CN109991587B - Laser radar scanning roadway analysis and acquisition equipment in pit - Google Patents
Laser radar scanning roadway analysis and acquisition equipment in pit Download PDFInfo
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- CN109991587B CN109991587B CN201910261541.2A CN201910261541A CN109991587B CN 109991587 B CN109991587 B CN 109991587B CN 201910261541 A CN201910261541 A CN 201910261541A CN 109991587 B CN109991587 B CN 109991587B
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- 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
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- 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
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- 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
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Radar Systems Or Details Thereof (AREA)
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
The invention belongs to the technical field of roadways, and particularly relates to underground laser radar scanning roadway analysis and acquisition equipment.
Background
The tunnel is that when underground mining, for mining promotion, transportation, ventilation, drainage, power supply etc. and the passageway of tunnelling, and the tunnel section shape is mostly arch, trapezoidal or rectangle, and the surrounding rock is soft for circular, ellipse or horse shoe, divide into 3 types according to the relation of tunnel major axis and horizontal plane, upright tunnel of (r): the long axis of the tunnel is vertical to the horizontal plane; a horizontal roadway: the long axis of the tunnel is approximately parallel to the horizontal plane; ③ inclining the tunnel: the long axis of the tunnel and the horizontal plane form a certain angle;
and laser radar scanning tunnel analysis collection equipment in pit is one kind and need not carry out the equipment of information acquisition analysis to the inside tunnel of mine to know the inside condition in tunnel, however adopt the integral type structure to carry out the most of equipment of information acquisition analysis to the inside tunnel of mine among the prior art, carry inconveniently, and information acquisition is comprehensive inadequately, is difficult to satisfy people's demand.
Disclosure of Invention
The invention aims to solve the problems in the background art and provides an underground laser radar scanning roadway analysis and acquisition device.
The technical scheme adopted by the invention is as follows:
the utility model provides a laser radar scans tunnel analysis and collection equipment in pit, includes functional module and supporting body, functional module internal center department is provided with the main shaft, the main shaft runs through the functional module top and extends to the functional module outside, the welding of main shaft top has the carousel, the symmetrical welding of carousel upper surface has two grudging posts, two be connected with the scanning ball through the pivot rotation between the grudging post, the department has cup jointed first slave fluted disc on the main shaft is located functional module internal, the bolt fastening has a first motor on the functional module internal bottom plate, the output shaft top of first motor has cup jointed first master fluted disc, first master fluted disc with first slave fluted disc meshing is connected, the welding of functional module below has the block board, the functional module bottom is provided with power cord and data line, supporting body upper surface edge is provided with the step face, the upper surface of the bearing body is rotatably connected with a turning plate clamping piece through a pin shaft, the clamping plate is clamped in the step surface and fixed through the turning plate clamping piece, 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, the other end of the bottom of the bearing body is provided with two driving wheels, and one end of the bearing body, which is close to the steering wheel, is fixedly provided with a radar range finder through a bolt.
The scanning ball is characterized in that a load block is arranged at the position below the inner part of the scanning ball, the inner wall of the scanning ball is located a support welded above the load block, an infrared scanner is arranged at the position above the inner part of the scanning ball, a mounting plate is welded at the bottom of the infrared scanner, the mounting plate is fixed by bolts above the support, a lens is embedded on the outer wall of the scanning ball, and the lens is located at the position of the vertical central line of the scanning ball.
The supporting body is internally provided with a second motor and a third motor, a second driven fluted disc is sleeved on the steering wheel, an output shaft of the second motor penetrates through the bottom of the supporting body, a second main fluted disc is sleeved at the bottom of the output shaft of the second motor, the second main fluted disc is meshed with the second driven fluted disc, the two driving wheels are rotatably connected through a mandrel, and the center of the mandrel is in transmission connection with an output shaft of the third motor through a transmission belt.
Wherein the two stands are symmetrical to each other about the vertical centerline of the turntable.
The turnover plate clamping piece is of an L-shaped structure, a tooth groove is formed in the position of the end opening of the vertical end of the turnover plate clamping piece, grooves are formed in the edges of the two sides of the upper surface of the clamping plate, the vertical end of the turnover plate clamping piece is clamped in the grooves, and torsion springs are sleeved on pin shafts at the two ends of the turnover plate clamping piece.
The power storage device is a lead-acid storage battery or a UPS storage battery.
The power line is inserted in the power hole, and the data line is inserted in the data hole.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
1. according to the invention, the equipment is divided into two parts, namely a loading body part and a functional component part, wherein the functional component is clamped and fixed above the loading body through the clamping plate, and the structural arrangement ensures that the equipment is convenient to mount and dismount and is convenient to carry.
2. According to the invention, the radar range finder is arranged on the loading body in the equipment, the equipment can detect the distance between the equipment body and the front obstacle under the action of the radar range finder, and the moving direction of the equipment is automatically adjusted according to the distance, so that the device has higher intelligent degree and is more convenient to use.
3. According to the invention, the equipment can automatically control the equipment to move in the roadway through the PLC, the inner wall of the roadway is comprehensively scanned in a covering manner through the infrared scanner, and the scanning result is transmitted to the control terminal, so that the information acquisition effect in the roadway is excellent.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of the lower surface of the carrier of the present invention;
FIG. 3 is a schematic view of the upper surface structure of the carrier of the present invention;
FIG. 4 is a side view of a functional assembly of the present invention;
FIG. 5 is a schematic diagram of the internal structure of a scanning ball according to the present invention.
The labels in the figure are: 1. a steering wheel; 2. a radar range finder; 3. a functional component; 4. a first slave fluted disc; 5. a turntable; 6. erecting a frame; 7. scanning the ball; 8. a lens; 9. a main shaft; 10. a first main toothed disc; 11. a first motor; 12. a carrier; 13. a drive wheel; 14. a second main fluted disc; 15. a second slave fluted disc; 16. a mandrel; 17. a transmission belt; 18. a second motor; 19. a PLC controller; 20. the turnover panel fastener; 21. a third motor; 22. a power supply hole; 23. an electrical storage device; 24. a data hole; 25. a power line; 26. a data line; 27. a clamping plate; 28. a negative weight block; 29. a support; 30. mounting a plate; 31. an infrared scanner.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Embodiment one, referring to fig. 1 to 5, an underground laser radar scanning roadway analysis and collection device includes a functional component 3 and a supporting body 12, a main shaft 9 is disposed at a center inside the functional component 3, the main shaft 9 penetrates through a top of the functional component 3 and extends to an outer side of the functional component 3, a turntable 5 is welded at the top of the main shaft 9, two vertical frames 6 are symmetrically welded on an upper surface of the turntable 5, the two vertical frames 6 are mutually symmetric with respect to a vertical center line of the turntable 5, a scanning ball 7 is rotatably connected between the two vertical frames 6 through a rotating shaft, a first slave fluted disc 4 is sleeved at a position inside the functional component 3 on the main shaft 9, a first motor 11 is fixed on a bottom plate inside the functional component 3 by bolts, a first main fluted disc 10 is sleeved at a top of an output shaft of the first motor 11, the first main fluted disc 10 is engaged with the first slave fluted disc 4, a clamping plate 27, the bottom of the functional component 3 is provided with a power line 25 and a data line 26, a step surface is arranged at the edge of the upper surface of the bearing body 12, the upper surface of the bearing body 12 is rotatably connected with a turning plate clamping piece 20 through a pin shaft, a clamping plate 27 is clamped in the step surface and is fixed through the turning plate clamping piece 20, a PLC (programmable logic controller) 19, an electric storage device 23, a power hole 22 and a data hole 24 are arranged inside the bearing body 12, the electric storage device 23 adopts a lead-acid storage battery or a UPS (uninterrupted power supply) storage battery, the power line 25 is inserted in the power hole 22, the data line 26 is inserted in the data hole 24, one end of the bottom of the bearing body 12 is rotatably connected with a steering wheel 1, the other end of the bottom of the bearing body 12 is provided with two driving wheels 13, one end of the bearing body 12 close to the steering wheel 1 is fixedly provided with a radar range finder 2 through a bolt, the radar range finder 2, And analyzing and wirelessly transmitting the data to the terminal equipment.
In the second embodiment, referring to fig. 5, the negative weight 28 is disposed at the lower portion inside the scanning ball 7, the scanning ball 7 can be always in a vertical balanced state through the setting of the negative weight 28 when the scanning ball 7 moves, the collection of information in a roadway by the infrared scanner 31 inside the scanning ball 7 is facilitated, the support 29 is welded at the position, above the negative weight 28, on the inner wall of the scanning ball 7, the infrared scanner 31 is disposed at the position, above the inside of the scanning ball 7, the mounting plate 30 is welded at the bottom of the infrared scanner 31, the mounting plate 30 is bolted on the support 29, the lens 8 is embedded on the outer wall of the scanning ball 7, and the lens 8 is located at the vertical center line of.
In the third embodiment, referring to fig. 1-3, a second motor 18 and a third motor 21 are further disposed inside the supporting body 12, a second driven gear 15 is sleeved on the steering wheel 1, an output shaft of the second motor 18 penetrates through the bottom of the supporting body 12, a second main gear 14 is sleeved on the bottom of an output shaft of the second motor 18, the second main gear 14 is in meshed connection with the second driven gear 15, the two driving wheels 13 are rotatably connected through a spindle 16, the center of the spindle 16 is in transmission connection with an output shaft of the third motor 21 through a transmission belt 17, an input end of the second motor 18 and an input end of the third motor 21 are both electrically connected with an output end of the PLC controller 19, such a structure is arranged that when the second motor 18 rotates, the second main gear 14 rotates, when the second main gear 14 rotates, the second driven gear 15 rotates, and at this time, the steering wheel 1 rotates horizontally, so that the device achieves a steering effect, when the third motor 21 rotates, the spindle 16 is rotated by the driving action of the belt 17, which rotates the driving wheel 13 and pushes the device forward.
In the fourth embodiment, referring to fig. 3-4, the flap fastener 20 is an L-shaped structure, a tooth socket is disposed at the vertical end port of the flap fastener 20, grooves are formed in the edges of the two sides of the upper surface of the fastening plate 27, the vertical end of the flap fastener 20 is fastened in the grooves, and the torsion springs are sleeved on the pin shafts at the two ends of the flap fastener 20, so that when the flap fastener 20 is turned upwards, the fastening plate 27 can be separated from the supporting body 12, thereby facilitating the assembly and disassembly of the supporting body 12 and the functional component 3.
Working principle, referring to fig. 1-5, during assembly, firstly, a power line 25 is inserted into a power hole 22, a data line 26 is inserted into a data hole 24, then the turning plate clamping piece 20 is turned upwards, then the clamping plate 27 at the bottom of the functional component 3 is placed in a step surface on the supporting body 12, the turning plate clamping piece 20 is released, due to the action of torsion springs at two ends of the turning plate clamping piece 20, the turning plate clamping piece 20 is turned over, so that the vertical end of the turning plate clamping piece 20 is clamped in a groove on the clamping plate 27, the assembly of the device is completed, when the device enters a roadway, the radar range finder 2, the infrared scanner 31 and the third motor 21 run, when the third motor 21 rotates, the mandrel 16 is driven to rotate through the transmission action of the transmission belt 17, so that the driving wheel 13 rotates, the device is pushed to advance, the radar range finder 2 detects the distance between the device and an obstacle, and transmits the distance information to the PLC controller 19, and when the detected distance is greater than the set minimum distance, the third motor 21 controls the apparatus to continue to move forward, when the detected distance is smaller than the set minimum distance, the PLC controller 19 controls the second motor 18 to operate, so as to drive the second main toothed disc 14 to rotate, when the second master toothed disc 14 rotates, the second slave toothed disc 15 rotates, the steering wheel 1 rotates horizontally, the apparatus turns until the distance detected by the radar range finder 2 is greater than the set minimum distance, the third motor 21 controls the apparatus to continue to advance, in the moving process of the equipment, the infrared scanner 31 emits infrared rays, the infrared rays pass through the lens 8 and irradiate the inner wall of the roadway, information obtained by scanning is transmitted to the PLC 19, the PLC 19 wirelessly transmits the received roadway scanning information to the control terminal, and the equipment is used.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (7)
1. The utility model provides an at laser radar scanning tunnel analysis collection equipment in pit, includes functional module (3) and supporting body (12), its characterized in that: the utility model discloses a multifunctional assembly, including functional component (3), main shaft (9) inside center department is provided with main shaft (9), main shaft (9) run through functional component (3) top and extend to the functional component (3) outside, main shaft (9) top welding has carousel (5), carousel (5) upper surface symmetric welding has two grudging posts (6), two be connected with scanning ball (7) through the pivot rotation between grudging post (6), lie in on main shaft (9) inside department of functional component (3) cup joints first slave fluted disc (4), bolted fixation has first motor (11) on the inside bottom plate of functional component (3), first master fluted disc (10) has been cup jointed at the output shaft top of first motor (11), first master fluted disc (10) with first slave fluted disc (4) meshing connection, the welding of functional component (3) below has block board (27), the multifunctional remote control vehicle is characterized in that a power line (25) and a data line (26) are arranged at the bottom of the functional component (3), a step surface is arranged at the edge of the upper surface of the bearing body (12), a turning plate clamping piece (20) is rotationally connected to the upper surface of the bearing body (12) through a pin shaft, a clamping plate (27) is clamped in the step surface and fixed through the turning plate clamping piece (20), a PLC (programmable logic controller) controller (19), an electric power storage device (23), a power hole (22) and a data hole (24) are arranged inside the bearing body (12), one end of the bottom of the bearing body (12) is rotationally connected with a steering wheel (1), two driving wheels (13) are arranged at the other end of the bottom of the bearing body (12), and a radar range finder (2) is fixed to.
2. The apparatus of claim 1 for analyzing and collecting laser radar scanning roadway in a well, wherein: scanning ball (7) inside below department is provided with burden weight (28), scanning ball (7) inner wall is located the welding of burden weight (28) top department has support (29), scanning ball (7) inside top department is provided with infrared scanner (31), the welding of infrared scanner (31) bottom has mounting panel (30), mounting panel (30) bolt fastening is in support (29) top, scanning ball (7) outer wall inlays and is equipped with lens (8), lens (8) are located scanning ball (7) vertical central line department.
3. The apparatus of claim 1 for analyzing and collecting laser radar scanning roadway in a well, wherein: the inside second motor (18) and the third motor (21) that still are provided with of supporting body (12), the second from fluted disc (15) has been cup jointed on directive wheel (1), the output shaft of second motor (18) runs through supporting body (12) bottom, just second main fluted disc (14) has been cup jointed to the output shaft bottom of second motor (18), second main fluted disc (14) with the meshing of second from fluted disc (15) is connected, two through dabber (16) rotation connection between drive wheel (13), dabber (16) center department through drive belt (17) with the output shaft transmission of third motor (21) is connected.
4. The apparatus of claim 1 for analyzing and collecting laser radar scanning roadway in a well, wherein: the two stands (6) are symmetrical to each other about the vertical center line of the rotating disc (5).
5. The apparatus of claim 1 for analyzing and collecting laser radar scanning roadway in a well, wherein: the turnover plate clamping piece (20) is of an L-shaped structure, tooth grooves are formed in the end opening of the vertical end of the turnover plate clamping piece (20), grooves are formed in the edges of the two sides of the upper surface of the clamping plate (27), the vertical end of the turnover plate clamping piece (20) is clamped in the grooves, and torsion springs are sleeved on pin shafts at the two ends of the turnover plate clamping piece (20).
6. The apparatus of claim 1 for analyzing and collecting laser radar scanning roadway in a well, wherein: the electric power storage device (23) adopts a lead-acid storage battery.
7. The apparatus of claim 1 for analyzing and collecting laser radar scanning roadway in a well, wherein: the power line (25) is plugged in the power hole (22), and the data line (26) is plugged in the data hole (24).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910261541.2A CN109991587B (en) | 2019-04-02 | 2019-04-02 | Laser radar scanning roadway analysis and acquisition equipment in pit |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910261541.2A CN109991587B (en) | 2019-04-02 | 2019-04-02 | Laser radar scanning roadway analysis and acquisition equipment in pit |
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| CN109991587A CN109991587A (en) | 2019-07-09 |
| CN109991587B true CN109991587B (en) | 2020-08-11 |
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| 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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| CN110700839B (en) * | 2019-10-21 | 2021-08-13 | 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 |
| CN113870532B (en) * | 2021-09-29 | 2023-05-30 | 哈尔滨工业大学（威海） | Movable mine roadway surrounding rock three-dimensional monitoring and alarming device and method |
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| 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 |
| CN206805799U (en) * | 2017-03-21 | 2017-12-26 | 中国矿业大学(北京) | Coal mine underground transport vehicle personnel injure early warning system |
| CN108267172A (en) * | 2018-01-25 | 2018-07-10 | 神华宁夏煤业集团有限责任公司 | Mining intelligent robot inspection system |
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| JPH05281351A (en) * | 1992-03-30 | 1993-10-29 | Mazda Motor Corp | Vehicle information recognizing device |
| CN106275115B (en) * | 2016-08-23 | 2018-07-03 | 西安科技大学 | A kind of six crawler belts, four swing arm rescue robot and its autonomous control method |
| CN107631718B (en) * | 2017-08-31 | 2019-12-24 | 山东大学 | TM 30-based intelligent robot monitoring system and method |
| CN109375619B (en) * | 2018-09-30 | 2022-03-08 | 中国铁道科学研究院集团有限公司铁道建筑研究所 | Railway tunnel detection monitoring system |
| CN109339865A (en) * | 2018-12-07 | 2019-02-15 | 辽宁工程技术大学 | A kind of colliery downhole equipment monitoring system |
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| 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 |
| CN206805799U (en) * | 2017-03-21 | 2017-12-26 | 中国矿业大学(北京) | Coal mine underground transport vehicle personnel injure early warning system |
| CN108267172A (en) * | 2018-01-25 | 2018-07-10 | 神华宁夏煤业集团有限责任公司 | Mining intelligent robot inspection system |
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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. |