Foundation deformation monitoring radar online calibration device

Abstract

The application discloses a kind of foundation deformation monitoring radar online calibration device, three-prism body mechanism is connected to the tilt angle mechanism, and the tilt angle mechanism is used to adjust the tilt angle of three-prism body mechanism;Tilt angle mechanism is connected to horizontal displacement mechanism, and horizontal displacement mechanism is used to drive tilt angle mechanism together with three-prism body mechanism horizontal movement, adjust the position of tilt angle mechanism and three-prism body mechanism in horizontal direction;The bottom of horizontal displacement mechanism is connected to 360 ° rotation angle displacement mechanism, and 360 ° rotation angle displacement mechanism is used to drive horizontal displacement mechanism 360 ° horizontal rotation;360 ° rotation angle displacement mechanism is fixed to stable support structure;Three-prism body mechanism includes three-prism body and total station prism.The application can realize the calibration of deformation monitoring precision-distance resolution-azimuth resolution three synergies, and can realize the online calibration of foundation deformation monitoring radar, without foundation deformation monitoring radar offline interruption operation.

Description

Technical Field

[0001] This invention relates to the field of instrument calibration technology, and specifically to an online calibration device for a ground deformation monitoring radar. Background Technology

[0002] Ground deformation monitoring radar is a high-precision ground-based remote sensing monitoring device used for long-distance, non-contact measurement of minute deformations and displacements on the surfaces of targets such as mountains, dams, and mine slopes. Due to the need for continuous 24-hour monitoring, traditional offline metrological testing is difficult to perform for ground deformation monitoring radar. Currently, a field calibration technology for ground deformation monitoring radar based on a high-precision baseline field has been developed. This technology establishes an array of corner reflectors with precise three-dimensional coordinates, consisting of multiple forced-alignment observation piers, as a "ground truth" reference system. The measured values ​​of the ground deformation monitoring radar on these targets are then compared with the known truth values. An optimized algorithm is used to calculate the radar's zero-range value, angular deviation, and other systematic error parameters, thereby establishing a relatively comprehensive error model.

[0003] However, this approach has significant technical limitations: First, it is essentially an "offline" or "phased" calibration process, requiring the interruption of normal radar monitoring tasks, which cannot meet the safety and compliance requirements of 24-hour continuous monitoring in mines. Second, this approach primarily calibrates the systematic errors of static targets, lacking the ability to verify the core dynamic performance indicator of deformation monitoring accuracy, because the targets on the baseline field are stationary and cannot simulate the actual slope deformation process. Third, the entire process is highly dependent on manual operation, failing to form an automated closed loop of "automatic detection - data acquisition - error analysis - parameter correction," and also making it difficult to achieve synchronous and coordinated measurement of key imaging indicators such as range resolution and azimuth resolution. Therefore, existing technologies cannot provide comprehensive, dynamic, and automated online measurement and detection for ground-based deformation monitoring radars while ensuring monitoring continuity. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention aims to provide an online calibration device for ground deformation monitoring radar.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: An online calibration device for ground deformation monitoring radar includes a triangular pyramid mechanism, an elevation mechanism, a horizontal displacement mechanism, a 360° rotational displacement mechanism, and a stable support structure. The triangular pyramid mechanism is connected to the elevation mechanism, which is used to adjust the elevation angle of the triangular pyramid mechanism. The elevation mechanism is connected to the horizontal displacement mechanism, which is used to drive the elevation mechanism and the triangular pyramid mechanism to move horizontally, adjusting their positions in the horizontal direction. The bottom of the horizontal displacement mechanism is connected to the 360° rotational displacement mechanism, which is used to drive the horizontal displacement mechanism to rotate 360° horizontally. The 360° rotational displacement mechanism is fixed to the stable support structure. The triangular pyramid mechanism includes a triangular pyramid and a total station prism, with the pyramid connected to the tilt mechanism. The triangular pyramid includes three isosceles right-angled triangular faces and an equilateral triangular face formed by the inclined planes of the three isosceles right-angled faces. The triangular pyramid is hollow inside, and the equilateral triangular faces are covered with perforated equilateral triangular panels, which are detachably connected to the equilateral triangular faces. The equilateral triangular panels have prism mounting plates at at least three corners and the center, and a total station prism is mounted on each prism mounting plate.

[0006] Furthermore, the length of the right-angled side of each of the three isosceles right-angled triangular faces of the triangular pyramid is 800mm.

[0007] Furthermore, the tilt angle mechanism includes a precision electric angular displacement stage and a precision electric angular displacement stage motor. The triangular pyramid is connected to the precision electric angular displacement stage, which is used to adjust the tilt angle of the equilateral triangular face of the triangular pyramid. The precision electric angular displacement stage motor is used to drive the precision electric angular displacement stage.

[0008] Furthermore, the tilt mechanism also includes a triangular pyramid fixing screw, a triangular pyramid fixing component, an adapter screw, and an isosceles triangular adapter component; the isosceles triangular adapter component is an isosceles right-angled triangular prism with two isosceles right-angled triangles on both sides and an inclined parallelogram on the top surface; the lower end of the triangular pyramid fixing component is welded and fixed to the top surface of the isosceles triangular adapter component; the upper end of the triangular pyramid fixing component is attached to one of the isosceles right-angled triangular faces of the triangular pyramid and is threadedly fixedly connected by the triangular pyramid fixing screw; the bottom surface of the isosceles triangular adapter component is fixed to the precision electric angular displacement stage by the adapter screw.

[0009] Furthermore, the horizontal displacement mechanism includes a transfer platform, a linear module moving block, a linear displacement module motor, and a linear displacement module; the top and bottom of the transfer platform are respectively connected to the linear module moving block and the tilt angle mechanism; the linear module moving block is assembled on the linear displacement module; the linear displacement module motor is used to drive the linear displacement module to work, causing the linear module moving block to move horizontally and linearly along the linear displacement module.

[0010] Furthermore, the horizontal displacement mechanism also includes a circular level, which is mounted on the transition water platform.

[0011] Furthermore, the 360° rotational displacement mechanism includes a 360° rotational displacement motor, a 360° rotational displacement transmission mechanism, and an upper horizontal plate 20; the 360° rotational displacement motor is used to drive the 360° rotational displacement transmission mechanism, the upper horizontal plate is fixed to the horizontal displacement mechanism, and the 360° rotational displacement transmission mechanism is connected to the upper horizontal plate and can drive the upper horizontal plate to perform a 360° horizontal rotation.

[0012] Furthermore, the stable support structure includes an adjustable leveling triangular bracket and a lower horizontal plate; the 360° rotational displacement mechanism is fixed to the top of the lower horizontal plate, and the adjustable leveling triangular bracket includes at least three retractable tilting legs, which are arranged at equal angles, and the upper ends of each tilting leg are respectively connected to the bottom of the lower horizontal plate.

[0013] Furthermore, the stable support structure also includes a support frame, which includes a horizontal beam and support legs connected to both ends of the horizontal beam. The horizontal displacement mechanism is fixed to the top of the horizontal beam, and the upper horizontal plate is fixedly connected to the bottom of the horizontal beam.

[0014] Furthermore, the online calibration device for ground deformation monitoring radar also includes a cross positioning device and a cross positioning device connecting rod. The cross positioning device is connected to the bottom of the lower horizontal plate through the cross positioning device connecting rod. The cross positioning device is used to project a cross vertical laser beam onto the ground. The cross vertical laser beam can be rotated and adjusted so that one beam is parallel to the linear displacement module and the other beam is perpendicular to the linear displacement module.

[0015] The beneficial effects of this invention are as follows: 1. This invention can achieve coordinated calibration of deformation monitoring accuracy, range resolution, and azimuth resolution of ground-based deformation monitoring radar, breaking through the limitations of a single static index. 2. The calibration device of the present invention can realize online calibration of the ground deformation monitoring radar without interrupting the offline operation of the ground deformation monitoring radar, thereby enabling the parallel monitoring and calibration of the ground deformation monitoring radar. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the front side of the online calibration device for ground deformation monitoring radar in an embodiment of the present invention; Figure 2 This is a front view of the online calibration device for ground deformation monitoring radar in an embodiment of the present invention (the triangular pyramid mechanism is omitted). Figure 3 This is a schematic diagram of the rear side of the online calibration device for ground deformation monitoring radar in an embodiment of the present invention (the triangular pyramid mechanism is omitted). Detailed Implementation

[0017] The present invention will be further described below with reference to the accompanying drawings. It should be noted that this embodiment is based on the present technical solution and provides detailed implementation methods and specific operation processes, but the protection scope of the present invention is not limited to this embodiment.

[0018] This embodiment provides an online calibration device for a ground deformation monitoring radar, which can calibrate the micro-deformation resolution, range resolution, and azimuth resolution of the ground deformation monitoring radar.

[0019] like Figure 1-3 As shown, the online calibration device for the ground deformation monitoring radar includes a triangular pyramid mechanism, a tilt angle mechanism, a horizontal displacement mechanism, a 360° rotational displacement mechanism, and a stable support structure. The triangular pyramid mechanism is connected to the tilt angle mechanism, which is used to adjust the tilt angle of the triangular pyramid mechanism. The tilt angle mechanism is connected to the horizontal displacement mechanism, which is used to drive the tilt angle mechanism and the triangular pyramid mechanism to move horizontally, adjusting their positions in the horizontal direction. The bottom of the horizontal displacement mechanism is connected to the 360° rotational displacement mechanism, which is used to drive the horizontal displacement mechanism to rotate 360° horizontally. The 360° rotational displacement mechanism is fixed to the stable support structure.

[0020] The triangular pyramid mechanism includes a triangular pyramid 9 and a total station prism 2. The triangular pyramid 9 is connected to the tilt mechanism. The triangular pyramid 9 includes three isosceles right-angled triangular faces and an equilateral triangular face formed by the inclined planes of the three isosceles right-angled faces. The triangular pyramid 9 is hollow inside, and the equilateral triangular faces of the triangular pyramid 9 are covered with a hollowed-out equilateral triangular panel 1. The equilateral triangular panel is detachably connected to the equilateral triangular faces. The equilateral triangular panel 1 has a prism mounting plate at at least three corners and the center position, and the total station prism 2 is mounted on each prism mounting plate.

[0021] In this embodiment, the triangular pyramid is made of a material that is not easily deformed; specifically, it is made of 6061 aluminum alloy.

[0022] In this embodiment, the length of the right-angled sides of the three isosceles right-angled triangular faces of the triangular pyramid 9 is 800mm (or other right-angled side lengths that can be effectively detected by radar). The inner surface of the triangular pyramid 9 shall not be fitted with any screw holes, shall not be oxidized, and shall be treated for corrosion and rust prevention; the outer surface of the triangular pyramid 9 shall be treated with natural color oxidation or white plastic spraying.

[0023] In this embodiment, the tilt mechanism includes a triangular pyramid fixing screw 15, a triangular pyramid fixing member 16, a connecting device screw 17, an isosceles triangular connecting member 10, a precision electric angular displacement stage 11, and a precision electric angular displacement stage motor 12; the isosceles triangular connecting member 10 is an isosceles right triangular prism with isosceles right triangles on both sides and an inclined parallelogram on the top surface; the lower end of the triangular pyramid fixing member 16 is welded and fixed to the top surface of the isosceles triangular connecting member 10; the triangular pyramid fixing member 16... The upper end of 6 is attached to one of the isosceles right-angled triangular faces of the triangular pyramid 9 and is fixedly connected by the triangular pyramid fixing screw 15; the bottom surface of the isosceles triangular adapter 10 is fixed to the precision electric angular displacement stage 11 by the adapter screw 17; the precision electric angular displacement stage 11 is used to drive the isosceles triangular adapter 10 to angular displacement, thereby adjusting the tilt angle of the equilateral triangular face of the triangular pyramid 9; the precision electric angular displacement stage motor 12 is used to drive the precision electric angular displacement stage 11.

[0024] In this embodiment, the pitch adjustment range of the precision electric angular displacement stage 11 is between -30° and 30°, and the absolute value of the positioning accuracy is 0.02°.

[0025] In this embodiment, the horizontal displacement mechanism includes a transition platform 3, a linear module moving block 23, a linear displacement module motor 13, and a linear displacement module 4. The top and bottom of the transition platform 3 are respectively connected to the linear module moving block 23 and the tilt angle mechanism (specifically, in this embodiment, it is connected to the bottom of the precision electric angular displacement stage 11). The linear module moving block 23 is assembled on the linear displacement module 4. The linear displacement module motor 13 is used to drive the linear displacement module 4 to work, causing the linear module moving block 23 to move horizontally and linearly along the linear displacement module 4.

[0026] In this embodiment, the horizontal displacement mechanism further includes a circular level 19, which is mounted on the transition platform 3. The circular level 19 is used for leveling the horizontal displacement mechanism. Specifically, in this embodiment, the front of the transition platform 3 is provided with a protruding platform 18, and the circular level 19 is fixed on the platform 18.

[0027] In this embodiment, the effective stroke of the linear displacement module 4 is 0.52m, the absolute value of the positioning accuracy is 0.02mm, and the operating environment should be suitable for -20℃ to 50℃.

[0028] In this embodiment, the 360° rotational angular displacement mechanism includes a 360° rotational angular displacement motor 5, a 360° rotational angular displacement transmission mechanism 6, and an upper horizontal plate 20. The 360° rotational angular displacement motor 5 drives the 360° rotational angular displacement transmission mechanism 6. The upper horizontal plate 20 is fixed to the horizontal displacement mechanism. The 360° rotational angular displacement transmission mechanism 6 is drively connected to the upper horizontal plate 20 and can drive the upper horizontal plate 20 to perform a 360° horizontal rotation.

[0029] The triangular pyramid 9 can be rotated in all directions by a 360° rotational displacement mechanism, with a rotation range of 0-360° and an absolute positioning accuracy of 0.01°.

[0030] In this embodiment, the stable support structure includes an adjustable leveling triangular bracket 8 and a lower horizontal plate 21. The 360° rotational displacement mechanism is fixed to the top of the lower horizontal plate 21. The adjustable leveling triangular bracket 8 includes at least three retractable tilting legs, which are arranged at equal angles, and the upper ends of each tilting leg are connected to the bottom of the lower horizontal plate 21. After rotation, the horizontal displacement mechanism may tilt slightly due to uneven ground or other reasons. By adjusting the extension length of each retractable tilting leg, the horizontal displacement mechanism can be leveled when it tilts, ensuring that the horizontal displacement mechanism remains horizontal.

[0031] In this embodiment, the stable support structure further includes a support frame 14, which includes a horizontal beam and support legs connected to both ends of the horizontal beam. The horizontal displacement mechanism is fixed to the top of the horizontal beam, and the upper horizontal plate 20 is fixedly connected to the bottom of the horizontal beam.

[0032] It should be noted that, since the parts above the horizontal displacement mechanism need to move horizontally during the calibration process, and these parts have a certain weight, the purpose of setting up the support frame 14 is to prevent pressure deviation during the horizontal movement, so that each part remains horizontal during the horizontal movement.

[0033] Furthermore, in this embodiment, the calibration device also includes a cross positioning device 7 and a cross positioning device connecting rod 22. The cross positioning device 7 is connected to the bottom of the lower horizontal plate 20 through the cross positioning device connecting rod 22. The cross positioning device 7 is used to project a cross vertical laser beam onto the ground. The cross vertical laser beam can be rotated and adjusted so that one beam is parallel to the linear displacement module 4 and the other beam is perpendicular to the linear displacement module 4.

[0034] It should be noted that during calibration, the distance between the ground deformation monitoring radar being calibrated and the calibration device is (1-4) km. Using the ground deformation monitoring radar as the center and the distance as the radius, find a position 1 mrad away. Project a cross-shaped vertical laser beam onto the ground using the cross-positioning device 7. By rotating the cross-positioning device 7, one beam of the cross-shaped vertical laser beam is made parallel to the linear displacement module 4, and the other beam is perpendicular to the linear displacement module 4. A direction perpendicular to the linear displacement module 4 can be found on the ground. After positioning, move the calibrator to calibrate the radar's angular resolution.

[0035] The principle of using the online calibration device of this embodiment to perform online calibration of the ground deformation monitoring radar is as follows: Preparation before calibration: A total station is positioned near the ground deformation monitoring radar to be calibrated. The total station sends a positioning signal to the ground deformation monitoring radar calibration device, which is then reflected by the total station prism 2. The precision electric angular displacement stage motor 12 is started, driving the precision electric angular displacement stage 11 to ensure that the equilateral triangular face of the triangular pyramid 9 is perpendicular.

[0036] Then, the control system starts the linear displacement module motor 13, which drives the linear displacement module 4 to move, causing the linear module moving block 23 to move horizontally. This moves the triangular pyramid to different positions and activates the 360° rotational displacement mechanism. The 360° rotational displacement motor 5 drives the 360° rotational displacement transmission mechanism 6, which in turn rotates the triangular pyramid 9 horizontally. During the horizontal linear movement and rotation of the triangular pyramid 9, the position of the triangular pyramid 9 is determined based on the total station positioning signal reflected by the total station prism 2. This completes the pre-calibration position positioning of the foundation deformation monitoring radar to be calibrated.

[0037] Observe the circular level 18. If it is not level, adjust the retractable tilting legs of the adjustable triangular bracket 8 to ensure that the linear displacement module 4 is in a level state.

[0038] Then, the equilateral triangle panel 1 is removed from the equilateral triangle surface. At this time, the foundation deformation monitoring radar to be calibrated scans the triangular pyramid 9. By starting the precision electric angular displacement stage motor 12, the precision electric angular displacement stage 11 is driven to work, and the tilt angle of the triangular pyramid 9 is adjusted so that the echo signal of the foundation deformation monitoring radar reaches the maximum.

[0039] After calibration begins, the ground deformation monitoring radar to be calibrated continuously scans the triangular pyramid 9.

[0040] Calibrate micro-displacement: Set the initial position of the linear module moving block 23. The linear module moving block 23 drives the triangular pyramid 9 to move horizontally in a single direction by one wavelength of the ground deformation monitoring radar to be calibrated. The movement is carried out sequentially according to one-tenth of the wavelength of the ground deformation monitoring radar to be calibrated, and the corresponding standard distance is given.

[0041] It should be noted that the distance moved by the linear module moving block 23 is a standard value obtained from the previous stage of measurement. Different standard values ​​can be selected and input through the control system. The standard value is determined by the wavelength of the ground deformation monitoring radar to be calibrated.

[0042] Range resolution calibration: Using the initial position of the triangular pyramid as a reference position, a two-dimensional radar image is generated. Pixel separability is used as a criterion. First, the triangular pyramid is moved horizontally according to the range resolution given in the radar manual. If pixels overlap, the pyramid is gradually moved away by 0.05m until they no longer overlap; if pixels do not overlap, the pyramid is gradually moved closer to the initial position by 0.05m until they no longer overlap. The shortest non-overlapping pixel distance is taken as the single-shot range resolution.

[0043] Azimuth resolution calibration: Using the initial position of the triangular pyramid as a reference position, a two-dimensional radar image is generated. Pixel separability is used as a criterion. First, the triangular pyramid is rotated using a 360° rotational displacement mechanism according to the azimuth resolution given in the radar manual. If the pixels overlap, the pyramid is gradually moved away by 1 mrad until they no longer overlap; if the pixels do not overlap, the pyramid is gradually moved closer to the initial position by 1 mrad until they no longer overlap. The shortest non-overlapping pixel radius is taken as the single-order azimuth resolution.

[0044] For those skilled in the art, various corresponding changes and modifications can be made based on the above technical solutions and concepts, and all such changes and modifications should be included within the protection scope of the claims of this invention.

Claims

1. An online calibration device for ground deformation monitoring radar, characterized in that, The system includes a triangular pyramid mechanism, a tilt mechanism, a horizontal displacement mechanism, a 360° rotational displacement mechanism, and a stable support structure. The triangular pyramid mechanism is connected to the tilt mechanism, which is used to adjust the tilt angle of the triangular pyramid mechanism. The tilt mechanism is connected to the horizontal displacement mechanism, which is used to drive the tilt mechanism and the triangular pyramid mechanism to move horizontally, adjusting their positions in the horizontal direction. The bottom of the horizontal displacement mechanism is connected to the 360° rotational displacement mechanism, which is used to drive the horizontal displacement mechanism to rotate 360° horizontally. The 360° rotational displacement mechanism is fixed to the stable support structure. The triangular pyramid mechanism includes a triangular pyramid and a total station prism, with the pyramid connected to the tilt mechanism. The triangular pyramid includes three isosceles right-angled triangular faces and an equilateral triangular face formed by the inclined planes of the three isosceles right-angled faces. The triangular pyramid is hollow inside, and the equilateral triangular faces are covered with perforated equilateral triangular panels, which are detachably connected to the equilateral triangular faces. The equilateral triangular panels have prism mounting plates at at least three corners and the center, and a total station prism is mounted on each prism mounting plate.

2. The online calibration device for ground deformation monitoring radar according to claim 1, characterized in that, The length of the right-angled side of each of the three isosceles right-angled triangular faces of the triangular pyramid is 800 mm.

3. The online calibration device for ground deformation monitoring radar according to claim 1, characterized in that, The tilt angle mechanism includes a precision electric angular displacement stage and a precision electric angular displacement stage motor. The triangular pyramid is connected to the precision electric angular displacement stage, which is used to adjust the tilt angle of the equilateral triangular face of the triangular pyramid. The precision electric angular displacement stage motor is used to drive the precision electric angular displacement stage.

4. The online calibration device for ground deformation monitoring radar according to claim 3, characterized in that, The tilt mechanism further includes a triangular pyramid fixing screw, a triangular pyramid fixing component, a connecting device screw, and an isosceles triangular connecting component; the isosceles triangular connecting component is an isosceles right-angled triangular prism with two isosceles right-angled triangles on both sides and an inclined parallelogram on the top surface; the lower end of the triangular pyramid fixing component is welded and fixed to the top surface of the isosceles triangular connecting component; the upper end of the triangular pyramid fixing component is attached to one of the isosceles right-angled triangular faces of the triangular pyramid and is fixedly connected by the triangular pyramid fixing screw; the bottom surface of the isosceles triangular connecting component is fixed to the precision electric angular displacement stage by the connecting device screw.

5. The online calibration device for ground deformation monitoring radar according to claim 1, characterized in that, The horizontal displacement mechanism includes a transfer platform, a linear module moving block, a linear displacement module motor, and a linear displacement module; The top and bottom of the transfer platform are respectively connected to the linear module moving block and the tilt angle mechanism. The linear module moving block is assembled on the linear displacement module. The linear displacement module motor is used to drive the linear displacement module to work, causing the linear module moving block to move horizontally and linearly along the linear displacement module.

6. The online calibration device for ground deformation monitoring radar according to claim 5, characterized in that, The horizontal displacement mechanism also includes a circular level, which is installed on the transition water platform.

7. The online calibration device for ground deformation monitoring radar according to claim 1, characterized in that, The 360° rotational displacement mechanism includes a 360° rotational displacement motor, a 360° rotational displacement transmission mechanism, and an upper horizontal plate 20. The 360° rotational displacement motor drives the 360° rotational displacement transmission mechanism. The upper horizontal plate is fixed to the horizontal displacement mechanism. The 360° rotational displacement transmission mechanism is connected to the upper horizontal plate and can drive the upper horizontal plate to rotate horizontally by 360°.

8. The online calibration device for ground deformation monitoring radar according to claim 7, characterized in that, The stable support structure includes an adjustable leveling triangular bracket and a lower horizontal plate; the 360° rotational displacement mechanism is fixed to the top of the lower horizontal plate, and the adjustable leveling triangular bracket includes at least three retractable tilting legs, which are arranged at equal angles, and the upper ends of each tilting leg are respectively connected to the bottom of the lower horizontal plate.

9. The online calibration device for ground deformation monitoring radar according to claim 7, characterized in that, The stable support structure also includes a support frame, which includes a horizontal beam and support legs connected to both ends of the horizontal beam. The horizontal displacement mechanism is fixed to the top of the horizontal beam, and the upper horizontal plate is fixedly connected to the bottom of the horizontal beam.

10. The online calibration device for ground deformation monitoring radar according to claim 1, characterized in that, It also includes a cross positioning device and a cross positioning device connecting rod. The cross positioning device is connected to the bottom of the lower horizontal plate through the cross positioning device connecting rod. The cross positioning device is used to project a cross vertical laser beam onto the ground. The cross vertical laser beam can be rotated and adjusted so that one beam is parallel to the linear displacement module and the other beam is perpendicular to the linear displacement module.

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