CN114280589B - Multi-angle adjustable wide area radar sensor - Google Patents
Multi-angle adjustable wide area radar sensor Download PDFInfo
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- CN114280589B CN114280589B CN202111626831.6A CN202111626831A CN114280589B CN 114280589 B CN114280589 B CN 114280589B CN 202111626831 A CN202111626831 A CN 202111626831A CN 114280589 B CN114280589 B CN 114280589B
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Abstract
The invention provides a multi-angle adjustable wide area radar sensor which comprises an antenna assembly, a main control board, a first radar multi-angle execution unit and a second radar multi-angle execution unit, wherein the main control board, the first radar multi-angle execution unit and the second radar multi-angle execution unit are arranged on a fixed chassis; the first radar multi-angle execution unit comprises a radar signal receiving and transmitting device, a first fixed support, a second fixed support, a rotary damper, a pitching angle regulator and a horizontal angle regulator; the multi-angle adjustable wide-area radar sensor can adjust the rotation angles of the radar signal transceiver along the horizontal direction and the vertical direction, so that the radar signal transceiver is adjusted to the optimal angle position, can be adjusted according to different terrain environments, can be intelligently and automatically adjusted, can also be manually adjusted, can be stably and reliably detected, enables the detection range to be maximum, and achieves the optimal detection state.
Description
Technical Field
The invention relates to the technical field of radars, in particular to a multi-angle adjustable wide area radar sensor.
Background
The traditional radar sensors are mainly divided into an omnidirectional radar sensor, a directional radar sensor and a back-to-back bidirectional radar sensor, each radar has respective superiority, but the common disadvantage is that the radar sensors cannot be better adapted to different terrain environments for stable and reliable detection, such as uneven terrain detection ranges and curved terrain detection ranges, such as areas of curves, intercommunicating roads, overpasses, bridges and the like. When the above devices encounter such unfavorable situation, the coverage area of the devices is greatly reduced, the blind area is increased, and the stability and reliability of the system are weakened. The radar sensor can not adapt to various terrains, so that the use efficiency of the radar sensor is greatly reduced, and more equipment needs to be invested and built to complement each other to effectively solve the problem, so that the investment budget of the whole project is greatly increased. In addition, due to the influence of different terrains, in order to enable the equipment to reach the optimal working state, a large amount of manpower and material resources are needed to be adjusted and tested on site to enable the overall performance of the equipment to reach the optimal performance, once the equipment is put into use, if deviation occurs, secondary calibration and verification need to be carried out manually again, and therefore the later maintenance cost of the equipment is greatly increased.
Disclosure of Invention
The object of the present invention is to solve at least one of the technical drawbacks mentioned.
Therefore, an object of the present invention is to provide a multi-angle adjustable wide area radar sensor, so as to solve the above-mentioned problems and overcome the disadvantages of the prior art.
In order to achieve the purpose, the invention provides a multi-angle adjustable wide area radar sensor which comprises an antenna assembly, a main control board, a first radar multi-angle execution unit and a second radar multi-angle execution unit, wherein the main control board, the first radar multi-angle execution unit and the second radar multi-angle execution unit are arranged on a fixed chassis; the first radar multi-angle execution unit comprises a radar signal receiving and transmitting device, a first fixed support, a second fixed support, a rotary damper, a pitching angle regulator and a horizontal angle regulator; the rotary damper is arranged on the fixed chassis, the first fixed support and the second fixed support are respectively arranged on the rotary damper, one end of the radar signal transceiver is connected with the first fixed support, the other end of the radar signal transceiver is connected with the second fixed support, the pitching angle adjuster is arranged on the first fixed support, the output end of the pitching angle adjuster is connected with the radar signal transceiver, the pitching angle adjuster is used for adjusting the pitching angle of the radar signal transceiver, the horizontal angle adjuster is arranged on the fixed chassis, the output end of the horizontal angle adjuster is connected with the second fixed support, and the horizontal angle adjuster is used for adjusting the horizontal direction rotation angle of the radar signal transceiver.
Preferably, the first fixing support is connected with the radar signal transceiver through a universal shaft, the second fixing support is connected with the radar signal transceiver through a universal shaft, the pitch angle adjuster is connected with the first fixing support through a universal shaft, the output end of the pitch angle adjuster is connected with the radar signal transceiver through a universal shaft, the horizontal angle adjuster is connected with the fixing chassis through a universal shaft, and the output end of the horizontal angle adjuster is connected with the second fixing support through a universal shaft.
In any of the above schemes, preferably, a vertical dial is arranged on one side of the radar signal transceiver connected with the first fixing bracket to measure the pitch angle of the radar signal transceiver; and a horizontal dial is arranged on the damper to measure the rotation angle of the radar signal transceiver in the horizontal direction.
In any of the above aspects, it is preferable that the second radar multi-angle execution unit has the same structure as the first radar multi-angle execution unit.
In any of the above schemes, preferably, the antenna assembly includes a communication antenna and a beidou positioning time service antenna, the communication antenna is a 4G or 5G communication antenna and is used for performing wireless communication with the client, and the beidou positioning time service antenna is used for communicating with a beidou satellite and a ground receiving station.
In any of the above schemes, preferably, the system further includes a network connection port, a power supply connection port, a scavenging valve, and a ground port, and the network connection port, the power supply connection port, the scavenging valve, and the ground port are arranged in parallel on the main control board.
In any of the above schemes, preferably, the pitch angle adjuster is implemented by any one of a high-precision electric telescopic rod, a high-precision synchronous motor, or a high-precision stepping motor, or a combination of multiple modes; the horizontal angle regulator is realized by adopting any one mode or a plurality of combined modes of a high-precision electric pull rod, a high-precision synchronous motor or a high-precision stepping motor.
In any of the above schemes, preferably, the system further comprises a 5G multi-angle adjustable wide area radar sensor system, and the 5G multi-angle adjustable wide area radar sensor system comprises: servo control subsystem, radar signal transmission receiving subsystem, core processing subsystem, coding and decoding input output subsystem and transmission communication subsystem, servo control subsystem, core processing subsystem, coding and decoding input output subsystem and transmission communication subsystem integration are in the main control board, and radar signal transmission receiving subsystem is integrated in radar signal transceiver, wherein:
the coding and decoding input and output subsystem is bidirectionally connected with the system platform and is used for coding or decoding the data sent by the core processing control subsystem or the data sent by the transmission communication control subsystem according to a preset data format protocol; and then the decoded data or the coded and encrypted data are respectively sent to a core processing subsystem or a transmission communication subsystem.
In any of the above schemes, preferably, the core processing subsystem is configured to receive target data tracked and monitored from the radar signal transmitting and receiving subsystem, convert the target data and data information sent from the codec input and output subsystem into a control instruction, and send the control instruction to the control subsystem to execute a corresponding action or control command; and various data information collected by each port is processed and merged, transmitted to the coding and decoding input and output subsystem and transmitted to the client remote control platform by the transmission communication subsystem for use by related personnel and equipment.
In any of the above schemes, preferably, the control subsystem performs multi-angle adjustment on the radar signal transceiver by adopting a manual adjustment or automatic adjustment mode:
(1) Automatic multi-angle mode of regulation: after the multi-angle adjustable wide area radar sensor receives an automatic adjusting instruction sent by a control platform, a core processing subsystem starts the automatic adjusting processing instruction, the core processing subsystem collects target data tracked and monitored in each radar signal transmitting and receiving subsystem and analyzes and processes the target data in real time, the control command is sent to the control subsystem, the control subsystem sends the control command to a servo control subsystem, and the servo control subsystem adjusts the direction and the angle of a radar signal transmitting and receiving device by controlling a pitching angle adjuster and a horizontal angle adjuster.
(2) Manual multi-angle adjustment mode: the control platform sends a corresponding control instruction to the multi-angle adjusting radar sensor equipment, a transmission communication subsystem in the multi-angle adjusting radar sensor equipment receives command information and then sends the command information to a coding and decoding input and output subsystem for analysis, analyzed data are sent to a core processing subsystem for real-time analysis and processing, processed control commands are sent to the control subsystem, the control subsystem sends the control commands to a servo subsystem, and the servo control subsystem adjusts the direction angle of the radar signal transceiver by controlling a pitching angle adjuster and a horizontal angle adjuster.
In any of the above aspects, preferably, the servo control subsystem includes: the first servo module is used for adjusting the direction angle of a radar signal transceiver in the first radar multi-angle execution unit according to an adjusting instruction from the control subsystem; and the second servo module is used for adjusting the direction angle of the radar signal transceiver in the second radar multi-angle execution unit according to the adjusting instruction from the control subsystem.
In any one of the above aspects, preferably, the first servo module includes: the input end of the first radar sensor multi-angle adjusting control unit is connected with the control subsystem to receive a control command, the output end of the first radar sensor multi-angle adjusting control unit is connected with the input end of the first driving unit, the output end of the first driving unit is connected with the input ends of the pitching angle adjuster and the horizontal angle adjuster in the first radar multi-angle execution unit, and the pitching angle adjuster and the horizontal angle adjuster in the first radar multi-angle execution unit are driven under the control of the first radar sensor multi-angle adjusting control unit by the first driving unit.
In any one of the above aspects, preferably, the second servo module includes: the input end of the second radar sensor multi-angle adjusting control unit is connected with the control subsystem to receive a control command, the output end of the second radar sensor multi-angle adjusting control unit is connected with the input end of the second drive unit, the output end of the second drive unit is connected with the input ends of the pitching angle adjuster and the horizontal angle adjuster in the second radar multi-angle execution unit, and the pitching angle adjuster and the horizontal angle adjuster in the second radar multi-angle execution unit are driven under the control of the second radar sensor multi-angle adjusting control unit by the second drive unit.
In any one of the above aspects, preferably, the first radar sensor multi-angle adjustment control unit includes: a pitching adjusting subunit and a horizontal adjusting subunit; the first driving unit includes: two driving modules; the pitching adjusting subunit is connected with a pitching angle adjuster in the first radar multi-angle execution unit through one driving module, and the horizontal adjusting subunit is connected with a horizontal angle adjuster in the first radar multi-angle execution unit through the other driving module.
In any one of the above aspects, preferably, the second radar sensor multi-angle adjustment control unit includes: a pitching adjusting subunit and a horizontal adjusting subunit; the second driving unit includes: two driving modules; the pitching adjusting subunit is connected with a pitching angle adjuster in the second radar multi-angle execution unit through one driving module, and the horizontal adjusting subunit is connected with a horizontal angle adjuster in the second radar multi-angle execution unit through the other driving module.
Compared with the prior art, the invention has the advantages and beneficial effects that:
1. the multi-angle adjustable wide-area radar sensor can adjust the rotation angles of the radar signal transceiver along the horizontal direction and the vertical direction, so that the radar signal transceiver is adjusted to the optimal angle position, the signal transceiving efficiency of the radar signal transceiver is highest, the radar signal transceiver can be adjusted according to different terrain environments, stable and reliable detection is carried out, the detection range is largest, and the optimal detection state is achieved.
2. The invention has simple structure, saves manpower and material resources, is convenient to adjust, can realize intelligent automatic adjustment and can also be manually adjusted, thereby greatly improving the detection efficiency of workers and saving the enterprise cost.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a block diagram of a multi-angle adjustable wide area radar sensor according to an embodiment of the present invention;
FIG. 2 is a top view of the multi-angle adjustable wide area radar sensor shown in FIG. 1 according to an embodiment of the present invention;
FIG. 3 is a left side view of the multi-angle adjustable wide area radar sensor shown in FIG. 1 according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a protective housing and a port interface of a multi-angle adjustable wide area radar sensor according to an embodiment of the present invention;
FIG. 5 is a block diagram of a 5G multi-angle adjustable wide area radar sensor system in a multi-angle adjustable wide area radar sensor according to an embodiment of the present invention;
FIGS. 6a and 6b are schematic diagrams of a first servo module and a second servo module, respectively, according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of an auto-tune mode according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of a manual adjustment mode according to an embodiment of the present invention;
FIG. 9a is a schematic diagram of a multi-angle adjustable wide area radar sensor monitoring area covering a non-linear monitoring area according to an embodiment of the present invention;
FIG. 9b is a schematic diagram of a general radar sensor monitoring area covering a non-linear monitoring area;
FIG. 10a is a schematic diagram of a multi-angle adjustable wide area radar sensor monitoring area covering a concave-convex monitoring area according to an embodiment of the invention;
FIG. 10b is a schematic view of a conventional radar sensor monitoring area covering a concavo-convex monitoring area;
FIG. 11 is a block diagram of a 5G multi-angle adjustable wide-area radar sensor system in a multi-angle adjustable wide-area radar sensor according to an embodiment of the present invention.
Wherein the reference numbers: 1-a radar signal transceiving means; 2-a cardan shaft; 3-a first fixed support; 31-a second fixed support; 4-a communications antenna; 5-a Beidou positioning time service antenna; 6, a main control board; 7-a rotational damper; 8-vertical dial; 81-horizontal dial; 9-pitch angle adjuster; 10-a horizontal angle adjuster; 11-fixing the chassis; 12-mounting a fulcrum; 13-an upper protective enclosure; 14-a lower protective enclosure; 15-a network connection port; 16-a power supply connection port; 17-a gas exchange valve; 18-a ground port; 19-local storage subsystem; 20-a coding and decoding input and output subsystem; 21-a transmission communication subsystem; 22-radar signal transmitting and receiving subsystem; 23-core processing subsystem; 24-a servo control subsystem; 25-a Beidou positioning time service subsystem; 26-control subsystem.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
As shown in fig. 1 to 4, the multi-angle adjustable wide area radar sensor according to the embodiment of the present invention includes an antenna assembly, a main control board 6, a first radar multi-angle execution unit and a second radar multi-angle execution unit, wherein the main control board 6, the first radar multi-angle execution unit and the second radar multi-angle execution unit are disposed on a fixed chassis 11; the antenna assembly is connected with the main control board 6, and the first radar multi-angle execution unit comprises a radar signal receiving and transmitting device 1, a first fixed support 3, a second fixed support 31, a rotary damper 7, a pitching angle regulator 9 and a horizontal angle regulator 10; rotation damper 7 is established on fixed chassis 11, establish respectively on rotation damper 7 first fixed bolster 3 and second fixed bolster 31, radar signal transceiver 1 one end is connected with first fixed bolster 3, radar signal transceiver 1's the other end and second fixed bolster 31 are connected, pitch angle regulator 9 is established on first fixed bolster 3, pitch angle regulator 9's output and radar signal transceiver 1 are connected, pitch angle regulator 9 is in order to adjust 1 pitch angle of radar signal transceiver, horizontal angle regulator 10 establishes on fixed chassis 11, horizontal angle regulator 10's output and second fixed bolster 31 are connected, horizontal angle regulator 10 is in order to adjust the horizontal direction rotation angle of radar signal transceiver 1.
Further, first fixed bolster 3 passes through cardan shaft 2 with radar signal transceiver 1 and is connected, second fixed bolster 31 passes through cardan shaft 2 with radar signal transceiver 1 and is connected, every single move angle regulator 9 passes through cardan shaft 2 with first fixed bolster 3 and is connected, every single move angle regulator 9 output passes through cardan shaft 2 with radar signal transceiver 1 and is connected, horizontal angle regulator 10 passes through cardan shaft 2 with fixed chassis 11 and is connected, horizontal angle regulator 10's output passes through cardan shaft 2 with second fixed bolster 31 and is connected.
The radar signal transceiver 1 is used for monitoring and acquiring target data information in a detection area range covered by a radar; the main control board 6 is mainly used for controlling the direction and the angle of the radar signal transceiver 1, acquiring data, analyzing and processing, communicating and transmitting, expanding functions and the like; the rotary damper 7 is used for connecting the fixed chassis 11 and the fixed support and realizing the control and fastening of the adjusting speed of the fixed support; the fixed chassis 11 is used for supporting the whole fixed bracket and the main control board 6 and is connected with the lower protective outer cover 14; the pitch angle regulator 9 is used for realizing the regulation of the pitch angle of the transceiver, and the regulation range is within +/-30 degrees according to the actual site topography, and the horizontal angle regulation can also be expanded and increased according to the direct requirement; the universal shaft 2 is used for fastening and linking two adjacent parts respectively, and the linkage efficiency is high.
The horizontal angle regulator 10 is used for realizing the regulation of the radar signal transceiver 1 in the horizontal azimuth angle, the pitch angle regulator 9 is used for realizing the regulation of the pitch angle of the radar signal transceiver 1, and the horizontal angle regulator 10 and the pitch angle regulator 9 are generally within +/-30 degrees according to the actual field terrain regulation range and can also expand and increase the horizontal angle regulation according to the direct demand.
Furthermore, a vertical dial 8 is arranged on one side of the radar signal transceiver 1 connected with the first fixing support 3 to measure the pitch angle of the radar signal transceiver 1; a horizontal dial 81 is arranged on the damper to measure the rotation angle of the radar signal transceiver 1 in the horizontal direction; the angle numerical value of adjustment is observed to the staff of being convenient for.
Specifically, the fixed chassis 11 is provided with an installation fulcrum 12, and the installation fulcrum 12 is used for fixing the main control panel 6; the main control board 6 is mainly used for connecting, fastening and supporting, and is convenient for workers to install.
Specifically, the second radar multi-angle execution unit has the same structure as the first radar multi-angle execution unit; the first radar multi-angle execution unit and the second radar multi-angle execution unit are arranged at two ends of the main control board 6, so that the moving vehicles in different directions can be monitored conveniently.
In particular, an upper protective outer cover 13 and a lower protective outer cover 14 are further included; the upper protective outer cover 13 is used for protecting and protecting internal equipment from being influenced in normal operation; the lower protective enclosure 14 is primarily used to support the entire apparatus and to mount the bracket for attachment at the application site.
Specifically, the pitch angle adjuster 9 is implemented by any one of a high-precision electric telescopic rod, a high-precision synchronous motor, a high-precision stepping motor or a combination of a plurality of high-precision electric telescopic rod and a high-precision synchronous motor; the horizontal angle adjuster 10 is implemented by any one of or a combination of high-precision electric telescopic rods, high-precision synchronous motors or high-precision stepping motors to implement stepping adjustment.
Specifically, the antenna module includes communication antenna 4 and big dipper location time service antenna 5, and communication antenna 4 is 4G or 5G communication antenna 4 for carry out radio communication with the customer end, and big dipper location time service antenna 5 is used for communicating with big dipper satellite and ground receiving station, realizes satellite positioning and time service.
Specifically, the system further comprises a network connection port 15, a power supply connection port 16, a scavenging valve 17 and a ground port 18, wherein the network connection port 15, the power supply connection port 16, the scavenging valve 17 and the ground port 18 are arranged on the main control board 6 in parallel, and the network connection port 15 is used for realizing wired communication between the equipment and the system; the power supply connection port 16 is used for supplying power to equipment; the ventilation valve 17 is used for keeping the interior of the radar consistent with the external air pressure; the ground port 18 is used for radar ground protection.
Further, as shown in fig. 5 and fig. 11, the system further includes a 5G multi-angle adjustable wide area radar sensor system, and the 5G multi-angle adjustable wide area radar sensor system includes: the servo control subsystem 24, the control subsystem 26, the radar signal transmitting and receiving subsystem 22, the core processing subsystem 23, the coding and decoding input and output subsystem 20 and the transmission communication subsystem 21 are integrated in the main control board 6, and the radar signal transmitting and receiving subsystem 22 is integrated in the radar signal transceiving device 1.
The coding and decoding input and output subsystem 20 is bidirectionally connected with the system platform and is used for coding or decoding the data sent by the core processing control subsystem or the data sent by the transmission communication control subsystem according to a preset data format protocol; the decoded data or the encoded and encrypted data are then sent to the core processing subsystem 23 or the transport communications subsystem 21, respectively.
The core processing subsystem 23 is the core of the system of the present invention, and is a master control system, which is used for receiving the target data tracked and monitored from the radar signal transmitting and receiving subsystem 22, converting the target data and the data information sent by the codec input and output subsystem 20 into a control instruction, and sending the control instruction to the control subsystem to execute a corresponding action or control command. The core processing subsystem 23 converts the data information sent from the codec input/output end into control commands, and sends the control commands to the corresponding control ports or data acquisition ports. In addition, the core processing subsystem 23 can process and combine various data information collected by each port, transmit the data information to the codec input/output subsystem 20, and transmit the data information to the client remote control platform through the transmission communication subsystem 21 for use by related personnel and equipment.
Specifically, the core processing subsystem 23 includes: the radar angle analysis and verification system comprises a data acquisition functional module, a radar angle analysis and verification functional module and a control command output module.
The input end of the data acquisition function module is connected with the output end of the radar signal transmitting and receiving subsystem 22, and the output end of the data acquisition function module is connected with the input end of the radar angle analysis and verification function module; the output end of the servo control subsystem 24 is connected with the input end of the radar angle analysis and verification functional module; the output end of the radar angle analysis and verification function module is connected with the input end of the control command output module, and the output end of the control command output module is connected with the input end of the control subsystem.
The data acquisition function module is used for acquiring angle data of the radar signal transmitting and receiving subsystem 22.
The radar angle analysis and verification function module is used for monitoring the change condition of the data signals collected by the radar signal transmitting and receiving subsystem 22 and the change condition of the working parameters of the servo control subsystem 24 in real time and generating a control command according to a preset verification mechanism and a preset control mechanism.
And the control command output module is used for outputting a control command to the control subsystem and adjusting the angles of the radar signal transceiving device 1 in multiple directions.
The core processing subsystem 23 further includes: the system comprises a data fusion processing function module, a clock synchronization function module and an expansion interface module. The data fusion processing function module is configured to perform fusion processing on the data information from the radar signal transmitting and receiving subsystem 22 according to the data information collected by the radar signal transmitting and receiving subsystem 22 with the unified clock information as a reference, send the collected data to the codec input and output module for encryption and protocol conversion, and send the data to the system platform through the conventional communication module for management, viewing, secondary analysis, storage, and the like. The clock synchronization function module is used for realizing clock synchronization of each function module in the core processing subsystem 23. The expansion interface module is used for providing a plurality of expansion interfaces to connect and communicate with external equipment.
In an embodiment of the present invention, the transmission communication subsystem 21 includes: a 4G/5G remote communication module and a wired communication module. The transmission communication subsystem 21 is used for establishing a bridge for realizing remote control data transmission between a client and a server computer (or other devices), and the module can be formed by combining one or more of a 4G communication module, a 5G communication module, a WIFI communication module or a wired network communication module. The invention will use the 5G communication module to realize the remote communication, but is not limited to the above example, and other communication methods may also be adopted, all of which belong to the protection scope of the invention.
In the embodiment of the present invention, the radar signal transceiver 1 may be implemented by a millimeter wave radar device, a laser radar device, or other sensor devices. It should be noted that the radar signal transceiver 1 may also adopt other equipment modes, which are not described herein again.
In the embodiment of the present invention, the strength, direction, distance, heading angle, moving direction, and driving track of the monitored target data signal are tracked in the radar signal transmitting and receiving subsystem 22.
It should be noted that the target data is not limited to the example, and may also include other types of data, which are set as needed and are not described herein again.
The control subsystem is used for receiving various control commands sent by the core processing subsystem 23, analyzing the control commands and sending the control commands to corresponding functional units, and realizing functional control of different requirements.
As shown in fig. 7 and 8, the control subsystem performs multi-angle adjustment on the radar signal transceiver 1 by adopting a manual adjustment or automatic adjustment mode:
(1) Automatic multi-angle adjustment mode: after the multi-angle adjustable wide area radar sensor receives an automatic adjusting instruction sent by a control platform, a core processing subsystem 23 starts the automatic adjusting processing instruction, the core processing subsystem collects target data tracked and monitored in each radar signal transmitting and receiving subsystem 22 and carries out real-time analysis and processing, and sends a control command to a control subsystem 24, the control subsystem sends the control command to a servo control subsystem, and the servo control subsystem adjusts the direction angle of a radar signal transceiver by controlling a pitch angle adjuster 9 and a horizontal angle adjuster 10.
The radar angle analysis and verification function module monitors the change condition of the data signals collected in the radar signal transceiver 1 and the change condition of the working parameters of the servo module in real time, and continuously adjusts the angles of the radar signal transceiver 1 in multiple directions according to a preset verification mechanism and control mechanism, so that the monitoring area of the radar signal transceiver 1 is optimal, the target tracking signal is most stable, the monitoring distance is farthest, and the interference is minimum.
In the automatic adjustment mode, when the radar signal transceiver reaches the optimal working state, each parameter and control command in the servo control subsystem 24 are sent to the core processing subsystem 23, and the core processing subsystem 23 processes and stores the data sent by the servo control subsystem 24 in the local storage subsystem 19 for secondary calling; the parameters are analyzed in real time by the core processing subsystem 23 and then sent to the coding and decoding input and output subsystem, and the coding and decoding input and output subsystem encrypts and compiles the data and sends the data to the system platform through the transmission communication subsystem 21 for real-time display and storage.
(2) Manual multi-angle adjustment mode: the control platform sends a corresponding control instruction to the multi-angle adjusting radar sensor equipment, a transmission communication subsystem in the multi-angle adjusting radar sensor equipment receives command information and then sends the command information to a coding and decoding input and output subsystem for analysis, analyzed data are sent to a core processing subsystem for real-time analysis and processing, processed control commands are sent to the control subsystem, the control subsystem sends the control commands to a servo subsystem, and the servo control subsystem adjusts the direction angle of the radar signal transceiver by controlling a pitching angle adjuster and a horizontal angle adjuster.
The control subsystem further realizes the selection and switching of a communication mode method, and the switching mode comprises the following steps: RJ45 Ethernet mode data transmission, adopt 4G \5G to utilize third party telecommunication mode data transmission, adopt WIFI short range communication mode data transmission. The auxiliary core processing module completes the sending, control and data acquisition of more working instructions.
Further, as shown in fig. 6a and 6b, the servo control subsystem 24 includes: the first servo module is used for adjusting the direction angle of the radar signal transceiving device 1 in the first radar multi-angle execution unit according to an adjusting instruction from the control subsystem; and the second servo module is used for adjusting the direction angle of the radar signal transceiving device 1 in the second radar multi-angle execution unit according to the adjusting instruction from the control subsystem.
Specifically, the first servo module includes: the control system comprises a first radar sensor multi-angle adjusting control unit, a first driving unit, wherein the input end of the first radar sensor multi-angle adjusting control unit is connected with a control subsystem to receive a control command, the output end of the first radar sensor multi-angle adjusting control unit is connected with the input end of the first driving unit, the output end of the first driving unit is connected with the input ends of a pitch angle adjuster 9 and a horizontal angle adjuster 10 in the first radar multi-angle executing unit, and the first driving unit drives the pitch angle adjuster 9 and the horizontal angle adjuster 10 in the first radar multi-angle executing unit under the control of the first radar sensor multi-angle adjusting control unit.
The first radar sensor multi-angle adjustment control unit includes: a pitching adjusting subunit and a horizontal adjusting subunit; the first driving unit includes: two driving modules; the pitching adjusting subunit is connected with a pitching angle adjuster 9 in the first radar multi-angle execution unit through one driving module, and the horizontal adjusting subunit is connected with a horizontal angle adjuster 10 in the first radar multi-angle execution unit through the other driving module.
The second servo module includes: the input end of the second radar sensor multi-angle adjusting control unit is connected with the control subsystem to receive a control command, the output end of the second radar sensor multi-angle adjusting control unit is connected with the input end of the second drive unit, the output end of the second drive unit is connected with the input ends of the pitching angle adjuster and the horizontal angle adjuster in the second radar multi-angle execution unit, and the pitching angle adjuster and the horizontal angle adjuster in the second radar multi-angle execution unit are driven under the control of the second radar sensor multi-angle adjusting control unit by the second drive unit.
The second radar sensor multi-angle adjustment control unit includes: a pitching adjusting subunit and a horizontal adjusting subunit; the second driving unit includes: two driving modules; the pitching adjusting subunit is connected with a pitching angle adjuster in the second radar multi-angle execution unit through one driving module, and the horizontal adjusting subunit is connected with a horizontal angle adjuster in the second radar multi-angle execution unit through the other driving module.
The servo control subsystem 24 can complete the modulation and control of the pitch angle and the horizontal direction of a plurality of radar signal transceiving devices 1 in the multi-angle adjustable wide-area radar sensor equipment. The invention is exemplified by a method of multi-angle adjustment of two radar signal transceiving devices. For example, methods for implementing multi-angle adjustment by using multiple radar signal transceivers all belong to the protection scope of the present application. The detection area of the adjusted radar signal receiving and transmitting device can be in accordance with the linear condition and the terrain condition of an actual field, and the requirements of high-difficulty monitoring of unevenness and curve detection in the detection area are met. In addition, the servo control subsystem 24 can realize automatic or manual adjustment modes of multiple angles of the radar signal transceiver according to control commands sent by the control subsystem. The angle adjuster in the radar multi-angle adjusting execution unit can be realized and completed by adopting any one mode or a plurality of combination modes of a high-precision electric Shen Lagan, a high-precision synchronous motor or a high-precision stepping motor, the invention adopts a high-precision electric Shen Lagan as the radar multi-angle adjusting execution unit for illustration, but other control and execution modes also belong to the protection range of the application.
In addition, the present invention further comprises: the power supply subsystem, the local storage subsystem 19 and the Beidou positioning and time service subsystem 25.
The power subsystem can supply power for each functional module of the device, and the module can be connected to an external power supply connection end, an internal power supply connection end or independently supply power for a server computer (or other devices).
The local storage subsystem 19 is bidirectionally connected to the core processing subsystem 23, and is used for storing and storing data required by the system during operation, drivers, software algorithms, functional applications, temporary data, long-term data, or other important content in the local device.
The Beidou positioning and time service subsystem 25 is used for accurately positioning the equipment and performing time service on the equipment for a local system.
For example, the multi-angle adjustable wide-area radar sensor QY1\ QY2 is a road in the monitoring area R on one side of the radar sensor.
It can be clearly seen in fig. 9a and 9b that the road areas covered by the multi-angle adjustable wide-area radar sensor are different, wherein after the radar monitoring coverage area in fig. 9a can be adjusted in angle according to the linearity of the road, the monitoring areas covered by the radar monitoring coverage area are more and the blind areas are less. And the traditional radar sensor covers a few road monitoring areas and has a large blind area, so that the traditional radar sensor cannot cover the road monitoring areas.
It is obvious that the road areas covered by the multi-angle adjustable wide-area radar sensor are different obviously in fig. 10a and 10b, wherein after the radar monitoring coverage area in fig. 10a can be adjusted in angle according to the concave-convex linearity of the road, the monitoring area covered by the radar monitoring coverage area is more and the blind area is less. The traditional radar sensor covers a few concave-convex linear road monitoring areas and large blind areas, and cannot cover the concave-convex linear road monitoring areas.
The invention can realize that the multi-angle adjustable wide area radar sensor and the remote control, data acquisition, analysis processing, function display, linkage application, parameter setting and other contents of the wide area radar sensor are mainly composed of three key parts, wherein the first part is system platform application software installed at a client, and the contents of radar data acquisition, analysis processing, function display, linkage application, parameter setting and the like realized by the application software are similar to the contents of a traditional radar equipment management system platform, and are not repeated herein.
The radar angle adjustment control mainly comprises: the main adjusting contents of the automatic angle adjusting mode and the manual angle adjusting mode include two types of pitching angle adjustment and horizontal angle azimuth adjustment of the radar signal transceiving device 1, and the horizontal angle adjustment can be expanded and increased according to direct requirements. The system platform can send the automatically regulated control command for the adjustable wide area radar sensor of multi-angle in automatically regulated mode, and the adjustable wide area radar sensor of multi-angle starts the automatically regulated mode after receiving the automatically regulated control command. The core processing module in the multi-angle adjustable wide-area radar sensor can perform targeted adjustment according to the characteristics of the monitoring area covered by each radar signal transceiver 1 and the characteristics of the surrounding environment information and the target data information tracked and monitored by the radar signal transceiver 1, so that each radar signal transceiver 1 can work in the best monitoring area and performance, and each modulated angle is locked, and the state is kept until next command is started again. And storing parameters and attributes in each module in the adjusted multi-angle adjustable wide-area radar sensor in a local storage module and calling and uploading the parameters and attributes to a storage unit of a system platform for secondary calling. And in the manual regulation mode, the targeted fine adjustment is performed for the human according to the field working environment and the coverage monitoring range characteristics of the radar and the contents such as the strength, the amount, the interference, the coverage range, the monitoring distance and the like of the target data signal which is acquired by each radar signal transceiver 1 by mistake, so that each radar signal transceiver 1 can work in the best monitoring area and performance, each modulated angle is locked, the state is kept all the time, and the radar signal transceiver is restarted until the next command comes. The client system platform software may be installed on a computer, server, workstation, cell phone, tablet, or other hardware carrier. The second part is multi-angle adjustable wide area radar sensor equipment which is mainly used for completing self-checking of the working state of the equipment, receiving and executing various control commands sent by a system platform, uploading various data information, switching communication modes, realizing remote firmware upgrading and the like.
The working process of the embodiment of the invention is as follows: the method comprises the steps that a multi-angle adjustable wide area radar sensor is installed at a proper position, the pitching angle of a radar signal transceiver is adjusted through a pitching angle adjuster, the angle of the radar signal transceiver in the horizontal direction is adjusted through a horizontal angle adjuster, the adjustment can be manually adjusted, and in a manual adjustment mode, fine adjustment with pertinence is performed for the manual work according to the field working environment, the coverage monitoring range characteristic and the contents of the strength, the quantity, the interference, the coverage range, the monitoring distance and the like of a target data signal which is acquired by each radar signal transceiver by mistake, so that each radar signal transceiver can work in the best monitoring area and performance, each modulated angle is locked, the state is kept all the time, and the radar signal transceiver can be intelligently and automatically adjusted by being restarted until a next command comes; in the automatic adjustment mode, the system platform sends an automatic adjustment control command to the multi-angle adjustable wide-area radar sensor, after the automatic adjustment control command is received, the automatic adjustment mode is started, targeted adjustment is carried out according to the characteristics of a monitoring area covered by the radar signal transceiving device and the characteristics of the surrounding environment information and the target data information tracked and monitored by the radar signal transceiving device, and therefore each radar signal transceiving device can work in the best monitoring area and performance and lock each modulated angle, the state is kept all the time, and the radar signal transceiving device is restarted until the next command comes; and the parameters and attributes in each adjusted module are stored in a local storage subsystem and are called and uploaded to a storage unit of a system platform for secondary calling, and client system platform software can be installed on a computer, a server, a workstation, a mobile phone, a tablet computer or other hardware carriers.
The embodiment of the invention can adjust different working angles of the radar signal transceiver to achieve an optimal working state, can perform targeted adjustment according to different terrains to perform environment monitoring, has wider monitoring coverage, more accurate monitoring, low cost and simple structure, and is greatly convenient for workers to perform comprehensive monitoring.
Compared with the prior art, the invention utilizes the servo control subsystem to drive the plurality of radar multi-angle execution units to realize the modulation and control of the pitch angle and the horizontal direction of two or more radar signal receiving and transmitting devices in the multi-angle adjustable wide-area radar sensor equipment. The radar sensor can realize the multi-angle and adjust, is fit for unevenness's detection area, realizes the curve and detects, and detection area accords with the linear condition and the relief condition on actual scene, satisfies the high difficulty monitoring requirement that unevenness, curve detected appear in the detection area.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
It will be understood by those skilled in the art that the invention as novel as is herein described, including any specific details of the foregoing description, and any combination of parts illustrated in the accompanying drawings, is not limited to the details and/or arrangement of parts so described, nor is it intended to be exhaustive or to limit the invention to the precise form disclosed. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the new type of the present invention.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. The utility model provides an adjustable wide area radar sensor of multi-angle which characterized in that: the radar multi-angle execution system comprises an antenna assembly, a main control board, a fixed chassis, a first radar multi-angle execution unit and a second radar multi-angle execution unit, wherein the main control board, the first radar multi-angle execution unit and the second radar multi-angle execution unit are arranged on the fixed chassis; the antenna assembly is connected with the main control board, and the first radar multi-angle execution unit comprises a radar signal transceiving device, a first fixed support, a second fixed support, a rotary damper, a pitching angle adjuster and a horizontal angle adjuster; the rotary damper is arranged on the fixed chassis, the first fixed support and the second fixed support are respectively arranged on the rotary damper, one end of the radar signal receiving and transmitting device is connected with the first fixed support, the other end of the radar signal receiving and transmitting device is connected with the second fixed support, the pitching angle adjuster is arranged on the first fixed support, the output end of the pitching angle adjuster is connected with the radar signal receiving and transmitting device, the pitching angle adjuster is used for adjusting the pitching angle of the radar signal receiving and transmitting device, the horizontal angle adjuster is arranged on the fixed chassis, the output end of the horizontal angle adjuster is connected with the second fixed support, and the horizontal angle adjuster is used for adjusting the horizontal direction rotation angle of the radar signal receiving and transmitting device.
2. The multi-angle adjustable wide area radar sensor of claim 1, wherein: the radar signal receiving and transmitting device comprises a first fixing support, a second fixing support, a pitching angle adjuster, a radar signal receiving and transmitting device, a horizontal angle adjuster, a fixed chassis and a second fixing support, wherein the first fixing support is connected with the radar signal receiving and transmitting device through a universal shaft, the pitching angle adjuster is connected with the first fixing support through the universal shaft, the output end of the pitching angle adjuster is connected with the radar signal receiving and transmitting device through the universal shaft, the horizontal angle adjuster is connected with the fixed chassis through the universal shaft, and the output end of the horizontal angle adjuster is connected with the second fixing support through the universal shaft.
3. The multi-angle adjustable wide area radar sensor of claim 1, wherein: a vertical dial is arranged on one side, connected with the first fixing support, of the radar signal transceiver, so that the pitching angle of the radar signal transceiver can be measured; and a horizontal dial is arranged on the rotary damper to measure the rotation angle of the radar signal transceiver in the horizontal direction.
4. The multi-angle adjustable wide area radar sensor of claim 1, wherein: the second radar multi-angle execution unit has the same structure as the first radar multi-angle execution unit.
5. The multi-angle adjustable wide area radar sensor of claim 1, wherein: the antenna assembly comprises a communication antenna and a Beidou positioning and time service antenna, the communication antenna is a 4G or 5G communication antenna and is used for carrying out wireless communication with a client, and the Beidou positioning and time service antenna is used for communicating with a Beidou satellite and a ground receiving station.
6. The multi-angle adjustable wide area radar sensor of claim 1, wherein: the system also comprises a network connecting port, a power supply connecting port, a scavenging valve and a grounding port, wherein the network connecting port, the power supply connecting port, the scavenging valve and the grounding port are arranged on the main control board in parallel.
7. The multi-angle adjustable wide area radar sensor of claim 1, wherein: the pitching angle regulator is realized by adopting any one mode or a plurality of combination modes of a high-precision electric telescopic rod, a high-precision synchronous motor or a high-precision stepping motor; the horizontal angle regulator is realized by adopting any one mode or a plurality of combination modes of a high-precision electric telescopic rod, a high-precision synchronous motor or a high-precision stepping motor.
8. The multi-angle adjustable wide area radar sensor of any one of claims 1-7, wherein: still include the adjustable wide area radar sensor system of 5G multi-angle, the adjustable wide area radar sensor system of 5G multi-angle includes: the system comprises a servo control subsystem, a radar signal transmitting and receiving subsystem, a core processing subsystem, a coding and decoding input and output subsystem and a transmission communication subsystem, wherein the servo control subsystem, the core processing subsystem, the coding and decoding input and output subsystem and the transmission communication subsystem are integrated in a main control board, the radar signal transmitting and receiving subsystem is integrated in the radar signal transmitting and receiving device, and the radar signal transmitting and receiving subsystem comprises:
the coding and decoding input and output subsystem is bidirectionally connected with the system platform and is used for coding or decoding the data sent by the core processing control subsystem or the data sent by the transmission communication control subsystem according to a preset data format protocol; then the decoded data or the coded and encrypted data are respectively sent to the core processing subsystem or the transmission communication subsystem;
the core processing subsystem is used for receiving target data tracked and monitored from the radar signal transmitting and receiving subsystem, converting the target data and data information sent by the coding and decoding input and output subsystem into a control instruction, and sending the control instruction to the control subsystem so as to execute corresponding action or control command; processing and combining various data information collected by each port, transmitting the data information to the coding and decoding input and output subsystem, and transmitting the data information to a client remote control platform by the transmission communication subsystem for use by related personnel and equipment;
the control subsystem performs multi-angle adjustment on the radar signal receiving and transmitting device by adopting a manual adjustment or automatic adjustment mode:
(1) Automatic multi-angle adjustment mode: after the multi-angle adjustable wide area radar sensor receives an automatic adjusting instruction sent by a control platform, a core processing subsystem starts the automatic adjusting processing instruction, the core processing subsystem collects target data tracked and monitored in each radar signal transmitting and receiving subsystem, analyzes and processes the target data in real time and sends a control command to the control subsystem, the control subsystem sends the control command to a servo control subsystem, and the servo control subsystem adjusts the direction angle of the radar signal transmitting and receiving device by controlling the pitch angle adjuster and the horizontal angle adjuster;
(2) Manual multi-angle adjustment mode: the control platform sends a corresponding control instruction to the multi-angle adjusting radar sensor equipment, a transmission communication subsystem in the multi-angle adjusting radar sensor equipment receives command information and sends the command information to the coding and decoding input and output subsystem for analysis, the analyzed data are sent to the core processing subsystem for real-time analysis and processing, the processed control command is sent to the control subsystem, the control subsystem sends the control command to the servo control subsystem, and the servo control subsystem adjusts the direction angle of the radar signal transceiver by controlling the pitching angle adjuster and the horizontal angle adjuster;
the servo control subsystem includes: the first servo module is used for adjusting the direction angle of a radar signal transceiver in the first radar multi-angle execution unit according to an adjusting instruction from the control subsystem; and the second servo module is used for adjusting the direction angle of the radar signal transceiver in the second radar multi-angle execution unit according to the adjusting instruction from the control subsystem.
9. The multi-angle adjustable wide area radar sensor of claim 8,
the first servo module includes: the input end of the first radar sensor multi-angle adjusting control unit is connected with the control subsystem to receive a control command, the output end of the first radar sensor multi-angle adjusting control unit is connected with the input end of the first driving unit, and the output end of the first driving unit is connected with the input ends of a pitch angle adjuster and a horizontal angle adjuster in the first radar multi-angle execution unit, so that the first driving unit drives the pitch angle adjuster and the horizontal angle adjuster in the first radar multi-angle execution unit under the control of the first radar sensor multi-angle adjusting control unit;
the second servo module includes: the input end of the second radar sensor multi-angle adjusting control unit is connected with the control subsystem to receive a control command, the output end of the second radar sensor multi-angle adjusting control unit is connected with the input end of the second driving unit, and the output end of the second driving unit is connected with the input ends of the pitching angle adjuster and the horizontal angle adjuster in the second radar multi-angle execution unit to drive the pitching angle adjuster and the horizontal angle adjuster in the second radar multi-angle execution unit under the control of the second radar sensor multi-angle adjusting control unit.
10. The multi-angle adjustable wide area radar sensor of claim 9,
the first radar sensor multi-angle adjustment control unit includes: a pitching adjusting subunit and a horizontal adjusting subunit;
the first driving unit includes: two driving modules;
the pitching adjusting subunit is connected with a pitching angle adjuster in the first radar multi-angle execution unit through one driving module, and the horizontal adjusting subunit is connected with a horizontal angle adjuster in the first radar multi-angle execution unit through another driving module;
the second radar sensor multi-angle adjustment control unit includes: a pitching adjusting subunit and a horizontal adjusting subunit;
the second driving unit includes: two driving modules;
the pitching adjusting subunit is connected with a pitching angle adjuster in the second radar multi-angle execution unit through one driving module, and the horizontal adjusting subunit is connected with a horizontal angle adjuster in the second radar multi-angle execution unit through another driving module.
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