An adaptive adjusting device of a vehicle-mounted multi-frequency array antenna

Abstract

The application provides a kind of self-adaptive adjusting device of vehicle-mounted multi-frequency band array surface antenna, belongs to the technical field of vehicle-mounted antenna, adjusting device includes adjusting unit, array mounting plate, bearing plate, multi-sensor array and control unit;Adjusting unit includes rotating platform and pitch adjusting mechanism, rotating platform is connected with bearing plate, pitch adjusting mechanism is installed on bearing plate and is connected with the array mounting plate, rotating platform is used to install on vehicle-mounted base, multi-sensor array includes IMU sensor embedded in the four corners of array mounting plate, laser ranging grid distributed on the back of array mounting plate, millimeter wave radar installed on the central axis of rotating platform and temperature and humidity sensor attached to array mounting plate.The application is used to solve the problem that the existing vehicle-mounted antenna cannot be effectively self-adaptive adjusted under complex environment, resulting in the decline of communication quality.

Description

Technical Field

[0001] This invention relates to the field of vehicle-mounted antenna technology, specifically to an adaptive adjustment device for a vehicle-mounted multi-band array antenna. Background Technology

[0002] With the continuous development of vehicle communication technology, the performance requirements for vehicle antennas are becoming increasingly stringent. The vehicle environment is complex and variable; factors such as vibration and attitude changes during vehicle movement, as well as electromagnetic interference from the surrounding environment, can significantly affect the signal reception and transmission quality of the antenna.

[0003] Especially for multi-band array antennas, it is necessary to maintain good performance across different frequency bands to meet the needs of various automotive applications such as vehicle navigation, vehicle communication, and intelligent driving assistance. Traditional automotive antennas often lack effective adaptive adjustment capabilities, making it difficult to adjust the antenna's attitude and parameters in real time in complex automotive environments. This leads to problems such as degraded communication quality and signal interruption, failing to meet the requirements of modern automotive communication systems for efficient and stable communication. Summary of the Invention

[0004] The purpose of this invention is to provide an adaptive adjustment device for a vehicle-mounted multi-band array antenna, mainly to solve the problem that existing vehicle-mounted antennas cannot effectively adapt and adjust in complex environments, leading to a decline in communication quality. This device can sense the vehicle's operating status and surrounding environmental information in real time, automatically adjusting the antenna's attitude and related parameters to ensure that the multi-band array antenna maintains good communication performance under various operating conditions.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0006] An adaptive adjustment device for a vehicle-mounted multi-band array antenna includes an adjustment unit, an array mounting plate, a carrier plate, a multi-sensor array, and a control unit.

[0007] The adjustment unit includes a rotating platform and a pitch adjustment mechanism. The rotating platform is connected to a support plate, and the pitch adjustment mechanism is mounted on the support plate and connected to the array mounting plate. The rotating platform is used to mount on a vehicle-mounted base.

[0008] The multi-sensor array includes IMU sensors embedded in the four corners of the array mounting plate, a laser ranging grid distributed on the back of the array mounting plate, a millimeter-wave radar mounted on the central axis of the rotating platform, and a temperature and humidity sensor attached to the array mounting plate.

[0009] The control unit comprises an environment perception module, a compensation decision module and an execution driving module, the environment perception module is used for receiving multi-sensor array data, the compensation decision module is connected with the environment perception module, and the execution driving module is connected with the compensation decision module at the input end and connected with the mechanical adjustment unit at the output end.

[0010] Further, a conductive slip ring is arranged between the rotating platform and the vehicle-mounted base, the rotor end of the conductive slip ring is connected with the array mounting plate cable, and the stator end is connected with the control unit.

[0011] The laser ranging grid is arranged in a 20*20 dot array, and the multi-sensor array realizes clock synchronization through the White Rabbit protocol.

[0012] Further, the rotating platform is rigidly connected with a magneto-rheological fluid damper, the back of the array mounting plate is provided with a piezoelectric ceramic actuator, the surface of the antenna array element of the array mounting plate is provided with a MEMS micromirror array, and the magneto-rheological fluid damper, the piezoelectric ceramic actuator and the MEMS micromirror array are connected with the control unit.

[0013] The compensation decision module comprises a reinforcement learning decision unit and a fine-tuning compensation unit, the reinforcement learning decision unit generates the control amount of the rotating platform and the adjustment unit, and the fine-tuning compensation unit is used for outputting the driving instructions of the piezoelectric ceramic actuator and the MEMS micromirror array.

[0014] Further, the piezoelectric ceramic actuators are arranged in a 4*4 array, and each actuator is independently connected with the execution driving module.

[0015] The environment perception module is used for fusing the IMU sensor and the millimeter wave radar data to construct a dynamic coordinate system, and mapping the laser ranging grid data into an array curvature matrix.

[0016] The fine-tuning compensation unit receives the real-time vibration spectrum output by the environment perception module, and queries the phase compensation amount based on a vibration transfer function library.

[0017] Further, the pitching adjustment mechanism comprises a first support rod, a second support rod and a driving unit, one end of the first support rod and the second support rod is hinged to the bearing plate, the other end of the first support rod and the second support rod is hinged to the array mounting plate, the first support rod, the second support rod and the array mounting plate form a triangular stable structure, the driving unit is connected with the first support rod and used for driving the triangular stable structure to rotate, and the driving unit is connected with the control unit.

[0018] The driving unit comprises a telescopic rod, one end of the telescopic rod is hinged to the first support rod, and the other end is hinged to the bearing plate.

[0019] Compared with the prior art, the present application has the following beneficial effects:

[0020] The application can realize real-time sensing of vehicle running state and surrounding environment information, and automatically adjust the posture and parameters of the antenna according to the information, by arranging the adjusting unit, the multi-sensor array and the control unit. The multi-sensor array of IMU sensor, laser ranging grid, millimeter wave radar and temperature and humidity sensor etc. collects data in real time, the environment sensing module of the control unit receives the data, the compensation decision module makes a decision, and the driving module drives the adjusting unit to act, so that the antenna can always maintain good communication performance in the complex vehicle-mounted environment, effectively improving the stability and reliability of vehicle-mounted communication. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor.

[0022] Figure 1 It is a schematic diagram of the overall structure of the present application.

[0023] Figure 2 It is a schematic diagram of the overall structure of the present application.

[0024] Reference signs:

[0025] 101 annular track, 102 array mounting plate, 103 bearing plate, 104 rotating platform, 105 pitch adjusting mechanism, 106 first support rod, 107 second support rod, 108 driving unit, 109 sliding block, 110 first driving unit, 111 groove. DETAILED DESCRIPTION

[0026] In the following, only some exemplary embodiments are simply described. As those skilled in the art can recognize, the described embodiments can be modified in various different ways without departing from the spirit or scope of the embodiments of the present application. Therefore, the drawings and the description are considered to be exemplary in nature rather than limiting.

[0027] In the description of the embodiments of the present application, it should be understood that the terms "length", "vertical", "horizontal", "top", "bottom" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the embodiments of the present application.

[0028] In addition, the terms "first", "second", etc. are used only for descriptive purposes and do not connote or imply relative importance or a quantity of the indicated technical features. Thus, a feature defined with "first" or "second" can include one or more of the features explicitly or implicitly. In the description of the embodiments of the present application, the meaning of "a plurality" is two or more, unless otherwise explicitly and specifically defined.

[0029] In the embodiments of the present application, unless otherwise explicitly specified and defined, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected, or it can be communicated; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication or interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0030] In the embodiments of the present application, unless otherwise explicitly specified and defined, "on" or "under" of the first feature to the second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "on" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0031] The following disclosure provides many different embodiments or examples for implementing different structures of the embodiments of the present application. In order to simplify the disclosure of the embodiments of the present application, the components and arrangements of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the embodiments of the present application. In addition, the embodiments of the present application can refer to the same reference numerals and / or reference letters in different examples. Such repetition is for the purpose of simplification and clarity, and does not indicate the relationship between the various embodiments and / or arrangements discussed.

[0032] The following will be described in conjunction with the accompanying drawings Figure 1 and Figure 2 The embodiments of the present application are described in detail.

[0033] Embodiment 1:

[0034] The present embodiment discloses an adaptive adjusting device of a vehicle-mounted multi-frequency array antenna, comprising an adjusting unit, an array mounting plate 102, a bearing plate 103, a multi-sensor array and a control unit;

[0035] The adjusting unit comprises a rotating platform 104 and a pitch adjusting mechanism 105, the rotating platform 104 is connected with the bearing plate 103, the pitch adjusting mechanism 105 is installed on the bearing plate 103 and connected with the array mounting plate 102, the rotating platform 104 is used for being installed on a vehicle-mounted base,

[0036] The multi-sensor array comprises IMU sensors embedded in four corners of the array mounting plate 102, a laser ranging grid distributed on the back of the array mounting plate 102, a millimeter wave radar installed on the central axis of the rotating platform 104 and a temperature and humidity sensor attached to the array mounting plate 102.

[0037] The control unit comprises an environment perception module, a compensation decision module and an execution driving module, the environment perception module is used for receiving multi-sensor array data, the compensation decision module is connected with the environment perception module, and the execution driving module is connected with the compensation decision module at the input end and connected with the mechanical adjusting unit at the output end.

[0038] The adjusting unit, the multi-sensor array and the control unit are arranged, the vehicle running state and the surrounding environment information can be perceived in real time, and the posture and the parameters of the antenna can be automatically adjusted according to the information.

[0039] Further, a conductive slip ring is arranged between the rotating platform 104 and the vehicle-mounted base, the rotor end of the conductive slip ring is connected with the cable of the array mounting plate 102, and the stator end is connected with the control unit. The conductive slip ring is arranged between the rotating platform 104 and the vehicle-mounted base, the stability of the electrical connection between the cable of the array mounting plate 102 and the control unit is ensured when the rotating platform 104 rotates, the cable winding and damage are avoided, the reliability and stability of the system are improved, and the service life of the device is prolonged.

[0040] Further, the laser ranging grid is arranged in a 20*20 dot array, and the multi-sensor array realizes clock synchronization through the WhiteRabbit protocol. The time consistency of data acquisition is ensured, the control unit can more accurately and quickly process data, the response speed and the adjusting precision of the system are improved, so that the antenna can more timely and accurately adapt to the environmental changes.

[0041] Further, the rotating platform 104 is rigidly connected with a magneto-rheological fluid damper, the back of the array mounting plate 102 is provided with a piezoelectric ceramic actuator, and the surface of the array mounting plate 102 is provided with a MEMS micro-mirror array. The magneto-rheological fluid damper, the piezoelectric ceramic actuator and the MEMS micro-mirror array are connected with the control unit. The rotating platform 104 is connected with the magneto-rheological fluid damper, the array mounting plate 102 is provided with the piezoelectric ceramic actuator and the MEMS micro-mirror array, which can effectively suppress vibration, compensate for array deformation and optimize radiation performance. When the vehicle encounters a bumpy road during driving, the magneto-rheological fluid damper can quickly adjust the damping force to reduce the vibration of the rotating platform 104, the piezoelectric ceramic actuator fine-tunes the array mounting plate 102, and the MEMS micro-mirror array optimizes electromagnetic wave radiation, ensuring that the communication performance of the antenna is not affected.

[0042] Further, the compensation decision module includes a reinforcement learning decision unit and a fine-tuning compensation unit. The reinforcement learning decision unit generates a control amount of the rotating platform 104 and the adjusting unit, and the fine-tuning compensation unit is used to output a driving instruction of the piezoelectric ceramic actuator and the MEMS micro-mirror array. The compensation decision module includes the reinforcement learning decision unit and the fine-tuning compensation unit, which respectively realize coarse adjustment and fine adjustment of the antenna attitude, and improve the accuracy and efficiency of adjustment. The reinforcement learning decision unit generates a control amount according to environmental information to realize coarse adjustment, and the fine-tuning compensation unit outputs a driving instruction according to more accurate data to realize fine adjustment. The two cooperate to make the antenna more accurately adapt to different environments and working conditions.

[0043] Further, the piezoelectric ceramic actuators are arranged in a 4x4 array, and each actuator is independently connected to an execution driving module. The adjustment accuracy and flexibility of the array mounting plate 102 are improved. The slight deformation of different positions of the array mounting plate 102 can be independently controlled to realize more refined adjustment and further optimize the performance of the antenna.

[0044] Further, the MEMS micro-mirror array is embedded in the gap between the antenna array elements, and the mirror size is ≤λ / 10, where λ is the minimum wavelength of the antenna operating frequency band.

[0045] Further, the environment perception module is used to fuse IMU sensor and millimeter wave radar data to construct a dynamic coordinate system, and map laser ranging grid data into an array curvature matrix. More accurate information is provided for the compensation decision module, which helps to make more reasonable adjustment decisions. For example, the relative positions of the antenna attitude and the surrounding objects can be accurately known through the dynamic coordinate system, and the array curvature matrix can intuitively reflect the array deformation, so that the adjustment is more targeted.

[0046] Further, the fine adjustment compensation unit receives the real-time vibration spectrum output by the environment sensing module, and queries the phase compensation amount based on the vibration transfer function library. The fine adjustment compensation unit receives the real-time vibration spectrum and queries the phase compensation amount based on the vibration transfer function library, which can accurately compensate for the changes in antenna performance caused by vibration and improve the communication quality of the antenna in a vibrating environment. When the vehicle is vibrating during driving, the antenna performance can be adjusted in a timely and accurate manner to ensure stable communication.

[0047] Further, the pitch adjustment mechanism 105 includes a first support rod 106, a second support rod 107, and a driving unit 108. One end of the first support rod 106 and one end of the second support rod 107 are hinged to the bearing plate 103, and the other end of the first support rod 106 and the other end of the second support rod 107 are hinged to the array mounting plate 102. The first support rod 106, the second support rod 107, and the array mounting plate 102 form a triangular stable structure. The driving unit 108 is connected to the first support rod 106 and is used to drive the triangular stable structure to rotate. The driving unit 108 is connected to the control unit.

[0048] The driving unit 108 includes a telescopic rod, one end of which is hinged to the first support rod 106, and the other end of which is hinged to the bearing plate 103. The pitch adjustment mechanism 105 adopts a triangular stable structure to ensure the stability of the array mounting plate 102 during pitch adjustment, avoiding shaking or deformation and improving the reliability of antenna attitude adjustment. During adjustment, the triangular structure can withstand a large external force, ensuring that the array mounting plate 102 is stably adjusted to the required angle. The driving unit 108 adopts a telescopic rod, which has a simple structure and is easy to control, and can accurately adjust the pitch angle of the array mounting plate 102. The telescopic rod can accurately control the length under the instruction of the control unit, thereby accurately adjusting the pitch angle of the array mounting plate 102 and meeting the requirements of antenna attitude adjustment under different working conditions.

[0049] Embodiment 2:

[0050] This embodiment is further optimized based on embodiment 1. In this embodiment, the first support rod 106 and the second support rod 107 are both telescopic rods, specifically hydraulic telescopic rods, pneumatic telescopic rods, or electric telescopic rods. In this embodiment, the first support rod 106 and the second support rod 107 are both electric telescopic rods.

[0051] In actual application, when adjusting the angle, the length of the first support rod 106 and the second support rod 107 is adjusted to further adjust the angle of the array mounting plate 102.

[0052] In this embodiment, the first support rod 106 and the second support rod 107 of the pitch adjustment mechanism 105 are both electric telescopic rods, which play a key role in the actual angle adjustment process. When the compensation decision module of the control unit determines that the array mounting plate 102 needs to be adjusted in pitch angle according to the vehicle operating state, the surrounding environment information and the antenna performance requirements provided by the environment perception module, it will generate corresponding control instructions and transmit them to the execution driving module.

[0053] After receiving the instructions, the execution driving module sends driving signals to the electric telescopic rods of the first support rod 106 and the second support rod 107. The electric telescopic rod is internally provided with components such as a motor, a transmission mechanism and a screw-nut pair. The motor starts to operate under the action of the driving signal, and transmits power to the screw-nut pair through the transmission mechanism. The screw-nut pair converts the rotary motion of the motor into linear motion, thereby realizing the extension or shortening of the electric telescopic rod.

[0054] Since one end of the first support rod 106 and the second support rod 107 is hinged to the bearing plate 103, and the other end is hinged to the array mounting plate 102, and both form a triangular stable structure with the array mounting plate 102. When the electric telescopic rods of the first support rod 106 and the second support rod 107 are extended or shortened, they will push or pull the array mounting plate 102 to rotate around the hinge point, thereby realizing the angle adjustment of the array mounting plate 102 in the vertical direction. By accurately controlling the extension or shortening amount of the electric telescopic rod, the pitch angle of the array mounting plate 102 can be accurately adjusted, so that the vehicle-mounted multi-frequency array antenna can be aligned with the signal source in the appropriate posture, and the signal reception and transmission performance of the antenna can be optimized.

[0055] In addition, during the adjustment process, the multi-sensor array continues to work, the IMU sensor monitors the attitude change information of the array mounting plate 102 in real time, and the laser ranging grid detects the distance between the surrounding environment and the array mounting plate 102. These feedback data will be transmitted to the control unit again. According to the feedback information, the control unit adjusts and optimizes the action of the electric telescopic rod in real time, so that the array mounting plate 102 can be accurately and stably adjusted to the target angle.

[0056] The pitch adjustment mechanism 105 of the traditional vehicle-mounted antenna often has the problem of insufficient adjustment accuracy when adjusting the angle, which is difficult to meet the requirements of modern vehicle-mounted communication systems for precise pointing of the antenna. The device uses electric telescopic rods as the first support rod 106 and the second support rod 107, which can accurately control the extension or shortening amount of the telescopic rod by accurately controlling the rotation angle and speed of the motor. Combined with the real-time feedback information of the multi-sensor array, the control unit can accurately adjust the angle of the array mounting plate 102, so that the antenna can be more accurately aligned with the signal source, effectively improving the signal reception strength and communication quality of the antenna, and solving the problem of poor signal caused by low angle adjustment accuracy of the traditional device.

[0057] Part of the prior art vehicle antenna adjusting mechanism is prone to shaking and instability during adjustment, which not only affects the adjustment effect of the antenna, but also may cause damage to the antenna. The triangular stable structure formed by the first support rod 106, the second support rod 107 and the array mounting plate 102 in the embodiment, combined with the stable extension and contraction action of the electric telescopic rod, can effectively resist external force interference and maintain the stability of the array mounting plate 102 during angle adjustment. Even if the vehicle encounters bumps, vibrations and other situations during driving, the electric telescopic rod can quickly adjust under the action of the control unit, maintain the stability of the triangular structure, avoid the shaking of the array mounting plate 102, and thus ensure the stability and reliability of the antenna during adjustment, solving the problem of instability of the traditional adjusting mechanism.

[0058] Due to the complex and changeable vehicle environment, different driving scenarios and communication needs require the antenna to have flexible angle adjustment capability. The traditional vehicle antenna adjusting mechanism has a single adjustment method and is difficult to quickly adapt to changes in complex environments. The electric telescopic rod of the device can quickly and flexibly extend or shorten according to the instructions of the control unit, and can realize a large range of angle adjustment of the array mounting plate 102 in a short time. Whether the vehicle frequently turns in urban roads or needs to adjust the angle of the antenna due to changes in terrain in mountainous areas, the electric telescopic rod can quickly respond to make the antenna quickly adjust to the appropriate posture, meet the communication needs in different scenarios, and greatly improve the flexibility and adaptability of the antenna angle adjustment.

[0059] Embodiment 3:

[0060] This embodiment is further optimized on the basis of embodiment 2. In this embodiment, the movable end of the first support rod 106 is hinged on a sliding block 109, the sliding block 109 is interactively installed on the array mounting plate 102, the sliding block 109 is connected with a first driving unit 110, and the first driving unit 110 is used to drive the sliding block 109 to slide on the array mounting plate 102, so that the included angle formed by the first support rod 106 and the first support rod 106 can be adjusted.

[0061] The first driving unit 110 can be an electric telescopic rod.

[0062] In this embodiment, the movable end of the first support rod 106 is hinged on the slider 109, which can slide on the array mounting plate 102, and the slider 109 is driven by the first driving unit 110. When the control unit determines that it is necessary to adjust the included angle formed by the first support rod 106 and the second support rod 107 according to the vehicle operating state, the surrounding environment information collected by the environment perception module, and the antenna performance requirements, it will send a driving instruction to the first driving unit 110. After receiving the instruction, the first driving unit 110 starts to work, and its internal structure can perform corresponding actions according to different design types. If the first driving unit 110 is an electric driving type, it usually includes a motor and a transmission mechanism (such as a screw-nut pair, a gear and rack mechanism, etc.). The motor operates under the action of the driving signal, and converts the rotary motion of the motor into the linear motion of the slider 109 through the transmission mechanism, so that the slider 109 slides in a specific direction on the array mounting plate 102.

[0063] With the sliding of the slider 109, since the movable end of the first support rod 106 is hinged on the slider 109, the displacement of the slider 109 will drive the first support rod 106 to rotate around the hinge point, thereby changing the included angle between the first support rod 106 and the second support rod 107. Because the first support rod 106, the second support rod 107 and the array mounting plate 102 form a triangular stable structure, the change of the included angle will further affect the posture of the array mounting plate 102.

[0064] In this process, the multi-sensor array continuously monitors the relevant data in real time. The IMU sensor monitors the posture change information of the array mounting plate 102, and the laser ranging grid detects the distance between the surrounding environment and the array mounting plate 102, etc., and feeds back these information to the control unit. According to the feedback data, the control unit adjusts and optimizes the driving parameters of the first driving unit 110 in real time, so as to ensure that the included angle between the first support rod 106 and the second support rod 107 can be accurately adjusted to the target angle, and then the array mounting plate 102 reaches the ideal posture, and the vehicle-mounted multi-frequency array antenna is in the best working state.

[0065] The pitch adjustment mechanism 105 of the traditional vehicle-mounted antenna has a fixed structure, and the adjustment range of the included angle between the first and second support rods is limited, which leads to insufficient adjustment range of the antenna in the vertical direction, making it difficult to adapt to complex and variable signal environments. The newly added scheme can flexibly change the included angle formed by the first support rod 106 and the second support rod 107 by driving the slider 109 to slide on the array mounting plate 102 through the first driving unit 110. This design greatly expands the adjustment range of the antenna pitch, allowing the antenna to make larger attitude adjustments in the vertical direction. For example, when the vehicle is in a special terrain or the signal source location is more tricky, this device can break through the limitations of the traditional adjustment range, allowing the antenna to align the signal source with a more suitable attitude, effectively solving the problem of insufficient adjustment range of the traditional antenna and improving the adaptability of the antenna in complex environments.

[0066] The previous antenna adjustment mechanism has difficulty in achieving precise control when making fine adjustments in angle, affecting the precise reception and transmission of signals by the antenna. In the embodiment, the first driving unit 110 can accurately control the sliding distance and speed of the slider 109 according to the precise instructions of the control unit, thereby accurately changing the included angle of the first support rod 106 and the second support rod 107. Combined with the real-time feedback data of the multi-sensor array, the control unit can continuously optimize the driving strategy of the first driving unit 110 to achieve high-precision fine adjustment of the antenna attitude. For example, when fine adjustments of the antenna angle are needed to enhance signal strength, this scheme can accurately control the change in the included angle, allowing the antenna to accurately align the signal source, effectively solving the problem of insufficient precision of the traditional adjustment method and improving the signal reception and transmission quality of the antenna.

[0067] The traditional vehicle-mounted antenna adjustment mechanism has a fixed adjustment method and poor flexibility when facing various angle adjustment needs under different working conditions. In the newly added scheme, the first driving unit 110 can quickly respond to the instructions of the control unit to drive the slider 109 to slide quickly, achieving rapid adjustment of the included angle of the first support rod 106 and the second support rod 107. Whether the vehicle needs to quickly adjust the antenna angle due to changes in the signal source during high-speed driving or the signal reception conditions change due to frequent changes in driving direction in complex urban environments, this scheme can flexibly respond and quickly adjust the antenna attitude to meet the diverse needs of antenna angle adjustment under different working conditions, greatly improving the flexibility and real-time performance of antenna adjustment and solving the problem of poor flexibility of the traditional antenna adjustment.

[0068] Further, in some preferred embodiments, a recess 111 is provided on the bearing plate 103, and the lower end of the first support rod 106 is located in the recess 111, improving the adjustment stroke of the first support rod 106.

[0069] Further, an annular track 101 is arranged between the bearing plate 103 and the rotating platform 104, so as to support the bearing plate 103.

[0070] Embodiment 4:

[0071] The embodiment discloses a adjusting method based on the above-mentioned vehicle-mounted multi-frequency band array surface antenna adaptive adjusting device, and the method comprises the following steps:

[0072] Step 1: initializing the system, starting the multi-sensor array by the control unit, completing self-checking and clock synchronization of each sensor, establishing an initial coordinate system; the rotating platform 104 and the pitching adjusting mechanism 105 are reset to the initial position, and the magneto-rheological fluid damper, the piezoelectric ceramic actuator and the MEMS micromirror array are in the initial working state.

[0073] Step 2: the multi-sensor array collects data in real time and transmits to the environment perception module: the IMU sensor collects real-time attitude information of the array mounting plate 102, including acceleration, angular velocity and inclination data; the laser ranging grid collects distance data between the array mounting plate 102 and the surrounding environment in the form of a 20x20 dot array; the millimeter wave radar detects the surrounding obstacles and relative motion state of the vehicle; the temperature and humidity sensor collects the temperature and humidity parameters of the antenna working environment.

[0074] Step 3: the environment perception module fuses and processes the received data: fusing the IMU sensor and millimeter wave radar data, updating the dynamic coordinate system, and reflecting the spatial position relationship of the vehicle and the antenna in real time; mapping the laser ranging grid data into an array curvature matrix, quantifying the deformation state of the array mounting plate 102; combining the temperature and humidity parameters, establishing an environmental influence factor model.

[0075] Step 4: the compensation decision module makes decisions according to the processing results output by the environment perception module: the reinforcement learning decision unit generates the rotation angle control quantity of the rotating platform 104 and the coarse adjustment instruction of the pitching adjusting mechanism 105 based on the dynamic coordinate system and the obstacle information; the fine adjustment compensation unit receives the real-time vibration spectrum and the array curvature matrix, queries the vibration transfer function library to obtain the phase compensation quantity, and generates the driving instruction of the piezoelectric ceramic actuator and the adjusting parameter of the MEMS micromirror array.

[0076] Step 5: the execution driving module drives each execution mechanism to act according to the output instruction of the compensation decision module: driving the rotating platform 104 to rotate to the target angle, and ensuring stable electrical connection through the conductive slip ring; controlling the first support rod 106 and the second support rod 107 (electric telescopic rod) of the pitching adjusting mechanism 105 to extend and retract, adjusting the pitching angle of the array mounting plate 102; when a larger range of adjustment is needed, the first driving unit 110 is started to drive the sliding block 109 to slide, changing the included angle of the first support rod 106 and the second support rod 107;

[0077] The magnetorheological fluid damper controls the damping force to suppress the vibration of the rotating platform 104; the 4x4 array of piezoelectric ceramic actuators independently act to compensate for the micro-deformation of the array mounting plate 102; the attitude of the MEMS micromirror array is adjusted to optimize the electromagnetic wave radiation direction of the antenna elements.

[0078] Step 6: The multi-sensor array continuously collects adjusted state data and feeds back to the control unit to form a closed-loop control; the control unit repeats steps 3 to 5 according to the deviation of the feedback data from the target state until the antenna performance reaches the optimal state.

[0079] Step 7: When the vehicle is turned off or the antenna stops working, the system enters a dormant state, the rotating platform 104 and the pitch adjustment mechanism 105 are reset, and each actuator stops working, leaving only the necessary sensor monitoring function.

[0080] This embodiment realizes full-range adaptive adjustment of the vehicle-mounted antenna from coarse adjustment to fine adjustment through the combination of multi-sensor data fusion and multi-stage adjustment. The reinforcement learning decision unit can dynamically optimize the adjustment strategy according to the complex environment, improving the adaptability of the antenna in the variable vehicle environment; the fine compensation mechanism based on the vibration transfer function ensures the communication stability of the antenna under the vibration condition of the vehicle. Through closed-loop feedback control, the antenna always maintains the best working attitude, effectively improving the quality and reliability of vehicle-mounted communication.

[0081] Further, the reinforcement learning decision unit in step 4 uses a deep reinforcement learning algorithm, taking the antenna communication quality index as the reward function, and updates the decision model through continuous interaction with the environment to realize autonomous optimization of the adjustment strategy.

[0082] Further, the control of the electric telescopic rod by the execution driving module in step 5 uses a PID algorithm to adjust the driving current in real time according to the deviation between the target angle and the actual angle, ensuring that the adjustment accuracy reaches ±0.1°.

[0083] Further, the closed-loop control period in step 6 is dynamically adjusted according to the vehicle driving state: when driving on urban roads, the control period is 100ms; when driving on highways, the control period is shortened to 50ms; when driving on bumpy roads, the control period is further shortened to 20ms to quickly respond to attitude changes caused by vibration.

[0084] Further, since the temperature and humidity sensor is only attached to the surface of the array mounting plate 102, it is easy to fail when the vehicle is involved in water; therefore, in actual application, the fiber grating temperature and humidity sensor is embedded inside the array mounting plate 102, and the fiber line is led out through the conductive slip ring rotor end and connected with the control unit; when the surface temperature and humidity sensor detects that the humidity is > 90% RH, the fiber grating sensor is started to check the data; if the surface sensor fails, the fiber grating data (accuracy ± 0.5% RH) is directly used.

[0085] Further, since the magnetorheological fluid damper is only connected to the rotating platform, the array high-frequency vibration suppression is insufficient, and in actual application, a parallel magnetorheological fluid damper group is added between the array mounting plate 102 and the bearing plate 103, and the whole is in a cross-shaped layout, each damper is independently connected to the execution driving module, and the IMU sensor detects the X / Y axis angular acceleration of the array; if the angular acceleration > 10 rad / s², the reinforcement learning decision unit outputs the damping force distribution instruction, and the damper group in the cross-shaped layout differentially applies damping force according to the quadrant, the range is 0.5-5 kN·s / m, and through testing, the array resonance peak value is reduced by 15 dB, which is suitable for off-road sections.

[0086] Although the preferred embodiments of the present application have been described, those skilled in the art can make further changes and modifications to the embodiments once they know the basic inventive concept. Therefore, the appended claims are intended to be interpreted as including all the preferred embodiments and all the changes and modifications falling within the scope of the present application.

[0087] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. It should be pointed out that any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An adaptive adjustment device for a vehicle-mounted multi-band array antenna, characterized in that: The application relates to a vehicle-mounted antenna device, which comprises an adjusting unit, an array mounting plate, a bearing plate, a multi-sensor array and a control unit. The adjusting unit comprises a rotating platform and a pitch adjusting mechanism, the rotating platform is connected with the bearing plate, the pitch adjusting mechanism is installed on the bearing plate and connected with the array mounting plate, and the rotating platform is used for being mounted on a vehicle-mounted base, The multi-sensor array comprises IMU sensors embedded in four corners of the array mounting plate, a laser ranging grid distributed on the back of the array mounting plate, a millimeter wave radar installed on the central axis of the rotating platform and a temperature and humidity sensor attached to the array mounting plate; The control unit comprises an environment perception module, a compensation decision module and an execution driving module, the environment perception module is used for receiving multi-sensor array data, the compensation decision module is connected with the environment perception module, and the execution driving module is connected with the compensation decision module at the input end and connected with the mechanical adjusting unit at the output end; The rotating platform is rigidly connected with a magneto-rheological fluid damper, the back of the array mounting plate is provided with a piezoelectric ceramic actuator, the surface of an antenna array element of the array mounting plate is provided with a MEMS micromirror array, and the magneto-rheological fluid damper, the piezoelectric ceramic actuator and the MEMS micromirror array are connected with the control unit; The compensation decision module comprises a reinforcement learning decision unit and a fine compensation unit, the reinforcement learning decision unit generates a control amount of the rotating platform and the adjusting unit, and the fine compensation unit is used for outputting driving instructions of the piezoelectric ceramic actuator and the MEMS micromirror array; The environment perception module is used for fusing IMU sensor and millimeter wave radar data to construct a dynamic coordinate system and mapping laser ranging grid data into an array curvature matrix; The pitch adjusting mechanism comprises a first supporting rod, a second supporting rod and a driving unit, one end of the first supporting rod and the second supporting rod is hinged on the bearing plate, the other end of the first supporting rod and the second supporting rod is hinged with the array mounting plate, the first supporting rod, the second supporting rod and the array mounting plate form a triangular stable structure, the driving unit is connected with the first supporting rod and used for driving the triangular stable structure to rotate, and the driving unit is connected with the control unit; the driving unit comprises a telescopic rod, one end of the telescopic rod is hinged with the first supporting rod, and the other end of the telescopic rod is hinged with the bearing plate; The first supporting rod and the second supporting rod are both telescopic rods, when the angle is adjusted, the angle of the array mounting plate is further adjusted by adjusting the lengthening or shortening of the first supporting rod and the second supporting rod; The electric telescopic rod is used as the first supporting rod and the second supporting rod, the electric telescopic rod can accurately control the lengthening or shortening amount of the telescopic rod by accurately controlling the rotating angle and speed of the motor; combined with the real-time feedback information of the multi-sensor array, the control unit realizes accurate adjustment of the angle of the array mounting plate, so that the antenna can more accurately aim at the signal source, the signal receiving strength and the communication quality of the antenna are improved, and the problem that the low angle adjustment precision of the traditional device leads to poor signal is solved.

2. The adaptive adjustment device of a vehicle-mounted multi-frequency array antenna according to claim 1, characterized in that: A conductive slip ring is arranged between the rotating platform and the vehicle-mounted base, the rotor end of the conductive slip ring is connected with the array mounting plate cable, and the stator end is connected with the control unit.

3. The adaptive adjustment device of a vehicle-mounted multi-frequency array antenna according to claim 1, characterized in that: The laser ranging grid is arranged in a 20*20 dot array, and the multi-sensor array realizes clock synchronization through a WhiteRabbit protocol.

4. The adaptive adjustment device of a vehicle-mounted multi-frequency array antenna according to claim 1, characterized in that: The piezoelectric ceramic actuators are arranged in a 4×4 array, and each actuator is independently connected to an execution driving module.

5. The adaptive adjustment device of a vehicle-mounted multi-frequency array antenna according to claim 1, characterized in that: The fine adjustment compensation unit receives the real-time vibration spectrum output by the environment perception module, and queries the phase compensation amount based on a vibration transfer function library.

6. An adaptive adjustment method of a vehicle-mounted multi-frequency array antenna, comprising using the adaptive adjustment device of a vehicle-mounted multi-frequency array antenna according to any one of claims 1-5, characterized in that: The specific steps are as follows: Step 1: initialize the system, start the multi-sensor array in the control unit, complete the self-checking and clock synchronization of each sensor, and establish an initial coordinate system; the rotating platform and the pitch adjustment mechanism are reset to the initial position, and the magnetorheological fluid damper, the piezoelectric ceramic actuator and the MEMS micromirror array are in the initial working state; Step 2: the multi-sensor array collects data in real time and transmits it to the environment perception module: the IMU sensor collects the real-time attitude information of the array mounting plate, including acceleration, angular velocity and inclination data; the laser ranging grid collects the distance data between the array mounting plate and the surrounding environment in the form of a 20×20 point array; the millimeter wave radar detects the obstacles and relative motion state around the vehicle; the temperature and humidity sensor collects the temperature and humidity parameters of the antenna working environment; Step 3: the environment perception module fuses the received data: fuse the IMU sensor and millimeter wave radar data, update the dynamic coordinate system, and reflect the spatial position relationship of the vehicle and the antenna in real time; Map the laser ranging grid data to the array curvature matrix, and quantitatively represent the deformation state of the array mounting plate; Combine the temperature and humidity parameters to establish an environmental influence factor model; Step 4: the compensation decision module makes decisions based on the processing results output by the environment perception module: the reinforcement learning decision unit generates the rotation angle control amount of the rotating platform and the coarse adjustment instruction of the pitch adjustment mechanism based on the dynamic coordinate system and obstacle information; The fine adjustment compensation unit receives the real-time vibration spectrum and the array curvature matrix, queries the vibration transfer function library to obtain the phase compensation amount, and generates the driving instruction of the piezoelectric ceramic actuator and the adjustment parameter of the MEMS micromirror array; Step 5: the execution driving module drives each actuator to act according to the output instruction of the compensation decision module: drive the rotating platform to rotate to the target angle, and ensure stable electrical connection through the conductive slip ring at the same time; control the first support rod and the second support rod of the pitch adjustment mechanism to extend and retract, adjust the pitch angle of the array mounting plate; when a larger range of adjustment is needed, start the first driving unit to drive the sliding block to slide, change the included angle of the first support rod and the second support rod; Control the magnetorheological fluid damper to adjust the damping force and suppress the vibration of the rotating platform; drive the 4×4 array of piezoelectric ceramic actuators to act independently to compensate for the micro-deformation of the array mounting plate; Adjust the attitude of the MEMS micromirror array to optimize the electromagnetic wave radiation direction of the antenna elements; Step 6: the multi-sensor array continuously collects the state data after adjustment and feeds back to the control unit to form a closed loop control; the control unit repeats steps 3-5 according to the deviation between the feedback data and the target state until the antenna performance reaches the optimal state. Step 7: When the vehicle is turned off or the antenna is deactivated, the system enters a dormant state, the rotating platform and the pitch adjustment mechanism are reset, and each actuator stops working, leaving the sensor monitoring function.

Images