Raysight ultrahigh yaw monitor and double-shaft holder

Abstract

The utility model discloses a thunder vision superelevation yaw monitor and a double-shaft holder. The thunder vision superelevation yaw monitor comprises a laser radar, a yaw radar, a visual sensor, a main controller and the double-shaft holder. The laser radar and the visual sensor are arranged on a pitching platen of the double-shaft holder, and the laser radar and the visual sensor are located at the same horizontal position; the main controller is connected with the laser radar, the yaw radar, the visual sensor and a control module of the double-shaft holder. On the basis that the yaw radar scans the target object, whether the target object is a ship or not is further determined by using the visual sensor, and superelevation and yaw detection is carried out only when the target object is the ship, so that the false alarm rate is reduced; the azimuth of the laser radar is automatically adjusted according to the target object position detected by the yaw radar, the target ship is detected for multiple times, the detection rate is improved, and missing report is effectively prevented.

Description

Technical Field

[0001] The utility model belongs to the technical field of ultra-high yaw monitoring, and in particular relates to a laser-view ultra-high yaw monitoring instrument and a dual-axis pan / tilt platform. Background Art

[0002] In recent years, there have been frequent incidents of ships colliding with bridges, mainly due to ship deviation or superelevation. The direct cause is human factors, followed by constraints such as technology, natural environment, bridge design and navigation management. At present, the superelevation deviation detection technology on the market can be mainly divided into laser beam detection, laser cross detection, and laser three-dimensional scanning. These technologies are widely used in the field of bridge collision avoidance active warning, but they also have common shortcomings such as being easily affected by weather and environment, limited detection distance, and inability to perform multiple detections, as follows:

[0003] (1) Laser beam detection method: A laser rangefinder is fixedly installed at the super-altitude warning height on both sides of the navigation channel, and detection is performed using the laser rangefinder. The returned detection data is used to determine whether there is a super-high object. This method is easily affected by external factors such as weather, and because it relies on reflective measurement, the color and size of the measured object also become factors affecting the measurement. The defense line is single, and it is impossible to perform secondary detection of ship targets. The detection range is very likely to cause false alarms and missed alarms. The pole construction is difficult, the maintenance cost is high, and many departments are involved, communication and coordination are difficult, and only super-high detection can be performed.

[0004] (2) Laser cross detection method: Two laser superelevation detection devices are installed upstream and downstream of the bridge. The installation angles of the two laser superelevation detection devices are not parallel and form a certain angle. When the ship is superelevated, it will inevitably touch one of the laser beams during the ship's movement. At this time, the laser superelevation detection devices will receive the reflected signals in turn, thereby confirming that the ship is superelevated; real-time monitoring of the navigation height of passing ships will issue a danger alarm to superelevated ships entering the radiation area. This method is easily affected by external factors such as weather, and it is impossible to perform multiple inspections on ships. A single inspection is prone to missed reports. Laser detection has certain false alarms and may have false alarms, and can only perform superelevation detection.

[0005] (3) Laser 3D scanning detection method: It adopts non-repetitive scanning multi-line laser scanning method, with high scanning line center density. It is installed on the navigable contour surface, which is conducive to high-precision detection of ship height. Multi-line non-repetitive scanning has high precision and dense point cloud, but narrow field of view. It is installed on the CNC reciprocating rotating gimbal, and obtains the laser radar IMU (inertial measurement unit) data to calculate the angle of the current point cloud data in real time, and realizes a large field of view of 0-360 degrees through attitude fusion. The laser communicates with the host computer through the network. The acquired point cloud data can realize full-time real-time detection of all ships under a large field of view after attitude fusion and clustering. The three-dimensional data of the ship is obtained to realize yaw and super-height detection. The CNC gimbal adopts stepper motor or DD motor, and the reciprocating angle, speed and acceleration can be set by the host computer. This method has a narrow field of view and a short effective warning distance.

[0006] Existing laser cross-beam detection, laser cross-detection, and laser 3D scanning detection can only detect if a ship is too high, and can only be used for a single detection such as setting up a warning line, which may result in missed reports. Once a ship is too high and missed reports occur, a ship-bridge collision is very likely to occur, threatening the safety of ships, bridges, and waterways.

[0007] In the laser three-dimensional scanning detection method, the laser radar is usually installed on a two-axis motion mechanism (such as a two-axis gimbal). The stability and motion control accuracy of the two-axis motion mechanism affect the laser radar's yaw and ultra-high detection accuracy. Utility Model Content

[0008] The purpose of the utility model is to provide a Lei Shi ultra-altitude yaw monitor and a dual-axis gimbal to solve the problems of poor stability and motion control accuracy of traditional dual-axis motion mechanisms, resulting in poor detection accuracy of ultra-altitude yaw monitors, and false alarms and missed alarms in traditional ultra-altitude yaw monitors.

[0009] The utility model solves the above technical problems through the following technical solutions: a dual-axis pan-tilt platform for a radar-viewing ultra-high yaw monitor, comprising a base, a rotating platform, a rotating support, a first bottom plate, a second bottom plate, an arc swing platform, a pitch platform and a control module; the rotating platform is fixedly arranged on the base, the rotating support is fixedly arranged on the rotating platform, the first bottom plate is sleeved on the rotating support, the second bottom plate is arranged on the top of the rotating support and is parallel to the first bottom plate, the arc swing platform is fixedly arranged on the second bottom plate, and the pitch platform is fixedly arranged on the arc swing platform;

[0010] The control module is electrically connected to the driving mechanisms of the rotating table and the arc swing table respectively.

[0011] The dual-axis pan-tilt platform of the utility model, under the action of the control module, the rotating table rotates in the horizontal direction, driving the second base plate, the arc swing table and the pitch table to rotate, thereby driving the detection equipment arranged on the pitch table to rotate; under the action of the control module, the arc swing table performs a pitch motion, driving the pitch table and the detection equipment on the pitch table to perform a pitch motion, thereby realizing the movement of the detection equipment in the horizontal and pitch directions, and the dual-axis pan-tilt platform has higher stability and motion control accuracy.

[0012] Furthermore, an inclination sensor electrically connected to the control module is embedded in the arc swing table.

[0013] Furthermore, the tilt sensor is connected to the control module via an RS485 interface.

[0014] Furthermore, an oil seal and an oil seal baffle are sleeved on the rotation support between the first bottom plate and the second bottom plate.

[0015] Based on the same concept, the utility model also provides a laser vision ultra-altitude yaw monitor, including a laser radar, a yaw radar, a visual sensor, a main controller and the dual-axis gimbal as described above; the laser radar and the visual sensor are arranged on the pitch platform of the dual-axis gimbal, and the laser radar and the visual sensor are located at the same horizontal position; the main controller is respectively connected to the laser radar, the yaw radar, the visual sensor and the control module of the dual-axis gimbal.

[0016] The utility model discloses a laser vision ultra-altitude yaw monitor, in which the yaw radar is in a scanning state, and when the yaw radar scans a target object, the position of the target object is identified, and a main controller sends a control instruction to a control module according to the position of the target object, and the control module controls the rotation table and the arc swing table of the dual-axis pan-tilt according to the control instruction, so that the laser radar and the visual sensor arranged on the pitch table are directed to the target object, and the visual sensor collects the image of the target object, and determines whether the target object is a ship according to the collected image; when the target object is not a ship, the target object is marked as a non-ship, and the dual-axis pan-tilt is controlled to reset; when the target object is a ship, the laser radar performs ultra-altitude detection on the target object, and the yaw radar performs yaw monitoring on the target object.

[0017] The ultra-altitude and yaw monitor uses a visual sensor to further confirm whether the target object is a ship based on the target object scanned by the yaw radar. Ultra-altitude and yaw detection is performed only when the target object is a ship, thereby reducing the false alarm rate. The position of the laser radar is automatically adjusted according to the position of the target object detected by the yaw radar, and the target ship is detected multiple times, thereby improving the detection rate and effectively preventing missed alarms.

[0018] Furthermore, the laser radar, visual sensor and heading radar are all connected to the main controller via an RJ45 interface, and the control module is connected to the main controller via an RS485 interface.

[0019] Furthermore, the ultra-high yaw monitor also includes a switch and a client, and the client is connected to the main controller via the switch.

[0020] Furthermore, a power supply module and a radar bracket are provided below the base of the dual-axis gimbal, and the yaw radar is provided on the radar bracket.

[0021] Furthermore, a heat dissipation base plate is provided below the power module, and the main controller is arranged on the heat dissipation base plate.

[0022] Beneficial Effects

[0023] Compared with the prior art, the advantages of the utility model are:

[0024] The utility model provides a dual-axis pan-tilt platform, which utilizes a rotating platform to realize the rotation of the detection equipment (laser radar and visual sensor) on the pitch platform in the horizontal direction, and utilizes an arc swing platform to realize the movement of the detection equipment on the pitch platform in the pitch direction. The dual-axis pan-tilt platform has higher stability and motion control accuracy, and improves the detection accuracy of the ultra-high yaw monitor.

[0025] An inclination sensor is embedded in the arc swing table, and the action of the arc swing table is controlled according to the angle value collected by the inclination sensor, thus realizing automatic leveling of the dual-axis pan-tilt head, thereby realizing automatic leveling of the detection equipment, simplifying the installation and leveling work of the detection equipment, and at the same time, it can adaptively adjust the offset of the detection equipment caused by bad weather or bridge vibration, thus avoiding deviation of the detection results, improving the detection accuracy and reducing maintenance costs.

[0026] The utility model provides a laser-visual ultra-altitude and yaw monitor, which, based on the yaw radar scanning the target object, further uses a visual sensor to confirm whether the target object is a ship, and only performs ultra-altitude and yaw detection when the target object is a ship, thereby reducing the false alarm rate; the azimuth of the laser radar is automatically adjusted according to the position of the target object detected by the yaw radar, and the target ship is detected multiple times, thereby improving the detection rate and effectively preventing missed reports. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solution of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only one embodiment of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 It is a schematic diagram of the structure of a dual-axis pan / tilt head in an embodiment of the utility model;

[0029] Figure 2 It is a structural schematic diagram of a radar-based ultra-high yaw monitor in an embodiment of the utility model;

[0030] Figure 3 It is a structural block diagram of the ultra-high yaw monitor of the laser vision in the embodiment of the utility model;

[0031] Figure 4 It is a working flow chart of the radar ultra-high yaw monitor in the embodiment of the utility model.

[0032] Explanation of the accompanying drawings: 1-dual-axis gimbal, 101-base, 102-rotating table, 103-first bottom plate, 104-second bottom plate, 105-arc swing table, 106-pitch table, 107-oil seal, 108-oil seal baffle, 109-rotating support, 2-tilt sensor, 3-laser radar, 4-camera, 5-yaw radar, 6-main controller, 7-power module, 8-radar bracket, 9-heat dissipation base plate. DETAILED DESCRIPTION

[0033] The following is a clear and complete description of the technical solution in the utility model in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0034] The technical solution of the present application is described in detail with specific embodiments below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0035] Example 1

[0036] The embodiment of the utility model provides a dual-axis gimbal 1 for a radar-vision ultra-high yaw monitor, wherein the dual axes refer to a pitch axis and a horizontal axis. Figure 1As shown, the dual-axis pan-tilt head 1 includes a base 101, a rotating table 102, a rotating support 109, a first bottom plate 103, a second bottom plate 104, an arc swing table 105, a pitch table 106 and a control module; the rotating table 102 is fixedly arranged on the base 101, the rotating support 109 is fixedly arranged on the rotating table 102, the first bottom plate 103 is sleeved on the rotating support 109, the second bottom plate 104 is arranged on the top of the rotating support 109 and is parallel to the first bottom plate 103, the arc swing table 105 is fixedly arranged on the second bottom plate 104, and the pitch table 106 is fixedly arranged on the arc swing table 105; the control module is electrically connected to the driving mechanisms of the rotating table 102 and the arc swing table 105 respectively.

[0037] The arc swing table 105 is used for movement in the pitch direction, and the rotating table 102 is used for rotation in the horizontal direction. Under the action of the control module, the rotating table 102 rotates in the horizontal direction, driving the second bottom plate 104, the arc swing table 105 and the pitch table 106 to rotate (the first bottom plate 103 and the base 101 remain stationary), thereby driving the detection equipment arranged on the pitch table 106 to rotate; under the action of the control module, the arc swing table 105 performs a pitch movement, driving the pitch table 106 and the detection equipment on the pitch table 106 to perform a pitch movement (the first bottom plate 103, the second bottom plate 104, the rotating table 102 and the base 101 remain stationary); the actions of the rotating table 102 and the arc swing table 105 realize the movement of the detection equipment in the horizontal direction and the pitch direction, and the dual-axis gimbal 1 has higher stability and motion control accuracy.

[0038] In a specific implementation of the present invention, a tilt sensor 2 electrically connected to the control module is embedded in the arc swing table 105 .

[0039] The inclination sensor 2 is used to detect the inclination angle of the arc swing table 105. Before the detection equipment performs yaw and / or superelevation detection, the control module controls the movement of the arc swing table 105 according to the angle value collected by the inclination sensor 2, so that the arc swing table 105 and the pitch table 106 are in a horizontal zero position, thereby realizing automatic leveling of the detection equipment, greatly simplifying the installation and leveling work of the detection equipment, and at the same time, it can adaptively adjust the offset of the detection equipment caused by bad weather or bridge deck vibration, thereby avoiding deviation in the detection results, improving detection accuracy, and reducing maintenance costs.

[0040] In this embodiment, the inclination sensor 2 is a single-axis inclination sensor with a built-in high-precision 24-bit A / D differential converter, a measurement range of 180°, and a full-scale accuracy of 0.01°; the single-axis inclination sensor is connected to the control module via an RS485 interface.

[0041] In a specific embodiment of the present invention, an oil seal 107 and an oil seal baffle 108 are also provided on the rotating support 109 between the first base plate 103 and the second base plate 104 to prevent the infiltration of mud, dust, moisture, etc. and limit the leakage of lubricating oil.

[0042] Example 2

[0043] like Figure 2 and 3 As shown, a laser vision ultra-altitude yaw monitor provided by an embodiment of the utility model includes a laser radar 3, a yaw radar 5, a visual sensor, a main controller 6 and a dual-axis gimbal 1 as described in Example 1; the laser radar 3 and the visual sensor are arranged on the pitch platform 106 of the dual-axis gimbal 1, and the laser radar 3 and the visual sensor are located at the same horizontal position; the main controller 6 is respectively connected to the laser radar 3, the yaw radar 5, the visual sensor and the control module of the dual-axis gimbal 1.

[0044] In this embodiment, the laser radar 3, the visual sensor and the heading radar 5 are all connected to the main controller 6 via an RJ45 interface, and the control module is connected to the main controller 6 via an RS485 interface. The visual sensor of this embodiment is a camera 4.

[0045] The laser radar 3 uses a long-distance ranging laser radar with a wavelength of 1535nm / 1550nm band, an effective measurement distance of 5m to 2000m, and a measurement frequency of 1000HZ. The laser radar 3 and the camera 4 are both arranged on the pitching platform 106 and fixed at the same horizontal position. The scanning data of the yaw radar 5 is used as a guide for the target object. By controlling the movement of the dual-axis pan-tilt platform 1 in the horizontal and pitch directions, the laser radar 3 is directed toward the target object and multiple superelevation measurements of the target ship can be performed. The laser radar 3 detects the distance of the target object through the laser point to realize superelevation detection. The laser radar 3 supports setting the ranging range and can shield interference data outside the ranging range.

[0046] The yaw radar 5 uses a 24GHz ISM band wide-beam surface monitoring radar and low-power FMCW modulation technology, which can filter 99.999% of water clutter and adapt to various severe weather conditions such as rain, snow, fog, haze, and strong winds; the yaw radar 5 has an effective detection distance of 3,000 meters and can track 128 targets at the same time, meeting the needs of various bridges such as small bridges, medium bridges, large bridges, and extra-large bridges, as well as cross-river and cross-sea scenarios. The yaw radar 5 is in a stationary state during normal use and does not rotate with the dual-axis gimbal 1. The pitch angle supports manual adjustment. After the yaw radar 5 scans the target, the real-time position of the target is tracked and detected by the yaw radar 5, and the yaw is determined based on the navigation area drawn according to the real-time position of the target.

[0047] Camera 4 is equipped with a high-definition network intelligent movement, 44x optical zoom, 120dB wide dynamic, supports super starlight-level low illumination, has excellent monitoring effects under weak light conditions, and is adaptive to fog penetration. Camera 4 can adaptively adjust the fog penetration level according to the severity of haze to adapt to the needs of scenes such as rain, fog, haze, and night.

[0048] The main controller 6 includes hardware resources such as CPU, ROM, RAM, crystal oscillator, power supply, LED, etc. It has a built-in high-computing chip to provide sufficient computing power for image AI analysis and support intelligent identification of ships, birds, floating objects, etc. The CPU uses a quad-core ARM processor, supports deep fusion of video targets and radar targets, mutual verification, and reduces false alarms of ultra-high yaw of the equipment.

[0049] like Figure 4 As shown, the specific working process of the ultra-high yaw monitor of the utility model is as follows: start the power supply, the laser radar 3, the yaw radar 5 and the camera 4 are started, at which time the laser radar 3 and the camera 4 are in a standby state, and the yaw radar 5 is in a scanning state; when the yaw radar 5 scans the target object, the target object position is identified, and the target object position identified by the yaw radar 5 provides target guidance for the laser radar 3 and the camera 4, and the main controller 6 sends a control instruction to the control module according to the target object position, and the control module controls the rotating table 102 and the rotating table 103 of the dual-axis gimbal 1 according to the control instruction. The arc swing table 105 moves, so that the laser radar 3 and camera 4 installed on the pitch platform 106 point to the target object; the camera 4 collects the image of the target object, and performs AI recognition on the collected image to determine whether the target object is a ship; when the target object is not a ship, the target object is marked as a non-ship, and the dual-axis gimbal 1 is controlled to reset; when the target object is a ship, the laser radar 3 performs ultra-altitude detection on the target object, and the yaw radar 5 performs yaw monitoring on the target object; the camera 4 captures the yawed and ultra-altitude ships, and saves the captured images or videos for easy trajectory playback and subsequent disposal.

[0050] In another embodiment of the present invention, the main controller 6 and the control module of the dual-axis pan-tilt head 1 are combined into one, and only the main controller 6 is used, and the control module is eliminated. The main controller 6 is electrically connected to the driving mechanism and the inclination sensor 2 of the rotating table 102 and the arc swing table 105 respectively.

[0051] In a specific embodiment of the present invention, the Leishi ultra-high yaw monitor also includes a switch and a client, and the client is connected to the main controller 6 through the switch. The main controller 6 and the camera 4 have two independent IP addresses, which are connected to the switch through two network cables, and read and write control is performed with the matching client through the network protocol.

[0052] like Figure 2As shown, in a specific embodiment of the present utility model, a power module 7 and a radar bracket 8 are provided below the base 101 of the dual-axis gimbal 1, and the yaw radar 5 is provided on the radar bracket 8. A heat dissipation base plate 9 is provided below the power module 7, and the main controller 6 is provided on the heat dissipation base plate 9. The power module 7 is used to power the ultra-high yaw monitor, and the heat dissipation base plate 9 can realize the heat dissipation of the ultra-high yaw monitor.

[0053] The laser vision ultra-altitude yaw monitor of the utility model integrates ultra-altitude detection, yaw detection, and snapshot evidence collection, and has an automatic leveling function, which solves the problem of false alarms caused by equipment offset due to improper equipment installation, bad weather or bridge deck vibration, and reduces installation and maintenance costs; on the basis of the yaw radar scanning the target object, the camera is used to further confirm whether the target object is a ship. Only when the target object is a ship, ultra-altitude and yaw detection is performed, thereby preventing ultra-altitude yaw false alarms caused by non-ships and reducing the false alarm rate of ultra-altitude yaw; the azimuth of the laser radar is automatically adjusted according to the position of the target object detected by the yaw radar, and the target ship is detected multiple times, which improves the detection rate and effectively prevents missed reports.

[0054] The improvement of the radar-visual ultra-elevation and yaw monitor of the utility model is that the ultra-elevation and yaw detection of the target ship is performed by using yaw radar + laser radar + camera + dual-axis pan-tilt head. The computer programs involved in the yaw detection by yaw radar, the ultra-elevation detection by laser radar and the recognition of the target object by camera are existing programs. For details, please refer to the patent document with publication number CN115273554A and the name of a bridge anti-collision warning system. The utility model does not involve the improvement of the computer program.

[0055] The above disclosure is only a specific implementation method of the utility model, but the protection scope of the utility model is not limited thereto. Any technician familiar with the technical field can easily think of changes or modifications within the technical scope disclosed in the utility model, which should be included in the protection scope of the utility model.

Claims

1. A dual-axis gimbal for a radar-assisted ultra-high yaw monitor, characterized in that: The dual-axis gimbal comprises a base, a rotating platform, a rotating support, a first bottom plate, a second bottom plate, an arc swing platform, a pitch platform plate and a control module; the rotating platform is fixedly arranged on the base, the rotating support is fixedly arranged on the rotating platform, the first bottom plate is sleeved on the rotating support, the second bottom plate is arranged on the top of the rotating support and is parallel to the first bottom plate, the arc swing platform is fixedly arranged on the second bottom plate, and the pitch platform plate is fixedly arranged on the arc swing platform; The control module is electrically connected to the driving mechanisms of the rotating table and the arc swing table respectively.

2. The dual-axis pan / tilt head according to claim 1, characterized in that: An inclination sensor electrically connected to the control module is embedded in the arc swing table.

3. The dual-axis pan / tilt head according to claim 2, characterized in that: The tilt sensor is connected to the control module via an RS485 interface.

4. The dual-axis pan / tilt head according to any one of claims 1 to 3, characterized in that: An oil seal and an oil seal baffle are also sleeved on the rotation support between the first bottom plate and the second bottom plate.

5. A radar-based ultra-high yaw monitor, characterized in that: It includes a laser radar, a yaw radar, a visual sensor, a main controller and a dual-axis gimbal as described in any one of claims 1 to 4; the laser radar and the visual sensor are arranged on the pitch platform of the dual-axis gimbal, and the laser radar and the visual sensor are located at the same horizontal position; the main controller is respectively connected to the laser radar, the yaw radar, the visual sensor and the control module of the dual-axis gimbal.

6. The ultra-high-altitude yaw monitor according to claim 5 is characterized in that: The laser radar, visual sensor and heading radar are all connected to the main controller via an RJ45 interface, and the control module is connected to the main controller via an RS485 interface.

7. The ultra-high-altitude yaw monitor according to claim 5 is characterized in that: The Leishi ultra-altitude yaw monitor also includes a switch and a client, and the client is connected to the main controller via the switch.

8. The ultra-high-altitude yaw monitor according to any one of claims 5 to 7, characterized in that: A power supply module and a radar bracket are provided below the base of the dual-axis gimbal, and the yaw radar is provided on the radar bracket.

9. The ultra-high-altitude yaw monitor according to claim 8, characterized in that: A heat dissipation base plate is provided below the power module, and the main controller is provided on the heat dissipation base plate.

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