CN118125303A - Automatic control method for hoisting of radar antenna system - Google Patents
Automatic control method for hoisting of radar antenna system Download PDFInfo
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- CN118125303A CN118125303A CN202410482278.0A CN202410482278A CN118125303A CN 118125303 A CN118125303 A CN 118125303A CN 202410482278 A CN202410482278 A CN 202410482278A CN 118125303 A CN118125303 A CN 118125303A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
- B66C13/085—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions electrical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
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Abstract
Description
技术领域Technical Field
本发明涉及消防设备技术领域。更具体地说，本发明涉及一种雷达天线系统的吊装自动化控制方法。The present invention relates to the technical field of fire fighting equipment, and more specifically, to an automatic control method for hoisting of a radar antenna system.
背景技术Background technique
随着雷达技术的快速发展，雷达天线系统向着功能高度集成化、结构体积轻薄化的方向发展，天线阵面页具有口径越大越大的特点，其吊装作业的难度和风险也随之增加。传统的吊装作业方式多通过人工操作且依赖于立式或卧式工装，存在精度低、效率低、安全风险大等问题。因此，如何实现雷达天线系统的吊装自动化控制，成为当前亟待解决的问题。With the rapid development of radar technology, radar antenna systems are developing towards highly integrated functions and thinner structures. The larger the diameter of the antenna array, the greater the difficulty and risk of its hoisting operation. Traditional hoisting operations are mostly done manually and rely on vertical or horizontal tooling, which has problems such as low precision, low efficiency, and high safety risks. Therefore, how to achieve automated hoisting control of radar antenna systems has become a problem that needs to be solved urgently.
发明内容Summary of the invention
本发明的一个目的是解决至少上述问题，并提供至少后面将说明的优点。An object of the present invention is to solve at least the above problems and to provide at least the advantages which will be described hereinafter.
本发明还有一个目的是提供一种雷达天线系统的吊装自动化控制方法。Another object of the present invention is to provide an automatic control method for hoisting of a radar antenna system.
为了实现本发明的这些目的和其它优点，提供了如下技术方案：In order to achieve these purposes and other advantages of the present invention, the following technical solutions are provided:
雷达天线系统的吊装自动化控制方法，包括：The automatic control method for hoisting of a radar antenna system comprises:
根据雷达天线长度将雷达天线分成若干个天线段；Divide the radar antenna into several antenna segments according to the length of the radar antenna;
布置吊装设备，所述吊装设备具有能够同步吊装所述若干个天线段的吊装装置；Arranging a hoisting device, wherein the hoisting device has a hoisting device capable of synchronously hoisting the plurality of antenna segments;
在所述天线段上安装传感装置，用于实时获取天线段的实时状态信息，并将获取的天线段的实时状态信息发送给控制系统；A sensor device is installed on the antenna segment to obtain real-time status information of the antenna segment in real time, and send the obtained real-time status information of the antenna segment to the control system;
控制系统根据接收到的天线段的实时状态信息，实时生成吊装指令，The control system generates hoisting instructions in real time based on the real-time status information of the antenna segment received.
所述控制系统将所述吊装指令发送给吊装设备；The control system sends the hoisting instruction to the hoisting equipment;
所述吊装设备根据所述吊装指令，若干个所述吊装装置同步自动调整吊装姿态，同步完成若干个天线段的吊装作业；The hoisting equipment, according to the hoisting instruction, synchronizes and automatically adjusts the hoisting posture of a plurality of hoisting devices, and synchronously completes the hoisting operation of a plurality of antenna segments;
将若干个天线段完成初步拼接；Complete the preliminary splicing of several antenna segments;
所述控制系统实时接收所述传感装置传输而来的天线段的实时状态信息、结合预设的雷达天线的最终吊装参数，形成该条天线的终态吊装指令并发送给所述吊装设备，The control system receives the real-time status information of the antenna segment transmitted by the sensor device in real time, combines the preset final hoisting parameters of the radar antenna, forms the final hoisting instruction of the antenna and sends it to the hoisting device.
所述吊装设备根据所述终态吊装指令，调整初步拼接后的若干个天线段的姿态，将若干个天线段锚固，完成整条天线安装。The hoisting equipment adjusts the postures of the plurality of antenna segments after preliminary splicing according to the final hoisting instruction, anchors the plurality of antenna segments, and completes the installation of the entire antenna.
优选的是，所述的雷达天线系统的吊装自动化控制方法，还包括：Preferably, the automatic control method for hoisting of the radar antenna system further comprises:
激光测距仪，其设置在位于整条天线中段的天线段上。The laser rangefinder is arranged on the antenna section located in the middle of the entire antenna.
优选的是，所述的雷达天线系统的吊装自动化控制方法中，所述传感装置包括视觉传感器，在整条天线的两端的天线段上均设置有所述视觉传感器，每个所述视觉传感器均包括：Preferably, in the above-mentioned method for controlling the hoisting automation of the radar antenna system, the above-mentioned sensing device comprises a visual sensor, and the above-mentioned visual sensors are arranged on the antenna segments at both ends of the whole antenna, and each of the above-mentioned visual sensors comprises:
圆台，其一端固定在天线段上；A truncated cone, one end of which is fixed to the antenna segment;
若干个摄像头，其设置在所述圆台的另一端，所述若干个摄像头呈轴对称设置于所述圆台的另一端处；A plurality of cameras are arranged at the other end of the truncated table, and the plurality of cameras are arranged at the other end of the truncated table in an axisymmetric manner;
微处理器，其设置在所述圆台另一端的中央位置，处理器与所述若干个摄像头通讯连接，所述微处理器用于接收所述若干个摄像头拍摄的图像，并根据图像计算目标位置与其当前所述天线段之间的距离；A microprocessor is arranged at the center of the other end of the truncated table, the processor is in communication connection with the plurality of cameras, and the microprocessor is used to receive images taken by the plurality of cameras and calculate the distance between the target position and the current antenna segment thereof according to the images;
其中，所述激光测距仪粗测天线段安装中的第一水平方向的距离并传输给所述控制系统，The laser rangefinder roughly measures the distance in the first horizontal direction during the installation of the antenna segment and transmits it to the control system.
所述视觉传感器精准测量天线段安装中的第二水平方向和垂直方向的距离并传输给所述控制系统，所述第二水平方向与所述第一水平方向垂直，且所述垂直方向垂直于所述第一水平方向和第二水平方向所在的水平面；The visual sensor accurately measures the distance in the second horizontal direction and the vertical direction of the antenna segment installation and transmits it to the control system, the second horizontal direction is perpendicular to the first horizontal direction, and the vertical direction is perpendicular to the horizontal plane where the first horizontal direction and the second horizontal direction are located;
所述控制系统根据传输的距离数据，生成所述吊装指令；The control system generates the hoisting instruction according to the transmitted distance data;
之后所述激光测距仪精准测量天线段安装中的第一水平方向的距离并再次传输给所述控制系统，Then the laser rangefinder accurately measures the distance in the first horizontal direction of the antenna segment installation and transmits it to the control system again.
所述视觉传感器精准测量天线段安装中的第二水平方向和垂直方向的距离并再次传输给所述控制系统；The visual sensor accurately measures the distance in the second horizontal direction and the vertical direction of the antenna segment installation and transmits it to the control system again;
所述控制系统根据传输的距离数据，结合预设的雷达天线的最终吊装参数，形成所述终态吊装指令。The control system forms the final hoisting instruction according to the transmitted distance data and the preset final hoisting parameters of the radar antenna.
优选的是，所述的雷达天线系统的吊装自动化控制方法中，所述传感装置包括角度传感器和力传感器，每个所述天线段上均设置有角度传感器和力传感器。Preferably, in the automated hoisting control method for the radar antenna system, the sensing device comprises an angle sensor and a force sensor, and each of the antenna segments is provided with an angle sensor and a force sensor.
优选的是，所述的雷达天线系统的吊装自动化控制方法中，所述吊装设备包括多个吊装装置，所述吊装装置与所述天线段一一对应设置。Preferably, in the automated hoisting control method for the radar antenna system, the hoisting equipment comprises a plurality of hoisting devices, and the hoisting devices are arranged in a one-to-one correspondence with the antenna segments.
优选的是，所述的雷达天线系统的吊装自动化控制方法中，所述吊装指令可生成多次。Preferably, in the automated hoisting control method for the radar antenna system, the hoisting instruction can be generated multiple times.
本发明至少包括以下有益效果：The present invention has at least the following beneficial effects:
本发明施工时，将天线分段且同步吊装实现天线的组成，一是可以节省大型设备才能进行天线安装的问题，二是在吊装过程中，采用了传感装置与控制系统实时通讯连接，实时生成吊装指令，并据此吊装指令进行天线的吊装，可实现天线的自动调平和迅速拼接、安装，实现了雷达天线系统的自动化吊装。During the construction of the present invention, the antenna is divided into sections and hoisted synchronously to realize the composition of the antenna. Firstly, it can save the problem of large-scale equipment for antenna installation. Secondly, during the hoisting process, the sensor device is connected with the control system in real time for real-time communication, and the hoisting instruction is generated in real time. The antenna is hoisted according to the hoisting instruction, which can realize automatic leveling, rapid splicing and installation of the antenna, thereby realizing the automatic hoisting of the radar antenna system.
本发明的其它优点、目标和特征将部分通过下面的说明体现，部分还将通过对本发明的研究和实践而为本领域的技术人员所理解。Other advantages, objectives and features of the present invention will be embodied in part through the following description, and in part will be understood by those skilled in the art through study and practice of the present invention.
具体实施方式Detailed ways
下面对本发明做进一步的详细说明，以令本领域技术人员参照说明书文字能够据以实施。The present invention is described in further detail below so that those skilled in the art can implement it according to the description.
应当理解，本文所使用的诸如“具有”、“包含”以及“包括”术语并不排除一个或多个其它元件或其组合的存在或添加。It should be understood that the terms such as “having”, “including” and “comprising” used herein do not exclude the existence or addition of one or more other elements or combinations thereof.
在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“设置”应做广义理解，例如，可以是固定相连、设置，也可以是可拆卸连接、设置，或一体地连接、设置。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。术语“横向”、“纵向”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系为基于所示的方位或位置关系，仅是为了便于描述本发明和简化描述，并不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "set" should be understood in a broad sense. For example, it can be fixedly connected or set, or it can be detachably connected or set, or connected or set in one piece. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. The orientation or position relationship indicated by the terms "lateral", "longitudinal", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. is based on the orientation or position relationship shown, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.
本发明提供了一种雷达天线系统的吊装自动化控制方法，包括：The present invention provides a method for automatically controlling the hoisting of a radar antenna system, comprising:
根据雷达天线长度将雷达天线分成若干个天线段；Divide the radar antenna into several antenna segments according to the length of the radar antenna;
布置吊装设备，所述吊装设备具有能够同步吊装所述若干个天线段的吊装装置；Arranging a hoisting device, wherein the hoisting device has a hoisting device capable of synchronously hoisting the plurality of antenna segments;
在所述天线段上安装传感装置，用于实时获取天线段的实时状态信息，并将获取的天线段的实时状态信息发送给控制系统；A sensor device is installed on the antenna segment to obtain real-time status information of the antenna segment in real time, and send the obtained real-time status information of the antenna segment to the control system;
控制系统根据接收到的天线段的实时状态信息，实时生成吊装指令，The control system generates hoisting instructions in real time based on the real-time status information of the antenna segment received.
所述控制系统将所述吊装指令发送给吊装设备；The control system sends the hoisting instruction to the hoisting equipment;
所述吊装设备根据所述吊装指令，若干个所述吊装装置同步自动调整吊装姿态，同步完成若干个天线段的吊装作业，将各个天线段吊装到需要的高度；The hoisting equipment automatically adjusts the hoisting posture of a plurality of hoisting devices according to the hoisting instruction, and hoists a plurality of antenna segments simultaneously to hoist each antenna segment to a required height;
将若干个天线段完成初步拼接；Complete the preliminary splicing of several antenna segments;
所述控制系统实时接收所述传感装置传输而来的天线段的实时状态信息、结合预设的雷达天线的最终吊装参数，形成该条天线的终态吊装指令并发送给所述吊装设备，The control system receives the real-time status information of the antenna segment transmitted by the sensor device in real time, combines the preset final hoisting parameters of the radar antenna, forms the final hoisting instruction of the antenna and sends it to the hoisting device.
所述吊装设备根据所述终态吊装指令，调整初步拼接后的若干个天线段的姿态，将若干个天线段锚固，完成整条天线安装。The hoisting equipment adjusts the postures of the plurality of antenna segments after preliminary splicing according to the final hoisting instruction, anchors the plurality of antenna segments, and completes the installation of the entire antenna.
整条的雷达天线较长，如在地面完成雷达天线的整体拼装后再进行吊装，那么雷达天线的重量较大，难以吊装。因此，本发明中，可根据现场施工条件，比如吊装设备的载荷、起重臂仰角、臂长及需要作业的高度等条件，将雷达天线分为若干个连续的天线段，在每个天线段上安装上相应的传感装置，之后采用吊装设备对多个天线段同步吊装，当每个天线段达到需要的高度时，根据其上的传感装置传输来的数据，获得其所在的高度、倾角、彼此之间的距离等信息，相邻的天线段间互相拼装，最低端的天线段固定在天线座等固定装置上，最高端的天线段的下端与下面的次高端的天线段的上端拼装，完成初步拼装。本发明施工时，将天线分段且同步吊装实现天线的组成，一是可以节省大型设备才能进行天线安装的问题，二是在吊装过程中，采用了传感装置与控制系统实时通讯连接，实时生成吊装指令，并据此吊装指令进行天线的吊装，可实现天线的自动调平和迅速拼接、安装，实现了雷达天线系统的自动化吊装。The whole radar antenna is long. If the radar antenna is hoisted after being assembled on the ground, the weight of the radar antenna is large and difficult to hoist. Therefore, in the present invention, the radar antenna can be divided into several continuous antenna segments according to the on-site construction conditions, such as the load of the hoisting equipment, the elevation angle of the crane arm, the arm length and the required height of the operation, and the corresponding sensor device is installed on each antenna segment. Then, the hoisting equipment is used to hoist the multiple antenna segments synchronously. When each antenna segment reaches the required height, the height, inclination angle, distance between each other and other information are obtained according to the data transmitted by the sensor device thereon. The adjacent antenna segments are assembled with each other, the lowest antenna segment is fixed on a fixing device such as an antenna seat, and the lower end of the highest antenna segment is assembled with the upper end of the lower second highest antenna segment to complete the preliminary assembly. During the construction of the present invention, the antenna is divided into sections and hoisted synchronously to realize the composition of the antenna. Firstly, it can save the problem of large-scale equipment for antenna installation. Secondly, during the hoisting process, the sensor device is connected with the control system in real time for real-time communication, and the hoisting instruction is generated in real time. The antenna is hoisted according to the hoisting instruction, which can realize automatic leveling, rapid splicing and installation of the antenna, thereby realizing the automatic hoisting of the radar antenna system.
在上述方案中，作为优选，还包括：In the above scheme, as a preference, it also includes:
激光测距仪，其设置在位于整条天线中段的天线段上。用于测量天线段吊装中的距离。The laser rangefinder is installed on the antenna segment in the middle of the entire antenna and is used to measure the distance of the antenna segment during hoisting.
在上述方案中，作为优选，所述传感装置包括视觉传感器，在整条天线的两端的天线段上均设置有所述视觉传感器，每个所述视觉传感器均包括：In the above scheme, preferably, the sensing device includes a visual sensor, and the visual sensor is arranged on the antenna segments at both ends of the entire antenna, and each of the visual sensors includes:
圆台，其一端固定在天线段上；A truncated cone, one end of which is fixed to the antenna segment;
若干个摄像头，其设置在所述圆台的另一端，所述若干个摄像头呈轴对称设置于所述圆台的另一端处；A plurality of cameras are arranged at the other end of the truncated table, and the plurality of cameras are arranged at the other end of the truncated table in an axisymmetric manner;
微处理器，其设置在所述圆台另一端的中央位置，处理器与所述若干个摄像头通讯连接，所述微处理器用于接收所述若干个摄像头拍摄的图像，并根据图像计算目标位置与其当前所述天线段之间的距离；A microprocessor is arranged at the center of the other end of the truncated table, the processor is in communication connection with the plurality of cameras, and the microprocessor is used to receive images taken by the plurality of cameras and calculate the distance between the target position and the current antenna segment thereof according to the images;
其中，所述激光测距仪粗测天线段安装中的第一水平方向的距离并传输给所述控制系统，The laser rangefinder roughly measures the distance in the first horizontal direction during the installation of the antenna segment and transmits it to the control system.
所述视觉传感器精准测量天线段安装中的第二水平方向和垂直方向的距离并传输给所述控制系统，所述第二水平方向与所述第一水平方向垂直，且所述垂直方向垂直于所述第一水平方向和第二水平方向所在的水平面；The visual sensor accurately measures the distance in the second horizontal direction and the vertical direction of the antenna segment installation and transmits it to the control system, the second horizontal direction is perpendicular to the first horizontal direction, and the vertical direction is perpendicular to the horizontal plane where the first horizontal direction and the second horizontal direction are located;
所述控制系统根据传输的距离数据，生成所述吊装指令；The control system generates the hoisting instruction according to the transmitted distance data;
之后所述激光测距仪精准测量天线段安装中的第一水平方向的距离并再次传输给所述控制系统，Then the laser rangefinder accurately measures the distance in the first horizontal direction of the antenna segment installation and transmits it to the control system again.
所述视觉传感器精准测量天线段安装中的第二水平方向和垂直方向的距离并再次传输给所述控制系统；The visual sensor accurately measures the distance in the second horizontal direction and the vertical direction of the antenna segment installation and transmits it to the control system again;
所述控制系统根据传输的距离数据，结合预设的雷达天线的最终吊装参数，形成所述终态吊装指令。The control system forms the final hoisting instruction according to the transmitted distance data and the preset final hoisting parameters of the radar antenna.
本发明的视觉传感器设置有多个摄像头，能够获取多个角度的深度视觉图像完成测距，装置结构虽然简单但测距精准。通过与激光测距仪的测距配合，能够自动快读完成测距并完成中段的天线段和两端的天线段的自动测距、拼接、调平，实现天线的快速安装。The visual sensor of the present invention is equipped with multiple cameras, which can obtain depth visual images from multiple angles to complete the distance measurement. Although the device structure is simple, the distance measurement is accurate. By cooperating with the distance measurement of the laser rangefinder, it can automatically and quickly complete the distance measurement and complete the automatic distance measurement, splicing, and leveling of the middle antenna segment and the antenna segments at both ends, so as to realize the rapid installation of the antenna.
在上述方案中，作为优选，所述传感装置包括角度传感器和力传感器，每个所述天线段上均设置有角度传感器和力传感器，用于分别测量天线段的倾斜角度和吊装过程中受到的力。In the above scheme, preferably, the sensing device includes an angle sensor and a force sensor, and each of the antenna segments is provided with an angle sensor and a force sensor for respectively measuring the tilt angle of the antenna segment and the force applied during the lifting process.
在本发明的其中一个方案中，作为优选，所述吊装设备包括多个吊装装置，所述吊装装置与所述天线段一一对应设置。可避免使用大型起吊设备，降低安装设备需求。In one solution of the present invention, preferably, the hoisting equipment includes a plurality of hoisting devices, and the hoisting devices are arranged one by one corresponding to the antenna segments, thereby avoiding the use of large hoisting equipment and reducing the demand for installation equipment.
在本发明的其中一个方案中，作为优选，所述吊装指令可生成多次。可根据各天线段的实时状态，实时多次生成吊装指令，以自动、快速完成雷达天线系统的吊装。In one of the solutions of the present invention, preferably, the hoisting instruction can be generated multiple times. The hoisting instruction can be generated multiple times in real time according to the real-time status of each antenna segment, so as to automatically and quickly complete the hoisting of the radar antenna system.
为使本领域技术人员更好地理解本发明的技术方案，现提供如下的实施例进行说明：In order to enable those skilled in the art to better understand the technical solution of the present invention, the following embodiments are provided for illustration:
一种雷达天线系统的吊装自动化控制方法，包括：A method for automatically controlling the hoisting of a radar antenna system, comprising:
根据雷达天线长度将雷达天线分成若干个天线段；Divide the radar antenna into several antenna segments according to the length of the radar antenna;
布置吊装设备，所述吊装设备具有能够同步吊装所述若干个天线段的吊装装置；Arranging a hoisting device, wherein the hoisting device has a hoisting device capable of synchronously hoisting the plurality of antenna segments;
在所述天线段上安装传感装置，用于实时获取天线段的实时状态信息，并将获取的天线段的实时状态信息发送给控制系统；A sensor device is installed on the antenna segment to obtain real-time status information of the antenna segment in real time, and send the obtained real-time status information of the antenna segment to the control system;
控制系统根据接收到的天线段的实时状态信息，实时生成吊装指令，The control system generates hoisting instructions in real time based on the real-time status information of the antenna segment received.
所述控制系统将所述吊装指令发送给吊装设备；The control system sends the hoisting instruction to the hoisting equipment;
所述吊装设备根据所述吊装指令，若干个所述吊装装置同步自动调整吊装姿态，同步完成若干个天线段的吊装作业；The hoisting equipment, according to the hoisting instruction, synchronizes and automatically adjusts the hoisting posture of a plurality of hoisting devices, and synchronously completes the hoisting operation of a plurality of antenna segments;
将若干个天线段完成初步拼接；Complete the preliminary splicing of several antenna segments;
所述控制系统实时接收所述传感装置传输而来的天线段的实时状态信息、结合预设的雷达天线的最终吊装参数，形成该条天线的终态吊装指令并发送给所述吊装设备，The control system receives the real-time status information of the antenna segment transmitted by the sensor device in real time, combines the preset final hoisting parameters of the radar antenna, forms the final hoisting instruction of the antenna and sends it to the hoisting device.
所述吊装设备根据所述终态吊装指令，调整初步拼接后的若干个天线段的姿态，将若干个天线段锚固，完成整条天线安装。The hoisting equipment adjusts the postures of the plurality of antenna segments after preliminary splicing according to the final hoisting instruction, anchors the plurality of antenna segments, and completes the installation of the entire antenna.
激光测距仪，其设置在位于整条天线中段的天线段上。可将除了天线的长度两端的天线段之外的剩余天线段上均视为中段的天线段。The laser rangefinder is arranged on the antenna segment located in the middle of the entire antenna. The remaining antenna segments except the antenna segments at both ends of the length of the antenna can be regarded as the antenna segments in the middle.
所述传感装置包括视觉传感器，在整条天线的两端的天线段上均设置有所述视觉传感器，每个所述视觉传感器均包括：The sensing device includes a visual sensor, which is arranged on antenna segments at both ends of the entire antenna, and each of the visual sensors includes:
圆台，其一端固定在天线段上；A truncated cone, one end of which is fixed to the antenna segment;
若干个摄像头，其设置在所述圆台的另一端，所述若干个摄像头呈轴对称设置于所述圆台的另一端处；A plurality of cameras are arranged at the other end of the truncated table, and the plurality of cameras are arranged at the other end of the truncated table in an axisymmetric manner;
微处理器，其设置在所述圆台另一端的中央位置，处理器与所述若干个摄像头通讯连接，所述微处理器用于接收所述若干个摄像头拍摄的图像，并根据图像计算目标位置与其当前所述天线段之间的距离；A microprocessor is arranged at the center of the other end of the truncated table, the processor is in communication connection with the plurality of cameras, and the microprocessor is used to receive images taken by the plurality of cameras and calculate the distance between the target position and the current antenna segment thereof according to the images;
其中，所述激光测距仪粗测天线段安装中的第一水平方向的距离并传输给所述控制系统，The laser rangefinder roughly measures the distance in the first horizontal direction during the installation of the antenna segment and transmits it to the control system.
所述视觉传感器精准测量天线段安装中的第二水平方向和垂直方向的距离并传输给所述控制系统，所述第二水平方向与所述第一水平方向垂直，且所述垂直方向垂直于所述第一水平方向和第二水平方向所在的水平面；The visual sensor accurately measures the distance in the second horizontal direction and the vertical direction of the antenna segment installation and transmits it to the control system, the second horizontal direction is perpendicular to the first horizontal direction, and the vertical direction is perpendicular to the horizontal plane where the first horizontal direction and the second horizontal direction are located;
所述控制系统根据传输的距离数据，生成所述吊装指令；所述吊装指令可生成多次。The control system generates the hoisting instruction according to the transmitted distance data; the hoisting instruction can be generated multiple times.
之后所述激光测距仪精准测量天线段安装中的第一水平方向的距离并再次传输给所述控制系统，Then the laser rangefinder accurately measures the distance in the first horizontal direction of the antenna segment installation and transmits it to the control system again.
所述视觉传感器精准测量天线段安装中的第二水平方向和垂直方向的距离并再次传输给所述控制系统；The visual sensor accurately measures the distance in the second horizontal direction and the vertical direction of the antenna segment installation and transmits it to the control system again;
所述控制系统根据传输的距离数据，结合预设的雷达天线的最终吊装参数，形成所述终态吊装指令。The control system forms the final hoisting instruction according to the transmitted distance data and the preset final hoisting parameters of the radar antenna.
所述传感装置包括角度传感器和力传感器，每个所述天线段上均设置有角度传感器和力传感器。The sensing device comprises an angle sensor and a force sensor, and each of the antenna segments is provided with an angle sensor and a force sensor.
所述吊装设备包括多个吊装装置，所述吊装装置与所述天线段一一对应设置。The hoisting equipment includes a plurality of hoisting devices, and the hoisting devices are arranged in a one-to-one correspondence with the antenna segments.
本发明中，可根据现场施工条件，比如吊装设备的载荷、起重臂仰角、臂长及需要作业的高度等条件，将雷达天线分为若干个连续的天线段，在每个天线段上安装上相应的传感装置，之后采用吊装设备对多个天线段同步吊装，当每个天线段达到需要的高度时，根据其上的传感装置传输来的数据，获得其所在的高度、倾角、彼此之间的距离等信息，相邻的天线段间互相拼装，最低端的天线段固定在天线座等固定装置上，最高端的天线段的下端与下面的次高端的天线段的上端拼装，完成初步拼装，各个天线段的初步拼装连接的并不完全牢固，当根据终态吊装指令，调整初步拼接后的若干个天线段的姿态，将若干个天线段锚固，使其彻底稳固，完成整条天线安装。In the present invention, the radar antenna can be divided into several continuous antenna segments according to the on-site construction conditions, such as the load of the lifting equipment, the elevation angle of the crane arm, the arm length and the required operating height, and a corresponding sensor device is installed on each antenna segment. Then, the lifting equipment is used to synchronously lift the multiple antenna segments. When each antenna segment reaches the required height, the height, inclination angle, distance between each other and other information are obtained according to the data transmitted by the sensor device thereon. The adjacent antenna segments are assembled with each other, the lowest antenna segment is fixed on a fixing device such as an antenna seat, and the lower end of the highest end antenna segment is assembled with the upper end of the lower second highest end antenna segment to complete the preliminary assembly. The preliminary assembled connection of each antenna segment is not completely firm. When the posture of the several antenna segments after preliminary splicing is adjusted according to the final state lifting instruction, the several antenna segments are anchored to make them completely stable, and the installation of the entire antenna is completed.
这里说明的设备数量和处理规模是用来简化本发明的说明的。对本发明的应用、修改和变化对本领域的技术人员来说是显而易见的。The number of devices and processing scales described here are used to simplify the description of the present invention. Applications, modifications and variations of the present invention will be obvious to those skilled in the art.
尽管本发明的实施方案已公开如上，但其并不仅仅限于说明书和实施方式中所列运用，它完全可以被适用于各种适合本发明的领域，对于熟悉本领域的人员而言，可容易地实现另外的修改，因此在不背离权利要求及等同范围所限定的一般概念下，本发明并不限于特定的细节。Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and the implementation modes. They can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to specific details.
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| CN202410482278.0A CN118125303A (en) | 2024-04-22 | 2024-04-22 | Automatic control method for hoisting of radar antenna system |
| PCT/CN2024/106777 WO2025222655A1 (en) | 2024-04-22 | 2024-07-22 | Automated control method for lifting of radar antenna system |
| ZA2025/00753A ZA202500753B (en) | 2024-04-22 | 2025-01-22 | Automatic control method for hoisting radar antenna system |
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| US20020162283A1 (en) * | 2001-05-01 | 2002-11-07 | Benson Jack Myron | Jacking & tipping restraint apparatus and design of communications towers to enable entire tower erection at ground level |
| CN201737587U (en) * | 2010-07-19 | 2011-02-09 | 中国电子科技集团公司第十四研究所 | Hoisting device for antenna array surface |
| CN102733644B (en) * | 2012-07-12 | 2014-04-02 | 广州建筑股份有限公司 | Super-altitude roof super-long antenna hoisting construction method and system |
| CN106944818B (en) * | 2017-05-08 | 2019-10-01 | 成都锦江电子系统工程有限公司 | Large Radar Antenna six degree of freedom automatic butt separation system and method |
| CN110577149A (en) * | 2019-08-16 | 2019-12-17 | 江西飞尚科技有限公司 | A real-time control device and control method for synchronous hoisting of multiple cranes |
| CN111752252A (en) * | 2020-07-18 | 2020-10-09 | 大连交通大学 | An automatic flexible docking assembly control system and method |
| CN113922087B (en) * | 2021-09-16 | 2022-06-17 | 哈尔滨工业大学 | Wide band section miniaturization antenna array hoisting mechanism suitable for cross cabin structure |
| CN118125303A (en) * | 2024-04-22 | 2024-06-04 | 中国港湾工程有限责任公司 | Automatic control method for hoisting of radar antenna system |
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