CN109443213A - A kind of small obstacle detection of movable ground answers leveling device - Google Patents
A kind of small obstacle detection of movable ground answers leveling device Download PDFInfo
- Publication number
- CN109443213A CN109443213A CN201811545916.XA CN201811545916A CN109443213A CN 109443213 A CN109443213 A CN 109443213A CN 201811545916 A CN201811545916 A CN 201811545916A CN 109443213 A CN109443213 A CN 109443213A
- Authority
- CN
- China
- Prior art keywords
- obstacle detection
- leveling device
- answers
- movable ground
- small obstacle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
- G01B11/0608—Height gauges
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/10—Detecting, e.g. by using light barriers
- G01V8/12—Detecting, e.g. by using light barriers using one transmitter and one receiver
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geophysics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The present invention relates to a kind of small obstacle detections of movable ground to answer leveling device, belongs to obstacle detection and restores field.The small obstacle detection of the movable ground answers leveling device, it includes that leveling device is answered on obstacle detection structure, material judgment means and ground that the small obstacle detection of movable ground, which answers leveling device, the obstacle detection structure includes ranging component and telescopic component, and the slide unit for driving the telescopic component to slide laterally is additionally provided with below the telescopic component.The invention has the beneficial effects that, judge that whether there are obstacles in front by second laser transmitter in ranging component and laser receiver, then by first laser transmitter, telescopic component and laser receiver come the height of disturbance in judgement object, and then it can effectively realize and the position of barrier and height are judged, then judged by material of the material judgment means to barrier, leveling device is answered finally by ground and carrys out ground grading, reaches reduction danger, safe and efficient purpose.
Description
Technical field
The present invention relates to a kind of small obstacle detections of movable ground to answer leveling device, belongs to obstacle detection and restores field.
Background technique
In recent years, due to economic continuous fast development, the region of construction is increasing, completes in building construction
Afterwards, construction personnel can remove relevant building facility, due to being manual demolition, be easy to remain the expansion bolt not removed on ground
Or recess, become small floor traffic obstacle, the similar more than construction site of example, there are also other floor types, it is total because
The out-of-flatness on ground can bring very big security risk, so needing to design a kind of equipment to exclude these obstacles, keep ground extensive
It is multiple smooth.
Summary of the invention
The purpose of the present invention is to provide a kind of strong antijamming capability, the small obstacle detection of the remote movable ground of detecting distance
Multiple leveling device.
In order to achieve the above objectives, the invention provides the following technical scheme: a kind of small obstacle detection of movable ground answers paperback
It sets, it includes that obstacle detection structure, material judgment means and ground are put down again that the small obstacle detection of movable ground, which answers leveling device,
Device, the obstacle detection structure include ranging component and for installing ranging component and the ranging component is driven vertically to transport
Dynamic telescopic component, the telescopic component lower section is additionally provided with the slide unit for driving the telescopic component to slide laterally, described
Ranging component includes mounting plate and laser beam emitting device on a mounting board is arranged and for reception through the reflected light of barrier
The laser receiver of line, the laser beam emitting device include the first laser transmitter that is vertically mounted on the mounting plate and
Tilt down the second laser transmitter of setting, the reception device setting the mounting plate and the laser beam emitting device it
Between.
Further, the material judgment means include photographic device and the identification being connected on photographic device dress
It sets, the identification device includes contrast module and data memory module, and data memory module is for recording material quality data with convenient
It is compared with the image of photographic device shooting.
Further, the ground answers leveling device and includes rack, the fixed disk being fixed in the rack and be arranged in institute
The rotary electric machine in fixed disk is stated, protrusion removal mechanism and/or pocket filler mechanism, the machine are provided in the fixed disk
It is additionally provided on frame for storing the chalk dust sucking pipe generated in protrusion removal mechanism and/or pocket filler mechanism work progress
The hopper being additionally attached on the sweep-up pipe.
Further, the protrusion removal mechanism includes fixed device and cutter device, and the fixed device includes connecting
Connect in the fixed disk expansion screw and the clamping device that is connected on the expansion screw, the clamping device have pair
The gripping block that should be arranged, is provided with dentation contact surface on the inside of the gripping block, and the cutter device includes being connected to described turn
Rotation screw rod on dynamic motor connects the rotation expansion screw on the rotation screw rod and is connected to the rotation expansion screw
On cutting assembly, the cutting assembly include go up and down outer tube, inner tube and for switch said inner tube and go up and down outer tube conversion
Clutch is fixed with cutting disc on the lifting outer tube, is connected with drill bit in said inner tube.
Further, the pocket filler mechanism includes the rotation lifting screw being connected on the rotary electric machine and connection
Scraper on the rotation lifting screw, the pocket filler mechanism further include the filler material storage being fixed in the fixed disk
The filler material pump-out pipe depositing case and being connected on the filler material storage bin, the pocket filler mechanism further include be connected to it is described
Lifting probe in fixed disk and the distance measuring sensor being mounted on the lifting probe.
Further, it is provided on the mounting plate for adjusting the angle between the second laser transmitter and mounting plate
The shaft of degree has the fixing sleeve being socketed in the shaft on the second laser transmitter, is arranged on the fixing sleeve
There is the fixed pin for locking the second laser transmitter.
Further, the telescopic component is symmetricly set on the two sides of the ranging component, and quantity is 2, described flexible
Component is air pressure telescopic link.
Further, it is provided with the sliding rail for being oriented to slide unit below the slide unit, is also set up on the slide unit
The driving device for having control slide unit to move on the sliding rail, the driving device are drive motor.
Further, the both ends of the sliding rail are provided with the block for stretching out sliding rail, are arranged on the inside of the block flexible
Pad, the elastic cushion are rubber pad.
Further, the driving wheel and walking universal wheel for driving gantry motion are provided with below the rack, it is described
It is provided with telescopic rod above walking universal wheel, is connected on telescopic rod for fixing the protrusion removal mechanism and/or institute
The fixed plate for stating pocket filler mechanism is additionally provided with lifting closure curtain on the outside of the telescopic rod.
The beneficial effects of the present invention are: the small obstacle detection of movable ground of the present invention answers leveling device, passes through survey
Away from component second laser transmitter and laser receiver come judge front whether there are obstacles, then by first swash
Optical transmitting set, telescopic component and laser receiver carry out the height of disturbance in judgement object, and then can effectively realize to obstacle
The position of object and height judge, are then judged by material of the material judgment means to barrier, multiple finally by ground
Leveling device carrys out ground grading, safe and efficient；In addition, being sentenced by laser to barrier due to laser strong antijamming capability
It is disconnected, the drawbacks of overcoming middle penetration capacity and poor anti jamming capability in the obstacle detecting device of the prior art.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And can be implemented in accordance with the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention and the accompanying drawings.
Detailed description of the invention
Fig. 1 is the overall structure diagram that the small obstacle detection of invention movable ground answers leveling device.
Fig. 2 is that obstacle detection structure implements structural schematic diagram in Fig. 1.
Fig. 3 is partial enlarged view at A in Fig. 2.
Fig. 4 is obstacle detection structure positive structure schematic in Fig. 2.
Fig. 5 is that leveling device overall structure diagram is answered on ground.
Fig. 6 is the structural schematic diagram of protrusion removal mechanism.
Fig. 7 is partial enlarged view at B in Fig. 6.
Fig. 8 is the structural schematic diagram of cutting assembly in Fig. 6.
Fig. 9 is the structural schematic diagram of pocket filler mechanism.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiments of the present invention will be described in further detail.Implement below
Example is not intended to limit the scope of the invention for illustrating the present invention.
Leveling device is answered in the small obstacle detection of one of a preferred embodiment of the present invention movable ground, movable ground is small
It includes that leveling device 3, obstacle detection structure are answered in obstacle detection structure 1, material judgment means 2 and ground that obstacle detection, which answers leveling device,
1, including ranging component 11 and for telescopic component 12 that is installing ranging component 11 and driving ranging component 11 to move vertically, stretches
The slide unit 13 for driving telescopic component 12 to slide laterally is additionally provided with below contracting component 12, ranging component 11 includes mounting plate
111 and laser beam emitting device 112 on mounting plate 111 is set and is connect for receiving the laser through the reflected light of barrier
Receiving apparatus 113, laser beam emitting device 112 include the first laser transmitter 1121 that is vertically mounted on mounting plate 111 and downwards
The second laser transmitter 1122 being obliquely installed, laser receiver 113 are arranged in mounting plate 111 and laser beam emitting device 112
Between.
In the above-described embodiments, material judgment means 2 include photographic device 21 and the identification being connected on photographic device 21
Device 22, identification device 22 include contrast module 221 and data memory module 222, and data memory module 222 is for recording material
Data are to facilitate the image shot with photographic device 21 to compare, and identification device 22 is connected with movement in the specific implementation process
Terminal 23, operator can check the image that the result of material judgement and photographic device 21 are shot by mobile terminal 23.
In the above-described embodiments, it includes rack 31, the fixed disk 32 being fixed in rack 31 and connection that leveling device 3 is answered on ground
Rotary electric machine 33 in fixed disk 32 is provided with protrusion removal mechanism 4 and/or pocket filler mechanism 5, machine in fixed disk 32
It is additionally provided on frame 31 for storing the dust generated in 5 work progress of protrusion removal mechanism 4 and/or pocket filler mechanism
Sweep-up pipe 311 and the hopper 312 being connected on sweep-up pipe 311 are provided with the drive for driving rack 31 to move below rack 31
Driving wheel 313 and walking universal wheel 314 are provided with fixed telescopic rod 315 above universal wheel 314 of walking, on fixed telescopic rod 315
It is connected with the fixed plate 316 for fixed lobe object removal mechanism 4 and/or pocket filler mechanism 5, outside fixed telescopic rod 313
Side is additionally provided with lifting closure curtain 317.
In the above-described embodiments, protrusion removal mechanism 4 includes fixed device 41 and cutter device 42, and fixed device 41 wraps
The rotary electric machine 33 being connected in fixed disk 32 is included, expansion screw 411 on plate 316 is connected and fixed and is connected to expansion screw 411
On clamping device 412, clamping device 412 has the gripping block 4121 that is correspondingly arranged, is arranged on the inside of gripping block 4121 with teeth
Shape contact surface 4122, cutter device 42 include the rotation screw rod 421 being connected on rotary electric machine 32, and connection rotates on screw rod 421
Rotation expansion screw 422 and be connected to rotation expansion screw 422 on cutting assembly 423, cutting assembly 423 include lifting
Outer tube 4231, inner tube 4232 and the conversion clutch 4233 for switching inner tube 4232 and lifting outer tube 4231, go up and down outer tube
It is fixed with cutting disc 4234 on 4231, is connected with drill bit 4235, in actual use, cutting assembly in inner tube 4232
423 further include the lifting enclosed hood 4236 for being set in 423 outside of cutting assembly.
In the above-described embodiments, pocket filler mechanism 5 includes 51 He of rotation lifting screw being connected on rotary electric machine 33
The scraper 52 being connected on rotation lifting screw 51, pocket filler mechanism 5 further include the filler material storage being fixed in fixed disk 32
The filler material pump-out pipe 322 depositing case 321 and being connected on filler material storage bin 321, pocket filler mechanism 5 further include being connected to admittedly
Lifting probe 53 on price fixing 32 and the distance measuring sensor 531 being mounted on lifting probe 53, in fixed disk 32 and fixed plate 316
Between be connected with adjust 32 height of fixed disk adjusting telescopic rod 54.
In the above-described embodiments, it is provided on mounting plate 111 for adjusting second laser transmitter 1122 and mounting plate
The shaft 1123 of angle between 1111 has the fixing sleeve being socketed in shaft 1123 on second laser transmitter 1122
1124, the fixed pin 1125 for locking second laser transmitter 1122 is provided on fixing sleeve 1124.
In the above-described embodiments, telescopic component 12 is symmetricly set on the two sides of ranging component 11, and quantity is 2, group of stretching
Part 12 is air pressure telescopic link.
In the above-described embodiments, the sliding rail 14 for being oriented to slide unit 13 is provided with below slide unit 13, on slide unit 13
It is additionally provided with the driving device (not shown) that control slide unit 13 moves on sliding rail 14, driving device is drive motor, sliding rail 14
Both ends be provided with the block 141 for stretching out sliding rail 14, be provided with elastic cushion 1411 on the inside of block 141, elastic cushion 1411 is rubber
Rubber mat.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of small obstacle detection of movable ground answers leveling device, it is characterised in that: the small obstacle detection of movable ground is multiple
Leveling device includes that leveling device is answered on obstacle detection structure, material judgment means and ground, and the obstacle detection structure includes ranging
Component and for installing ranging component and drive the telescopic component of the ranging component vertical movement, below the telescopic component
It is additionally provided with the slide unit for driving the telescopic component to slide laterally, the ranging component includes that mounting plate and setting are being installed
Laser beam emitting device and for receiving the laser receiver through the reflected light of barrier on plate, the Laser emission dress
It sets the first laser transmitter including being vertically mounted on the mounting plate and tilts down the second laser transmitter of setting, institute
Reception device is stated to be arranged between the mounting plate and the laser beam emitting device.
2. the small obstacle detection of movable ground according to claim 1 answers leveling device, it is characterised in that: the material judgement
Device includes photographic device and the identification device that is connected on the photographic device, and the identification device includes contrast module sum number
According to memory module.
3. the small obstacle detection of movable ground according to claim 1 answers leveling device, it is characterised in that: put down again on the ground
Device includes rack, the fixed disk being fixed in the rack and the rotary electric machine being arranged in the fixed disk, the fixation
It is provided with protrusion removal mechanism and/or pocket filler mechanism on disk, is additionally provided in the rack for storing protrusion
The hopper being additionally attached to except the chalk dust sucking pipe generated in mechanism and/or pocket filler mechanism work progress on the sweep-up pipe.
4. the small obstacle detection of movable ground according to claim 3 answers leveling device, it is characterised in that: the protrusion is gone
Except mechanism includes the expansion screw being connected in the fixed disk and company including fixed device and cutter device, the fixed device
The clamping device on the expansion screw is connect, the clamping device has the gripping block being correspondingly arranged, in the gripping block
Side is provided with dentation contact surface, and the cutter device includes the rotation screw rod being connected on the rotary electric machine, and connection is described to be turned
The cutting assembly for moving the rotation expansion screw on screw rod and being connected on the rotation expansion screw, the cutting assembly include
It goes up and down outer tube, inner tube and for switching said inner tube and going up and down the conversion clutch of outer tube, is fixed with and cuts on the lifting outer tube
Disc is cut, is connected with drill bit in said inner tube.
5. the small obstacle detection of movable ground according to claim 3 answers leveling device, it is characterised in that: the pocket filler
Mechanism include the rotation lifting screw being connected on the rotary electric machine and be connected to it is described rotation lifting screw on scraper, institute
Pocket filler mechanism is stated to further include the filler material storage bin being fixed in the fixed disk and be connected to the filler material storage bin
On filler material pump-out pipe, the pocket filler mechanism further includes the lifting probe being connected in the fixed disk and being mounted on institute
State the distance measuring sensor on lifting probe.
6. the small obstacle detection of movable ground according to claim 1 answers leveling device, it is characterised in that: on the mounting plate
The shaft for adjusting the angle between the second laser transmitter and mounting plate is provided with, on the second laser transmitter
With the fixing sleeve being socketed in the shaft, it is provided on the fixing sleeve for locking the second laser transmitter
Fixed pin.
7. the small obstacle detection of movable ground according to claim 1 answers leveling device, it is characterised in that: the telescopic component
The two sides of the ranging component are symmetricly set on, quantity is 2, and the telescopic component is air pressure telescopic link.
8. the small obstacle detection of movable ground according to claim 1 answers leveling device, it is characterised in that: below the slide unit
It is provided with the sliding rail for being oriented to slide unit, the drive that control slide unit moves on the sliding rail is additionally provided on the slide unit
Dynamic device, the driving device are drive motor.
9. the small obstacle detection of movable ground according to claim 8 answers leveling device, it is characterised in that: the two of the sliding rail
End is provided with the block for stretching out sliding rail, and elastic cushion is provided on the inside of the block, and the elastic cushion is rubber pad.
10. the small obstacle detection of movable ground according to claim 3 answers leveling device, it is characterised in that: under the rack
Side is provided with driving wheel and walking universal wheel for driving gantry motion, is provided with telescopic rod above the walking universal wheel,
The fixed plate for fixing the protrusion removal mechanism and/or the pocket filler mechanism is connected on telescopic rod, in institute
It states and is additionally provided with lifting closure curtain on the outside of telescopic rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811545916.XA CN109443213A (en) | 2018-12-18 | 2018-12-18 | A kind of small obstacle detection of movable ground answers leveling device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811545916.XA CN109443213A (en) | 2018-12-18 | 2018-12-18 | A kind of small obstacle detection of movable ground answers leveling device |
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| Publication Number | Publication Date |
|---|---|
| CN109443213A true CN109443213A (en) | 2019-03-08 |
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ID=65560035
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811545916.XA Pending CN109443213A (en) | 2018-12-18 | 2018-12-18 | A kind of small obstacle detection of movable ground answers leveling device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110721968A (en) * | 2019-09-05 | 2020-01-24 | 宣城万里纸业有限公司 | Cleaning device for cylinder surface of paperboard drying cylinder |
| CN110849281A (en) * | 2019-11-13 | 2020-02-28 | 江苏鲁汶仪器有限公司 | Aperture gauge capable of realizing automatic closed-loop control of optical system and measurement method |
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| CN209495651U (en) * | 2018-12-18 | 2019-10-15 | 苏州大学 | The small obstacle detection of movable ground answers leveling device |
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| JP2000346936A (en) * | 1999-06-07 | 2000-12-15 | Nissan Motor Co Ltd | Obstacle detecting apparatus |
| CN2455763Y (en) * | 2000-12-15 | 2001-10-24 | 盛安连 | Laser surface flatness determiner |
| CN101772998A (en) * | 2009-01-14 | 2010-07-14 | 杨铁钢 | Ground level levelling instrument |
| CN101666066A (en) * | 2009-09-30 | 2010-03-10 | 归立发 | Road surface smoothness repairing machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110721968A (en) * | 2019-09-05 | 2020-01-24 | 宣城万里纸业有限公司 | Cleaning device for cylinder surface of paperboard drying cylinder |
| CN110849281A (en) * | 2019-11-13 | 2020-02-28 | 江苏鲁汶仪器有限公司 | Aperture gauge capable of realizing automatic closed-loop control of optical system and measurement method |
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