CN108267793A - A kind of exploratory heading automatic detection device - Google Patents
A kind of exploratory heading automatic detection device Download PDFInfo
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- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
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Abstract
The present invention relates to a kind of exploratory heading automatic detection devices；Including pedestal, ground detection, detection controller；The detection controller is computer control；The ground detection is fixedly installed with the base engagement；The detection controller is fixedly installed with the base engagement；The ground detection is connected with the detection controller；The ground detection is used to obtain the measurement data and/or photographed data on detection zone ground；The ground detection is range unit, and the range unit is wireless distance finding device or laser ranging system, and the range unit cooperation is fixed on two dimension or multidimensional or two axis or multiaxial motion platform；The two dimension or multidimensional or two axis or the cooperation of multiaxial motion platform are fixed on pedestal.The present invention provides a kind of exploratory heading automatic detection devices, can detect the position of exploratory heading automatically, improve the working efficiency of exploratory heading detection.
Description
Technical field
The present invention relates to electronics and machinery equipment field, especially exploratory heading automatic detection device.
Background technology
In some constructions, many exploratory headings are made, but exploratory heading backfill does not often backfill not in time, even；Existing management because
Element, economic factor also have certain relationship with lacking exploratory heading cleaning equipment.
When carrying out exploratory heading cleaning, backfill when work, if there is a kind of automation equipment, exploratory heading can be detected automatically
Position and/or the diameter of exploratory heading are conducive to accelerate the speed of exploratory heading detection, reduce road and occupy.
Invention content
Technical problem：
In view of the defects existing in the prior art, the present invention proposes a kind of exploratory heading automatic detection device, exploratory heading detection method；Its
The diameter of exploratory heading position and/or exploratory heading can be detected automatically, improve the working efficiency of exploratory heading detection.
Technical solution：
To achieve the above object, the present invention proposes a kind of exploratory heading automatic detection device, including pedestal, ground detection,
Detect controller；The detection controller is computer control；The ground detection is set with base engagement fixation
It puts；The detection controller is fixedly installed with the base engagement；The ground detection and the detection controller cooperation
Connection；The ground detection is used to obtain the measurement data and/or photographed data on detection zone ground.
The ground detection be range unit, the range unit be wireless distance finding device or laser ranging system,
The range unit cooperation is fixed on two dimension or multidimensional or two axis or multiaxial motion platform；The two dimension or multidimensional or two
Axis or the cooperation of multiaxial motion platform are fixed on pedestal.
Further, the detection controller further includes input interface；The input interface includes starting interface and/or stop
Only interface；The startup interface and/or stopping interface of the input interface are connection and/or communication connection.The input connects
Mouth is connection and/or communication connection.
Further, the detection controller at least further includes one of following interfaces：
Interface one：Communication interface；The communication interface includes one of the following：Digital wireless communication interface, mobile number are logical
Believe interface, near field communication interface, wired communication interface；
Interface two：Video interface；The video interface can at least connect a video monitoring apparatus；The video interface
It is analog interface or digital interface；
Interface three：Audio interface；The audio interface can at least connect a sound pick-up；The audio interface is simulation
Interface or digital interface.
The present invention proposes a kind of exploratory heading detection method, it is characterised in that：The exploratory heading detection method is used to detect detection zone
The position of exploratory heading in domain and/or diameter, including following processing steps：
S1) block-by-blocks traversal detection zone；One angle in self-test region starts, every time one detection subregion of detection, institute
State the detection length of subregion, width is set greater than exploratory heading diameter, make a detection subregion that can only be visited there are one complete
Hole；Adjacent two detection subregion overlapping at least half of exploratory heading diameter, 2 rows overlapping at least half of exploratory heading diameter in row；In row
Two adjacent row detection subregion overlapping at least half of exploratory heading diameter；After one detection subregion detection, it is moved in row
Next detection subregion；After a line detects, next line is detected；
S2) measures the distance data matrix for obtaining detection subregion；It detects in subregion and is detected at one, according to
The ranks spacing (be smaller than exploratory heading diameter 1/5th) of pre-set test point determines the inspection in detection zone
The position of measuring point；Each test point is measured to the distance of ground detection, obtains the distance data matrix of detection zone；
S3) detects exploratory heading edge point, the label exploratory heading edge point in exploratory heading candidate edge point marks matrix A；Including as follows
Subprocessing：
S3.1) removes label (the exploratory heading candidate edge point label square of exploratory heading candidate edge point label matrix A all elements
The line number of battle array A, columns are consistent with distance data matrix)；
S3.2) calculates the distance between all row or column consecutive points in distance data matrix difference one by one；
S3.3) finds out candidate exploratory heading edge point：Judge whether the absolute value of the distance difference is more than or more than or equal to setting
Fixed threshold value if it is, thinking that the corresponding test point of 2 points in a pair of consecutive points is candidate exploratory heading edge point, is being visited
The position of correspondence this 2 points in hole candidate edge point label matrix A makes marks；
S4) looks for exploratory heading, and exploratory heading set is recorded in the exploratory heading found out in exploratory heading candidate edge point marks matrix A
In；Including following subprocessing：
S4.1) replicates exploratory heading candidate edge point and marks matrix A to exploratory heading edge point traversal label matrix B；
S4.2) removes the label (row of exploratory heading edge point label Matrix C of exploratory heading edge point label Matrix C all elements
Number, columns are as exploratory heading candidate edge point label matrix A)；
S4.3) looks for first edge point of exploratory heading：In exploratory heading edge point traverses label matrix B, looked for by row or column traversal
First markd element (being denoted as P)；It finds, it is believed that find an edge point of doubtful exploratory heading, point traverses at exploratory heading edge
Remove the corresponding labels of point P in label matrix B, the corresponding labels of mark point P in exploratory heading edge point marks Matrix C；It does not find,
Think there is no exploratory heading in the region, go to step S4.8；
S4.4) looks for the adjacent side of exploratory heading along point：In exploratory heading edge point traverses label matrix B, centered on point P, row
Or column distance point P distances search next markd element (being denoted as P2) in the range of a points of x (presetting)；It finds,
Remove the corresponding labels of point P2 in exploratory heading edge point traverses label matrix B, the mark point P in exploratory heading edge point marks Matrix C
Corresponding label, record P are equal to P2, go to step S4.4；It does not find, goes to step S4.5；
Whether the exploratory heading that S4.5) judgements are found is complete：Exploratory heading candidate edge point mark matrix A in, using point P in
The heart, row or column range points P searches next markd element in the range of x point；It finds, it is believed that find complete
Exploratory heading goes to step S4.6；It does not find, it is believed that is found is incomplete exploratory heading, goes to step S4.2 and looks for next exploratory heading；
S4.6) calculates diameter, the center point coordinate of exploratory heading：Calculating successively in exploratory heading edge point label Matrix C has label
Any point, to the maximum distance (being denoted as L) between remaining markd point and corresponding 2 points of maximum distance (be denoted as P1,
P3)；
Whether within the preset range to judge L, if, it is believed that find exploratory heading, it is believed that the central point of exploratory heading is in point
The midpoint of P1, P3 line calculates the position of exploratory heading central point；If not, go to step S4.2；
S4.7) the location information of the exploratory heading is recorded in exploratory heading set；
S4.8) processing terminates.
Further, the processing step S3.3 is replaced by：
S3.4) determines that the point is located in hole, outside hole according to the positive and negative of the difference；If the difference is just, is subtracted
The corresponding test point of number is located in hole；If the difference is negative, the corresponding test point of subtrahend is located in hole；
The test point being located in hole in a pair of of consecutive points of selection and/or the test point outside hole, on exploratory heading candidate side
It makes marks along the corresponding position in point label matrix A.
Further, the processing step S4.6 is replaced by：
S4.10) traversals calculate diameter, the center point coordinate of exploratory heading：It calculates successively in exploratory heading edge point label Matrix C
The distance between all the points of tape label obtain maximum distance (being denoted as L) and maximum distance corresponding 2 between markd point
A point (being denoted as P1, P3)；
Whether within the preset range to judge L, if, it is believed that find exploratory heading, it is believed that the central point of exploratory heading is in point
The midpoint of P1, P3 line calculates the position of exploratory heading central point；If not, go to step S4.2.
Further, the processing step S4.6 is replaced by：
S4.11) maximum widths, height method traversal calculate diameter, the center point coordinate of exploratory heading：Exploratory heading edge is calculated successively
Line-spacing, row between all the points of tape label in point label Matrix C away from, find maximum line-spacing, row away from and its endpoint；
Using big value away among of maximum line-spacing, row or small value or its average value as exploratory heading diameter (being denoted as L)；
Whether within the preset range to judge L, if, it is believed that exploratory heading is found, with maximum line-spacing, row away from correspondence
Line crosspoint be exploratory heading central point or using maximum line-spacing or row the midpoint away from corresponding line as exploratory heading central point；
If not, go to step S4.2.
Further, the exploratory heading detection method, optionally further includes following processing steps：
S5) coordinate transforms:According to the coordinate of exploratory heading automatic detection device, coordinate transform is carried out to exploratory heading center point coordinate,
Obtain coordinate of the exploratory heading central point relative to exploratory heading automatic detection device origin.
Advantageous effect
Exploratory heading automatic detection device proposed by the present invention can detect the position of exploratory heading automatically, improve exploratory heading detection
Working efficiency.
Description of the drawings
Fig. 1 is a kind of structure diagram of embodiment of the exploratory heading automatic detection device of the present invention：
11. pedestal, 12. ground detections, 13. connecting lines, 14. detection controllers.
Fig. 2 is the structure diagram of another embodiment of the exploratory heading automatic detection device of the present invention：
11. pedestal, 15. motion platforms, 16. laser ranging systems, 13. connecting lines, 14. detection controllers.
Fig. 3 is a kind of main flow chart of embodiment of the exploratory heading detection method of the present invention.
Fig. 4 is the sub-process figure of the processing step S3 of the embodiment illustrated in fig. 3 of the exploratory heading detection method of the present invention.
Fig. 5 is the sub-process figure of the processing step S4 of the embodiment illustrated in fig. 3 of the exploratory heading detection method of the present invention.
Fig. 6 is the sub-process figure of the processing step S3 of another embodiment of the exploratory heading detection method of the present invention.
Fig. 7 is the sub-process figure of the processing step S4 of another embodiment of the exploratory heading detection method of the present invention.
Fig. 8 is the sub-process figure of the processing step S4 of another embodiment of the exploratory heading detection method of the present invention.
Fig. 9 is the main flow chart of another embodiment of the exploratory heading detection method of the present invention.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, it is right
The present invention is described in further detail.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention,
It is not intended to limit the present invention.
Implement use-case one
As shown in Figure 1, be a kind of a kind of structure diagram of embodiment of exploratory heading automatic detection device of the present invention, including
Pedestal 11, ground detection 12, connecting line 13, detection controller 14.
For the pedestal 11 for fixing, protecting other component, shape preferably includes bottom surface.
The cooperation of ground detection 12 fixed setting is on the pedestal 11；
The detection controller 14 is fixedly installed with the cooperation of pedestal 11；
The detection controller 14 is computer control, is the prior art.
The ground detection 12 is connected by connecting line 13 and the detection controller 14；
The connecting line 13 is connected with pedestal 11, ground detection 12, detection controller 14.
The ground detection 12 is used to obtain the measurement data and/or photographed data on detection zone ground.
The ground detection 12 is preferably filled using image acquisition device, range unit, radar using image collection
It puts.
The image acquisition device is one of DV or digital camera, preferably digital camera；Image
The image information of acquisition is transferred to detection controller 14 by harvester, and detection controller 14 is analyzed image, visited
Hole position coordinates in the picture and/or exploratory heading diameter；Optionally, further according to seat of the image acquisition device with respect to 11 origin of pedestal
Mark obtains coordinate of the exploratory heading with respect to 11 origin of pedestal.
Optionally, the exploratory heading automatic detection device further includes input interface, the input interface and detection controller 14
It is connected；The input interface is used to receive external input signal；Preferably, including input interface；
The input interface includes starting interface and/or stops interface, preferred to include starting interface and stop interface；Institute
It is connection and/or communication connection, preferably connection to state input interface；
After the detection controller 14 receives the enabling signal that startup interface transmits, start to work；The detection control
After device 14 receives the stop signal that stopping interface transmitting, it is stopped.
Optionally, the exploratory heading automatic detection device further includes signal output apparatus；Preferably include signal output apparatus.
The signal output apparatus is connected with detection controller 15, coordinates fixed setting；The signal output apparatus
For exporting the information such as testing result and/or working condition.
The signal output apparatus is wireless communication device of the prior art or wire communication device；The wireless communication
Device includes at least one of ZigBee transport protocols, WiFi transport protocols, Bluetooth transmission protocol, GPRS communication protocols；It is described to have
Line communication device includes at least one of circuit output device, serial ports wire communication device, Parallel Interface Communication device；The wire communication
Device, wireless communication device are the prior arts.Preferably use serial ports wire communication device.
Optionally, the detection controller at least further includes one of following interfaces：
Interface one：Communication interface；The communication interface includes one of the following：Digital wireless communication interface, mobile number are logical
Believe interface, near field communication interface, wired communication interface；Preferably, mobile digital communication interface；
Interface two：Video interface；The video interface can at least connect a video monitoring apparatus；The video interface
It is analog interface or digital interface；Preferably digital interface；
Interface three：Audio interface；The audio interface can at least connect a sound pick-up；The audio interface is simulation
Interface or digital interface.
Preferably, the detection controller further includes communication interface, video interface, audio interface.
All electrical equipments are by installing means of power on the pedestal 11；The supply unit, be generator and/or
Storage battery power supply system and/or generator combine electric power system and/or externally fed interface arrangement with accumulator；Preferably store
Battery power supply system.
Implement use-case two
As shown in Fig. 2, be a kind of structure diagram of exploratory heading automatic detection device another kind embodiment of the present invention, including
Pedestal 11, motion platform 15, laser ranging system 16, detection controller 14, connecting line 13.
Implementing use-case two, the difference lies in implementing the ground detection 12 that use-case two uses is with implementing use-case one
Laser ranging system 16；The cooperation of laser ranging system 16 is fixed on motion platform 15；The motion platform 15 is matched
Close fixed setting on the pedestal 11；
The laser ranging system 16 is wireless distance finding device or laser ranging system；The wireless distance finding device, laser
Range unit is the prior art；Preferably laser ranging system；
The laser ranging system 16 is connected by connecting line 13 and detects controller 14；
The motion platform 15 is two dimension or multidimensional or two axis or multiaxial motion platform；Two dimension or multidimensional or two axis or multiaxis
Motion platform is the prior art；Being connected by connecting line 13 for the motion platform 15 detects controller 14；Preferably
Two axis motion platforms；Under the control of detection controller 14, motion platform 15 drives laser ranging system 16 to measure detection zone
Each measurement point in domain is to the distance of laser ranging system 16；Each measurement point in detection zone controls in advance in detection
It sets on device, is determined in region preferably through line space, the column pitch between the setting measurement point on detection controller
The position of measurement point.Line space, column pitch between measurement point should be set smaller than 1/3rd of exploratory heading diameter, preferably
1/10th.
Implement use-case three
As shown in figure 3, it is that (Fig. 4 is Fig. 3 institutes for the main flow chart of a kind of embodiment of exploratory heading detection method of the present invention a kind of
Show the sub-process figure of the processing step S3 of flow chart, Fig. 5 is the sub-process figure of the processing step S4 of flow chart shown in Fig. 3), it is described
Exploratory heading detection method is used to detect position and/or the diameter of the exploratory heading in detection zone, including following processing steps：
S1) block-by-blocks traversal detection zone；One angle in self-test region starts, every time one detection subregion of detection, institute
State the detection length of subregion, width is set greater than exploratory heading diameter, make a detection subregion that can only be visited there are one complete
Hole；Adjacent two detection subregion overlapping at least half of exploratory heading diameter, 2 rows overlapping at least half of exploratory heading diameter in row；In row
Two adjacent row detection subregion overlapping at least half of exploratory heading diameter；After one detection subregion detection, it is moved in row
Next detection subregion；After a line detects, next line is detected；Preferably, the length of subregion is detected, width is set as
1.5 times of (citings of exploratory heading diameter：When exploratory heading is 50 millimeters a diameter of, the length of subregion is detected, width is set as 75 millimeters)；
Preferably, two adjacent in row detection subregions are overlapped 0.7 exploratory heading diameter, and 2 rows are overlapped 0.7 exploratory heading diameter；To next
When row is mobile, when the height of remaining non-detection zone is less than 0.7 exploratory heading diameter, it is moved to regional edge edge；To next
When row are mobile, during 0.7 exploratory heading diameter of short of width of remaining non-detection zone, be moved to regional edge along；
S2) measures the distance data matrix for obtaining detection subregion；It detects in subregion and is detected at one, according to
The ranks spacing (be smaller than exploratory heading diameter 1/5th) of pre-set test point determines the inspection in detection zone
The position of measuring point；Each test point is measured to the distance of ground detection, obtains the distance data matrix of detection zone；It is excellent
Choosing, the ranks spacing of test point is set as 2 millimeters；
S3) detects exploratory heading edge point, the label exploratory heading edge point in exploratory heading candidate edge point marks matrix A；Including as follows
Subprocessing：
S3.1) removes label (the exploratory heading candidate edge point label square of exploratory heading candidate edge point label matrix A all elements
The line number of battle array A, columns are consistent with distance data matrix)；
S3.2) calculates the distance between all row or column consecutive points in distance data matrix difference one by one；
S3.3) finds out candidate exploratory heading edge point：Judge whether the absolute value of the distance difference is more than or more than or equal to setting
Fixed threshold value (preferred, to be set as 10 millimeters), if it is, thinking the corresponding test point of 2 points in a pair of consecutive points
For candidate exploratory heading edge point, the position of correspondence this 2 points in exploratory heading candidate edge point marks matrix A makes marks；
S4) looks for exploratory heading, and exploratory heading set is recorded in the exploratory heading found out in exploratory heading candidate edge point marks matrix A
In；Including following subprocessing：
S4.1) replicates exploratory heading candidate edge point and marks matrix A to exploratory heading edge point traversal label matrix B；
S4.2) removes the label (row of exploratory heading edge point label Matrix C of exploratory heading edge point label Matrix C all elements
Number, columns are as exploratory heading candidate edge point label matrix A)；
S4.3) looks for first edge point of exploratory heading：In exploratory heading edge point traverses label matrix B, looked for by row or column traversal
First markd element (being denoted as P)；It finds, it is believed that find an edge point of doubtful exploratory heading, point traverses at exploratory heading edge
Remove the corresponding labels of point P in label matrix B, the corresponding labels of mark point P in exploratory heading edge point marks Matrix C；It does not find,
Think there is no exploratory heading in the region, go to step S4.8；
S4.4) looks for the adjacent side of exploratory heading along point：In exploratory heading edge point traverses label matrix B, centered on point P, row
Or column distance point P distances search next markd element in the range of x (presetting, it is preferred that x=3) a point
(being denoted as P2)；It finds, removes the corresponding labels of point P2 in exploratory heading edge point traverses label matrix B, point marks at exploratory heading edge
The corresponding labels of mark point P in Matrix C, record P are equal to P2, go to step S4.4；It does not find, goes to step S4.5；
Whether the exploratory heading that S4.5) judgements are found is complete：Exploratory heading candidate edge point mark matrix A in, using point P in
The heart, row or column range points P searches next markd element in the range of x point；It finds, it is believed that find complete
Exploratory heading；It does not find, it is believed that is found is incomplete exploratory heading, goes to step S4.2 and looks for next exploratory heading；
S4.6) calculates diameter, the center point coordinate of exploratory heading：Calculating successively in exploratory heading edge point label Matrix C has label
Any point, to the maximum distance (being denoted as L) between remaining markd point and corresponding 2 points of maximum distance (be denoted as P1,
P3)；
L is judged whether in preset range (preferably, with the error of exploratory heading diameter within 10%), if
, it is believed that find exploratory heading, it is believed that the central point of exploratory heading is in the midpoint of point P1, P3 line, the position of calculating exploratory heading central point；If
Do not exist, go to step S4.2；
S4.7) the location information of the exploratory heading is recorded in exploratory heading set；
S4.8) processing terminates.
In the detection controller 14 of exploratory heading automatic detection device 32 or the equipment of carrying exploratory heading automatic detection device 32
Operation includes the program of exploratory heading detection method in detection controller.
Implement use-case four
As shown in fig. 6, it is the subflow of the processing step S3 of another embodiment of exploratory heading detection method of the present invention a kind of
Cheng Tu.
Implementing use-case four, difference lies in processing step S3.3 is replaced by with implementing use-case three：
S3.4) finds out candidate exploratory heading edge point：
Positive and negative according to the difference determines that the point is located in hole, outside hole；If the difference is just, minuend corresponds to
Test point be located in hole；If the difference is negative, the corresponding test point of subtrahend is located in hole；
The test point being located in hole in a pair of of consecutive points of selection and/or the test point outside hole, on exploratory heading candidate side
It makes marks along the corresponding position in point label matrix A.
Implement use-case five
As shown in fig. 7, it is the subflow of the processing step S4 of another embodiment of exploratory heading detection method of the present invention a kind of
Cheng Tu.
Implementing use-case five, difference lies in processing step S4.6 is replaced by with implementing use-case three, four：
S4.10) traversals calculate diameter, the center point coordinate of exploratory heading：It calculates successively in exploratory heading edge point label Matrix C
The distance between all the points of tape label obtain maximum distance (being denoted as L) and maximum distance corresponding 2 between markd point
A point (being denoted as P1, P3)；
L is judged whether in preset range (preferably, with the error of exploratory heading diameter within 10%), if
, it is believed that find exploratory heading, it is believed that the central point of exploratory heading is in the midpoint of point P1, P3 line, the position of calculating exploratory heading central point；If
Do not exist, go to step S4.2.
Implement use-case six
As shown in figure 8, it is the subflow of the processing step S4 of another embodiment of exploratory heading detection method of the present invention a kind of
Cheng Tu.
Implementing use-case six, difference lies in the processing step S4.6 is replaced by with implementing use-case three, four：
S4.11) maximum widths, height method traversal calculate diameter, the center point coordinate of exploratory heading：Exploratory heading edge is calculated successively
Line-spacing, row between all the points of tape label in point label Matrix C away from, find maximum line-spacing, row away from and its endpoint；
Using big value away among of maximum line-spacing, row or small value or its average value as exploratory heading diameter (being denoted as L)；
L is judged whether in preset range (preferably, with the error of exploratory heading diameter within 10%), if
, it is believed that exploratory heading is found, using maximum line-spacing, crosspoint of the row away from corresponding line as exploratory heading central point or with maximum row
Away from or row the midpoint away from corresponding line be exploratory heading central point；
If not, go to step S4.2.
Implement use-case seven
As shown in figure 9, it is a kind of main flow chart of another embodiment of exploratory heading detection method of the present invention.
Implementing use-case seven, difference lies in implement use-case seven and further include following processing steps with implementing use-case three to six：
S5) coordinate transforms:According to the coordinate of exploratory heading automatic detection device, coordinate transform is carried out to exploratory heading center point coordinate,
Obtain coordinate of the exploratory heading central point relative to exploratory heading automatic detection device origin.
At this point, location information by the connecting line being connect with positioning device 33 be transferred to exploratory heading automatic detection device 32 or
Carry the detection controller of the equipment of exploratory heading automatic detection device 32；
In the detection controller 14 of exploratory heading automatic detection device 32 or the equipment of carrying exploratory heading automatic detection device 32
Operation includes the program of exploratory heading detection method in detection controller.
It should be noted that shown in the flowchart of the accompanying drawings can be in such as one group of calculating that can perform computer instruction
It is performed in machine system, although also, show the logical order of processing in flow charts, it in some cases, can be with
Shown or described processing is performed different from processing sequence herein.
The present invention provides a kind of exploratory heading automatic detection devices, can detect the position of exploratory heading automatically, improve exploratory heading inspection
The working efficiency of survey.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of exploratory heading automatic detection device, it is characterised in that：Including pedestal, ground detection, detection controller；The inspection
It is computer control to survey controller；The ground detection is fixedly installed with the base engagement；The detection controller
It is fixedly installed with the base engagement；The ground detection is connected with the detection controller；The ground detection
Device is used to obtain the measurement data and/or photographed data on detection zone ground.
2. a kind of exploratory heading automatic detection device, it is characterised in that：The ground detection be range unit, the range unit
For wireless distance finding device or laser ranging system, the range unit cooperation is fixed at two dimension or multidimensional or two axis or multiaxis
On motion platform；The two dimension or multidimensional or two axis or the cooperation of multiaxial motion platform are fixed on pedestal.
3. exploratory heading automatic detection device according to claim 1, it is characterised in that：The detection controller further includes input
Interface；The input interface includes starting interface and/or stops interface；The startup interface of the input interface and/or stopping connect
Mouth is connection and/or communication connection.
The input interface is connection and/or communication connection.
4. exploratory heading automatic detection device according to claim 1 or 2, it is characterised in that：The detection controller is at least also
Including one of following interfaces：
Interface one：Communication interface；The communication interface includes one of the following：Digital wireless communication interface, mobile digital communication connect
Mouth, near field communication interface, wired communication interface；
Interface two：Video interface；The video interface can at least connect a video monitoring apparatus；The video interface is mould
Intend interface or digital interface；
Interface three：Audio interface；The audio interface can at least connect a sound pick-up；The audio interface is analog interface
Or digital interface.
5. a kind of exploratory heading detection method, it is characterised in that：The exploratory heading detection method is used to detect the exploratory heading in detection zone
Position and/or diameter, including following processing steps：
S1) block-by-blocks traversal detection zone；One angle in self-test region starts, every time one detection subregion of detection, the inspection
The length of survey subregion, width are set greater than exploratory heading diameter, make a detection subregion can only be there are one complete exploratory heading；Row
Interior two adjacent detection subregion overlapping at least half of exploratory heading diameters, 2 rows overlapping at least half of exploratory heading diameter；It is adjacent in row
Two row detection subregion overlapping at least half of exploratory heading diameter；After one detection subregion detection, it is moved to next in row
Detect subregion；After a line detects, next line is detected；
S2) measures the distance data matrix for obtaining detection subregion；It detects in subregion and is detected at one, according to advance
The ranks spacing (be smaller than exploratory heading diameter 1/5th) of the test point of setting determines the test point in detection zone
Position；Each test point is measured to the distance of ground detection, obtains the distance data matrix of detection zone；
S3) detects exploratory heading edge point, the label exploratory heading edge point in exploratory heading candidate edge point marks matrix A；At following son
Reason：
S3.1) (exploratory heading candidate edge point marks matrix A to the label of removal exploratory heading candidates edge point label matrix A all elements
Line number, columns are consistent with distance data matrix)；
S3.2) calculates the distance between all row or column consecutive points in distance data matrix difference one by one；
S3.3) finds out candidate exploratory heading edge point：Judge whether the absolute value of the distance difference is more than or more than or equal to setting
Threshold value if it is, thinking that the corresponding test point of 2 points in a pair of consecutive points is candidate exploratory heading edge point, is waited in exploratory heading
The position of correspondence this 2 points in edge point label matrix A is selected to make marks；
S4) looks for exploratory heading, and the exploratory heading found out is recorded in exploratory heading set in exploratory heading candidate edge point marks matrix A；Packet
Include following subprocessing：
S4.1) replicates exploratory heading candidate edge point and marks matrix A to exploratory heading edge point traversal label matrix B；
S4.2) removes label (line number of exploratory heading edge point label Matrix C, the row of exploratory heading edge point label Matrix C all elements
Number is as exploratory heading candidate edge point label matrix A)；
S4.3) looks for first edge point of exploratory heading：In exploratory heading edge point traverses label matrix B, first is looked for by row or column traversal
A markd element (being denoted as P)；It finds, it is believed that find an edge point of doubtful exploratory heading, the point traversal label at exploratory heading edge
Remove the corresponding labels of point P in matrix B, the corresponding labels of mark point P in exploratory heading edge point marks Matrix C；It does not find, it is believed that
There is no exploratory heading in the region, go to step S4.8；
S4.4) looks for the adjacent side of exploratory heading along point：In exploratory heading edge point traverses label matrix B, centered on point P, row or column
Range points P distances search next markd element (being denoted as P2) in the range of a points of x (presetting)；It finds, is visiting
Remove the corresponding labels of point P2 in hole edge point traversal label matrix B, mark point P is corresponded in exploratory heading edge point marks Matrix C
Label, record P be equal to P2, go to step S4.4；It does not find, goes to step S4.5；
Whether the exploratory heading that S4.5) judgements are found is complete：In exploratory heading candidate edge point marks matrix A, centered on point P,
Row or column range points P searches next markd element in the range of x point；It finds, it is believed that complete exploratory heading is found,
Go to step S4.6；It does not find, it is believed that is found is incomplete exploratory heading, goes to step S4.2 and looks for next exploratory heading；
S4.6) calculates diameter, the center point coordinate of exploratory heading：Markd in exploratory heading edge point label Matrix C is calculated successively
It anticipates a bit, to the maximum distance (being denoted as L) between remaining markd point and corresponding 2 points (being denoted as P1, P3) of maximum distance；
Whether within the preset range to judge L, if, it is believed that find exploratory heading, it is believed that the central point of exploratory heading is in point P1, P3
The midpoint of line calculates the position of exploratory heading central point；If not, go to step S4.2；
S4.7) the location information of the exploratory heading is recorded in exploratory heading set；
S4.8) processing terminates.
6. exploratory heading detection method according to claim 5, it is characterised in that：
The processing step S3.3 is replaced by：
S3.4) determines that the point is located in hole, outside hole according to the positive and negative of the difference；If the difference is just, minuend pair
The test point answered is located in hole；If the difference is negative, the corresponding test point of subtrahend is located in hole；
The test point being located in hole in a pair of of consecutive points of selection and/or the test point outside hole, in exploratory heading candidate edge point
Corresponding position in label matrix A makes marks.
7. exploratory heading detection method according to claim 5, it is characterised in that：
The processing step S4.6 is replaced by：
S4.10) traversals calculate diameter, the center point coordinate of exploratory heading：The band mark in exploratory heading edge point label Matrix C is calculated successively
The distance between all the points of note obtain maximum distance (being denoted as L) and corresponding 2 points of maximum distance between markd point
(being denoted as P1, P3)；
Whether within the preset range to judge L, if, it is believed that find exploratory heading, it is believed that the central point of exploratory heading is in point P1, P3
The midpoint of line calculates the position of exploratory heading central point；If not, go to step S4.2.
8. exploratory heading detection method according to claim 5, it is characterised in that：
The processing step S4.6 is replaced by：
S4.11) maximum widths, height method traversal calculate diameter, the center point coordinate of exploratory heading：Exploratory heading edge point mark is calculated successively
Remember line-spacing between all the points of the tape label in Matrix C, row away from, find maximum line-spacing, row away from and its endpoint；
Using big value away among of maximum line-spacing, row or small value or its average value as exploratory heading diameter (being denoted as L)；
Whether within the preset range to judge L, if, it is believed that exploratory heading is found, with maximum line-spacing, row away from corresponding company
The crosspoint of line be exploratory heading central point or using maximum line-spacing or row the midpoint away from corresponding line as exploratory heading central point；
If not, go to step S4.2.
9. exploratory heading detection method according to claim 5, it is characterised in that：
The processing step S4.6 is replaced by：
S4.11) maximum widths, height method traversal calculate diameter, the center point coordinate of exploratory heading：Exploratory heading edge point mark is calculated successively
Remember line-spacing between all the points of the tape label in Matrix C, row away from, find maximum line-spacing, row away from and its endpoint；
Using big value away among of maximum line-spacing, row or small value or its average value as exploratory heading diameter (being denoted as L)；
Whether within the preset range to judge L, if, it is believed that exploratory heading is found, with maximum line-spacing, row away from corresponding company
The crosspoint of line be exploratory heading central point or using maximum line-spacing or row the midpoint away from corresponding line as exploratory heading central point；
If not, go to step S4.2.
10. the exploratory heading detection method according to one of claim 5-9, it is characterised in that：
The exploratory heading detection method, optionally further includes following processing steps：
S5) coordinate transforms:According to the coordinate of exploratory heading automatic detection device, coordinate transform is carried out to exploratory heading center point coordinate, is obtained
Exploratory heading central point relative to exploratory heading automatic detection device origin coordinate.
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