CN113120117A - Novel automatic multifunctional remote reconnaissance car based on surveying and mapping - Google Patents
Novel automatic multifunctional remote reconnaissance car based on surveying and mapping Download PDFInfo
- Publication number
- CN113120117A CN113120117A CN202110472297.1A CN202110472297A CN113120117A CN 113120117 A CN113120117 A CN 113120117A CN 202110472297 A CN202110472297 A CN 202110472297A CN 113120117 A CN113120117 A CN 113120117A
- Authority
- CN
- China
- Prior art keywords
- cavity
- detection
- bearing
- mapping
- surveying
- 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
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/025—Modular vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- 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
- G05B19/0423—Input/output
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
Abstract
The invention relates to a novel automatic multifunctional remote reconnaissance vehicle based on mapping, which comprises a detection bearing vehicle, a main control room, a bearing column, a comprehensive detection head, an obstacle avoidance mechanism, a driving battery pack, a wireless charging mechanism and a mapping main control circuit, wherein the upper end surface of the detection bearing vehicle is provided with a control cavity, a detection bearing cavity and a power cavity, the control cavity of the main control room is internally provided, the lower end surface of the bearing column is embedded in the detection bearing cavity, the upper end surface of the bearing column is connected with the comprehensive detection head, the driving battery pack and the wireless charging mechanism are embedded in the power cavity, the driving battery pack is connected with the bottom of the power cavity and electrically connected with the wireless charging mechanism, the wireless charging mechanism is positioned above the driving battery pack, the obstacle avoidance mechanism is hinged with. This novel compatibility is good, detects data communication ability reinforce, and system operation continuation and stability are good, can effectively satisfy the needs of the synchronous long-range survey and drawing operation of multiple data simultaneously.
Description
Technical Field
The invention relates to a surveying and mapping device, in particular to a novel automatic multifunctional remote reconnaissance car based on surveying and mapping and a detection method.
Background
At present, indoor and outdoor measurement work is carried out, surveying and mapping equipment is matched with a remote control vehicle platform and a remote control ship platform for use, and the method becomes one of important means for improving the working efficiency of surveying and mapping work at present, but in actual surveying and mapping work, particularly in field complex environment surveying and mapping work, on one hand, the currently used surveying and mapping equipment is often low in automation degree, a surveying and mapping worker is required to control the surveying and mapping equipment to carry out surveying and mapping work in the whole course, and when the working cost and the labor intensity are increased, the defects of poor surveying and mapping precision and poor surveying and mapping work stability caused by human factors are easily caused; on the other hand, during surveying and mapping operations, the current surveying and mapping equipment has the defects of poor environment adaptability and single surveying and mapping means in different degrees, so that the current surveying and mapping equipment is poor in flexibility and universality, low in work efficiency of detection operation and very easy to limit due to environmental factors, and the requirement of surveying and mapping operations cannot be effectively met, for example, "a crawler-type mobile surveying and mapping robot" with the patent application number of "201820349008.2" and "a crawler-type mobile surveying and mapping robot" with the patent application number of "201820349008.2".
Therefore, in order to solve the problem, a brand-new financial bill sorting device and a corresponding sorting method thereof are urgently needed to be developed so as to meet the needs of actual work.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a novel automatic multifunctional remote reconnaissance vehicle based on surveying and mapping, which is high in modularization, integration degree, compatibility and detection data communication capacity, good in system operation continuity and stability and strong in cruising ability, can effectively meet the requirements of synchronous remote surveying and mapping operation of various data, greatly improves the working efficiency and precision of the surveying and mapping operation, and effectively reduces the working cost and labor intensity of the surveying and mapping operation.
In order to achieve the purpose, the novel solar cell module is realized by the following technical scheme:
a novel automatic multifunctional remote reconnaissance vehicle based on mapping comprises a detection bearing vehicle, a main control chamber, a bearing column, a comprehensive detection head, an obstacle avoidance mechanism, a driving battery pack, a wireless charging mechanism and a mapping main control circuit, wherein the upper end surface of the detection bearing vehicle is provided with a control cavity, a detection bearing cavity and a power cavity, the axes of the control cavity, the detection bearing cavity and the power cavity are perpendicular to the axis of a vehicle body and are distributed in a crossed manner, the control cavity, the detection bearing cavity and the power cavity are uniformly distributed from front to back along the axis of the detection bearing vehicle, the main control chamber is a closed cavity structure coaxially distributed with the control cavity, is embedded in the control cavity and is in sliding connection with the side wall of the control cavity through a lifting driving mechanism, the lower end surface of the bearing column is embedded in the detection bearing cavity and is in sliding connection with the detection bearing cavity through the lifting driving mechanism, the upper end surface of the bearing column and the comprehensive detection head are connected and coaxially distributed, the driving battery pack and the wireless charging mechanism are embedded in the power cavity, the driving battery pack is connected with the bottom of the power cavity and is electrically connected with the wireless charging mechanism, the wireless charging mechanism is located above the driving battery pack and is in sliding connection with the side wall of the power cavity through the lifting driving mechanism, the main control room, the upper end face of the comprehensive detection head and the wireless charging mechanism, the control cavity, the detection bearing cavity and the power cavity are arranged at intervals of 0.5-10 times of the bottom of the power cavity, at least four obstacle avoidance mechanisms are uniformly distributed around the center of the detection bearing vehicle and are hinged with the outer side face of the detection bearing vehicle through the rotary table mechanism, the detection axis of the obstacle avoidance mechanism forms an included angle of 0-60 degrees with the horizontal plane, and the surveying and mapping main control circuit is embedded in the main control room and is electrically connected with the comprehensive detection head, the obstacle avoidance mechanism, the driving.
Further, the main control room comprises a bearing cavity, a communication antenna, an electromagnetic shielding layer, a bearing tray, a semiconductor refrigeration mechanism, a heat radiation fan and a wiring terminal, wherein the bearing cavity is a closed cavity structure with a rectangular axial section, the electromagnetic shielding layer is coated on the inner surface of the bearing cavity and is distributed in parallel with the inner surface of the bearing cavity, the bearing tray is embedded in the bearing cavity, is distributed coaxially with the bearing cavity and is connected with the side wall of the bearing cavity in a sliding way through a sliding groove, the bearing tray is of an H-shaped groove structure with a cross section, a plurality of through holes are uniformly distributed at the bottom of the groove, the main control circuit for surveying and mapping is embedded in the groove body at the upper end surface of the bearing tray, the semiconductor refrigeration mechanism is embedded in the groove body at the lower end surface of the bearing tray, a heat radiation port is arranged at the bottom of the bearing cavity corresponding to the, communication antenna and bear the weight of the cavity surface and pass through revolving stage mechanism and articulate to be 0-180 contained angle with bearing the weight of the cavity surface, binding post at least one inlays terminal surface under bearing the weight of the cavity, communication antenna, semiconductor refrigeration mechanism, cooling fan and binding post all with survey and drawing master control circuit electrical connection, and survey and drawing master control circuit pass through binding post respectively with synthesize the detection head, keep away barrier mechanism, drive battery group, lift actuating mechanism and revolving stage mechanism electrical connection.
Furthermore, the comprehensive detection head comprises a detection cavity, a bearing frame, a partition plate, a gravity sensor, an acceleration sensor, a temperature sensor, an air quality sensor, a GNSS satellite communication measuring device, a three-dimensional scanner, a monitoring camera and a laser range finder, wherein the detection cavity is a closed cavity structure with a rectangular axial cross section, the gravity sensor and the acceleration sensor are positioned in the detection cavity and connected with the bottom of the detection cavity, the bearing frame is a frame structure coaxially distributed with the detection cavity and embedded in the detection cavity, the three-dimensional scanner, the monitoring camera and the laser range finder are connected with the bearing frame and positioned at the upper half part of the bearing frame, optical axes of the three-dimensional scanner, the monitoring camera and the laser range finder are mutually distributed in parallel and are vertically distributed with the axis of the detection cavity, a detection window is arranged on the front end face of the detection cavity corresponding to the three-dimensional scanner, the monitoring camera and the laser range finder, and the temperature, The GNSS satellite communication measuring device is embedded in the bearing frame, coaxially distributed with the bearing frame and positioned above the temperature sensor and the air quality sensor, the partition plate is coaxially distributed with the detection cavity, connected with the bearing frame and positioned between the GNSS satellite communication measuring device and the temperature sensor as well as between the GNSS satellite communication measuring device and the air quality sensor, and a closed cavity structure is formed between the partition plate and the detection cavity on the partition plate; the gravity sensor, the acceleration sensor, the temperature sensor, the air quality sensor, the GNSS satellite communication measuring device, the three-dimensional scanner, the monitoring camera and the laser range finder are electrically connected with the surveying and mapping main control circuit.
Further, the detection chamber up end establish with the coaxial protective cover that distributes in detection chamber, the protective cover diameter is for detecting at least 1.5 times of chamber diameter, and the protective cover external diameter is unanimous with the detection bearing chamber internal diameter, protective cover lateral surface and the detection bearing chamber lateral wall sliding connection, the detection window establishes filtering protection slide in addition.
Further, the detection carrier vehicle comprises a vehicle body, a protective cover plate, a crawler driving mechanism, traveling wheels, a solar power generation plate, an adjustable suspension, a level meter and a driving circuit based on an FPGA chip, wherein the left side surface of the vehicle body and the side surfaces of the vehicle body are respectively connected with the crawler driving mechanism and at least two traveling wheels, the crawler driving mechanism is coated outside the side surface of the vehicle body, the outer surface of the crawler driving mechanism exceeds the outer surface of the vehicle body by at least 5 mm, the traveling wheels are hinged to the side surface of the vehicle body through the adjustable suspension, the traveling wheels are uniformly distributed along the axis direction of the vehicle body, the lower end surfaces of the traveling wheels exceed 2/3 between-10 mm of the lower end surface of the crawler driving mechanism and the diameter of the traveling wheels, the solar power generation plate is embedded in the upper end surface of the vehicle body and is distributed in parallel with the upper end surface, Detect and bear chamber, power chamber up end to constitute airtight cavity structures with control chamber, detection and bear the weight of chamber, power chamber within a definite time, the spirit level inlays in the automobile body and with the coaxial distribution of automobile body, drive circuit based on FPGA chip inlays in the automobile body to respectively with track actuating mechanism, walking wheel, solar panel, adjustable suspension, spirit level and survey and drawing master control circuit electrical connection.
Further, the carrier post include electric telescopic handle, base, slider, rotation mechanism, the slider is three at least, encircles and detects the equipartition of bearing chamber axis to be connected through lift actuating mechanism and detection bearing chamber bottom, slider lateral surface and detection bearing chamber lateral wall sliding connection, medial surface pass through rotation mechanism and base sliding connection, the base with detect the coaxial distribution of bearing chamber, its up end is connected and coaxial distribution with electric telescopic handle lower terminal surface, electric telescopic handle up end passes through revolving stage mechanism and comprehensive detection head is articulated.
Further, the obstacle avoidance mechanism is any one of a microwave radar and a laser range finder; the turntable mechanism is any one of a three-dimensional turntable and a two-dimensional turntable; the lifting driving mechanism is any one of an electric telescopic rod, a pneumatic telescopic rod, a hydraulic telescopic rod, a gear rack mechanism and a screw rod mechanism.
Furthermore, the mapping main control circuit is a driving circuit based on any one or more shared bases of an FPGA chip, a DSP chip and a PID chip, and the mapping main control circuit is additionally provided with a wireless data communication module based on any one or more shared bases of a Bluetooth module, a WIFI module, a Zigbee module, a GPRS module, a 3G/4G/5G module and an RIDF radio frequency module.
This novel modularization, the degree of integrating is high, compatible good, and the detection data communication ability is strong, and system operation continuation and stability are good, and duration is strong, can effectively satisfy the needs of the synchronous long-range survey and drawing operation of multiple data simultaneously to when very big improvement survey and drawing operation's work efficiency and precision, effectively reduced the working cost and the intensity of labour of survey and drawing operation.
Drawings
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
Fig. 1 is a schematic top view of the present invention.
FIG. 2 is a schematic view of a cross-sectional partial structure of a body of a checking vehicle;
FIG. 3 is a schematic structural diagram of a main control room;
fig. 4 is a schematic structural diagram of the integrated detection head.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
As shown in figures 1-4, a novel automatic multifunctional remote reconnaissance car based on mapping comprises a detection bearing car 1, a main control chamber 2, a bearing column 3, a comprehensive detection head 4, an obstacle avoidance mechanism 5, a driving battery pack 6, a wireless charging mechanism 7, a mapping main control circuit 8, wherein the end surface of the detection bearing car 1 is provided with a control chamber 101, a detection bearing chamber 102 and a power chamber 103, the axes of the control chamber 101, the detection bearing chamber 102 and the power chamber 103 are vertical to the axis of a car body and are distributed in a crossed manner, the control chamber 101, the detection bearing chamber 102 and the power chamber 103 are uniformly distributed from front to back along the axis of the detection bearing car 1, the main control chamber 2 is a closed cavity structure which is coaxially distributed with the control chamber 101, is embedded in the control chamber 101 and is in sliding connection with the side wall of the control chamber 101 through a lifting driving mechanism 9, the lower end surface of the bearing column 3 is embedded in the detection bearing chamber 102 and is, the bearing column 3 and the comprehensive detection head 4 are hinged through a turntable mechanism 10, the detection operation axis of the comprehensive detection head 4 forms an included angle of 0-180 degrees with the horizontal plane, the driving battery pack 6 and the wireless charging mechanism 7 are embedded in the power cavity 103, the driving battery pack 6 is connected with the bottom of the power cavity 103 and is electrically connected with the wireless charging mechanism 7, the wireless charging mechanism 7 is positioned above the driving battery pack 6 and is in sliding connection with the side wall of the power cavity 103 through a lifting driving mechanism 9, the distance among the upper end surfaces of the main control chamber 2, the comprehensive detection head 4 and the wireless charging mechanism 7, the control cavity 101, the detection bearing cavity 102 and the bottom of the power cavity 103 is 0.5-10 times of the depth of the control cavity 101, the detection bearing cavity 102 and the power cavity 103, at least four obstacle avoidance mechanisms 5 are uniformly distributed around the center of the detection bearing vehicle 1 and are hinged with the outer side surface of the detection bearing vehicle 1 through the turntable mechanism 10, the detection axis of, survey and drawing master control circuit 8 inlays in master control room 2 to respectively with synthesize detection head 4, keep away barrier mechanism 5, drive group battery 6, lift actuating mechanism 9 and revolving stage mechanism 10 electrical connection.
In this embodiment, the main control chamber 2 includes a bearing cavity 21, a communication antenna 22, an electromagnetic shielding layer 23, a bearing tray 24, a semiconductor refrigeration mechanism 25, a heat dissipation fan 26 and a connection terminal 27, wherein the bearing cavity 21 is a closed cavity structure with a rectangular axial cross section, the electromagnetic shielding layer 23 is coated on the inner surface of the bearing cavity 21 and is distributed in parallel with the inner surface of the bearing cavity 21, the bearing tray 24 is embedded in the bearing cavity 21 and is coaxially distributed with the bearing cavity 21 and is slidably connected with the side wall of the bearing cavity 21 through a chute 28, the bearing tray 24 is a groove structure with an H-shaped cross section, a plurality of through holes 29 are uniformly distributed at the bottom of the groove, the main control circuit 8 for surveying and mapping is embedded in the groove body at the upper end surface of the bearing tray 24, the semiconductor refrigeration mechanism 25 is embedded in the groove body at the lower end surface of the bearing tray 24, and a heat dissipation port 20, the heat dissipation fan 26 and the heat dissipation port 20 are coaxially distributed and are connected with the inner surface of the bearing cavity 21, the communication antenna 22 is hinged to the outer surface of the bearing cavity 21 through the rotary table mechanism 10 and forms an included angle of 0-180 degrees with the outer surface of the bearing cavity 21, at least one of the wiring terminals 27 is embedded in the lower end face of the bearing cavity 21, the communication antenna 22, the semiconductor refrigeration mechanism 25, the heat dissipation fan 26 and the wiring terminals 27 are electrically connected with the surveying and mapping main control circuit 8, and the surveying and mapping main control circuit 8 is electrically connected with the comprehensive detection head 4, the obstacle avoidance mechanism 5, the driving battery pack 6, the lifting driving mechanism 9 and the rotary table mechanism 10 through the wiring terminals 27.
It is important to point out that the comprehensive detection head 4 includes a detection cavity 41, a carrier 42, a partition 43, a gravity sensor 44, an acceleration sensor 45, a temperature sensor 46, an air quality sensor 47, a GNSS satellite communication measuring device 48, a three-dimensional scanner 49, a monitoring camera 401 and a laser range finder 402, the detection cavity 41 is a closed cavity structure with a rectangular axial cross section, the gravity sensor 44 and the acceleration sensor 45 are located in the detection cavity 41 and connected with the bottom of the detection cavity 41, the carrier 42 is a frame structure coaxially distributed with the detection cavity 41 and embedded in the detection cavity 41, the three-dimensional scanner 49, the monitoring camera 401 and the laser range finder 402 are connected with the carrier 42 and located in the upper half of the carrier 42, the optical axes thereof are distributed in parallel with each other and are distributed perpendicular to the axis of the detection cavity 41, a detection window 403 is arranged on the front end face of the detection cavity 41 corresponding to the three-dimensional scanner 49, the monitoring camera 401 and the laser range finder 402, the temperature sensor 46 and the air quality sensor 47 are positioned at the lower half part of the bearing frame 42 and connected with the bearing frame 42, the side wall of the detection cavity 41 corresponding to the temperature sensor 46 and the air quality sensor 47 is provided with a plurality of through holes 29 uniformly distributed around the axis of the detection cavity 41, the through holes 29 are distributed along the inclined downward direction, the axis of the through holes intersects with the axis of the detection cavity 41 and forms an included angle of 30-60 degrees, the GNSS satellite communication measurement device 48 is embedded in the bearing frame and is coaxially distributed with the bearing frame 42 and positioned above the temperature sensor 46 and the air quality sensor 47, the partition plate 43 is coaxially distributed with the detection cavity 41, is connected with the bearing frame 42 and is positioned between the GNSS satellite communication measurement device 48 and the temperature sensor 46 and the air quality sensor 47, and a closed cavity structure is formed between the partition plate 43 and the detection cavity 41 on the partition plate; the gravity sensor 44, the acceleration sensor 45, the temperature sensor 46, the air quality sensor 47, the GNSS satellite communication measuring device 48, the three-dimensional scanner 49, the monitoring camera 401 and the laser range finder 402 are electrically connected with the surveying and mapping main control circuit 8.
Further optimally, the upper end face of the detection cavity 41 is provided with a protective cover which is coaxially distributed with the detection cavity 41, the diameter of the protective cover 404 is at least 1.5 times of that of the detection cavity 41, the outer diameter of the protective cover 404 is consistent with the inner diameter of the detection bearing cavity 102, the outer side face of the protective cover 404 is in sliding connection with the side wall of the detection bearing cavity 102, and the detection window 403 is additionally provided with a filter protective glass 405.
It should be noted that the detection carrier vehicle 1 includes a vehicle body 111, a protective cover 112, a track driving mechanism 113, road wheels 114, a solar panel 115, an adjustable suspension 116, a level 117, and a driving circuit 118 based on an FPGA chip, where the left side surface and the side surface of the vehicle body 111 are respectively connected to the track driving mechanism 113 and at least two road wheels 114, the track driving mechanism 113 is covered outside the side surface of the vehicle body 111, the outer surface of the track driving mechanism 113 exceeds the outer surface of the vehicle body 111 by at least 5 mm, the road wheels 114 are hinged to the side surface of the vehicle body 111 through the adjustable suspension 116, the road wheels 114 are uniformly distributed along the axial direction of the vehicle body 111, the lower end surfaces of the road wheels 114 exceed 2/3 between-10 mm below the track driving mechanism 113 and the wheel diameter of the road wheels 114, the solar panel 115 is embedded in the upper end surface of the vehicle body 111 and is distributed in, the protective cover plate 112 is hinged to the upper end face of the vehicle body 111, and respectively covers the upper end faces of the control cavity 101, the detection bearing cavity 102 and the power cavity 103, and forms a closed cavity structure with the control cavity 101, the detection bearing cavity 102 and the power cavity 103, the gradienter 117 is embedded in the vehicle body 111 and coaxially distributed with the vehicle body 111, and the drive circuit 118 based on the FPGA chip is embedded in the vehicle body 111 and is respectively electrically connected with the crawler drive mechanism 113, the traveling wheels 114, the solar power generation panel 115, the adjustable suspension 116, the gradienter 117 and the surveying and mapping main control circuit 8.
Meanwhile, the vehicle body 111 is of a closed cavity structure, the total buoyancy of the vehicle body is at least 1.5 times of the maximum bearing mass of the vehicle body 111, and a plurality of guide plates 119 vertically distributed with the bottom of the vehicle body 111 are uniformly distributed at the bottom of the vehicle body 111.
It is worth noting that the bearing column 3 comprises an electric telescopic rod 31, a base 32, a sliding block 33 and a rotary mechanism 34, wherein the sliding block 33 is at least three, is uniformly distributed around the axis of the detection bearing cavity 102 and is connected with the bottom of the detection bearing cavity 102 through a lifting driving mechanism 9, the outer side surface of the sliding block 33 is in sliding connection with the side wall of the detection bearing cavity 102, the inner side surface of the sliding block is in sliding connection with the base 32 through the rotary mechanism 34, the base 32 and the detection bearing cavity 102 are coaxially distributed, the upper end surface of the sliding block is connected with the lower end surface of the electric telescopic rod 31 and is coaxially distributed, and the upper end surface of the electric telescopic rod 31 is hinged with the.
Preferably, the obstacle avoidance mechanism 5 is any one of a microwave radar and a laser range finder; the turntable mechanism 10 is any one of a three-dimensional turntable and a two-dimensional turntable; the lifting driving mechanism 9 is any one of an electric telescopic rod, a pneumatic telescopic rod, a hydraulic telescopic rod, a gear rack mechanism and a screw rod mechanism.
In this embodiment, the surveying and mapping main control circuit 8 is an artificial intelligence circuit system based on any one or more common bases of an FPGA chip, a DSP chip and a PID chip, and the surveying and mapping main control circuit is additionally provided with a wireless data communication module based on any one or more common bases of a bluetooth module, a WIFI module, a Zigbee module, a GPRS module, a 3G/4G/5G module and an RIDF radio frequency module.
Further preferably, the surveying and mapping main control circuit 8 adopts a raspberry pi circuit module.
In the specific implementation of the invention, the novel detection bearing vehicle, the main control room, the bearing column, the comprehensive detection head, the obstacle avoidance mechanism, the driving battery pack, the wireless charging mechanism and the surveying and mapping main control circuit are assembled, then the driving battery pack is charged through the wireless charging mechanism, and finally the surveying and mapping main control circuit is in data connection with an external remote control terminal, so that the system prefabrication can be completed.
During surveying and mapping, the assembled novel device is conveyed to a designated working position, then the novel device is remotely controlled and surveyed through an external remote control terminal, during surveying and mapping, the detection bearing vehicle runs according to a planned surveying and mapping route, and during running, the working height of the comprehensive detection head and the included angle between the detection shaft of the comprehensive detection head and the horizontal plane are adjusted through the lifting driving mechanism and the bearing column, so that the needs of surveying and mapping are met, the travelling path is detected through the obstacle avoidance mechanism during detection, and the influence of the terrain on the detection operation is overcome; meanwhile, the working position of the main control room can be adjusted through the lifting driving mechanism, so that the purpose of enhancing the remote communication signals is effectively achieved while the surveying and mapping operation is met.
In the surveying and mapping operation, detecting the topographic relief and surveying and mapping speed of a surveying and mapping position through a gravity sensor and an acceleration sensor; air quality of a surveying and mapping environment and humidity parameters of an environmental thermometer are measured through a temperature sensor and an air quality sensor; performing video data acquisition, three-dimensional scanning identification and distance measurement operation on a surveying and mapping field through a three-dimensional scanner, a monitoring camera and a laser distance meter; when the GNSS satellite communication measuring device is used for measuring and positioning the satellite, the GPS-RTK technology is additionally utilized to improve the precision of the satellite measuring operation.
Meanwhile, in the measurement operation, on one hand, the requirement of the novel device for realizing land and water surface operation is effectively met through the buoyancy coefficient of the vehicle body, and meanwhile, the adaptability to the advancing terrain is realized through the crawler driving mechanism, the walking wheels and the adjustable suspension, so that the passing performance of the detection operation is improved; on the other hand, the control cavity, the detection bearing cavity and the power cavity on the vehicle body are sealed and protected through the protective cover plate, so that the purpose of protecting the main control room, the bearing column, the comprehensive detection head, the driving battery pack, the wireless charging mechanism and the surveying and mapping main control circuit is achieved.
Meanwhile, during the operation of the novel solar energy battery charger, on one hand, the novel solar energy battery charger can be synchronously charged through the solar power generation panel, so that the cruising ability and the continuous operation stability of the novel solar energy battery charger are improved; on the other hand, non-contact charging is realized through the wireless charging mechanism, and the flexibility and convenience of charging operation are improved.
In addition, this is novel when the survey and drawing operation, through gravity sensor, the acceleration sensor cooperation operation that detects the spirit level of bearing the car and synthesize the detection head, realizes inclination detection when this novel operation to detect the adjustment according to detecting inclination to the operating position who synthesizes the detection head, ensure to synthesize the stability that detects the operation of detection head detection.
This novel modularization, the degree of integrating is high, compatible good, and the detection data communication ability is strong, and system operation continuation and stability are good, and duration is strong, can effectively satisfy the needs of the synchronous long-range survey and drawing operation of multiple data simultaneously to when very big improvement survey and drawing operation's work efficiency and precision, effectively reduced the working cost and the intensity of labour of survey and drawing operation.
It will be appreciated by persons skilled in the art that the present invention is not limited by the embodiments described above. The foregoing embodiments and description have been presented only to illustrate the principles of the invention. Various changes and modifications can be made without departing from the spirit and scope of the invention. Such variations and modifications are intended to be within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. The utility model provides a novel automatic multi-functional long-range reconnaissance car based on survey and drawing which characterized in that: the novel automatic multifunctional remote reconnaissance vehicle based on mapping comprises a detection bearing vehicle, a main control chamber, a bearing column, a comprehensive detection head, an obstacle avoidance mechanism, a driving battery pack, a wireless charging mechanism and a mapping main control circuit, wherein the upper end surface of the detection bearing vehicle is provided with a control cavity, a detection bearing cavity and a power cavity, the axes of the control cavity, the detection bearing cavity and the power cavity are vertical to the axis of a vehicle body and are distributed in a crossed manner, the control cavity, the detection bearing cavity and the power cavity are uniformly distributed along the axis of the detection bearing vehicle from front to back, the main control chamber is a closed cavity structure which is coaxially distributed with the control cavity, is embedded in the control cavity and is in sliding connection with the side wall of the control cavity through a lifting driving mechanism, the lower end surface of the bearing column is embedded in the detection bearing cavity and is in sliding connection with the detection bearing cavity through the lifting driving mechanism, the upper end, the comprehensive detection head is characterized in that the detection operation axis of the comprehensive detection head forms an included angle of 0-180 degrees with the horizontal plane, the driving battery pack and the wireless charging mechanism are embedded in the power cavity, the driving battery pack is connected with the bottom of the power cavity and is electrically connected with the wireless charging mechanism, the wireless charging mechanism is positioned above the driving battery pack and is in sliding connection with the side wall of the power cavity through the lifting driving mechanism, the upper end face of the main control chamber, the comprehensive detection head and the wireless charging mechanism are uniformly distributed around the center of the detection bearing vehicle and are hinged with the outer side face of the detection bearing vehicle through the turntable mechanism, the distance between the upper end face of the main control chamber, the comprehensive detection head and the bottom of the power cavity is 0.5-10 times of the depth of the control chamber, the detection bearing chamber and the power cavity, at least four obstacle avoidance mechanisms are embedded in the main control chamber, the detection axis of the obstacle avoidance mechanism, The obstacle avoidance mechanism, the driving battery pack, the lifting driving mechanism and the turntable mechanism are electrically connected.
2. The novel automatic multifunctional remote reconnaissance vehicle based on surveying and mapping of claim 1, characterized in that: the main control room comprises a bearing cavity, a communication antenna, an electromagnetic shielding layer, a bearing tray, a semiconductor refrigerating mechanism, a heat radiation fan and a wiring terminal, wherein the bearing cavity is a closed cavity structure with a rectangular axial section, the electromagnetic shielding layer is coated on the inner surface of the bearing cavity and is distributed in parallel with the inner surface of the bearing cavity, the bearing tray is embedded in the bearing cavity, is coaxially distributed with the bearing cavity and is in sliding connection with the side wall of the bearing cavity through a chute, the bearing tray is of an H-shaped groove structure with a cross section, a plurality of through holes are uniformly distributed at the bottom of the groove, the surveying and mapping main control circuit is embedded in a groove body on the upper end surface of the bearing tray, the semiconductor refrigerating mechanism is embedded in the groove body on the lower end surface of the bearing tray, a heat radiation port is arranged at the bottom of the bearing cavity corresponding to the semiconductor refrigerating, communication antenna and bear the weight of the cavity surface and pass through revolving stage mechanism and articulate to be 0-180 contained angle with bearing the weight of the cavity surface, binding post at least one inlays terminal surface under bearing the weight of the cavity, communication antenna, semiconductor refrigeration mechanism, cooling fan and binding post all with survey and drawing master control circuit electrical connection, and survey and drawing master control circuit pass through binding post respectively with synthesize the detection head, keep away barrier mechanism, drive battery group, lift actuating mechanism and revolving stage mechanism electrical connection.
3. The novel automatic multifunctional remote reconnaissance vehicle based on surveying and mapping of claim 1, characterized in that: the comprehensive detection head comprises a detection cavity, a bearing frame, a partition plate, a gravity sensor, an acceleration sensor, a temperature sensor, an air quality sensor, a GNSS satellite communication measuring device, a three-dimensional scanner, a monitoring camera and a laser range finder, wherein the detection cavity is of a closed cavity structure with a rectangular axial cross section, the gravity sensor and the acceleration sensor are positioned in the detection cavity and connected with the bottom of the detection cavity, the bearing frame is of a frame structure coaxially distributed with the detection cavity and embedded in the detection cavity, the three-dimensional scanner, the monitoring camera and the laser range finder are connected with the bearing frame and positioned at the upper half part of the bearing frame, optical axes of the three-dimensional scanner, the monitoring camera and the laser range finder are mutually distributed in parallel and are vertically distributed with the axis of the detection cavity, detection windows are arranged on the front end faces of the detection cavity corresponding to the three-dimensional scanner, the monitoring camera and the laser range finder, the GNSS satellite communication measuring device is embedded in the bearing frame, coaxially distributed with the bearing frame and positioned above the temperature sensor and the air quality sensor, the partition plate is coaxially distributed with the detection cavity, connected with the bearing frame and positioned between the GNSS satellite communication measuring device and the temperature sensor as well as between the GNSS satellite communication measuring device and the air quality sensor, and a closed cavity structure is formed between the partition plate and the detection cavity on the partition plate; the gravity sensor, the acceleration sensor, the temperature sensor, the air quality sensor, the GNSS satellite communication measuring device, the three-dimensional scanner, the monitoring camera and the laser range finder are electrically connected with the surveying and mapping main control circuit.
4. The novel automatic multifunctional remote reconnaissance vehicle based on surveying and mapping of claim 3, characterized in that: the detection chamber up end establish with the protective cover that detects the coaxial distribution of chamber, the protective cover diameter is for detecting at least 1.5 times of chamber diameter, and the protective cover external diameter is unanimous with the detection bearing chamber internal diameter, protective cover lateral surface and detection bearing chamber lateral wall sliding connection, the filtering protection slide is established in addition to the detection window.
5. The novel automatic multifunctional remote reconnaissance vehicle based on surveying and mapping of claim 1, characterized in that: the detection carrier vehicle comprises a vehicle body, a protective cover plate, a track driving mechanism, traveling wheels, a solar power generation plate, an adjustable suspension, a level meter and a driving circuit based on an FPGA chip, wherein the left side surface of the vehicle body and the side surfaces of the vehicle body are respectively provided with the track driving mechanism and at least two traveling wheels, the track driving mechanism is coated outside the side surface of the vehicle body, the outer surface of the track driving mechanism exceeds the outer surface of the vehicle body by at least 5 mm, the traveling wheels are hinged with the side surface of the vehicle body through the adjustable suspension, the traveling wheels are uniformly distributed along the axis direction of the vehicle body, the lower end surfaces of the traveling wheels exceed 2/3 between-10 mm of the lower end surface of the track driving mechanism and the diameter of the traveling wheels, the solar power generation plate is embedded on the upper end surface of the vehicle body and is distributed in parallel with the upper end surface of the, The power cavity up end to constitute airtight cavity structures between with control chamber, detection bearing cavity, power cavity, the spirit level inlays in the automobile body and with the coaxial distribution of automobile body, drive circuit based on the FPGA chip inlays in the automobile body to respectively with track actuating mechanism, walking wheel, solar panel, adjustable suspension, spirit level and survey and drawing master control circuit electrical connection.
6. The novel automatic multifunctional remote reconnaissance vehicle based on surveying and mapping of claim 1, characterized in that: the carrier post include electric telescopic handle, base, slider, rotation mechanism, the slider is three at least, encircles and detects the equipartition of bearing chamber axis to be connected with detection bearing chamber bottom through lifting drive mechanism, slider lateral surface and detection bearing chamber lateral wall sliding connection, the medial surface passes through rotation mechanism and base sliding connection, the base bears the coaxial distribution of chamber with the detection, and its up end is connected and coaxial distribution with electric telescopic handle lower terminal surface, electric telescopic handle up end passes through revolving stage mechanism and comprehensive detection head is articulated.
7. The novel automatic multifunctional remote reconnaissance vehicle based on surveying and mapping of claim 1, characterized in that: the obstacle avoidance mechanism is any one of a microwave radar and a laser range finder; the turntable mechanism is any one of a three-dimensional turntable and a two-dimensional turntable; the lifting driving mechanism is any one of an electric telescopic rod, a pneumatic telescopic rod, a hydraulic telescopic rod, a gear rack mechanism and a screw rod mechanism.
8. The novel automatic multifunctional remote reconnaissance vehicle based on surveying and mapping of claim 1, characterized in that: the survey and drawing main control circuit is a driving circuit based on any one or more shared bases of an FPGA chip, a DSP chip and a PID chip, and is additionally provided with a wireless data communication module based on any one or more shared bases of a Bluetooth module, a WIFI module, a Zigbee module, a GPRS module, a 3G/4G/5G module and an RIDF radio frequency module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110472297.1A CN113120117B (en) | 2021-04-29 | 2021-04-29 | Novel automatic multifunctional remote reconnaissance car based on surveying and mapping |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110472297.1A CN113120117B (en) | 2021-04-29 | 2021-04-29 | Novel automatic multifunctional remote reconnaissance car based on surveying and mapping |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113120117A true CN113120117A (en) | 2021-07-16 |
| CN113120117B CN113120117B (en) | 2022-05-24 |
Family
ID=76780855
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110472297.1A Active CN113120117B (en) | 2021-04-29 | 2021-04-29 | Novel automatic multifunctional remote reconnaissance car based on surveying and mapping |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113120117B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114705171A (en) * | 2022-03-28 | 2022-07-05 | 南通市融信信息科技有限公司 | Three-dimensional terrain surveying system and surveying method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107878584A (en) * | 2017-11-07 | 2018-04-06 | 山东阿图机器人科技有限公司 | Explosion-proof type reconnaissance robot and method of work |
| CN109176528A (en) * | 2018-10-16 | 2019-01-11 | 贵阳学院 | A kind of patrol robot with obstacle crossing function |
| CN209650412U (en) * | 2019-01-10 | 2019-11-19 | 先马智能科技(成都)有限公司 | A kind of card slot type mechanism for being carried to barrel on AGV |
| CN110978917A (en) * | 2019-11-20 | 2020-04-10 | 中国海洋大学 | Crawler device of anti-sinking chassis for walking of seabed ore collecting vehicle and walking self-rescue method thereof |
| CN112193340A (en) * | 2020-10-12 | 2021-01-08 | 河北宏龙环保科技有限公司 | Intertidal zone detects car with distributing type temperature detects function |
| CN112344131A (en) * | 2020-11-24 | 2021-02-09 | 广州源创智能装备有限公司 | Flood drainage robot |
-
2021
- 2021-04-29 CN CN202110472297.1A patent/CN113120117B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107878584A (en) * | 2017-11-07 | 2018-04-06 | 山东阿图机器人科技有限公司 | Explosion-proof type reconnaissance robot and method of work |
| CN109176528A (en) * | 2018-10-16 | 2019-01-11 | 贵阳学院 | A kind of patrol robot with obstacle crossing function |
| CN209650412U (en) * | 2019-01-10 | 2019-11-19 | 先马智能科技(成都)有限公司 | A kind of card slot type mechanism for being carried to barrel on AGV |
| CN110978917A (en) * | 2019-11-20 | 2020-04-10 | 中国海洋大学 | Crawler device of anti-sinking chassis for walking of seabed ore collecting vehicle and walking self-rescue method thereof |
| CN112193340A (en) * | 2020-10-12 | 2021-01-08 | 河北宏龙环保科技有限公司 | Intertidal zone detects car with distributing type temperature detects function |
| CN112344131A (en) * | 2020-11-24 | 2021-02-09 | 广州源创智能装备有限公司 | Flood drainage robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114705171A (en) * | 2022-03-28 | 2022-07-05 | 南通市融信信息科技有限公司 | Three-dimensional terrain surveying system and surveying method |
| CN114705171B (en) * | 2022-03-28 | 2024-02-02 | 南通市融信信息科技有限公司 | Three-dimensional topographic mapping system and mapping method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113120117B (en) | 2022-05-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108731736B (en) | Wall radar photoelectricity robot system is climbed automatically for bridge tunnel Structural defect non-destructive testing diagnosis | |
| CN107389125B (en) | Underground space autonomous positioning multi-sensor intelligent detection robot | |
| CN108614274B (en) | Cross type crossing line distance measuring method and device based on multi-rotor unmanned aerial vehicle | |
| CN108622432A (en) | A kind of pickup type vehicle-mounted unmanned aerial vehicle intelligence landing and autonomous continuation of the journey system | |
| CN105082180A (en) | Tunnel detection robot and detection method | |
| CN109061707A (en) | Nuclear pollution region nuclear radiation monitoring system and method based on unmanned plane | |
| CN113120117B (en) | Novel automatic multifunctional remote reconnaissance car based on surveying and mapping | |
| CN110470283A (en) | Intelligent measure robot system and measurement method based on BIM | |
| CN208027170U (en) | A kind of power-line patrolling unmanned plane and system | |
| CN212423316U (en) | Phenotype analysis platform of field intelligent robot | |
| CN114113118B (en) | Rapid detection device and detection method for subway tunnel lining crack leakage water disease | |
| CN109976327A (en) | A kind of patrol robot | |
| CN208044099U (en) | Mobile weather station | |
| CN112945261A (en) | Portable intelligent measurement trolley with engineering data fixing function | |
| CN111323789A (en) | Ground topography scanning device and method based on unmanned aerial vehicle and solid-state radar | |
| CN110626500A (en) | Unmanned aerial vehicle | |
| CN113276084A (en) | ROS intelligent vehicle | |
| CN111531560B (en) | Patrol and examine robot applied to indoor and outdoor environment of transformer substation | |
| CN114407054B (en) | Total powerstation robot based on artificial intelligence | |
| CN218957053U (en) | Self-adjusting following road cone transfer robot based on weight perception | |
| CN111044040A (en) | All-terrain multi-sensor data acquisition platform for unmanned equipment | |
| CN114290313B (en) | Inspection robot, automatic navigation inspection robot system and control method | |
| CN207704264U (en) | Rail vehicle inspection trolley | |
| CN114183190B (en) | Underground post-disaster rescue device and implementation method | |
| CN112212842B (en) | High-speed railway straightway multimode AI precision survey robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |