CN109991587A - Laser radar scanning roadway analysis and acquisition equipment in pit - Google Patents
Laser radar scanning roadway analysis and acquisition equipment in pit Download PDFInfo
- Publication number
- CN109991587A CN109991587A CN201910261541.2A CN201910261541A CN109991587A CN 109991587 A CN109991587 A CN 109991587A CN 201910261541 A CN201910261541 A CN 201910261541A CN 109991587 A CN109991587 A CN 109991587A
- Authority
- CN
- China
- Prior art keywords
- supporting body
- functional unit
- motor
- laser radar
- welded
- 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.)
- Granted
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
Abstract
The invention discloses an underground laser radar scanning roadway analysis and acquisition device which comprises a functional component and a bearing body, wherein a main shaft is arranged in the center of the interior of the functional component, the main shaft penetrates through the top of the functional component and extends to the outer side of the functional component, a rotary table is welded at the top of the main shaft, two vertical frames are symmetrically welded on the upper surface of the rotary table, a scanning ball is rotatably connected between the two vertical frames through a rotating shaft, a PLC (programmable logic controller), an electric power storage device, a power supply hole and a data hole are arranged in the bearing body, one end of the bottom of the bearing body is rotatably connected with a steering wheel, and a radar range finder is fixed at one end, close to the steering wheel. The device is suitable for underground roadway information acquisition, is of a split clamping type structure, is convenient to assemble and carry, can be automatically adjusted and moved conveniently according to the direction of a roadway, and enables roadway information acquisition to be more comprehensive.
Description
Technical field
It is specially a kind of to analyze acquisition equipment in underground laser radar scanning tunnel the invention belongs to tunnel technical field.
Background technique
Tunnel, when being underground mining, the channel tunneled for mining promotion, transport, ventilation and drainage, power supply etc., lane
Road section configuration is mostly arch, trapezoidal or rectangle, and country rock is soft for round, ellipse or horseshoe, according to tunnel long axis with
The relationship of horizontal plane is divided into 3 classes, 1. upright tunnel: the long axis and horizontal plane in tunnel；2. entry: the long axis in tunnel
Line and horizontal plane less parallel；3. inclined shaft: the long axis in tunnel is at an angle to the horizontal surface；
And underground laser radar scanning tunnel analysis acquisition equipment is that one kind does not need to carry out information to mine inside tunnel
The equipment of collection analysis to understand the situation inside tunnel, however carries out information to mine inside tunnel in the prior art and adopts
The equipment of set analysis mostly uses greatly integral structure, inconvenient to carry, and information collection is not comprehensive enough, it is difficult to meet the need of people
It asks.
Summary of the invention
It is an object of the invention to solve the problems in background technique, provide a kind of in underground laser radar scanning tunnel point
Analysis acquisition equipment.
The technical solution adopted by the invention is as follows:
One kind analyzing acquisition equipment, including functional unit and supporting body, the function in underground laser radar scanning tunnel
Main shaft is provided at component internal center, the main shaft is at the top of the functional unit and extends to outside the functional unit
Side, the spindle top are welded with turntable, and the disk upper surface is symmetrically welded there are two stand, lead between two stands
Cross shaft and be rotatably connected to scanning ball, be located inside the functional unit on the main shaft at be socketed with first from fluted disc, it is described
Bolt is fixed with the first motor in functional unit internal backplane, is socketed with the first main tooth at the top of the output shaft of first motor
Disk, first main tooth disk engage connection from fluted disc with described first, are welded with fastening plate, the function below the functional unit
Can component bottom be provided with power supply line and data line, terrace is provided at the supporting body top surface edge, on the supporting body
Surface is rotatably connected to turnover panel fastener by pin shaft, and the fastening plate is fastened in the terrace, and passes through the turnover panel fastener
It is fixed, the supporting body is internally provided with PLC controller, electrical storage device, power hole and digit punch, the supporting body bottom
One end is rotatably connected to deflecting roller, and there are two driving wheels for the setting of the supporting body bottom other end, and the supporting body is close to described
One end bolt of deflecting roller is fixed with radar range finder.
Wherein, variable weights are provided at the scanning ball lower inside, the scanning ball inner wall is located on the variable weights
Square place is welded with bracket, and infrared scanner is provided at the scanning ball inner upper, and the infrared scanner bottom is welded with
Mounting plate, the installation crab bolt are fixed on above the bracket, and the scanning ball outer wall is embedded with lens, and the lens are located at
At the scanning ball vertical centerline.
Wherein, it is additionally provided with the second motor and third motor inside the supporting body, is socketed with second on the deflecting roller
From fluted disc, the output shaft of second motor runs through the supporting body bottom, and the output shaft bottom socket of second motor
There is the second main tooth disk, second main tooth disk engages connection from fluted disc with described second, passes through core between two driving wheels
Axis is rotatablely connected, and is sequentially connected at the mandrel center by the output shaft of transmission belt and the third motor.
Wherein, described two stands are symmetrical about the turntable vertical centerline.
Wherein, the turnover panel fastener is L-shaped structure, is provided with tooth socket at the vertical end port of the turnover panel fastener, described
Opened up at the both sides of the edge of fastening plate upper surface it is fluted, the vertical end card of the turnover panel fastener in the groove, the turnover panel
Torque spring is socketed on the pin shaft at fastener both ends.
Wherein, the electrical storage device uses lead-acid accumulator or UPS battery.
Wherein, the power supply line is plugged in the power hole, and the data line is plugged in the digit punch.
In conclusion by adopting the above-described technical solution, the beneficial effects of the present invention are:
1, in the present invention, which is divided into two parts, respectively loading body portion and functional unit part, wherein function
Energy component is fixed by fastening plate and is being loaded above body, and such structure setting makes the installation and removal side of the equipment
Just, it is convenient for carrying.
2, it is loaded in the present invention, in the equipment on body and radar range finder is set, by the effect of radar range finder so that should
Equipment can detecte the spacing between apparatus body and front obstacle, and mobile by the size automatic adjustment equipment of the spacing
Direction, so that the device degree of intelligence is higher, using more convenient.
3, in the present invention, which can be controlled automatically at movement inside tunnel by PLC controller, pass through infrared scan
Instrument carries out comprehensive cover type scanning to tunnel inner wall, and scanning result is transmitted to controlling terminal, imitates information collection in tunnel
Fruit is fabulous.
Detailed description of the invention
Fig. 1 is structure schematic diagram of the invention；
Fig. 2 is supporting body lower surface configuration schematic diagram in the present invention；
Fig. 3 is supporting body surface structure schematic diagram in the present invention；
Fig. 4 is functional unit side view in the present invention；
Fig. 5 is that ball schematic diagram of internal structure is scanned in the present invention.
Marked in the figure: 1, deflecting roller；2, radar range finder；3, functional unit；4, first from fluted disc；5, turntable；6, stand；
7, ball is scanned；8, lens；9, main shaft；10, the first main tooth disk；11, the first motor；12, supporting body；13, driving wheel；14, second
Main tooth disk；15, second from fluted disc；16, mandrel；17, transmission belt；18, the second motor；19, PLC controller；20, turnover panel fastener；
21, third motor；22, power hole；23, electrical storage device；24, digit punch；25, power supply line；26, data line；27, fastening plate；28,
Variable weights；29, bracket；30, mounting plate；31, infrared scanner.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, not
For limiting the present invention.
Embodiment one, it is referring to Fig.1-5, a kind of to analyze acquisition equipment, including functional group in underground laser radar scanning tunnel
Part 3 and supporting body 12 are provided with main shaft 9 at 3 inside center of functional unit, and main shaft 9 is through 3 top of functional unit and extends to function
Can the outside of component 3, be welded with turntable 5 at the top of main shaft 9,5 upper surface of turntable is symmetrically welded there are two stand 6, two stands 6 about
5 vertical centerline of turntable is symmetrical, is rotatably connected to scanning ball 7 by shaft between two stands 6, is located at function on main shaft 9
Can be socketed at component 3 inside first from fluted disc 4,3 internal backplane of functional unit bolt be fixed with the first motor 11, the first horse
It is socketed with the first main tooth disk 10 at the top of up to 11 output shaft, the first main tooth disk 10 engages connection, functional unit from fluted disc 4 with first
3 lower sections are welded with fastening plate 27, and 3 bottom of functional unit is provided with power supply line 25 and data line 26,12 top surface edge of supporting body
Place is provided with terrace, and 12 upper surface of supporting body is rotatably connected to turnover panel fastener 20 by pin shaft, and fastening plate 27 is fastened in terrace,
And be fixed by turnover panel fastener 20, supporting body 12 is internally provided with PLC controller 19, electrical storage device 23,22 and of power hole
Digit punch 24, electrical storage device 23 use lead-acid accumulator or UPS battery, and power supply line 25 is plugged in power hole 22, data line
26 are plugged in digit punch 24, and 12 bottom end of supporting body is rotatably connected to deflecting roller 1, and the 12 bottom other end of supporting body is provided with
Two driving wheels 13, supporting body 12 are fixed with radar range finder 2 close to one end bolt of deflecting roller 1, and radar range finder 2 is by PLC
Controller 19 controls, and the data that PLC controller 19 acquires radar range finder 2 are analyzed, and PLC controller 19 is to infrared scan
The tunnel information that instrument 31 acquires is collected, analyzes, and is wirelessly transmitted to terminal device.
Embodiment two scans referring to Fig. 5 and is provided with variable weights 28 at 7 lower inside of ball, made by the setting of variable weights 28
The equipment scans ball 7 when moving and can be in vertical equilibrium state always, facilitate that scan 7 inside infrared scanner 31 of ball right
The acquisition of information in tunnel, scanning 7 inner wall of ball, which is located at 28 top of variable weights, is welded with bracket 29, scans at 7 inner upper of ball
It is provided with infrared scanner 31,31 bottom of infrared scanner is welded with mounting plate 30, and 30 bolt of mounting plate is fixed on bracket 29
Side, scanning 7 outer wall of ball are embedded with lens 8, and lens 8 are located at scanning 7 vertical centerline of ball.
Embodiment three is additionally provided with the second motor 18 and third motor 21, deflecting roller 1 referring to Fig.1-3 inside supporting body 12
On be socketed with second from fluted disc 15, the output shaft of the second motor 18 runs through 12 bottom of supporting body, and the output shaft of the second motor 18
Bottom is socketed with the second main tooth disk 14, and the second main tooth disk 14 engages connection from fluted disc 15 with second, leads between two driving wheels 13
The rotation connection of mandrel 16 is crossed, is sequentially connected at 16 center of mandrel by the output shaft of transmission belt 17 and third motor 21, the second horse
Input terminal and the input terminal of third motor 21 up to 18 are electrically connected with the output end of PLC controller 19, and such structure sets
It sets so that the rotation of the second main tooth disk 14, when the rotation of the second main tooth disk 14, second from fluted disc 15 when the second motor 18 is in rotation
Rotation, deflecting roller 1 horizontally rotates at this time, and the device is made to achieve the effect that steering, when third motor 21 rotates, passes through transmission belt
17 transmission effect band moving mandrel 16 rotates, so that driving wheel 13 be made to rotate, the device is pushed to advance.
Example IV, referring to Fig. 3-4, turnover panel fastener 20 is L-shaped structure, is provided at the vertical end port of turnover panel fastener 20
Tooth socket, opens up at 27 upper surface both sides of the edge of fastening plate fluted, and the vertical end of turnover panel fastener 20 is stuck in groove, turnover panel fastener
Torque spring is socketed on the pin shaft at 20 both ends, when such structure setting digs turnover panel fastener 20 upwards, fastening plate 27
It can be detached from from supporting body 12, so that the combination of supporting body 12 and functional unit 3 is convenient for disassembly and assembly.
Power supply line 25 when assembling, is plugged in power hole 22,26 grafting of data line by working principle first referring to Fig.1-5
In digit punch 24, then turnover panel fastener 20 is rotated again and is dug upwards, then the fastening plate 27 of 3 bottom of functional unit is placed on
In terrace on supporting body 12, turnover panel fastener 20 is discharged, due to the effect of 20 both ends torque spring of turnover panel fastener, turnover panel fastener 20
Overturning, is fastened on the vertical end of turnover panel fastener 20 in the groove on fastening plate 27, completes the assembling of the device, in use, should
After device enters tunnel, radar range finder 2, infrared scanner 31 and third motor 21 are run, and when third motor 21 rotates, are led to
The transmission effect band moving mandrel 16 for crossing transmission belt 17 rotates, so that driving wheel 13 be made to rotate, pushes the device to advance, radar range finding
Instrument 2 detects the equipment at a distance from front obstacle, and by distance information transmission to PLC controller 19, when the distance of detection
When greater than setting minimum range, third motor 21 controls the equipment and moves on, when the distance of detection is less than setting minimum range
When, PLC controller 19 controls the operation of the second motor 18, the rotation of the second main tooth disk 14 is driven, when the rotation of the second main tooth disk 14, the
Two rotate from fluted disc 15, and deflecting roller 1 horizontally rotates at this time, and the equipment turns at this time, until turning to the detection of radar range finder 2
Distance is greater than setting minimum range, and third motor 21 controls the equipment and moves on, infrared to sweep during the equipment is mobile
It retouches instrument 31 and issues infrared ray, infrared ray passes through lens 8 and is radiated at tunnel inner wall, and the information scanned is transmitted to PLC control
In device 19, the tunnel scanning information received is wirelessly transmitted to controlling terminal by PLC controller 19, completes the use of the equipment.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (7)
1. a kind of analyze acquisition equipment, including functional unit (3) and supporting body (12) in underground laser radar scanning tunnel, special
Sign is: being provided with main shaft (9) at functional unit (3) inside center, the main shaft (9) runs through the functional unit (3)
Top simultaneously extends on the outside of the functional unit (3), is welded with turntable (5) at the top of the main shaft (9), table on the turntable (5)
Face is symmetrically welded with two stands (6), is rotatably connected between two stands (6) by shaft and scans ball (7), the master
It is located at the functional unit (3) inside on axis (9) and is socketed with first from fluted disc (4), functional unit (3) internal backplane
Bolt is fixed with the first motor (11), is socketed with the first main tooth disk (10) at the top of the output shaft of first motor (11), described
First main tooth disk (10) engages connection from fluted disc (4) with described first, is welded with fastening plate below the functional unit (3)
(27), functional unit (3) bottom is provided with power supply line (25) and data line (26), supporting body (12) top surface edge
Place is provided with terrace, and supporting body (12) upper surface is rotatably connected to turnover panel fastener (20), the fastening plate by pin shaft
(27) it is fastened in the terrace, and is fixed by the turnover panel fastener (20), the supporting body (12) is internally provided with
PLC controller (19), electrical storage device (23), power hole (22) and digit punch (24), supporting body (12) the bottom end rotation
It is connected with deflecting roller (1), there are two driving wheel (13), the supporting body (12) is leaned on for supporting body (12) the bottom other end setting
One end bolt of the nearly deflecting roller (1) is fixed with radar range finder (2).
2. a kind of analyze in underground laser radar scanning tunnel as described in claim 1 acquires equipment, it is characterised in that: described
It is provided with variable weights (28) at scanning ball (7) lower inside, scanning ball (7) inner wall is located at the variable weights (28) top
It is welded with bracket (29), is provided with infrared scanner (31) at scanning ball (7) inner upper, the infrared scanner (31)
Bottom is welded with mounting plate (30), and mounting plate (30) bolt is fixed on above the bracket (29), and the scanning ball (7) is outside
Wall is embedded with lens (8), and the lens (8) are located at scanning ball (7) vertical centerline.
3. a kind of analyze in underground laser radar scanning tunnel as described in claim 1 acquires equipment, it is characterised in that: described
The second motor (18) and third motor (21) are additionally provided with inside supporting body (12), be socketed on the deflecting roller (1) second from
Fluted disc (15), the output shaft of second motor (18) run through the supporting body (12) bottom, and second motor (18)
Output shaft bottom is socketed with the second main tooth disk (14), and second main tooth disk (14) is with described second from fluted disc (15) company of engagement
It connects, is rotatablely connected between two driving wheels (13) by mandrel (16), pass through transmission belt at mandrel (16) center
(17) it is sequentially connected with the output shaft of the third motor (21).
4. a kind of analyze in underground laser radar scanning tunnel as described in claim 1 acquires equipment, it is characterised in that: described
Two stands (6) are symmetrical about the turntable (5) vertical centerline.
5. a kind of analyze in underground laser radar scanning tunnel as described in claim 1 acquires equipment, it is characterised in that: described
Turnover panel fastener (20) is L-shaped structure, is provided with tooth socket, the fastening plate (27) at the vertical end port of the turnover panel fastener (20)
Opened up at the both sides of the edge of upper surface it is fluted, the vertical end card of the turnover panel fastener (20) in the groove, the overturning plate clamp
Torque spring is socketed on the pin shaft at part (20) both ends.
6. a kind of analyze in underground laser radar scanning tunnel as described in claim 1 acquires equipment, it is characterised in that: described
Electrical storage device (23) uses lead-acid accumulator or UPS battery.
7. a kind of analyze in underground laser radar scanning tunnel as described in claim 1 acquires equipment, it is characterised in that: described
Power supply line (25) is plugged in the power hole (22), and the data line (26) is plugged in the digit punch (24).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910261541.2A CN109991587B (en) | 2019-04-02 | 2019-04-02 | Laser radar scanning roadway analysis and acquisition equipment in pit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910261541.2A CN109991587B (en) | 2019-04-02 | 2019-04-02 | Laser radar scanning roadway analysis and acquisition equipment in pit |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109991587A true CN109991587A (en) | 2019-07-09 |
| CN109991587B CN109991587B (en) | 2020-08-11 |
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ID=67132170
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910261541.2A Active CN109991587B (en) | 2019-04-02 | 2019-04-02 | Laser radar scanning roadway analysis and acquisition equipment in pit |
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| Country | Link |
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| CN (1) | CN109991587B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110700839A (en) * | 2019-10-21 | 2020-01-17 | 北京易联创安科技发展有限公司 | Heading machine pose measuring device based on laser scanner and measuring method thereof |
| CN113870532A (en) * | 2021-09-29 | 2021-12-31 | 哈尔滨工业大学（威海） | Movable type mine roadway surrounding rock three-dimensional monitoring and alarming device and method |
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| CN109375619A (en) * | 2018-09-30 | 2019-02-22 | 中国铁道科学研究院集团有限公司铁道建筑研究所 | A kind of tunnel cruising inspection system |
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| JPH05281351A (en) * | 1992-03-30 | 1993-10-29 | Mazda Motor Corp | Vehicle information recognizing device |
| CN106223173A (en) * | 2016-07-29 | 2016-12-14 | 广东惠利普路桥信息工程有限公司 | A kind of transportable road and bridge construction wireless monitoring device |
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| CN110700839A (en) * | 2019-10-21 | 2020-01-17 | 北京易联创安科技发展有限公司 | Heading machine pose measuring device based on laser scanner and measuring method thereof |
| CN113870532A (en) * | 2021-09-29 | 2021-12-31 | 哈尔滨工业大学（威海） | Movable type mine roadway surrounding rock three-dimensional monitoring and alarming device and method |
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| Publication number | Publication date |
|---|---|
| CN109991587B (en) | 2020-08-11 |
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Address after: 230088 room 611-62, R & D center building, China (Hefei) international intelligent voice Industrial Park, 3333 Xiyou Road, Shushan District, Hefei City, Anhui Province Patentee after: Anhui Xuanli Intelligent Technology Co.,Ltd. Address before: 230088 room 611-62, R & D center building, China (Hefei) international intelligent voice Industrial Park, 3333 Xiyou Road, Shushan District, Hefei City, Anhui Province Patentee before: ANHUI YANDA INTELLIGENT TECHNOLOGY Co.,Ltd. |
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