Radar and power transmission line tower monitoring system

Abstract

The utility model provides a radar and a power transmission line tower monitoring system, and belongs to the technical field of radars. The radar comprises a supporting piece, a plurality of radio frequency modules, a pitching angle adjusting mechanism and a main control board. The plurality of radio frequency modules are rotatably connected with the supporting member, and the pitching angle of the radio frequency modules can be adjusted through rotation. The plurality of radio frequency modules are arranged along the circumferential direction of the support member. And the pitching angle adjusting mechanism is in transmission connection with the plurality of radio frequency modules. The main control board is used for processing collected data of the multiple radio frequency modules and controlling the pitching angle adjusting mechanism to drive the multiple radio frequency modules to rotate synchronously. The radar comprises the plurality of radio frequency modules, and the plurality of radio frequency modules are distributed along the circumferential direction of the supporting piece, so that the monitoring angle of the radar is large. Moreover, the main control board can control the pitching angle adjusting mechanism to drive the plurality of radio frequency modules to rotate, so that a worker can remotely adjust the pitching angles of the plurality of radio frequency modules on the ground.

Description

Technical Field

[0001] The present disclosure relates to the field of radar technology, and in particular to a radar and transmission line tower monitoring system. Background Art

[0002] Transmission line towers, used to support overhead transmission lines, are critical infrastructure for power grid operation. To prevent damage to transmission line towers, radars (such as millimeter-wave radars) are installed on them. These radars can monitor the movement of objects within the monitoring area.

[0003] To achieve a 360-degree monitoring range, conventional technologies require installing three or four radars on transmission line towers, which increases the manual installation cost. Furthermore, to ensure the radar's monitoring range meets the requirements, the radar needs to be debugged, which is inconvenient because the radar is installed high up on the transmission line tower. Utility Model Content

[0004] This disclosure provides a radar and transmission line tower monitoring system. The radar includes multiple radio frequency modules, which provide a wide monitoring angle. Furthermore, the elevation angles of the multiple radio frequency modules can be remotely adjusted from the ground. The technical solutions for the radar and transmission line tower monitoring system are described below.

[0005] In a first aspect, the present disclosure provides a radar. The radar includes a support member, multiple radio frequency modules, a pitch angle adjustment mechanism, and a main control board. The multiple radio frequency modules are rotatably connected to the support member, and the pitch angles of the radio frequency modules can be adjusted by rotation. The multiple radio frequency modules are arranged along the circumference of the support member. The pitch angle adjustment mechanism is transmission-connected to the multiple radio frequency modules. The main control board is used to process the data collected by the multiple radio frequency modules and control the pitch angle adjustment mechanism to drive the multiple radio frequency modules to rotate synchronously.

[0006] The radar provided herein may be a millimeter-wave radar. The radio frequency module is used to collect point cloud data. The main control board is capable of processing the data collected by the radio frequency module and adjusting the pitch angles of multiple radio frequency modules via an elevation adjustment mechanism. The pitch angles of the multiple radio frequency modules can be the same.

[0007] The technical solution provided by the present disclosure is that, on the one hand, the radar includes multiple RF modules, and the multiple RF modules are distributed along the circumference of the support member, then the monitoring angle of the radar is the sum of the monitoring angles of the multiple RF modules, and the monitoring angle of the radar is relatively large. In this way, only a small number (such as two) of radars need to be installed on the transmission line tower to achieve 360° no-dead-angle monitoring, reducing material costs and labor installation costs. On the other hand, the main control board can control the pitch angle adjustment mechanism to drive the rotation of multiple RF modules, so that the staff can remotely adjust the pitch angle of multiple RF modules on the ground, without the need for the staff to manually debug the radar at the height of the transmission line tower, which also reduces the labor installation cost.

[0008] In one implementation, the pitch angle adjustment mechanism includes a drive mechanism, a lifting plate, and multiple first connecting rods. The lifting plate is slidably connected to a support member. The drive mechanism is in transmission connection with the lifting plate and is configured to drive the lifting plate to slide. Multiple RF modules are arranged around the lifting plate. Each first connecting rod has one end rotatably connected to the lifting plate and the other end rotatably connected to a RF module.

[0009] The rotational axes at both ends of each first connecting rod are parallel to the rotational axis of the RF module to which it is connected and perpendicular to the sliding direction of the lifting plate. Thus, the support member, RF module, first connecting rod, and lifting plate form a slider-crank mechanism. A slider-crank mechanism is a planar connecting rod mechanism that uses a crank and a slider to achieve the conversion between rotation and movement. The lifting plate forms the slider, and the RF module forms the crank. The multiple first connecting rods have the same length.

[0010] The technical solution provided by the present disclosure is that when the driving mechanism drives the lifting plate to slide, the lifting plate drives multiple RF modules to rotate synchronously through multiple first connecting rods, so that the rotation of the multiple RF modules is synchronized and the rotation angles are the same. In this way, the pitch angle adjustment mechanism can synchronously adjust the pitch angles of the multiple RF modules, so that the pitch angles of the multiple RF modules always remain consistent, ensuring the continuity of the monitoring ranges of the multiple RF modules and facilitating the main control board to determine the monitoring area and blind spot based on the pitch angles of the RF modules.

[0011] In one implementation, the drive mechanism includes a motor, a screw, and a nut. The motor is fixed to the support member, and the motor's output shaft is drivingly connected to the screw. The screw extends parallel to the sliding direction of the lifting plate. The nut is fixed to the lifting plate, and the screw passes through the lifting plate and the nut. The motor can be a stepper motor.

[0012] The technical solution provided by this disclosure is that when the motor's output shaft rotates, the screw rotates, driving the nut along the screw, which in turn drives the lifting plate to slide. By changing the rotation direction of the motor's output shaft, the sliding direction of the lifting plate can be changed, thereby achieving bidirectional adjustment of the RF module's pitch angle.

[0013] In one implementation, the support member includes a base housing, a support column, a hinge plate, and a guide pin. One end of the support column is fixedly connected to the base housing, and the other end is fixedly connected to the hinge plate. The guide pin is fixed to the side of the hinge plate facing away from the base housing. The motor is located between the base housing and the hinge plate. Multiple RF modules are rotatably connected to the hinge plate and arranged circumferentially along the hinge plate. The lifting plate is opposite the hinge plate and slidably connected to the guide pin.

[0014] In one implementation, the RF module includes a first base plate and a RF board. The first base plate is rotatably connected to the support member and the first connecting rod, and the RF board is fixed to the side of the first base plate facing away from the first connecting rod. The side of the RF board facing the first base plate includes a first connector, and the first base plate includes a first opening, and the first connector passes through the first opening. The first connector is used to electrically connect to the main control board. The first base plate is a structural component in the RF module. The RF board is an electrical component of the RF module, which is used to collect point cloud data. The first opening is used to avoid the first connector to facilitate the external connection of the first connector.

[0015] In one implementation, the main control board is rotatably connected to the support member, and the main control board and multiple RF modules are arranged around the lifting plate. The pitch angle adjustment mechanism also includes a second connecting rod, one end of which is rotatably connected to the lifting plate and the other end is rotatably connected to the main control board.

[0016] The rotation axes at both ends of the second connecting rod are parallel to the rotation axis of the main control board and perpendicular to the sliding direction of the lifting plate. In this way, the support member, main control board, second connecting rod, and lifting plate also form a slider-crank mechanism. The lifting plate forms the slider, and the main control board forms the crank. The pitch angle of the main control board can be the same as the pitch angle of the RF module.

[0017] The technical solution provided by the present disclosure is that when the driving mechanism drives the lifting plate to slide, the lifting plate drives multiple RF modules to rotate synchronously through multiple first connecting rods, and simultaneously drives the main control board to rotate through the second connecting rod, so that the multiple RF modules and the main control board rotate synchronously and at the same angle. The purpose of the synchronous rotation of the main control board and the RF modules is to make the force on the lifting plate more balanced, that is, the main control board acts as a counterweight, which improves the smoothness of the sliding of the lifting plate.

[0018] In one implementation, there are three RF modules, and the three RF modules and a main control board are distributed on the four sides of the lifting plate. The presence of the main control board ensures that the four sides of the lifting plate are evenly stressed.

[0019] In one implementation, the main control board includes a second base plate and a main control circuit board. The second base plate is rotatably connected to the support member and the second connecting rod, and the main control circuit board is fixed to the side of the second base plate facing away from the second connecting rod. The side of the main control circuit board facing the second base plate includes a second connector, and the second base plate includes a second opening, and the second connector passes through the second opening. The second connector is used to electrically connect to multiple radio frequency modules. Among them, the second base plate is a structural component in the main control board. The main control circuit board is an electrical component of the main control board, which is used for data processing and controlling the pitch angle adjustment mechanism. The second opening is used to avoid the second connector to facilitate the external connection of the second connector.

[0020] In one implementation, the main control circuit board further includes electronic components on a side facing the second base plate, including capacitors or chips. The second base plate includes a third opening, through which the electronic components pass. The third opening is configured to allow for the electronic components to pass through.

[0021] In one implementation, a sixth hinged arm extends from a wall of the third opening. The sixth hinged arm tilts away from the main control circuit board and is configured to articulate with the second connecting rod. In this way, the third opening serves as both a clearance for electronic components and a punching hole for machining the sixth hinged arm, enabling hole reuse and reducing the number of holes required on the second base plate.

[0022] In one implementation, the radar further includes a gyroscope, which is fixed to a main control board. The main control board is configured to determine the pitch angle of the RF module based on the gyroscope's detection data. The pitch angle of the RF module is the same as the pitch angle of the main control board.

[0023] The technical solution provided by the present disclosure enables the main control board to determine its pitch angle based on the gyroscope's detection data, since the gyroscope is fixed to the main control board. Since the main control board's pitch angle is the same as the RF module's pitch angle, the pitch angle determined by the main control board is the same as the RF module's pitch angle. Furthermore, by placing the gyroscope on the main control board, the signal transmission path between the gyroscope and the main control board is shortened, eliminating the need for additional signal transmission lines.

[0024] In one implementation, the radar further includes a gyroscope, which is attached to any RF module. The main control board is configured to determine the RF module's pitch angle based on the gyroscope's detection data. This allows the main control board to determine the RF module's pitch angle in real time and precisely adjust the RF module's pitch angle.

[0025] In one implementation, the total coverage angle of the multiple RF modules is greater than 180°. That is, the radar provided by the present disclosure has a monitoring angle greater than 180°. Thus, a maximum of two radars need to be installed on a transmission line tower to achieve 360° coverage without blind spots, thus requiring fewer radars for the transmission line tower monitoring system.

[0026] In one implementation, the adjustment range of the pitch angle of the RF module is greater than or equal to 20°.

[0027] In a second aspect, the present disclosure provides a transmission line tower monitoring system. The transmission line tower monitoring system includes a transmission line tower and the radar described in any one of the first aspects. The radar is fixed to the transmission line tower and is used to monitor the movement of objects.

[0028] In one implementation, the transmission line tower monitoring system further includes a camera, which is used to collect data based on the radar and adjust the shooting area. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a schematic diagram of a transmission line tower monitoring system in the related art;

[0030] Figure 2 is a schematic diagram of a radar provided by an embodiment of the present disclosure;

[0031] Figure 3 is a schematic diagram of a radar provided by an embodiment of the present disclosure;

[0032] Figure 4 is a partial schematic diagram of a radar provided by an embodiment of the present disclosure;

[0033] Figure 5 is a partial schematic diagram of a radar provided by an embodiment of the present disclosure;

[0034] Figure 6 is a schematic diagram of a support member provided by an embodiment of the present disclosure;

[0035] Figure 7 is a schematic diagram of a radio frequency module provided by an embodiment of the present disclosure;

[0036] Figure 8 is a schematic diagram of a lifting plate provided in an embodiment of the present disclosure;

[0037] Figure 9 is a schematic diagram of a main control board provided by an embodiment of the present disclosure;

[0038] Figure 10 is a schematic diagram of a radar circuit provided by an embodiment of the present disclosure;

[0039] Figure 11is a schematic diagram of a radar circuit provided by an embodiment of the present disclosure;

[0040] Figure 12 Schematic diagram of a transmission line tower monitoring system provided by an embodiment of the present disclosure.

[0041] Legend

[0042] 100, transmission line tower, 200, radar, 300, camera;

[0043] 1. Support member, 11. Bottom shell, 12. Support column, 13. Hinge plate, 131. First hinge arm, 132. First opening, 14. Guide column;

[0044] 2. RF module, 21. First base plate, 211. Second hinged arm, 212. Fourth hinged arm, 213. First opening, 214. Fourth opening, 22. RF board, 221. First connector;

[0045] 3. Pitch angle adjustment mechanism, 31. Drive mechanism, 311. Motor, 312. Conversion mechanism, 3121. Screw, 3122. Nut, 32. Lifting plate, 321. Third articulated arm, 322. Second opening, 323. Guide hole, 33. First connecting rod, 34. Second connecting rod;

[0046] 4. Main control board, 41. Second bottom plate, 411. Fifth hinged arm, 412. Sixth hinged arm, 413. Second opening, 414. Fourth opening, 42. Main control circuit board, 421. Second connector, 422. Electronic components, 4221. Capacitor, 4222. Chip;

[0047] 5. Gyroscope;

[0048] A. Blind spot, B. Monitoring area. DETAILED DESCRIPTION

[0049] Figure 1 FIG. 1 shows a schematic diagram of a transmission line tower monitoring system in the related art. Figure 1 As shown, the transmission line tower monitoring system includes a transmission line tower 100, multiple radars 200, and two cameras 300. The transmission line tower 100, used to support overhead transmission lines, is a critical facility for ensuring grid operation. Multiple radars 200 are attached to the transmission line tower 100 and monitor the movement of objects within monitoring area B. The two cameras 300 capture live video and, if the radars 200 detect an object intruding into monitoring area B, adjust the camera's area to capture the intruding object.

[0050] In the related art, the monitoring angle of a single radar 200 is less than 120°. In order to achieve 360° non-dead-angle monitoring, four radars 200 (such as Figure 1 The large number of radars 200 not only increases material costs but also labor installation costs. Furthermore, during installation, the pitch angles of the radars 200 need to be adjusted to meet the required positions and sizes of blind zone A and monitoring area B. However, since the radars 200 are mounted high on the transmission line tower 100, workers need to manually adjust each of the four radars 200, which also increases installation costs.

[0051] In view of the above technical problems, the embodiment of the present disclosure provides a new radar 200. Figure 2 and Figure 3 As shown, the radar 200 includes a support member 1, multiple RF modules 2, a pitch angle adjustment mechanism 3 and a main control board 4. The multiple RF modules 2 are all rotatably connected to the support member 1, and the RF modules 2 can adjust the pitch angle by rotation. The multiple RF modules 2 are arranged along the circumference of the support member 1. The pitch angle adjustment mechanism 3 is transmission-connected to the multiple RF modules 2. The main control board 4 is used to process the collected data of the multiple RF modules 2, and to control the pitch angle adjustment mechanism 3 to drive the multiple RF modules 2 to rotate, so as to adjust the pitch angles of the multiple RF modules 2.

[0052] The support member 1 is used to support the RF module 2, the pitch angle adjustment mechanism 3, and the main control board 4. In some examples, the radar 200 further includes a cover (not shown in the figure) that covers the RF module 2, the pitch angle adjustment mechanism 3, and the main control board 4 to protect them.

[0053] The RF module 2 is used to collect point cloud data of the monitoring area B to monitor the movement of objects in the monitoring area B. The pitch angles of the multiple RF modules 2 are the same.

[0054] The main control board 4 is electrically connected to the multiple RF modules 2 and the pitch angle adjustment mechanism 3, enabling the main control board 4 to process the data collected by the multiple RF modules 2 (e.g., splicing the data collected by the multiple RF modules 2) and control the pitch angle adjustment mechanism 3. In some examples, the main control board 4 and the RF modules 2 communicate via the mobile industry processor interface (MIPI).

[0055] The technical solution provided by the embodiment of the present disclosure is that, on the one hand, the radar 200 includes multiple RF modules 2, and the multiple RF modules 2 are distributed along the circumference of the support member 1, then the monitoring angle of the radar 200 is the sum of the monitoring angles of the multiple RF modules 2, and the monitoring angle of the radar 200 is larger. In this way, only a small number (such as two) of radars 200 need to be installed on the transmission line tower 100 to achieve 360° no-dead-angle monitoring, reducing material costs and labor installation costs. On the other hand, the main control board 4 can control the pitch angle adjustment mechanism 3 to drive the multiple RF modules 2 to rotate, so the staff can remotely adjust the pitch angle of the multiple RF modules 2 through the main control board 4, without the need for the staff to manually debug the radar 200 at a high place on the transmission line tower 100, which also reduces the labor installation cost.

[0056] In some examples, the total monitoring angle of multiple RF modules 2 is greater than 180° (e.g., 270°). That is, the monitoring angle of the radar 200 provided by the embodiments of the present disclosure is greater than 180°. Thus, a maximum of two radars 200 need to be installed on the transmission line tower 100 to achieve 360° monitoring without blind spots.

[0057] In some examples, there are three RF modules 2 , and the monitoring angle of each RF module 2 is 90°. Then, the three RF modules 2 can achieve a monitoring angle of 270°.

[0058] In some examples, the pitch angle adjustment range of the RF module 2 is greater than or equal to 20° (or 25°). The starting angle of the pitch angle adjustment range of the multiple RF modules 2 can be 0°. For example, the adjustment range of the angle between the RF module 2 and the vertical direction includes 0°-20° or 0°-25°.

[0059] Next, the implementation of the pitch angle adjustment mechanism 3 will be described.

[0060] In some examples, such as Figure 4 and Figure 5 As shown, the pitch angle adjustment mechanism 3 includes a drive mechanism 31, a lifting plate 32, and a plurality of first connecting rods 33. The lifting plate 32 is slidably connected to the support member 1 (e.g., slidably connected to the guide pin 14). The drive mechanism 31 is transmission-connected to the lifting plate 32, and the drive mechanism 31 is used to drive the lifting plate 32 to slide. Multiple RF modules 2 are arranged around the lifting plate 32. One end of each first connecting rod 33 is rotatably connected to the lifting plate 32, and the other end is rotatably connected to a RF module 2.

[0061] Among them, such as Figure 5As shown, the rotation axes b and c at both ends of each first connecting rod 33 are parallel to the rotation axis a of the RF module 2 connected to the first connecting rod 33, and are perpendicular to the sliding direction d of the lifting plate 32. In this way, the support member 1, the RF module 2, the first connecting rod 33 and the lifting plate 32 form a crank slider mechanism. The crank slider mechanism refers to a planar connecting rod mechanism that uses a crank and a slider to realize the mutual conversion between rotation and movement. Figure 4 and Figure 5 In the embodiment, the lifting plate 32 forms a slider and the RF module 2 forms a crank.

[0062] The technical solutions provided by the embodiments of the present disclosure are as follows: Figure 4 and Figure 5 As shown, when the driving mechanism 31 drives the lifting plate 32 to slide, the lifting plate 32 drives the multiple RF modules 2 to rotate synchronously through the multiple first connecting rods 33, so that the multiple RF modules 2 rotate synchronously and at the same angle. In this way, the pitch angle adjustment mechanism 3 can synchronously adjust the pitch angles of the multiple RF modules 2, so that the pitch angles of the multiple RF modules 2 always remain consistent, ensuring the continuity of the monitoring range of the multiple RF modules 2.

[0063] In some examples, such as Figure 4 and Figure 5 As shown, the drive mechanism 31 includes a motor 311 and a conversion mechanism 312. The motor 311 is fixed to the support member 1, and the output shaft of the motor 311 is in transmission connection with the lifting plate 32 via the conversion mechanism 312. The conversion mechanism 312 is used to convert the rotation of the output shaft of the motor 311 into the sliding of the lifting plate 32. The conversion mechanism 312 can be a ball screw mechanism, a screw-nut mechanism, a nut-screw mechanism, a rack-and-pinion mechanism, etc.

[0064] like Figure 4 and Figure 5 As shown, taking the conversion mechanism 312 as a nut and screw mechanism as an example, the conversion mechanism 312 includes a screw 3121 and a nut 3122. The output shaft of the motor 311 is connected to the screw 3121 in a transmission manner, and the extension direction of the screw 3121 is parallel to the sliding direction of the lifting plate 32. The nut 3122 is fixed to the lifting plate 32, and the screw 3121 passes through the lifting plate 32 and the nut 3122. When the output shaft of the motor 311 rotates, the screw 3121 rotates and drives the nut 3122 to move along the screw 3121, and the nut 3122 drives the lifting plate 32 to slide. Among them, by changing the rotation direction of the output shaft of the motor 311, the sliding direction of the lifting plate 32 can be changed, thereby realizing bidirectional adjustment of the pitch angle of the RF module 2.

[0065] In some examples, motor 311 is a stepper motor, and the microcontroller unit (MCU) of the main control board 4 can control the rotation of the stepper motor through the microstep control pin and the direction control pin. The main control board 4 can calculate the adjustment angle of the RF module 2 through trigonometric functions, thereby achieving remote and precise adjustment of the pitch angle of the RF module 2. The motor 311 can be a UVW three-phase motor.

[0066] In some examples, such as Figure 6 As shown, the support member 1 includes a bottom shell 11, a support column 12, a hinge plate 13 and a guide pin 14. One end of the support column 12 is fixedly connected to the bottom shell 11, and the other end is fixedly connected to the hinge plate 13. The guide pin 14 is fixed to the side of the hinge plate 13 facing away from the bottom shell 11. Figure 4 and Figure 5 As shown, the motor 311 is located between the bottom housing 11 and the hinge plate 13. Multiple RF modules 2 are rotatably connected to the hinge plate 13 and arranged circumferentially along the hinge plate 13. The lifting plate 32 is opposite the hinge plate 13 and is slidably connected to the guide pin 14. For example, the lifting plate 32 is parallel to the hinge plate 13.

[0067] In some examples, such as Figure 6 As shown, there are two guide pins 14 , and the two guide pins 14 are located at two positions where the hinge plates 13 are connected.

[0068] In some examples, such as Figure 8 As shown, the two positions where the lifting plate 32 is docked include guide holes 323 , and the two guide holes 323 are respectively surrounded by two guide pins 14 .

[0069] In addition to the above-mentioned technical solution in which the driving mechanism 31 includes the motor 311 and the conversion mechanism 312 , in other examples, the driving mechanism 31 may also be an electric push rod, which directly drives the lifting plate 32 to slide.

[0070] In some examples, such as Figure 7 As shown, the RF module 2 includes a first base plate 21 and a RF board 22. The first base plate 21 is rotatably connected to the support member 1 and the first connecting rod 33. The RF board 22 is fixed to the side of the first base plate 21 facing away from the first connecting rod 33.

[0071] In some examples, such as Figure 6 As shown, the hinge plate 13 includes a first hinge arm 131. The first base plate 21 includes a second hinge arm 211, and the first hinge arm 131 and the second hinge arm 211 are rotatably connected via a pin. Figure 6 As shown, the hinge plate 13 includes at least three groups of first hinge arms 131, and each group of first hinge arms 131 is rotatably connected to a second hinge arm 211 of the first base plate 21. Figure 6As shown, each group of first hinged arms 131 includes two first hinged arms 131. Figure 7 As shown, each first base plate 21 includes two second hinged arms 211 .

[0072] In some examples, such as Figure 6 and Figure 7 As shown, the first hinge arm 131 and the second hinge arm 211 are both stamped. Figure 6 As shown, the hinge plate 13 includes a first opening 132 for forming a first hinge arm 131. A first hinge arm 131 extends from two opposite side walls of the first opening 132, respectively.

[0073] In some examples, such as Figure 4 、 Figure 5 and Figure 8 As shown, the lifting plate 32 further includes a plurality of third hinged arms 321, each of which is rotatably connected to one end of a first connecting rod 33. Figure 4 、 Figure 5 and Figure 7 As shown, the first base plate 21 further includes a fourth hinged arm 212 , and the fourth hinged arm 212 is rotatably connected to the other end of a first connecting rod 33 .

[0074] In some examples, such as Figure 7 and Figure 8 As shown, the third hinge arm 321 and the fourth hinge arm 212 are both stamped. Figure 8 As shown, the lifting plate 32 includes a second opening 322 for processing a third hinge arm 321. A third hinge arm 321 extends from a side wall of the second opening 322. Figure 7 As shown, the first base plate 21 includes a fourth opening 214 for processing a fourth hinged arm 212 , and a fourth hinged arm 212 extends from a hole wall of the fourth opening 214 .

[0075] The following is an exemplary description of the installation position and implementation of the main control board 4.

[0076] In some examples, the main control board 4 is fixed on the support member 1 . In other examples, the main control board 4 is fixed on the lifting plate 32 .

[0077] In other examples, such as Figure 2 and Figure 3 As shown, the main control board 4 is rotatably connected to the support member 1. The main control board 4 and multiple RF modules 2 are arranged around the lifting plate 32. The pitch angle adjustment mechanism 3 also includes a second connecting rod 34. One end of the second connecting rod 34 is rotatably connected to the lifting plate 32, and the other end is rotatably connected to the main control board 4.

[0078] The rotation axes at both ends of the second connecting rod 34 are parallel to the rotation axis of the main control board 4 and perpendicular to the sliding direction of the lifting plate 32. Thus, the support member 1, the main control board 4, the second connecting rod 34, and the lifting plate 32 also form a slider-crank mechanism, with the lifting plate 32 forming the slider and the main control board 4 forming the crank.

[0079] The technical solutions provided by the embodiments of the present disclosure are as follows: Figure 2 and Figure 3 As shown, when the driving mechanism 31 drives the lifting plate 32 to slide, the lifting plate 32 drives the multiple RF modules 2 to rotate synchronously through the multiple first connecting rods 33, and simultaneously drives the main control board 4 to rotate through the second connecting rod 34, so that the multiple RF modules 2 and the main control board 4 rotate synchronously and at the same angle. It can be understood that the change in the pitch angle of the main control board 4 will not affect the monitoring angle of the radar 200. The purpose of the synchronous rotation of the main control board 4 and the RF module 2 is to make the force on the lifting plate 32 more balanced, that is, the main control board 4 acts as a counterweight, which improves the smoothness of the sliding of the lifting plate 32.

[0080] For example, Figure 2 and Figure 3 As shown, there are three RF modules 2, and the three RF modules 2 and one main control board 4 are distributed on four sides of the lifting plate 32. This makes the four sides of the lifting plate 32 more evenly stressed.

[0081] In some examples, such as Figure 9 As shown, the main control board 4 includes a second base plate 41 and a main control circuit board 42. The second base plate 41 is rotatably connected to the support member 1 and the second connecting rod 34. The main control circuit board 42 is fixed to the side of the second base plate 41 facing away from the second connecting rod 34. Figure 6 As shown, the hinge plate 13 also includes a fourth set of first hinge arms 131. The second base plate 41 also includes a fifth hinge arm 411. The fourth set of first hinge arms 131 and the fifth hinge arm 411 are rotatably connected via a pin. For example, the fourth set of first hinge arms 131 includes two first hinge arms 131, and the second base plate 41 includes two fifth hinge arms 411.

[0082] In some examples, such as Figure 4 and Figure 5 As shown, the lifting plate 32 further includes a fourth third hinge arm 321, and the fourth third hinge arm 321 is rotatably connected to one end of the second connecting rod 34. Figure 9 As shown, the second base plate 41 further includes a sixth hinge arm 412 , which is rotatably connected to the other end of the second connecting rod 34 .

[0083] In order to facilitate the electrical connection between multiple RF modules 2 and the main control board 4, in some examples, such as Figure 2 、 Figure 3 and Figure 7 As shown, the RF board 22 includes a first connector 221 on one side facing the first base plate 21. The first base plate 21 includes a first opening 213. The first connector 221 passes through the first opening 213. Figure 2-Figure 3 and Figure 9 As shown, the main control circuit board 42 includes a second connector 421 on one side facing the second base plate 41. The second base plate 41 includes a second opening 413. The second connector 421 passes through the second opening 413. The plurality of first connectors 221 are electrically connected to the second connector 421 through a plurality of electrical connection lines.

[0084] In some examples, such as Figure 9 As shown, the main control circuit board 42 includes electronic components 422 on the side facing the second base plate 41. The electronic components 422 include capacitors 4221 or chips 4222. The second base plate 41 includes a third opening 414, through which the electronic components 422 pass. The third opening 414 is used to avoid the electronic components 422.

[0085] In some examples, such as Figure 9 As shown, a sixth hinge arm 412 extends from a wall of the third opening 414. The sixth hinge arm 412 tilts away from the main control circuit board 42 and is configured to be hinged to the second connecting rod 34. Thus, the third opening 414 serves as both a clearance hole for the electronic component 422 and a punching hole for machining the sixth hinge arm 412, enabling hole reuse and reducing the number of holes provided on the second base plate 41.

[0086] In some examples, in order to reduce the number of molds required to make the first base plate 21 and the second base plate 41, the first base plate 21 and the second base plate 41 can have the same structure. Figure 7 As shown, the first base plate 21 includes a fourth opening 214, which has the same size and shape as the third opening 414 on the second base plate 41. A fourth hinged arm 212 extends from a sidewall of the fourth opening 214, which is identical to the sixth hinged arm 412. It will be appreciated that the third opening 414 on the second base plate 41 serves to provide clearance for the electronic components 422, while the fourth opening 214 on the first base plate 21 does not need to provide clearance for electronic components.

[0087] In order to enable the main control board 4 to determine the pitch angle of the RF module 2 in real time, so that the main control board 4 can accurately adjust the pitch angle of the RF module 2, such as Figure 10 and Figure 11 As shown, the radar 200 further includes a gyroscope 5 .

[0088] In some examples, such as Figure 10As shown, the gyroscope 5 is fixed to any RF module 2. In this way, the main control board 4 can determine the pitch angle of the RF module 2 based on the detection data of the gyroscope 5. Exemplarily, the main control board 4 and the gyroscope 5 communicate via a serial peripheral interface (SPI).

[0089] In other examples, the main control board 4 is also in transmission connection with the pitch angle adjustment mechanism 3, such as Figure 11 As shown, the gyroscope 5 is fixed to the main control board 4. The main control board 4 can then determine the pitch angle of the main control board 4 based on the detection data of the gyroscope 5. Since the pitch angle of the main control board 4 is the same as the pitch angle of the RF module 2, the pitch angle determined by the main control board 4 is the pitch angle of the RF module 2. Compared to the technical solution of placing the gyroscope 5 on the RF module 2, placing the gyroscope 5 on the main control board 4 shortens the signal transmission path between the gyroscope 5 and the main control board 4, and eliminates the need for additional signal transmission lines.

[0090] This embodiment also provides a transmission line tower monitoring system. Figure 12 As shown, the transmission line tower monitoring system includes a transmission line tower 100 and a radar 200. The radar 200 is fixed to the transmission line tower 100 and is used to monitor the movement of objects. Figure 12 As shown, the transmission line tower monitoring system includes two radars 200. The two radars 200 can be installed diagonally. The installation height of the two radars 200 can be 10m-15m.

[0091] In some examples, such as Figure 12 As shown, the transmission line tower monitoring system further includes a camera 300, which is used to adjust the shooting area based on the data collected by the radar 200. For example, when the radar 200 detects movement of an object in a certain area, the camera 300 is adjusted to the shooting area to capture the moving object.

[0092] In some examples, such as Figure 12 As shown, there are two cameras 300 .

[0093] The terms used in the embodiments of the present disclosure are only used to explain the embodiments of the present disclosure and are not intended to limit the present disclosure. Unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present disclosure should be the common meanings understood by people with ordinary skills in the field to which the present disclosure belongs. The above are only optional embodiments of the present disclosure and are not intended to limit the present disclosure. Any modifications, equivalent replacements, improvements, etc. made within the principles of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A radar, characterized in that: The radar comprises a support member (1), a plurality of radio frequency modules (2), a pitch angle adjustment mechanism (3) and a main control board (4); The plurality of radio frequency modules (2) are all rotatably connected to the support member (1), and the radio frequency modules (2) can adjust the pitch angle by rotation, and the plurality of radio frequency modules (2) are arranged along the circumference of the support member (1); The pitch angle adjustment mechanism (3) is transmission-connected to the multiple radio frequency modules (2); The main control board (4) is used to process the collected data of the multiple radio frequency modules (2), and to control the pitch angle adjustment mechanism (3) to drive the multiple radio frequency modules (2) to rotate synchronously.

2. The radar according to claim 1, characterized in that The pitch angle adjustment mechanism (3) comprises a driving mechanism (31), a lifting plate (32) and a plurality of first connecting rods (33); The lifting plate (32) is slidably connected to the support member (1), the driving mechanism (31) is transmission-connected to the lifting plate (32), and the driving mechanism (31) is used to drive the lifting plate (32) to slide; The plurality of radio frequency modules (2) are arranged around the lifting plate (32), one end of each first connecting rod (33) is rotatably connected to the lifting plate (32), and the other end is rotatably connected to one of the radio frequency modules (2); The rotation axes at both ends of each first connecting rod (33) are parallel to the rotation axis of the radio frequency module (2) connected to the first connecting rod (33) and are perpendicular to the sliding direction of the lifting plate (32).

3. The radar according to claim 2, characterized in that The driving mechanism (31) includes a motor (311), a screw (3121) and a nut (3122); The motor (311) is fixed to the support member (1), the output shaft of the motor (311) is in transmission connection with the screw (3121), and the extending direction of the screw (3121) is parallel to the sliding direction of the lifting plate (32); The nut (3122) is fixed to the lifting plate (32), and the screw (3121) passes through the lifting plate (32) and the nut (3122).

4. The radar according to claim 3, characterized in that The support member (1) comprises a bottom shell (11), a support column (12), a hinge plate (13) and a guide pin (14); One end of the support column (12) is fixedly connected to the bottom shell (11), and the other end is fixedly connected to the hinge plate (13); the guide pin (14) is fixed to the side of the hinge plate (13) facing away from the bottom shell (11); The motor (311) is located between the bottom shell (11) and the hinge plate (13); The plurality of radio frequency modules (2) are all rotatably connected to the hinge plate (13) and are arranged along the circumference of the hinge plate (13); The lifting plate (32) is opposite to the hinge plate (13) and is slidably connected to the guide pin (14).

5. The radar according to any one of claims 2 to 4, characterized in that: The radio frequency module (2) comprises a first base plate (21) and a radio frequency board (22); The first base plate (21) is rotatably connected to the support member (1) and the first connecting rod (33), and the radio frequency board (22) is fixed to a side of the first base plate (21) facing away from the first connecting rod (33); The radio frequency board (22) includes a first connector (221) on a side facing the first base plate (21); the first base plate (21) includes a first opening (213); the first connector (221) passes through the first opening (213); and the first connector (221) is used to be electrically connected to the main control board (4).

6. The radar according to any one of claims 2 to 4, characterized in that: The main control board (4) is rotatably connected to the support member (1), and the main control board (4) and the plurality of radio frequency modules (2) are arranged around the lifting plate (32); The pitch angle adjustment mechanism (3) further includes a second connecting rod (34), one end of which is rotatably connected to the lifting plate (32), and the other end of which is rotatably connected to the main control board (4); The rotation axes at both ends of the second connecting rod (34) are parallel to the rotation axis of the main control board (4) and perpendicular to the sliding direction of the lifting plate (32).

7. The radar according to claim 6, characterized in that There are three radio frequency modules (2), and the three radio frequency modules (2) and one main control board (4) are distributed on four sides of the lifting plate (32).

8. The radar according to claim 6, characterized in that The main control board (4) comprises a second base board (41) and a main control circuit board (42); The second base plate (41) is rotatably connected to the support member (1) and the second connecting rod (34), and the main control circuit board (42) is fixed to a side of the second base plate (41) facing away from the second connecting rod (34); The main control circuit board (42) includes a second connector (421) on a side facing the second base plate (41), the second base plate (41) includes a second opening (413), the second connector (421) passes through the second opening (413), and the second connector (421) is used to be electrically connected to the multiple radio frequency modules (2).

9. The radar according to claim 8, characterized in that The main control circuit board (42) further comprises electronic components (422) on a side facing the second bottom plate (41), and the electronic components (422) include capacitors (4221) or chips (4222); The second bottom plate (41) further includes a third opening (414), and the electronic component (422) passes through the third opening (414).

10. The radar according to claim 9, characterized in that A sixth hinge arm (412) extends from a hole wall of the third opening (414), and the sixth hinge arm (412) is tilted away from the main control circuit board (42). The sixth hinge arm (412) is used for hinge connection with the second connecting rod (34).

11. The radar according to claim 6, characterized in that The radar further comprises a gyroscope (5), wherein the gyroscope (5) is fixed to the main control board (4); The main control board (4) is used to determine the pitch angle of the radio frequency module (2) based on the detection data of the gyroscope (5), wherein the pitch angle of the radio frequency module (2) is the same as the pitch angle of the main control board (4).

12. The radar according to any one of claims 1 to 4, characterized in that: The radar further comprises a gyroscope (5), wherein the gyroscope (5) is fixed to any one of the radio frequency modules (2); The main control board (4) is used to determine the pitch angle of the radio frequency module (2) based on the detection data of the gyroscope (5).

13. The radar according to any one of claims 1 to 4, characterized in that: The total monitoring angle of the multiple radio frequency modules (2) is greater than 180°.

14. The radar according to any one of claims 1 to 4, characterized in that: The adjustment range of the pitch angle of the radio frequency module (2) is greater than or equal to 20°.

15. A transmission line tower monitoring system, characterized in that: The transmission line tower monitoring system comprises a transmission line tower (100) and a radar (200) according to any one of claims 1 to 14; The radar (200) is fixed to the power transmission line tower (100), and the radar (200) is used to monitor the movement of an object.

16. The transmission line tower monitoring system according to claim 15, characterized in that: The transmission line tower monitoring system further comprises a camera (300), and the camera (300) is used to adjust a shooting area based on the collected data of the radar (200).

Images