Camera and Millimeter-Wave Radar Integrated Device for Agricultural Machinery Operation Environment Perception

Abstract

The present invention provides a camera and millimeter-wave radar integrated device for agricultural machinery operation environment perception, which includes an integrated mounting bracket, a camera system, and a radar system. Both the camera system and the radar system are arranged on the integrated mounting bracket. The camera system includes a camera horizontal viewing unit and a camera downward viewing unit, and at least one of the camera horizontal viewing unit and the camera downward viewing unit is arranged on the integrated mounting bracket. The radar system includes a radar flush-mounted unit and a radar vertically-mounted unit, and at least one of the radar flush-mounted unit and the radar vertically-mounted unit is arranged on the integrated mounting bracket. And a bottom plate sensing station for detachably mounting the camera horizontal viewing unit, the camera downward viewing unit, the radar flush-mounted unit or the radar vertically-mounted unit is arranged on the integrated mounting bracket. It can be freely combined, and the relative positional relationship between sensors is relatively fixed on the integrated mounting bracket, which helps to improve the accuracy of the subsequent multi-sensor information fusion processing result and has high applicability.

Description

Technical Field

[0001] The present invention relates to the field of modern agricultural technologies, and specifically, to a camera and millimeter-wave radar integrated device for agricultural machinery operation environment perception. Background Art

[0002] Environment perception is the basis for realizing autonomous navigation operation of agricultural machinery. Cameras and millimeter-wave radars are environment perception sensors suitable for the agricultural machinery operation environment. The two are often used in combination and based on multi-sensor information fusion processing to obtain the shape and distance of the detection target and make a perception conclusion.

[0003] Starting from the perception mechanism, the cameras are installed in two ways: horizontal and vertical. The millimeter-wave radars are installed in two ways: flat and vertical. Among them, the flat installation of the millimeter-wave radar is further divided into two rotation directions: left and right. Two millimeter-wave radars installed in different rotation directions can form an external rotation and an internal rotation pair of millimeter-wave radars. In different environment perceptions, the number, installation method, and mutual position relationship of the selected cameras and millimeter-wave radars are different.

[0004] Therefore, the requirements for farmland environment perception based on multi-sensor information fusion can install different forms of cameras and millimeter-wave radars, which not only require reliable self-installation, but also require ensuring the relative positions between the sensors to ensure the accuracy of the subsequent information fusion processing results.

[0005] The existing Chinese patent with the publication number CN212781778U discloses an intelligent vehicle based on visual SLAM, including a chassis. An integrated cabin is arranged above the chassis, and a vehicle-mounted host carrying a visual SLAM system is arranged in the integrated cabin; depth cameras are arranged in front of and behind the integrated cabin, and the depth cameras are connected to the vehicle-mounted host. The cameras collect image information of the environment around the intelligent vehicle and transmit it to the vehicle-mounted host; a lidar and a millimeter-wave radar are arranged on the top cover of the integrated cabin. The lidar and the millimeter-wave radar are connected to the vehicle-mounted host for ranging and obstacle avoidance of the intelligent vehicle and transmitting the detected information to the vehicle-mounted host; the vehicle-mounted host constructs a map according to the received information.

[0006] The inventor believes that in the prior art, the cameras and millimeter-wave radars are respectively fixedly installed on the vehicle body, which is difficult to adjust and has poor applicability, and there are areas for improvement. Summary of the Invention

[0007] Aiming at the defects in the prior art, the purpose of the present invention is to provide a camera and millimeter-wave radar integrated device for agricultural machinery operation environment perception.

[0008] A camera and millimeter-wave radar integrated device for agricultural machinery operation environment perception provided by the present invention includes an integrated mounting bracket, a camera system, and a radar system. Both the camera system and the radar system are arranged on the integrated mounting bracket. The camera system includes a camera horizontal viewing unit and a camera downward viewing unit, and at least one of the camera horizontal viewing unit and the camera downward viewing unit is arranged on the integrated mounting bracket. The radar system includes a radar flat mounting unit and a radar vertical mounting unit, and at least one of the radar flat mounting unit and the radar vertical mounting unit is arranged on the integrated mounting bracket. And a bottom plate sensing station for detachably mounting the camera horizontal viewing unit, the camera downward viewing unit, the radar flat mounting unit, or the radar vertical mounting unit is arranged on the integrated mounting bracket.

[0009] Preferably, the integrated mounting bracket includes a mounting bottom plate and a connecting screw. The connecting screw passes through the mounting bottom plate and is fixedly connected to it through a nut, and the bottom plate sensing station is arranged on the mounting bottom plate.

[0010] Preferably, the bottom plate sensing station includes a left bottom plate mounting hole, a middle bottom plate mounting hole, a right bottom plate mounting hole, and a bottom plate limiting hole. The left bottom plate mounting hole, the right bottom plate mounting hole, and the middle bottom plate mounting hole are all through holes on the upper and lower surfaces of the mounting bottom plate, and the left bottom plate mounting hole and the right bottom plate mounting hole are symmetric about the middle bottom plate mounting hole. The bottom plate limiting hole is a through hole arranged on the adjacent side surface of the mounting bottom plate to its upper and lower surfaces.

[0011] Preferably, the camera horizontal viewing unit includes a camera and a horizontal viewing limiting block. A first mounting hole corresponding to the bottom plate sensing station is arranged on the camera horizontal viewing limiting block. The horizontal viewing limiting block is fixedly connected to the integrated mounting bracket through the first mounting hole and the bottom plate sensing station by cooperation of bolts and nuts. The camera is arranged on the bottom plate sensing station, and the camera is in contact and cooperation with the horizontal viewing limiting block.

[0012] Preferably, the camera downward viewing unit includes a camera, a downward viewing limiting block, and a downward viewing base. A second mounting hole corresponding to the bottom plate sensing station is arranged on the downward viewing limiting block. The downward viewing limiting block is fixedly connected to the integrated mounting bracket through the second mounting hole and the bottom plate sensing station by cooperation of bolts and nuts. The downward viewing base is arranged on the upper side of the bottom plate mounting station. The upper surface of the downward viewing base is inclined, and the camera is arranged on the upper surface of the downward viewing base. The camera is in contact and cooperation with the downward viewing limiting block.

[0013] Preferably, both the radar flat mounting unit and the radar vertical mounting unit include a radar assembly. The radar assembly includes a millimeter-wave radar and a radar holder, and the radar holder clamps the millimeter-wave radar.

[0014] Preferably, the radar flat-mounted unit also includes a radar rotation direction limit block; a third mounting hole corresponding to the bottom plate sensing station is provided on the radar rotation direction limit block, and the radar rotation direction limit block is fastened to the integrated mounting bracket by means of the third mounting hole and the bottom plate sensing station through bolts and nuts; the radar component is rotatably installed at the bottom plate sensing station of the integrated mounting bracket, and the radar rotation direction limit block limits the rotation of the radar component.

[0015] Preferably, the radar rotation direction limiting block comprises a limiting surface, the limiting surface is inclined on the mounting surface of the integrated mounting bracket, and the radar component is in contact with the limiting surface.

[0016] Preferably, the limiting surface includes a mounting surface of the integrated mounting bracket that is inclined from left to right and / or from right to left.

[0017] Preferably, the radar vertical mounting unit also includes a radar vertical mounting base, and a fourth mounting hole of a threaded through hole corresponding to the bottom plate sensing station is arranged on the radar vertical mounting base; bolts are respectively connected to the fourth mounting hole through the bottom plate mounting left hole and the bottom plate mounting right hole of the bottom plate sensing station, and the radar vertical mounting base is installed on the upper surface of the bottom plate sensing station, and the radar assembly is arranged on the radar vertical mounting base.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. The present invention realizes the detachable installation of the camera head-up unit, the camera head-down unit, the radar flat-mounted unit and the radar vertical-mounted unit by using the bottom plate sensing station on the integrated mounting bracket, and enables them to be freely combined, and the relative position relationship between the sensors is relatively fixed on the integrated mounting bracket, which helps to improve the accuracy of the subsequent multi-sensor information fusion processing results and has high applicability;

[0020] 2. The present invention helps to improve the stability of the camera head-up unit, the camera head-down unit, the radar flat-mounted unit and the radar vertical-mounted unit by constraining and fixing them in all directions, which is suitable for farmland operation environment;

[0021] 3. The present invention loads a camera head-up unit, a camera head-down unit, a radar flat-mounted unit and a radar vertical-mounted unit through an integrated mounting bracket, and can be installed and combined with any agricultural machinery, thereby improving its applicability and flexibility of use. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0023] Figure 1This is a schematic diagram mainly showing the combination of the camera horizontal unit and the radar flush-mounted unit on the integrated mounting bracket of the present invention;

[0024] Figure 2 This is a schematic diagram mainly showing the combination of the camera overhead unit and the radar vertical-mounted unit on the integrated mounting bracket of the present invention

[0025] Figure 3 This is an exploded schematic diagram mainly showing the camera horizontal unit of the present invention;

[0026] Figure 4 This is an exploded schematic diagram mainly showing the camera overhead unit of the present invention;

[0027] Figure 5 This is an exploded schematic diagram mainly showing the radar flush-mounted unit of the present invention;

[0028] Figure 6 This is an exploded schematic diagram mainly showing the radar vertical-mounted unit of the present invention.

[0029] As shown in the figure:

[0030] Specific embodiments

[0031] The present invention will be described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several changes and improvements can still be made. These all belong to the protection scope of the present invention.

[0032] Example 1

[0033] As Figure 1 shown, a camera and millimeter-wave radar integrated device for agricultural machinery operation environment perception provided by the present invention includes an integrated mounting bracket 1, a camera system, and a radar system. Both the camera system and the radar system are installed on the integrated mounting bracket 1.

[0034] As Figure 1 and Figure 2 shown, the camera system includes: a camera horizontal unit 2 and a camera overhead unit 3; the radar system includes: a radar flush-mounted unit 4 and a radar vertical-mounted unit 5. A bottom plate sensing station 6 for detachably installing the camera horizontal unit 2, the camera overhead unit 3, the radar flush-mounted unit 4, or the radar vertical-mounted unit 5 is provided on the integrated mounting bracket 1. The camera horizontal unit 2, the camera overhead unit 3, the radar flush-mounted unit 4, and the radar vertical-mounted unit 5 can be freely installed on the bottom plate sensing station 6 on the integrated mounting bracket 1 to form different combinations of the camera system and the radar system, thereby improving the flexibility and applicability of the integrated device.

[0035] The integrated mounting bracket 1 includes a mounting base plate 7 and a connecting screw 8. The mounting base plate 7 is a flat strip, and three base plate sensing stations 6 are arranged on the mounting base plate 7 according to the requirements of the horizontal mounting sensor spacing. The connecting screw 8 vertically passes through the mounting base plate 7 and is fixedly connected to it through a nut. The length of the connecting screw 8 depends on the vertical spacing requirements of adjacent sensors in the vertical direction.

[0036] There are two mounting base plates 7. The two ends of the connecting screw 8 respectively pass through the two mounting base plates 7 that need to be connected in the vertical direction, and the front and rear nuts are locked after determining the vertical distance between the two mounting base plates 7. In order to improve the overall stability of the integrated mounting bracket 1, two connecting screws 8 are symmetrically installed in the middle of the two mounting base plates 7 in the length direction of the mounting base plate 7.

[0037] The base plate sensing station 6 includes a left base plate mounting hole 9, a middle base plate mounting hole 10, a right base plate mounting hole 11, and a base plate limiting hole 12; the left base plate mounting hole 9, the right base plate mounting hole 11, and the middle base plate mounting hole 10 are all through holes on the upper and lower surfaces of the mounting base plate 7, and the left base plate mounting hole 9 and the right base plate mounting hole 11 are symmetric about the middle base plate mounting hole 10. The base plate limiting hole 12 is a through hole provided on the front and rear surfaces of the mounting base plate 7, and two base plate limiting holes 12 are symmetrically opened about the middle base plate mounting hole 10.

[0038] There are a total of six base plate sensing stations 6 on the two mounting base plates 7. The camera horizontal viewing unit 2, the camera downward viewing unit 3, the radar flat mounting unit 4, and the radar vertical mounting unit 5 are all detachably mounted on the base plate sensing stations 6 in a unified form, which improves the installation convenience. And the inventor believes that the number of the mounting base plates 7 and the connecting screws 8 can be increased or decreased according to the actual working conditions, and the number of the camera system and the radar system can also be freely matched according to the requirements.

[0039] Example 2

[0040] As Figure 3 shown, for a camera and millimeter-wave radar integrated device for agricultural machinery operation environment perception according to Embodiment 1, the camera horizontal viewing unit 2 includes a camera and a horizontal viewing limiting block 13. The horizontal viewing limiting block 13 is a right-angled L-shaped part, and a pair of through holes, namely first mounting holes 14, are opened on its long side. The short side extends out of the front end face to be a plane parallel to the long side face. The camera is a camera with threaded mounting holes on its lower surface and an imaging surface parallel to its rear surface.

[0041] Two bolts respectively pass through the two first mounting holes 14 of the horizontal viewing limiting block 13 and the two base plate limiting holes 12 of the base plate sensing station 6 to mount the horizontal viewing limiting block 13 on the rear surface of the base plate sensing station 6.

[0042] The bolt passes through the mounting hole 10 in the bottom plate of the bottom plate sensing station 6 to connect with the mounting hole on the lower surface of the camera, and the camera is fixed on the upper surface of the bottom plate sensing station 6. And the rear surface of the camera is in reliable contact with the front end surface of the short side of the horizontal viewing limit block 13, thereby restricting the left - right swing of the camera. Thus, the horizontal installation of the camera is achieved.

[0043] Example 3

[0044] As Figure 4 shown, according to the camera and millimeter - wave radar integrated device for agricultural machinery operation environment perception in Embodiment 1, the camera overhead unit 3 includes a camera, an overhead limit block 15, and an overhead base 16. The camera is a camera with threaded mounting holes on the lower surface and the rear surface parallel to the imaging surface.

[0045] The upper surface of the overhead base 16 is inclined, and the upper surface of the overhead base 16 forms a set overhead viewing angle with the lower surface. There are a pair of threaded through - holes perpendicular to the lower surface, namely overhead mounting holes, on the lower surface of the overhead base 16, and there is a threaded through - hole perpendicular to the upper surface, namely the camera mounting hole, on the upper surface. Two bolts respectively pass through the left bottom plate mounting hole 9 and the right bottom plate mounting hole 10 of the bottom plate sensing station 6 to connect with the overhead mounting holes on the lower surface of the overhead base 16, and the overhead base 16 is mounted on the upper surface of the bottom plate sensing station 6. A double - headed bolt is used to connect the mounting hole on the lower surface of the camera and the camera mounting hole on the upper surface of the overhead base 16 to fix the camera on the upper surface of the overhead base 16.

[0046] The overhead limit block 15 is a right - angled L - shaped part. A pair of through - holes, namely the second mounting holes (22), are opened on the long side, and the front end surface of the short side is a semi - cylindrical surface parallel to the long side surface. The overhead limit block 15 is firmly connected to the integrated mounting bracket 1 by bolts and nuts through the second mounting holes (22) and the bottom plate limit holes 12 of the bottom plate sensing station 6. The locking of the nut makes the front end surface of the short side of the overhead limit block 15 contact the rear surface of the camera, thereby restricting the left - right swing of the camera.

[0047] The inventor believes that the overhead viewing angle on the overhead base 16 can set its inclination angle according to the actual working conditions.

[0048] Example 4

[0049] As Figure 5 shown, according to the camera and millimeter - wave radar integrated device for agricultural machinery operation environment perception in Embodiment 1, the radar flush - mounted unit 4 includes a radar assembly 17 and a radar rotation - direction limit block 18. The radar assembly 17 includes a millimeter - wave radar and a radar holder. The radar holder clamps the millimeter - wave radar, and there are a back mounting screw hole and a lower - end mounting screw hole on the back and the lower end of the radar holder respectively.

[0050] The bolt passes through the bottom plate mounting hole 10 of the bottom plate sensing station 6 and is connected to the lower end mounting screw hole of the radar holder, and the radar assembly 17 is rotatably mounted on the upper surface of the bottom plate sensing station 6.

[0051] The radar rotation direction limiting block 18 is a right-angled L-shaped part. There is a pair of through holes, namely the third mounting holes 19, on the long side. The short side extends forward with a plane that forms a certain angle with the long side surface, which is the limiting surface. This angle is the radar rotation direction angle. Bolts respectively pass through the two third mounting holes 19 of the radar rotation direction limiting block 18 and the two bottom plate limiting holes 12 of the bottom plate sensing station 6, and the radar rotation direction limiting block 18 is mounted on the rear surface of the bottom plate sensing station 6.

[0052] Nut locking makes the limiting surface of the short side extending forward of the radar rotation direction limiting block 18 in reliable contact with the rear surface of the radar assembly 17 and restricts the left-right rotation of the radar assembly 17. At this time, the radar rotation direction angle of the radar rotation direction limiting block 18 causes an angular difference between the radar assembly 17 and the bottom plate sensing station 6 in the front-rear direction.

[0053] The inventor believes that the radar rotation direction angle on the limiting surface includes tilting from left to right or from right to left on the mounting surface of the integrated mounting bracket 1, thereby forming the left rotation and right rotation of the radar flat mounting unit 4.

[0054] Example 5

[0055] As Figure 6 shown, in a camera and millimeter-wave radar integrated device for agricultural machinery operation environment perception according to Embodiment 1, the radar vertical mounting unit 5 all includes a radar assembly 17 and a radar vertical mounting base 20. The radar assembly 17 includes a millimeter-wave radar and a radar holder. The radar holder holds the millimeter-wave radar, and there are a back mounting screw hole and a lower end mounting screw hole on the back and lower end of the radar holder respectively.

[0056] The radar vertical mounting base 20 is a cuboid. There are a pair of threaded through holes on the lower surface whose axes are perpendicular to the lower surface, namely the vertical mounting holes, that is, the fourth mounting holes 21. There is a threaded through hole on the front surface whose axis is perpendicular to the front surface, namely the radar mounting hole.

[0057] Two bolts respectively pass through the left bottom plate mounting hole 9 and the right bottom plate mounting hole 10 of the bottom plate sensing station 6 and are connected to the fourth mounting holes 21 of the radar vertical mounting base 20, and the radar vertical mounting base 20 is mounted on the upper surface of the bottom plate sensing station 6. A double-headed bolt is used to connect the back mounting screw hole of the radar holder and the radar mounting hole on the front surface of the radar vertical mounting base 20, and the radar assembly 17 is fixed on the front surface of the radar vertical mounting base 20. Bolts respectively pass through the two bottom plate limiting holes 12 of the bottom plate sensing station 6. Nut locking makes the stud extend below the radar assembly 17, and the bolt restricts the vertical swing of the radar assembly 17, realizing the vertical mounting of the radar assembly 17.

[0058] In the description of the present application, it should be understood that the orientation or positional relationships indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present application.

[0059] The specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Without conflict, the embodiments of the present application and the features in the embodiments can be combined arbitrarily with each other.

Claims

1. A camera and millimeter-wave radar integrated device for agricultural machinery operation environment perception, characterized in that It includes an integrated mounting bracket (1), a camera system, and a radar system, and both the camera system and the radar system are arranged on the integrated mounting bracket (1); The camera system includes a camera horizontal viewing unit (2) and a camera downward viewing unit (3), and at least one of the camera horizontal viewing unit (2) and the camera downward viewing unit (3) is arranged on the integrated mounting bracket (1); The radar system includes a radar flush-mounted unit (4) and a radar vertically-mounted unit (5), and at least one of the radar flush-mounted unit (4) and the radar vertically-mounted unit (5) is arranged on the integrated mounting bracket (1); And a bottom plate sensing station (6) for detachably mounting the camera horizontal viewing unit (2), the camera downward viewing unit (3), the radar flush-mounted unit (4), or the radar vertically-mounted unit (5) is arranged on the integrated mounting bracket (1); The integrated mounting bracket (1) includes a mounting bottom plate (7) and a connecting screw (8), the connecting screw (8) passes through the mounting bottom plate (7) and is fixedly connected thereto by a nut, and the bottom plate sensing station (6) is arranged on the mounting bottom plate (7); The camera horizontal viewing unit (2) includes a camera and a horizontal viewing limit block (13); A first mounting hole (14) corresponding to the bottom plate sensing station (6) is arranged on the horizontal viewing limit block (13), and the horizontal viewing limit block (13) is fixedly connected to the integrated mounting bracket (1) by bolts and nuts in cooperation with the first mounting hole (14) and the bottom plate sensing station (6); The camera is arranged on the bottom plate sensing station (6), and the camera is in contact and cooperation with the horizontal viewing limit block (13); The camera downward viewing unit (3) includes a camera, a downward viewing limit block (15), and a downward viewing base (16); A second mounting hole (22) corresponding to the bottom plate sensing station (6) is arranged on the downward viewing limit block (15), and the downward viewing limit block (15) is fixedly connected to the integrated mounting bracket (1) by bolts and nuts in cooperation with the second mounting hole (22) and the bottom plate sensing station (6); The downward viewing base (16) is arranged on the upper side of the bottom plate mounting station (6), the upper surface of the downward viewing base (16) is inclined, and the camera is arranged on the upper surface of the downward viewing base (16), and the camera is in contact and cooperation with the downward viewing limit block (15).

2. The camera and millimeter-wave radar integrated device for agricultural machinery operation environment perception according to claim 1, characterized in that, The bottom plate sensing station (6) includes a bottom plate mounting left hole (9), a bottom plate mounting middle hole (10), a bottom plate mounting right hole (11), and a bottom plate limit hole (12); The bottom plate mounting left hole (9), the bottom plate mounting right hole (11), and the bottom plate mounting middle hole (10) are all through holes on the upper and lower surfaces of the mounting bottom plate (7), and the bottom plate mounting left hole (9) and the bottom plate mounting right hole (11) are symmetric about the bottom plate mounting middle hole (10); The bottom plate limit hole (12) is a through hole arranged on the mounting bottom plate (7) on the side adjacent to its upper and lower surfaces.

3. The camera and millimeter wave radar integrated device for agricultural machinery operation environment perception according to claim 1, characterized in that, Both the radar flush-mounted unit (4) and the radar vertically-mounted unit (5) include a radar component (17), and the radar component (17) includes a millimeter-wave radar and a radar gripper, and the radar gripper grips the millimeter-wave radar.

4. The camera and millimeter wave radar integrated device for agricultural machinery operation environment perception according to claim 3, characterized in that, The radar flush-mounted unit (4) further includes a radar rotation direction limiting block (18); A third mounting hole (19) corresponding to the bottom plate sensing station (6) is provided on the radar rotation direction limiting block (18). The radar rotation direction limiting block (18) is fixedly connected to the integrated mounting bracket (1) by means of the third mounting hole (19) and the bottom plate sensing station (6) through the cooperation of bolts and nuts; The radar assembly (17) is rotatably mounted on the bottom plate sensing station (6) of the integrated mounting bracket (1), and the radar rotation direction limiting block (18) limits the rotation of the radar assembly (17).

5. The camera and millimeter wave radar integrated device for agricultural machinery operation environment perception according to claim 4, characterized in that, The radar rotation direction limiting block (18) includes a limiting surface, and the limiting surface is inclined on the mounting surface of the integrated mounting bracket (1), and the radar assembly (17) is in contact and cooperation with the limiting surface.

6. The camera and millimeter-wave radar integrated device for agricultural machinery operation environment perception according to claim 5, characterized in that The limiting surface includes being inclined from left to right and / or from right to left on the mounting surface of the integrated mounting bracket (1).

7. The integrated device of a camera and a millimeter-wave radar for agricultural machinery operation environment perception according to claim 3, characterized in that The radar vertically-mounted unit (5) further includes a radar vertical mounting base (20). A threaded through hole fourth mounting hole (21) corresponding to the bottom plate sensing station (6) is provided on the radar vertical mounting base (20); Bolts are respectively connected to the fourth mounting hole (21) through the bottom plate mounting left hole (9) and the bottom plate mounting right hole (11) of the bottom plate sensing station (6) to mount the radar vertical mounting base (20) on the upper surface of the bottom plate sensing station (6), and the radar assembly (17) is provided on the radar vertical mounting base (20).

Images