Vehicle-mounted radar automatic rapid erection and withdrawal method based on multi-sensing system

Abstract

The invention belongs to the technical field of automatic erection, and discloses a vehicle-mounted radar automatic rapid erection and withdrawal method based on a multi-sensing system. The method comprises the steps of radar erection and withdrawal step analysis, sensor demand analysis, sensor system arrangement and control logic design, and provides a radar system design method with full-state perception, full-system high-precision action and full-process automatic erection and withdrawal. The new requirements of complex erection steps, high personnel operation intensity, high precision requirement and unmanned automatic erection and withdrawal of the maneuvering radar are solved, and automatic unmanned erection and withdrawal of the maneuvering radar are realized.

Description

Technical Field

[0001] The present invention mainly relates to the technical field of automatic erection, and particularly relates to a method for automatically and quickly erecting and withdrawing a vehicle-mounted radar based on a multi-sensor system. Background Art

[0002] A radar system is a complex integrated system integrating electronic devices and mechanical systems, and is used to detect air targets. With the expansion of the activity areas of air vehicles such as airplanes and unmanned aerial vehicles, mobile radars need to be deployed in harsh environments with few or no people. It is required that the radar can be automatically deployed, work automatically, and be automatically retracted and withdrawn, reducing the intervention of operators and lowering the operation intensity and skill requirements of operators. Currently, the erection and withdrawal of most radars still require on-site operation by operators, and the erection and withdrawal are completed according to the steps based on the status. Some steps can judge the status through sensors, but full-automatic operation cannot be achieved.

[0003] Currently, there is a patent that sets up a remote monitoring platform at the radar control system and sets up a synchronous monitoring terminal for the radar antenna. During the erection and withdrawal of the radar antenna, synchronous monitoring is carried out. During the erection and withdrawal process, the operating status of the radar antenna is monitored online and the surrounding environment of the radar antenna is detected at a cycle of 1 - 10 minutes. Then, the corrected data is saved in the remote monitoring platform and sent to the synchronous monitoring terminal of the radar antenna. According to the received parameters, the radar antenna and the radar antenna erection bracket are driven to operate, so as to meet the need for synchronous adjustment of the erection and withdrawal of the radar antenna. However, its system composition is relatively simple, and the entire erection process does not achieve complete automation, and it cannot be applied to the automatic erection of vehicle-mounted mobile radar systems with more complex structural system compositions, more motion links, higher real-time requirements, and higher erection accuracies.

[0004] There is also a patent that solves the problem of torque imbalance caused by uneven movement force of double electric cylinders through a gantry angle value sensor, solves the movement error of double electric cylinders in the electro-mechanical automatic erection system of a multi-joint drive radar, improves the accuracy of radar automatic erection, and also avoids the risk of damage to the mechanical structure caused by errors in the radar automatic erection system. However, it only solves the high-precision automatic erection of the array surface and does not solve the problem of the automatic erection of the radar system.

[0005] Therefore, there is an urgent need to design a method for fully automatic erection and withdrawal of a radar based on a multi-sensor system. Summary of the Invention

[0006] The purpose of the present invention is to provide a method for automatically and quickly erecting and withdrawing a vehicle-mounted radar based on a multi-sensor system. The purpose of the present invention is to provide a design method for a radar system with full-state perception, high-precision actions of the whole system, and automatic erection and withdrawal in the whole process, to solve the new requirements of complex erection steps, high operator operation intensity, high precision requirements, and the requirement of unmanned automatic erection and withdrawal of mobile radars, and to realize unmanned automatic erection and withdrawal of mobile radars.

[0007] To achieve the above object, the present invention provides an automatic rapid erection and removal method for vehicle-mounted radar based on a multi-sensor system, including the following steps: Step 1: Analysis of radar erection and removal steps: Sort out the actions in the radar system erection and removal process. The sorted content includes the action type of each erection and removal action, the sequence of each erection and removal action, the completion of the pre-requisite actions required for subsequent erection and removal actions, and the control parameters of each erection and removal action; Step 2: Analysis of sensor requirements: According to each erection and removal action and the control parameters of each erection and removal action in Step 1, sort out the corresponding monitoring parameters and monitoring accuracy of each erection and removal action, and select appropriate sensors based on the monitoring parameters and monitoring accuracy; Step 3: Arrangement of the sensor system: Select a suitable installation position in the radar system and install the sensors determined in Step 2; Step 4: Control logic design: Design the radar system erection and removal program according to the erection and removal process in Step 1 and the sensor requirements determined in Step 2, and realize the automatic erection and removal of the radar system through the control program.

[0008] Further, the radar erection and removal steps in Step 1 include: platform leveling, array erection, and azimuth lock pin unlocking; The platform leveling can be controlled by adjusting speed, position, and force, so that the platform leveling legs extend to realize the telescopic action of the leveling cylinder; The array erection can be achieved by adjusting the angle and angular velocity, so that the inverted erection cylinder extends to realize the array rotation action; The azimuth lock pin unlocking can be realized by position control, so that the lock pin retracts to realize the telescopic action of the lock pin shaft.

[0009] Further, the control parameters of each erection and removal action in Step 1 include lifting speed, acceleration control, and force magnitude control.

[0010] Further, the monitoring parameters and monitoring accuracy in Step 2 include the measurement accuracy of the lifting speed, data rate, the accuracy of the force magnitude, and the update period.

[0011] Further, the selection of appropriate sensors based on the monitoring parameters and monitoring accuracy in Step 2 includes: When the erection and removal action is platform leveling, the erection and removal action type is the telescopic action of the leveling cylinder, and the monitoring parameter is the platform levelness PA 1 Select the tilt sensor S 4 ; When the erection and removal action is platform leveling, the erection and removal action type is the telescopic action of the leveling cylinder, and the monitoring parameter is the force on the leveling leg PA 2 Select the pressure sensor S 7～10 ; When the erection and disassembly action is the array erection, the erection and disassembly action type is the array rotation, and the monitoring parameter is the array angle PA 3 select the array inclination sensor S 1 ; When the erection and disassembly action is the array erection, the erection and disassembly action type is the array rotation, and the monitoring parameter is the array rotation angular velocity PA 4 select the shaft angle encoder S 2 ; When the erection and disassembly action is the array erection, the erection action type is the array rotation, and the monitoring parameter is the transportation support unlocking PA 5 select the toppling-in-place sensor S 3 ; When the erection and disassembly action is the azimuth lock pin unlocking, the erection action type is the lock pin shaft telescoping, and the monitoring parameter is the lock pin locking state PA 6 select the lock pin state sensor S 5 ; When the erection and disassembly action is the azimuth lock pin unlocking, the erection action type is the lock pin shaft telescoping, and the monitoring parameter is the lock pin unlocking state PA 7 select the lock pin state sensor S 6 .

[0012] Furthermore, for the sensor system layout in step 3, according to the sensor installation positions determined in step 2, the tilt sensor S 4 is installed on the platform, the pressure sensor S 7～10 is installed at the bottom of the 4 platform leveling legs, the array inclination sensor S 1 is installed inside the array, the shaft angle encoder S 2 is installed at the rotating shaft position of the array, the toppling-in-place sensor S 3 is installed on the transportation support, and the lock pin state sensors S 5 and S 6 are installed at the two positions of the extension and retraction of the lock pin shaft.

[0013] Furthermore, in step 4, design the radar system erection program according to the erection process in step 1 and the sensor monitoring parameters determined in step 2, including: T1: Start platform leveling. The platform leveling legs extend to realize the telescoping action of the leveling cylinder, and detect the platform leveling situation and the stress state through the tilt sensor S 4 and the pressure sensor S 7～10 ; T2: Unlock the transportation support, and judge whether the unlocking is normal by detecting the toppling-in-place sensor S 3 of the transportation support; T3: After the transportation support is unlocked, start the tilting cylinder to drive the array to erect, and detect through the array inclination sensor S 1 and the shaft angle encoder S2 Control the erection speed of the real-time control array surface in real time, and detect the shaft angle encoder S 2 If the array surface reaches the working angle, stop driving the oil cylinder to complete the erection of the array surface; T4: Start the azimuth locking pin and detect the locking pin status sensor S 5 ~S 6 Complete the erection and removal, detect the process status of the erection and removal through the sensor, and automatically trigger the execution and end of each action.

[0014] Beneficial effects: The present invention provides a method for automatically and quickly erecting and removing a vehicle-mounted radar based on a multi-sensor system. Compared with the prior art, the significant advantages are: (1) Full-process state perception: All actions and joints of the radar erection are provided with corresponding sensors to monitor the start, intermediate process, and termination states of each action. The control system performs full-process state monitoring and perception on the entire process of radar erection; (2) High-precision actions of the entire system: Control the states such as position, speed, acceleration, and deformation of each movement according to the data of position, speed, acceleration, deformation, etc. monitored by the set full-process state monitoring sensors to meet the requirements of the erection action sequence and erection logic; (3) Automatic erection throughout the process: The control system drives the motion driving devices of each action of the radar erection, and controls the erection action sequence according to the set action logic based on the states obtained by monitoring the sensor system. The radar erection and removal are automatically completed without human participation throughout the process. Description of the drawings

[0015] Figure 1 It is a schematic diagram of the sensor layout of the method for automatically and quickly erecting and removing a vehicle-mounted radar based on a multi-sensor system according to an embodiment of the present invention; Figure 2 It is a flowchart of the method for automatically and quickly erecting and removing a vehicle-mounted radar based on a multi-sensor system.

[0016] Description of the reference numerals: 1 is the array surface inclination sensor S 1 ; 2 is the shaft angle encoder S 2 ; 3 is the lodging-in-place sensor S 3 ; 4 is the tilt sensor S 4 ; 5 is the locking pin status sensor S 5 ~S 6 ; 6 is the pressure sensor S 7～10 . Detailed implementation manners

[0017] The following further describes the preferred mechanisms and implementation methods of the present invention in conjunction with the drawings and specific implementation manners. Embodiment

[0018] As Figures 1 to 2As shown, an embodiment of the present invention discloses a technical solution for a method for automatically and quickly setting up and removing a vehicle-mounted radar based on a multi-sensor system. Figure 1 Schematic diagram of sensor arrangement of a method for automatic rapid deployment of a vehicle-mounted radar based on a multi-sensor system according to an embodiment of the present invention.

[0019] A method for automatically and quickly setting up and removing a vehicle-mounted radar based on a multi-sensor system comprises the following steps: Step 1: Analysis of radar erection and withdrawal steps: Sort out the actions of the radar system during erection and withdrawal, including the action type of each erection and withdrawal action, the sequence of each erection and withdrawal action, the completion of the pre-action required for the subsequent erection and withdrawal action, and the control parameters of each erection and withdrawal action, such as lifting speed, acceleration control, force control, etc. Step 2: Sensor requirement analysis: According to each rack withdrawal action and the control parameters of each rack withdrawal action in step 1, sort out the corresponding monitoring parameters and monitoring accuracy of each rack withdrawal action, such as the measurement accuracy of the lifting speed, data rate, force accuracy and update cycle, and select appropriate sensors based on the monitoring parameters and monitoring accuracy; Step 3: Sensor system layout: Select a suitable installation location in the radar system and install the sensors determined in step 2; Step 4: Control logic design: Design the radar system installation and removal program according to the installation and removal process in step 1 and the sensor requirements determined in step 2, and realize automatic installation and removal of the radar system through the control program.

[0020] The erection and removal actions include setting up and removing. Setting up and removing include the deployment and folding of radar array units, the lying down and folding of arrays, the leveling of platform systems, and the connection of cables and water pipes between units.

[0021] The sequence and logic of the radar installation and withdrawal actions, the sequence of each action when the radar is installed and withdrawn, and the logic of each action between each action. The subsequent action can only be started after the preceding action is completed. Example

[0022] The method for automatically and quickly deploying and withdrawing a vehicle-mounted radar based on a multi-sensor system in this embodiment is basically the same as that in Embodiment 1. Figure 1 The design of automatic rapid deployment of radar is discussed by taking the virtual radar shown as an example.

[0023] (1) The radar stand dismantling steps in step 1 include: platform leveling, array verticalization, and azimuth lock pin unlocking; The platform leveling can be controlled by adjusting the speed, position and force, so that the platform leveling legs can be extended to realize the telescopic action of the leveling cylinder; The vertical movement of the array can be achieved by adjusting the angle and angular velocity, so that the vertical cylinder can be extended to realize the rotation of the array. The unlocking of the azimuth lock pin can be achieved through position control, causing the lock pin to retract to realize the telescopic movement of the lock pin shaft.

[0024] (2) Sensor system: According to the action type K of action P and the control accuracy SP, select the corresponding sensor S to monitor the corresponding parameter PA, and set it at the corresponding installation position Z in combination with the radar structure, as shown in Table 1. Determine the corresponding monitoring platform level accuracy, monitoring array angle monitoring range, etc. according to the requirements of radar erection and disassembly time, speed, accuracy, etc., and select the corresponding type of sensor accordingly.

[0025]

[0026] Sensor requirement analysis in Step 2: According to the movement types decomposed for each step of radar erection sorted out in Step 1, select the corresponding sensor according to the control accuracy, as shown in Table 2.

[0027]

[0028] (3) Sensor system layout in Step 3: According to the installation positions of the sensors determined in Step 2, install the tilt sensor S 4 on the platform, install the pressure sensor S 7～10 at the bottom of the four platform leveling legs, install the array tilt angle sensor S 1 inside the array, install the shaft angle encoder S 2 at the rotating shaft position of the array, install the lodging-in-place sensor S 3 on the transport bracket, install the lock pin status sensors S 5 and S 6 at the two positions of the extension and retraction of the lock pin shaft, and the detailed installation positions are as shown in Figure 1 shown.

[0029] (4) Control logic design in Step 4: Design the radar system erection program according to the erection process in Step 1 and the sensor monitoring parameters determined in Step 2: First, start platform leveling. The platform leveling legs extend to realize the telescopic movement of the leveling cylinder, and detect the platform leveling situation and the stress state through the tilt sensor S 4 and the pressure sensor S 7～10 ; Unlock the transport bracket, and judge whether the unlocking is normal by detecting the lodging-in-place sensor S 3 of the transport bracket; After the transport bracket is unlocked, start the erection cylinder to drive the array to start erection, and detect the array tilt angle sensor S 1 and the shaft angle encoder S 2 to control the erection speed of the array in real time, and detect the shaft angle encoder S 2 . If the array reaches the working angle, stop driving the cylinder to complete the erection of the array. Activate the azimuth locking pin and detect the lock pin status sensor S 5 ~S 6 to complete the erection and removal. The whole process of erection and removal does not require personnel participation. The process status of erection is detected by sensors, and each action is automatically triggered for execution and termination.

[0030] The control system drives each drive unit in sequence according to the control logic to realize the actions of each mechanism of the radar, and controls the running speed and motion accuracy of each mechanism based on the established sensor system.

[0031] The present invention provides an automatic and rapid erection and removal method for vehicle-mounted radar based on a multi-sensor system. By providing a radar system design method with full-state perception, high-precision actions for the whole system, and full-process automation for erection and removal, it solves the new requirements of complex erection steps, high personnel operation intensity, high precision requirements, and the requirement for unmanned automatic erection and removal of mobile radar, and realizes unmanned automatic erection and removal of mobile radar.

[0032] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. However, any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for automatically and quickly removing a vehicle-mounted radar based on a multi-sensor system, characterized in that: The following steps are involved: Step 1: Analysis of radar erection and withdrawal steps: Sort out the actions of the radar system during erection and withdrawal, including the action type of each erection and withdrawal action, the sequence of each erection and withdrawal action, the completion of the pre-action required for the subsequent erection and withdrawal action, and the control parameters of each erection and withdrawal action; Step 2: Sensor requirement analysis: According to each rack withdrawal action and the control parameters of each rack withdrawal action in step 1, sort out the corresponding monitoring parameters and monitoring accuracy of each rack withdrawal action, and select appropriate sensors based on the monitoring parameters and monitoring accuracy; Step 3: Sensor system layout: Select a suitable installation location in the radar system and install the sensors determined in step 2; Step 4: Control logic design: Design the radar system installation and removal program according to the installation and removal process in step 1 and the sensor requirements determined in step 2, and realize automatic installation and removal of the radar system through the control program.

2. The method for automatically and quickly removing a vehicle-mounted radar based on a multi-sensor system according to claim 1, characterized in that: The radar stand dismantling steps in step 1 include: platform leveling, array verticalization, and azimuth lock pin unlocking; The platform leveling can be controlled by adjusting the speed, position and force, so that the platform leveling legs can be extended to realize the telescopic action of the leveling cylinder; The vertical movement of the array can be realized by adjusting the angle and angular velocity, so that the vertical cylinder can be extended to realize the rotation of the array. The azimuth lock pin unlocking can be controlled by position, so that the lock pin is retracted to realize the extension and retraction of the lock pin shaft.

3. The method for automatically and quickly removing a vehicle-mounted radar based on a multi-sensor system according to claim 1, characterized in that: The control parameters of each lifting and withdrawing action in step 1 include lifting speed, acceleration control, and force control.

4. The method for automatically and quickly removing a vehicle-mounted radar based on a multi-sensor system according to claim 1 is characterized in that: The monitoring parameters and monitoring accuracy in step 2 include the measurement accuracy of the lifting speed, the data rate, the accuracy of the force magnitude and the update cycle.

5. The method for automatically and quickly removing a vehicle-mounted radar based on a multi-sensor system according to claim 1 or 2, characterized in that: In step 2, appropriate sensors are selected based on monitoring parameters and monitoring accuracy, including: When the rack withdrawal action is platform leveling, the rack withdrawal action type is leveling cylinder extension, and the monitoring parameter is platform levelness PA1, select tilt sensor S4; When the rack withdrawal action is platform leveling, the rack withdrawal action type is leveling cylinder extension, and the monitoring parameter is leveling leg force PA2, select pressure sensor S 7～10 ; When the erection and withdrawal action is the array erection, the erection and withdrawal action type is the array rotation, and the monitoring parameter is the array angle PA3, the array inclination sensor S1 is selected; When the erection and withdrawal action is the array erection, the erection and withdrawal action type is the array rotation, and the monitoring parameter is the array rotation angular velocity PA4, select the shaft angle encoder S2; When the dismantling action is the start of erection, the erection action type is the rotation of the array, and the monitoring parameter is the unlocking of the transport bracket PA5, select the falling position sensor S3; When the action of the erection removal is the unlocking of the azimuth lock pin, the erection action type is the extension and retraction of the lock pin shaft, and the monitoring parameter is the lock pin locking state PA6, select the lock pin state sensor S5; When the removal action is the unlocking of the azimuth lock pin, the erection action type is the extension and retraction of the lock pin shaft, and the monitoring parameter is the lock pin unlocking state PA7, select the lock pin state sensor S6.

6. The method for automatically and quickly removing a vehicle-mounted radar based on a multi-sensor system according to claim 5, characterized in that: In step 3, the sensor system is arranged according to the sensor installation positions determined in step 2. The tilt sensor S4 is installed on the platform, and the pressure sensor S 7～10 It is installed at the bottom of the four platform leveling legs, the array inclination sensor S1 is installed inside the array, the shaft angle encoder S2 is installed at the rotation axis position of the array, the inclination position sensor S3 is installed on the transport bracket, and the lock pin status sensors S5 and S6 are installed at the extended and retracted positions of the lock pin shaft.

7. The method for automatically and quickly removing a vehicle-mounted radar based on a multi-sensor system according to claim 6, characterized in that: In step 4, the radar system installation procedure is designed according to the installation process in step 1 and the sensor monitoring parameters determined in step 2, including: T1: Start the platform leveling, the platform leveling legs extend to realize the telescopic action of the leveling cylinder, through the tilt sensor S4 and the pressure sensor S 7～10 Check the leveling and stress status of the platform; T2: The transport bracket is unlocked, and the sensor S3 that detects the transport bracket's falling into place is used to determine whether the unlocking is normal; T3: After the transport bracket is unlocked, the inverted vertical cylinder is started to drive the array to start vertical. The speed of the array verticalization is controlled in real time by detecting the array inclination sensor S1 and the shaft angle encoder S2. The shaft angle encoder S2 is detected. If the array reaches the working angle, the cylinder is stopped to complete the verticalization of the array. T4: Start the azimuth locking pin and detect the locking pin status sensors S5~S6 to complete the rack withdrawal. The process status of the rack withdrawal is detected by the sensor, and the execution and end of each action are automatically triggered.

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