Photoelectric surveying and mapping turntable for measuring shielding angle of radar

Abstract

The utility model belongs to the field of photoelectric surveying and mapping, and discloses a photoelectric surveying and mapping turntable for measuring a radar shielding angle. Comprising an inner frame assembly, a pitching assembly, an orientation assembly and a leveling assembly, panoramic scanning is carried out in a large-view-field mode, rough measurement of a shielding angle is completed in an image processing mode, and priori knowledge is formed; accurate positioning measurement is carried out on the subdivided shielding angle according to rough measurement priori knowledge in a small field-of-view mode, and accurate measurement of the distance of the shielding object is realized through a laser range finder; and then performing filtering fine equalization processing on adjacent measurement point data by adopting an association algorithm for fine measurement data processing to improve the measurement precision, performing reminding marking on positions with abrupt change data, performing interpretation, modification and improvement on the abrupt change data in a manual assistance mode, and realizing optical measurement drawing of the shielding angle. The technical problems that in the prior art, blocking object interference elimination time is short, deployment efficiency is low, the manual observation angle is inaccurate, and errors are large are solved.

Description

Technical Field

[0001] This utility model belongs to the field of optoelectronic surveying technology, and relates to an optoelectronic surveying turntable for measuring radar shielding angle. Background Technology

[0002] Weather radar and air traffic control radar, whether mobile or fixed, require recalibration after leaving the factory or being installed at the designated location to ensure accurate target detection. The calibration method involves using the radar to detect a calibration pole 1-3 kilometers away, generating an echo target on the radar. This echo is then observed through a traditional optical sight mounted on the radar. By visually observing the position of the calibration pole on the optical sight and reading the scale value of the central crosshair, the deviation between the radar detection angle and the optical observation angle is determined. These two values ​​are then corrected to match, thus achieving the purpose of calibrating the radar's accuracy.

[0003] However, in mountainous areas, hilly terrain, or when radar is deployed near forests or tall buildings, its detection range will be subject to persistent clutter and interference. Traditionally, this interference is manually selected and removed. This involves multiple manual scans to determine if the interference is caused by obstructions, thus eliminating inherent radar instability. Additionally, other visual methods are used for verification to confirm the presence of interfering objects in these locations. Once the radar is deployed, removing obstruction interference is slow, resulting in low deployment efficiency, and manual observation angles are often inaccurate, leading to significant errors. Utility Model Content

[0004] The purpose of this invention is to provide an optoelectronic mapping turntable for measuring radar shielding angles. It has basic functions such as manual leveling, north finding, and positioning. It can quickly perform full-circle imaging, image processing, identification, calculation, and ranging of the shielding angle of the point to be measured. It supports manual correction of shielding angle identification and calculation errors. It can also quickly draw shielding angle azimuth maps and global statistical data of shielding angles with the vertex of the transmitted beam as the pole through north finding, positioning, visual calculation, and laser ranging data. This solves the technical problems of slow time to eliminate interference from obstructions, low deployment efficiency, inaccurate angle of manual observation, and large errors in the prior art.

[0005] To solve the above technical problems, the present invention adopts the following technical solution: an optoelectronic mapping turntable for measuring radar shielding angle includes: an inner frame assembly, a pitch assembly, an azimuth assembly and a leveling assembly;

[0006] The leveling component is mounted on a predetermined tripod. The azimuth component and the pitch component are mounted on the upper end of the leveling component from bottom to top. The inner frame component has pitch axes at both ends, which are movably connected to the pitch component. The leveling component is fixedly connected to the predetermined tripod.

[0007] Furthermore, the leveling component includes a leveling base, a leveling handwheel, and a connector; the lower end of the leveling base is provided with a tripod interface and is fixedly connected to a predetermined tripod; the connector is provided on the upper end of the leveling base, with one end fixedly connected to the leveling base and the other end fixedly connected to the orientation component; the leveling handwheel is sleeved on the outside of the connector and is movably connected to the connector.

[0008] Furthermore, a bushing is provided between the leveling handwheel and the connecting member, and the bushing and the connecting member are detachably connected.

[0009] Furthermore, the azimuth assembly includes a bus ring, an azimuth encoder is sleeved on the outer bottom of the bus ring, and an azimuth shaft is sleeved on the outer top. An azimuth shaft is provided with a pitch azimuth adapter and is fixedly connected to the azimuth shaft. An azimuth housing is provided at the lower end of the pitch azimuth adapter and is detachably connected to the pitch azimuth adapter. An azimuth motor is provided inside the azimuth housing and is fixedly connected to the azimuth housing through a mounting hole. An azimuth bearing is provided on the outer side of the azimuth shaft and is fixedly connected to the azimuth motor.

[0010] Furthermore, the orientation component also includes a servo control board and a communication control board; the servo control board and the communication control board are arranged from top to bottom at the lower end of the bus ring and are fixedly connected to the orientation housing.

[0011] Furthermore, the pitch component includes a first bracket, which is fixedly connected to the azimuth component.

[0012] Furthermore, the inner frame assembly includes an inner frame, a laser rangefinder, a wide-angle camera, and a telephoto camera; the pitch axis is installed on both sides of the inner frame and is movably connected to the pitch assembly; the laser rangefinder, the wide-angle camera, and the telephoto camera are disposed inside the inner frame and are fixedly connected to the inner frame through support members; the telephoto camera is disposed on one side of the laser rangefinder, and the wide-angle camera is disposed on the upper end of the laser rangefinder and the telephoto camera.

[0013] Furthermore, the first bracket is equipped with a pitch bearing, a pitch encoder, an inclinometer, and a pitch motor; the pitch motor is sleeved on the pitch shaft, the pitch bearing and the pitch encoder are sleeved on another pitch shaft from the inside to the outside, and the inclinometer is located on one side of the pitch encoder.

[0014] Furthermore, the pitch encoder is an angle measurement feedback sensor, and the pitch encoder rotation range is -6° to +30°.

[0015] Furthermore, the rotation range of the bus ring is 0° to 360°, and the mechanical rotation angle of the azimuth axis is 0° to 360°.

[0016] Compared with the prior art, the present invention has the following beneficial technical effects:

[0017] This utility model discloses an optoelectronic mapping turntable for measuring radar shielding angles. When deploying equipment, operators can quickly and intuitively view the shielding situation of the environment near the deployed radar, thereby efficiently and accurately completing equipment deployment, achieving the goal of optimal deployment, and improving the quality and efficiency of simulation scenario production.

[0018] This invention relates to an optoelectronic mapping turntable for measuring radar obstruction angles. It employs a large field-of-view scanning method to perform a panoramic scan and uses image processing to coarsely measure the obstruction angle, forming prior knowledge. Then, using a small field-of-view method, it accurately locates and measures the subdivided obstruction angles based on the coarse prior knowledge, and uses a laser rangefinder to precisely measure the distance to the obstructing object. Finally, it processes the fine measurement data using an association algorithm to filter and finely equalize data from adjacent measurement points to improve measurement accuracy. Locations with abrupt changes in data are marked, and manual assistance is used to interpret, modify, and improve the data, thus achieving optical measurement and mapping of the obstruction angle. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of this utility model, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the structure of an optoelectronic mapping turntable for measuring radar shielding angle according to the present invention;

[0021] Figure 2 This is a cross-sectional view of an optoelectronic mapping turntable for measuring radar shielding angle according to the present invention.

[0022] Figure 3 This is a schematic diagram of the orientation component in an embodiment of the present invention;

[0023] Figure 4 This is a structural schematic diagram of the inner frame component in an embodiment of the present utility model;

[0024] Figure 5 This is a schematic diagram of the leveling component in an embodiment of the present invention;

[0025] Figure 6 This is a schematic diagram of the connecting member in an embodiment of the present utility model.

[0026] Figure label:

[0027] 1-Inner frame assembly; 11-Pitch axis; 12-Inner frame; 13-Laser rangefinder; 14-Wide-angle camera; 15-Telephoto camera; 2-Pitch assembly; 21-First bracket; 22-Pitch bearing; 23-Pitch encoder; 24-Inclinometer; 25-Pitch motor; 3-Azimuth assembly; 31-Busseter ring; 32-Azimuth encoder; 33-Azimuth axis; 34-Pitch-Azimuth adapter; 35-Azimuth housing; 36-Azimuth motor; 37-Azimuth bearing; 38-Servo control board; 39-Communication control board; 4-Leveling assembly; 41-Leveling base; 42-Leveling handwheel; 43-Connector; 44-Bushing. Detailed Implementation

[0028] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of the present invention.

[0029] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this utility model are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the utility model described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, such as a process, method, system, product, or apparatus comprising a series of steps or units, are not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0030] The present invention will now be described in further detail with reference to the accompanying drawings:

[0031] like Figure 1As shown, this utility model provides an optoelectronic mapping turntable for measuring radar shielding angles, including an inner frame assembly 1, a pitch assembly 2, an azimuth assembly 3, and a leveling assembly 4. The pitch assembly 2 has a handle at its upper end, with a BeiDou positioning antenna in the middle of the handle. One set of BeiDou positioning antenna receivers is installed on the coaxial position of the optoelectronic mapping turntable, and another set of BeiDou receivers is placed 20 meters away. The heading accuracy of the dual-antenna BeiDou receiver equipment can reach 0.02°. The leveling assembly 4 is set on a predetermined tripod. The azimuth assembly 3 and the pitch assembly 2 are set on the upper end of the leveling assembly 4 from bottom to top. The inner frame assembly 1 has pitch axes 11 at both ends, which are movably connected to the pitch assembly 2. The leveling assembly 4 is fixedly connected to the predetermined tripod.

[0032] like Figure 5 As shown, the leveling component 4 adopts a traditional three-point leveling mechanism, including a leveling base 41, a leveling handwheel 42, a connector 43, and a bushing 44. In this embodiment, the connector 43 is an adjusting stud. The leveling base 41 has a mechanical interface with a predetermined tripod in the center, which allows the position and height of the photoelectric mapping turntable to be consistent with the position and height of the predetermined radar antenna. The mechanical interface has a three-eighths-inch thread inside, which connects to the predetermined external tripod thread, facilitating the erection of the photoelectric mapping turntable. The leveling handwheel 42 is located on the upper end of the leveling base 41. The three sets of leveling handwheels 42 and the connector 43 form three fulcrums, which together form an equilateral triangle. Figure 6 As shown, the lower end of the connector 43 is spherical and installed inside the leveling base 41, while the upper end is cylindrical and passes through the leveling handwheel 42 to connect with the orientation component 3. A bushing 44 is positioned between the leveling handwheel 42 and the connector 43. The leveling handwheel 42 drives the connector 43 to move up and down within the bushing 44, thereby adjusting the tilt angle of the entire turntable bottom. Whether the level is achieved is referenced to the bar level indicator on the outside of the orientation component 3.

[0033] like Figure 3 As shown, the azimuth assembly 3 includes a bus ring 31, an azimuth encoder 32, an azimuth axis 33, a pitch-azimuth adapter 34, an azimuth housing 35, an azimuth motor 36, an azimuth bearing 37, a servo control board 38, and a communication control board 39. The bus ring 31 is a cap-type slip ring of the SRC025 series, which fully meets the requirements for image and data transmission with 360° unrestricted azimuth rotation. The servo control board 38 is connected to the pitch motor 25 and the azimuth motor 36 via communication cables to send commands. It is also connected to the pitch encoder 23 and the azimuth encoder 32 via cables for signal transmission. The communication cables transmit data to the power supply and the communication control board.

[0034] The communication control board 39 is the central processing platform of the photoelectric mapping turntable. It is responsible for powering the load unit components and facilitating the exchange of internal and external communication data. The internal and external exchange uses a gigabit network interface. The power supply components include the laser rangefinder 13, the wide-angle camera 14, and the telephoto camera 15. The communication exchange components include the laser rangefinder 13, the wide-angle camera 14, the telephoto camera 15, and the servo control board 38. The communication control board 39 transmits data from the laser rangefinder 13, the wide-angle camera 14, the telephoto camera 15, and the servo control board 38 via cables. After processing by the MCU, the data is sent to the host computer. Similarly, the instructions sent from the host computer are analyzed and processed by the MCU on the communication control board 39 and transmitted to the laser rangefinder 13, the wide-angle camera 14, the telephoto camera 15, and the servo control board 38 via cables.

[0035] An azimuth encoder 32 is sleeved on the bottom outer side of a busbar ring 31, an azimuth shaft 33 is sleeved on the top outer side of a busbar ring 31, an azimuth pitch adapter 34 is located on the upper end of the azimuth shaft 33 and is threadedly connected to the azimuth shaft 33 by a fastener, an azimuth housing 35 is located on the lower end of the azimuth pitch adapter 34 and is detachably connected to the azimuth pitch adapter 34, an azimuth motor 36 is located inside the azimuth housing 35 and is snapped into the azimuth housing 35 through a mounting hole, and an azimuth bearing 37 is located on the outer side of the azimuth shaft 33 and is snapped into the azimuth motor 36.

[0036] The pitch component 2 and the azimuth component 3 intersect at a single point, are supported by precision mechanical bearings, and are driven by a DC brushless torque motor.

[0037] like Figure 2 As shown, the pitch assembly 2 has a U-shaped design and includes a first bracket 21 made of aluminum alloy 7075. The first bracket 21 houses a pitch bearing 22, a pitch encoder 23, an inclinometer 24, and a pitch motor 25. The pitch motor 25 is mounted on one pitch shaft 11, and the pitch bearing 22 and the pitch encoder 23 are mounted on another pitch shaft 11, with the inclinometer 24 mounted on one side of the pitch encoder 23. The inclinometer 24 is fastened to the first bracket 21 by a mounting bracket. The pitch encoder 23 is an angle measurement feedback sensor with a rotation range of -6° to +30°.

[0038] like Figure 4 As shown, the inner frame assembly 1 includes an inner frame 12, a laser rangefinder 13, a wide-angle camera 14, and a telephoto camera 15. The pitch axis 11 is installed on both sides of the inner frame 12 and is movably connected to the pitch assembly 2. The laser rangefinder 13, the wide-angle camera 14, and the telephoto camera 15 are disposed inside the inner frame 12 and are fixedly connected to the inner frame 12 by a support member. The telephoto camera 15 is disposed on one side of the laser rangefinder 13, and the wide-angle camera 14 is disposed on the upper end of the laser rangefinder 13 and the telephoto camera 15 to ensure the spatial geometric relationship of each optical device.

[0039] A workflow for an optoelectronic mapping turntable used to measure radar shielding angles:

[0040] The photoelectric mapping turntable is mounted on a predetermined tripod. A Beidou positioning antenna is installed using the top mechanical interface. The center point of the line of sight is determined as the base point to complete positioning and orientation calibration. Based on the orientation calibration results, the direction of the photoelectric mapping turntable's line of sight is calibrated. The automated mapping software is then started; specifically, the host computer software completes the system preparation work and inputs relevant parameters.

[0041] The initial position for automated coarse azimuth measurement is 0° azimuth and 5° elevation, meaning the azimuth is due north and the elevation is horizontal. The camera is then rotated to the correct position, and feedback is provided upon successful rotation. Subsequently, a coarse scan is performed according to interface instructions. This coarse scan takes point-by-point photos at 20° intervals (for a large field of view of 25° azimuth, adjacent images have a 5° overlap). This point-by-point photo-taking function is controlled by a host computer, which processes and manages both the photo-taking commands and the servo rotation orientation angle. The servo also provides feedback on successful rotation.

[0042] The initial position for automated fine-measurement of the azimuth angle is 0°, using the elevation angle obtained from the coarse elevation measurement (i.e., azimuth is due north, elevation is coarse measurement data). The servo system rotates according to the initial position and provides feedback upon reaching the correct position. Then, a fine scan is performed based on interface instructions, controlled according to the elevation information of the azimuth angle obtained from the coarse measurement. For areas where the elevation fluctuation of the coarse measurement data is within 2° and not greater than 2°, the design employs point-by-point imaging every 2°, and controls the laser rangefinder 13 to measure the distance to obstructions. (The large field of view azimuth angle is 2.5°, with a 0.5° overlap between adjacent images). For areas where the elevation fluctuation of the coarse measurement data is greater than 2°-5° within 2°, the design employs point-by-point imaging every 1°, and controls the laser rangefinder to measure the distance to obstructions. For areas where the pitch fluctuation of the coarse measurement data is greater than 5° within a 2° range, the design adopts point-by-point shooting at every 1° fluctuation point, and controls the laser rangefinder 13 to measure the distance to the obstruction.

[0043] Manual correction is performed based on the shading angles with confidence levels below the threshold and the locations of shading angles identified as complex terrain locations. The data is then manually judged and verified. After correction, the original measurement data is modified to form the final test shading angle data table.

[0044] In summary, firstly, a large field-of-view scanning method is used to perform a panoramic scan and image processing to coarsely measure the occlusion angle and form prior knowledge. Then, a small field-of-view method is used to accurately locate and measure the subdivided occlusion angle based on the coarse prior knowledge, and the laser rangefinder 13 is used to accurately measure the distance to the occluded object. Then, the fine measurement data is processed by using an association algorithm to filter and finely equalize the data of adjacent measurement points to improve the measurement accuracy. The positions with abrupt changes in data are marked as warnings, and the abrupt changes are interpreted, modified and improved with manual assistance to realize the optical measurement and drawing of the occlusion angle.

[0045] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and not to limit it. Although the utility model has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of this utility model. Any modifications or equivalent substitutions that do not depart from the spirit and scope of this utility model should be covered within the protection scope of the claims of this utility model.

Claims

1. A photoelectric mapping turntable for measuring radar shielding angle, characterized in that: It includes an inner frame component (1), a pitch component (2), an orientation component (3), and a leveling component (4); The leveling component (4) is mounted on a predetermined tripod. The azimuth component (3) and the pitch component (2) are mounted on the upper end of the leveling component (4) from bottom to top. The inner frame component (1) has pitch shafts (11) at both ends, which are movably connected to the pitch component (2). The leveling component (4) is fixedly connected to the predetermined tripod. The inner frame component (1) includes an inner frame (12), a laser rangefinder (13), a wide-angle camera (14), and a telephoto camera (15). The pitch component (2) includes a first bracket (21), which contains a pitch bearing (22), a pitch encoder (23), an inclinometer (24), and a pitch motor (25). The orientation component (3) includes a bus ring (31); an orientation encoder (32) is sleeved on the bottom outer side of the bus ring (31), and an orientation shaft (33) is sleeved on the top outer side.

2. The photoelectric mapping turntable for measuring radar shielding angle according to claim 1, characterized in that: The leveling assembly (4) includes a leveling base (41), a leveling handwheel (42), and a connector (43). The lower end of the leveling base (41) is provided with a tripod interface and is fixedly connected to a predetermined tripod. The connector (43) is provided on the upper end of the leveling base (41), with one end fixedly connected to the leveling base (41) and the other end fixedly connected to the orientation component (3). The leveling handwheel (42) is sleeved on the outside of the connector (43) and is movably connected to the connector (43).

3. The photoelectric mapping turntable for measuring radar shielding angle according to claim 2, characterized in that: A bushing (44) is provided between the leveling handwheel (42) and the connector (43), and the bushing (44) and the connector (43) are detachably connected.

4. The photoelectric mapping turntable for measuring radar shielding angle according to claim 1, characterized in that: An azimuth adapter (34) is provided on the azimuth axis (33) and is fixedly connected to the azimuth axis (33). An azimuth housing (35) is provided at the lower end of the azimuth adapter (34) and is detachably connected to the azimuth adapter (34). An azimuth motor (36) is provided inside the azimuth housing (35) and is fixedly connected to the azimuth housing (35) through a mounting hole. An azimuth bearing (37) is provided on the outside of the azimuth axis (33) and is fixedly connected to the azimuth motor (36).

5. The photoelectric mapping turntable for measuring radar shielding angle according to claim 4, characterized in that: The orientation component (3) also includes a servo control board (38) and a communication control board (39). The servo control board (38) and communication control board (39) are arranged from top to bottom at the lower end of the bus ring (31) and are fixedly connected to the azimuth housing (35).

6. The photoelectric mapping turntable for measuring radar shielding angle according to claim 1, characterized in that: The first bracket (21) is fixedly connected to the orientation component (3).

7. The photoelectric mapping turntable for measuring radar shielding angle according to claim 1, characterized in that: The pitch axis (11) is installed on both sides of the inner frame (12) and is movably connected to the pitch assembly (2). The laser rangefinder (13), wide-angle camera (14) and telephoto camera (15) are set inside the inner frame (12) and are fixedly connected to the inner frame (12) through support members. The telephoto camera (15) is set on one side of the laser rangefinder (13), and the wide-angle camera (14) is set on the upper end of the laser rangefinder (13) and the telephoto camera (15).

8. The photoelectric mapping turntable for measuring radar shielding angle according to claim 6, characterized in that: The pitch motor (25) is mounted on the pitch shaft (11), the pitch bearing (22) and the pitch encoder (23) are mounted on another pitch shaft (11) from the inside out, and the tilt meter (24) is mounted on one side of the pitch encoder (23).

9. The photoelectric mapping turntable for measuring radar shielding angle according to claim 8, characterized in that: The pitch encoder (23) is an angle measurement feedback sensor, and the pitch encoder (23) has a rotation range of -6° to +30°.

10. The photoelectric mapping turntable for measuring radar shielding angle according to claim 4, characterized in that: The rotation range of the bus ring (31) is 0° to 360°, and the mechanical rotation angle of the azimuth axis (33) is 0° to 360°.

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