A portable underground surrounding rock deformation safety monitoring method and system

Abstract

The present invention discloses a portable underground surrounding rock deformation safety monitoring method and system, which relates to the field of surrounding rock monitoring technology. The system includes a radar monitoring host, a stable tripod, a large-capacity lithium battery, and a matching wiring harness. The radar monitoring host is placed on the tripod and consists of three millimeter wave measurement units, a pitch drive mechanism, and a power supply unit. A millimeter wave measurement unit is placed on the top, which is driven by a stepper motor to continuously rotate and scan and monitor the surrounding rock roof. Two fixed measurement units are placed on the side to monitor the surrounding rock areas on both sides according to the receiving and transmitting logic set by the control unit. The lithium battery is placed in the middle of the tripod legs to power the radar monitoring host. This solution has a simple structure and is easy to install. It can perform near-real-time, non-contact, and high-precision monitoring of the roof and surrounding rock on both sides of the underground coal mine roadway, effectively provide surrounding rock time series deformation data, reduce monitoring safety risks, and provide data support for mine roadway surrounding rock stability analysis and support control decision-making.

Description

Technical Field

[0001] The present invention relates to the field of data monitoring technology, and in particular to a portable underground surrounding rock deformation safety monitoring method and system, so as to solve the problem that existing monitoring equipment cannot effectively analyze the deformation trend of surrounding rock in underground coal mine tunnels and provide safety warnings due to its small monitoring range, low accuracy and complex installation and layout. Background Art

[0002] The mining industry is the foundation for the national resource security strategy, but it is also a high-risk industry with great difficulty in risk prevention and control. In particular, the surrounding rock of underground coal mine tunnels is a "hazard source" associated with mining. Once out of control, it can easily cause serious accidents with mass casualties. It is the top priority of coal mine safety production.

[0003] Surrounding rock deformation is the most direct and reliable reflection of surrounding rock stress distribution, overall mechanical morphology changes and stable state. Due to the complex geological conditions of underground coal mine construction, groundwater development and other factors, tunnel surrounding rock deformation is easy to occur. When the surrounding rock deformation reaches a certain extent, it will cause block collapse, extrusion deformation, sliding deformation and other damages, which is an important factor causing underground coal mine accidents. The casualties and economic losses caused by this are quite huge every year. Therefore, it is urgent to carry out surrounding rock deformation monitoring and stability analysis and early warning work to ensure coal mine construction safety, prevent accidents, and reasonably determine tunnel support.

[0004] The deformation of surrounding rock often shows slow and gradual changes, and factors such as dust, mud, and light in underground operation scenes can easily cause optical images and laser sensors to fail. Conventional detection sensors are limited by factors such as data accuracy, monitoring range, and applicable environment. It is difficult to conduct three-dimensional observation of the deformation state of tunnel surrounding rock around the clock, all weather, and all scenes. There are problems such as difficulty in locating hidden dangers and low early warning accuracy, which restricts disaster early warning and forecasting work and threatens the safety of underground workers and equipment.

[0005] Existing surrounding rock deformation monitoring mainly uses steel ruler convergence meters, steel bar meters, and multi-point displacement meters to monitor the shallow surface layer of the surrounding rock and the lining structure. This type of monitoring method has the following disadvantages:

[0006] 1) It is easily disturbed by underground construction operations, and the measurement quality is unstable; 2) The surrounding rock deformation data is obtained indirectly by monitoring the deformation of the shallow surrounding rock and lining structure, and the monitoring data has large errors; 3) It can only achieve single-point contact monitoring and the installation and layout are complicated, requiring frequent deployment of operation and maintenance personnel; 4) The continuous monitoring performance is poor, the measurement cycle is long, and the environmental adaptability is low.

[0007] Therefore, there is an urgent need for a non-contact, high-precision portable underground tunnel surrounding rock deformation safety monitoring method and system. Summary of the Invention

[0008] In view of this, the present invention provides a portable underground surrounding rock deformation safety monitoring method and system, which has the characteristics of simple structure, easy installation, non-contact, large monitoring range, and high monitoring accuracy. It can perform near real-time deformation monitoring of the roof and two sides of the surrounding rock in underground coal mine tunnels, and provide data support for tunnel surrounding rock stability analysis and safety early warning.

[0009] Specifically, the present invention provides the following technical solutions:

[0010] In response to the demand for short radar sampling interval and large coverage in the context of surrounding rock deformation monitoring in underground coal mine tunnels, a frequency modulated continuous wave radar monitoring host was designed and developed. Combined with MIMO technology, a multi-MMIC chip cascade design was carried out to achieve miniaturization and lightweight of the monitoring system. At the same time, improvements were made to microwave imaging processing technology and differential interference deformation extraction and error correction technology, achieving a maximum monitoring range of 120° and a monitoring accuracy of 0.1mm.

[0011] In one aspect, the present invention provides a portable method for safely monitoring surrounding rock deformation in underground mines, the method comprising:

[0012] S1. Deploy a portable underground rock deformation safety monitoring system at the monitoring point. The portable underground rock deformation safety monitoring system includes a radar monitoring host and a stable tripod. The radar monitoring host is placed on the tripod and consists of three millimeter wave measurement units, a pitch drive mechanism, and a power supply unit. The three millimeter wave measurement units are placed on the top and sides of the monitoring host. A lithium battery is placed in the middle of the tripod legs to power the radar monitoring host.

[0013] S2. The radar monitoring host is powered by a lithium battery. After power-on, the control unit establishes a connection with the stepper motor and controls the top millimeter wave measurement unit to reset.

[0014] S3. Based on the monitoring geometry analysis of the surrounding rock under test, after setting the system parameters such as monitoring range, monitoring cycle, and monitoring distance, the system is started to collect data;

[0015] S4. Perform high-resolution one-dimensional imaging processing on the scattered echo digital signals of the surrounding rock top collected by the system, and perform two-dimensional imaging on the scattered echo digital signals of the two sides of the surrounding rock.

[0016] S5. Based on the corrected surrounding rock target slant distance parameters, the surface micro-displacement of the underground coal mine roadway roof and the surrounding rock hazard areas on both sides is inverted through phase filtering, phase unwrapping and phase interferometry processing, and the monitoring data is output according to the set period;

[0017] S6. Perform surrounding rock stability analysis and collapse safety warning based at least in part on the accumulated displacement data of the surrounding rock top and the two side surfaces described in S5.

[0018] Preferably, the data in S5 includes:

[0019] Radar target scattered echo amplitude map, cumulative displacement chromatogram, and spatial distribution data within the surrounding rock deformation monitoring area.

[0020] Preferably, the S6 further includes:

[0021] According to the cumulative displacement monitoring data, the time series displacement u-time t curve, velocity v-time t curve, acceleration a time-t curve are fitted, and the analysis is carried out in combination with the early warning model such as the surrounding rock deformation duration and regional area. For example, based on the early warning model of displacement acceleration parameters; if the displacement acceleration is negative That is, the curve indicates that the deformation speed of the surrounding rock is decreasing, indicating that the deformation of the surrounding rock tends to be stable, and no alarm is given; if the displacement acceleration of multiple monitoring units is positive If the deformation rate of the surrounding rock increases and the curve continues for a certain period of time, it means that the surrounding rock is in a dangerous state and an alarm to stop excavation must be issued. Excavation must be stopped immediately and the supporting lining must be reinforced quickly or measures must be taken to reinforce the surrounding rock.

[0022] On the other hand, the present invention also provides a portable underground surrounding rock deformation safety monitoring system, which includes:

[0023] Radar monitoring host, stabilizing tripod, battery module;

[0024] The radar monitoring host is rigidly connected to the stable tripod;

[0025] The radar monitoring host includes a millimeter wave measurement unit, a pitch drive mechanism, a power supply unit, and a peripheral interface.

[0026] Preferably, the system can be used to implement the portable underground surrounding rock deformation safety monitoring method as described above.

[0027] Preferably, the millimeter wave measurement unit includes a digital module, a baseband and radio frequency module, a multi-level PIN switch matrix, and a transceiver antenna array element;

[0028] The digital module is connected to the baseband and radio frequency modules;

[0029] The baseband and radio frequency modules are connected to the multi-stage PIN switch matrix;

[0030] The multi-stage PIN switch matrix is ​​connected to the transceiver antenna array elements;

[0031] The multi-stage PIN switch matrix works in turn according to preset time slots, and closes the radio frequency path to the receiver when the system is in the transmission time slot.

[0032] Preferably, the pitch drive mechanism includes a rotation module, a stepping motor, and a pitch rotation axis;

[0033] The rotation module cooperates with the stepping motor to adjust the pitch angle of the radar monitoring host along the pitch axis;

[0034] The transmitting and receiving antenna array elements of the millimeter wave measurement unit are respectively placed on the top of the rotating module and on both symmetrical sides of the radar monitoring host.

[0035] Preferably, the pitch drive mechanism further comprises: a motion controller, a speed regulator, a code disk subdivision box, a grating disk head and a reading head; the motion controller is connected to the control terminal;

[0036] The motion controller receives the signal from the control terminal, drives the speed regulator and stepper motor, controls the pitch axis to adjust the pitch angle, and the grating head and reading head connected to the pitch axis determine whether the specific angle meets the preset requirements through the code disk subdivision box and feed back to the motion controller; the motion signal of the stepper motor is fed back to the speed regulator.

[0037] Compared with the existing technology, the technical solution of the present invention has a simple structure and is easy to install. It can perform near real-time, non-contact, and high-precision monitoring of the roof and surrounding rocks on both sides of underground coal mine tunnels, effectively provide time-series deformation data of surrounding rocks, reduce monitoring safety risks, and provide data support for mine tunnel surrounding rock stability analysis and support control decisions. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0039] Figure 1 A front view of the structure of a safety monitoring system according to an embodiment of the present invention;

[0040] Figure 2 This is the millimeter wave measurement unit structure of an embodiment of the present invention;

[0041] Figure 3 This is a flow chart of a method for safely monitoring deformation of surrounding rock in underground tunnels according to an embodiment of the present invention;

[0042] Figure 4 A side view of the structure of a safety monitoring system according to an embodiment of the present invention;

[0043] Figure 5 A top view of the structure of a safety monitoring system according to an embodiment of the present invention;

[0044] Figure 6This is a schematic diagram of the actual scenario layout of the security monitoring system structure of an embodiment of the present invention.

[0045] In the picture: 1- radar monitoring host, 2- rotation module, 3- millimeter wave measurement unit, 4- large-capacity lithium battery, 5- LCD screen, 6- stable tripod. DETAILED DESCRIPTION

[0046] The following describes embodiments of the present invention in detail with reference to the accompanying drawings. It should be understood that the embodiments described are only a portion of the embodiments of the present invention, and not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort are intended to fall within the scope of protection of the present invention.

[0047] Those skilled in the art should be aware that the following specific embodiments or implementations are a series of optimized configurations listed in the present invention to further explain the specific content of the invention, and these configurations can be combined or used in conjunction with each other, unless the present invention explicitly states that some or a specific embodiment or implementation cannot be combined or used in conjunction with other embodiments or implementations. At the same time, the following specific embodiments or implementations are only intended to be optimized configurations and are not to be understood as limiting the scope of protection of the present invention.

[0048] The portable underground surrounding rock deformation safety monitoring method and system of the present application are used to perform near real-time monitoring of the surrounding rock deformation of underground tunnels. They can comprehensively and efficiently collect deformation information on the tunnel surrounding rock surface, and provide data support for mine tunnel surrounding rock stability analysis and support control decision-making.

[0049] like Figure 1 、 4 -6, in a specific embodiment, the system includes a radar monitoring host 1, a stable tripod 6, a large-capacity lithium battery 4, and a matching wiring harness, wherein the radar monitoring host 1 and the stable tripod 6 are rigidly connected by M8 screws, the horizontal position of the radar monitoring host 1 can be flexibly adjusted through the intersecting axis transmission mechanism, and the large-capacity lithium battery 4 can be mounted on the stable tripod legs; the radar monitoring host 1 includes a millimeter wave measurement unit 3, a pitch drive mechanism, a power supply module, a liquid crystal display 5 and other peripheral interfaces.

[0050] The radar monitoring host 1 has a central groove, running axially through it. The bottom of the groove does not extend through the radar monitoring host 1. A cubical rotation module 2 is mounted within this groove, snapping into place and allowing for pitch and roll rotation along the axis of the groove. A transceiver antenna element, part of the millimeter-wave measurement unit 3, is located on top of the rotation module 2.

[0051] The pitch drive mechanism consists of a rotation module 2, a stepper motor and a pitch axis, wherein the stepper motor is placed at the bottom of the protective shell of the radar monitoring host 1, and the rotation module 2 can adjust the pitch angle around the pitch axis.

[0052] The millimeter-wave measurement unit 3 primarily comprises a digital subsystem, baseband and RF subsystems, a multi-level PIN switch matrix, and transceiver antenna array elements. These subsystems are located in the center of the protective housing of the radar monitoring host 1. The transceiver antenna array elements are located on top of the rotating module 2 and on the left and right sides of the radar monitoring host 1. This unit monitors deformation of the underground tunnel roof and surrounding rock on both sides. In roof monitoring mode, the rotating module 2, driven by a high-precision stepper motor, monitors the underground tunnel roof at preset pitch rotation intervals, with a maximum monitoring range of 120°.

[0053] The pitch drive mechanism is connected to the baseband and radio frequency module, and further comprises: a motion controller, a speed regulator, a code disk subdivision box, a grating disk head and a reading head; the motion controller is connected to the control terminal.

[0054] The motion controller receives the signal from the control terminal, drives the speed regulator and stepper motor, controls the pitch axis to adjust the pitch angle, and the grating disk head and reading head connected to the pitch axis determine whether the specific angle meets the preliminary requirements through the code disk subdivision box and feed back to the motion controller; the motion signal of the stepper motor is fed back to the speed regulator to realize feedback control of the motor.

[0055] The radar monitoring host 1's housing is equipped with an LCD display 5, a start / stop button, an operating indicator light, and two aviation plugs. These provide 24V DC power and data transmission, respectively, and provide dust and water protection. The LCD 5 displays the lithium battery charge level and the operating status of the millimeter-wave measurement unit 3, specifically "Standby," "Warm-up," "Monitoring," and "Offline." Heat dissipation fins on the upper housing and ventilation holes on the rear panel maintain the host's internal operating temperature.

[0056] Combine Figure 2 As shown in the figure, the millimeter wave measurement unit 3 mainly consists of four parts: baseband and radio frequency subsystem, digital subsystem, multi-level PIN switch matrix, and transceiver antenna array elements. It can simultaneously transmit mutually orthogonal signals, then use multiple receiving antennas to receive the target echo signal and perform comprehensive processing on it to extract information such as the slant range and deformation displacement of the surrounding rock monitoring target.

[0057] The digital module connects to the baseband and RF modules; these modules connect to the multi-stage PIN switch matrix; and the multi-stage PIN switch matrix connects to the transceiver antenna elements. A power supply module provides power to the pitch drive mechanism, baseband and RF modules, and the multi-stage PIN switch matrix. The multi-stage PIN switch matrix increases the isolation of the limiter by increasing the number of stages. It operates in shifts according to specific time slots. During the system's transmit time slot, it shuts off the RF path to the receiver to prevent signal leakage from the system's transmit power amplifier, which could cause it to enter saturation.

[0058] The architecture design of the millimeter-wave measurement unit 3 mainly includes: highly integrated microwave system cascade design, high-computing embedded real-time processing system, antenna array design, and interferometric imaging low-noise power supply system. A comprehensive analysis of MMIC chip RF performance, cascade capability, phase shifter accuracy, long-term phase stability, and other indicators is conducted. Multi-chip cascade design is carried out in conjunction with MIMO technology to expand the number of radar system channels, effectively forming a virtual large-aperture array to improve azimuth resolution and achieve miniaturization and lightweighting of the monitoring system. The main steps of antenna array design include:

[0059] (1) Determine the spacing of the dense array based on the carrier wavelength of the transmitted signal to ensure an unambiguous azimuth range of -80° to 80°, effectively avoiding interference from antenna sidelobe energy;

[0060] (2) Determine the equivalent virtual array length based on the azimuth resolution requirements;

[0061] (3) Selecting a window function based on the grating lobe level; and determining the increase in the number of transmit array elements based on the window function broadening factor;

[0062] (4) Determine the number of transmitting and receiving array elements required for the system;

[0063] (5) Use the spatial convolution theorem of the far-field array to determine the arrangement of the transmitting and receiving antenna elements.

[0064] Combine Figure 3 As shown, the underground tunnel surrounding rock deformation safety monitoring method specifically includes the following steps:

[0065] (1) After conducting an on-site survey of the surrounding rock deformation risk areas in the coal mine, select monitoring points with good field of view and stability and install the radar system;

[0066] (2) The monitoring system control terminal can transmit data with the radar monitoring host through wired or wireless means. After the communication connection is established, the stepper motor immediately performs the rotation module reset operation;

[0067] (3) On-site monitoring personnel measure the distance between the radar monitoring host and the roadway roof and the surrounding rocks on both sides, set the parameters of the intersecting axis transmission mechanism, pitch drive mechanism, and millimeter wave measurement unit according to the requirements of underground roadway surrounding rock deformation safety monitoring, press the start and stop button on the radar monitoring host, confirm the system working status on the LCD screen, and start monitoring on the monitoring system control terminal;

[0068] (4) During the system warm-up period, perform radar target slant range parameter calibration;

[0069] (5) After the system preheating operation is completed, monitoring officially begins. Through window filtering, amplitude and phase consistency correction, back projection imaging, phase differential interference and other processing, the radar target scattered echo amplitude map, cumulative displacement chromatogram and spatial distribution in the surrounding rock deformation monitoring area are obtained, and the surrounding rock deformation safety monitoring data and surrounding rock deformation safety monitoring analysis report can be output regularly;

[0070] (6) The monitoring system control terminal stops monitoring, confirms the system working status on the LCD screen, and presses the start / stop button again to confirm that the system is powered off;

[0071] (7) Based on indicators such as the rock mass structure type, structural surface development degree, and weathering and metamorphism degree of the underground tunnel surrounding rock mass, timely adjust the monitoring frequency and record the deformation monitoring results; this setting method can be adjusted based on the monitoring needs in this field and will not be repeated here;

[0072] (8) According to the cumulative displacement monitoring data, fit the time series displacement u-time t curve, velocity v-time t curve, acceleration a time-t curve, and analyze it in combination with the warning model such as the duration of surrounding rock deformation and regional area. For example, based on the displacement acceleration parameter warning model; if the displacement acceleration is negative That is, the curve indicates that the deformation speed of the surrounding rock is decreasing, indicating that the deformation of the surrounding rock tends to be stable, and no alarm is given; if the displacement acceleration of multiple monitoring units is positive If the deformation rate of the surrounding rock increases and the curve continues for a certain period of time, it means that the surrounding rock is in a dangerous state and an alarm to stop excavation must be issued. Excavation must be stopped immediately and the supporting lining must be reinforced quickly or measures must be taken to reinforce the surrounding rock.

[0073] In another embodiment, this solution can be implemented using a portable underground surrounding rock deformation safety monitoring device, which can include corresponding modules, systems, or subsystems that perform each or several steps in each of the above-mentioned embodiments. Therefore, each step or several steps in each of the above-mentioned embodiments can be performed by a corresponding module, and the electronic device can include one or more of these modules. The module can be one or more hardware modules specifically configured to perform the corresponding steps, or implemented by a processor configured to perform the corresponding steps, or stored in a computer-readable medium for implementation by the processor, or implemented by some combination thereof.

[0074] The system can be implemented using a bus architecture. The bus architecture can include any number of interconnecting buses and bridges, depending on the specific application and overall design constraints of the hardware. The bus connects various circuits including one or more processors, memories, and / or hardware modules. The bus can also connect various other circuits such as peripherals, voltage regulators, power management circuits, external antennas, etc.

[0075] Any process or method description in the flowchart or otherwise described herein can be understood to represent a module, fragment or portion of code comprising one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiment of the present invention includes alternative implementations in which the functions may be performed not in the order shown or discussed, including performing the functions in a substantially simultaneous manner or in a reverse order according to the functions involved, as will be understood by those skilled in the art to which the embodiments of the present invention pertain. The processor performs the various methods and processes described above. For example, the method embodiments in the present invention can be implemented as a software program that is tangibly contained in a machine-readable medium, such as a memory. In some embodiments, part or all of the software program can be loaded and / or installed via a memory and / or a communication interface. When the software program is loaded into the memory and executed by the processor, one or more steps in the method described above can be performed. Alternatively, in other embodiments, the processor can be configured to perform one of the above methods in any other appropriate manner (e.g., by means of firmware).

[0076] The logic and / or steps represented in the flowchart or otherwise described herein may be embodied in any readable storage medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device).

[0077] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A portable underground surrounding rock deformation safety monitoring method, characterized in that: The method comprises: S1. Deploy a portable underground surrounding rock deformation safety monitoring system at the monitoring point. The portable underground surrounding rock deformation safety monitoring system includes a radar monitoring host and a stable tripod. The radar monitoring host is placed on the tripod and consists of three millimeter wave measurement units, a pitch drive mechanism, and a power supply unit. The three millimeter wave measurement units are placed on the top and both sides of the monitoring host, respectively. A lithium battery is placed in the middle of the tripod legs to power the radar monitoring host. S2. The radar monitoring host is powered by a lithium battery. After power-on, the control unit establishes a connection with the stepper motor and controls the top millimeter wave measurement unit to reset. S3. Based on the monitoring geometry analysis of the surrounding rock under test, after setting the system parameters such as monitoring range, monitoring cycle, and monitoring distance, the system is started to collect data; S4. Perform high-resolution one-dimensional imaging processing on the digital signals of scattered echoes from the surrounding rock roof collected by the system, and perform two-dimensional imaging on the digital signals of scattered echoes from both sides of the surrounding rock; S5. Through phase filtering, phase unwrapping and phase interference processing, the surface micro-displacement of the mine tunnel roof and the surrounding rock hazard areas on both sides is inverted, and the monitoring data is output according to the set period; S6. Performing surrounding rock stability analysis and collapse safety warning based at least in part on the accumulated displacement data of the surrounding rock top and the two side surfaces described in S5; Said S6 further comprises: fitting the time series displacement u-time t curve, velocity v-time t curve, acceleration a-time-t curve according to the cumulative displacement monitoring data, and analyzing the surrounding rock deformation duration and regional area early warning model. The specific method of early warning analysis is: if the displacement acceleration is a negative value, that is, No alarm will be given; if the displacement acceleration of multiple monitoring units is positive, that is, And if it lasts for a certain period of time, an alarm to stop excavation will be issued.

2. The method according to claim 1, characterized in that The monitoring data in S5 includes: Radar target scattered echo amplitude map, cumulative displacement chromatogram, and spatial distribution data within the surrounding rock deformation monitoring area.

3. A portable underground surrounding rock deformation safety monitoring system, characterized in that: The system executes the safety monitoring method according to any one of claims 1-2, and the system includes: Radar monitoring host, stabilizing tripod, battery module; The radar monitoring host is rigidly connected to the stable tripod; The radar monitoring host includes a millimeter wave measurement unit, a pitch drive mechanism, a power supply unit, and a peripheral interface; The millimeter wave measurement unit includes a digital module, a baseband and radio frequency module, a multi-level PIN switch matrix, and a transceiver antenna array element; The digital module is connected to the baseband and radio frequency modules; The baseband and radio frequency modules are connected to the multi-stage PIN switch matrix; The multi-stage PIN switch matrix is ​​connected to the transceiver antenna array elements; The multi-stage PIN switch matrix works in turn according to preset time slots, and closes the radio frequency path to the receiver when the system is in the transmission time slot.

4. The system according to claim 3, characterized in that The pitch drive mechanism includes a rotation module, a stepping motor, and a pitch rotation axis; The rotation module cooperates with the stepping motor to adjust the pitch angle of the radar monitoring host along the pitch axis; The transmitting and receiving antenna elements of the millimeter wave measurement unit are respectively placed on the top of the rotating module and on both symmetrical sides of the radar monitoring host.

5. The system according to claim 4, characterized in that The pitch drive mechanism further includes: a motion controller, a speed regulator, a code disk subdivision box, a grating disk head and a reading head; the motion controller is connected to the control terminal; The motion controller receives the signal from the control terminal, drives the speed regulator and stepper motor, controls the pitch axis to adjust the pitch angle, and the grating head and reading head connected to the pitch axis determine whether the specific angle meets the preset requirements through the code disk subdivision box and feed back to the motion controller; the motion signal of the stepper motor is fed back to the speed regulator.

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