CN113737619B - Detection mechanism for vehicle-mounted road surface detection - Google Patents
Detection mechanism for vehicle-mounted road surface detection Download PDFInfo
- Publication number
- CN113737619B CN113737619B CN202110819142.0A CN202110819142A CN113737619B CN 113737619 B CN113737619 B CN 113737619B CN 202110819142 A CN202110819142 A CN 202110819142A CN 113737619 B CN113737619 B CN 113737619B
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- Prior art keywords
- penetrating radar
- ground penetrating
- main support
- detection
- guide plate
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
- E01C23/01—Devices or auxiliary means for setting-out or checking the configuration of new surfacing, e.g. templates, screed or reference line supports; Applications of apparatus for measuring, indicating, or recording the surface configuration of existing surfacing, e.g. profilographs
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/885—Radar or analogous systems specially adapted for specific applications for ground probing
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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
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
Abstract
The invention discloses a detection mechanism for detecting a vehicle-mounted road surface, which comprises a ground penetrating radar, an anti-collision guide plate and a ground penetrating radar carrying mechanism; the ground penetrating radar carrying mechanism comprises a main support which is vertically arranged in the advancing direction of the detection trolley, carrying connecting rods which are arranged at two ends of the main support in a one-to-one correspondence mode and fixedly connected with the detection trolley, sliding rails which are fixed at two ends of the back of the main support in a one-to-one correspondence mode along the longitudinal direction, sliding blocks which are sleeved on the sliding rails, front connecting rods which are fixedly arranged at two ends of the main support in a one-to-one correspondence mode, front edge shafts of the anti-collision guide plates and are in an L shape, transverse linkage plates which are connected between the sliding blocks at two ends of the main support, rear connecting rods which are connected with the ends of the transverse linkage plates in a one-to-one correspondence mode and rear connecting rods which are connected with the rear edges of the anti-collision guide plates in a one-to-one correspondence mode, and locking components which are arranged on the locking supporting frames and used for connecting the ground penetrating radar.
Description
Technical Field
The invention relates to the technical field of road surface detection, in particular to a detection mechanism for vehicle-mounted road surface detection.
Background
The track surfaces described herein include motor lanes, non-motor lanes, aircraft take-off and landing lanes, and the like. At present, in the prior art, a ground penetrating radar module is carried by a detection trolley for detecting a vehicle-mounted road surface, and the structure is simpler; however, it pulls the stressed whole leaning trolley. In the actual detection process, the road surface is not completely flat, such as a speed reducing mechanism exists on a motor vehicle lane, and a pit and a convex area exist on the road surface. Then, the detection mechanism for detecting the vehicle-mounted road surface in the prior art has the problem that the ground penetrating radar module collides with the ground. In addition, the ground penetrating radar module in the prior art is also provided with an independent travelling mechanism, and the structure of the ground penetrating radar module is complex; and the ground clearance is large, the acquired data is inaccurate, and the later data processing is not facilitated (namely, the larger the ground clearance is, the more serious the distortion of the detected data is).
To this end, the applicant has specifically proposed a vehicle-mounted road surface inspection robot including an inspection carriage, a camera module provided on the top of the inspection carriage for capturing an image of the ground, and a ground penetrating radar detection mechanism towed on the inspection carriage. At present, no detection mechanism matched with the detection mechanism is used for detecting the vehicle-mounted road surface.
Disclosure of Invention
The invention aims to provide a detection mechanism for detecting a vehicle-mounted road surface, which adopts the following technical scheme:
the detection mechanism for detecting the vehicle-mounted pavement is hung on the detection trolley and comprises a ground penetrating radar and an anti-collision guide plate which are arranged perpendicular to the travelling direction of the detection trolley, and a ground penetrating radar carrying mechanism which is respectively connected with the detection trolley, the ground penetrating radar and the anti-collision guide plate;
the ground penetrating radar carrying mechanism comprises a main support which is vertically arranged in the advancing direction of the detection trolley, carrying connecting rods which are arranged at two ends of the main support in a one-to-one correspondence mode and fixedly connected with the detection trolley, sliding rails which are fixed at two ends of the back of the main support in a one-to-one correspondence mode along the longitudinal direction, sliding blocks which are sleeved on the sliding rails, front connecting rods which are fixedly arranged at two ends of the main support in a one-to-one correspondence mode, front edge shafts of the anti-collision guide plates and are in an L shape, transverse linkage plates which are connected between the sliding blocks at two ends of the main support, rear connecting rods which are connected with the ends of the transverse linkage plates in a one-to-one correspondence mode and rear connecting rods which are connected with the rear edges of the anti-collision guide plates in a one-to-one correspondence mode, and locking components which are arranged on the locking supporting frames and used for connecting the ground penetrating radar.
Further, the locking component is provided with two groups, and any group comprises a ground penetrating radar connecting seat, a connecting seat extension plate and an extrusion horizontal bar which are sequentially connected from bottom to top, a hasp head arranged on the connecting seat extension plate, a hasp seat fixed on the locking support frame and a hasp fixed on the hasp seat and connected with the hasp head in a matching way; the ground penetrating radar connecting seat is fixedly connected with the ground penetrating radar.
Preferably, the main support is in a shape like a Chinese character 'hui', and the top of the ground penetrating radar is provided with an L-shaped lifting limiting rod; one end of the lifting limiting rod is fixed on the ground penetrating radar, and the other end of the lifting limiting rod is inserted into the reverse-shaped of the main support.
Preferably, a waterproof cover is arranged on the top of the main support.
Preferably, a reset rod is arranged between the main support and the transverse linkage plate.
Compared with the prior art, the invention has the following beneficial effects:
(1) The invention skillfully sets the front connecting rod of the L-shaped anti-collision guide plate, the rear connecting rod of the anti-collision guide plate, the sliding rail and the sliding block, when meeting a raised area, the lower edge of the anti-collision guide plate is utilized to contact and link the rear connecting rod of the anti-collision guide plate to push the sliding block (the transverse linkage plate, the locking support frame, the locking assembly and the ground penetrating radar) to move upwards so as to realize the anti-collision of the ground penetrating radar;
(2) The invention skillfully sets the locking component, which is provided with the hasp, the hasp head and the extrusion cross bar, and is reliably connected with the ground penetrating radar and convenient to assemble and disassemble;
(3) According to the invention, two groups of sliding rails and sliding blocks are skillfully arranged, and the reset rod is arranged, so that the anti-collision action is stable, and the reset is reliable;
(4) According to the invention, locking holes which are matched with the locking mechanism in a locking manner are formed in four corners of the top of the D camera skillfully, and two pairs of first locks and two pairs of second locks which are in linkage action are arranged on the locking mechanism so as to realize reliable detachable connection;
(5) The invention skillfully sets the linkage plate to realize the synchronous action of the first lockset and the second lockset at two sides;
(6) According to the invention, the fixed pulley and the linkage rope are arranged to realize linkage action of the first lock and the second lock on the same side, so that the action is reliable;
in conclusion, the invention has the advantages of simple structure, reliable action, convenient connection, good anti-collision performance and the like, and has high practical value and popularization value in the technical field of road surface detection.
Drawings
For a clearer description of the technical solutions of the embodiments of the present invention, the drawings to be used in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and should not be considered as limiting the scope of protection, and other related drawings may be obtained according to these drawings without the need of inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic structural view of the roof rack and the camera module according to the present invention.
Fig. 3 is a schematic structural diagram of a camera module according to the present invention.
Fig. 4 is a schematic structural diagram of a camera module according to the present invention.
Fig. 5 is a schematic structural diagram (a) of the connecting mechanism of the present invention.
Fig. 6 is a schematic structural diagram (ii) of the connecting mechanism of the present invention.
Fig. 7 is a schematic structural diagram of the first lock of the present invention.
Fig. 8 is a schematic structural diagram of a second lock according to the present invention.
Fig. 9 is a schematic structural diagram of a 3D camera according to the present invention.
Fig. 10 is a schematic diagram of a connection structure of the ground penetrating radar detection mechanism of the present invention.
Fig. 11 is a schematic structural view of the ground penetrating radar detection mechanism of the present invention.
Fig. 12 is a schematic structural view of the ground penetrating radar detection mechanism (waterproof cover).
Fig. 13 is a schematic structural view of the ground penetrating radar anti-collision connection mechanism of the present invention.
Fig. 14 is a schematic structural view of the ground penetrating radar anti-collision connection mechanism (unlocking component) of the present invention.
Fig. 15 is a schematic view (a) of a locking assembly according to the present invention.
Fig. 16 is a schematic structural view (ii) of the locking assembly of the present invention.
Fig. 17 is a schematic structural view of the ground penetrating radar of the present invention.
In the above figures, the reference numerals correspond to the component names as follows:
1. detecting a trolley; 2. a roof rack; 3. a camera module; 4. a ground penetrating radar detection mechanism; 31. a camera mount; 32. a 3D camera; 41. a ground penetrating radar; 42. a ground penetrating radar carrying mechanism; 43. an anti-collision guide plate; 44. a waterproof cover; 411. lifting the limiting rod; 412. a ground penetrating radar connecting seat; 413. a connecting seat extension plate; 414. extruding the transverse strips; 415. a snap-on head; 311. the camera is connected with the upper seat; 312. a connection mechanism cover; 313. a connecting mechanism; 321. a lock hole; 3131. an upper top plate; 3132. a lockset support frame; 3133. a fixed pulley bracket; 3134. a fixed pulley; 3135. a linkage rope; 3136. a linkage plate; 3137. a first lock; 3138. a second lock; 3139. a linkage side plate; 4201. a main support; 4202. carrying a connecting rod; 4203. a front connecting rod of the anti-collision guide plate; 4204. a slide rail; 4205. a slide block; 4206. a rear connecting rod of the anti-collision guide plate; 4207. a transverse linkage plate; 4208. a reset lever; 4209. locking the supporting frame; 4210. a locking assembly; 31371. a lock base; 31372. a lock head seat; 31373. a return spring; 31374. a lock head; 42101. a hasp seat; 42102. a hasp.
Detailed Description
For the purposes, technical solutions and advantages of the present application, the present invention will be further described with reference to the accompanying drawings and examples, and embodiments of the present invention include, but are not limited to, the following examples. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present application based on the embodiments herein.
Examples
As shown in fig. 1 to 17, the present embodiment provides a vehicle-mounted road surface detection robot including a detection dolly 1, a camera module 3 provided on the top of the detection dolly 1 for capturing an image of the ground, a roof frame 2 provided on the top of the detection dolly 1 and connected to the camera module 3, and a ground penetrating radar detection mechanism 4 towed on the detection dolly 1. First, the terms "first" and "second" in this embodiment are used only to distinguish similar components, and are not to be construed as limiting the scope of protection. In the present embodiment, the azimuthal terms such as "bottom", "top", "peripheral edge", "center" and the like are described based on the drawings. Furthermore, the body structure of the 3D camera of the present embodiment belongs to the prior art, and its improvement point is at the connection position.
As shown in fig. 2 to 9, the camera module 3 of the present embodiment includes a camera mount 31 provided at the top of the inspection trolley 1, two 3D cameras 32 provided on both sides of the camera mount 31 in one-to-one correspondence and detachably connected with the camera mount 31. The camera fixing frame 31 includes a camera connection upper base 311, a connection mechanism 313 disposed at a lower portion of the camera connection upper base 311, and a connection mechanism cover 312 connected to a lower portion of the camera connection upper base 311 and disposed outside the connection mechanism 313. In the present embodiment, the connection mechanism 313 is detachably connected to the 3D camera 32.
In the present embodiment, the connection mechanism 313 includes an upper top plate 3131 provided at the bottom of the camera connection upper base 311, locking mechanisms provided at the bottoms of both sides of the upper top plate 3131 in one-to-one correspondence; lock holes 321 which are matched with the locking mechanism in a locking way are formed in four corners of the top of the 3D camera 32. Any one of the locking mechanisms comprises a lock support 3132 fixed at the bottom of the upper top plate 3131, a fixed pulley bracket 3133 arranged at one end of the lock support 3132, a fixed pulley 3134 arranged on the fixed pulley bracket 3133, a first lock 3137 and a second lock 3138 relatively fixed at the inner side of the lock support 3132 and in locking match with the lock hole 321, a linkage rope 3135 with one end connected with the first lock 3137 and wound around the surface edge of the fixed pulley 3134, a linkage plate 3136 connected with the other end of the linkage rope 3135 and used for driving the second lock 3138 to act, and a linkage side plate 3139 arranged between the linkage plate 3136 and the second lock 3138; the first locks 3137 and the second locks 3138 are disposed at two ends of the inner side of the lock support 3132 in a one-to-one correspondence manner. Moreover, the first lock 3137 and the second lock 3138 have the same structure, and the first lock 3137 includes a lock seat 31371 fixed on the lock support 3132, a lock seat 31372 with a rear end penetrating through the lock seat 31371, a return spring 31373 sleeved on the rear end of the lock seat 31372 and pressed between the lock seat 31371 and the lock seat 31372, and lock heads 31374 arranged at the front end of the lock seat 31372 and matched with the lock holes 321 in a one-to-one correspondence manner.
When the 3D camera 32 is installed, the linkage plate 3136 is pulled backwards, so that the lock cylinder blocks 31372 of the two pairs of first locks 3137 and second locks 3138 are both recovered, and the spring 31373 is compressed, so that the space between the lock cylinders 31374 is larger than that between the lock holes 321; then, the 3D camera 32 is inserted into the connection mechanism 313, and the linkage plate 3136 is released to realize one-to-one insertion of the lock heads 31374 into the lock holes 321, so that the 3D camera 32 is mounted in a locked manner. When the lock is detached, the lock hole 321 and the lock head 31374 can be released by pulling the linkage plate 3136. In the embodiment, the fixed pulley and the linkage rope are arranged to realize linkage action of the first lock and the second lock on the same side.
As shown in fig. 10 to 17, the ground penetrating radar detection mechanism 4 of the present embodiment includes a ground penetrating radar 41 and an anti-collision guide plate 43 arranged perpendicularly to the traveling direction of the detection dolly 1, and a ground penetrating radar mounting mechanism 42 connected to the detection dolly 1, the ground penetrating radar 41 and the anti-collision guide plate 43, respectively.
In this embodiment, in order to realize the collision avoidance of the ground penetrating radar, the ground penetrating radar mounting mechanism 42 includes a main support 4201 arranged perpendicularly to the traveling direction of the inspection trolley 1, mounting connection rods 4202 provided at both end portions of the main support 4201 in one-to-one correspondence and fixedly connected to the inspection trolley 1, a waterproof cover 44 provided at the top of the main support 4201 for electrical protection of the ground penetrating radar, slide rails 4204 fixed at both ends of the back of the main support 4201 in one-to-one correspondence in the longitudinal direction, slide blocks 4205 provided on the slide rails 4204 in one-to-one correspondence, a front connection rod 4203 of the collision avoidance guide plate 43 and axially connected to the front edge of the collision avoidance guide plate 43, a lateral linkage plate 4207 connected between the slide blocks 4205 of both end portions of the main support 4201, a reset rod 4208 provided between the main support 4201 and the lateral linkage plate 4207, a rear connection rod 6 of the other end connected to the end portion of the lateral linkage plate 4207 and axially connected to the rear edge of the collision avoidance guide plate 43, and lock the support frame 4209 provided on the support frame 4210 and the ground penetrating radar assembly 42010.
In this embodiment, the rear end edge of the anti-collision guide plate 43 rotates at the shaft joint of the front anti-collision guide plate connecting rod 4203 and the anti-collision guide plate 43, and drives the rear anti-collision guide plate connecting rod 4206 to move up and down, and drives the slide block 4205, the transverse linkage plate 4207, the locking support frame 4209 and the locking assembly 4210 to move up and down, so as to realize the anti-collision of the ground penetrating radar. I.e. raised, the rear end of the anti-collision guide plate 43 is lifted, and the ground penetrating radar is lifted.
In order to realize quick assembly and disassembly of the ground penetrating radar, two groups of locking assemblies 4210 are arranged on two sides of the transverse linkage plate 4207 in a one-to-one correspondence manner, and any group comprises a ground penetrating radar connecting seat 412, a connecting seat extension plate 413 and an extrusion horizontal bar 414 which are sequentially connected from bottom to top, a hasp head 415 arranged on the connecting seat extension plate 413, a hasp seat 42101 fixed on the locking support frame 4209, and a hasp 42102 fixed on the hasp seat 42101 and in matched connection with the hasp head 415; the ground penetrating radar connecting seat 412 is fixedly connected with the ground penetrating radar 41. Wherein, ground penetrating radar connecting seat 412, connecting seat extension plate 413, extrusion horizontal bar 414 and hasp head 415 are set up on the ground penetrating radar. In the lifting process, the requirement of the ground clearance when the ground penetrating radar is collected needs to be met, if the ground penetrating radar does not have a limiting mechanism in the moving process of the detection trolley 1, the lifting height of the ground penetrating radar is larger than the height of the projection of the road surface under the action of inertia, in order to ensure the ground clearance of the ground penetrating radar, in the embodiment, the main support 4201 is arranged in a shape like a Chinese character 'hui', and the top of the ground penetrating radar 41 is provided with a lifting limiting rod 411 in an L shape; the lifting stop bar 411 has one end fixed to the ground penetrating radar 41 and the other end inserted into the zigzag shape of the main support 4201. The ground penetrating radar 41 of this embodiment has a lifting height equal to the difference in the inner longitudinal pitch of the zigzag shape of the main support 4201 and the diameter of the lifting stopper 411.
In conclusion, the invention fills the technical teaching of no ground penetrating radar collision prevention in the road surface detection technology, and gives consideration to the requirements of ground penetrating radar collision prevention and detection spacing, compared with the prior art, the invention has outstanding substantive characteristics and remarkable progress, and has high practical value and popularization value in the technical field of road surface detection.
The above embodiments are only preferred embodiments of the present invention and are not intended to limit the scope of the present invention, but all changes made by adopting the design principle of the present invention and performing non-creative work on the basis thereof shall fall within the scope of the present invention.
Claims (5)
1. The detection mechanism for detecting the vehicle-mounted road surface is hung on a detection trolley (1), and is characterized by comprising a ground penetrating radar (41) and an anti-collision guide plate (43) which are arranged perpendicular to the travelling direction of the detection trolley (1), and a ground penetrating radar carrying mechanism (42) which is respectively connected with the detection trolley (1), the ground penetrating radar (41) and the anti-collision guide plate (43);
the ground penetrating radar carrying mechanism (42) comprises a main support (4201) which is vertically arranged with the travelling direction of the detection trolley (1), carrying connecting rods (4202) which are arranged at two ends of the main support (4201) in a one-to-one correspondence manner and are fixedly connected with the detection trolley (1), sliding rails (4204) which are fixed at two ends of the back of the main support (4201) in a one-to-one correspondence manner along the longitudinal direction, sliding blocks (4205) which are sleeved on the sliding rails (4204), an anti-collision guide plate front connecting rod (4203) which is fixed at two ends of the main support (4201) in a one-to-one correspondence manner, is axially connected with the front edge of the anti-collision guide plate (43) and takes the shape of an L, a transverse linkage plate (4207) which is connected between the sliding blocks (4205) at two ends of the main support (4201), an anti-collision guide plate rear connecting rod (4206) which is connected with one end of the transverse linkage plate (4207) and the other end of which is axially connected with the rear edge of the anti-collision guide plate (43), and a locking support frame (4209) which is arranged on the locking support frame (4209) for locking the ground penetrating radar (4210).
2. The detection mechanism for vehicle-mounted pavement detection according to claim 1, wherein the locking assembly (4210) is provided with two groups, and either group comprises a ground penetrating radar connecting seat (412), a connecting seat extension plate (413) and an extrusion cross bar (414) which are sequentially connected from bottom to top, a hasp head (415) arranged on the connecting seat extension plate (413), a hasp seat (42101) fixed on the locking support frame (4209), and a hasp (42102) fixed on the hasp seat (42101) and in matched connection with the hasp head (415); the ground penetrating radar connecting seat (412) is fixedly connected with the ground penetrating radar (41).
3. The detection mechanism for vehicle-mounted pavement detection according to claim 1 or 2, wherein the main support (4201) is in a shape of a Chinese character 'hui', and the top of the ground penetrating radar (41) is provided with an L-shaped lifting stop bar (411); one end of the lifting limiting rod (411) is fixed on the ground penetrating radar (41), and the other end of the lifting limiting rod is inserted into the reverse-character shape of the main bracket (4201).
4. A detection mechanism for vehicle-mounted pavement detection according to claim 1 or 2, characterized in that the top of the main support (4201) is provided with a waterproof cover (44).
5. A detection mechanism for vehicle-mounted pavement detection according to claim 3, characterized in that a reset lever (4208) is arranged between the main support (4201) and the lateral linkage plate (4207).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202110819142.0A CN113737619B (en) | 2021-07-21 | 2021-07-21 | Detection mechanism for vehicle-mounted road surface detection |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110819142.0A CN113737619B (en) | 2021-07-21 | 2021-07-21 | Detection mechanism for vehicle-mounted road surface detection |
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| CN113737619A CN113737619A (en) | 2021-12-03 |
| CN113737619B true CN113737619B (en) | 2023-04-25 |
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| JP4189781B2 (en) * | 1998-12-01 | 2008-12-03 | 大有株式会社 | Drum transporter |
| JP4895064B2 (en) * | 2001-04-26 | 2012-03-14 | 国土交通省中部地方整備局長 | Road working vehicle, traction device, and road working method |
| WO2008147218A2 (en) * | 2007-05-30 | 2008-12-04 | Olav Lauvdal | Forklift truck and method for transporting a forklift truck |
| WO2011123726A2 (en) * | 2010-03-31 | 2011-10-06 | Linear Signal, Inc. | Apparatus and system for a double gimbal stabilization platform |
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| CN212497840U (en) * | 2020-05-15 | 2021-02-09 | 合肥卓科智能技术有限公司 | Special protective equipment for inspection robot |
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