CN109490986B - Remote control type investigation device and method - Google Patents
Remote control type investigation device and method Download PDFInfo
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- CN109490986B CN109490986B CN201811618573.5A CN201811618573A CN109490986B CN 109490986 B CN109490986 B CN 109490986B CN 201811618573 A CN201811618573 A CN 201811618573A CN 109490986 B CN109490986 B CN 109490986B
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- 238000011835 investigation Methods 0.000 title claims abstract description 65
- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000004891 communication Methods 0.000 claims abstract description 170
- 230000005540 biological transmission Effects 0.000 claims description 25
- 238000005553 drilling Methods 0.000 description 7
- 238000012986 modification Methods 0.000 description 3
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- 238000010586 diagram Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V11/00—Prospecting or detecting by methods combining techniques covered by two or more of main groups G01V1/00 - G01V9/00
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
Abstract
The invention discloses a remote control type investigation device and a method, comprising a control platform and a data acquisition device, wherein the control platform comprises a control host, a first communication device and input equipment, wherein the control host is respectively and electrically connected with the first communication device and the input equipment; the data acquisition device comprises a device host, a transport robot, radar equipment, a second communication device, a GPS satellite positioning device, an image acquisition device and a power supply, wherein the device host, the radar equipment, the second communication device, the GPS satellite positioning device, the image acquisition device and the power supply are arranged on the transport robot, the power supply is electrically connected with the second communication device, the second communication device is electrically connected with the device host, and the second communication device is connected with the first communication device through a wireless network; the transport robot, the radar equipment, the GPS satellite positioning device and the image acquisition device are respectively connected with the device host and the second communication device.
Description
Technical Field
The invention belongs to the technical field of investigation equipment, and particularly relates to a remote control type investigation device and method.
Background
In geotechnical engineering investigation work at present, an exploration point is generally arranged on an exploration line, and the stratum condition of the whole site is judged through drilling, sampling and testing of the point. When the topography of the field is variable (such as mountain tunnels or landslide, etc.), and the space difference of the stratum is large, the method for predicting and evaluating the stratum of the field by using the point-to-point substitution surface is difficult to achieve good effect because the drilling equipment is heavy and difficult to put in place for drilling. In addition, in the exploration work of linear engineering such as pipelines, highways, tunnels and the like, exploration lines often penetrate through deserts, gobi, plains, hills, mountain lands and other landforms, penetrate through social problem areas or unmanned areas, and field exploration faces the threat of various risk factors of nature and society, so that the requirements for updating and improving exploration equipment and methods are urgent.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides a remote control type investigation device and a remote control type investigation method, which overcome the defects in the prior art 1: when the stratum space difference is large, the drilling equipment is heavy and difficult to put in place to carry out drilling, and the method for predicting and evaluating the stratum of the site by using the point-to-surface method is difficult to achieve a good effect; 2: open-air investigation faces the threat of natural and social multiple risk factors; 3: the discontinuity of the existing method and the inaccurate investigation of the existing investigation equipment.
In order to solve the technical problems, the technical scheme of the invention is as follows: the remote control type investigation device comprises a control platform and a data acquisition device, wherein the control platform comprises a control host, a first communication device and an input device, the control host is electrically connected with the first communication device and the input device respectively, the input device is used for inputting control instructions to the control host, the first communication device is used for controlling data transmission between the control platform and the data acquisition device, and the control host is used for controlling the data acquisition device to acquire investigation data; the data acquisition device comprises a device host, a transportation robot, radar equipment, a second communication device, a GPS satellite positioning device, an image acquisition device and a power supply, wherein the device host, the radar equipment, the second communication device, the GPS satellite positioning device, the image acquisition device and the power supply are arranged on the transportation robot, the power supply is electrically connected with the second communication device, the second communication device is electrically connected with the device host, and the second communication device is connected with the first communication device through a wireless network and is used for controlling data transmission between a platform and the data acquisition device; the transportation robot, the radar equipment, the GPS satellite positioning device and the image acquisition device are respectively connected with the device host and the second communication device, wherein the device host is used for acquiring data of the transportation robot, the radar equipment, the GPS satellite positioning device and the image acquisition device, and the second communication device is also used for controlling power supply of the device host, the transportation robot, the radar equipment, the GPS satellite positioning device and the image acquisition device.
Preferably, the control host is a computer, the first communication device is a CL2-GSM controller, the CL2-GSM controller is connected to the computer, the input device is a keyboard and a mouse, and the keyboard and the mouse are respectively connected to the computer.
Preferably, the device host is a computer, the second communication device is a CL2-GSM controller, the radar device is a MALA radar device, the GPS satellite positioning device is a GPS satellite positioner, and the image acquisition device is an infrared camera.
Preferably, the data acquisition device further comprises a microphone and a USB sound, wherein the microphone and the USB sound are respectively connected with the device host.
Preferably, the power supply includes a battery and an inverter, wherein the battery is connected to the inverter.
Preferably, a GSM base station is disposed between the control platform and the data acquisition device, where the GSM base station is used for data transmission between the first communication device and the second communication device.
Preferably, a remote control type investigation method according to any of the above comprises the steps of:
step 1), inputting a starting-up instruction through input equipment of a control platform, and then sending an instruction to a second communication device by a control host through a first communication device, wherein the second communication device is powered on to start up the host;
step 2), switching on a power supply of the transportation robot, the radar equipment, the GPS satellite positioning device and the image acquisition device through the control of the second communication device;
step 3) opening the image acquisition device, the transportation robot and the GPS satellite positioning device through a control desktop of a control host control device host, guiding coordinates of a planned site profile into a GPS map of the GPS satellite positioning device to form a survey route, and controlling the transportation robot to travel to a survey starting point by matching with the image acquisition device and the GPS satellite positioning device;
and 4) starting to acquire investigation data, wherein the device host acquires data of the transport robot, the radar equipment, the GPS satellite positioning device and the image acquisition device at the same time, forms data packets by four data at the same time, sends the data packets to the control host, then controls the transport robot to travel to the end point along the starting point of the investigation route at a constant speed, and controls the transport robot to reach the equipment retraction point after the investigation data acquisition is finished, and finally turns off the power supply.
Preferably, the travelling speed of the transporting robot in the step 4) is 2km/h.
Compared with the prior art, the invention has the advantages that:
(1) The invention provides a remote control type investigation device, which adopts a transport robot to combine radar equipment to continuously survey along an exploration line, so that a radar data section of an exploration line section stratum can be obtained, the transport robot can replace manpower to enlarge an exploration area, the radar data section can accurately invert the site stratum condition by matching with a small amount of drilling data, and the problem of discontinuity of the existing method is solved;
(2) The exploration device expands the exploration range, improves the exploration accuracy by collecting a large amount of data, and avoids the problem of increasing the number of drill holes for searching stratum change mileage points; in addition, the investigation device adopts a remote control platform, and the remote control device can perform field exploration in a control room without personnel cooperation, so that the investigation cost is reduced, and the safety risk of field operators is also reduced;
(3) The remote control type investigation device has the advantages of simple structure, convenient use and low cost, and the investigation method has reasonable design, improves the investigation efficiency and improves the investigation accuracy.
Drawings
Fig. 1 is a block diagram of a remote control type surveying device according to the present invention.
Reference numerals illustrate:
1-control host, 2-first communication device, 3-input equipment, 4-device host, 5-second communication device, 6-power, 7-image acquisition device, 8-transportation robot, 9-GPS satellite positioning device, 10-radar equipment, 11-USB stereo set, 12-microphone, 13-GSM basic station.
Detailed Description
The following describes specific embodiments of the invention with reference to the drawings and examples:
it should be noted that the structures, proportions, sizes, etc. shown in the drawings are merely used in conjunction with the disclosure of the present invention, and are not intended to limit the applicable limitations of the present invention, but any modification, variation in proportions, or adjustment of the size of the structures, proportions, etc. should be construed as falling within the scope of the disclosure without affecting the efficacy or achievement of the present invention.
Also, the terms such as "upper," "lower," "left," "right," "middle," and "a" and the like recited in the present specification are merely for descriptive purposes and are not intended to limit the scope of the invention, but are intended to provide relative positional changes or modifications without materially altering the technical context in which the invention may be practiced.
Example 1
As shown in fig. 1, the invention discloses a remote control type investigation device, which comprises a control platform and a data acquisition device, wherein the control platform comprises a control host 1, a first communication device 2 and an input device 3, wherein the control host 1 is respectively and electrically connected with the first communication device 2 and the input device 3, the input device 3 is used for inputting control instructions to the control host 1, the first communication device 2 is used for controlling data transmission between the control platform and the data acquisition device, and the control host 1 is used for controlling the data acquisition device to perform investigation data acquisition; the data acquisition device comprises a device host 4, a transportation robot 8, radar equipment 10, a second communication device 5, a GPS satellite positioning device 9, an image acquisition device 7 and a power supply 6, wherein the device host 4, the radar equipment 10, the second communication device 5, the GPS satellite positioning device 9, the image acquisition device 7 and the power supply 6 are arranged on the transportation robot 8, the power supply 6 is electrically connected with the second communication device 5, the second communication device 5 is electrically connected with the device host 4, and the second communication device 5 is connected with the first communication device 2 through a wireless network and is used for controlling data transmission between a platform and the data acquisition device; the transport robot 8, the radar device 10, the GPS satellite positioning device 9 and the image acquisition device 7 are respectively connected with the device host 4 and the second communication device 5, wherein the device host 4 is used for acquiring data of the transport robot 8, the radar device 10, the GPS satellite positioning device 9 and the image acquisition device 7, and the second communication device 5 is also used for controlling power supply of the device host 4, the transport robot 8, the radar device 10, the GPS satellite positioning device 9 and the image acquisition device 7.
Example 2
As shown in fig. 1, the invention discloses a remote control type investigation device, which comprises a control platform and a data acquisition device, wherein the control platform comprises a control host 1, a first communication device 2 and an input device 3, wherein the control host 1 is respectively and electrically connected with the first communication device 2 and the input device 3, the input device 3 is used for inputting control instructions to the control host 1, the first communication device 2 is used for controlling data transmission between the control platform and the data acquisition device, and the control host 1 is used for controlling the data acquisition device to perform investigation data acquisition; the data acquisition device comprises a device host 4, a transportation robot 8, radar equipment 10, a second communication device 5, a GPS satellite positioning device 9, an image acquisition device 7 and a power supply 6, wherein the device host 4, the radar equipment 10, the second communication device 5, the GPS satellite positioning device 9, the image acquisition device 7 and the power supply 6 are arranged on the transportation robot 8, the power supply 6 is electrically connected with the second communication device 5, the second communication device 5 is electrically connected with the device host 4, and the second communication device 5 is connected with the first communication device 2 through a wireless network and is used for controlling data transmission between a platform and the data acquisition device; the transport robot 8, the radar device 10, the GPS satellite positioning device 9 and the image acquisition device 7 are respectively connected with the device host 4 and the second communication device 5, wherein the device host 4 is used for acquiring data of the transport robot 8, the radar device 10, the GPS satellite positioning device 9 and the image acquisition device 7, and the second communication device 5 is also used for controlling power supply of the device host 4, the transport robot 8, the radar device 10, the GPS satellite positioning device 9 and the image acquisition device 7.
As shown in fig. 1, preferably, the control host 1 is a computer, the first communication device 2 is a CL2-GSM controller, where the CL2-GSM controller is connected to the computer, and the input device 3 is a keyboard and a mouse, where the keyboard and the mouse are respectively connected to the computer.
Example 3
As shown in fig. 1, the invention discloses a remote control type investigation device, which comprises a control platform and a data acquisition device, wherein the control platform comprises a control host 1, a first communication device 2 and an input device 3, wherein the control host 1 is respectively and electrically connected with the first communication device 2 and the input device 3, the input device 3 is used for inputting control instructions to the control host 1, the first communication device 2 is used for controlling data transmission between the control platform and the data acquisition device, and the control host 1 is used for controlling the data acquisition device to perform investigation data acquisition; the data acquisition device comprises a device host 4, a transportation robot 8, radar equipment 10, a second communication device 5, a GPS satellite positioning device 9, an image acquisition device 7 and a power supply 6, wherein the device host 4, the radar equipment 10, the second communication device 5, the GPS satellite positioning device 9, the image acquisition device 7 and the power supply 6 are arranged on the transportation robot 8, the power supply 6 is electrically connected with the second communication device 5, the second communication device 5 is electrically connected with the device host 4, and the second communication device 5 is connected with the first communication device 2 through a wireless network and is used for controlling data transmission between a platform and the data acquisition device; the transport robot 8, the radar device 10, the GPS satellite positioning device 9 and the image acquisition device 7 are respectively connected with the device host 4 and the second communication device 5, wherein the device host 4 is used for acquiring data of the transport robot 8, the radar device 10, the GPS satellite positioning device 9 and the image acquisition device 7, and the second communication device 5 is also used for controlling power supply of the device host 4, the transport robot 8, the radar device 10, the GPS satellite positioning device 9 and the image acquisition device 7.
As shown in fig. 1, preferably, the control host 1 is a computer, the first communication device 2 is a CL2-GSM controller, where the CL2-GSM controller is connected to the computer, and the input device 3 is a keyboard and a mouse, where the keyboard and the mouse are respectively connected to the computer.
As shown in fig. 1, preferably, the device host 4 is a computer, the second communication device 5 is a CL2-GSM controller, the radar device 10 is a MALA radar device, the GPS satellite positioning device 9 is a GPS satellite positioner, and the image capturing device 7 is an infrared camera.
Example 4
As shown in fig. 1, the invention discloses a remote control type investigation device, which comprises a control platform and a data acquisition device, wherein the control platform comprises a control host 1, a first communication device 2 and an input device 3, wherein the control host 1 is respectively and electrically connected with the first communication device 2 and the input device 3, the input device 3 is used for inputting control instructions to the control host 1, the first communication device 2 is used for controlling data transmission between the control platform and the data acquisition device, and the control host 1 is used for controlling the data acquisition device to perform investigation data acquisition; the data acquisition device comprises a device host 4, a transportation robot 8, radar equipment 10, a second communication device 5, a GPS satellite positioning device 9, an image acquisition device 7 and a power supply 6, wherein the device host 4, the radar equipment 10, the second communication device 5, the GPS satellite positioning device 9, the image acquisition device 7 and the power supply 6 are arranged on the transportation robot 8, the power supply 6 is electrically connected with the second communication device 5, the second communication device 5 is electrically connected with the device host 4, and the second communication device 5 is connected with the first communication device 2 through a wireless network and is used for controlling data transmission between a platform and the data acquisition device; the transport robot 8, the radar device 10, the GPS satellite positioning device 9 and the image acquisition device 7 are respectively connected with the device host 4 and the second communication device 5, wherein the device host 4 is used for acquiring data of the transport robot 8, the radar device 10, the GPS satellite positioning device 9 and the image acquisition device 7, and the second communication device 5 is also used for controlling power supply of the device host 4, the transport robot 8, the radar device 10, the GPS satellite positioning device 9 and the image acquisition device 7.
As shown in fig. 1, preferably, the control host 1 is a computer, the first communication device 2 is a CL2-GSM controller, where the CL2-GSM controller is connected to the computer, and the input device 3 is a keyboard and a mouse, where the keyboard and the mouse are respectively connected to the computer.
As shown in fig. 1, preferably, the device host 4 is a computer, the second communication device 5 is a CL2-GSM controller, the radar device 10 is a MALA radar device, the GPS satellite positioning device 9 is a GPS satellite positioner, and the image capturing device 7 is an infrared camera.
As shown in fig. 1, preferably, the data acquisition device further includes a microphone 12 and a USB sound 11, where the microphone 12 and the USB sound 11 are respectively connected to the device host 4.
Example 5
As shown in fig. 1, the invention discloses a remote control type investigation device, which comprises a control platform and a data acquisition device, wherein the control platform comprises a control host 1, a first communication device 2 and an input device 3, wherein the control host 1 is respectively and electrically connected with the first communication device 2 and the input device 3, the input device 3 is used for inputting control instructions to the control host 1, the first communication device 2 is used for controlling data transmission between the control platform and the data acquisition device, and the control host 1 is used for controlling the data acquisition device to perform investigation data acquisition; the data acquisition device comprises a device host 4, a transportation robot 8, radar equipment 10, a second communication device 5, a GPS satellite positioning device 9, an image acquisition device 7 and a power supply 6, wherein the device host 4, the radar equipment 10, the second communication device 5, the GPS satellite positioning device 9, the image acquisition device 7 and the power supply 6 are arranged on the transportation robot 8, the power supply 6 is electrically connected with the second communication device 5, the second communication device 5 is electrically connected with the device host 4, and the second communication device 5 is connected with the first communication device 2 through a wireless network and is used for controlling data transmission between a platform and the data acquisition device; the transport robot 8, the radar device 10, the GPS satellite positioning device 9 and the image acquisition device 7 are respectively connected with the device host 4 and the second communication device 5, wherein the device host 4 is used for acquiring data of the transport robot 8, the radar device 10, the GPS satellite positioning device 9 and the image acquisition device 7, and the second communication device 5 is also used for controlling power supply of the device host 4, the transport robot 8, the radar device 10, the GPS satellite positioning device 9 and the image acquisition device 7.
As shown in fig. 1, preferably, the control host 1 is a computer, the first communication device 2 is a CL2-GSM controller, where the CL2-GSM controller is connected to the computer, and the input device 3 is a keyboard and a mouse, where the keyboard and the mouse are respectively connected to the computer.
As shown in fig. 1, preferably, the device host 4 is a computer, the second communication device 5 is a CL2-GSM controller, the radar device 10 is a MALA radar device, the GPS satellite positioning device 9 is a GPS satellite positioner, and the image capturing device 7 is an infrared camera.
As shown in fig. 1, preferably, the data acquisition device further includes a microphone 12 and a USB sound 11, where the microphone 12 and the USB sound 11 are respectively connected to the device host 4.
Preferably, the power supply 6 comprises a battery and an inverter, wherein the battery is connected to the inverter.
Example 6
As shown in fig. 1, the invention discloses a remote control type investigation device, which comprises a control platform and a data acquisition device, wherein the control platform comprises a control host 1, a first communication device 2 and an input device 3, wherein the control host 1 is respectively and electrically connected with the first communication device 2 and the input device 3, the input device 3 is used for inputting control instructions to the control host 1, the first communication device 2 is used for controlling data transmission between the control platform and the data acquisition device, and the control host 1 is used for controlling the data acquisition device to perform investigation data acquisition; the data acquisition device comprises a device host 4, a transportation robot 8, radar equipment 10, a second communication device 5, a GPS satellite positioning device 9, an image acquisition device 7 and a power supply 6, wherein the device host 4, the radar equipment 10, the second communication device 5, the GPS satellite positioning device 9, the image acquisition device 7 and the power supply 6 are arranged on the transportation robot 8, the power supply 6 is electrically connected with the second communication device 5, the second communication device 5 is electrically connected with the device host 4, and the second communication device 5 is connected with the first communication device 2 through a wireless network and is used for controlling data transmission between a platform and the data acquisition device; the transport robot 8, the radar device 10, the GPS satellite positioning device 9 and the image acquisition device 7 are respectively connected with the device host 4 and the second communication device 5, wherein the device host 4 is used for acquiring data of the transport robot 8, the radar device 10, the GPS satellite positioning device 9 and the image acquisition device 7, and the second communication device 5 is also used for controlling power supply of the device host 4, the transport robot 8, the radar device 10, the GPS satellite positioning device 9 and the image acquisition device 7.
As shown in fig. 1, preferably, the control host 1 is a computer, the first communication device 2 is a CL2-GSM controller, where the CL2-GSM controller is connected to the computer, and the input device 3 is a keyboard and a mouse, where the keyboard and the mouse are respectively connected to the computer.
As shown in fig. 1, preferably, the device host 4 is a computer, the second communication device 5 is a CL2-GSM controller, the radar device 10 is a MALA radar device, the GPS satellite positioning device 9 is a GPS satellite positioner, and the image capturing device 7 is an infrared camera.
As shown in fig. 1, preferably, the data acquisition device further includes a microphone 12 and a USB sound 11, where the microphone 12 and the USB sound 11 are respectively connected to the device host 4.
Preferably, the power supply 6 comprises a battery and an inverter, wherein the battery is connected to the inverter.
As shown in fig. 1, a GSM base station 13 is preferably arranged between the control platform and the data acquisition device, wherein the GSM base station 13 is used for data transmission between the first communication device 2 and the second communication device 5.
Example 7
As shown in fig. 1, the invention discloses a remote control type investigation device, which comprises a control platform and a data acquisition device, wherein the control platform comprises a control host 1, a first communication device 2 and an input device 3, wherein the control host 1 is respectively and electrically connected with the first communication device 2 and the input device 3, the input device 3 is used for inputting control instructions to the control host 1, the first communication device 2 is used for controlling data transmission between the control platform and the data acquisition device, and the control host 1 is used for controlling the data acquisition device to perform investigation data acquisition; the data acquisition device comprises a device host 4, a transportation robot 8, radar equipment 10, a second communication device 5, a GPS satellite positioning device 9, an image acquisition device 7 and a power supply 6, wherein the device host 4, the radar equipment 10, the second communication device 5, the GPS satellite positioning device 9, the image acquisition device 7 and the power supply 6 are arranged on the transportation robot 8, the power supply 6 is electrically connected with the second communication device 5, the second communication device 5 is electrically connected with the device host 4, and the second communication device 5 is connected with the first communication device 2 through a wireless network and is used for controlling data transmission between a platform and the data acquisition device; the transport robot 8, the radar device 10, the GPS satellite positioning device 9 and the image acquisition device 7 are respectively connected with the device host 4 and the second communication device 5, wherein the device host 4 is used for acquiring data of the transport robot 8, the radar device 10, the GPS satellite positioning device 9 and the image acquisition device 7, and the second communication device 5 is also used for controlling power supply of the device host 4, the transport robot 8, the radar device 10, the GPS satellite positioning device 9 and the image acquisition device 7.
As shown in fig. 1, preferably, the control host 1 is a computer, the first communication device 2 is a CL2-GSM controller, where the CL2-GSM controller is connected to the computer, and the input device 3 is a keyboard and a mouse, where the keyboard and the mouse are respectively connected to the computer.
As shown in fig. 1, preferably, the device host 4 is a computer, the second communication device 5 is a CL2-GSM controller, the radar device 10 is a MALA radar device, the GPS satellite positioning device 9 is a GPS satellite positioner, and the image capturing device 7 is an infrared camera.
As shown in fig. 1, preferably, the data acquisition device further includes a microphone 12 and a USB sound 11, where the microphone 12 and the USB sound 11 are respectively connected to the device host 4.
Preferably, the power supply 6 comprises a battery and an inverter, wherein the battery is connected to the inverter.
As shown in fig. 1, a GSM base station 13 is preferably arranged between the control platform and the data acquisition device, wherein the GSM base station 13 is used for data transmission between the first communication device 2 and the second communication device 5.
As shown in fig. 1, a remote control type investigation method as defined in any of the above is preferable, comprising the steps of:
step 1), a starting-up instruction is input through an input device 3 of the control platform, then the control host 1 sends out an instruction to a second communication device 5 through a first communication device 2, and the second communication device 5 is connected with a power supply 6 to start up the device host 4;
step 2), then the transport robot 8, the radar equipment 10, the GPS satellite positioning device 9 and the image acquisition device 7 are controlled by the second communication device 5 to be connected with the power supply 6;
step 3) opening an image acquisition device 7, a transport robot 8 and a GPS satellite positioning device 9 through a control desktop of a control device host 4 of the control host 1, guiding coordinates of a planned site profile into a GPS map of the GPS satellite positioning device to form a survey route, and controlling the transport robot 8 to travel to a survey starting point by matching with the image acquisition device 7 and the GPS satellite positioning device 9;
step 4) starting to acquire investigation data, the device host 4 simultaneously acquires data of the transport robot 8, the radar equipment 10, the GPS satellite positioning device 9 and the image acquisition device 7, forms data packets by four data at the same moment and sends the data packets to the control host 1, then controls the transport robot 8 to travel to the end point along the starting point of the investigation route at a constant speed, controls the transport robot 8 to reach the equipment retraction point after the investigation data acquisition is finished, and finally turns off the power supply 6.
Example 8
As shown in fig. 1, the invention discloses a remote control type investigation device, which comprises a control platform and a data acquisition device, wherein the control platform comprises a control host 1, a first communication device 2 and an input device 3, wherein the control host 1 is respectively and electrically connected with the first communication device 2 and the input device 3, the input device 3 is used for inputting control instructions to the control host 1, the first communication device 2 is used for controlling data transmission between the control platform and the data acquisition device, and the control host 1 is used for controlling the data acquisition device to perform investigation data acquisition; the data acquisition device comprises a device host 4, a transportation robot 8, radar equipment 10, a second communication device 5, a GPS satellite positioning device 9, an image acquisition device 7 and a power supply 6, wherein the device host 4, the radar equipment 10, the second communication device 5, the GPS satellite positioning device 9, the image acquisition device 7 and the power supply 6 are arranged on the transportation robot 8, the power supply 6 is electrically connected with the second communication device 5, the second communication device 5 is electrically connected with the device host 4, and the second communication device 5 is connected with the first communication device 2 through a wireless network and is used for controlling data transmission between a platform and the data acquisition device; the transport robot 8, the radar device 10, the GPS satellite positioning device 9 and the image acquisition device 7 are respectively connected with the device host 4 and the second communication device 5, wherein the device host 4 is used for acquiring data of the transport robot 8, the radar device 10, the GPS satellite positioning device 9 and the image acquisition device 7, and the second communication device 5 is also used for controlling power supply of the device host 4, the transport robot 8, the radar device 10, the GPS satellite positioning device 9 and the image acquisition device 7.
As shown in fig. 1, preferably, the control host 1 is a computer, the first communication device 2 is a CL2-GSM controller, where the CL2-GSM controller is connected to the computer, and the input device 3 is a keyboard and a mouse, where the keyboard and the mouse are respectively connected to the computer.
As shown in fig. 1, preferably, the device host 4 is a computer, the second communication device 5 is a CL2-GSM controller, the radar device 10 is a MALA radar device, the GPS satellite positioning device 9 is a GPS satellite positioner, and the image capturing device 7 is an infrared camera.
As shown in fig. 1, preferably, the data acquisition device further includes a microphone 12 and a USB sound 11, where the microphone 12 and the USB sound 11 are respectively connected to the device host 4.
Preferably, the power supply 6 comprises a battery and an inverter, wherein the battery is connected to the inverter.
As shown in fig. 1, a GSM base station 13 is preferably arranged between the control platform and the data acquisition device, wherein the GSM base station 13 is used for data transmission between the first communication device 2 and the second communication device 5.
As shown in fig. 1, a remote control type investigation method as defined in any of the above is preferable, comprising the steps of:
step 1), a starting-up instruction is input through an input device 3 of the control platform, then the control host 1 sends out an instruction to a second communication device 5 through a first communication device 2, and the second communication device 5 is connected with a power supply 6 to start up the device host 4;
step 2), then the transport robot 8, the radar equipment 10, the GPS satellite positioning device 9 and the image acquisition device 7 are controlled by the second communication device 5 to be connected with the power supply 6;
step 3) opening an image acquisition device 7, a transport robot 8 and a GPS satellite positioning device 9 through a control desktop of a control device host 4 of the control host 1, guiding coordinates of a planned site profile into a GPS map of the GPS satellite positioning device to form a survey route, and controlling the transport robot 8 to travel to a survey starting point by matching with the image acquisition device 7 and the GPS satellite positioning device 9;
step 4) starting to acquire investigation data, the device host 4 simultaneously acquires data of the transport robot 8, the radar equipment 10, the GPS satellite positioning device 9 and the image acquisition device 7, forms data packets by four data at the same moment and sends the data packets to the control host 1, then controls the transport robot 8 to travel to the end point along the starting point of the investigation route at a constant speed, controls the transport robot 8 to reach the equipment retraction point after the investigation data acquisition is finished, and finally turns off the power supply 6.
Preferably, the travelling speed of the transport robot 8 in said step 4) is 2km/h.
The control host 1 is internally provided with remote control software, wherein the remote control software comprises TeamViewer control software and CL2-GSM control software, the TeamViewer control software is used for controlling the software, and the CL2-GSM control software is used for controlling the hardware.
The device host 4 is internally provided with TeamViewer control software, CL2-GSM control software, a transport robot control program, MALA Groundvision data acquisition software and GPS positioning software, and a driving program of an infrared camera, a microphone and a USB sound, and the data acquisition device is characterized in that the data acquisition device receives instructions from a control platform, and equipment such as MALA radar equipment, a transport robot and the like finish instruction actions according to requirements.
The CL2-GSM controller realizes wireless remote communication among a remote computer, an automatic control system and a user terminal through an information platform applying a mobile communication network.
The transportation robot is of the prior art, wherein the transportation robot is used for bearing a device host, a second communication device, a power supply, an image acquisition device, a GPS satellite positioning device, radar equipment, USB sound equipment and a microphone, and survey data acquisition is carried out at a constant speed along the starting point to the end point of a survey route.
The GPS satellite locator, the infrared camera and the MALA radar equipment are all in the prior art.
The working principle of the invention is as follows:
firstly, remote control software (TeamViewer control software and CL2-GSM control software) is operated on a control host 1 of a control platform, a starting instruction of a device host 4 is sent, a signal sent by a first communication device 2 is transmitted to a second communication device 5 through a GSM base station 13, the second communication device 5 starts the device host 4, then a power supply 6 is connected through control of the second communication device 5 by a transport robot 8, radar equipment 10, a GPS satellite positioning device 9 and an image acquisition device 7, the device host 4 and the transport robot 8 enter a preparation state, remote control software is operated on the control host 1 and enters a remote control desktop of the device host 4, an infrared camera driver, the transport robot control program and GPS positioning software are opened, coordinates of a planned site split line are led into a GPS map to form a survey route, and at the moment, the device host 4 displays on a display screen: the GPS map positioning interface, the field video image interface and the transport robot control program are matched with the GPS satellite positioning device 9 and the image acquisition device 7 to control the transport robot 8 to travel to the beginning of investigation by using the transport robot control program, then TeamViewer control software is operated on the control host 1, MALA Groundvision data acquisition software is opened by the TeamViewer control software, debugging is completed, the device enters a working state, and at the moment, the display screen of the device host 4 displays: the GPS map positioning interface, the field video image interface, the transport robot control program and MALA Groundvision data acquisition interface are used for controlling the transport robot 8 to travel to the end point along the route starting point at a constant speed, after the investigation data acquisition work is completed, the MALA Groundvision data acquisition software and the MALA radar equipment power supply are turned off, finally the transport robot 8 is controlled to reach the equipment retraction point, the device power supply is turned off, and the field work is finished.
The invention provides a remote control type investigation device, which adopts a transport robot to combine radar equipment to continuously survey along an exploration line, so that a radar data section of an exploration line section stratum can be obtained, the transport robot can replace manpower to enlarge an exploration area, the radar data section can accurately invert the site stratum condition by matching with a small amount of drilling data, and the problem of discontinuity in the existing method is solved.
The exploration device expands the exploration range, improves the exploration accuracy by collecting a large amount of data, and avoids the problem of increasing the number of drill holes for searching stratum change mileage points; in addition, the investigation device adopts a remote control platform, and the remote control device can perform field exploration in a control room without personnel cooperation, so that the investigation cost is reduced, and the safety risk of field operation personnel is also reduced.
The remote control type investigation device has the advantages of simple structure, convenient use and low cost, and the investigation method has reasonable design, improves the investigation efficiency and improves the investigation accuracy.
While the preferred embodiments of the present invention have been described in detail with reference to the drawings, the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the spirit of the present invention.
Many other changes and modifications may be made without departing from the spirit and scope of the invention. It is to be understood that the invention is not to be limited to the specific embodiments, but only by the scope of the appended claims.
Claims (7)
1. The remote control type investigation method is characterized in that the remote control type investigation device adopted by the method comprises a control platform and a data acquisition device, wherein the control platform comprises a control host, a first communication device and an input device, the control host is respectively and electrically connected with the first communication device and the input device, the input device is used for inputting control instructions to the control host, the first communication device is used for data transmission between the control platform and the data acquisition device, and the control host is used for controlling the data acquisition device to acquire investigation data; the data acquisition device comprises a device host, a transportation robot, radar equipment, a second communication device, a GPS satellite positioning device, an image acquisition device and a power supply, wherein the device host, the radar equipment, the second communication device, the GPS satellite positioning device, the image acquisition device and the power supply are arranged on the transportation robot, the power supply is electrically connected with the second communication device, the second communication device is electrically connected with the device host, and the second communication device is connected with the first communication device through a wireless network and is used for controlling data transmission between a platform and the data acquisition device; the transport robot, the radar equipment, the GPS satellite positioning device and the image acquisition device are respectively connected with a device host and a second communication device, wherein the device host is used for acquiring data of the transport robot, the radar equipment, the GPS satellite positioning device and the image acquisition device, and the second communication device is also used for controlling power supply of the device host, the transport robot, the radar equipment, the GPS satellite positioning device and the image acquisition device;
the method comprises the following steps:
step 1), inputting a starting-up instruction through input equipment of a control platform, and then sending an instruction to a second communication device by a control host through a first communication device, wherein the second communication device is powered on to start up the host;
step 2), switching on a power supply of the transportation robot, the radar equipment, the GPS satellite positioning device and the image acquisition device through the control of the second communication device;
step 3) opening the image acquisition device, the transportation robot and the GPS satellite positioning device through a control desktop of a control host control device host, guiding coordinates of a planned site profile into a GPS map of the GPS satellite positioning device to form a survey route, and controlling the transportation robot to travel to a survey starting point by matching with the image acquisition device and the GPS satellite positioning device;
and 4) starting to acquire investigation data, wherein the device host acquires data of the transport robot, the radar equipment, the GPS satellite positioning device and the image acquisition device at the same time, forms data packets by four data at the same time, sends the data packets to the control host, then controls the transport robot to travel to the end point along the starting point of the investigation route at a constant speed, and controls the transport robot to reach the equipment retraction point after the investigation data acquisition is finished, and finally turns off the power supply.
2. The remote control survey method of claim 1, wherein the control host is a computer, the first communication device is a CL2-GSM controller, wherein the CL2-GSM controller is connected to the computer, and the input device is a keyboard and a mouse, wherein the keyboard and the mouse are connected to the computer respectively.
3. The remote control survey method of claim 1, wherein the device host is a computer, the second communication device is a CL2-GSM controller, the radar device is a MALA radar device, the GPS satellite positioning device is a GPS satellite positioner, and the image acquisition device is an infrared camera.
4. The remote control survey method of claim 1, wherein the data acquisition device further comprises a microphone and a USB sound, wherein the microphone and the USB sound are connected to the device host, respectively.
5. The remote controlled survey method of claim 1, wherein the power source comprises a battery and an inverter, wherein the battery is connected to the inverter.
6. A remote controlled investigation method according to claim 1, characterized in that a GSM base station is arranged between the control platform and the data acquisition device, wherein the GSM base station is used for data transmission between the first communication device and the second communication device.
7. A remote controlled investigation method according to claim 1, characterized in that the travelling speed of the transport robot in step 4) is 2km/h.
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| CN111411948A (en) * | 2020-04-30 | 2020-07-14 | 西安长庆科技工程有限责任公司 | Adjustable drill bit type engineering investigation rock and soil determination device and method |
| CN112083720A (en) * | 2020-08-18 | 2020-12-15 | 谈斯聪 | Amphibious exploration and examination device, system and method |
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