An integrated radar capable of capturing target position and attitude

Abstract

This invention relates to the field of intelligent monitoring technology and discloses an integrated radar capable of capturing target position and attitude, solving the current problem of inconvenient rapid installation of radar, GNSS module, and attitude sensor module. It includes a device housing with a hinged door on the outside, a GNSS antenna on the top, a main control MCU installed inside, a radar on the outside, and an attitude sensor module and GNSS module inside. The device housing has a mounting mechanism with an adjustment mechanism. The mounting mechanism includes an L-shaped rod fixed to the inner wall of the device housing, with a U-shaped plate movably sleeved on the outside of the L-shaped rod. This invention can fix the mounting plate to the inner plate and allow two insert rods to be inserted into two holes respectively, and can fix the mounting plate to the side plate, thereby facilitating rapid installation of the radar, GNSS module, and attitude sensor module.

Description

Technical Field

[0001] This invention belongs to the field of intelligent monitoring technology, specifically an integrated radar capable of capturing the position and attitude of a target. Background Technology

[0002] In fields such as intelligent monitoring, autonomous driving, and drone inspection, the accurate capture and monitoring of the position and attitude of target objects is one of the core technical requirements. To meet this requirement, the industry usually adopts a technical solution that integrates radar, GNSS modules, and attitude sensor modules. The radar is responsible for collecting the relative distance information between the target and the equipment, the GNSS module provides the equipment's own high-precision positioning coordinates, and the attitude sensor module detects the attitude angle parameters of the equipment or target. After the data collected by each module is fused and processed by the main control unit, the accurate measurement and monitoring of the target's position and attitude can be achieved.

[0003] However, in the existing technology, radar, GNSS modules and attitude sensor modules are mostly fixed to the corresponding mounting positions on the equipment chassis with multiple bolts. This fixing method not only requires the operator to align the module mounting holes with the chassis threaded holes one by one, but also to tighten the bolts one by one to complete the fixing. When assembling, debugging or replacing modules in the later maintenance, there are problems with cumbersome operation steps and long disassembly and assembly time. Summary of the Invention

[0004] In view of the above situation and to overcome the shortcomings of the prior art, the present invention provides an integrated radar that can capture the target position and attitude, effectively solving the problem of the inconvenience of quickly installing radar, GNSS module and attitude sensor module.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an integrated radar capable of capturing the position and attitude of a target, comprising a device housing, a door hinged to the outside of the device housing, a GNSS antenna on the top of the device housing, a main control MCU installed inside the device housing, a radar on the outside of the device housing, an attitude sensor module and a GNSS module inside the device housing, a mounting mechanism on the device housing, and an adjustment mechanism on the mounting mechanism. The mounting mechanism includes an L-shaped rod fixed to the inner side wall of the equipment box. A U-shaped plate is movably sleeved on the outer side of the L-shaped rod. A limit plate is fixedly connected to the outer side of the U-shaped plate. An inner plate is fixedly connected to the bottom end of the L-shaped rod. The inner plate is fixed to the inner bottom wall of the equipment box. A mounting plate is provided on the top of the inner plate. The attitude sensor module and the GNSS module are both mounted on the top of the mounting plate. A limit groove is provided on the top of the mounting plate. The limit plate is inserted into the limit groove. A side plate is provided on the outer side of the equipment box. A mounting plate is provided on the side of the side plate away from the equipment box. The radar is mounted on the side of the mounting plate away from the side plate. Two positioning plates are symmetrically fixedly connected on the side of the mounting plate away from the radar. Both positioning plates penetrate the side plate.

[0006] Preferably, the top of the mounting plate is provided with a positioning groove, and the top of the inner plate is fixedly connected with a positioning block, which is inserted into the positioning groove.

[0007] Preferably, a vertical plate is fixedly connected to the inner top wall of the equipment box, the vertical plate is fixedly sleeved on the outside of the L-shaped round rod, a lead screw is rotatably connected to the bottom of the vertical plate, a rotating shaft is fixedly connected to the bottom end of the lead screw, the bottom end of the rotating shaft extends to the outside of the equipment box and is fixedly connected to a handwheel, a nut is threaded onto the outside of the lead screw, and a U-shaped plate is fixed to the outside of the nut.

[0008] Preferably, a guide rod is fixedly connected to the side of the side plate away from the mounting plate. Two guide blocks are symmetrically and movably sleeved on the outer side of the guide rod. Insert rods are fixedly connected to the sides of the two guide blocks that are far apart from each other. Insert holes are provided on the sides of the two positioning plates that are close to each other. The two insert rods are respectively inserted into the two insertion holes. A guide plate is movably sleeved on the outer side of the guide rod. Two movable rods are symmetrically and rotatably connected to the outer side of the guide plate. The ends of the two movable rods that are far away from the guide plate are rotatably connected to the two guide blocks respectively.

[0009] Preferably, a translation frame is movably sleeved on the outer side of the L-shaped round rod. Two connecting columns are symmetrically fixedly connected to the side of the translation frame away from the upright plate. The ends of the two connecting columns away from the translation frame extend to the outside of the equipment box and are fixedly connected to the same movable ring. The movable ring is located on the side of the guide plate away from the side plate.

[0010] Preferably, the top of the translation frame is rotatably connected to a movable rod, the upright plate is provided with a sliding groove, the U-shaped plate is slidably connected to the sliding groove, and the top of the movable rod is rotatably connected to the outside of the U-shaped plate.

[0011] Preferably, the adjustment mechanism includes a motor fixed to the side of the upright plate near the side plate, a drive shaft fixedly connected to the motor, the end of the drive shaft away from the motor extending to the outside of the equipment box and fixedly connected to the side plate, the movable ring and the translation frame both located outside the drive shaft, the drive shaft is provided with a through groove, a guide rod passes through the through groove, and the guide plate is slidably connected to the through groove.

[0012] Preferably, a bracket is fixedly installed on the side of the mounting plate away from the side plate, a second motor is fixedly installed on the inner side of the bracket, a second drive shaft is fixedly connected to the second motor, the end of the second drive shaft away from the second motor is rotatably connected to the bracket, and a mounting seat is fixedly sleeved on the outer side of the second drive shaft, and the radar is fixed on the outer side of the mounting seat.

[0013] Preferably, two side rods are symmetrically fixedly connected to the side of the guide plate away from the side plate, and a drive shaft is located between the two side rods. The ends of the two side rods away from the guide plate are provided with balls that abut against the movable ring.

[0014] Compared with the prior art, the beneficial effects of the present invention are: 1. In this invention, by rotating the handwheel, the limiting plate can be lowered and inserted into the limiting groove, which can fix the mounting plate and the inner plate. At the same time, the two insert rods can be inserted into the two insert holes respectively, which can fix the mounting plate and the side plate, thereby facilitating the rapid installation of radar, GNSS module and attitude sensor module.

[0015] 2. This invention can drive the mounting base to rotate by starting motor 2, which makes it easier to tilt the radar. It can also drive the side plate and the side plate to rotate by starting motor 1, which makes it easier to rotate the radar in a circle, thus making it easier to adjust the radar angle according to the needs.

[0016] 3. By setting side rods and ball bearings, this invention avoids direct contact between the guide plate and the moving ring, thereby facilitating stable rotation of the guide plate and reducing the friction between the guide plate and the moving ring during rotation. Attached Figure Description

[0017] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof.

[0018] In the attached diagram: Figure 1 This is a schematic diagram of the integrated radar structure of the present invention, capable of capturing the target's position and attitude; Figure 2 This is a schematic diagram of the installation mechanism of the present invention; Figure 3 This is a schematic diagram of the mounting plate structure of the present invention; Figure 4 This is a schematic diagram of the side disc structure of the present invention; Figure 5 This is a schematic diagram of the positioning plate structure of the present invention; Figure 6 This is a schematic diagram of the dispensing mechanism of the present invention.

[0019] In the diagram: 1. Equipment box; 2. Mounting mechanism; 201. L-shaped round rod; 202. Movable ring; 203. Side plate; 204. Mounting plate; 205. Connecting column; 206. Translation frame; 207. Movable rod one; 208. Slide groove; 209. Vertical plate; 2010. U-shaped plate; 2011. Limiting plate; 2012. Mounting plate; 2013. Inner plate; 2014. Positioning block; 2015. Handwheel; 2016. Rotating shaft; 2017. Threaded nut; 2018. Threaded rod; 2019. Positioning groove; 2020. Limiting groove; 202 1. Guide plate; 2022. Guide rod; 2023. Guide block; 2024. Movable rod II; 2025. Side rod; 2026. Ball bearing; 2027. Insert rod; 2028. Positioning plate; 2029. Insertion hole; 3. Adjustment mechanism; 301. Motor I; 302. Drive shaft I; 303. Motor II; 304. Mounting base; 305. Drive shaft II; 306. Bracket; 307. Through slot; 4. Radar; 5. GNSS antenna; 6. Box door; 7. Main control MCU; 8. Attitude sensor module; 9. GNSS module. Detailed Implementation

[0020] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0021] Example 1, by Figures 1-2 The present invention relates to an integrated radar capable of capturing the position and attitude of a target, comprising a device housing 1, a door 6 hinged to the outside of the device housing 1, a GNSS antenna 5 on the top of the device housing 1, a main control MCU 7 installed inside the device housing 1, a radar 4 on the outside of the device housing 1, an attitude sensor module 8 and a GNSS module 9 inside the device housing 1, a mounting mechanism 2 on the device housing 1, and an adjustment mechanism 3 on the mounting mechanism 2. The equipment box 1 is equipped with a power supply. After the power supply provides stable power to each module of the system, the radar 4 detects the distance information of the target object, the GNSS module 9 acquires high-precision positioning information, and the attitude sensor module 8 measures the attitude angle. The three transmit the data synchronously to the main control MCU 7. The main control MCU 7 acts as the control center, performs fusion processing and decision-making on the above multi-source data, and uploads the integrated target position, attitude and other information to the cloud platform through the 4G network, ultimately realizing the accurate capture, processing and remote monitoring of the target position and attitude.

[0022] In Embodiment 2, based on Embodiment 1, the mounting mechanism 2 includes an L-shaped round rod 201 fixed to the inner wall of the equipment housing 1. A U-shaped plate 2010 is movably sleeved on the outer side of the L-shaped round rod 201. A limiting plate 2011 is fixedly connected to the outer side of the U-shaped plate 2010. An inner plate 2013 is fixedly connected to the bottom end of the L-shaped round rod 201. The inner plate 2013 is fixed to the inner bottom wall of the equipment housing 1. A mounting plate 2012 is provided on the top of the inner plate 2013. The attitude sensor module 8 and the GNSS module 9 are both mounted on the top of the mounting plate 2012. A limiting groove 2020 is provided on the top of the mounting plate 2012. The limiting plate 2011 is inserted into the limiting groove 2020. A side plate 203 is provided on the outer side of the equipment housing 1, and the side plate 203 is away from the equipment housing 1. A mounting plate 204 is provided on one side of the device housing 2012. The radar 4 is installed on the side of the mounting plate 204 away from the side plate 203. Two positioning plates 2028 are symmetrically fixedly connected to the side of the mounting plate 204 away from the radar 4. Both positioning plates 2028 penetrate the side plate 203. The top of the mounting plate 2012 is provided with a positioning groove 2019. The top of the inner plate 2013 is fixedly connected with a positioning block 2014, which is inserted into the positioning groove 2019. A vertical plate 209 is fixedly connected to the inner top wall of the device housing 1. The vertical plate 209 is fixedly sleeved on the outside of the L-shaped round rod 201. A lead screw 2018 is rotatably connected to the bottom of the vertical plate 209. A rotating shaft 2016 is fixedly connected to the bottom end of the lead screw 2018. The bottom end of the rotating shaft 2016 extends to the outside of the device housing 1. A handwheel 2015 is fixedly connected to the side. A nut 2017 is threaded onto the outer side of the lead screw 2018. A U-shaped plate 2010 is fixed to the outer side of the nut 2017. A guide rod 2022 is fixedly connected to the side of the side plate 203 away from the mounting plate 204. Two guide blocks 2023 are symmetrically and movably sleeved on the outer side of the guide rod 2022. Insert rods 2027 are fixedly connected to the sides of the two guide blocks 2023 that are far apart from each other. Insert holes 2029 are provided on the sides of the two positioning plates 2028 that are close to each other. The two insert rods 2027 are inserted into the two insertion holes 2029 respectively. A guide plate 2021 is movably sleeved on the outer side of the guide rod 2022. Two movable rods 2024 are symmetrically and rotatably connected to the outer side of the guide plate 2021. One end of the movable rod 2024 away from the guide plate 2021 is rotatably connected to two guide blocks 2023 respectively. The outer side of the L-shaped rod 201 is movably sleeved with a translation frame 206. Two connecting columns 205 are symmetrically fixedly connected to the side of the translation frame 206 away from the vertical plate 209. The ends of the two connecting columns 205 away from the translation frame 206 extend to the outside of the equipment box 1 and are fixedly connected to the same movable ring 202. The movable ring 202 is located on the side of the guide plate 2021 away from the side plate 203. The top of the translation frame 206 is rotatably connected to the movable rod 207. The vertical plate 209 is provided with a sliding groove 208. The U-shaped plate 2010 is slidably connected to the sliding groove 208. The top of the movable rod 207 is rotatably connected to the outside of the U-shaped plate 2010. First, place the mounting plate 2012 on top of the inner plate 2013 and move it until the positioning block 2014 is inserted into the positioning slot 2019 to position the mounting plate 2012. Then, place the mounting plate 204 on the side plate 203 so that the two positioning plates 2028 pass through the side plate 203 respectively to position the mounting plate 204. Then, rotating the handwheel 2015 causes the rotating shaft 2016 to rotate, which in turn causes the lead screw 2018 to rotate. This, via the lead screw nut 2017, causes the U-shaped plate 2010 to slide downwards along the L-shaped rod 201 and the slide groove 208, while the limiting plate 2011 descends accordingly. Simultaneously, via the movable rod 207, the translation frame 206 slides horizontally along the L-shaped rod 201, and via the two connecting pillars 205, the movable ring 202 moves, thereby pushing the guide plate 2021 to slide along the guide rod 2022. The two movable rods 2024 drive the two guide blocks 2023 to slide along the guide rod 2022, while the two insert rods 2027 move away from each other. When the limiting plate 2011 is inserted into the limiting groove 2020, the mounting plate 2012 is fixed to the inner plate 2013. At the same time, the two insert rods 2027 are inserted into the two insertion holes 2029, fixing the mounting plate 204 to the side plate 203. Finally, the rapid installation of the radar 4, GNSS module 9 and attitude sensor module 8 is completed.

[0023] In Embodiment 3, based on Embodiment 1, the adjustment mechanism 3 includes a motor 301 fixed to the side plate 209 near the side plate 203. A drive shaft 302 is fixedly connected to the motor 301. The end of the drive shaft 302 away from the motor 301 extends to the outside of the equipment box 1 and is fixedly connected to the side plate 203. The movable ring 202 and the translation frame 206 are both located outside the drive shaft 302. The drive shaft 302 is provided with a through groove 307, through which the guide rod 2022 passes. Through slot 307, guide plate 2021 is slidably connected to through slot 307, bracket 306 is fixedly installed on the side of mounting plate 204 away from side plate 203, motor 2 303 is fixedly installed on the inner side of bracket 306, drive shaft 2 305 is fixedly connected to motor 2 303, the end of drive shaft 2 305 away from motor 2 303 is rotatably connected to bracket 306, mounting base 304 is fixedly sleeved on the outer side of drive shaft 2 305, radar 4 is fixed on the outer side of mounting base 304; When motor 2 303 is started, it drives drive shaft 2 305 to rotate, which in turn drives mounting base 304 to rotate, causing radar 4 to tilt. When motor 1 301 is started, it drives drive shaft 1 302 to rotate, which in turn drives side plate 203 to rotate. This causes radar 4 to rotate circumferentially through mounting plate 204. Finally, the angle of radar 4 can be adjusted as needed.

[0024] In Example 4, based on Example 1, two side rods 2025 are symmetrically fixedly connected to the side of the guide plate 2021 away from the side plate 203. The drive shaft 302 is located between the two side rods 2025. The ends of the two side rods 2025 away from the guide plate 2021 are provided with balls 2026 that abut against the movable ring 202. When the drive shaft 302 drives the side plate 203 to rotate, it also drives the guide plate 2021 to rotate. The two side rods 2025 drive the two balls 2026 to rotate on the movable ring 202, thus avoiding direct contact between the guide plate 2021 and the movable ring 202, thereby reducing the friction force on the guide plate 2021 during rotation.

Claims

1. An integrated radar capable of capturing the position and attitude of a target, comprising a device housing (1), characterized in that: The equipment box (1) is hinged with a door (6) on the outside. A GNSS antenna (5) is provided on the top of the equipment box (1). A main control MCU (7) is installed inside the equipment box (1). A radar (4) is provided on the outside of the equipment box (1). An attitude sensor module (8) and a GNSS module (9) are provided inside the equipment box (1). An installation mechanism (2) is provided on the equipment box (1). An adjustment mechanism (3) is provided on the installation mechanism (2). The mounting mechanism (2) includes an L-shaped round rod (201) fixed to the inner wall of the equipment box (1). A U-shaped plate (2010) is movably sleeved on the outer side of the L-shaped round rod (201). A limit plate (2011) is fixedly connected to the outer side of the U-shaped plate (2010). An inner plate (2013) is fixedly connected to the bottom end of the L-shaped round rod (201). The inner plate (2013) is fixed to the inner bottom wall of the equipment box (1). A mounting plate (2012) is provided on the top of the inner plate (2013). The attitude sensor module (8) and the GNSS module (9) are both mounted on the mounting plate (2012). 12) The top of the mounting plate (2012) is provided with a limiting groove (2020). The limiting plate (2011) is inserted into the limiting groove (2020). The outer side of the equipment box (1) is provided with a side plate (203). The side plate (203) away from the equipment box (1) is provided with a mounting plate (204). The radar (4) is installed on the side of the mounting plate (204) away from the side plate (203). The side of the mounting plate (204) away from the radar (4) is symmetrically fixedly connected with two positioning plates (2028). Both positioning plates (2028) penetrate the side plate (203).

2. The integrated radar capable of capturing target position and attitude according to claim 1, characterized in that: The top of the mounting plate (2012) is provided with a positioning groove (2019), and the top of the inner plate (2013) is fixedly connected with a positioning block (2014), which is inserted into the positioning groove (2019).

3. The integrated radar capable of capturing target position and attitude according to claim 1, characterized in that: A vertical plate (209) is fixedly connected to the inner top wall of the equipment box (1). The vertical plate (209) is fixedly sleeved on the outside of the L-shaped round rod (201). A screw rod (2018) is rotatably connected to the bottom of the vertical plate (209). A rotating shaft (2016) is fixedly connected to the bottom end of the screw rod (2018). The bottom end of the rotating shaft (2016) extends to the outside of the equipment box (1) and is fixedly connected to a handwheel (2015). A nut (2017) is threaded onto the outside of the screw rod (2018). A U-shaped plate (2010) is fixed to the outside of the nut (2017).

4. An integrated radar capable of capturing target position and attitude according to claim 1, characterized in that: A guide rod (2022) is fixedly connected to the side of the side plate (203) away from the mounting plate (204). Two guide blocks (2023) are symmetrically and movably sleeved on the outer side of the guide rod (2022). Insert rods (2027) are fixedly connected to the side of the two guide blocks (2023) away from each other. Insert holes (2029) are provided on the side of the two positioning plates (2028) close to each other. The two insert rods (2027) are respectively inserted into the two insert holes (2029). A guide plate (2021) is movably sleeved on the outer side of the guide rod (2022). Two movable rods (2024) are symmetrically and rotatably connected to the outer side of the guide plate (2021). The ends of the two movable rods (2024) away from the guide plate (2021) are rotatably connected to the two guide blocks (2023).

5. An integrated radar capable of capturing target position and attitude according to claim 1, characterized in that: The L-shaped round rod (201) is movably sleeved with a translation frame (206). Two connecting columns (205) are symmetrically fixedly connected to the side of the translation frame (206) away from the upright plate (209). The ends of the two connecting columns (205) away from the translation frame (206) extend to the outside of the equipment box (1) and are fixedly connected to the same movable ring (202). The movable ring (202) is located on the side of the guide plate (2021) away from the side plate (203).

6. An integrated radar capable of capturing target position and attitude according to claim 5, characterized in that: The top of the translation frame (206) is rotatably connected to a movable rod (207), and a sliding groove (208) is provided on the upright plate (209). The U-shaped plate (2010) is slidably connected to the sliding groove (208), and the top of the movable rod (207) is rotatably connected to the outside of the U-shaped plate (2010).

7. An integrated radar capable of capturing target position and attitude according to claim 1, characterized in that: The adjustment mechanism (3) includes a motor (301) fixed to the side of the upright plate (209) near the side plate (203). A drive shaft (302) is fixedly connected to the motor (301). One end of the drive shaft (302) away from the motor (301) extends to the outside of the equipment box (1) and is fixedly connected to the side plate (203). The movable ring (202) and the translation frame (206) are both located outside the drive shaft (302). A through groove (307) is provided on the drive shaft (302). A guide rod (2022) passes through the through groove (307). The guide plate (2021) is slidably connected to the through groove (307).

8. An integrated radar capable of capturing target position and attitude according to claim 1, characterized in that: A bracket (306) is fixedly installed on the side of the mounting plate (204) away from the side plate (203). A second motor (303) is fixedly installed on the inner side of the bracket (306). A second drive shaft (305) is fixedly connected to the second motor (303). The end of the second drive shaft (305) away from the second motor (303) is rotatably connected to the bracket (306). A mounting base (304) is fixedly sleeved on the outer side of the second drive shaft (305). The radar (4) is fixed on the outer side of the mounting base (304).

9. An integrated radar capable of capturing target position and attitude according to claim 4, characterized in that: Two side rods (2025) are symmetrically fixedly connected to the side of the guide plate (2021) away from the side plate (203). The drive shaft (302) is located between the two side rods (2025). The ends of the two side rods (2025) away from the guide plate (2021) are provided with balls (2026) that abut against the movable ring (202).

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