Radar and transmission line tower monitoring system

Abstract

A radar and a transmission line tower monitoring system. The radar comprises a support member (1), a plurality of radio frequency modules (2), an elevation 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 elevation angle of the radio frequency modules (2) can be adjusted by means of rotation. The plurality of radio frequency modules (2) are arranged in the circumferential direction of the support member (1). The elevation angle adjustment mechanism (3) is in transmission connection with the plurality of radio frequency modules (2). The main control board (4) is configured to process data acquired by the plurality of radio frequency modules (2), and control the elevation angle adjustment mechanism (3) to drive the plurality of radio frequency modules (2) to rotate synchronously.

Description

Radar and transmission line tower monitoring system

[0001] The present disclosure claims priority to the Chinese patent application No. 202421960216.8, filed on August 13, 2024, and entitled "Radar and transmission line tower monitoring system", the entire content of which is incorporated herein by reference. TECHNICAL FIELD

[0002] The present disclosure relates to the technical field of radar, in particular to a radar and transmission line tower monitoring system. BACKGROUND

[0003] The transmission line tower is used to support the overhead transmission line, and is a key facility for ensuring the operation of the power grid. In order to prevent the transmission line tower from being damaged, a radar (such as a millimeter wave radar) needs to be installed on the transmission line tower, and the radar can monitor the movement of objects in the monitoring area.

[0004] In order to achieve a 360° monitoring range, three or four radars need to be installed on the transmission line tower in the related art, which makes the manual installation cost of the radars relatively high. In addition, in order to make the monitoring range of the radar meet the requirements, the radar needs to be debugged, and since the radar is installed at a high place of the transmission line tower, the debugging is very inconvenient. SUMMARY

[0005] The present disclosure provides a radar and transmission line tower monitoring system. The radar includes a plurality of radio frequency modules, which makes the monitoring angle of the radar larger. In addition, the pitch angles of the plurality of radio frequency modules can be remotely adjusted on the ground. The technical solutions of the radar and the transmission line tower monitoring system are as follows.

[0006] In a first aspect, the present disclosure provides a radar. The radar includes a support, a plurality of radio frequency modules, a pitch angle adjusting mechanism, and a main control board. The plurality of radio frequency modules are each rotationally connected to the support, and the radio frequency modules can adjust the pitch angles by rotation. The plurality of radio frequency modules are arranged along the circumference of the support. The pitch angle adjusting mechanism is drivingly connected to the plurality of radio frequency modules. The main control board is configured to process the collected data of the plurality of radio frequency modules, and control the pitch angle adjusting mechanism to drive the plurality of radio frequency modules to rotate synchronously.

[0007] Among them, the radar provided by the present disclosure can be a millimeter wave radar. The radio frequency module is configured to collect point cloud data. The main control board can process the data collected by the radio frequency module, and can adjust the pitch angles of the plurality of radio frequency modules through the pitch angle adjusting mechanism. The pitch angles of the plurality of radio frequency modules can be the same.

[0008] The technical scheme provided by the present disclosure has the following beneficial effects. On the one hand, the radar comprises a plurality of radio frequency modules, and the plurality of radio frequency modules are distributed along the circumference of the support, so that the monitoring angle of the radar is the sum of the monitoring angles of the plurality of radio frequency modules, and the monitoring angle of the radar is relatively large. In this way, only a small number (for example, two) of radars need to be installed on the power line tower to achieve 360° non-blind angle monitoring, thereby reducing the material cost and the labor installation cost. On the other hand, the main control board can control the pitch angle adjusting mechanism to drive the plurality of radio frequency modules to rotate, so that the pitch angle of the plurality of radio frequency modules can be remotely adjusted by the staff on the ground, and the staff does not need to manually debug the radar at a high position of the power line tower, thereby also reducing the labor installation cost.

[0009] In an implementation manner, the pitch angle adjusting mechanism comprises a driving mechanism, a lifting plate and a plurality of first connecting rods. The lifting plate is in sliding connection with the support. The driving mechanism is in transmission connection with the lifting plate, and is configured to drive the lifting plate to slide. The plurality of radio frequency modules are arranged around the lifting plate. One end of each first connecting rod is in rotational connection with the lifting plate, and the other end is in rotational connection with one radio frequency module.

[0010] In the implementation manner, the rotational axes of the two ends of each first connecting rod are parallel to the rotational axis of the radio frequency module connected with the first connecting rod, and are perpendicular to the sliding direction of the lifting plate. In this way, the support, the radio frequency modules, the first connecting rods and the lifting plate form a crank slider mechanism. The crank slider mechanism refers to a planar connecting rod mechanism for converting rotation and movement. The lifting plate forms a slider, and the radio frequency modules form cranks. The plurality of first connecting rods have the same length.

[0011] In the implementation manner, when the driving mechanism drives the lifting plate to slide, the lifting plate drives the plurality of radio frequency modules to synchronously rotate through the plurality of first connecting rods, so that the rotation of the plurality of radio frequency modules is synchronous and the rotation angles are the same. In this way, the pitch angle adjusting mechanism synchronously adjusts the pitch angles of the plurality of radio frequency modules, so that the pitch angles of the plurality of radio frequency modules are always consistent, and the continuity of the monitoring ranges of the plurality of radio frequency modules is ensured. In addition, the main control board can determine the monitoring area and the blind area based on the pitch angles of the radio frequency modules.

[0012] In an implementation manner, the driving mechanism comprises a motor, a screw rod and a nut. The motor is fixed to the support, the output shaft of the motor is in transmission connection with the screw rod, and the extension direction of the screw rod is parallel to the sliding direction of the lifting plate. The nut is fixed to the lifting plate, and the screw rod passes through the lifting plate and the nut. In the implementation manner, the motor can be a stepper motor.

[0013] In the implementation manner, when the output shaft of the motor rotates, the screw rod rotates and drives the nut to move along the screw rod, so that the nut drives the lifting plate to slide. In the implementation manner, the sliding direction of the lifting plate can be changed by changing the rotation direction of the output shaft of the motor, so as to realize bidirectional adjustment of the pitch angles of the radio frequency modules.

[0014] In an implementation, the support includes a bottom shell, a support column, a hinged plate and a guide pin. One end of the support column is fixedly connected with the bottom shell, and the other end is fixedly connected with the hinged plate. The guide pin is fixed to the side of the hinged plate away from the bottom shell. The motor is located between the bottom shell and the hinged plate. The plurality of radio frequency modules are each rotationally connected with the hinged plate and are arranged in a circumferential direction of the hinged plate. The lifting plate is opposite to the hinged plate and is slidingly connected with the guide pin.

[0015] In an implementation, the radio frequency module includes a first bottom plate and a radio frequency plate. The first bottom plate is rotationally connected with the support and the first connecting rod, and the radio frequency plate is fixed to the side of the first bottom plate away from the first connecting rod. The side of the radio frequency plate facing the first bottom plate includes a first connector, and the first bottom plate includes a first opening through which the first connector passes. The first connector is used for electrical connection with the main control plate. The first bottom plate is a structural member in the radio frequency module. The radio frequency plate is an electrical device in the radio frequency module and is used for collecting point cloud data. The first opening is used for avoiding the first connector to facilitate external connection of the first connector.

[0016] In an implementation, the main control plate is rotationally connected with the support, and the main control plate and the plurality of radio frequency modules are arranged around the lifting plate. The pitch angle adjusting mechanism further includes a second connecting rod, one end of which is rotationally connected with the lifting plate, and the other end is rotationally connected with the main control plate.

[0017] The rotation axes of the two ends of the second connecting rod are parallel to the rotation axis of the main control plate and are perpendicular to the sliding direction of the lifting plate. In this way, the support, the main control plate, the second connecting rod and the lifting plate also form a crank slider mechanism. The lifting plate forms a slider, and the main control plate forms a crank. The pitch angle of the main control plate can be the same as the pitch angle of the radio frequency module.

[0018] The technical solution provided by the present disclosure is that when the driving mechanism drives the lifting plate to slide, the lifting plate drives the plurality of radio frequency modules to rotate synchronously through the plurality of first connecting rods, and simultaneously drives the main control plate to rotate through the second connecting rod, so that the rotation of the plurality of radio frequency modules and the main control plate is synchronous and the rotation angles are the same. The purpose of synchronous rotation of the main control plate and the radio frequency module is to make the stress of the lifting plate more balanced, that is, the main control plate plays the role of counterweight, which improves the smoothness of the lifting plate sliding.

[0019] In an implementation, the radio frequency module is three, and the three radio frequency modules and one main control plate are distributed on the four sides of the lifting plate. The presence of the main control plate makes the stress on the four sides of the lifting plate uniform.

[0020] In an implementation manner, the main control board comprises a second bottom plate and a main control circuit board. The second bottom plate is rotationally connected with the support and the second connecting rod, and the main control circuit board is fixed to one side of the second bottom plate which is away from the second connecting rod. The side of the main control circuit board which faces the second bottom plate comprises a second connector, and the second bottom plate comprises a second opening through which the second connector passes. The second connector is used for electrical connection with the plurality of radio frequency modules. The second bottom plate is a structural member in the main control board. The main control circuit board is an electrical device of the main control board, and is used for data processing and control of the pitch angle adjusting mechanism. The second opening is used for avoiding the second connector to facilitate external connection of the second connector.

[0021] In an implementation manner, the side of the main control circuit board which faces the second bottom plate further comprises electronic components, and the electronic components comprise a capacitor or a chip. The second bottom plate comprises a third opening through which the electronic components pass. The third opening is used for avoiding the electronic components.

[0022] In an implementation manner, one hole wall of the third opening extends a sixth hinge arm which is raised away from the main control circuit board, and the sixth hinge arm is used for being hingedly connected with the second connecting rod. In this way, the third opening is both an avoiding hole for avoiding the electronic components and a punching hole for processing the sixth hinge arm, so that the reuse of the hole is realized and the number of holes opened in the second bottom plate is reduced.

[0023] In an implementation manner, the radar further comprises a gyroscope which is fixed to the main control board. The main control board is used for determining the pitch angle of the radio frequency module based on detection data of the gyroscope. The pitch angle of the radio frequency module is the same as the pitch angle of the main control board.

[0024] The technical solution provided by the present disclosure is that the gyroscope is fixed to the main control board, so that the main control board can determine the pitch angle of the main control board based on the detection data of the gyroscope. Since the pitch angle of the main control board is the same as the pitch angle of the radio frequency module, the pitch angle of the main control board determined by the main control board is the pitch angle of the radio frequency module. In addition, by arranging the gyroscope on the main control board, the signal transmission path between the gyroscope and the main control board is short, and no additional signal transmission line is needed.

[0025] In an implementation manner, the radar further comprises a gyroscope which is fixed to any radio frequency module. The main control board is used for determining the pitch angle of the radio frequency module based on detection data of the gyroscope, so that the main control board can determine the pitch angle of the radio frequency module in real time, to facilitate accurate adjustment of the pitch angle of the radio frequency module by the main control board.

[0026] In an implementation, the total coverage angle of the plurality of radio frequency modules is greater than 180°. That is, the monitoring angle of the radar provided by the present disclosure is greater than 180°. In this way, at most two radars need to be installed on the power line tower to achieve 360° non-dead angle monitoring, and the number of radars required by the power line tower monitoring system is less.

[0027] In an implementation, the adjustment range of the elevation angle of the radio frequency module is greater than or equal to 20°.

[0028] In a second aspect, the present disclosure provides a power line tower monitoring system. The power line tower monitoring system includes a power line tower and the radar of any one of the first aspect. The radar is fixed to the power line tower, and the radar is used to monitor the movement of the object.

[0029] In an implementation, the power line tower monitoring system further includes a camera, and the camera is used to adjust the shooting area based on the collection data of the radar. BRIEF DESCRIPTION OF DRAWINGS

[0030] FIG. 1 is a schematic diagram of a power line tower monitoring system in the related art;

[0031] FIG. 2 is a schematic diagram of a radar provided by an embodiment of the present disclosure;

[0032] FIG. 3 is a schematic diagram of a radar provided by an embodiment of the present disclosure;

[0033] FIG. 4 is a partial schematic diagram of a radar provided by an embodiment of the present disclosure;

[0034] FIG. 5 is a partial schematic diagram of a radar provided by an embodiment of the present disclosure;

[0035] FIG. 6 is a schematic diagram of a support provided by an embodiment of the present disclosure;

[0036] FIG. 7 is a schematic diagram of a radio frequency module provided by an embodiment of the present disclosure;

[0037] FIG. 8 is a schematic diagram of a lifting plate provided by an embodiment of the present disclosure;

[0038] FIG. 9 is a schematic diagram of a main control board provided by an embodiment of the present disclosure;

[0039] FIG. 10 is a schematic diagram of a circuit of a radar provided by an embodiment of the present disclosure;

[0040] FIG. 11 is a schematic diagram of a circuit of a radar provided by an embodiment of the present disclosure;

[0041] FIG. 12 is a schematic diagram of a power line tower monitoring system provided by an embodiment of the present disclosure.

[0042] Legend 100, power transmission line tower, 200, radar, 300, camera; 1, support, 11, bottom shell, 12, support column, 13, hinged plate, 131, first hinged arm, 132, first opening, 14, guide column; 2, radio frequency module, 21, first bottom plate, 211, second hinged arm, 212, fourth hinged arm, 213, first opening, 214, fourth opening, 22, radio frequency board, 221, first connector; 3, pitch angle adjusting mechanism, 31, driving mechanism, 311, motor, 312, conversion mechanism, 3121, screw rod, 3122, nut, 32, lifting plate, 321, third hinged arm, 322, second opening, 323, guide hole, 33, first connecting rod, 34, second connecting rod; 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; 5, gyroscope; A, blind area, B, monitoring area. DETAILED DESCRIPTION

[0043] FIG. 1 shows a schematic diagram of a power transmission line tower monitoring system in the related art. As shown in FIG. 1, the power transmission line tower monitoring system includes a power transmission line tower 100, multiple radars 200, and two cameras 300. The power transmission line tower 100 is used to support overhead power transmission lines and is a key facility for ensuring the operation of the power grid. The multiple radars 200 are fixed to the power transmission line tower 100 and are used to monitor the movement of objects in the monitoring area B. The two cameras 300 are used to take live videos and can adjust the shooting area when the radars 200 detect that an object has intruded into the monitoring area B, so as to take pictures of the intruding object.

[0044] In the related art, the monitoring angle of a single radar 200 is less than 120°, so in order to achieve 360° dead-angle-free monitoring, four radars 200 need to be installed on the power transmission line tower 100 (as shown in FIG. 1). The large number of radars 200 not only increases the material cost, but also increases the labor installation cost. On the other hand, during the installation of the radars 200, the pitch angles of the radars 200 need to be adjusted to adjust the positions and sizes of the blind area A and the monitoring area B to meet the requirements. However, since the radars 200 are installed at a high position of the power transmission line tower 100, the workers need to manually adjust the four radars 200 at the high position, which also increases the labor installation cost.

[0045] In view of the above technical problems, the embodiment of the present disclosure provides a new radar 200. As shown in FIG. 2 and FIG. 3, the radar 200 comprises a support 1, a plurality of radio frequency modules 2, a pitch angle adjusting mechanism 3 and a main control board 4. The plurality of radio frequency modules 2 are all in rotational connection with the support 1, and the radio frequency modules 2 can adjust the pitch angle by rotation. The plurality of radio frequency modules 2 are arranged along the circumference of the support 1. The pitch angle adjusting mechanism 3 is in transmission connection with the plurality of radio frequency modules 2. The main control board 4 is used for processing the collected data of the plurality of radio frequency modules 2, and controlling the pitch angle adjusting mechanism 3 to drive the plurality of radio frequency modules 2 to rotate, so as to adjust the pitch angle of the plurality of radio frequency modules 2.

[0046] The support 1 is used for supporting the radio frequency modules 2, the pitch angle adjusting mechanism 3 and the main control board 4. In some examples, the radar 200 further comprises a cover (not shown in the figure), which covers the radio frequency modules 2, the pitch angle adjusting mechanism 3 and the main control board 4, so as to protect the radio frequency modules 2, the pitch angle adjusting mechanism 3 and the main control board 4.

[0047] The radio frequency modules 2 are used for collecting point cloud data of the monitoring area B, so as to monitor the movement of objects in the monitoring area B. The pitch angles of the plurality of radio frequency modules 2 are the same.

[0048] The main control board 4 is in electrical connection with the plurality of radio frequency modules 2 and the pitch angle adjusting mechanism 3, so that the main control board 4 can process the collected data of the plurality of radio frequency modules 2 (such as splicing the collected data of the plurality of radio frequency modules 2), and control the pitch angle adjusting mechanism 3. In some examples, the main control board 4 and the radio frequency modules 2 communicate through a mobile industry processor interface (MIPI).

[0049] The technical scheme provided by the embodiment of the present disclosure has the following advantages. On the one hand, the radar 200 comprises a plurality of radio frequency modules 2, and the plurality of radio frequency modules 2 are distributed along the circumference of the support 1, so that the monitoring angle of the radar 200 is the sum of the monitoring angles of the plurality of radio frequency modules 2, and the monitoring angle of the radar 200 is relatively large. In this way, only a small number (such as two) of radars 200 need to be installed on the power line tower 100 to achieve 360° non-blind angle monitoring, which reduces the material cost and the labor installation cost. On the other hand, the main control board 4 can control the pitch angle adjusting mechanism 3 to drive the plurality of radio frequency modules 2 to rotate, so that the staff can remotely adjust the pitch angle of the plurality of radio frequency modules 2 through the main control board 4, without the need for the staff to manually debug the radar 200 at a high place of the power line tower 100, which also reduces the labor installation cost.

[0050] In some examples, the total monitoring angle of the plurality of radio frequency 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°. In this way, at most two radars 200 need to be installed on the power line tower 100 to achieve 360° monitoring without dead angles.

[0051] In some examples, the plurality of radio frequency modules 2 is three, and the monitoring angle of each radio frequency module 2 is 90°, so that the three radio frequency modules 2 can achieve a monitoring angle of 270°.

[0052] In some examples, the adjustment range of the elevation angle of the radio frequency module 2 is greater than or equal to 20° (or 25°). The starting angle of the adjustment range of the elevation angle of the plurality of radio frequency modules 2 can be 0°, for example, the adjustment range of the angle between the radio frequency module 2 and the vertical direction includes 0°-20° or 0°-25°.

[0053] Next, the implementation of the elevation angle adjustment mechanism 3 will be described.

[0054] In some examples, as shown in FIGS. 4 and 5, the elevation angle adjustment mechanism 3 includes a driving mechanism 31, a lifting plate 32, and a plurality of first connecting rods 33. The lifting plate 32 is in sliding connection with the support 1 (e.g., in sliding connection with the guide pin 14). The driving mechanism 31 is in transmission connection with the lifting plate 32, and the driving mechanism 31 is configured 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 in rotational connection with the lifting plate 32, and the other end is in rotational connection with one radio frequency module 2.

[0055] As shown in FIG. 5, the rotational axes b and c of the two ends of each first connecting rod 33 are parallel to the rotational axis a of the radio frequency module 2 connected by the first connecting rod 33, and are perpendicular to the sliding direction d of the lifting plate 32. In this way, the support 1, the radio frequency 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 conversion between rotation and movement. As shown in FIGS. 4 and 5, the lifting plate 32 forms the slider, and the radio frequency module 2 forms the crank.

[0056] As shown in FIGS. 4 and 5, when the driving mechanism 31 drives the lifting plate 32 to slide, the lifting plate 32 drives the plurality of radio frequency modules 2 to rotate synchronously through the plurality of first connecting rods 33, so that the rotation of the plurality of radio frequency modules 2 is synchronous and the rotation angles are the same. In this way, the elevation angle adjustment mechanism 3 synchronously adjusts the elevation angles of the plurality of radio frequency modules 2, so that the elevation angles of the plurality of radio frequency modules 2 always remain consistent, and the continuity of the monitoring range of the plurality of radio frequency modules 2 is ensured.

[0057] In some examples, as shown in FIGS. 4 and 5, the driving mechanism 31 comprises a motor 311 and a conversion mechanism 312. The motor 311 is fixed to the support 1, and the output shaft of the motor 311 is in driving connection with the lifting plate 32 through 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 gear and rack mechanism, etc.

[0058] As shown in FIGS. 4 and 5, taking the nut screw mechanism as an example, the conversion mechanism 312 comprises a screw 3121 and a nut 3122. The output shaft of the motor 311 is in driving connection with the screw 3121, 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, so that the nut 3122 drives the lifting plate 32 to slide. 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 the bidirectional adjustment of the pitch angle of the radio frequency module 2.

[0059] In some examples, the motor 311 is a stepping motor, and the micro control unit (MCU) of the main control board 4 can control the rotation of the stepping motor through the microstep control pin and the direction control pin. The main control board 4 can calculate the adjustment angle of the radio frequency module 2 through the trigonometric function, thereby realizing the remote and accurate adjustment of the pitch angle of the radio frequency module 2. The motor 311 can be a UVW three-phase motor.

[0060] In some examples, as shown in FIG. 6, the support 1 comprises a bottom shell 11, a support column 12, a hinged plate 13 and a guide pin 14. One end of the support column 12 is fixedly connected with the bottom shell 11, and the other end is fixedly connected with the hinged plate 13. The guide pin 14 is fixed to the side of the hinged plate 13 away from the bottom shell 11. As shown in FIGS. 4 and 5, the motor 311 is located between the bottom shell 11 and the hinged plate 13. The plurality of radio frequency modules 2 are in rotational connection with the hinged plate 13 and are arranged in the circumferential direction of the hinged plate 13. The lifting plate 32 is opposite to the hinged plate 13 and is in sliding connection with the guide pin 14. For example, the lifting plate 32 is parallel to the hinged plate 13.

[0061] In some examples, as shown in FIG. 6, there are two guide pins 14, and the two guide pins 14 are located at two positions where the hinged plate 13 is butted.

[0062] In some examples, as shown in FIG. 8, the two positions where the lifting plate 32 is butted comprise guide holes 323, and the two guide holes 323 respectively surround the two guide pins 14.

[0063] In addition to the technical solution that the driving mechanism 31 comprises the motor 311 and the conversion mechanism 312, in other examples, the driving mechanism 31 can also be an electric push rod, which directly drives the lifting plate 32 to slide.

[0064] In some examples, as shown in FIG. 7, the radio frequency module 2 comprises the first bottom plate 21 and the radio frequency plate 22. The first bottom plate 21 is rotationally connected with the support 1 and the first connecting rod 33. The radio frequency plate 22 is fixed to the side of the first bottom plate 21 which is away from the first connecting rod 33.

[0065] In some examples, as shown in FIG. 6, the hinged plate 13 comprises the first hinged arm 131. The first bottom plate 21 comprises the second hinged arm 211, and the first hinged arm 131 and the second hinged arm 211 are rotationally connected through a pin shaft. For example, as shown in FIG. 6, the hinged plate 13 comprises at least three groups of first hinged arms 131, and each group of first hinged arms 131 is rotationally connected with the second hinged arm 211 of one first bottom plate 21. For example, as shown in FIG. 6, each group of first hinged arms 131 comprises two first hinged arms 131, and as shown in FIG. 7, each first bottom plate 21 comprises two second hinged arms 211.

[0066] In some examples, as shown in FIG. 6 and FIG. 7, the first hinged arm 131 and the second hinged arm 211 are both stamped and formed. As shown in FIG. 6, the hinged plate 13 comprises the first opening 132 for processing the first hinged arm 131. The two side walls of the first opening 132 respectively extend one first hinged arm 131.

[0067] In some examples, as shown in FIG. 4, FIG. 5 and FIG. 8, the lifting plate 32 further comprises a plurality of third hinged arms 321, and each third hinged arm 321 is rotationally connected with one end of one first connecting rod 33. As shown in FIG. 4, FIG. 5 and FIG. 7, the first bottom plate 21 further comprises the fourth hinged arm 212, and the fourth hinged arm 212 is rotationally connected with the other end of one first connecting rod 33.

[0068] In some examples, as shown in FIG. 7 and FIG. 8, the third hinged arm 321 and the fourth hinged arm 212 are both stamped and formed. As shown in FIG. 8, the lifting plate 32 comprises the second opening 322 for processing the third hinged arm 321. One side wall of the second opening 322 extends one third hinged arm 321. As shown in FIG. 7, the first bottom plate 21 comprises the fourth opening 214 for processing the fourth hinged arm 212, and one hole wall of the fourth opening 214 extends one fourth hinged arm 212.

[0069] Next, the installation position and implementation manner of the main control board 4 are exemplarily described.

[0070] In some examples, the main control board 4 is fixed on the support 1. In other examples, the main control board 4 is fixed on the lifting plate 32.

[0071] In some examples, as shown in FIG. 2 and FIG. 3, the main control board 4 is rotationally connected with the support 1. The main control board 4 and the plurality of radio frequency modules 2 are arranged around the lifting plate 32. The pitch angle adjusting mechanism 3 further comprises a second connecting rod 34. One end of the second connecting rod 34 is rotationally connected with the lifting plate 32, and the other end is rotationally connected with the main control board 4.

[0072] In some examples, as shown in FIG. 2 and FIG. 3, the main control board 4 is rotationally connected with the support 1. The main control board 4 and the plurality of radio frequency modules 2 are arranged around the lifting plate 32. The pitch angle adjusting mechanism 3 further comprises a second connecting rod 34. One end of the second connecting rod 34 is rotationally connected with the lifting plate 32, and the other end is rotationally connected with the main control board 4.

[0073] In some examples, as shown in FIG. 2 and FIG. 3, the main control board 4 is rotationally connected with the support 1. The main control board 4 and the plurality of radio frequency modules 2 are arranged around the lifting plate 32. The pitch angle adjusting mechanism 3 further comprises a second connecting rod 34. One end of the second connecting rod 34 is rotationally connected with the lifting plate 32, and the other end is rotationally connected with the main control board 4.

[0074] In some examples, as shown in FIG. 2 and FIG. 3, the main control board 4 is rotationally connected with the support 1. The main control board 4 and the plurality of radio frequency modules 2 are arranged around the lifting plate 32. The pitch angle adjusting mechanism 3 further comprises a second connecting rod 34. One end of the second connecting rod 34 is rotationally connected with the lifting plate 32, and the other end is rotationally connected with the main control board 4.

[0075] In some examples, as shown in FIG. 9, the main control board 4 comprises a second bottom plate 41 and a main control circuit board 42. The second bottom plate 41 is rotationally connected with the support 1 and the second connecting rod 34. The main control circuit board 42 is fixed to the side of the second bottom plate 41 away from the second connecting rod 34. In some examples, as shown in FIG. 6, the hinged plate 13 further comprises a fourth set of first hinged arms 131. The second bottom plate 41 further comprises a fifth hinged arm 411. The fourth set of first hinged arms 131 and the fifth hinged arm 411 are rotationally connected through a pin shaft.

[0076] In some examples, as shown in FIG. 4 and FIG. 5, the lifting plate 32 further comprises a fourth third hinged arm 321, and the fourth third hinged arm 321 is rotationally connected with one end of the second connecting rod 34. As shown in FIG. 9, the second bottom plate 41 further comprises a sixth hinged arm 412, and the sixth hinged arm 412 is rotationally connected with the other end of the second connecting rod 34.

[0077] To facilitate the electrical connection between the plurality of radio frequency modules 2 and the main control board 4, in some examples, as shown in FIGS. 2, 3 and 7, the radio frequency board 22 includes a first connector 221 on the side facing the first bottom plate 21, and the first bottom plate 21 includes a first opening 213 through which the first connector 221 passes. As shown in FIGS. 2-3 and 9, the main control circuit board 42 includes a second connector 421 on the side facing the second bottom plate 41, and the second bottom plate 41 includes a second opening 413 through which the second connector 421 passes. Among them, the plurality of first connectors 221 are respectively electrically connected to the second connector 421 through a plurality of electrical connection lines.

[0078] In some examples, as shown in FIG. 9, the main control circuit board 42 includes electronic components 422 on the side facing the second bottom plate 41, and the electronic components 422 include a capacitor 4221 or a chip 4222. The second bottom plate 41 includes a third opening 414 through which the electronic components 422 pass. Among them, the third opening 414 is used to avoid the electronic components 422.

[0079] In some examples, as shown in FIG. 9, one of the hole walls of the third opening 414 extends out a sixth hinge arm 412, and the sixth hinge arm 412 is raised away from the main control circuit board 42, and the sixth hinge arm 412 is used to be hinged with the second connecting rod 34. In this way, the third opening 414 is both an avoidance hole for avoiding the electronic components 422 and a stamping hole for processing the sixth hinge arm 412, realizing the reuse of the hole and reducing the number of holes opened on the second bottom plate 41.

[0080] In some examples, in order to reduce the mold required for manufacturing the first bottom plate 21 and the second bottom plate 41, the first bottom plate 21 and the second bottom plate 41 can adopt the same structure. For example, as shown in FIG. 7, the first bottom plate 21 includes a fourth opening 214, and the size and shape of the fourth opening 214 are the same as those of the third opening 414 on the second bottom plate 41. One side wall of the fourth opening 214 extends out a fourth hinge arm 212, which is the same as the sixth hinge arm 412. It can be understood that the third opening 414 on the second bottom plate 41 plays a role in avoiding the electronic components 422, and the fourth opening 214 on the first bottom plate 21 does not need to avoid the electronic components.

[0081] In order to enable the main control board 4 to determine the pitch angle of the radio frequency module 2 in real time, so as to accurately adjust the pitch angle of the radio frequency module 2 by the main control board 4, as shown in FIGS. 10 and 11, the radar 200 further includes a gyroscope 5.

[0082] In some examples, as shown in FIG. 10, the gyroscope 5 is fixed to any of the radio frequency modules 2. In this way, the main control board 4 can determine the pitch angle of the radio frequency module 2 based on the detection data of the gyroscope 5. In an example, the main control board 4 and the gyroscope 5 communicate through a serial peripheral interface (SPI).

[0083] In another example, as shown in FIG. 11, the gyroscope 5 is fixed to the main control board 4 in the case that the main control board 4 is also drivingly connected to the pitch angle adjusting mechanism 3. In this way, the main control board 4 can 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 radio frequency module 2, the pitch angle of the main control board 4 determined by the main control board 4 is the pitch angle of the radio frequency module 2. Compared with the technical solution of arranging the gyroscope 5 on the radio frequency module 2, arranging the gyroscope 5 on the main control board 4 makes the signal transmission path between the gyroscope 5 and the main control board 4 shorter and eliminates the need for an additional signal transmission line.

[0084] The embodiments of the present disclosure also provide a power transmission line tower monitoring system. As shown in FIG. 12, the power transmission line tower monitoring system includes a power transmission line tower 100 and a radar 200. The radar 200 is fixed to the power transmission line tower 100, and the radar 200 is used to monitor the movement of objects. In an example, as shown in FIG. 12, the power transmission line tower monitoring system includes two radars 200. The two radars 200 can be installed at an angle. The installation height of the two radars 200 can be 10-15 m.

[0085] In some examples, as shown in FIG. 12, the power transmission line tower monitoring system also includes a camera 300, which is used to adjust the shooting area based on the collection data of the radar 200. For example, when the radar 200 detects that an object is moving in a certain area, the camera 300 is adjusted to the shooting area to shoot the moving object.

[0086] In some examples, as shown in FIG. 12, the camera 300 is two.

[0087] 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 understood as the general meaning understood by a person skilled in the art to which the present disclosure belongs. The above description is only optional embodiments of the present disclosure, and is not intended to limit the present disclosure. Any modification, equivalent replacement, improvement, etc. made within the principles of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A radar, characterized by The radar comprises a support (1), a plurality of radio frequency modules (2), a pitch angle adjusting mechanism (3) and a main control board (4); The radio frequency modules (2) are all rotationally connected with the support (1), and the radio frequency modules (2) can adjust the pitch angle by rotation, and the radio frequency modules (2) are arranged along the circumference of the support (1); The pitch angle adjusting mechanism (3) is drivingly connected with the radio frequency modules (2); The main control board (4) is used for processing the collected data of the radio frequency modules (2), and controlling the pitch angle adjusting mechanism (3) to drive the radio frequency modules (2) to rotate synchronously.

2. The radar of claim 1, wherein, The pitch angle adjusting mechanism (3) comprises a driving mechanism (31), a lifting plate (32) and a plurality of first connecting rods (33); The lifting plate (32) is slidingly connected with the support (1), the driving mechanism (31) is drivingly connected with the lifting plate (32), and the driving mechanism (31) is used for driving the lifting plate (32) to slide; The radio frequency modules (2) are arranged around the lifting plate (32), one end of each first connecting rod (33) is rotationally connected with the lifting plate (32), and the other end is rotationally connected with one radio frequency module (2); The rotation axes of the two ends of each first connecting rod (33) are parallel to the rotation axis of the radio frequency module (2) connected with the first connecting rod (33), and are perpendicular to the sliding direction of the lifting plate (32).

3. The radar of claim 2, wherein, The driving mechanism (31) comprises a motor (311), a screw rod (3121) and a nut (3122); The motor (311) is fixed to the support (1), the output shaft of the motor (311) is drivingly connected with the screw rod (3121), and the extension direction of the screw rod (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 rod (3121) penetrates through the lifting plate (32) and the nut (3122).

4. The radar of claim 3, wherein, The support (1) comprises a bottom shell (11), a support column (12), a hinged plate (13) and a guide pin (14); One end of the support column (12) is fixedly connected with the bottom shell (11), the other end is fixedly connected with the hinged plate (13), and the guide pin (14) is fixed to the side of the hinged plate (13) away from the bottom shell (11); The motor (311) is located between the bottom shell (11) and the hinged plate (13); The radio frequency modules (2) are all rotationally connected with the hinged plate (13) and are arranged along the circumference of the hinged plate (13); The lifting plate (32) is opposite to the hinged plate (13) and is slidingly connected with the guide pin (14).

5. The radar according to any one of claims 2-4, characterized in that, The radio frequency module (2) comprises a first bottom plate (21) and a radio frequency plate (22); The first bottom plate (21) is rotationally connected with the support (1) and the first connecting rod (33), and the radio frequency plate (22) is fixed to the side of the first bottom plate (21) away from the first connecting rod (33). The radio frequency board (22) comprises a first connector (221) on one side facing the first bottom plate (21), the first bottom plate (21) comprises a first opening (213), the first connector (221) passes through the first opening (213), and the first connector (221) is used for electrical connection with the main control board (4).

6. The radar according to any one of claims 2-5, characterized in that, The main control board (4) is rotationally connected with the support (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 adjusting mechanism (3) further comprises a second connecting rod (34), one end of the second connecting rod (34) is rotationally connected with the lifting plate (32), and the other end is rotationally connected with the main control board (4). The rotation axes of the two 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 of claim 6, wherein, The radio frequency module (2) is three, three radio frequency modules (2) and one main control board (4) are distributed on the four sides of the lifting plate (32).

8. The radar according to claim 6 or 7, characterized in that The main control board (4) comprises a second bottom plate (41) and a main control circuit board (42). The second bottom plate (41) is rotationally connected with the support (1) and the second connecting rod (34), and the main control circuit board (42) is fixed to one side of the second bottom plate (41) away from the second connecting rod (34). The main control circuit board (42) comprises a second connector (421) on one side facing the second bottom plate (41), the second bottom plate (41) comprises a second opening (413), the second connector (421) passes through the second opening (413), and the second connector (421) is used for electrical connection with the plurality of radio frequency modules (2).

9. The radar of claim 8, wherein, The main control circuit board (42) further comprises electronic components (422) on one side facing the second bottom plate (41), the electronic components (422) comprise capacitors (4221) or chips (4222). The second bottom plate (41) further comprises a third opening (414), and the electronic components (422) pass through the third opening (414).

10. The radar of claim 9, wherein, One hole wall of the third opening (414) extends a sixth hinge arm (412), the sixth hinge arm (412) is raised away from the main control circuit board (42), and the sixth hinge arm (412) is used for being hinged with the second connecting rod (34).

11. The radar according to any one of claims 6-10, characterized in that, The radar further comprises a gyroscope (5), and the gyroscope (5) is fixed to the main control board (4). The main control board (4) is used for determining 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 of any one of claims 1-10, wherein, The radar further comprises a gyroscope (5), and the gyroscope (5) is fixed to any radio frequency module (2). The main control board (4) is used for determining the pitch angle of the radio frequency module (2) based on the detection data of the gyroscope (5).

13. The radar of any one of claims 1-12, wherein, The total monitoring angle of the plurality of radio frequency modules (2) is greater than 180°.

14. The radar of any one of claims 1-13, wherein, The adjustment range of the pitch angle of the radio frequency module (2) is greater than or equal to 20°.

15. A power transmission line tower monitoring system characterized by, The transmission line tower monitoring system comprises a transmission line tower (100) and the radar (200) according to any one of claims 1-14. The radar (200) is fixed to the transmission line tower (100), and the radar (200) is used for monitoring object movement.

16. The power transmission line tower monitoring system of claim 15, wherein, The transmission line tower monitoring system further comprises a camera (300), and the camera (300) is used for adjusting a shooting area based on the collected data of the radar (200).

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