State detection system and method of transmission shaft system based on adjustable beam radar

Abstract

The invention discloses a state detection system and method for a transmission shaft system based on an adjustable beam radar. The state detection system comprises a vehicle chassis, and the vehicle chassis is provided with an engine, an elastic coupler, a transmission shaft and a gearbox which are in transmission connection in sequence; a left millimeter-wave radar and a right millimeter-wave radar are arranged on the two sides in the axis direction of the transmission shaft respectively. Transmission shaft horizontal millimeter-wave radars and transmission shaft vertical millimeter-wave radars of which transmitting ends are perpendicular to each other are arranged at the periphery of the transmission shaft; a coupling horizontal millimeter-wave radar and a coupling vertical millimeter-wave radar of which transmitting ends are perpendicular to each other are arranged at the periphery of the coupling; the millimeter wave radars form an adjustable beam radar array to detect a gearbox, an engine, a transmission shaft and a coupler. The same position is detected through the two millimeter wave radars, two detection results are compared and analyzed, and whether the key point part is abnormally changed or not is analyzed; therefore, the detection efficiency of the state of the detected target object is higher.

Description

Technical Field

[0001] The present invention relates to the field of millimeter wave radar detection technology, and in particular to a state detection system and method of a transmission shaft system based on an adjustable beam radar. Background Art

[0002] The detection conditions in the transmission chain system are very complex. Due to the large number of vehicle chassis components and the various movement forms of different components, the arrangement of contact sensors is relatively difficult. The types of indicators that can be measured using contact sensors are limited. For example, the use of magnetic sensors cannot detect the swing displacement of rotating parts, and it is also impossible to extract the axis trajectory of rotating parts. When using laser displacement sensors or eddy current sensors for non-contact detection, the detection may fail due to the range or accuracy of the sensor itself. Single-point laser displacement sensors may not be able to obtain measurement information due to the angle offset of the measured plane. The installation distance of eddy current sensors is small, and it is difficult to apply to detection conditions with large radial offsets such as rotating shafts, which can easily cause safety accidents. When detecting the characteristic parameters of multiple key components in the transmission chain system, many types of sensors need to be installed, such as acceleration sensors, laser displacement sensors, eddy current sensors, etc. For the above vibration, displacement and other detection conditions, there is a lack of a unified multi-index integrated detection solution. Summary of the invention

[0003] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a state detection system and method for a transmission shaft system based on an adjustable beam radar, which detects key parts at the same position by using two millimeter-wave radars as a group of radar arrays to analyze whether abnormal changes occur in the gearbox, engine, transmission shaft and coupling; greatly improves the state detection efficiency of the target object, and ensures the detection precision and accuracy of the millimeter-wave radar for multiple key components.

[0004] Technical solution: To achieve the above-mentioned purpose, the state detection system of the transmission shaft system based on the adjustable beam radar of the present invention includes a vehicle chassis, on which an engine, an elastic coupling, a transmission shaft and a gearbox which are sequentially connected in transmission are arranged; a left millimeter-wave radar and a right millimeter-wave radar are respectively arranged on both sides of the axial direction of the transmission shaft to detect the postures of the input and output ends of the engine and the gearbox; a transmission shaft horizontal millimeter-wave radar and a transmission shaft vertical millimeter-wave radar whose transmitting ends are perpendicular to each other are arranged around the transmission shaft to detect the posture of the transmission shaft; a coupling horizontal millimeter-wave radar and a coupling vertical millimeter-wave radar whose transmitting ends are perpendicular to each other are arranged around the coupling to detect the posture of the coupling; the same position is detected by two millimeter-wave radars, and the detection results of the two millimeter-wave radars are compared and analyzed to analyze whether abnormal changes occur in the gearbox, engine, transmission shaft and coupling.

[0005] Furthermore, the engine is provided with an engine vibration detection point, and the gearbox is provided with a gearbox input end vibration detection point and a gearbox output end vibration detection point; a transmission shaft axis center trajectory detection point is provided at a position of the transmission shaft close to the gearbox, and a coupling axis center trajectory detection point is provided on the coupling; and the six detection points are all provided with corner reflectors with beam directional reflection and beam energy concentration; the corner reflector enhances and reflects the signal emitted by the millimeter wave radar, so that the signal is reflected to the millimeter wave radar.

[0006] Furthermore, there is an overlapping detection area between the first effective detection area of ​​the left wide millimeter-wave radar and the second effective detection area of ​​the right millimeter-wave radar; the overlapping detection area covers all the engine vibration detection points, the gearbox input end vibration detection points and the gearbox output end vibration detection points.

[0007] Furthermore, the transmitting ends of the left millimeter-wave radar, the right millimeter-wave radar, the drive shaft horizontal millimeter-wave radar, the drive shaft vertical millimeter-wave radar, the coupling horizontal millimeter-wave radar and the coupling vertical millimeter-wave radar that emit transmitting signals are all provided with external antennas with flexibly adjustable opening angles, and the external antennas adjust the beam angle range of the millimeter-wave radar.

[0008] Furthermore, the external antenna includes a plurality of linked blades and an antenna base; the antenna base is a ring structure and is wrapped around the outside of the millimeter-wave radar transmitting end; the plurality of linked blades are distributed in a circular array, and the roots of the plurality of blades are movably connected to the antenna base; the plurality of blades together form a trumpet-shaped inner wall, and the inner wall is provided with a smooth flexible material; a telescope is installed on the outside of each blade, and the plurality of telescopes are distributed in a circular array; among the plurality of telescopes, the protruding end of the telescopic rod of any telescope is connected to the tail end of a telescope adjacent to itself, so that the plurality of telescopes together form a closed-loop structure; when the telescopic rods of the plurality of telescopes are extended at the same time, the plurality of blades are opened outward at the same time, and the beam angle is increased; when the telescopic rods of the plurality of telescopes are retracted at the same time, the plurality of blades are retracted inward at the same time, and the beam angle is reduced.

[0009] Furthermore, the external antenna includes a wide beam mode and a narrow beam mode. When the external antenna is in the wide beam mode, the telescopic rod of the telescope of the external antenna is extended to the maximum, so that the blades are fully opened and the flexible material is stretched to fill the gaps between the blades; when the external antenna is in the narrow beam mode, the telescopic rod of the telescope of the external antenna is completely retracted, so that the blades are completely folded.

[0010] Furthermore, according to the working method of the state detection system of the transmission shaft system based on the adjustable beam radar, the left millimeter-wave radar and the right millimeter-wave radar detect the emission signals of the engine vibration detection point, the gearbox input end vibration detection point and the gearbox output end vibration detection point; the reflected echo signal is processed by the radar signal processing algorithm based on data amplification to extract the vibration frequency and vibration amplitude of the gearbox and the engine; the similarity of the vibration frequency and vibration amplitude feature points detected by the two millimeter-wave radars is compared and analyzed to determine the confidence interval corresponding to the feature point and the target point to judge whether abnormal changes have occurred in the engine and the gearbox.

[0011] Furthermore, the horizontal millimeter-wave radar of the transmission shaft and the vertical millimeter-wave radar of the transmission shaft detect the signal emitted from the detection point of the axis trajectory of the transmission shaft, and process the reflected echo signal to obtain the vibration frequency, vibration amplitude and rotation speed of the transmission shaft; based on the vibration amplitude of the horizontal direction of the transmission shaft and the vibration amplitude of the vertical direction of the transmission shaft, the motion trajectory of the axis of the transmission shaft is synthesized; based on the vibration frequency, vibration amplitude, rotation speed and the motion trajectory of the axis of the transmission shaft detected by the two millimeter-wave radars, it is compared and analyzed to determine whether the transmission shaft has undergone abnormal changes;

[0012] The coupling horizontal millimeter-wave radar and the coupling vertical millimeter-wave radar detect the signal emitted from the coupling axis trajectory detection point, and process the reflected echo signal to obtain the vibration frequency, vibration amplitude and rotation speed of the transmission shaft; based on the vibration amplitude in the horizontal direction of the coupling and the vibration amplitude in the vertical direction of the transmission shaft, the motion trajectory of the coupling axis is synthesized; based on the vibration frequency, vibration amplitude, rotation speed and the motion trajectory of the coupling axis detected by the two millimeter-wave radars, comparison and analysis are performed to determine whether the coupling has undergone abnormal changes.

[0013] Beneficial effects: The state detection system and method of the transmission shaft system based on the adjustable beam radar of the present invention detects the same position through a group of two millimeter-wave radars, and through the analysis and comparison of the two detection results, the detection accuracy and detection efficiency of the final detection result are higher; an external antenna with an adjustable beam is installed at the transmitting end of the millimeter-wave radar to control the beam range of the millimeter-wave radar, so that there are no unnecessary signals reflected by interference reflection sources within the detection range, and signal scattering or signal leakage is avoided; a corner reflector is set at the detection point to enhance the signal of the millimeter-wave radar and reflect it along the original path, thereby improving the signal strength after the millimeter-wave radar receives the reflection, and then improving the detection accuracy; through a detection means of millimeter-wave radar, multi-point, multi-feature, and full-range integrated synchronous detection of the transmission shaft system is realized, greatly improving the state detection efficiency of the target object being measured. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 Schematic diagram of setting up an adjustable beam radar array for a drive shaft system;

[0015] Figure 2 It is a schematic diagram of the external antenna structure;

[0016] Figure 3 Schematic diagram of the wide beam mode of the external antenna;

[0017] Figure 4 Schematic diagram of the narrow beam mode of the external antenna. DETAILED DESCRIPTION

[0018] The present invention will be further described below in conjunction with the accompanying drawings.

[0019] like Figure 1 As shown, a state detection system of a transmission shaft system based on an adjustable beam radar comprises a vehicle chassis 30, on which an engine 8, an elastic coupling 9, a transmission shaft 3 and a gearbox 10 which are sequentially connected in transmission are arranged; a left millimeter-wave radar 1 and a right millimeter-wave radar 2 are arranged on both sides along the axial direction of the transmission shaft 3, respectively, to detect the postures of the input and output ends of the engine 8 and the gearbox 10, and to perform synchronous vibration detection on key points of multiple key components; a transmission shaft horizontal millimeter-wave radar 4 and a transmission shaft vertical millimeter-wave radar 5 whose transmitting ends are perpendicular to each other are arranged around the transmission shaft 3, to detect the posture of the transmission shaft 3, The axis trajectory of the transmission shaft 3 is detected; the coupling horizontal millimeter wave radar 6 and the coupling vertical millimeter wave radar 7 with mutually perpendicular transmitting ends are arranged around the coupling 9 to detect the posture of the coupling 9 and the axis trajectory of the coupling 9; the vibration frequency, vibration amplitude, swing displacement of the transmission shaft 3 and the coupling 9, and the axis trajectory of the key point components in the transmission shaft system can be extracted; the same position is detected by two millimeter wave radars, and the detection results of the two millimeter wave radars are compared and analyzed to analyze whether there are abnormal changes in the gearbox 10, the engine 8, the transmission shaft 3 and the coupling 9. The accuracy and precision of the detection results are guaranteed, and the problems such as strict requirements on the sensor installation position and complex types of sensors and measured signals under complex detection conditions of the transmission shaft system can be solved. Through a detection method of millimeter wave radar, multi-point, multi-feature, and full-range integrated synchronous detection of the transmission shaft system can be realized.

[0020] The left millimeter wave radar 1 and the right millimeter wave radar 2 are both wide beam multi-input multi-output MIMO millimeter wave radars; the transmission shaft horizontal millimeter wave radar 4, the transmission shaft vertical millimeter wave radar 5, the coupling horizontal millimeter wave radar 6 and the coupling vertical millimeter wave radar 7 are all narrow beam single input single output SISO millimeter wave radars. When an object vibrates, there will be a certain frequency and a small displacement. These changes in physical quantities will cause disturbances to the electromagnetic waves, causing the reflected echo signal to have differences in frequency, phase and energy intensity relative to the transmitted signal. The corner reflector can gather the energy of the echo signal and make most of the echo signals return to the receiving antenna of the millimeter wave radar along the same path. By performing signal processing, characteristic parameters such as the vibration frequency and vibration amplitude of the measured target point can be extracted.

[0021] The engine 8 is provided with an engine vibration detection point 15, which is set at the position where the engine is supported at the lower end of the engine 8; the gearbox 10 is provided with a gearbox input end vibration detection point 14 and a gearbox output end vibration detection point 11, the gearbox input end vibration detection point 14 is the connection point position of the transmission shaft connecting the gearbox, and the gearbox output end vibration detection point 11 is the position of the gearbox output end; the transmission shaft 3 is provided with a transmission shaft axis trajectory detection point 12 near the gearbox 10, which is approximately located at a position on the transmission shaft that is 1 / 4 of the distance from the gearbox; the coupling 9 is provided with a coupling axis trajectory detection point 13, which is located at the center of the coupling; and the six detection points are all provided with a corner reflector with beam directional reflection and beam energy gathering; the corner reflector enhances and reflects the signal emitted by the millimeter wave radar, so that the signal is reflected to the millimeter wave radar. In view of the problems such as the small installation space of the vehicle chassis and the complex equipment installation conditions, a small corner reflector with beam directional reflection and beam energy gathering functions is pasted to the key target points to be measured, which has the characteristics of miniaturization.

[0022] In the transmission shaft system, metal and non-metal objects are relatively concentrated, and the working conditions for detecting specific targets using millimeter-wave radar are more complicated; for this complex detection condition, a small corner reflector with beam directional reflection and beam energy concentration functions is set at the target point to make the echo signal energy of the measured point received by the millimeter-wave radar stronger. The corner reflector is made of metal plates according to different uses. When the electromagnetic wave scans the corner reflector, the electromagnetic wave will be refracted and propagated on the corner reflector without large loss. The reflected echo signal energy is strong, and the millimeter-wave radar will receive strong echo target information; and when the electromagnetic wave signal emitted by the millimeter-wave radar is incident from any direction, the corner reflector composed of three mutually perpendicular plane mirrors will make the electromagnetic wave return along the incident path without much scattering.

[0023] There is an overlapping detection area between the first effective detection area 21 of the left wide millimeter-wave radar 1 and the second effective detection area 22 of the right millimeter-wave radar 2; the overlapping detection area covers all the engine vibration detection points 15, the gearbox input end vibration detection points 14 and the gearbox output end vibration detection points 11.

[0024] The transmitting ends of the left millimeter-wave radar 1, the right millimeter-wave radar 2, the horizontal millimeter-wave radar 4 of the transmission shaft, the vertical millimeter-wave radar 5 of the transmission shaft, the horizontal millimeter-wave radar 6 of the coupling, and the vertical millimeter-wave radar 6 of the coupling that emit the transmission signal are all provided with an external antenna 50 with a flexible adjustable opening angle. The external antenna 50 adjusts the beam angle range of the millimeter-wave radar so that the millimeter-wave radar is suitable for different detection conditions. Usually, the millimeter-wave radar has an effective measurable range, and objects within the range can be detected. Objects outside the range are regarded as the detection blind area of ​​the millimeter-wave radar and cannot be identified; the external antenna with adjustable beam range can adjust the beam angle of the millimeter-wave radar so that the beam range can be controlled between ±4° and ±20°, and the target can be detected according to different working conditions.

[0025] The external antenna 50 includes a plurality of linked blades 51 and an antenna base 54; the antenna base 54 is a ring structure and is wrapped around the outside of the millimeter-wave radar transmitting end; the plurality of linked blades 51 are distributed in a circular array, and the roots of the plurality of blades 51 are movably connected to the antenna base 54; the plurality of blades 51 together form a trumpet-shaped inner wall, and the inner wall is provided with a smooth flexible material 55; a telescope 52 is installed on the outside of each blade, and the plurality of telescopes 52 are distributed in a circular array; among the plurality of telescopes 52, the extended end of the telescopic rod of any telescope is connected to the tail end of a telescope adjacent to itself, so that the plurality of telescopes 52 together form a closed loop 56 structure; when the telescopic rods 53 of the plurality of telescopes 52 are extended at the same time, the plurality of blades 51 are opened outward at the same time, and the beam angle is increased; when the telescopic rods 53 of the plurality of telescopes 52 are retracted at the same time, the plurality of blades 51 are retracted inward at the same time, and the beam angle is reduced.

[0026] The several linked blades 51 of the external antenna 50 are eight linked blades, and at this time there are also eight telescoping devices 52; the roots of several of the blades 51 are movably connected to the antenna base 54, the blades can be hinged to the antenna base 54, the blades can be ball-connected to the antenna base 54, and the blades can also be flexibly connected to the antenna base 54, so that when the telescopic rods 53 of all the telescoping devices 52 are extended at the same time, the blades can open outwards due to the extension of the telescopic rods of the telescoping devices 53, thereby increasing the beam angle of the external antenna.

[0027] The external antenna 50 includes a wide beam mode and a narrow beam mode; when the external antenna 50 is in the wide beam mode, the wide beam mode external antenna is horn-shaped as a whole; the telescopic rod of the telescope of the external antenna 50 is extended to the maximum, so that the blades are fully opened, and the flexible material 55 is stretched to fill the gaps between the blades 51; when the external antenna 50 is in the wide beam mode, the beam angle is the largest, and its cross-sectional angle is 40°. After the blades are fully opened, there are certain gaps between the blades. If the flexible material 55 is not provided on the inner wall of the blade, the gap between the blades will cause the signal emitted by the millimeter-wave radar signal to be too dispersed, so that when the signal reaches the measured position, the signal is too dispersed to generate scattering, and the reflected echo signal is too small. At the same time, due to the gap between the blades, the echo signal received by the millimeter-wave radar becomes less again, which will eventually lead to inaccurate detection results; therefore, a flexible material is provided, and when the blades are fully opened, the flexible material is stretched at the same time, so that the flexible material fills the gaps between the blades 51 to ensure that no signal scattering or signal leakage occurs.

[0028] When the external antenna 50 is in narrow beam mode, the telescopic rod of the telescope of the external antenna 50 is fully retracted, so that the blades are fully folded. When the external antenna 50 is in narrow beam mode, the beam angle is the smallest, and its cross-sectional angle is 8°. After the blades are fully folded, the flexible material gradually shrinks and keeps the surface smooth; in narrow beam mode, the signal emitted by the millimeter wave radar is concentrated, emitted to the detected position, and returned to the millimeter wave radar. The concentration of the signal reduces the detection range of the radar, but increases the detection accuracy, ensuring that there are no unnecessary interference reflection sources within the detection range, and reducing the influence of the signals reflected by other reflection sources on the reflected signals of the detected target; it is suitable for detecting the axis trajectory of the transmission shaft 3 and the coupling 9, and improving the detection accuracy within a small range of detection interval.

[0029] The external antennas 50 at the transmitting ends of the left millimeter-wave radar 1 and the right millimeter-wave radar 2 are all set to wide beam mode; the external antennas 50 at the transmitting ends of the transmission shaft horizontal narrow beam millimeter-wave radar 4, the transmission shaft vertical narrow beam millimeter-wave radar 5, the coupling horizontal narrow beam millimeter-wave radar 6 and the coupling vertical narrow beam millimeter-wave radar 7 are all set to narrow beam mode. Two wide beam MIMO millimeter-wave radars form a group of arrays, which are respectively located at appropriate positions on the left and right sides of the axis direction of the transmission shaft, and perform vibration detection on positions such as the gearbox and the engine; four narrow beam SISO millimeter-wave radars form two groups of arrays, which are respectively located in the vertical plane at the appropriate position of the transmission shaft axis and in the vertical plane at the midpoint of the coupling axis, and each group of narrow beam SISO millimeter-wave radars are arranged perpendicular to each other; the group of wide beam MIMO millimeter-wave radar arrays and the two groups of narrow beam SISO millimeter-wave radar arrays form a millimeter-wave radar transmission shaft key component detection array with adjustable beam range.

[0030] The left wide beam MIMO millimeter wave radar 1 and the right wide beam MIMO millimeter wave radar 2 are respectively equipped with external antennas 50 in wide beam mode at their front ends. Under the action of the external antennas 50 in wide beam mode, the overlapping area of ​​the effective detection areas of the left wide beam MIMO millimeter wave radar 1 and the right wide beam MIMO millimeter wave radar 2 covers the vibration detection point 14 at the output end of the gearbox, the vibration detection point 11 at the input end of the gearbox and the vibration detection point 15 at the engine support. The transmission shaft horizontal narrow beam SISO millimeter wave radar 4, the transmission shaft vertical narrow beam SISO millimeter wave radar 5, the coupling horizontal millimeter wave radar 6 and the coupling vertical millimeter wave radar 7 are respectively equipped with an external antenna 50 in a narrow beam mode at the front end. Under the action of the external antenna 50 in the narrow beam mode, the effective detection area of ​​the transmission shaft horizontal narrow beam SISO millimeter wave radar 4 and the transmission shaft vertical narrow beam SISO millimeter wave radar 5 only covers the transmission shaft axis trajectory detection point 12, reducing the detection area to detect only one position, reducing the interference of other signals, and improving the detection accuracy of one position or key parts; the effective detection area of ​​the coupling horizontal millimeter wave radar 6 and the coupling vertical millimeter wave radar 7 only covers the coupling axis trajectory detection point 13, reducing the detection area to detect only one position, reducing the interference of other signals, and improving the detection accuracy of one position or key parts.

[0031] In the vertical plane of the axis of the drive shaft in the drive shaft system, two narrow-beam SISO millimeter-wave radars are arranged perpendicular to each other. Based on the distance detection principle of millimeter-wave radar, the two mutually perpendicular radial offsets of the drive shaft and the coupling in the rotation plane are detected respectively, and characteristic information such as the rotational offset of the rotating part, the alignment of the shaft / coupling and the rotation speed are extracted, that is, the vibration amplitude, vibration frequency and rotation speed of the drive shaft; at the same time, based on the mutually perpendicular radial offsets, that is, the mutually perpendicular vibration amplitudes, the axial center trajectories of the drive shaft and the coupling are synthesized.

[0032] The working method of the state detection system of the transmission shaft system based on the adjustable beam radar is as follows: the left millimeter wave radar 1 and the right millimeter wave radar 2 transmit signals to detect the engine vibration detection point 15, the gearbox input end vibration detection point 14 and the gearbox output end vibration detection point 11; the signal characteristics of the detected points are enhanced under the action of the corner reflector, so that the energy amplitude of the echo signal of the detected points is larger, and the reflected echo signal is returned to the left millimeter wave radar 1 and the right millimeter wave radar 2; the reflected echo signal is processed by the radar signal processing algorithm based on data amplification, the vibration frequency and vibration amplitude of the gearbox 10 and the engine 8 are extracted, and the signal is processed by the radar signal processing algorithm based on data amplification, so that the characteristics of the object to be measured are more prominent, and the detection rate is further improved; the similarity of the vibration frequency and vibration amplitude feature points detected by the two millimeter wave radars is compared and analyzed, and the confidence interval corresponding to the feature point and the target point is determined; the state of the detected target is obtained, and it is judged whether the engine 8 and the gearbox 10 have abnormal changes.

[0033] The transmission shaft horizontal millimeter-wave radar 4 and the transmission shaft vertical millimeter-wave radar 5 detect the signal emitted by the transmission shaft axis trajectory detection point 12, and strengthen the signal characteristics of the detected point under the action of the corner reflector, so that the energy amplitude of the echo signal of the detected point is larger, and the reflected echo signal is returned to the transmission shaft horizontal millimeter-wave radar 4 and the transmission shaft vertical millimeter-wave radar 5; the reflected echo signal is processed to obtain the vibration frequency, vibration amplitude and rotation speed of the transmission shaft 3; based on the vibration amplitude in the horizontal direction of the transmission shaft and the vibration amplitude in the vertical direction of the transmission shaft, the motion trajectory of the axis of the transmission shaft 3 is synthesized; based on the vibration frequency, vibration amplitude, rotation speed and the motion trajectory of the axis of the transmission shaft 3 detected by the two millimeter-wave radars, comparison and analysis are performed; the state of the detected target is obtained, and it is determined whether the transmission shaft 3 has an abnormal change;

[0034] The coupling horizontal millimeter-wave radar 6 and the coupling vertical millimeter-wave radar 7 detect the signal emitted by the coupling axis trajectory detection point 13, and strengthen the signal characteristics of the detected point under the action of the corner reflector, so that the energy amplitude of the echo signal of the detected point is larger, and the reflected echo signal is returned to the coupling horizontal millimeter-wave radar 6 and the coupling vertical millimeter-wave radar 7; the reflected echo signal is processed to obtain the vibration frequency, vibration amplitude and rotation speed of the transmission shaft 3; based on the vibration amplitude in the horizontal direction of the coupling and the vibration amplitude in the vertical direction of the transmission shaft, the motion trajectory of the axis of the coupling 9 is synthesized; based on the vibration frequency, vibration amplitude, rotation speed and the motion trajectory of the axis of the coupling 9 detected by the two millimeter-wave radars, comparison and analysis are performed; the state of the detected target is obtained, and it is determined whether the coupling 9 has any abnormal changes.

[0035] The above is only a description of the preferred embodiments of the present invention. Ordinary technicians in this technical field can make several modifications and optimizations based on the above disclosure without departing from the above basic principles. These improvements and optimizations should be regarded as the understood protection scope of the present invention.

Claims

1. A state detection system for a transmission shaft system based on an adjustable beam radar, characterized in that: The invention comprises a vehicle chassis (30), on which an engine (8), an elastic coupling (9), a transmission shaft (3) and a gearbox (10) are arranged in sequence; a left millimeter wave radar (1) and a right millimeter wave radar (2) are arranged on both sides along the axial direction of the transmission shaft (3) to detect the postures of the input end and the output end of the engine (8) and the gearbox (10); a transmission shaft horizontal millimeter wave radar (4) and a transmission shaft vertical millimeter wave radar (5) are arranged around the transmission shaft (3) with transmitting ends perpendicular to each other to detect the posture of the transmission shaft (3); a coupling horizontal millimeter wave radar (6) and a coupling vertical millimeter wave radar (7) are arranged around the coupling (9) with transmitting ends perpendicular to each other to detect the posture of the coupling (9); the same position is detected by two millimeter wave radars, and the detection results of the two millimeter wave radars are compared and analyzed to analyze whether the gearbox (10), the engine (8), the transmission shaft (3) and the coupling (9) have abnormal changes.

2. The state detection system of the transmission shaft system based on the adjustable beam radar according to claim 1 is characterized in that: The engine (8) is provided with an engine vibration detection point (15), and the gearbox (10) is provided with a gearbox input end vibration detection point (14) and a gearbox output end vibration detection point (11); the transmission shaft (3) is provided with a transmission shaft axis trajectory detection point (12) at a position close to the gearbox (10), and the coupling (9) is provided with a coupling axis trajectory detection point (13); and the six detection points are all provided with a corner reflector with beam directional reflection and beam energy concentration; the corner reflector enhances and reflects the signal emitted by the millimeter wave radar, so that the signal is reflected to the millimeter wave radar.

3. The state detection system of the transmission shaft system based on the adjustable beam radar according to claim 2 is characterized in that: The first effective detection area (21) of the left wide millimeter wave radar (1) and the second effective detection area (22) of the right millimeter wave radar (2) have an overlapping detection area; the overlapping detection area covers all of the engine vibration detection point (15), the gearbox input end vibration detection point (14) and the gearbox output end vibration detection point (11).

4. The state detection system of the transmission shaft system based on the adjustable beam radar according to claim 1, characterized in that: The transmitting ends of the left millimeter-wave radar (1), the right millimeter-wave radar (2), the transmission shaft horizontal millimeter-wave radar (4), the transmission shaft vertical millimeter-wave radar (5), the coupling horizontal millimeter-wave radar (6) and the coupling vertical millimeter-wave radar (6) for transmitting transmission signals are all provided with an external antenna (50) with an opening angle that can be flexibly adjusted, and the external antenna (50) adjusts the beam angle range of the millimeter-wave radar.

5. The state detection system of the transmission shaft system based on the adjustable beam radar according to claim 4 is characterized in that: The external antenna (50) comprises a plurality of linked blades (51) and an antenna base (54); the antenna base (54) is an annular structure and is wrapped around the outside of the millimeter wave radar transmitting end; the plurality of linked blades (51) are distributed in a circular array, and the roots of the plurality of blades (51) are movably connected to the antenna base (54); the plurality of blades (51) together form a trumpet-shaped inner wall, and the inner wall is provided with a smooth flexible material (55); a telescopic device (52) is installed on the outside of each blade, and the plurality of telescopic devices (52) are provided on the outside of each blade. The telescopic devices (52) are distributed in a circular array; the extended end of the telescopic rod of any telescopic device among the plurality of telescopic devices (52) is connected to the tail end of a telescopic device adjacent to the telescopic device, so that the plurality of telescopic devices (52) together form a closed loop (56) structure; when the telescopic rods (53) of the plurality of telescopic devices (52) are extended at the same time, the plurality of blades (51) are opened outward at the same time, and the beam angle is increased; when the telescopic rods (53) of the plurality of telescopic devices (52) are retracted at the same time, the plurality of blades (51) are retracted inward at the same time, and the beam angle is reduced.

6. The state detection system of the transmission shaft system based on the adjustable beam radar according to claim 5 is characterized in that: The external antenna (50) includes a wide beam mode and a narrow beam mode. When the external antenna (50) is in the wide beam mode, the telescopic rod of the telescope of the external antenna (50) is extended to the maximum, so that the blades are fully opened, and the flexible material (55) is stretched to fill the gaps between the blades (51); when the external antenna (50) is in the narrow beam mode, the telescopic rod of the telescope of the external antenna (50) is fully retracted, so that the blades are fully folded.

7. The working method of the state detection system of the transmission shaft system based on the adjustable beam radar according to claim 2 is characterized in that: The left millimeter wave radar (1) and the right millimeter wave radar (2) detect the signals emitted by the engine vibration detection point (15), the gearbox input end vibration detection point (14) and the gearbox output end vibration detection point (11); the reflected echo signal is processed by a radar signal processing algorithm based on data amplification to extract the vibration frequency and vibration amplitude of the gearbox (10) and the engine (8); the similarity of the vibration frequency and vibration amplitude feature points detected by the two millimeter wave radars is compared and analyzed, the confidence interval corresponding to the feature point and the target point is determined, and it is judged whether the engine (8) and the gearbox (10) have undergone abnormal changes.

8. The working method of the state detection system of the transmission shaft system based on the adjustable beam radar according to claim 7 is characterized in that: The transmission shaft horizontal millimeter wave radar (4) and the transmission shaft vertical millimeter wave radar (5) detect the transmission shaft axis center trajectory detection point (12) emission signal, process the reflected echo signal to obtain the vibration frequency, vibration amplitude and rotation speed of the transmission shaft (3); synthesize the motion trajectory of the axis of the transmission shaft (3) based on the vibration amplitude of the transmission shaft in the horizontal direction and the vibration amplitude of the transmission shaft in the vertical direction; compare and analyze the vibration frequency, vibration amplitude, rotation speed and the motion trajectory of the axis of the transmission shaft (3) detected by the two millimeter wave radars to determine whether the transmission shaft (3) has undergone abnormal changes; The coupling horizontal millimeter wave radar (6) and the coupling vertical millimeter wave radar (7) detect the signal emitted by the coupling axis trajectory detection point (13), and process the reflected echo signal to obtain the vibration frequency, vibration amplitude and rotation speed of the transmission shaft (3); synthesize the motion trajectory of the coupling (9) axis based on the vibration amplitude in the horizontal direction of the coupling and the vibration amplitude in the vertical direction of the transmission shaft; and compare and analyze the vibration frequency, vibration amplitude, rotation speed and motion trajectory of the coupling (9) axis detected by the two millimeter wave radars to determine whether the coupling (9) has undergone abnormal changes.

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