A real-time automatic attitude correction device after slope radar calibration

Abstract

The present invention discloses a device for real-time automatic correction of attitude after slope radar calibration, comprising a plurality of lifting components, supporting legs and a radar mounting seat, wherein the radar mounting seat is connected to the lifting component through a connecting rod, and an angle detector is installed on the lifting component; when the radar mounting seat is in an initial state, each angle detector calibrates the angle between the corresponding connecting rod and the lifting component connected thereto as the initial angle; when the radar mounting seat deviates from the initial state during the installation of the slope radar or the detection process, the angle detector obtains the difference between the angle between each connecting rod and the lifting component connected thereto and the initial angle to form a corresponding control signal, and the lifting component drives the supporting legs to perform lifting actions according to the control signal formed by the angle detector located thereon to obtain height compensation, so as to complete automatic correction. The present invention can automatically correct the installation state of the slope radar according to different terrain conditions of the slope radar installation position.

Description

Technical Field

[0001] The invention relates to the technical field of slope radars, and in particular to a device for automatically correcting the attitude of a slope radar after calibration. Background Art

[0002] In mining and geological disasters, slope landslides are very harmful and difficult to predict. Once they occur, they will seriously threaten people's lives and property safety. With the continuous development of science and technology, slope displacement or fixed monitoring radars are currently mainly used to monitor slopes. However, there are many new requirements for the transportation and on-site installation of slope displacement monitoring radars. In order to meet the requirements of emergency rescue, slope displacement monitoring radars must be easy to transport and quickly installed.

[0003] The slope displacement monitoring radar has strict requirements on installation conditions. During emergency rescue, the radar monitoring system needs to be able to be installed and debugged quickly and conveniently, and work normally as soon as possible. When installing the slope displacement monitoring radar, it needs to be able to quickly adjust and correct the level of the track during work, and the slope displacement monitoring radar must remain stable during work to avoid the impact of the radar detection accuracy and detection distance caused by the tilted installation state.

[0004] Most of the existing slope radars are installed on the ground with a tripod bracket. The flatness of the ground plays a decisive role in the horizontal state of the radar. At the same time, the horizontal state of the radar needs to be determined by the operator's experience or auxiliary tools. It is not suitable for the installation and horizontal correction of slope radars in emergency rescue conditions. Moreover, the correction and compensation of the measurement results can only be achieved by manually setting errors and calculating the compensation results, which directly affects the measurement accuracy.

[0005] The slope radar with a rail structure can adjust the length of each supporting leg by automatic adjustment to achieve the purpose of automatic adjustment. However, during the movement of the radar body, the overall center of gravity of the entire rail structure and the radar structure will shift. The center of gravity shift will cause the overall state to change, and then change the original force condition of each supporting leg, resulting in the overall tilt and shift. Continuous repeated adjustments are required, and the result of the slope radar needing to correct its state can only be known after the error occurs. The data accuracy generated during the measurement process is also not high.

[0006] In summary, the existing slope radar cannot be quickly installed horizontally and calibrated when installed on the ground for emergency rescue, nor can it compensate for the measurement accuracy of the measurement data during the continuous measurement process of the slope radar. Summary of the invention

[0007] The purpose of the present invention is to provide a real-time automatic correction device for the attitude of a slope radar after calibration, so as to solve the technical problems in the prior art that the automatic correction is complicated when the slope radar is fixed and the mobile slope radar needs to be moved so as to cause multiple corrections.

[0008] In order to solve the above technical problems, the present invention specifically provides the following technical solutions:

[0009] A device for real-time automatic correction of attitude after slope radar calibration, comprising a plurality of lifting components, each of which is equipped with a support leg at the bottom, and the plurality of lifting components are sequentially connected through a plurality of brackets to form an annular frame structure, a separate radar mounting seat is arranged in the annular frame structure, the radar mounting seat is connected to each of the lifting components through a connecting rod, so that the radar mounting seat is in a suspended state, and an angle detector is installed on each of the lifting components;

[0010] Wherein, when the radar mounting seat is in the initial state, each of the angle detectors calibrates the angle between the corresponding connecting rod and the lifting assembly connected thereto as the initial angle;

[0011] When the radar mounting base deviates from the initial state during the installation of the slope radar or the detection process, the angle detector obtains the difference between the angle between each connecting rod and the lifting component connected to it and the initial angle to form a corresponding control signal. The lifting component drives the supporting leg to perform a lifting action to obtain height compensation according to the control signal formed by the angle detector located thereon, so that the angle between each connecting rod and the lifting component connected to it is restored to the initial angle for complete automatic correction.

[0012] As a preferred solution of the present invention, the lifting assembly includes a driving part and a piston push rod movably connected to the connecting rod, the piston push rod is installed at the action end of the driving part and the other end is connected to the supporting leg, and the connecting rod is connected to the driving part.

[0013] As a preferred solution of the present invention, a pressure sensor is provided at the connection between the piston push rod and the support leg, and the pressure sensor is used to obtain the magnitude of the relative force when the support leg contacts the ground;

[0014] The pressure sensor is electrically connected to the angle detector, and the order in which the driving unit drives the supporting legs to perform lifting actions is formed by sorting the numerical values ​​of the relative forces obtained by the plurality of pressure sensors.

[0015] As a preferred solution of the present invention, the angle detector comprises an angle encoder body arranged on the driving part, and the action shaft of the angle encoder body is coaxially connected to one end of the first rotating shaft of the connecting rod connecting the driving part;

[0016] The first rotating shaft rotates following the movement of the connecting rod when the radar mounting base deviates from an initial state during the installation of the slope radar or the detection process, and the angular encoder body is used to obtain the rotation angle of the connecting rod by connecting the first rotating shaft through the action shaft.

[0017] As a preferred solution of the present invention, the angle detector obtains the angle between the connecting rod and the supporting leg in the initial state where the axial displacement of the corresponding piston push rod driven by all the driving parts is zero as the initial angle;

[0018] When the driving unit drives the supporting leg to perform a lifting action, and the angle between the connecting rod and the supporting leg is detected by the angle detector to be equal to an initial angle, the driving unit stops working.

[0019] As a preferred solution of the present invention, mounting planes are provided at the four corners of the radar mounting seat, a card slot is provided on the mounting plane, the bottom of the card slot extends to the bottom of the radar mounting seat, a pin rod is installed in the card slot, and the bottom of the pin rod extends from the bottom of the card slot to the bottom of the radar mounting seat;

[0020] The bottom of the pin rod is provided with a slot, the bottom of the slot is provided with a second rotation shaft, and the bottom of the connecting rod is rotatably connected to the rotation shaft;

[0021] The slot extends upward from the second rotating shaft along the pin rod to form a wedge-shaped slot body.

[0022] As a preferred solution of the present invention, when the connecting rod rotates around the second rotating axis to be completely embedded in the slot, the action shaft of the angle detector is initially zeroed, and the angle that the action shaft of the angle detector rotates from the initial zeroing to the initial state where the radar mounting seat is stationary and all the driving parts drive the corresponding piston push rods to have an axial displacement of zero is the initial angle.

[0023] As a preferred solution of the present invention, a limiting mechanism is provided on the driving part, and the limiting mechanism is used to limit the connecting rod after the supporting leg performs a lifting action to obtain height compensation.

[0024] As a preferred solution of the present invention, the limiting mechanism comprises a pneumatic cylinder arranged on the supporting leg and a clamp-shaped member connected to the movable end of the pneumatic cylinder, and the surface of the clamp-shaped member facing the connecting rod is provided with a jaw that cooperates with the connecting rod;

[0025] The pneumatic cylinder is installed on the driving part at an angle, and the jaws face the rod body of the connecting rod.

[0026] As a preferred solution of the present invention, the ends of any two adjacent brackets are connected by an arc segment to form an annular frame structure, and a guide groove is provided on the inner surface of the arc segment; a guide block cooperating with the guide groove is provided on the driving part, and the guide block can move along the guide groove.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] In the present invention, the radar mounting seat and the supporting legs are relatively separated by movably connecting the connecting rod of the radar mounting seat and the lifting assembly, so that the radar mounting seat is in a suspended state. The radar mounting seat in the suspended state and the radar device installed thereon force the angle between the connecting rod and the supporting legs to change under the action of gravity to automatically correct. The lifting and lowering of the supporting legs are driven by the lifting assembly, and the supporting legs and the ground have a supporting effect to restore the angle between the four connecting rods and the supporting legs to the initial horizontal state of the device, thereby completing the automatic correction of the radar device on the ground where it is installed.

[0029] The present invention can obtain the final target parameter of the final horizontal state correction when the radar device is installed on the ground by setting the angle between the connecting rod and the supporting leg in the horizontal initial state, and in the continuous monitoring process of the slope radar, remove the deviation of the deformation data of the monitoring area caused by the deformation error caused by the radar's own position offset, thereby improving the coherence between radar images and the accuracy of the deformation measurement value. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the implementation methods of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the implementation methods or the description of the prior art. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0031] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present invention;

[0032] Figure 2 A schematic diagram of the structure of a radar mounting base according to an embodiment of the present invention;

[0033] Figure 3 This is a schematic diagram of the structure of a lifting assembly according to an embodiment of the present invention;

[0034] Figure 4 A schematic structural diagram of a bracket and an arc segment connected in accordance with an embodiment of the present invention;

[0035] Figure 5 An enlarged schematic diagram of the structure of part A is provided for an embodiment of the present invention.

[0036] The numbers in the figure represent the following:

[0037] 1- radar mounting seat; 2- support leg; 3- lifting assembly; 4- connecting rod; 5- bracket; 6- detector; 7- limit mechanism; 8- pressure sensor; 9- mounting plane; 10- slot; 11- pin rod; 13- slot; 14- second rotating shaft; 15- arc segment; 16- guide block; 17- guide groove; 18- first rotating shaft;

[0038] 31-piston push rod; 32-driving part;

[0039] 71-pneumatic cylinder; 72-clamp-shaped member; 73-jaw. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] When the slope radar is continuously monitored, it needs to be installed at the monitoring coordinates. The specific installation requirements are as follows:

[0042] ‌1. Selection of installation location‌: The slope radar should be installed in a scientific and reasonable location, fully considering the topography and potential deformation areas of the slope, ensuring that the radar can effectively cover key monitoring points, while avoiding strong electromagnetic interference and other areas that may affect the monitoring effect‌.

[0043] 2. Requirements for installation foundation: Ensure that the installation platform is firm and reliable, and that the radar position will not change or shake due to external factors such as vibration and wind, which will affect the measurement accuracy.

[0044] ‌3. Adjustment of installation angle‌: Strictly follow the equipment requirements and monitoring needs, and accurately set the radar's pitch angle, azimuth angle, etc. to ensure the best monitoring effect‌.

[0045] Based on the above aspects, in this embodiment, Figures 1 to 5 As shown, this embodiment provides a real-time automatic attitude correction device after slope radar calibration, including multiple lifting components 3, each lifting component 3 is equipped with a support leg 2 at the bottom, and the multiple lifting components 3 are sequentially connected through multiple brackets 5 to form an annular frame structure, a separate radar mounting seat 1 is arranged in the annular frame structure, the radar mounting seat 1 is connected to each lifting component 3 through a connecting rod 4, so that the radar mounting seat 1 is in a suspended state, and an angle detector 6 is installed on each lifting component 3;

[0046] When the radar mounting base 1 is in the initial state, each angle detector 6 calibrates the angle between the corresponding connecting rod 4 and the lifting assembly 3 connected thereto as the initial angle;

[0047] When the radar mounting base 1 deviates from the initial state during the installation of the slope radar or the detection process, the angle detector 6 obtains the difference between the angle between each connecting rod 4 and the lifting component 3 connected to it and the initial angle to form a corresponding control signal. The lifting component 3 drives the support leg 2 to perform a lifting action to obtain height compensation according to the control signal formed by the angle detector 6 located thereon, so that the angle between each connecting rod 4 and the lifting component 3 connected to it is restored to the initial angle to complete automatic correction.

[0048] The radar mounting seat 1 is in the shape of a rectangular parallelepiped. A guide rail for mounting a radar body is arranged along the length direction of the radar mounting seat 1 for mounting the radar body and providing the radar body with displacement on the guide rail. The radar body is not drawn in the accompanying drawings.

[0049] In this embodiment, the number of support legs 2 is 4, for example, which are arranged at the four corners of the radar mounting base 1. A lifting assembly 3 is arranged on the support leg 2, and a piston push rod 31 of the lifting assembly 3 is connected to the top of the support leg 2. Figure 1 In the illustration shown, the connection between the piston push rod 31 and the support leg 2 can be arranged in a sleeve for guiding the support leg 2 and providing a structure for installing other equipment.

[0050] The driving part of the lifting assembly 3 is connected to the corner bottom of the radar mounting seat 1 through the connecting rod 4. One end of the connecting rod 4 is rotatably connected to the corner bottom of the radar mounting seat 1, and the other end of the connecting rod 4 is rotatably connected to the driving part 32 of the lifting assembly 3.

[0051] Any two adjacent driving parts 32 are connected via the bracket 5 , so that the four driving parts 32 are located in the same horizontal plane, and the supporting leg 2 is movably connected to the bracket 5 .

[0052] The angle detector 6 is arranged on the driving part 32 , and is used to detect the angle between the connecting rod 4 and the supporting leg 2 , and to generate a control signal for the driving part 32 to drive the piston push rod 31 to move axially along the supporting leg 2 .

[0053] When the four supporting legs 2 are in a horizontal supporting state and the axial displacement of the piston push rod 31 driven by the four driving parts 32 is zero, the angle between the connecting rod 4 and the supporting legs 2 is a limiting angle.

[0054] The difference between this embodiment and the existing adjustment method is that the adjustment mechanism of the radar mounting seat 1 is not directly mounted on the radar mounting seat 1, but the support leg 2 is connected to the radar mounting seat 1 through a movable connecting piece (connecting rod 4).

[0055] The main purpose of this embodiment is to place the radar mount 1 in a relatively free state under the action of the overall gravity of the installation connection between the radar mount 1 and the radar body, that is, by placing the radar mount 1 in a suspended state, when the heights of the supporting legs 2 are different, that is, when the ground on which it is placed is uneven, the overall center of gravity of the radar mount 1 will be relatively shifted, which will be reflected in the connection angle between it and the connecting rod 4.

[0056] If the four supporting legs 2 are on the same plane and at the same height, the angle between the four connecting rods 4 and the supporting legs 2 is fixed. The main purpose of this embodiment is to adjust and fix the angle regardless of the ground structure. Then the radar mounting base 1 must also be in a horizontal state.

[0057] To this end, in this embodiment, when the detector 6 detects that the angle between the connecting rod 4 and the supporting leg 2 is equal to the limit angle, the driving part 32 stops working and the calibration is completed.

[0058] The specific device structure or installation position of the angle detector 6 in this embodiment can be selected according to the actual structural design and space requirements. Its purpose is only to obtain the relative angle between the connecting rod 4 and the supporting leg 2 and the amount of angle change.

[0059] To this end, the angle detector 6 can specifically be a distance sensor that measures the distance between the connecting rod 4 and the supporting leg 2, or an angle sensor or an angle encoder used to obtain the rotation angle of the first rotating shaft 18 of the connecting rod 4 connected to the driving part 32, and directly measure the angle change when the connecting rod 4 and the supporting leg 2 move.

[0060] The distance sensor can directly obtain the relative displacement of the connecting rod 4 relative to the supporting leg 2, and then obtain the relative angle between the connecting rod 4 and the supporting leg 2 through angle conversion.

[0061] The angle detector 6 includes an angle encoder body disposed on the driving portion 32, and the action shaft of the angle encoder body is coaxially connected to one end of the first rotating shaft 18 of the connecting rod 4 connected to the driving portion 32;

[0062] The first rotating shaft 18 rotates following the movement of the connecting rod 4 when the radar mounting base 1 deviates from the initial state during the installation of the slope radar or the detection process. The angular encoder body is used to obtain the rotation angle of the connecting rod 4 by connecting the first rotating shaft 18 through the action shaft.

[0063] The angle detector 6 obtains the angle between the connecting rod 4 and the supporting leg 2 in the initial state where the axial displacement of the corresponding piston push rod 31 driven by all the driving parts 32 is zero as the initial angle;

[0064] When the driving unit 32 drives the supporting leg 2 to perform a lifting action, the driving unit 32 stops working when the angle detector 6 detects that the angle between the connecting rod 4 and the supporting leg 2 is equal to the initial angle.

[0065] In the above-mentioned calibration process, since the radar mount 1 and the driving part 32 are connected by the connecting rod 4, and the connecting rod 4 is in a rotationally connected state, if the connecting rod 4 is not controlled or locked in the position after the horizontal calibration of the radar mount 1, then when the radar mount 1 is subjected to external force, such as wind or natural force, the radar mount 1 will be in a shaking state, which is not conducive to the fixation and calibration of the radar mount 1.

[0066] To this end, a limiting mechanism 7 is provided on the driving part 32, and the limiting mechanism 7 is used to limit the connecting rod 4 after the supporting leg 2 is lifted or lowered to obtain height compensation.

[0067] The limiting mechanism 7 includes a pneumatic cylinder 71 arranged on the supporting leg 2 and a clamp 72 connected to the movable end of the pneumatic cylinder 71. The surface of the clamp 72 facing the connecting rod 4 is provided with a jaw 73 that cooperates with the connecting rod 4. At least a part of the surface of the clamp 72 is in contact with the outer surface of the supporting leg 2.

[0068] The pneumatic cylinder 71 is installed on the driving part 32 at an angle, and the jaw 73 faces the rod body of the connecting rod 4 .

[0069] Of course, in this embodiment, multiple pneumatic cylinders 71 can also synchronously drive the clamp 72 to contact the rod body of the connecting rod 4, thereby lifting the height of the radar mounting seat 1. The lifting height is limited by the length of the connecting rod 4 and the distance between the radar mounting seat 1 and the annular frame structure.

[0070] In this embodiment, it is also necessary to determine which supporting leg 2 starts to adjust in the calibration state, and the determining parameters may be two aspects:

[0071] First, the included angle between the connecting rod 4 and the supporting leg 2 is greater than the start adjustment of the limit included angle;

[0072] Second, during the installation of some supporting legs 2, the supporting legs 2 may be in a suspended state. In this case, the supporting legs 2 need to have a supporting force before they can be adjusted according to the angle.

[0073] To this end, a pressure sensor 8 is provided at the connection between the piston push rod 31 and the support leg 2 . The pressure sensor 8 is used to obtain the pressure between the support leg 2 and the ground. The pressure sensor 8 is electrically connected to the angle detector 6 .

[0074] The pressure values ​​obtained by the four pressure sensors 8 are respectively detected to form the current order in which the four driving parts 32 drive the piston push rod 31 to move, that is, when the pressures received by the four supporting legs 2 are the same or similar, the adjustment is performed according to the size of the angle.

[0075] When the pressure sensor 8 corresponding to the supporting leg 2 is less than the set value, a control signal of the driving unit 32 is generated, and the driving unit 32 drives the supporting leg 2 to move so that the supporting leg 2 obtains a supporting force with the ground, which is converted into the pressure of the pressure sensor 8. Thus, the state of the supporting leg 2 can be accurately controlled.

[0076] In this embodiment, mounting planes 9 are provided at the four corners of the radar mounting seat 1. The mounting plane 9 is specifically a plane formed by longitudinally cutting the four right-angled sides of the cuboid radar mounting seat 1 and removing a triangular prism. The purpose is that the mounting plane 9 is perpendicular to the diagonal line of the radar mounting seat 1.

[0077] A card slot 10 is provided on the mounting plane 9, and is provided in the middle of the mounting plane 9 along the longitudinal direction. The bottom of the card slot 10 extends to the bottom of the radar mounting seat 1, and an open opening is formed on the bottom plane of the radar mounting seat 1. A pin rod 11 is installed in the card slot 10, and the bottom of the pin rod 11 extends from the opening at the bottom of the card slot 10 to the bottom of the radar mounting seat 1.

[0078] Specifically, the top of the slot 10 forms a T-shaped opening toward the surface of the support leg 2, and the top of the pin 11 is also in a T-shape with the slot 10. In this embodiment, the pin 11 is inserted into the slot 10 and does not separate from the slot 10 during the calibration process, and the pin 11 and the slot 10 can be detachably connected. Its specific purpose is to connect and separate the overall structure connected to the connecting rod 4 and the bracket 5 described below from the radar mounting seat 1.

[0079] Then, in order to enable the connecting rod 4 to be rotatably connected to the pin rod 11 , a slot 13 is provided at the bottom of the pin rod 11 , a second rotating shaft 14 is provided at the bottom of the slot 13 , and the bottom of the connecting rod 4 is rotatably connected to the second rotating shaft 14 .

[0080] The slot 13 extends upward from the second rotation axis 14 along the pin rod 11 to form a wedge-shaped slot body, and its purpose is to provide a space for the connecting rod 4 to rotate around the second rotation axis 14.

[0081] When the angle detector 6 is specifically an angle encoder, in order to obtain the initial angle, the lifting assembly 3 and the support leg 2 need to be as close as possible to the corner of the corresponding radar mounting base 1, that is, the relative angle between the connecting rod 4 and the support leg 2 is at the minimum position, which can be achieved by manual operation.

[0082] In this embodiment, when the connecting rod 4 rotates around the second rotating axis 14 until it is completely embedded in the groove 13, the action shaft of the angle detector 6 is initially zeroed. The angle of rotation of the action shaft of the angle detector 6 from the initial zeroing to the initial state where the radar mounting base 1 is stationary and all driving parts 32 drive the axial displacement of the corresponding piston push rod 31 to zero (that is, the device is placed on the horizontal ground) is the initial angle.

[0083] In the actual calibration process, due to terrain restrictions and radar structural considerations, there is a situation where the radar monitoring direction and the fixation of the slope radar cannot be kept consistent, that is, the overall structure connected by the bracket 5, the lifting assembly, and the support leg 2 cannot be kept consistent with the monitoring direction of the slope radar due to the influence of the ground structure (that is, the pursuit of the ground structure with the smallest calibration impact). In addition, since the radar mounting base 1 is required to be a rectangular parallelepiped with a range of lateral displacement, this range of lateral displacement instead limits the angle adjustment of the radar body.

[0084] Therefore, in this embodiment, the ends of any two adjacent brackets 5 are connected by an arc segment 15, a guide groove 17 is provided on the arc segment 15, and the driving unit 32 is installed in the guide groove 17 through a guide block 16. The guide block 16 can move in the guide groove 17, that is, the radar mounting base 1 is rotated in the horizontal plane, so that the four corners of the radar mounting base 1 move synchronously and correspondingly in the four arc segments 15, and then can be rotated at an angle to adapt to the terrain structure or the degree of unevenness of the ground, and select a more appropriate correction.

[0085] In the specific implementation of this embodiment, the ends of any two adjacent brackets 5 can also be connected by the arc segment 15 to form an annular structure. The geometric center of the radar mount 1 is the same as the geometric center of the annular structure, that is, an annular bracket structure is designed, and the four corners of the radar mount 1 are distributed on the annular bracket structure. Then, the annular bracket structure can provide the radar mount 1 to rotate about the center of the annular bracket structure, thereby adjusting the angle of the radar mount 1 in the horizontal plane.

[0086] During the operation of the calibration device, the four supporting legs can obtain a wider range of position selections, that is, when visually observing the fixed position of the slope radar, the consideration of terrain factors can be reduced or a better terrain fixed position can be obtained, thereby reducing the complexity of calibration and not affecting the monitoring direction of the slope radar due to terrain factors at the fixed position.

[0087] In the actual continuous monitoring process of the slope radar, the slope radar is mostly accurately positioned by GNSS technology, and the offset of the slope radar's own position relative to the initial moment is calculated at intervals, and then the radar imaging image at the same moment is calibrated. For this reason, in this embodiment, it is necessary to remove the deviation of the deformation data of the monitoring area caused by the deformation error caused by the radar's own position offset through automatic correction, thereby improving the coherence between radar images and the accuracy of deformation measurement values.

[0088] In the process of slope radar data monitoring and collection, the longitude and latitude of the slope radar at each moment is obtained through the global navigation satellite system, the slant range deviation and angle deviation of the slope radar at each moment relative to the initial moment are calculated, and the slope radar image at the moment is corrected according to the slant range deviation and angle deviation.

[0089] In the present embodiment, the slant range deviation and angle deviation of the slope radar at the moment of calculation relative to the initial moment can be compensated by forming the lifting height of the lifting component 3 in the corresponding direction by the offset of the corresponding slope radar relative to the azimuth of the radar position at the initial moment, and determining whether the offset is compensated by the consistency of the calculation results at multiple moments.

[0090] In actual working process, it is usually necessary to monitor and detect a certain slope for a long time, and the monitoring position of the slope radar needs to be fixed. For this reason, in this embodiment, bracket mounting holes are provided at the four corners of the radar mounting base 1. The bracket mounting holes penetrate from the upper surface to the lower surface of the radar mounting base 1, and the bracket mounting holes are inclined toward the outside of the radar mounting base 1. Of course, the horizontal adjustment of the radar mounting base 1 has been completed at this time, and it is installed in the bracket mounting hole through an additional rod-like structure. The connection between the rod-like structure and the bracket mounting hole can be a threaded connection or a key connection, that is, a support leg directly connected to the radar mounting base 1 is formed.

[0091] After debugging the slope radar, the radar mounting base 1 is fixed on the ground using the rod-shaped structure. During the fixing process, the length of the rod-shaped structure support can also be determined by the above-mentioned angle detector. At this time, the parameters of the length of the rod-shaped structure support to the ground have been completed, so the rod-shaped structure support can be directly fixed to the ground. Subsequently, the bracket 5, the support leg 2 and the connecting rod 4 are disconnected from the radar mounting base 1, that is, the pin 11 and the slot 10 are disconnected.

[0092] Of course, when it is necessary to monitor multiple monitoring locations within a short period of time such as days, there is no need to detach the bracket 5 and the support leg 2. The support leg 2 can be used as the supporting structure of the radar mounting base 1, and calibration can be automatically performed when it is transferred to a new location.

[0093] Furthermore, the present embodiment also takes into account the inclination condition when the radar mount is in a parallel state, that is, the condition where there is an angle between the radar mount 1 and the horizontal plane. At this time, the angles between the connecting rod 4 and the supporting leg 2 at two adjacent corners on one side of the radar mount 1 are the same, and the angles between the connecting rod 4 and the supporting leg 2 at two adjacent corners on the other side are the same.

[0094] At this time, the installation of the radar is actually in a horizontal correction state, which is equivalent to adjusting the inclination angle of the slope radar. That is, in this embodiment, the monitoring inclination angle of the slope radar can also be adjusted by driving the piston push rod 31 axially by the driving unit 32.

[0095] The above embodiments are only exemplary embodiments of the present application and are not intended to limit the present application. The protection scope of the present application is defined by the claims. Those skilled in the art may make various modifications or equivalent substitutions to the present application within the essence and protection scope of the present application, and such modifications or equivalent substitutions shall also be deemed to fall within the protection scope of the present application.

Claims

1. A device for real-time automatic correction of attitude after slope radar calibration, characterized in that: The invention comprises a plurality of lifting assemblies (3), each of which is provided with a support leg (2) at the bottom thereof, and the plurality of lifting assemblies (3) are connected in sequence via a plurality of brackets (5) to form an annular frame structure, a separate radar mounting seat (1) is arranged in the annular frame structure, the radar mounting seat (1) is connected to each of the lifting assemblies (3) via a connecting rod (4), so that the radar mounting seat (1) is in a suspended state, and an angle detector (6) is installed on each of the lifting assemblies (3); Wherein, when the radar mounting seat (1) is in an initial state, each of the angle detectors (6) calibrates the angle between the corresponding connecting rod (4) and the lifting assembly (3) connected thereto as an initial angle; When the radar mounting base (1) deviates from the initial state during the installation of the slope radar or the detection process, the angle detector (6) obtains the difference between the angle between each connecting rod (4) and the lifting assembly (3) connected thereto and the initial angle to form a corresponding control signal, and the lifting assembly (3) drives the support leg (2) to perform a lifting action according to the control signal formed by the angle detector (6) located thereon to obtain height compensation, so that the angle between each connecting rod (4) and the lifting assembly (3) connected thereto is restored to the initial angle for complete automatic correction; The lifting assembly (3) comprises a driving part (32) and a piston push rod (31) movably connected to the connecting rod (4); the piston push rod (31) is installed at an action end of the driving part (32) and the other end is connected to the supporting leg (2); the connecting rod (4) is connected to the driving part (32); A pressure sensor (8) is provided at the connection between the piston push rod (31) and the support leg (2), and the pressure sensor (8) is used to obtain the magnitude of the relative force when the support leg (2) is in contact with the ground; The pressure sensor (8) is electrically connected to the angle detector (6), and the numerical values ​​of the relative forces obtained by the plurality of pressure sensors (8) are sorted to form a sequence in which the driving unit (32) drives the support leg (2) to perform a lifting action; The angle detector (6) comprises an angle encoder body arranged on the driving part (32), wherein the action shaft of the angle encoder body is coaxially connected to one end of the first rotating shaft (18) of the connecting rod (4) connected to the driving part (32); The first rotating shaft (18) rotates following the movement of the connecting rod (4) when the radar mounting base (1) deviates from an initial state during the installation of the slope radar or the detection process, and the angle encoder body is used to obtain the rotation angle of the connecting rod (4) by connecting the first rotating shaft (18) via the action rotating shaft; The angle detector (6) obtains the angle between the connecting rod (4) and the supporting leg (2) in the initial state where the axial displacement of the corresponding piston push rod (31) driven by all the driving parts (32) is zero as the initial angle; During the process of the driving unit (32) driving the supporting leg (2) to perform a lifting action, when the angle detector (6) detects that the angle between the connecting rod (4) and the supporting leg (2) is equal to the initial angle, the driving unit (32) stops working.

2. The device for real-time automatic correction of attitude after slope radar calibration according to claim 1 is characterized in that: A mounting plane (9) is provided at four corners of the radar mounting seat (1), a slot (10) is provided on the mounting plane (9), the bottom of the slot (10) extends to the bottom of the radar mounting seat (1), a pin rod (11) is installed in the slot (10), and the bottom of the pin rod (11) extends from the bottom of the slot (10) to the bottom of the radar mounting seat (1); The bottom of the pin rod (11) is provided with a slot (13), the bottom of the slot (13) is provided with a second rotation shaft (14), and the bottom of the connecting rod (4) is rotationally connected to the second rotation shaft (14); The slot (13) extends upward from the second rotating shaft (14) along the pin rod (11) to form a wedge-shaped slot body.

3. The device for real-time automatic correction of attitude after slope radar calibration according to claim 2 is characterized in that: in, When the connecting rod (4) rotates around the second rotating shaft (14) until it is completely embedded in the slot (13), the action rotating shaft of the angle detector (6) is initially zeroed, and the angle of rotation of the action rotating shaft of the angle detector (6) from the initial zeroing to the initial state in which the radar mounting seat (1) is stationary and all the driving parts (32) drive the corresponding piston push rods (31) to have an axial displacement of zero is the initial included angle.

4. The device for real-time automatic correction of attitude after slope radar calibration according to claim 1 is characterized in that: A limiting mechanism (7) is provided on the driving part (32), and the limiting mechanism (7) is used to limit the connecting rod (4) after the supporting leg (2) performs a lifting action to obtain height compensation.

5. The device for real-time automatic correction of attitude after slope radar calibration according to claim 4 is characterized in that: The limiting mechanism (7) comprises a pneumatic cylinder (71) arranged on the supporting leg (2) and a clamp-shaped member (72) connected to the movable end of the pneumatic cylinder (71), wherein a surface of the clamp-shaped member (72) facing the connecting rod (4) is provided with a jaw (73) cooperating with the connecting rod (4); The pneumatic cylinder (71) is installed obliquely on the driving part (32), and the jaws (73) face the rod body of the connecting rod (4).

6. The device for real-time automatic correction of attitude after slope radar calibration according to claim 1, characterized in that: The ends of any two adjacent brackets (5) are connected via an arc segment (15) to form an annular frame structure, and a guide groove (17) is provided on the inner surface of the arc segment (15); a guide block (16) cooperating with the guide groove (17) is provided on the driving portion (32), and the guide block (16) can move along the guide groove (17).

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