Lifting device of T-shaped double-tower antenna and RBN-DGNSS antenna system

Abstract

The utility model relates to lifting equipment of a T-shaped double-tower antenna and an RBN-DGNSS antenna system. Comprising a main controller, a first main driver, a first main pulley, a first main traction rope, a second main driver, a second main pulley and a second main traction rope, the first main driver is connected to the central position of a fixed tripod at the antenna A end through a first main traction rope, and the first main traction rope is wound on a first main pulley; the second main driver is connected to the central position of a fixed tripod at the end B of the antenna through a second main traction rope, and the second main traction rope is wound on a second main pulley; the main controller is respectively connected with and controls the first main driver and the second main driver; the first main driver and the second main driver respectively pull the A end and the B end of the antenna to lift through a first main pulling rope and a second main pulling rope; according to the technical scheme, automatic lifting of the antenna is achieved, the stability of the antenna in the lifting process is ensured, the maintenance efficiency of the antenna is improved, and the maintenance cost is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of differential global satellite positioning systems, and in particular to a lifting device for a T-shaped twin-tower antenna and an RBN-DGNSS antenna system. Background Art

[0002] RBN-DGNSS (Guidelines for application and management of marine radiobeacon: differential global navigation satellite system) is a marine positioning and navigation system and a coastal radio beacon. It provides users with all-weather, high-precision navigation assistance and other services. The core component of the RBN-DGNSS station (shore differential station) is the antenna system. Usually, the antenna system uses a T-shaped twin-tower antenna, which is installed by lifting two antenna towers. The T-shaped twin-tower antenna is high and heavy. When maintaining the T-shaped twin-tower antenna, it needs to be lifted and lowered. At present, the lifting and lowering operation of the T-shaped twin-tower antenna is mainly achieved by rotating winches on both sides of the tower, which has poor safety and low positioning accuracy. The T-shaped twin-tower antenna is difficult to restore to its original position, and the overall maintenance efficiency is low. Utility Model Content

[0003] In order to solve one of the above-mentioned defects, the present application provides a lifting device for a T-shaped twin-tower antenna and a RBN-DGNSS antenna system.

[0004] A lifting device for a T-shaped double-tower antenna, applied to an RBN-DGNSS station, comprises: a main controller, a first main driver arranged at the bottom of antenna tower A, a first main pulley and a first main traction rope arranged at the top of antenna tower A, and a second main driver arranged at the bottom of antenna tower B, a second main pulley and a second main traction rope arranged at the top of antenna tower B;

[0005] The first main drive is connected to the center of the fixed tripod at the antenna A end through a first main traction rope, and the first main traction rope is wound around a first main pulley; the second main drive is connected to the center of the fixed tripod at the antenna B end through a second main traction rope, and the second main traction rope is wound around a second main pulley;

[0006] The main controller is connected to and controls the first main driver and the second main driver respectively; the first main driver and the second main driver respectively pull the A end and the B end of the antenna through the first main traction rope and the second main traction rope to lift and lower.

[0007] In one embodiment, the first main driver includes a first main frequency converter and a first main motor; wherein the first main frequency converter is connected to the main controller, and the rotating wheel of the first main motor is wound around the first main traction rope;

[0008] The second main driver comprises a second main frequency converter and a second main motor; wherein the second main frequency converter is connected to the main controller, and the rotating wheel of the second main motor is wound around the second main traction rope;

[0009] The main controller operates the first main frequency converter and the second main frequency converter by outputting a frequency signal, and controls the start, stop and stepless speed regulation of the first main motor and the second main motor respectively.

[0010] In one embodiment, the lifting device of the T-shaped double-tower antenna further includes: a first sub-driver and a second sub-driver disposed at the top of antenna tower A, and a third sub-driver and a fourth sub-driver disposed at the top of antenna tower B; wherein the first sub-driver, the second sub-driver, the third sub-driver and the fourth sub-driver are respectively connected to the main controller;

[0011] The first sub-driver and the second sub-driver are connected to two bottom corner positions of the fixed tripod at the antenna A end through the first sub-traction rope and the second sub-traction rope respectively; the third sub-driver and the fourth sub-driver are connected to two bottom corner positions of the fixed tripod at the antenna B end through the third sub-traction rope and the fourth sub-traction rope respectively;

[0012] The first sub-driver and the second sub-driver adjust the horizontality of the antenna A end; the third sub-driver and the fourth sub-driver adjust the horizontality of the antenna B end.

[0013] In one embodiment, the lifting device of the T-shaped twin-tower antenna further includes: a first pulley and a second pulley disposed at the top of antenna tower A, and a third pulley and a fourth pulley disposed at the top of antenna tower B;

[0014] The first secondary traction rope is wound around the first secondary pulley, the second secondary traction rope is wound around the second secondary pulley, the third secondary traction rope is wound around the third secondary pulley, and the fourth secondary traction rope is wound around the fourth secondary pulley.

[0015] In one embodiment, the first auxiliary driver includes a first auxiliary frequency converter and a first auxiliary motor; wherein the first auxiliary frequency converter is connected to the main controller, and the rotating wheel of the first auxiliary motor winds up the first auxiliary traction rope;

[0016] The second auxiliary driver includes a second auxiliary frequency converter and a second auxiliary motor; wherein the second auxiliary frequency converter is connected to the main controller, and the rotating wheel of the second auxiliary motor winds up the second auxiliary traction rope;

[0017] The third auxiliary driver includes a third auxiliary frequency converter and a third auxiliary motor; wherein the third auxiliary frequency converter is connected to the main controller, and the rotating wheel of the third auxiliary motor is wound around the third auxiliary traction rope;

[0018] The fourth auxiliary driver includes a fourth auxiliary frequency converter and a fourth auxiliary motor; wherein the fourth auxiliary frequency converter is connected to the main controller, and the rotating wheel of the fourth auxiliary motor is wound around the fourth auxiliary traction rope;

[0019] The main controller operates the first sub-inverter, the second sub-inverter, the third sub-inverter and the fourth sub-inverter by outputting frequency signals, and controls the start, stop and stepless speed regulation of the first sub-motor, the second sub-motor, the third sub-motor and the fourth sub-motor respectively.

[0020] In one embodiment, a first main encoder connected to a main controller is provided on the rotating wheel of the first main motor, which is used to measure the rotation angle of the first main motor and output the number of pulses and send them to the main controller to calculate the movement length of the first main traction rope;

[0021] A second main encoder connected to the main controller is provided on the rotating wheel of the second main motor, which is used to measure the rotation angle of the second main motor and output the number of pulses and send them to the main controller to calculate the movement length of the second main traction rope;

[0022] A first secondary encoder connected to the main controller is provided on the rotating wheel of the first secondary motor, which is used to measure the rotation angle of the first secondary motor and output the number of pulses and send them to the main controller to calculate the movement length of the first secondary traction rope;

[0023] The second secondary motor has a rotating wheel provided with a second secondary encoder connected to the main controller, which is used to measure the rotation angle of the second secondary motor and output the number of pulses and send them to the main controller to calculate the movement length of the second secondary traction rope;

[0024] The third auxiliary motor has a rotating wheel provided with a third auxiliary encoder connected to the main controller, which is used to measure the rotation angle of the third auxiliary motor and output the number of pulses and send them to the main controller to calculate the movement length of the third auxiliary traction rope;

[0025] The fourth encoder connected to the main controller is provided on the rotating wheel of the fourth motor, which is used to measure the rotation angle of the fourth motor, output the number of pulses and send them to the main controller to calculate the movement length of the fourth traction rope.

[0026] In one embodiment, a first main positioning switch is provided at the end of the first main traction rope, and a first main switch detector is provided at the top of the antenna tower A and located on both sides of the first main traction rope; wherein the first main switch detector is connected to a main controller; the first main positioning switch moves with the first main traction rope, the first main switch detector senses the proximity switch signal of the first main positioning switch and sends it to the main controller, and the main controller controls the first main drive to shut down;

[0027] A second main positioning switch is provided at the end of the second main traction rope, and a second main switch detector is provided at the top of the antenna tower B and on both sides of the second main traction rope; wherein the second main switch detector is connected to the main controller; the second main positioning switch moves with the second main traction rope, the second main switch detector senses the proximity switch signal of the second main positioning switch and sends it to the main controller, and the main controller controls the second main drive to shut down;

[0028] A first auxiliary positioning switch is provided at the end of the first auxiliary traction rope, and a first auxiliary switch detector is provided at the top of the antenna tower A and located on both sides of the first auxiliary traction rope; wherein the first auxiliary switch detector is connected to the main controller; the first auxiliary positioning switch moves with the first auxiliary traction rope, the first auxiliary switch detector senses the proximity switch signal of the first auxiliary positioning switch and sends it to the main controller, and the main controller controls the first auxiliary driver to stop;

[0029] A second auxiliary positioning switch is provided at the end of the second auxiliary traction rope, and a second auxiliary switch detector is provided at the top of the antenna tower A and located on both sides of the second auxiliary traction rope; wherein the second auxiliary switch detector is connected to the main controller; the second auxiliary positioning switch moves with the second auxiliary traction rope, the second auxiliary switch detector senses the proximity switch signal of the second auxiliary positioning switch and sends it to the main controller, and the main controller controls the second auxiliary drive to shut down;

[0030] A third auxiliary positioning switch is provided at the end of the third auxiliary traction rope, and a third auxiliary switch detector is provided at the top of the antenna tower B and located on both sides of the third auxiliary traction rope; wherein the third auxiliary switch detector is connected to the main controller; the third auxiliary positioning switch moves with the third auxiliary traction rope, the third auxiliary switch detector senses the proximity switch signal of the third auxiliary positioning switch and sends it to the main controller, and the main controller controls the third auxiliary driver to shut down;

[0031] A fourth auxiliary positioning switch is provided at the end of the fourth auxiliary traction rope, and a fourth auxiliary switch detector is provided at the top of antenna tower B and on both sides of the fourth auxiliary traction rope; wherein the fourth auxiliary switch detector is connected to the main controller; the fourth auxiliary positioning switch moves with the fourth auxiliary traction rope, the fourth auxiliary switch detector senses the proximity switch signal of the fourth auxiliary positioning switch and sends it to the main controller, and the main controller controls the fourth auxiliary drive to shut down.

[0032] In one embodiment, the lifting device of the T-shaped twin-tower antenna further includes:

[0033] A first acceleration sensor and a second acceleration sensor are arranged at the A end of the antenna, and a third acceleration sensor and a fourth acceleration sensor are arranged at the B end of the antenna;

[0034] Each acceleration sensor is connected to the main controller respectively; wherein each acceleration sensor outputs an electrical signal to the main controller in real time.

[0035] In one embodiment, the lifting device of the T-shaped twin-tower antenna further includes: an industrial computer connected to the main controller; wherein the industrial computer is respectively connected to a first camera arranged on tower A and a second camera arranged on tower B.

[0036] An RBN-DGNSS antenna system comprises: an antenna tower A, an antenna tower B, a T-shaped twin-tower antenna arranged between the antenna tower A and the antenna tower B, and a lifting device for the T-shaped twin-tower antenna.

[0037] The technical solution of the above embodiment realizes the automatic lifting of the antenna, ensures the stability of the antenna lifting process, improves the efficiency of antenna maintenance, improves the safety and convenience of maintenance, and reduces maintenance costs.

[0038] Additional aspects and advantages of the present application will be partially given in the following description, which will become apparent from the following description, or will be understood through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0040] Figure 1 is a top view schematic diagram of an example T-shaped twin tower antenna;

[0041] Figure 2 is a side view of an example T-shaped twin tower antenna;

[0042] Figure 3 is a partial schematic diagram of the A section of an example T-shaped twin-tower antenna;

[0043] Figure 4 This is a schematic diagram of an example driver structure;

[0044] Figure 5 is a schematic diagram of the electrical structure of an exemplary lifting device;

[0045] Figure 6 This is an example PID control schematic diagram;

[0046] Figure 7 is a schematic diagram of an example positioning switch layout. DETAILED DESCRIPTION

[0047] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be interpreted as limiting the present application.

[0048] Those skilled in the art will appreciate that, unless otherwise stated, the singular forms "a", "an", "said" and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of the present application refers to the presence of the features, integers, steps, operations, but does not exclude the presence or addition of one or more other features, integers, steps, operations.

[0049] When maintaining the T-type twin tower antenna of the RBN-DGNSS station, professional tower climbers are usually required to work at the top of the tower in coordination with the personnel at the bottom of the tower. The whole process is time-consuming and laborious. Personnel work at heights for a long time, which poses a great safety risk and requires the coordination of multiple people. When the antenna reaches the top, the positioning is inaccurate, time-consuming and has low positioning accuracy. In order to solve the above technical defects, this application provides a lifting device for a T-type twin tower antenna, which is applied to the RBN-DGNSS station, with reference to Figures 1 to 3 As shown, Figure 1 This is a top view of an example T-shaped twin-tower antenna. Figure 2 This is a side view of an example T-shaped twin tower antenna. Figure 3 is a partial schematic diagram of the A section of an example T-shaped twin-tower antenna; Figures 1 to 3All of them are partial structural schematic diagrams. As shown in the figure, the RBN-DGNSS station includes two antenna towers AB, namely antenna tower A and antenna tower B, and the two ends AB of the antenna are connected by fixed tripods respectively; the lifting equipment includes: a main controller 01, a first main driver 21 arranged at the bottom of antenna tower A, a first main pulley 31 and a first main traction rope 41 arranged at the top of antenna tower A, and a second main driver 22 arranged at the bottom of antenna tower B, a second main pulley 32 and a second main traction rope 42 arranged at the top of antenna tower B; the first main driver 21 is connected to the center position of the fixed tripod 51 at the A end of the antenna through the first main traction rope 41, and the first main traction rope 41 is wound around the first main pulley 31; the second main driver 22 is connected to the center position of the fixed tripod 52 at the B end of the antenna through the second main traction rope 42, and the second main traction rope 42 is wound around the second main pulley 32.

[0050] The main controller 01 is connected to and controls the first main driver 21 and the second main driver 22 respectively; the first main driver 21 and the second main driver 22 respectively pull the A end and the B end of the antenna through the first main traction rope 41 and the second main traction rope 42 to lift and lower; the first main driver 21 and the second main driver 22 can be driven by a motor. Exemplarily, the main controller 01 can be implemented by a PLC (Programmable Logic Controller).

[0051] In one embodiment, the lifting device of the T-type twin-tower antenna may further include: a first sub-driver 23 and a second sub-driver 24 disposed at the top of antenna tower A, and a third sub-driver 25 and a fourth sub-driver 26 disposed at the top of antenna tower B; wherein the first sub-driver 23, the second sub-driver 24, the third sub-driver 25 and the fourth sub-driver 26 are respectively connected to the main controller 01. The first sub-driver 23 and the second sub-driver 24 are respectively connected to the two bottom corner positions of the fixed tripod 51 at the antenna A end through the first sub-traction rope 43 and the second sub-traction rope 44; the third sub-driver 25 and the fourth sub-driver 26 are respectively connected to the two bottom corner positions of the fixed tripod 52 at the antenna B end through the third sub-traction rope 45 and the fourth sub-traction rope 46.

[0052] Furthermore, a first secondary pulley 33 and a second secondary pulley 34 may be provided at the top of antenna tower A, and a third secondary pulley 35 and a fourth secondary pulley 36 may be provided at the top of antenna tower B; a first secondary traction rope 43 is wound around the first secondary pulley 33, a second secondary traction rope 44 is wound around the second secondary pulley 34, a third secondary traction rope 45 is wound around the third secondary pulley 35, and a fourth secondary traction rope 46 is wound around the fourth secondary pulley 36.

[0053] The first sub-driver 23 and the second sub-driver 24 adjust the horizontality of the antenna A end; the third sub-driver 25 and the fourth sub-driver 26 adjust the horizontality of the antenna B end; specifically, the antenna A end uses the first sub-driver 23 and the second sub-driver 24, which are connected to the bottom corner position of the fixed tripod 51 at the antenna A end through the first sub-traction rope 43 and the second sub-traction rope 44, and the antenna B end uses the third sub-driver 25 and the fourth sub-driver 26, which are connected to the bottom corner position of the fixed tripod 52 at the antenna B end through the third sub-traction rope 45 and the fourth sub-traction rope 46; during the lifting process, the four sub-drivers 02 move synchronously, thereby maintaining the antenna 05 in a highly stable state by applying a horizontal pulling force on the antenna 05, ensuring that the antenna 05 is not affected.

[0054] As in the lifting device of the above-mentioned embodiment, the two main drivers 21, 22 and the main traction ropes 41, 42 are the main force points of the antenna 05, bearing the weight of the entire antenna 05. The main controller 01 can control the two main drivers 21, 22 to automatically lift the antenna 05, thereby improving the convenience and efficiency of the maintenance of the antenna 05 and reducing the maintenance cost. Furthermore, the horizontality of the antenna 05 can be adjusted through the four auxiliary drivers 23, 24, 25, 26 and the four auxiliary traction ropes 43, 44, 45, 46, thereby improving the lifting stability, thereby ensuring the safety of the maintenance of the antenna 05 and avoiding affecting the antenna parameters.

[0055] Considering that the antenna system is a sensitive device in the RBN-DGNSS station, the T-type twin-tower antenna must be smooth and stable during the entire lifting process to avoid jitter, so as not to damage the antenna vibrator. A stable driver needs to be designed; in order to make the technical solution of the driver used in this application clearer, more embodiments are described below.

[0056] In one embodiment, based on the application of winch technology, the first main drive 21 may include a first main inverter 211 and a first main motor 212; wherein the first main inverter 211 is connected to the main controller 01, and the wheel of the first main motor 212 is wound around the first main traction rope 41; the second main drive 22 includes a second main inverter 221 and a second main motor 222; the second main inverter 221 is connected to the main controller 01, and the wheel of the second main motor 222 is wound around the second main traction rope 42.

[0057] The main controller 01 operates the first main frequency converter 211 and the second main frequency converter 221 by outputting frequency signals, and controls the start, stop and stepless speed regulation of the first main motor 212 and the second main motor 222 respectively.

[0058] Correspondingly, based on the application of winch technology, the first sub-driver 23 may include a first sub-inverter 231 and a first sub-motor 232; wherein, the first sub-inverter 231 is connected to the main controller 01, and the wheel of the first sub-motor 232 winds up the first sub-traction rope 43; the second sub-driver 24 includes a second sub-inverter 241 and a second sub-motor 242; wherein, the second sub-inverter 241 is connected to the main controller 01, and the wheel of the second sub-motor 242 winds up the second sub-traction rope 44; the third sub-driver 25 includes a third sub-inverter 251 and a third sub-motor 252; wherein, the third sub-inverter 251 is connected to the main controller 01, and the wheel of the third sub-motor 252 winds up the third sub-traction rope 45; the fourth sub-driver 26 includes a fourth sub-inverter 261 and a fourth sub-motor 262; wherein, the fourth sub-inverter 261 is connected to the main controller 01, and the wheel of the fourth sub-motor 262 winds up the fourth sub-traction rope 46.

[0059] The main controller 01 operates the first sub-inverter 231, the second sub-inverter 241, the third sub-inverter 251 and the fourth sub-inverter 261 by outputting frequency signals, and controls the start, stop and stepless speed regulation of the first sub-motor 232, the second sub-motor 242, the third sub-motor 252 and the fourth sub-motor 262 respectively.

[0060] For example, since the function of the four auxiliary drivers 23, 24, 25, and 26 is to adjust the horizontality of the antenna 05 so that it is horizontally balanced, they do not need to bear the weight of the antenna 05 and mainly play the role of balancing and auxiliary fixation. Therefore, the four auxiliary motors 232, 242, 252, and 262 can choose conventional variable frequency speed regulating stepper motors.

[0061] like Figure 4 As shown, Figure 4 It is a schematic diagram of an example of a driver structure. Two main drivers 21, 22 and four auxiliary drivers 23, 24, 25, 26 can all adopt this structural design. As shown in the figure, its structure mainly includes a frequency converter and a motor, and the motor is connected to the rotating wheel; specifically, the main controller 01 operates the two main frequency converters 211, 221 by outputting frequency signals to control the start, stop and stepless speed regulation of the two main motors 212, 222; the main controller 01 controls the working power supply frequency of the four auxiliary frequency converters 231, 241, 251, 261 to perform frequency conversion speed regulation on the four auxiliary motors 232, 242, 252, 262.

[0062] As in the technical solution of the above-mentioned embodiment, by designing a set of optimized combined power sources, it is possible to improve the stability of the lifting equipment, optimize the equipment cost, and have the characteristics of high lift and high load. The frequency converter can be used to realize soft starting of the motor, achieve high-precision positioning and stepless speed regulation, avoid excessive current at the moment of motor starting, and cause impact on the motor. The frequency converter is used to realize smooth starting and smooth acceleration and deceleration of the motor, and avoid jitter of the antenna caused by sudden acceleration or deceleration.

[0063] In one embodiment, reference Figure 5 , Figure 5 It is a schematic diagram of the electrical structure of an exemplary lifting device. In the lifting device of the T-shaped twin-tower antenna of the present application, the rotating wheel of the first main motor 212 may also be provided with a first main encoder 213 connected to the main controller 01, which is used to measure the rotation angle of the first main motor 212, and output the number of pulses and send them to the main controller 01 to calculate the movement length of the first main traction rope 41; the rotating wheel of the second main motor 222 may also be provided with a second main encoder 223 connected to the main controller 01, which is used to measure the rotation angle of the second main motor 222, and output the number of pulses and send them to the main controller 01 to calculate the movement length of the second main traction rope 42.

[0064] Correspondingly, the rotating wheel of the first sub-motor 232 may also be provided with a first sub-encoder 233 connected to the main controller 01, which is used to measure the rotation angle of the first sub-motor 232, and output the number of pulses and send it to the main controller 01 to calculate the movement length of the first sub-traction rope 43; the rotating wheel of the second sub-motor 242 may also be provided with a second sub-encoder 243 connected to the main controller 01, which is used to measure the rotation angle of the second sub-motor 242, and output the number of pulses and send it to the main controller 01 to calculate the movement length of the second sub-traction rope 44; the rotating wheel of the third sub-motor 252 may also be provided with a third sub-encoder 253 connected to the main controller 01, which is used to measure the rotation angle of the third sub-motor 252, and output the number of pulses and send it to the main controller 01 to calculate the movement length of the third sub-traction rope 45; the rotating wheel of the fourth sub-motor 262 may also be provided with a fourth sub-encoder 263 connected to the main controller 01, which is used to measure the rotation angle of the fourth sub-motor 262, and output the number of pulses and send it to the main controller 01 to calculate the movement length of the fourth sub-traction rope 46.

[0065] As in the technical scheme of the above-mentioned embodiment, two main encoders 213, 223 and four sub-encoders 233, 243, 253, 263 are designed. The antenna needs to be accurately positioned during the lifting process, especially to ensure that it returns to the initial position after each maintenance. Therefore, the main controller 01 can use a closed-loop control PID control algorithm to control each driver to accurately position the antenna movement. Therefore, an encoder is connected to the wheel of each motor, and the encoder is driven by the wheel to measure the angle. The encoder measures the motor angle and outputs the number of pulses, which are sent to the main controller 01 to calculate the movement length of each traction rope, so that the lifting process of the antenna can be accurately positioned and the AB ends of the antenna can be balanced during the lifting process.

[0066] For example, Figure 6 As shown, Figure 6 This is an example of a PID control schematic diagram. Since the height of the antenna is fixed, when the total stroke is determined, the PID control algorithm of the main controller 01 is applied to calculate the moving length of the traction rope to obtain the traction rope stroke, and continuously calculate the relationship between the current traction rope stroke and the total stroke to form feedback data, drive the motor to move, and finally achieve stroke positioning. The calculation formula can be L = N × M, M = 2πr / k; where L is the moving length of the traction rope, N is the number of pulses, r is the wheel radius of the motor, M is the length corresponding to 1 pulse, and k is the number of encoder lines.

[0067] For example, the main controller 01 can also calculate the movement length L of the first main traction rope 41 1a and the moving length L of the second main traction rope 42 1b ; During the antenna lifting process, the cumulative error Δl between the moving length of the first main traction rope 41 and the second main traction rope 42 is calculated in real time. 1a -L 1b |, the movement length L of the first main traction rope 41 can be calculated continuously every second according to a set time interval, for example 1a and the moving length L of the second main traction rope 42 1b , combined with the calculation of the cumulative error Δl and the use of the threshold l0 for judgment, when the cumulative error Δl is greater than the set threshold l0, if L 1a >L 1b , control the first main inverter 211 to reduce the speed of the first main motor 212, if L 1a <L 1b , controlling the second main frequency converter 221 to reduce the rotation speed of the second main motor 222, thereby ensuring that both ends of the antenna AB remain stable within each set time interval during the entire stroke, avoiding the instability of both ends of the antenna AB.

[0068] In one embodiment, in order to further improve the accuracy of the antenna's stroke calculation and end positioning during the lifting process and ensure the stability of the antenna during the lifting process, the present application can also use proximity switch signals to achieve precise positioning.

[0069] To this end, a first main positioning switch 411 is provided at the end of the first main traction rope 41, and a first main switch detector 412 is provided at the top of the antenna tower A and located on both sides of the first main traction rope 41; wherein the first main switch detector 412 is connected to the main controller 01; the first main positioning switch 411 moves with the first main traction rope 41, the first main switch detector 412 senses the proximity switch signal of the first main positioning switch 411 and sends it to the main controller 01, and the main controller 01 controls the first main drive 21 to shut down; a second main positioning switch 421 is provided at the end of the second main traction rope 42, and a second main switch detector 422 is provided at the top of the antenna tower B and located on both sides of the second main traction rope 42; wherein the second main switch detector 422 is connected to the main controller 01; the second main positioning switch 421 moves with the second main traction rope 42, the second main switch detector 422 senses the proximity switch signal of the second main positioning switch 421 and sends it to the main controller 01, and the main controller 01 controls the second main drive 22 to shut down.

[0070] A first auxiliary positioning switch 431 is provided at the end of the first auxiliary traction rope 43, and a first auxiliary switch detector 432 is provided at the top of the antenna tower A and located on both sides of the first auxiliary traction rope 43; wherein the first auxiliary switch detector 432 is connected to the main controller 01; the first auxiliary positioning switch 431 moves with the first auxiliary traction rope 43, the first auxiliary switch detector 432 senses the proximity switch signal of the first auxiliary positioning switch 431 and sends it to the main controller 01, and the main controller 01 controls the first auxiliary driver 23 to shut down; a second auxiliary positioning switch 441 is provided at the end of the second auxiliary traction rope 44, and a second auxiliary switch detector 442 is provided at the top of the antenna tower A and located on both sides of the second auxiliary traction rope 44; wherein the second auxiliary switch detector 442 is connected to the main controller 01; the second auxiliary positioning switch 441 moves with the second auxiliary traction rope 44, the second auxiliary switch detector 442 senses the proximity switch signal of the second auxiliary positioning switch 441 and sends it to the main controller 01, and the main controller 01 controls the second auxiliary driver 24 to shut down; A third auxiliary positioning switch 451 is provided at the end of the third auxiliary traction rope 45, and a third auxiliary switch detector 452 is provided at the top of the antenna tower B and located on both sides of the third auxiliary traction rope 45; wherein the third auxiliary switch detector 452 is connected to the main controller 01; the third auxiliary positioning switch 451 moves with the third auxiliary traction rope 45, the third auxiliary switch detector 452 senses the proximity switch signal of the third auxiliary positioning switch 451 and sends it to the main controller 01, and the main controller 01 controls the third auxiliary driver 25 to shut down; a fourth auxiliary positioning switch 461 is provided at the end of the fourth auxiliary traction rope 46, and a fourth auxiliary switch detector 462 is provided at the top of the antenna tower B and located on both sides of the fourth auxiliary traction rope 46; wherein the fourth auxiliary switch detector 462 is connected to the main controller 01; the fourth auxiliary positioning switch 461 moves with the fourth auxiliary traction rope 46, the fourth auxiliary switch detector 462 senses the proximity switch signal of the fourth auxiliary positioning switch 461 and sends it to the main controller 01, and the main controller 01 controls the fourth auxiliary driver 26 to shut down.

[0071] For example, Figure 7 As shown, Figure 7 This is an example schematic diagram of the positioning switch layout; the figure takes the second main drive at the B end as an example, and other drives can also adopt this structure. By setting a positioning switch at the end of the traction rope, and setting switch detectors on both sides of the traction rope at the top of the antenna tower, the positioning switch moves with the traction rope, and the switch detector can sense the proximity switch signals of the deceleration switch and the positioning switch and send them to the main controller 01; in use, the main controller 01 controls the motor to slowly decelerate when the proximity switch signal triggered by the deceleration switch is detected based on the received proximity switch signal, and controls the corresponding motor to stop when the proximity switch signal triggered by the positioning switch is detected.

[0072] As in the technical solution of the above embodiment, the proximity switch signal can be used for each driver to accurately locate the end stroke of the antenna during the process of raising the antenna, so that the antenna can rise slowly and smoothly to the destination position.

[0073] In one embodiment, in order to realize real-time monitoring of the posture of the antenna during the antenna lifting process, so as to promptly issue an early warning and make adjustments when an abnormality occurs; the lifting equipment of the T-shaped twin-tower antenna of the present application also includes a first acceleration sensor 61 and a second acceleration sensor 62 arranged at the A end of the antenna, and a third acceleration sensor 63 and a fourth acceleration sensor 64 arranged at the B end of the antenna; the acceleration sensor 06 can be arranged on a fixed tripod 52 at the A end and the B end of the antenna 05; each acceleration sensor 06 is respectively connected to the main controller 01; wherein each acceleration sensor 06 outputs an electrical signal to the main controller 01 in real time.

[0074] Exemplarily, four acceleration sensors are arranged on the fixed tripod 52 at the A end and the B end of the antenna, and the main controller 01 can use the electrical signals V1, V2, V3, and V4 output by the four acceleration sensors; by comparing the difference ΔV between the four electrical signals V1, V2, V3, and V4 ij , when ΔV ij When it is greater than the set threshold value ΔV0, it means that the movement speeds of the four corner positions of the antenna are different, so that the current imbalance state of the antenna can be detected quickly and in real time. For example, if the wind is strong, a timely warning can be given for abnormal situations. The real-time movement change parameters of the A and B ends of the antenna during the lifting process are detected and sent to the main controller 01; the main controller 01 monitors the real-time balance of the antenna during the lifting process according to the real-time movement change parameters, and outputs the spatial positioning parameters to the main controller 01 in real time; the main controller 01 adjusts the working parameters of each driver according to the spatial positioning parameters, and issues a warning and pauses when an abnormality occurs.

[0075] As in the technical solution of the above-mentioned embodiment, the real-time balance state of the antenna is measured by the electrical signals output by sensors at multiple positions. Since the sensors are the same, if they are in a stable state, the output electrical signals are the same. When there is an imbalance during movement, there will be large differences between the electrical signals. Therefore, through the above-mentioned technical solution, it is only necessary to simply calculate the pairwise differences of the electrical signals to achieve the monitoring purpose. The algorithm is simple, thereby ensuring the response speed.

[0076] In one embodiment, the lifting equipment of the T-shaped twin-tower antenna of the present application also includes: an industrial computer 07 connected to the main controller 01; wherein the industrial computer 07 is respectively connected to a first camera 81 arranged on tower A and a second camera 82 arranged on tower B, and the industrial computer 07 serves as a remote control terminal; the industrial computer 07 is respectively connected to a first camera 81 arranged on tower A and a second camera 82 arranged on tower B; the first camera 81 is used to shoot the lifting state of the antenna A end and the state of the antenna A end returning to a fixed position; the second camera 82 is used to shoot the lifting state of the antenna B end and the state of the antenna B end returning to a fixed position.

[0077] For example, the industrial computer 07 can be placed in the machine room. Through the camera, the on-site situation can be more intuitively seen in the control room. The on-site video can also be displayed in real time on the human-machine interface, which is convenient for the operator to assist in judging the real-time situation of the antenna lifting and lowering.

[0078] An embodiment of the RBN-DGNSS antenna system is described below.

[0079] The present application provides an RBN-DGNSS antenna system, including: antenna tower A, antenna tower B, a T-shaped twin-tower antenna arranged between antenna tower A and antenna tower B, and a lifting device for the T-shaped twin-tower antenna of any of the aforementioned embodiments.

[0080] For example, when the antenna needs to be lowered to the ground for inspection at the top of the tower, the lifting equipment is started, and each auxiliary motor on the top of the tower is started for 3 seconds to loosen each auxiliary traction rope, and then the main motor is started. The main motor and the auxiliary motor slowly lower the antenna at a set speed. The main controller 01 calculates the real-time height of the antenna. After reaching the predetermined height, the main motor and the auxiliary motor begin to slowly decelerate until the antenna reaches the set height, and the main motor and the auxiliary motor are controlled to stop rotating. The antenna descends to the target position, and the antenna can be inspected at this time. When the antenna is inspected and needs to be raised back to the top of the tower, the main motor is started for 3 seconds, and then each auxiliary motor is started. After the main motor and the auxiliary motor are started, the antenna slowly rises. When the antenna rises to the predetermined height, the main motor and the auxiliary motor decelerate and continue to rise. After the antenna reaches the target position, the main motor and the auxiliary motor are controlled to stop rotating, and the antenna reaches the initial position.

[0081] By combining the technical solutions of the above embodiments, the maintenance efficiency of the T-shaped twin-tower antenna is improved, the safety and convenience of maintenance are improved, and the maintenance cost is reduced.

[0082] The above description is only a partial implementation method of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A lifting device for a T-shaped twin-tower antenna, used in RBN-DGNSS stations, characterized in that: include: A main controller (01), a first main drive (21) arranged at the bottom of antenna tower A, a first main pulley (31) and a first main traction rope (41) arranged at the top of antenna tower A, and a second main drive (22) arranged at the bottom of antenna tower B, a second main pulley (32) and a second main traction rope (42) arranged at the top of antenna tower B; The first main driver (21) is connected to the center of a fixed tripod (51) at the antenna A end via a first main traction rope (41), and the first main traction rope (41) is wound around a first main pulley (31); the second main driver (22) is connected to the center of a fixed tripod (52) at the antenna B end via a second main traction rope (42), and the second main traction rope (42) is wound around a second main pulley (32); The main controller (01) is respectively connected to and controls a first main driver (21) and a second main driver (22); the first main driver (21) and the second main driver (22) respectively pull the A end and the B end of the antenna through a first main traction rope (41) and a second main traction rope (42) to perform lifting and lowering.

2. The lifting device for the T-shaped twin-tower antenna according to claim 1, characterized in that: The first main driver (21) comprises a first main frequency converter (211) and a first main motor (212); wherein the first main frequency converter (211) is connected to the main controller (01), and the rotating wheel of the first main motor (212) winds up the first main traction rope (41); The second main driver (22) comprises a second main frequency converter (221) and a second main motor (222); wherein the second main frequency converter (221) is connected to the main controller (01), and the rotating wheel of the second main motor (222) winds up the second main traction rope (42); The main controller (01) operates the first main frequency converter (211) and the second main frequency converter (221) by outputting a frequency signal, and controls the start, stop and stepless speed regulation of the first main motor (212) and the second main motor (222) respectively.

3. The lifting device for the T-shaped twin-tower antenna according to claim 2, characterized in that: Also includes: A first sub-driver (23) and a second sub-driver (24) are arranged at the top of antenna tower A, and a third sub-driver (25) and a fourth sub-driver (26) are arranged at the top of antenna tower B; wherein the first sub-driver (23), the second sub-driver (24), the third sub-driver (25) and the fourth sub-driver (26) are respectively connected to a main controller (01); The first auxiliary driver (23) and the second auxiliary driver (24) are connected to two bottom corner positions of a fixed tripod (51) at the antenna A end through a first auxiliary traction rope (43) and a second auxiliary traction rope (44) respectively; the third auxiliary driver (25) and the fourth auxiliary driver (26) are connected to two bottom corner positions of a fixed tripod (52) at the antenna B end through a third auxiliary traction rope (45) and a fourth auxiliary traction rope (46) respectively; The first sub-driver (23) and the second sub-driver (24) adjust the horizontality of the antenna A end; the third sub-driver (25) and the fourth sub-driver (26) adjust the horizontality of the antenna B end.

4. The lifting device for the T-shaped twin-tower antenna according to claim 3, characterized in that: Also includes: A first pulley (33) and a second pulley (34) are arranged at the top of antenna tower A, and a third pulley (35) and a fourth pulley (36) are arranged at the top of antenna tower B; The first secondary traction rope (43) is wound around the first secondary pulley (33), the second secondary traction rope (44) is wound around the second secondary pulley (34), the third secondary traction rope (45) is wound around the third secondary pulley (35), and the fourth secondary traction rope (46) is wound around the fourth secondary pulley (36).

5. The lifting device for the T-shaped twin-tower antenna according to claim 4, characterized in that: The first auxiliary driver (23) comprises a first auxiliary frequency converter (231) and a first auxiliary motor (232); wherein the first auxiliary frequency converter (231) is connected to the main controller (01), and the rotating wheel of the first auxiliary motor (232) winds up the first auxiliary traction rope (43); The second auxiliary driver (24) comprises a second auxiliary frequency converter (241) and a second auxiliary motor (242); wherein the second auxiliary frequency converter (241) is connected to the main controller (01), and the rotating wheel of the second auxiliary motor (242) winds up the second auxiliary traction rope (44); The third auxiliary driver (25) comprises a third auxiliary frequency converter (251) and a third auxiliary motor (252); wherein the third auxiliary frequency converter (251) is connected to the main controller (01), and the rotating wheel of the third auxiliary motor (252) winds up the third auxiliary traction rope (45); The fourth auxiliary driver (26) comprises a fourth auxiliary frequency converter (261) and a fourth auxiliary motor (262); wherein the fourth auxiliary frequency converter (261) is connected to the main controller (01), and the rotating wheel of the fourth auxiliary motor (262) winds up the fourth auxiliary traction rope (46); The main controller (01) operates the first sub-frequency converter (231), the second sub-frequency converter (241), the third sub-frequency converter (251) and the fourth sub-frequency converter (261) by outputting frequency signals, and controls the start, stop and stepless speed regulation of the first sub-motor (232), the second sub-motor (242), the third sub-motor (252) and the fourth sub-motor (262) respectively.

6. The lifting device for the T-shaped twin-tower antenna according to claim 5, characterized in that: A first main encoder (213) connected to a main controller (01) is provided on the rotating wheel of the first main motor (212) for measuring the rotation angle of the first main motor (212) and outputting a pulse number and sending it to the main controller (01) to calculate the movement length of the first main traction rope (41); A second main encoder (223) connected to the main controller (01) is provided on the rotating wheel of the second main motor (222) for measuring the rotation angle of the second main motor (222) and outputting the number of pulses and sending them to the main controller (01) to calculate the movement length of the second main traction rope (42); A first secondary encoder (233) connected to the main controller (01) is provided on the rotating wheel of the first secondary motor (232) for measuring the rotation angle of the first secondary motor (232) and outputting the number of pulses and sending them to the main controller (01) to calculate the movement length of the first secondary traction rope (43); A second encoder (243) connected to the main controller (01) is provided on the rotating wheel of the second auxiliary motor (242) for measuring the rotation angle of the second auxiliary motor (242) and outputting the number of pulses and sending them to the main controller (01) to calculate the movement length of the second auxiliary traction rope (44); A third encoder (253) connected to the main controller (01) is provided on the rotating wheel of the third auxiliary motor (252) for measuring the rotation angle of the third auxiliary motor (252) and outputting the number of pulses and sending them to the main controller (01) to calculate the movement length of the third auxiliary traction rope (45); A fourth encoder (263) connected to the main controller (01) is provided on the rotating wheel of the fourth motor (262) for measuring the rotation angle of the fourth motor (262) and outputting the number of pulses and sending them to the main controller (01) to calculate the movement length of the fourth traction rope (46).

7. The lifting device for the T-shaped twin-tower antenna according to claim 6, characterized in that: A first main positioning switch (411) is provided at the end of the first main traction rope (41), and a first main switch detector (412) is provided at the top of the antenna tower A and located on both sides of the first main traction rope (41); wherein the first main switch detector (412) is connected to a main controller (01); the first main positioning switch (411) moves along with the first main traction rope (41), the first main switch detector (412) senses a proximity switch signal of the first main positioning switch (411) and sends the signal to the main controller (01), and the main controller (01) controls the first main drive (21) to stop; A second main positioning switch (421) is provided at the end of the second main traction rope (42), and a second main switch detector (422) is provided at the top of the antenna tower B and located on both sides of the second main traction rope (42); wherein the second main switch detector (422) is connected to the main controller (01); the second main positioning switch (421) moves along with the second main traction rope (42), the second main switch detector (422) senses the proximity switch signal of the second main positioning switch (421) and sends it to the main controller (01), and the main controller (01) controls the second main drive (22) to stop; A first auxiliary positioning switch (431) is provided at the end of the first auxiliary traction rope (43), and a first auxiliary switch detector (432) is provided at the top of the antenna tower A and located on both sides of the first auxiliary traction rope (43); wherein the first auxiliary switch detector (432) is connected to the main controller (01); the first auxiliary positioning switch (431) moves along with the first auxiliary traction rope (43), the first auxiliary switch detector (432) senses the proximity switch signal of the first auxiliary positioning switch (431) and sends it to the main controller (01), and the main controller (01) controls the first auxiliary driver (23) to stop; A second auxiliary positioning switch (441) is provided at the end of the second auxiliary traction rope (44), and a second auxiliary switch detector (442) is provided at the top of the antenna tower A and located on both sides of the second auxiliary traction rope (44); wherein the second auxiliary switch detector (442) is connected to the main controller (01); the second auxiliary positioning switch (441) moves along with the second auxiliary traction rope (44), the second auxiliary switch detector (442) senses the proximity switch signal of the second auxiliary positioning switch (441) and sends it to the main controller (01), and the main controller (01) controls the second auxiliary driver (24) to stop; A third auxiliary positioning switch (451) is provided at the end of the third auxiliary traction rope (45), and a third auxiliary switch detector (452) is provided at the top of the antenna tower B and located on both sides of the third auxiliary traction rope (45); wherein the third auxiliary switch detector (452) is connected to the main controller (01); the third auxiliary positioning switch (451) moves along with the third auxiliary traction rope (45), the third auxiliary switch detector (452) senses the proximity switch signal of the third auxiliary positioning switch (451) and sends it to the main controller (01), and the main controller (01) controls the third auxiliary driver (25) to stop; A fourth auxiliary positioning switch (461) is provided at the end of the fourth auxiliary traction rope (46), and a fourth auxiliary switch detector (462) is provided at the top of the antenna tower B and located on both sides of the fourth auxiliary traction rope (46); wherein the fourth auxiliary switch detector (462) is connected to the main controller (01); the fourth auxiliary positioning switch (461) moves with the fourth auxiliary traction rope (46), the fourth auxiliary switch detector (462) senses the proximity switch signal of the fourth auxiliary positioning switch (461) and sends it to the main controller (01), and the main controller (01) controls the fourth auxiliary driver (26) to stop.

8. The lifting device for the T-shaped twin-tower antenna according to claim 1, characterized in that: Also includes: A first acceleration sensor (61) and a second acceleration sensor (62) are arranged at the A end of the antenna, and a third acceleration sensor (63) and a fourth acceleration sensor (64) are arranged at the B end of the antenna; Each acceleration sensor is connected to a main controller (01) respectively; wherein each acceleration sensor outputs an electrical signal to the main controller (01) in real time.

9. The lifting device for the T-shaped twin-tower antenna according to claim 1, characterized in that: Also includes: An industrial computer (07) connected to the main controller (01); wherein the industrial computer (07) is respectively connected to a first camera (81) arranged on Tower A and a second camera (82) arranged on Tower B.

10. An RBN-DGNSS antenna system, characterized in that: include: Antenna tower A, antenna tower B, a T-shaped twin-tower antenna arranged between antenna tower A and antenna tower B, and a lifting device for the T-shaped twin-tower antenna as described in any one of claims 1 to 9.

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