A radar tripod capable of automatic leveling

Abstract

The utility model discloses a radar tripod of automatic leveling, including the support frame of sitting ground, radar body is installed to the top position of support frame, the inside of support frame is worn and has wire harness, and the top end position of wire harness is connected with motor control module to the inside position of radar body, and the bottom end of radar body is connected in the one side of screw motor, realizes the adjustment of support frame height and angle, and then radar body leveling treatment. The radar tripod of automatic leveling, portable and low cost, the whole device can realize the leveling of platform fast under the condition of basically not increasing additional equipment and cost, integrates the fast iteration algorithm, can realize the leveling of equipment fast, in order to shorten the leveling time, the fast iteration algorithm based on tiltmeter and radar turntable data is proposed, overcomes the traditional traversal step algorithm, and the leveling time of equipment and iteration number are greatly shortened.

Description

Technical Field

[0001] This utility model relates to the field of radar-related technology, specifically to a radar tripod that can automatically level. Background Technology

[0002] Currently used tripod supports lack automatic leveling design, requiring workers to spend a significant amount of time leveling the structure. Furthermore, the leveling standard relies on visual inspection of the spirit level bubble's center position, which is highly subjective and has limited accuracy. In applications with high leveling requirements, users employ gyroscope and motor control for automatic leveling, but this method is costly and structurally bulky, severely limiting the use of automatic leveling technology in many fields.

[0003] Traditional radar tripods present challenges in mountainous areas due to uneven soil, making radar placement difficult. Conversely, flat terrain requires a suitable structure, and the frequent changes in radar deployment locations further complicate matters. To address these issues, a tripod structure for a low-altitude search radar, disclosed in existing technology (Chinese patent application number CN201320403944.4, application date 2013-07-09), can be referenced. This modular design facilitates maintenance and replacement. The system can be mounted on a light military off-road vehicle for field mobile command and control. The tripod can be easily erected on mountaintops, rooftops, and other locations. Improved anti-slip pads and fixing holes ensure stable placement and flexible deployment. The system's deployment and retrieval are simple, rapid, and highly mobile.

[0004] Although the above-mentioned devices are easy to install, they still have some shortcomings in use. Not only is manual leveling time-consuming and laborious, but also the leveling accuracy is limited and other automatic leveling technologies are cumbersome and expensive.

[0005] Therefore, we proposed an automatically leveling radar tripod that can effectively solve the above problems. Utility Model Content

[0006] The purpose of this invention is to provide an automatically leveling radar tripod to solve the problems mentioned in the background art, such as the time-consuming and laborious manual leveling of existing radar tripods, the limited leveling accuracy, and the bulky and expensive nature of other automatic leveling technologies.

[0007] To achieve the above objectives, this utility model provides the following technical solution: an automatically leveling radar tripod, comprising a support frame on the ground, with a radar body mounted on the top of the support frame; a wiring harness extends through the interior of the support frame, with the top end of the wiring harness extending into the interior of the radar body and connecting to a motor control module; the bottom end of the radar body is connected to one side of a lead screw motor to control the operation of the lead screw motor; the output end of the lead screw motor is connected to one side of a leveling mechanism to adjust the height and angle of the support frame, thereby leveling the radar body.

[0008] As a preferred technical solution of this application, the radar body is equipped with a tilt meter, which can acquire tilt angle information of the radar array at different azimuth angles. The tilt meter has a measurement accuracy of ±0.1°. Based on the tilt angle information, the angle between the radar rotation plane and the horizontal plane can be determined. The bottom of the radar body is fixedly located inside the radar turntable, and the outer side of the radar turntable is rotatably located outside the three sets of support frames.

[0009] As a preferred technical solution of this application, the radar turntable is equipped with a motor control module inside its cabin, which continuously receives angle information from the inclinometer and the rotating screw motor of the radar body. The control accuracy of the screw motor can reach 0.1mm, and the power of the screw motor is 100W. It also establishes the correspondence between the azimuth angle and the tilt angle.

[0010] As a preferred technical solution of this application, the leveling mechanism includes a rolling screw fixed at the output end of the screw motor. The outer side of the rolling screw is threadedly connected to the inside of the sleeve, and the outer side of the sleeve is slidably disposed on the inner wall of the guide groove. A support seat is fixed at the bottom of the sleeve, and the outer side of the support seat extends out of the outer side of the support frame. A fixing bolt is provided on the outer side of the support frame.

[0011] As a preferred technical solution of this application, the guide groove is formed on the inner wall of the support frame, and the guide groove is distributed in four sets at equal angles with respect to the center position of the support frame.

[0012] As a preferred technical solution of this application, the fixing bolt is threadedly connected to the inside of the support frame, and the fixing bolt extends into the inside of the support frame and abuts against the outer wall of the sleeve.

[0013] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0014] 1. Lightweight and low cost; the entire device can quickly level the platform without adding any extra equipment or costs.

[0015] 2. It integrates a fast iterative algorithm, which can quickly achieve equipment leveling. In order to shorten the leveling time, this invention proposes a fast iterative algorithm based on inclinometer and radar turntable data, which overcomes the traditional traversal step algorithm and greatly shortens the equipment leveling time and the number of iterations.

[0016] 3. The entire equipment leveling process only requires the operator to tighten the fixing bolts of the corresponding tripod arm before the lead screw motor is powered off. Leveling is completed with a single key, avoiding the errors introduced by manual leveling and the inefficiency of manual leveling. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the main structure of this utility model;

[0018] Figure 2 This is a schematic diagram of the cross-sectional structure of the support frame of this utility model;

[0019] Figure 3 This is a flowchart of the leveling system of this utility model;

[0020] Figure 4 This is a block diagram of the tripod leveling system of this utility model;

[0021] Figure 5 This is a diagram showing the relationship between the azimuth angle and tilt angle of the rotating plane of this utility model.

[0022] Figure 6 This is a diagram showing the positional relationship of the MIN component of this utility model when it is exactly between B1 and B2.

[0023] Figure 7 This is a diagram showing the positional relationship of the present invention MIN when it is located between B1 and B2, closer to B2.

[0024] Figure 8 This is a diagram showing the positional relationship between MIN and B1 when they coincide.

[0025] In the diagram: 1. Support frame; 2. Wiring harness; 3. Lead screw motor; 4. Rolling lead screw; 5. Sleeve; 6. Guide groove; 7. Support base; 8. Fixing bolt; 9. Radar body. Detailed Implementation

[0026] The technical solutions of the present utility model 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 utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0027] Please see Figures 1-6The present invention provides the following technical solution: a radar tripod that can be automatically leveled.

[0028] The system includes a support frame 1 positioned on the ground, with the radar body 9 mounted on its top. A wiring harness 2 extends from the inside of the support frame 1, with its top end connecting to the motor control module inside the radar body 9. The bottom of the radar body 9 is connected to one side of a lead screw motor 3, controlling its operation. A leveling mechanism is connected to the output end of the lead screw motor 3, allowing for height and angle adjustments to the support frame 1, thus leveling the radar body 9. The radar body 9 is equipped with a tilt meter, capable of acquiring tilt information of the radar array at different azimuth angles. The tilt meter's measurement accuracy reaches ±0.1°. Based on the tilt information, the angle between the radar body 9's rotation plane and the horizontal plane can be determined. The bottom of the radar body 9 is fixedly located inside the radar turntable, while the outer side of the turntable rotatably mounts on the outside of the three sets of support frames 1. The radar turntable's cabin... The internal structure includes a motor control module that continuously receives angle information from the inclinometer and the rotating lead screw motor 3 of the radar body 9. The lead screw motor 3 has a control accuracy of 0.1mm and a power of 100W, and establishes a correspondence between the azimuth and tilt angles. The leveling mechanism includes a rolling lead screw 4 fixed at the output end of the lead screw motor 3. The outer side of the rolling lead screw 4 is threadedly connected to the inside of the sleeve 5, and the outer side of the sleeve 5 is slidably set on the inner wall of the guide groove 6. A support seat 7 is fixed at the bottom of the sleeve 5, and the outer side of the support seat 7 extends out of the outer side of the support frame 1. A fixing bolt 8 is provided on the outer side of the support frame 1. The guide groove 6 is opened on the inner wall of the support frame 1, and four sets of guide grooves are equally distributed about the center of the support frame 1. The fixing bolt 8 is threadedly connected to the inside of the support frame 1, and the fixing bolt 8 extends into the inside of the support frame 1 and abuts against the outer wall of the sleeve 5.

[0029] To accelerate the leveling process, this invention abandons the traditional traversal scanning leveling algorithm and introduces a combination of large and small steps, adjusting rotation before leveling. Guided by negative feedback, this fast iterative algorithm ensures the system's leveling process is completed as quickly as possible. The implementation steps of the fast iterative algorithm are as follows:

[0030] Step 1: First, it is necessary to determine the azimuth angles of the three arms of the tripod within the rotation plane of the radar body 9. When controlling the rotation of the radar array, each azimuth angle corresponds to a tilt angle, such as in... Figure 5 The middle curve represents the tilt angle data output by the inclinometer, the horizontal axis represents the azimuth angle output by the radar turntable, A1, A2 and A3 are the azimuth angles corresponding to tripod arms 1, 2 and 3 respectively, MAX is the azimuth angle corresponding to the maximum angle Kmax output by the inclinometer, and MIN is the azimuth angle corresponding to the minimum angle Kmin output by the inclinometer.

[0031] Step 2: Traverse A1, A2, A3, and calculate the output values ​​X1, X2, X3 of the inclinometer at the corresponding positions A1, A2, A3. Find the two smaller values ​​among the three and record the corresponding azimuth angles as B1 and B2, and record the corresponding maximum tilt angle as B3.

[0032] Step 3: There are 5 possible positional relationships between B1, B2, and MIN: MIN is exactly between B1 and B2; MIN is between B1 and B2, closer to B2; MIN is between B1 and B2, closer to B1; MIN coincides with B1; MIN coincides with B2;

[0033] Step 4: When MIN is exactly between B1 and B2, its positional relationship is as follows: Figure 6 As shown, in Figure 6 When B1 and B2 are at the same height, the angle between the rotating surface of the radar body 9 and the horizontal plane is mainly due to the height difference at B3. In order to adjust the rotating surface of the radar to be horizontal, it is only necessary to lower B3 and control the screw motor 3 to rotate to shorten the length of the arm where B3 is located.

[0034] Step 5: When MIN is between B1 and B2, closer to B2, such as Figure 7 , Figure 7 It can be seen that B2 is closest to the lowest point MIN. First, shorten the length of B1, then MIN will move away from B2 and closer to B1, and MAX will move closer to B3. When MIN moves to the middle of B1 and B2, B3 will coincide with MAX, then the first step of adjustment is completed. Then, adjust the rotating surface of the radar body 9 to be horizontal in the manner of step four.

[0035] Step Six: When MIN is between B1 and B2 and closer to B1, the adjustment process is the same as in Step Five.

[0036] Step 7: When MIN and B1 coincide, their positional relationship is as follows: Figure 8 As shown: From Figure 8 As can be seen, B2 and B3 are at the same height, and the rotating surface of the radar body 9 can be leveled simply by raising point B1.

[0037] Step 8: When MIN and B2 coincide, the leveling method is the same as in Step 7;

[0038] By employing the aforementioned fast iterative algorithm, the leveling iteration time can be significantly reduced, enabling rapid leveling of the rotating plane of the radar body 9.

[0039] in conclusion:

[0040] A low-cost automatic leveling tripod device for radar body 9, employing an integrated fast iterative algorithm, is developed. Based on the azimuth and tilt information acquired by the radar body 9's built-in inclinometer and turntable, the device uses a fast iterative algorithm to generate fast iterative control commands. These commands control the lead screw motor 3 to extend or retract the corresponding tripod arm. Employing a combination of large and small stepping steps, and adjusting rotation before leveling, the device quickly achieves leveling of the radar body 9's rotating plane. The entire device requires only three 100W lead screw motors 3 operating in a time-sharing manner, along with a control module. It is low-cost, simple in structure, and has significant potential for widespread adoption.

[0041] The contents not described in detail in this specification are existing technologies known to those skilled in the art.

[0042] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A radar tripod that can be automatically leveled, comprising a support frame (1) sitting on the ground, wherein a radar body (9) is installed at the top of the support frame (1); Its features are: A wire harness (2) extends out of the inside of the support frame (1), and the top end of the wire harness (2) extends into the inside of the radar body (9) and is connected to the motor control module. The bottom end of the radar body (9) is connected to one side of the lead screw motor (3) to control the operation of the lead screw motor (3). The output end of the lead screw motor (3) is connected to one side of the leveling mechanism, so as to adjust the height and angle of the support frame (1) and thus level the radar body (9).

2. The self-leveling radar tripod according to claim 1, characterized in that: The radar body (9) is equipped with an inclinometer to obtain the tilt angle information of the radar array at different azimuth angles. The inclinometer has a measurement accuracy of ±0.1°. Based on the tilt angle information, the angle between the radar rotation plane and the horizontal plane is determined. The bottom position of the radar body (9) is fixedly set inside the radar turntable, and the outer position of the radar turntable is rotatably set outside the three sets of support frames (1).

3. The self-leveling radar tripod according to claim 2, characterized in that: The radar turntable is equipped with a motor control module, which continuously receives angle information from the inclinometer and the rotating screw motor (3) of the radar body (9). The control accuracy of the screw motor (3) reaches 0.1mm, and the power of the screw motor (3) is 100W. It also establishes the correspondence between the azimuth angle and the tilt angle.

4. The self-leveling radar tripod according to claim 1, characterized in that: The leveling mechanism includes a rolling screw (4) fixed at the output end of the screw motor (3). The outer side of the rolling screw (4) is threadedly connected to the inside of the sleeve (5), and the outer side of the sleeve (5) is slidably disposed on the inner wall of the guide groove (6). A support seat (7) is fixed at the bottom of the sleeve (5). The outer side of the support seat (7) extends out of the outer side of the support frame (1). A fixing bolt (8) is provided on the outer side of the support frame (1).

5. The self-leveling radar tripod according to claim 4, characterized in that: The guide groove (6) is opened on the inner wall of the support frame (1), and the guide groove (6) is distributed in four groups at equal angles with respect to the center position of the support frame (1).

6. The self-leveling radar tripod according to claim 4, characterized in that: The fixing bolt (8) is threadedly connected to the inside of the support frame (1), and the fixing bolt (8) extends into the inside of the support frame (1) and abuts against the outer wall of the sleeve (5).

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