A high-precision anti-arc radar system

Abstract

The present invention provides a high-precision reverse arc radar system, comprising: a reverse arc radar device and a tripod device, wherein the reverse arc radar device comprises: an end-to-end hinged chassis and a long arm, the reverse arc radar device also comprises a short arm, one end of the short arm is hinged to the other end of the long arm, and the other end of the short arm is provided with a radar antenna; a first locking member for limiting the relative rotation between the chassis and the long arm is provided between the long arm and the short arm, and a rotating power member for driving the chassis to rotate is provided at the bottom of the chassis. The present invention aims to solve the technical problems in the prior art that the arc scanning ground-based SAR radar structure has poor stability and the portability of the equipment will inevitably be reduced when the accuracy is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of ground-based synthetic aperture radar, and in particular relates to a high-precision reverse arc radar system. Background Art

[0002] Ground-based synthetic aperture radar (GB-SAR) is a ground-based active microwave remote sensing technology developed in the past decade. GB-SAR technology transforms interferometric deformation monitoring technology from air-based to ground-based. This technology can conduct all-weather, all-day, large-scale, and long-distance reconnaissance and monitoring of target areas of interest without being restricted by natural conditions, bringing a new technological revolution to the field of deformation monitoring. With the development of deformation monitoring technology, traditional monitoring methods are gradually unable to meet the ever-deepening application needs. For example, application fields such as dams, bridges, buildings, glaciers, and landslides are in urgent need of an accurate, non-destructive, stable, remote, long-term, and real-time safety monitoring system. The birth of the ground-based synthetic aperture radar system provides technical support for the realization of such a new type of safe monitoring. In view of this, it is of great significance to carry out application research on the new GB-SAR deformation monitoring technology in the fields of large-scale man-made buildings and natural disasters.

[0003] The scanning methods of ground-based SAR include linear trajectory scanning and arc trajectory scanning. The linear scanning algorithm is simple, the mechanical structure is simple and it is widely used, but its disadvantages are that the scanning range is narrow and 360° scanning cannot be achieved, the track length is long and the portability is poor. The arc scanning SAR radar can achieve 360° scanning and is shorter in length.

[0004] In the existing arc scanning ground-based SAR radar structure, only arc scanning can be performed (arc scanning refers to a scanning method that takes the central axis of the motor as the origin and points from the origin to the arc), and reverse arc scanning cannot be performed (reverse arc scanning refers to a scanning method that takes the central axis of the motor as the origin and points from the arc to the origin).

[0005] The application scenarios of ground-based SAR monitoring radars must achieve millimeter or sub-millimeter micro-deformation accuracy, and have very high requirements for the stability of the rotating structure.

[0006] In terms of accuracy: the pixel points of ground-based SAR radar imaging are (range resolution * azimuth resolution). Since the wavelength of microwaves is much larger than that of light waves, the pixels of microwave imaging are also much larger than those of optical imaging, that is, the resolution is not as high as that of optical imaging. Microwave ground-based SAR radar urgently needs to improve its resolution. There are three ways to improve the resolution of ground-based SAR radar: range resolution can be improved by increasing the signal bandwidth △R=c / 2B, but the bandwidth improvement of existing technologies is limited; azimuth resolution can be improved by increasing the length of the synthetic aperture (azimuth angle formula: θ=λ / 2Ls, where λ is the wavelength and Ls is the length of the synthetic aperture). For the arc scanning method, the length of the rotating arm can be increased to increase the arc radius and thus increase the length Ls of the synthetic aperture. At present, most ground-based SAR radars use an integrated casing as the structure of the rotating arm. Increasing the length of the rotating arm will greatly increase the overall weight and the overall length of the radar, which is not conducive to portability.

[0007] Stability: There is a problem with the stability of the arc SAR radar rotation system. The problem with the existing temporary fixed structure of the tripod is that the center of gravity is too high, which affects the overall stability and causes the measurement error to increase.

[0008] Therefore, in summary, in the prior art, the arc scanning ground-based SAR radar structure has poor stability, and there is a technical problem that improving accuracy will inevitably reduce the portability of the equipment. Summary of the invention

[0009] 1. Technical issues to be resolved

[0010] Based on this, the present invention proposes a high-precision reverse arc radar system, which aims to solve the technical problems in the prior art that the arc scanning ground-based SAR radar structure has poor stability and improving the accuracy will inevitably reduce the portability of the equipment.

[0011] (II) Technical solution

[0012] In order to solve the above technical problems, the present invention proposes a high-precision reverse arc radar system, comprising: a reverse arc radar device and a tripod device, wherein: the reverse arc radar device comprises: a chassis and a long arm hinged end to end, the reverse arc radar device also comprises a short arm, one end of the short arm is hinged to the other end of the long arm, and the other end of the short arm is provided with a radar antenna; a first locking member for limiting the relative rotation between the chassis and the long arm is provided between the long arm and the short arm for limiting the relative rotation between the two, and a rotating power member for driving the chassis to rotate is provided at the lower part of the chassis; the tripod device comprises: a tripod base, three sets of telescopic leg assemblies respectively hinged to the lower part of the tripod base, and a stabilizer arranged below the tripod base, a set of horizontal telescopic adjustment rod assemblies are connected between each set of the telescopic leg assemblies and the stabilizer, and a vertical counterweight is installed below the stabilizer.

[0013] Preferably, the high-precision reverse arc radar system also includes a support rod, one end of the support rod is connected to the chassis, and the other end of the support rod is connected to the long arm, and the support rod, the chassis and the long arm together form a triangle.

[0014] Preferably, a first counterweight is provided at one end of the chassis away from the long arm; a first waist-shaped groove is provided at the upper part of the first counterweight, the length direction of the first waist-shaped groove is consistent with the length direction of the chassis body, and a counterweight connecting protrusion slidingly connected to the first waist-shaped groove is provided at the lower part of the chassis body.

[0015] Preferably, the chassis includes a chassis main body which is an overall rectangular frame shape and a chassis cover arranged on the upper part of the chassis main body; the chassis main body includes two first support mounting strips respectively arranged on both sides along the length direction of the chassis main body, and the first support mounting strips are provided with first clamping grooves for connecting the support rods arranged at intervals; the long arm is an overall rectangular frame shape, and the long arm main body includes two second support mounting strips respectively arranged on both sides along the length direction of the long arm, and the second support mounting strips are provided with second clamping grooves for connecting the support rods arranged at intervals; the number of the support rods is two, and the two support rods are respectively connected to both sides of the chassis main body and the long arm in the same direction.

[0016] Preferably, the reverse arc radar device includes a folded state, and when the reverse arc radar device is in the folded state, the long arm cover is arranged outside the chassis.

[0017] Preferably, the telescopic leg assembly includes an upper connecting rod, a double-rod locker provided at the lower portion of the upper connecting rod and fixedly connected to the upper connecting rod, a lower connecting rod, and a sliding locker provided at the upper portion of the lower connecting rod and fixedly connected to the lower connecting rod, the upper connecting rod is slidably connected to the sliding locker, and the lower connecting rod is slidably connected to the double-rod locker; the telescopic leg assembly also includes a first locking wrench provided on the sliding locker and used to limit the relative sliding of the sliding locker and the upper connecting rod; the telescopic leg assembly also includes a second locking wrench provided on the double-rod locker and used to limit the relative sliding of the double-rod locker and the lower connecting rod.

[0018] Preferably, the horizontal telescopic adjustment rod assembly includes: a stabilizing bracket, a telescopic bracket slidably connected to the stabilizing bracket, a locker arranged between the stabilizing bracket and the telescopic bracket and used to limit the relative sliding of the two, the end of the stabilizing bracket away from the telescopic bracket is hinged to the stabilizer, and the end of the telescopic bracket away from the stabilizing bracket is hinged to the double-rod locker.

[0019] Preferably, each set of the telescopic leg assemblies is hinged to the tripod base via a rotating shaft, and the rotating shaft includes an upper hinge body and a lower hinge body hinged to the upper hinge body, and the lower hinge body is connected to the upper connecting rod.

[0020] Preferably, each set of the telescopic leg assemblies includes two upper connecting rods arranged side by side, and the upper parts of the two upper connecting rods are respectively fixedly connected to the lower hinge body; each set of the telescopic leg assemblies includes two lower connecting rods arranged side by side, and the lower parts of the lower connecting rods are connected through the sliding connector.

[0021] Preferably, the vertical counterweight block is provided with at least one waist-shaped groove, the stabilizer is provided with a connecting hole, and the connection between the stabilizer and the vertical counterweight block is achieved by a threaded connector penetrating the connecting hole and the waist-shaped groove.

[0022] (III) Beneficial effects

[0023] Compared with the prior art, the beneficial effects of the high-precision anti-arc radar system of the present invention mainly include:

[0024] By setting and adjusting the angle of the rotating arm, the radar wire can be moved in an inverse arc trajectory under the action of the rotating power part. The radar antenna scans in this state, which has the effect of a spotlight SAR and can significantly improve the range resolution and azimuth resolution. The rotating arm is a folding arm structure, which can improve the overall portability of the device.

[0025] The telescopic leg assembly is a telescopic rod structure with a retractable length, which can be used to adjust the height of the entire tripod device. The stabilizer is used to connect the telescopic leg assembly through the horizontal telescopic adjustment rod assembly, and plays a stabilizing function for the three sets of horizontal telescopic adjustment rod assemblies. The horizontal telescopic adjustment rod assembly is arranged in the horizontal direction, and the horizontal telescopic adjustment rod assembly is retractable, so the opening angle of the telescopic leg assembly can be adjusted. The vertical counterweight block is used to increase the load capacity of the tripod device and ensure stability. Through the above structure, the center of gravity of the device can be lowered as much as possible according to the on-site conditions, and stable support can be ensured to reduce measurement errors. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The features and advantages of the present invention will be more clearly understood by referring to the accompanying drawings, which are schematic and should not be construed as limiting the present invention in any way. In the accompanying drawings:

[0027] Figure 1 A front view of the overall structure of a high-precision reverse arc radar system according to an embodiment of the present invention;

[0028] Figure 2 The overall structure of the high-precision anti-arc radar system according to the embodiment of the present invention is shown in FIG. Figure 1 (forming a reverse arc scanning trajectory state);

[0029] Figure 3 The overall structure of the high-precision anti-arc radar system according to the embodiment of the present invention is shown in FIG. Figure 2 (Non-working folded state);

[0030] Figure 4 A schematic diagram of performing reverse arc scanning using the high-precision reverse arc radar system according to an embodiment of the present invention;

[0031] Figure 5 A schematic diagram of arc scanning using the ground-based SAR monitoring radar in the background technology;

[0032] Figure 6 A three-dimensional diagram of a tripod device in a high-precision reverse arc radar system according to an embodiment of the present invention.

[0033] Description of reference numerals:

[0034] 1.1- tripod base, 1.2- shaft device, 1.31- upper connecting rod, 1.32- lower connecting rod, 1.4- double rod locker, 1.5- sliding locker, 1.61- first locking wrench, 1.62- second locking wrench, 1.7- sliding jointer, 1.8- non-slip foot pad, 1.9- stabilizer, 1.10- stable bracket, 1.11- telescopic bracket, 1.12- locker, 1.13- screw rod, 1.14- nut, 1.15- vertical counterweight;

[0035] 2.1-chassis body, 2.2-chassis cover, 2.3-long arm, 2.4-short arm, 2.5-radar antenna, 2.6-support rod, 2.7-horizontal counterweight;

[0036] 3-rotating power parts, 3.1-stator part, 3.2-rotor part, 3.3-adapter plate. DETAILED DESCRIPTION

[0037] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific implementation disclosed below.

[0038] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements, or it can be a "transmission connection", that is, a power connection through various appropriate methods such as belt drive, gear drive or sprocket drive. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0039] The following is combined with Figure 1-6 The high-precision reverse arc radar system of the present invention is further described.

[0040] Please refer to the attached Figure 1-3 and Figure 6The present invention provides a high-precision anti-arc radar system, comprising: an anti-arc radar device and a tripod device, wherein: the anti-arc radar device comprises: an end-to-end hinged chassis and a long arm 2.3, the anti-arc radar device also comprises a short arm 2.4, one end of the short arm 2.4 is hinged to the other end of the long arm 2.3, and the other end of the short arm 2.4 is provided with a radar antenna 2.5; a first locking member for limiting the relative rotation between the chassis and the long arm 2.3 is provided, a second locking member for limiting the relative rotation between the long arm 2.3 and the short arm 2.4 is provided, and a rotating power member 3 for driving the chassis to rotate is provided at the lower part of the chassis; the tripod device comprises: a tripod base 1.1, three sets of telescopic support leg assemblies respectively hinged to the lower part of the tripod base 1.1, and a stabilizer 1.9 arranged below the tripod base 1.1, each set of telescopic support leg assemblies is connected to a set of horizontal telescopic adjustment rod assemblies between the stabilizer 1.9, and a vertical counterweight block 1.15 is installed below the stabilizer 1.9.

[0041] In this embodiment, the telescopic leg assembly is a telescopic rod structure with a retractable length, which can be used to adjust the height of the entire tripod device. The stabilizer 1.9 is a plate-like structure, which is used to be connected to the telescopic leg assembly via a horizontal telescopic adjustment rod assembly, and plays a stabilizing function for the three sets of horizontal telescopic adjustment rod assemblies. The horizontal telescopic adjustment rod assembly is arranged in the horizontal direction, and the horizontal telescopic adjustment rod assembly is retractable, so the opening angle of the telescopic leg assembly can be adjusted. The vertical counterweight block 1.15 is used to increase the load capacity of the tripod device and ensure stability. Through the above structure, the center of gravity of the device can be lowered as much as possible according to the on-site conditions, and stable support can be guaranteed to reduce measurement errors.

[0042] In this embodiment, the rotating power unit 3 is a DD motor, which includes a stator part 3.1 and a rotor part 3.2, wherein the stator part 3.1 is connected to the tripod base 1.1, the rotor part 3.2 supports the adapter plate 3.3, the rotating arm is installed on the adapter plate 3.3, and the radar antenna 2.5 is installed on the rotating arm.

[0043] In this embodiment, a foldable rotating arm is formed by hinged connection of the chassis, the long arm 2.3 and the short arm 2.4. The rotating arm rotates under the drive of the rotating power member 3 to realize arc scanning and reverse arc scanning. When the chassis, the long arm 2.3 and the short arm 2.4 are unfolded or unfolded as much as possible, a longer length value of the rotating arm can be obtained as a whole, so that the length Ls of the synthetic aperture can be increased, thereby improving the azimuth resolution of the radar scanning.

[0044] The rotation range of the revolving pair of the chassis body 2.1 and the long arm 2.3 assembly exceeds 180°, and first locking members are arranged on both sides of the revolving pair. In this embodiment, the first locking members are three sets of threaded connectors arranged on both sides of the revolving pair.

[0045] When in use, if the rotation angle of the long arm 2.3 needs to be adjusted, just loosen the three sets of threaded connectors on both sides of the rotating pair. At this time, the long arm 2.3 and the chassis are in a free articulated state, and the rotation angle of the long arm 2.3 can be flexibly adjusted. The angle adjustment method of the short arm 2.4 is the same as that of the long arm 2.3. The use of this structure can save the work time of repeated disassembly.

[0046] In order to improve the scanning accuracy of the radar, the rotation angles of the long arm 2.3 and the short arm 2.4 can be adjusted so that the reverse arc radar device is in a state of forming a reverse arc scanning trajectory (for example, Figure 1 and Figure 2 The state shown) is characterized in that the conical opening of the radar antenna 2.5 faces the axis of rotation of the entire swivel arm.

[0047] The main innovation of the present invention is that by setting and adjusting the angle of the rotating arm, under the action of the rotating power part 3, the movement trajectory of the radar wire can be made into a reverse arc trajectory. The radar antenna 2.5 scans in this state, has the effect of a focused SAR, and can significantly improve the distance resolution and azimuth resolution. The specific analysis is as follows.

[0048] Figure 4 A schematic diagram of performing reverse arc scanning using the high-precision reverse arc radar system according to an embodiment of the present invention is shown in FIG. Figure 5 The schematic diagram of arc scanning using the ground-based SAR monitoring radar in the background technology is shown. Comparing the arc scanning trajectory and the reverse arc scanning trajectory, the reverse arc scanning has the effect of beamforming SAR, which can significantly improve the range resolution and azimuth resolution, because the reverse arc scanning method has a longer beam dwell time and higher resolution. For example: theoretically calculated, for a radar with a 500MHz signal bandwidth, the range resolution is 0.3 meters during linear scanning. When the reverse arc scanning is performed, the arm radius is 1 meter, and the scanning arc angle is 60°, the range resolution is increased to 0.15m, and the azimuth resolution is also improved.

[0049] That is, in the present invention, driven by the rotating power part 3, the rotating arm can realize reverse arc scanning, and the reverse arc scanning has the effect of beamforming SAR, which increases the dwell time of target scanning. On the other hand, when the chassis, long arm 2.3, short arm 2.4 and radar antenna 2.5 in the present invention are unfolded into a horizontal line, the scanning radius is increased and the accuracy of arc scanning is improved.

[0050] It should be noted that, in the present invention:

[0051] Arc scanning means that the movement trajectory of the radar antenna 2.5 is an arc.

[0052] The reverse arc trajectory refers to a trajectory formed by the radar antenna 2.5 rotating around the rotation axis when the conical opening end of the radar antenna 2.5 faces the rotation axis of the entire rotating arm.

[0053] The arc trajectory refers to the trajectory formed by the radar antenna 2.5 rotating around the rotation axis when the conical opening end of the radar antenna 2.5 is away from the rotation axis of the entire rotating arm (for example, the box, long arm and short arm are unfolded into a straight line).

[0054] In this embodiment, the rotation axis is the rotation center axis of the rotating power part 3. The intersection of the rotation center axis of the rotating power part 3 and the bottom surface of the chassis is set as the origin. Observing from the top of the reverse arc radar device, the origin is the trajectory origin of the circular arc trajectory of the radar antenna 2.5.

[0055] According to a specific embodiment of the present invention, the reverse arc radar device also includes a support rod 2.6, one end of the support rod 2.6 is connected to the chassis, and the other end of the support rod 2.6 is connected to the long arm 2.3, and the support rod 2.6, the chassis and the long arm 2.3 together form a triangle. In this embodiment, by adding the support rod 2.6, when the chassis and the long arm 2.3 are at different angles, the support rod 2.6, the chassis and the long arm 2.3 together form a triangular support structure, which can improve the stability of the rotating arm structure, and also greatly reduce the problem of low-frequency shaking of the center of gravity caused by the shaking of the long arm 2.3 due to the operation of the rotating power part 3.

[0056] According to a specific embodiment of the present invention, a horizontal counterweight 2.7 is provided at one end of the chassis away from the long arm 2.3.

[0057] More specifically, a first waist-shaped groove is provided on the upper part of the horizontal counterweight block 2.7, the length direction of the first waist-shaped groove is consistent with the length direction of the chassis body 2.1, and a counterweight connecting protrusion slidably connected to the first waist-shaped groove is provided on the lower part of the chassis body 2.1.

[0058] In this embodiment, the weight of the rotating arm is balanced by the counterweight block to improve the overall stability of the device, and a waist-shaped groove is provided in the counterweight block, and the center of gravity of the device can be adjusted by adjusting the position of the counterweight connecting protrusion in the waist-shaped groove. After adopting this structure, even if the rotation angle of the long arm 2.3 is different, resulting in a change in the center of gravity of the rotating arm, the overall center of gravity of the device can be ensured to be stable by adjusting the position of the counterweight block, thereby solving the problem of leveling the horizontal center of gravity.

[0059] According to a specific embodiment of the present invention, the chassis comprises a chassis body 2.1 which is in the shape of a rectangular frame as a whole and a chassis cover 2.2 arranged on the upper part of the chassis body 2.1.

[0060] More specifically, the long arm 2.3 and the short arm 2.4 are both frame-shaped.

[0061] In this embodiment, the chassis, the long arm 2.3 and the short arm 2.4 are all set in a frame shape, which can ensure the overall mechanical properties of the rotating arm and reduce the overall mass of the rotating arm. In addition, by setting the frame structure, it is convenient for the rotating arms to buckle and fold, further reducing the space after folding and improving the portability.

[0062] More specifically, the long arm 2.3 adopts a hollow structure of sheet metal, which increases the length while ensuring the rigidity of the long arm 2.3. Compared with the overall steel structure, the total weight is lighter.

[0063] According to a specific embodiment of the present invention, the box body includes two first support mounting strips respectively arranged on both sides along the length direction of the box body 2.1, and the first support mounting strips are provided with first clamping grooves arranged at intervals for connecting the support rod 2.6; the long arm 2.3 is a rectangular frame as a whole, and the long arm 2.3 includes two second support mounting strips respectively arranged on both sides along the length direction of the long arm 2.3, and the second support mounting strips are provided with second clamping grooves arranged at intervals for connecting the support rod 2.6; the number of support rods 2.6 is two, and the two support rods 2.6 are respectively connected to both sides of the box body 2.1 and the long arm 2.3 in the same direction.

[0064] In this embodiment, by providing two support bars, the stability of the support can be further improved. The structure of the first clamping groove and the second clamping groove facilitates flexible adjustment of the positions of the two ends of the support bar.

[0065] According to a specific embodiment of the present invention, the anti-arc radar device includes a folded state. When the anti-arc radar device is in the folded state, the long arm 2.3 is covered outside the chassis. In this embodiment, the structure is adopted to further reduce the volume of the rotating arm after folding. The long arm 2.3 can be folded, and the maximum length during transportation is shortened. During transportation, the long arm 2.3 can cover the chassis, or be loaded into a packaging box in modules, which is convenient for product transportation.

[0066] According to a specific embodiment of the present invention, the rotating power part 3 is a direct drive motor. In this embodiment, the direct drive motor (also known as the DD motor) is an integrated structure, and the load is directly mounted on the mounting surface of the DD motor through an adapter plate. There is no mechanical structure of a reducer, which can avoid friction and transmission energy loss. By using a direct drive motor, a large torque output can be obtained under a small current input, and the positioning accuracy and repeatability of the motor are improved. For field equipment with a large radius, the motor can be installed in a modular manner, which is convenient to install. Compared with motors with the same output torque, the DD motor is much lighter in weight. When the output torque is <10N*m, its weight can be controlled to <10kg. More importantly, the maximum output torque is 3 times the output torque, which can effectively avoid the motor burning caused by stalling and the load running away. The DD motor has a flat and short size characteristic, which can provide a larger output torque for the load and reduce the vertical center of gravity of the entire system. There is no risk of axial impact and radial bending like ordinary motors.

[0067] According to a specific embodiment of the present invention, the radar antenna 2.5 is cone-shaped as a whole, and includes a cone-shaped opening, which is arranged away from the short arm 2.4.

[0068] According to a specific embodiment of the present invention, the first locking member includes multiple sets of threaded locking bolts, and the second locking member includes multiple sets of locking bolts. In this embodiment, this structure is conducive to achieving stable locking.

[0069] According to a specific embodiment of the present invention, the telescopic support leg assembly includes an upper connecting rod 1.31, a double-rod locker 1.4 provided at the lower part of the upper connecting rod 1.31 and fixedly connected to the upper connecting rod 1.31, a lower connecting rod 1.32, and a sliding locker 1.5 provided at the upper part of the lower connecting rod 1.32 and fixedly connected to the lower connecting rod 1.32, the upper connecting rod 1.31 is slidably connected to the sliding locker 1.5, and the lower connecting rod 1.32 is slidably connected to the double-rod locker 1.4; the telescopic support leg assembly also includes a first locking wrench 1.61 provided on the sliding locker 1.5 and used to limit the relative sliding of the sliding locker 1.5 and the upper connecting rod 1.31; the telescopic support leg assembly also includes a second locking wrench 1.62 provided on the double-rod locker 1.4 and used to limit the relative sliding of the double-rod locker 1.4 and the lower connecting rod 1.32.

[0070] In this embodiment, the upper connecting rod 1.31 and the lower connecting rod 1.32 are constrained by each other through the sliding locker 1.5 and the double rod locker 1.4 to form a sliding connection structure, which can greatly improve the stability of the sliding connection structure.

[0071] When the length of the telescopic leg assembly needs to be adjusted, the first locking wrench 1.61 and the second locking wrench 1.62 are opened, and the upper connecting rod 1.31 and the lower connecting rod 1.32 can slide freely. When the length of the telescopic leg assembly does not need to be adjusted, the first locking wrench 1.61 and the second locking wrench 1.62 are locked. The first locking wrench 1.61 and the second locking wrench 1.62 are used to achieve two-point locking, which can ensure effective locking and prevent it from being extended and retracted at will. It should be noted that the structures of the first locking wrench 1.61 and the second locking wrench 1.62 are similar to the structures of the locking wrenches used for adjusting the height of conventional bicycle seats, and their structures are not repeated here.

[0072] According to a specific embodiment of the present invention, the horizontal telescopic adjustment rod assembly includes: a stabilizing bracket 1.10, a telescopic bracket 1.11 slidably connected to the stabilizing bracket 1.10, and a locker 1.12 disposed between the stabilizing bracket 1.10 and the telescopic bracket 1.11 and used to limit the relative sliding of the two. The end of the stabilizing bracket 1.10 away from the telescopic bracket 1.11 is hinged to the stabilizer 1.9, and the end of the telescopic bracket 1.11 away from the stabilizing bracket 1.10 is hinged to the double-rod locker 1.4. In this embodiment, when adjusting the length of the horizontal telescopic adjustment rod assembly, the sliding locker 1.12 needs to be loosened first, at which time, the stabilizing bracket 1.10 and the telescopic bracket 1.11 can slide freely. When adjusted to the required position, the sliding locker 1.12 is tightened, and the conical surface of the sliding locker 1.5 is used to lock the stabilizing bracket 1.10 and the telescopic bracket 1.11 to achieve horizontal locking. It should be noted that the structure of the locker 1.12 can also be a pin structure in addition to the above structure, that is, the pin is used to penetrate different positions of the stabilizing bracket 1.10 and the telescopic bracket 1.11 at the same time to achieve the adjustment of the length of the horizontal telescopic adjustment rod assembly.

[0073] According to a specific embodiment of the present invention, each set of telescopic leg assemblies is respectively hinged to the tripod base 1.1 through a shaft 1.2, the shaft 1.2 comprises an upper hinge body and a lower hinge body hinged to the upper hinge body, and the lower hinge body is connected to the upper connecting rod 1.31. In this embodiment, the structure is adopted to facilitate assembly and realize modular processing.

[0074] According to a specific embodiment of the present invention, each set of telescopic support leg assemblies includes two upper connecting rods 1.31 arranged side by side, and the upper parts of the two upper connecting rods 1.31 are fixedly connected to the lower hinged body respectively.

[0075] More specifically, each set of telescopic foot assemblies comprises two lower connecting rods 1.32 arranged side by side, and the lower parts of the lower connecting rods 1.32 are connected via a sliding connector 1.7.

[0076] In this embodiment, the strength of the telescopic leg assembly and the stability of the overall structure can be further improved through this structure.

[0077] According to a specific embodiment of the present invention, a non-slip foot pad 1.8 is hingedly connected to the lower part of the sliding joint 1.7.

[0078] More specifically, the anti-slip foot pad 1.8 is a plastic flat pad or a suction cup structure. When the suction cup structure is adopted, when the working scene is a tile floor, the suction cup can be used to firmly adhere to the floor, further ensuring the stability of the device.

[0079] According to a specific embodiment of the present invention, three sets of telescopic leg assemblies are evenly arranged around the same axis. This structure is conducive to achieving uniform force.

[0080] According to a specific embodiment of the present invention, at least one waist-shaped groove is provided on the vertical counterweight block 1.15, and a connecting hole is provided on the stabilizer 1.9. The connection between the stabilizer 1.9 and the vertical counterweight block 1.15 is achieved by threaded connectors penetrating the connecting hole and the waist-shaped groove.

[0081] More specifically, the threaded connector includes a bolt 1.13 and a nut 1.14, wherein the bolt 1.13 is a full-thread structure, specifically a hexagonal head bolt with full thread M20×200, which is convenient for increasing the adjustment length, and the nut 1.14 is a hexagonal nut M20.

[0082] In this embodiment, the horizontal center of gravity of the device can be adjusted by adjusting the position of the bolt 1.13 in the waist-shaped groove, and the vertical center of gravity of the device can be adjusted by adjusting the relative position of the bolt 1.13 and the vertical counterweight block 1.15 in the vertical direction.

[0083] According to a specific embodiment of the present invention, there are two waist-shaped grooves arranged side by side and at intervals, two connecting holes are arranged corresponding to the two waist-shaped grooves, and the waist-shaped grooves and the corresponding connecting holes are connected by threaded connectors. In this embodiment, the stability of the installation of the vertical counterweight block 1.15 can be improved through this structure.

[0084] Therefore, it can be seen from the above that, through the tripod device in the high-precision reverse arc radar system of the present invention, the telescopic leg assembly can be extended to a length suitable for the working environment, and then the two locking wrenches are locked. The horizontal telescopic adjustment rod assembly is extended to a length suitable for the working environment, and then the locker 1.12 is locked. The telescopic leg assembly and the horizontal telescopic adjustment rod assembly are used together to adjust the device to a working state that is most suitable for the environment. By adjusting the position of the vertical counterweight block 1.15 in the horizontal and vertical directions, reliable working conditions are provided for the radar system to avoid equipment damage caused by rollover.

[0085] A high-precision reverse arc radar system of the present invention includes two sets of horizontal center of gravity translation systems (horizontal counterweight blocks and vertical counterweight blocks can respectively realize horizontal center of gravity adjustment) and one set of vertical center of gravity translation system (vertical counterweight blocks can realize vertical center of gravity adjustment). This structure can realize dynamic manual leveling of the center of gravity of the entire radar system, and the structural cost is low and the leveling effect is good.

[0086] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A high-precision reverse arc radar system, It is characterized in that include: A reverse arc radar device and a tripod device, wherein: the reverse arc radar device comprises: a chassis and a long arm hinged end to end, the reverse arc radar device also comprises a short arm, one end of the short arm is hinged to the other end of the long arm, and the other end of the short arm is provided with a radar antenna; a first locking member for limiting the relative rotation between the chassis and the long arm is provided between the long arm and the short arm for limiting the relative rotation between the two, and a rotating power member for driving the chassis to rotate is provided at the lower part of the chassis; the tripod device comprises: a tripod base, three sets of telescopic support leg assemblies respectively hinged to the lower part of the tripod base, and a stabilizer arranged below the tripod base, each set of the telescopic support leg assemblies and the stabilizer are connected with a set of horizontal telescopic adjustment rod assemblies, a vertical counterweight block is installed below the stabilizer, and when the reverse arc radar device is in a state of forming a reverse arc scanning trajectory, the conical opening of the radar antenna faces the rotation axis of the entire rotating arm.

2. The high-precision anti-arc radar system according to claim 1, It is characterized in that The high-precision reverse arc radar system also includes a support rod, one end of which is connected to the chassis, and the other end of which is connected to the long arm, and the support rod, the chassis and the long arm together form a triangle.

3. The high-precision anti-arc radar system according to claim 2, It is characterized in that A first counterweight is provided at one end of the chassis away from the long arm; a first waist-shaped groove is provided on the upper part of the first counterweight, the length direction of the first waist-shaped groove is consistent with the length direction of the chassis body, and a counterweight connecting protrusion is provided at the lower part of the chassis body which is slidably connected to the first waist-shaped groove.

4. The high-precision anti-arc radar system according to claim 3, It is characterized in that The chassis includes a chassis main body which is an overall rectangular frame shape and a chassis cover arranged on the upper part of the chassis main body; the chassis main body includes two first support mounting strips respectively arranged on both sides along the length direction of the chassis main body, and the first support mounting strips are provided with first clamping grooves for connecting the support rods arranged at intervals; the long arm is an overall rectangular frame shape, and the long arm main body includes two second support mounting strips respectively arranged on both sides along the length direction of the long arm, and the second support mounting strips are provided with second clamping grooves for connecting the support rods arranged at intervals; the number of the support rods is two, and the two support rods are respectively connected to both sides of the chassis main body and the long arm in the same direction.

5. The high-precision anti-arc radar system according to claim 4, It is characterized in that The reverse arc radar device comprises a folded state. When the reverse arc radar device is in the folded state, the long arm cover is arranged outside the chassis.

6. The high-precision reverse arc radar system according to any one of claims 1 to 5, It is characterized in that The telescopic support leg assembly includes an upper connecting rod, a double-rod locker disposed at the lower part of the upper connecting rod and fixedly connected to the upper connecting rod, a lower connecting rod, and a sliding locker disposed at the upper part of the lower connecting rod and fixedly connected to the lower connecting rod, the upper connecting rod is slidably connected to the sliding locker, and the lower connecting rod is slidably connected to the double-rod locker; the telescopic support leg assembly also includes a first locking wrench disposed on the sliding locker and used to limit the relative sliding of the sliding locker and the upper connecting rod; the telescopic support leg assembly also includes a second locking wrench disposed on the double-rod locker and used to limit the relative sliding of the double-rod locker and the lower connecting rod.

7. The high-precision reverse arc radar system according to claim 6, It is characterized in that The horizontal telescopic adjustment rod assembly includes: a stabilizing bracket, a telescopic bracket slidably connected to the stabilizing bracket, and a locker arranged between the stabilizing bracket and the telescopic bracket and used to limit the relative sliding of the two. One end of the stabilizing bracket away from the telescopic bracket is hinged to the stabilizer, and one end of the telescopic bracket away from the stabilizing bracket is hinged to the double-rod locker.

8. The high-precision anti-arc radar system according to claim 7, It is characterized in that Each set of the telescopic leg assemblies is respectively hinged to the tripod base through a rotating shaft, and the rotating shaft comprises an upper hinge body and a lower hinge body hinged to the upper hinge body, and the lower hinge body is connected to the upper connecting rod.

9. The high-precision anti-arc radar system according to claim 8, It is characterized in that Each set of the telescopic leg assemblies includes two upper connecting rods arranged side by side, and the upper parts of the two upper connecting rods are respectively fixedly connected to the lower hinged body; each set of the telescopic leg assemblies includes two lower connecting rods arranged side by side, and the lower parts of the lower connecting rods are connected through a sliding connector.

10. The high-precision anti-arc radar system according to claim 9, It is characterized in that The vertical counterweight block is provided with at least one waist-shaped groove, and the stabilizer is provided with a connecting hole. The connection between the stabilizer and the vertical counterweight block is achieved by a threaded connector penetrating the connecting hole and the waist-shaped groove.

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