery as claimed in claim 7, wherein the radar turning limiting block (18) comprises a limiting surface, the limiting surface is inclined on the mounting surface of the integrated mounting bracket (1), and the radar component (17) is in contact fit with the limiting surface.

9. A camera, millimeter wave radar integrated device for sensing of agricultural working environment according to claim 8, characterized in that said limiting surface comprises a left-to-right inclination and/or a right-to-left inclination at the mounting surface of the integrated mounting bracket (1).

10. The camera and millimeter wave radar integrated device for sensing the working environment of the agricultural machinery as claimed in claim 6, wherein the radar vertical mounting unit (5) further comprises a radar vertical mounting base (20), and a threaded through hole fourth mounting hole (21) corresponding to the bottom plate sensing station (6) is formed in the radar vertical mounting base (20);

the bolt is respectively passed through bottom plate installation left hole (9) and bottom plate installation right hole (10) of bottom plate sensing station (6) are connected fourth mounting hole (21), erect radar dress base (20) and install at bottom plate sensing station (6) upper surface, just radar subassembly (17) set up and erect on dress base (20) at the radar.