Synthetic aperture radar fixed-point docking mounting device

Abstract

The application relates to the technical field of radar installation, in particular to a synthetic aperture radar fixed-point butt joint installation device. The device comprises an AGV mobile platform, a radar body, a detection column and a pushing mechanism. The AGV mobile platform is provided with an elevator on the top. One end of the elevator is connected with the AGV mobile platform, and the other end is provided with a rotating disc mechanism. The lifting height of the elevator is controlled by a pushing oil cylinder. The pushing mechanism comprises a linear guide rail sliding table and a butt joint arm. The bottom of the first linear guide rail sliding table is fixedly connected with the rotating disc mechanism, and the output end of the linear guide rail sliding table is fixedly connected with the butt joint arm. The output end of the butt joint arm is provided with a bracket for supporting the radar body. The pushing oil cylinder, the rotating disc mechanism, the linear guide rail sliding table and the butt joint arm are controlled by a controller to install the radar body on the detection column. The application can accurately install the synthetic aperture radar, improves the installation efficiency and meets the fixed-point installation requirements of the synthetic aperture radar in complex scenes.

Description

Technical Field

[0001] This invention relates to the field of radar installation technology, and in particular to a fixed-point docking installation device for synthetic aperture radar. Background Technology

[0002] With the rapid development of radar technology, synthetic aperture radar (SAR) has become increasingly widely used in various fields such as surveying, monitoring, and security due to its all-weather and all-day detection advantages. As a high-precision detection device, its installation accuracy directly affects the accuracy of detection data and the stability of equipment operation. Therefore, stringent requirements are placed on the accuracy, automation level, and environmental adaptability of radar installation.

[0003] Currently, the fixed-point installation of synthetic aperture radar mainly employs manual hoisting or simple mechanical positioning methods. However, the aforementioned existing technologies have the following significant drawbacks in practical applications:

[0004] Manual hoisting methods have significant limitations: they rely heavily on the operator's experience and judgment, resulting in high labor intensity, low installation efficiency, and difficulty in achieving millimeter-level precision due to human error. This is especially true in high-altitude installation scenarios, where the safety of personnel and the accuracy of positioning are even more challenging to guarantee.

[0005] Simple mechanical positioning devices have limited functionality: Existing simple mechanical positioning devices typically lack autonomous navigation and dynamic leveling capabilities, making them unsuitable for initial positioning in complex environments. Their positioning mechanisms are mostly single-degree-of-freedom driven, making it difficult to coordinate and resolve multi-dimensional precise adjustments of height, angle, and horizontal displacement. Furthermore, due to the lack of a closed-loop feedback control mechanism, the device cannot correct installation deviations in real time, resulting in insufficient alignment accuracy between the radar and the detection column, affecting the subsequent performance of the equipment.

[0006] Poor integration and adaptability: The functional modules of the existing installation equipment are mostly designed in a decentralized manner, making transportation and on-site layout cumbersome. Furthermore, the equipment has poor adaptability to synthetic aperture radars and detection column positioning structures of different specifications, making it difficult to meet diverse installation requirements.

[0007] General-purpose heavy-duty AGVs cannot meet special needs: Most heavy-duty AGV intelligent lifting machines can only achieve the clamping, handling and simple assembly of general workpieces. Their end effector is usually a gripper cylinder and a clamping plate. They lack a special docking structure, multi-dimensional servo alignment mechanism and vision closed-loop precise docking control logic for high-altitude installation of synthetic aperture radar. They cannot achieve millimeter-level precise docking installation between radar and detection column. Summary of the Invention

[0008] To address the aforementioned issues, this invention provides a synthetic aperture radar (SAR) fixed-point docking and installation device, which enables precise installation of SAR, improves installation efficiency, and adapts to the fixed-point installation requirements of SAR in complex scenarios.

[0009] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0010] A synthetic aperture radar (SAR) fixed-point docking and installation device includes an AGV mobile platform, a radar body, a detection column, and a pushing mechanism.

[0011] The AGV mobile platform is equipped with a lifting ladder on top. One end of the lifting ladder is connected to the AGV mobile platform, and the other end is equipped with a turntable mechanism. The lifting ladder is raised and lowered by pushing a hydraulic cylinder.

[0012] The pushing mechanism includes a linear guide slide and a docking arm. The bottom of the first linear guide slide is fixedly connected to the turntable mechanism, and the output end of the linear guide slide is fixedly connected to the docking arm. The output end of the docking arm is provided with a bracket to support the radar body. The pushing cylinder, the turntable mechanism, the linear guide slide and the docking arm are controlled by a controller to install the radar body onto the detection column.

[0013] Furthermore, the elevator is a scissor lift, and one end of the elevator is connected to the AGV mobile platform through a base mounting plate, while the other end is supported by a support plate, and the turntable mechanism is mounted on the support plate.

[0014] Furthermore, one side of the base mounting plate is connected to the top of the AGV mobile platform via a pin, and the other side supports the elevator. The elevator is provided with electric leveling legs around the side facing the base mounting plate. One end of the electric leveling leg is connected to the elevator, and the other end is provided with an anti-slip pad, which abuts against the top of the AGV mobile platform.

[0015] A pressure sensor is installed inside the anti-slip mat. The pressure sensor and the electric leveling leg are electrically connected to the controller. The controller controls the extension and retraction of the electric leveling leg according to the pressure sensor so that the pushing mechanism can perform leveling.

[0016] Furthermore, the turntable mechanism includes a turntable mounting base and a turntable mounting plate. One side of the turntable mounting base is fixedly connected to the support plate, and the other end is connected to the turntable mounting plate through a rotating component. The rotating component is driven by a turntable servo motor, and the turntable servo motor is electrically connected to the controller.

[0017] Furthermore, the linear guide slide includes a stage body, a ball screw, and a push slider. The bottom of the stage body is connected to the turntable mechanism. The ball screw is rotatably disposed within the stage body and is driven by a ball screw servo motor. The ball screw servo motor is electrically connected to the controller. The push slider is fixedly connected to the output end of the ball screw and is connected to the docking arm.

[0018] Furthermore, the threads at both ends of the ball screw are in opposite directions, and a counterweight slider is threaded onto the end of the ball screw away from the push slider, and the counterweight slider is slidably connected to the platform.

[0019] Furthermore, the docking arm includes an arm body and a lifting frame. One end of the arm body is connected to the output end of the linear guide slide, and the other end is connected to the lifting frame. The lifting frame is arranged along the length direction perpendicular to the arm body. One side of the bracket is slidably connected to the lifting frame via a chain. The chain is driven by a lifting servo motor. The lifting servo motor is electrically connected to a controller to control the bracket to move up and down along the lifting frame.

[0020] Furthermore, a docking base is provided at the bottom of the radar body. One end of the docking base is fixedly connected to the radar body, and the other end is provided with a docking cylinder. An alignment pin is provided on the side of the docking cylinder away from the docking base. A locking groove is recessed on the side of the alignment pin. A locking pin is provided in the locking groove, and the locking pin is driven by a locking motor.

[0021] The top of the detection column is provided with a docking platform. The side of the docking platform away from the detection column is recessed with a pin hole that slides with the alignment pin. The side of the pin hole is recessed with a locking hole so that after the alignment pin is inserted into the pin hole, the locking pin can be inserted into the locking hole.

[0022] Positioning guide posts are provided on both sides of the alignment pin, and the docking platform is recessed with a positioning opening that slides with the positioning guide posts; spherical positioning protrusions are provided around the docking cylinder, and the docking platform is recessed with a spherical recess that fits with the spherical positioning protrusions.

[0023] The housing of the lifting servo motor is equipped with a first depth camera, and the docking base is equipped with a second depth camera. The first depth camera and the second depth camera are electrically connected to the controller, and the first depth camera and the second depth camera are used for image acquisition of the docking platform.

[0024] Furthermore, a sliding rod is provided at one end of the docking cylinder facing the docking base. One end of the sliding rod is fixedly connected to the docking base, and the other end is embedded in the docking cylinder and slidably connected to the docking cylinder. A buffer spring is provided on the outer sleeve of the sliding rod, and the two ends of the buffer spring abut against the docking base and the docking cylinder, respectively.

[0025] Furthermore, the alignment pin is connected to the docking cylinder via a pressure contact sensor, and the pressure contact sensor and the locking motor are electrically connected to the controller.

[0026] The beneficial effects of this invention are:

[0027] 1. Through the autonomous navigation and obstacle avoidance capabilities of the AGV mobile platform (1), rapid preliminary positioning of complex sites can be achieved. The radar body (2) can be moved to the vicinity of the detection column (3). By pushing the hydraulic cylinder (12), the elevator (11) is extended, thereby adjusting the height of the radar body (2). Then, in conjunction with the turntable mechanism (4) and the linear guide slide (5), the radar body (2) can be moved above the detection column (3) and aligned with the detection column (3). The radar body (2) can be installed on the detection column (3) through the docking arm (6), ensuring the stability of high-altitude installation. The multi-degree-of-freedom adjustment design of the radar pushing device realizes the coordinated adjustment of height, angle and horizontal displacement, greatly improving the installation efficiency.

[0028] 2. Under the action of the first depth camera (81) and the second depth camera (82), position deviation data during the docking process is collected and fed back to the controller. The controller precisely controls the operation of the push cylinder (12), turntable servo motor (44), ball screw servo motor (54), and lifting servo motor (64) to achieve millimeter-level alignment accuracy, effectively solving the problem of large positioning deviation in the traditional installation method, and ensuring the installation accuracy and subsequent use effect of the synthetic aperture radar.

[0029] 3. Since the threads at both ends of the ball screw (52) are opposite, when the ball screw (52) rotates, the push slider (53) and the counterweight slider (55) move in opposite directions, which can balance the off-center load torque during the radar push process. Combined with the real-time leveling function of the electric leveling outrigger, it ensures the overall stability of the mechanism during the lifting and docking process. It is especially suitable for complex installation scenarios such as high altitude, and improves the safety of operation. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of a synthetic aperture radar fixed-point docking installation device according to a preferred embodiment of the present invention.

[0031] Figure 2This is a schematic diagram of the base mounting plate structure of a synthetic aperture radar fixed-point docking installation device according to a preferred embodiment of the present invention.

[0032] Figure 3 This is a schematic diagram of the turntable mechanism of a synthetic aperture radar fixed-point docking installation device according to a preferred embodiment of the present invention.

[0033] Figure 4 This is a schematic diagram of the linear guide slide structure of a synthetic aperture radar fixed-point docking installation device according to a preferred embodiment of the present invention.

[0034] Figure 5 This is a schematic diagram of the docking base structure of a synthetic aperture radar fixed-point docking installation device according to a preferred embodiment of the present invention.

[0035] Figure 6 This is a schematic diagram of the locking pin structure of a synthetic aperture radar fixed-point docking installation device according to a preferred embodiment of the present invention.

[0036] In the diagram, 1-AGV mobile platform, 11-lifting platform, 12-push cylinder, 13-base mounting plate, 14-support plate, 15-electric leveling leg, 151-anti-slip mat, 2-radar body, 3-detection column, 31-docking platform, 32-pin hole, 321-locking hole, 33-positioning port, 34-spherical recess, 4-turntable mechanism, 41-turntable mounting base, 42-turntable mounting plate, 43-rotating component, 44-turntable servo motor, 5-linear guide slide, 51-platform body, 52-... - Ball screw, 53- Push slider, 54- Ball screw servo motor, 55- Counterweight slider, 6- Docking arm, 61- Bracket, 62- Arm body, 63- Lifting frame, 64- Lifting servo motor, 7- Docking base, 71- Docking cylinder, 72- Alignment pin, 721- Locking pin, 722- Locking motor, 73- Positioning guide post, 74- Spherical positioning protrusion, 75- Sliding rod, 751- Buffer spring, 76- Pressure contact sensor, 81- First depth camera, 82- Second depth camera. Detailed Implementation

[0037] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0038] It should be noted that when a component is described as "fixed to" another component, it can be directly on the other component or may have a component in between. When a component is considered "connected to" another component, it can be directly connected to the other component or may have a component in between. When a component is considered "set on" another component, it can be directly set on the other component or may have a component in between. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0039] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0040] Please also see Figures 1 to 5 A preferred embodiment of the synthetic aperture radar fixed-point docking installation device of the present invention includes an AGV mobile platform 1, a radar body 2, a detection column 3, and a pushing mechanism.

[0041] like Figure 1 As shown, the AGV mobile platform 1 includes a vision module 101, a trailer hook 102, a power supply module 103, a controller module 104, an ultrasonic detection host 105, and an industrial control computer 106. Each component is fixed to the corresponding mounting position of the AGV mobile platform 1 by bolts, forming a modular layout. In this embodiment, the controller is set in the controller module 104.

[0042] The AGV vision module 101 and the ultrasonic detection host 105 are symmetrically arranged on both sides of the front end of the AGV mobile platform 1. The AGV vision module 101 uses a high-definition industrial camera to collect image information of the surrounding environment. The ultrasonic detection host 105 is used to detect the distance data of the target area and obstacles in real time. Both of them establish a communication connection with the controller through signal cables and transmit the collected environmental and distance data to the controller in real time.

[0043] The controller and industrial computer 106 are integrated and installed in a protective box in the middle of the AGV mobile platform 1. The industrial computer 106 pre-stores navigation path planning algorithms and positioning parameters. The controller receives feedback data from the AGV vehicle vision module 101 and the ultrasonic detection host 105, and combines it with the preset instructions from the industrial computer 106 to control the driving direction, speed, and braking status of the AGV mobile platform 1, realizing autonomous navigation and obstacle avoidance functions. The power supply module 103 uses a high-capacity lithium battery pack, which is electrically connected to each electrical component through wires to provide a stable and continuous power supply to the entire AGV mobile platform 1 and subsequent related components. The tow hook 102 is welded and fixed to the middle of the front end of the AGV mobile platform 1 for traction and fixation during equipment transportation.

[0044] The AGV mobile platform 1 is equipped with a lifting ladder 11 on top. One end of the lifting ladder 11 is connected to the AGV mobile platform 1, and the other end is equipped with a turntable mechanism 4. The lifting ladder 11 is raised and lowered by pushing the hydraulic cylinder 12.

[0045] The pushing mechanism includes a linear guide slide 5 and a docking arm 6. The bottom of the first linear guide slide 5 is fixedly connected to the turntable mechanism 4, and the output end of the linear guide slide 5 is fixedly connected to the docking arm 6. The output end of the docking arm 6 is provided with a bracket 61 to support the radar body 2. The pushing cylinder 12, the turntable mechanism 4, the linear guide slide 5, and the docking arm 6 are controlled by a controller to install the radar body 2 onto the detection column 3. In this embodiment, the detection column 3 is located at the detection point.

[0046] like Figure 1 As shown, the elevator 11 is a scissor lift, and one end of the elevator 11 is connected to the AGV mobile platform 1 through the base mounting plate 13, and the other end is supported by the support plate 14, with the turntable mechanism 4 mounted on the support plate 14.

[0047] like Figure 2 As shown, one side of the base mounting plate 13 is connected to the top of the AGV mobile platform 1 via a pin, while the other side supports the elevator 11. The elevator 11 has electrically adjustable leveling legs 15 arranged around its perimeter on the side facing the base mounting plate 13. One end of each electrically adjustable leveling leg 15 is connected to the elevator 11, and the other end is equipped with an anti-slip pad 151, which abuts against the top of the AGV mobile platform 1. In this embodiment, the base mounting plate 13 serves as the mounting foundation for the entire elevator 11. It has pre-drilled positioning pin holes that precisely engage with the positioning pins on the top of the AGV mobile platform 1, enabling rapid positioning and connection between the two.

[0048] A pressure sensor is installed inside the anti-slip mat 151. The pressure sensor and the electric leveling leg 15 are electrically connected to the controller. The controller controls the extension and retraction of the electric leveling leg 15 according to the pressure sensor so that the pushing mechanism can perform leveling.

[0049] In this embodiment, the base mounting plate 13 is provided with a drive mechanism for the push cylinder 12, and the push cylinder 12 is driven by a cylinder servo motor 121. The transmission assembly 122 of the push cylinder 12 is a gear transmission structure. The cylinder servo motor 121 is connected to the hydraulic circuit of the push cylinder 12 through the transmission assembly. The piston rod of the push cylinder 12 is connected to the hinge of the elevator 11. The extension and retraction of the elevator 11 is achieved through hydraulic drive.

[0050] In this embodiment, four electrically adjustable leveling outriggers 15 are provided, which are symmetrically fixed to the four corners of the lifting platform 11 by bolts. Pressure sensors detect the supporting pressure of each outrigger in real time, and the controller automatically adjusts the extension and retraction of each telescopic support rod according to the pressure data to ensure the levelness of the lifting platform during the lifting process. The lifting platform 11 is also provided with a lifting platform control panel 111, which is connected to the base mounting plate 13 and electrically connected to the controller. Parameters such as lifting height and leveling commands can be manually input, and the working status data of the lifting platform can be displayed in real time.

[0051] like Figure 3 As shown, the turntable mechanism 4 includes a turntable mounting base 41 and a turntable mounting plate 42. One side of the turntable mounting base 41 is fixedly connected to the support plate 14, and the other end is connected to the turntable mounting plate 42 through a rotating component 43. The rotating component 43 is driven by a turntable servo motor 44, which is electrically connected to the controller.

[0052] The rotating component 43 includes a driving gear, a driven gear, and a rotating shaft. The rotating shaft is mounted in the turntable mounting base 41 through bearings, and its lower end passes through the turntable mounting plate 42 and is keyed to the driven gear. The driving gear is fixedly connected to the output shaft of the turntable servo motor 44 and meshes with the driven gear. The turntable servo motor 44 is fixed by a bracket and located below the turntable mounting plate 42, and is connected to the controller via a signal. The controller controls the speed and angle of the turntable servo motor 44 to achieve precise rotation of the rotating shaft.

[0053] like Figure 4 As shown, the linear guide slide 5 includes a platform 51, a ball screw 52, ​​and a pusher slider 53. The bottom of the platform 51 is connected to the turntable mechanism 4. The ball screw 52 is rotatably mounted inside the platform 51 and is driven by a ball screw servo motor 54, which is electrically connected to a controller. The pusher slider 53 is fixedly connected to the output end of the ball screw 52 and is also connected to the docking arm 6. In this embodiment, the bottom of the platform 51 is fixedly connected to the turntable mounting plate 42. The ball screw servo motor 54 is fixedly connected to the platform 51 and is driven by the ball screw 52 through a coupling.

[0054] The threads at both ends of the ball screw 52 are in opposite directions. The end of the ball screw 52 away from the push slider 53 is threaded with a counterweight slider 55, and the counterweight slider 55 is slidably connected to the platform 51.

[0055] When the ball screw servo motor 54 operates, it drives the ball screw 52 to rotate, causing the counterweight slider 55 and the push slider 53 to move synchronously in opposite directions along the ball screw 52, ​​thus balancing the off-center load torque during the radar pushing process. In this embodiment, the center of gravity of the pushing mechanism on the platform 51 is fixedly connected to the turntable mounting plate 42, so that the pushing mechanism remains stable during operation.

[0056] like Figure 4 The docking arm 6 includes an arm body 62 and a lifting frame 63. One end of the arm body 62 is connected to the output end of the linear guide slide 5, and the other end is connected to the lifting frame 63. The lifting frame 63 is arranged along the length direction perpendicular to the arm body 62. One side of the bracket 61 is slidably connected to the lifting frame 63 through a chain. The chain is driven by a lifting servo motor 64. The lifting servo motor 64 is electrically connected to a controller to control the bracket 61 to move up and down along the lifting frame 63.

[0057] When the radar body 2 moves above the detection column 3 and the radar body 2 is aligned with the detection column 3, the bracket 61 can be lowered by controlling the rotation of the lifting servo motor 64 to install the radar body 2 onto the detection column 3.

[0058] like Figure 4 and Figure 5 As shown, a docking base 7 is provided at the bottom of the radar body 2. One end of the docking base 7 is fixedly connected to the radar body 2, and the other end is provided with a docking cylinder 71. An alignment pin 72 is provided on the side of the docking cylinder 71 away from the docking base 7. A locking groove is recessed on the side of the alignment pin 72, and a locking pin 721 is provided in the locking groove. The locking pin 721 is driven by a locking motor 722. In this embodiment, the bracket 61 is a fork arm structure, and a through fork is recessed in the middle. The two sides of the bracket 61 can support the docking base 7, and the docking cylinder 71 passes through the fork of the bracket 61. After the radar body 2 is installed on the detection column 3, the sliding block 53 is pushed back, and the bracket 61 can be moved out of the docking base 7.

[0059] like Figure 5 and Figure 6 As shown, the top of the detection column 3 is provided with a docking platform 31. The side of the docking platform 31 away from the detection column 3 is recessed with a pin hole 32 that slides with the alignment pin 72. The side of the pin hole 32 is recessed with a locking hole 321 so that after the alignment pin 72 is inserted into the pin hole 32, the locking pin 721 can be inserted into the locking hole 321.

[0060] Positioning guide posts 73 are provided on both sides of the alignment pin 72, and the docking platform 31 is recessed with a positioning port 33 that slides with the positioning guide posts 73; spherical positioning protrusions 74 are provided around the docking cylinder 71, and the docking platform 31 is recessed with a spherical recess 34 that fits with the spherical positioning protrusions 74.

[0061] When the alignment pin 72 is inserted into the pin hole 32, the positioning guide post 73 is inserted into the positioning port 33, and the spherical positioning protrusion 74 abuts against the spherical recess 34, the locking motor 722 controls the locking pin 721 to extend, so that the locking pin 721 can pass into the locking hole 321 to achieve a fixed connection between the radar body 2 and the detection post 3. In this embodiment, the locking motor 722 is a telescopic motor.

[0062] The housing of the lifting servo motor 64 is equipped with a first depth camera 81, and the docking base 7 is equipped with a second depth camera 82. The first depth camera 81 and the second depth camera 82 are electrically connected to the controller, and the first depth camera 81 and the second depth camera 82 are used for image acquisition of the docking platform 31.

[0063] Under the action of the first depth camera 81 and the second depth camera 82, position deviation data during the docking process is collected and fed back to the controller. The controller precisely controls the operation of the push cylinder 12, turntable servo motor 44, ball screw servo motor 54 and lifting servo motor 64 to achieve millimeter-level alignment accuracy. This effectively solves the problem of large positioning deviation in traditional installation methods and ensures the installation accuracy and subsequent use effect of synthetic aperture radar.

[0064] like Figure 5 As shown, a sliding rod 75 is provided at one end of the docking cylinder 71 facing the docking base 7. One end of the sliding rod 75 is fixedly connected to the docking base 7, and the other end is embedded in the docking cylinder 71 and slidably connected to the docking cylinder 71. A buffer spring 751 is sleeved on the sliding rod 75, and both ends of the buffer spring 751 abut against the docking base 7 and the docking cylinder 71, respectively. In this embodiment, the extension and retraction direction of the buffer spring 751 is consistent with the alignment and connection direction, which can buffer the impact force during the docking process and avoid damage to the components.

[0065] like Figure 5 As shown, the alignment pin 72 is connected to the docking cylinder 71 via a pressure contact sensor 76, and the pressure contact sensor 76 and the locking motor 722 are electrically connected to the controller.

[0066] The pressure contact sensor 76 can detect the contact pressure between the docking cylinder 71 and the docking platform 31 during the seating process of the radar body 2 in real time. When the initial contact is detected, the controller controls the lifting servo motor 64 to reduce the descent speed of the bracket 61 and reduce the collision force of the docking cylinder 71 on the docking platform 31. When the pressure contact sensor 76 detects that the seating pressure reaches the preset threshold, it proves that the docking cylinder 71 and the docking platform 31 are properly docked. The controller controls the locking motor 722 to rotate, and the locking motor 722 controls the locking pin 721 to extend, so that the locking pin 721 can be inserted into the locking hole 321 to achieve a fixed connection between the radar body 2 and the detection column 3.

[0067] The usage process of the synthetic aperture radar fixed-point docking installation device in this embodiment is as follows:

[0068] S1. Equipment Deployment Stage: The entire mechanism is pulled to the vicinity of the work area by the trailer hook 102 at the front end of the AGV mobile platform 1. The AGV mobile platform 1 and the lifting platform 11 are connected by the positioning pin and the positioning pin hole to complete the modular assembly. The power supply module 103 is turned on. The navigation path, lifting height and docking positioning parameters are preset by the industrial control computer 106, including the alignment deviation threshold, the upper limit of the docking thrust and the lifting height control parameters.

[0069] S2. Preliminary Positioning Stage: The controller activates the autonomous navigation function of the AGV mobile platform 1. The AGV vision module 101 collects images of the surrounding environment, and the ultrasonic detection host 105 detects the target distance. The two work together to provide feedback data. The controller then controls the AGV mobile platform 1 to travel to the designated installation area to complete the preliminary positioning. The positioning deviation is controlled within ±5cm. Subsequently, the electric leveling outriggers 205 are activated and automatically level the platform based on the feedback data from the pressure sensor to ensure that the overall level of the mechanism is horizontal, with a levelness deviation of ≤0.1° / m.

[0070] S3, Precision Lifting Stage: Input a 15m lifting command through the elevator control panel 111 to push the hydraulic cylinder 12 to control the elevator 11 to rise. The elevator 11 drives the support plate 14 to rise, so as to smoothly raise the pushing mechanism to the specified height of 15m. During the lifting process, the controller monitors the pressure data of the electric leveling outrigger 15 in real time to maintain the level of the elevator. After reaching the specified height, the hydraulic circuit of the elevator is locked.

[0071] S4, Angle and Position Adjustment Stage: The turntable servo motor 44 operates, driving the linear guide slide 5 to rotate to the preset docking angle through the meshing transmission of the active and driven gears; then the ball screw servo motor 54 starts, driving the ball screw 52 to rotate, so that the counterweight slider 55 and the push slider 53 move synchronously in opposite directions to the designated position to balance the off-center load; the first depth camera 81 acquires image data of the docking platform 31, and the controller controls the lifting servo motor 64 to rotate according to the image data of the docking platform 31, so that the height of the docking cylinder 71 is higher than the preset height of the docking platform 31. The depth camera collects position data in real time and feeds it back to the controller, and the displacement accuracy is controlled in a closed loop.

[0072] S5. Precision Docking Stage: This stage consists of four sub-steps: coarse alignment calibration, fine alignment closed-loop correction, buffer docking, and positioning locking and verification, achieving millimeter-level precision docking between the radar and the detection column.

[0073] S5.1 Coarse alignment calibration: The first depth camera 81 and the second depth camera 82 synchronously acquire three-dimensional image data of the docking platform 31, and transmit it to the controller for binocular vision fusion processing to calculate the angular deviation, horizontal radial displacement deviation, and axial distance deviation between the docking cylinder 71 and the docking platform 31. Based on the deviation data, the controller first controls the turntable servo motor 44 to rotate to correct the angular deviation, and then controls the ball screw servo motor 54 to run to correct the horizontal radial displacement deviation, so that the coaxiality deviation between the aligned docking cylinder 71 and the docking platform 31 is ≤1 mm, thus completing the coarse alignment calibration.

[0074] S5.2 Fine Alignment Closed-Loop Correction: After coarse alignment is completed, the controller starts the closed-loop fine alignment program. The second depth camera 82 collects deviation data in real time at a frequency of 50Hz. The controller synchronously compares the data with the preset deviation thresholds (angle deviation ≤ 0.05°, horizontal displacement deviation ≤ 0.2 mm). When the real-time deviation exceeds the threshold, the controller automatically controls the turntable servo motor 44 and the ball screw servo motor 54 to perform micro-step correction until the deviation value stably falls within the threshold range, thus completing the fine alignment. This ensures that the docking cylinder 71 is aligned with the docking table 31, and that the alignment pin 72 is aligned with the pin hole 32, the positioning guide post 73 is aligned with the positioning port 33, and the spherical positioning protrusion 74 is aligned with the spherical recess 34. The turntable servo motor 44 and the ball screw servo motor 54 are then locked.

[0075] S5.3 Buffer Seating and Docking: After precise alignment, the controller controls the lifting servo motor 64 to operate at a low and uniform speed, and the docking cylinder 71 moves towards the docking platform 31. During the descent, the second depth camera 82 detects the relative position between the docking cylinder 71 and the docking platform 31 in real time, and the pressure contact sensor 76 detects the seating contact pressure in real time; when initial contact is detected, the controller automatically reduces the descent speed of the bracket 61, and the buffer spring 751 is gradually compressed to absorb the impact force during the seating process and avoid rigid collisions. During the descent and seating process of the docking cylinder 71, the alignment pin 72 is inserted into the pin hole 32, the positioning guide post 73 is inserted into the positioning port 33, and the spherical positioning protrusion 74 abuts against the spherical recess 34. The docking of the positioning guide post 73 and the positioning port 33 achieves guiding and limiting; the docking pin 72 and the pin hole 32 achieve secondary centering; the spherical positioning protrusion 74 and the spherical recess 34 abut against each other to achieve seating bearing and attitude fine adjustment; so that the docking cylinder 71 is stably seated on the docking platform 31, and the precise docking is completed.

[0076] S5.4 Position Locking and Verification: When the pressure contact sensor 76 detects that the seating pressure reaches a preset threshold, and the second depth camera 82 detects that the axial seating distance of the connector 71 reaches a preset value, the controller determines that the connector 71 has been seated in place and locks the lifting platform 11, turntable servo motor 44, ball screw servo motor 54, and lifting servo motor 64. After seating in place, the locking motor 722 controls the locking pin 721 to extend, allowing the locking pin 721 to pass into the locking hole 321, preventing the radar body 2 from being pulled out, loosened, or offset after installation. After locking, the industrial control computer 106 combines the pressure data from the pressure contact sensor 76, the visual alignment data from the first depth camera 81 and the second depth camera 82, and the extension and retraction of the locking motor 722 to confirm that the docking accuracy and locking status meet the requirements. Then, the fixed connection between the radar body 2 and the docking platform 31 is completed, and the precise docking operation is completed.

[0077] Step 6, Operation Completion Stage: After docking is completed, each component is reset in reverse order. The motors of linear guide slide 5, docking arm 6, turntable mechanism 4, and lifting platform 11 are reset in reverse order. AGV mobile platform 1 autonomously travels to the designated storage area, and power module 103 is turned off to complete the entire installation operation.

[0078] In this embodiment, each functional module adopts a detachable connection design, resulting in a compact structure that facilitates transportation and on-site deployment. Furthermore, the alignment and connection mechanism can be adapted and adjusted to different specifications of the detection column positioning structure, demonstrating strong adaptability to the installation requirements of various types of synthetic aperture radars (SARs). It is applicable to a wide range of scenarios and exhibits outstanding practicality. This embodiment employs a precise docking closed-loop control method. Through a complete process design involving binocular vision data fusion, multi-dimensional servo collaborative correction, force-controlled buffer docking, and automatic positioning verification, it solves the technical problem of achieving millimeter-level precise docking of SARs at high altitudes, which is impossible with existing technologies. This significantly improves the automation level and docking reliability of radar installation.

Claims

1. A synthetic aperture radar fixed-point docking and installation device, characterized in that, Includes an AGV mobile platform (1), a radar body (2), a detection column (3), and a pushing mechanism. The AGV mobile platform (1) is equipped with a lifting ladder (11) on top. One end of the lifting ladder (11) is connected to the AGV mobile platform (1), and the other end is equipped with a turntable mechanism (4). The lifting ladder (11) is raised and lowered by pushing the oil cylinder (12). The pushing mechanism includes a linear guide slide (5) and a docking arm (6). The bottom of the first linear guide slide (5) is fixedly connected to the turntable mechanism (4), and the output end of the linear guide slide (5) is fixedly connected to the docking arm (6). The output end of the docking arm (6) is provided with a bracket (61) to support the radar body (2). The pushing cylinder (12), the turntable mechanism (4), the linear guide slide (5) and the docking arm (6) are controlled by a controller to install the radar body (2) onto the detection column (3).

2. The synthetic aperture radar fixed-point docking installation device according to claim 1, characterized in that: The elevator (11) is a scissor lift, and one end of the elevator (11) is connected to the AGV mobile platform (1) through the base mounting plate (13), and the other end is supported by a support plate (14). The turntable mechanism (4) is set on the support plate (14).

3. The synthetic aperture radar fixed-point docking installation device according to claim 2, characterized in that: One side of the base mounting plate (13) is connected to the top of the AGV mobile platform (1) via a pin, and the other side supports the elevator (11). The elevator (11) is provided with electric leveling legs (15) around the side facing the base mounting plate (13). One end of the electric leveling leg (15) is connected to the elevator (11), and the other end is provided with an anti-slip pad (151). The anti-slip pad (151) abuts against the top of the AGV mobile platform (1). A pressure sensor is provided inside the anti-slip mat (151). The pressure sensor and the electric leveling leg (15) are electrically connected to the controller. The controller controls the extension and retraction of the electric leveling leg (15) according to the pressure sensor so that the pushing mechanism can perform leveling.

4. The synthetic aperture radar fixed-point docking installation device according to claim 2, characterized in that: The turntable mechanism (4) includes a turntable mounting base (41) and a turntable mounting plate (42). One side of the turntable mounting base (41) is fixedly connected to the support plate (14), and the other end is connected to the turntable mounting plate (42) through a rotating component (43). The rotating component (43) is driven by a turntable servo motor (44), and the turntable servo motor (44) is electrically connected to the controller.

5. The synthetic aperture radar fixed-point docking installation device according to claim 1, characterized in that: The linear guide slide (5) includes a platform (51), a ball screw (52) and a pusher slide (53). The bottom of the platform (51) is connected to the turntable mechanism (4). The ball screw (52) is rotatably disposed inside the platform (51) and is driven by a ball screw servo motor (54). The ball screw servo motor (54) is electrically connected to the controller. The pusher slide (53) is fixedly connected to the output end of the ball screw (52) and is connected to the docking arm (6).

6. The synthetic aperture radar fixed-point docking installation device according to claim 5, characterized in that: The threads at both ends of the ball screw (52) are opposite in direction. The end of the ball screw (52) away from the push slider (53) is threaded with a counterweight slider (55), and the counterweight slider (55) is slidably connected to the platform (51).

7. The synthetic aperture radar fixed-point docking installation device according to claim 1, characterized in that: The docking arm (6) includes an arm body (62) and a lifting frame (63). One end of the arm body (62) is connected to the output end of the linear guide slide (5), and the other end is connected to the lifting frame (63). The lifting frame (63) is arranged along the length direction perpendicular to the arm body (62). One side of the bracket (61) is slidably connected to the lifting frame (63) via a chain. The chain is driven by a lifting servo motor (64). The lifting servo motor (64) is electrically connected to a controller to control the bracket (61) to move up and down along the lifting frame (63).

8. A synthetic aperture radar fixed-point docking installation device according to claim 7, characterized in that: The bottom of the radar body (2) is provided with a docking base (7). One end of the docking base (7) is fixedly connected to the radar body (2), and the other end is provided with a docking cylinder (71). The side of the docking cylinder (71) away from the docking base (7) is provided with an alignment pin (72). The side of the alignment pin (72) is recessed with a locking groove. A locking pin (721) is provided in the locking groove, and the locking pin (721) is driven by a locking motor (722). The top of the detection column (3) is provided with a docking platform (31). The side of the docking platform (31) away from the detection column (3) is recessed with a pin hole (32) that slides with the alignment pin (72). The side of the pin hole (32) is recessed with a locking hole (321) so that after the alignment pin (72) is embedded into the pin hole (32), the locking pin (721) can be inserted into the locking hole (321). Positioning guide posts (73) are provided on both sides of the alignment pin (72), and the docking platform (31) is recessed with a positioning port (33) that slides with the positioning guide post (73); spherical positioning protrusions (74) are provided around the docking cylinder (71), and the docking platform (31) is recessed with a spherical recess (34) that fits with the spherical positioning protrusions (74). The housing of the lifting servo motor (64) is provided with a first depth camera (81), and the docking base (7) is provided with a second depth camera (82). The first depth camera (81) and the second depth camera (82) are electrically connected to the controller, and the first depth camera (81) and the second depth camera (82) are used for image acquisition of the docking platform (31).

9. A synthetic aperture radar fixed-point docking installation device according to claim 8, characterized in that: The docking cylinder (71) is provided with a sliding rod (75) at one end facing the docking base (7). One end of the sliding rod (75) is fixedly connected to the docking base (7), and the other end is embedded in the docking cylinder (71) and slidably connected to the docking cylinder (71). A buffer spring (751) is provided on the outer sleeve of the sliding rod (75). The two ends of the buffer spring (751) abut against the docking base (7) and the docking cylinder (71) respectively.

10. A synthetic aperture radar fixed-point docking installation device according to claim 8, characterized in that: The alignment pin (72) is connected to the docking cylinder (71) via a pressure contact sensor (76), and the pressure contact sensor (76) and the locking motor (722) are electrically connected to the controller.

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