CN211878177U - Automatic full-coverage scanning device for three-dimensional geological radar - Google Patents
Automatic full-coverage scanning device for three-dimensional geological radar Download PDFInfo
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- CN211878177U CN211878177U CN202020243426.0U CN202020243426U CN211878177U CN 211878177 U CN211878177 U CN 211878177U CN 202020243426 U CN202020243426 U CN 202020243426U CN 211878177 U CN211878177 U CN 211878177U
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Abstract
The utility model discloses an automatic full coverage scanning device of three-dimensional geological radar, including fixing the transverse mechanism at the vehicle afterbody, the monitoring camera of setting at the transverse mechanism tip, fix the connecting plate on the transverse mechanism, fix the loop bar on the vertical axis of connecting plate, install the range finding wheel in the bottom of loop bar, install the epaxial encoder at range finding wheel, one end is fixed respectively on the connecting plate, set up along the vertical axis symmetry of connecting plate, and two diagonal bracing pieces that are parallel to each other, with diagonal bracing piece's other end articulated three-dimensional geological radar, the three-dimensional geological radar is fixed to one end, two nylon belts on the connecting plate are installed to the other end, along the GPS antenna that the horizontal axis symmetry of three-dimensional geological radar set up, set up the horizontal spirit level on three-dimensional geological radar respectively, vertical spirit level and gyroscope. By the proposal, the utility model discloses accurate, effective detection purpose has been reached.
Description
Technical Field
The utility model belongs to the technical field of geological radar detection and specifically relates to an automatic full coverage of three-dimensional geological radar sweeps and looks into device.
Background
Geological radar detection is an effective means for evaluating damage of internal structures of roads, and is gradually a necessary project for highway and airport detection projects. At present, geological radar includes three kinds of instruments of single channel radar, array radar, three-dimensional radar, and wherein single channel radar and array radar lose underground structure information because of data density is not high, and three-dimensional radar passes through high density sampling data, can be to the clear formation of image of underground structure, therefore three-dimensional radar becomes the important instrument that engineering detected gradually. However, due to the limitation of the hardware capability of the data acquisition device and the cost of the antenna, the effective data of the three-dimensional radar can only reach a certain width, and in practical application, the full-coverage scanning of the target area can be realized only by laying multiple parallel survey line operations.
The three-dimensional radar can detect roads quickly through a vehicle-mounted mode, but a driver can only keep a vehicle to run in a lane in the same path according to lane lines, multiple measuring lines are collected by adjusting the offset distance of the three-dimensional radar relative to the vehicle, meanwhile, the vehicle cannot be guaranteed to run along the center line of the lane, data are easy to miss or excessively overlap, meanwhile, data positioning is only dependent on a GPS, and the errors are large due to the fact that the GPS is easily interfered by buildings, trees and the like. Therefore, it is urgently needed to provide a vehicle-mounted three-dimensional radar to realize high-quality full-coverage data acquisition so as to solve the problems of automatic transverse deviation relative to a vehicle body, data positioning adaptability and accuracy and dynamic correction of a radar scanning path.
SUMMERY OF THE UTILITY MODEL
To the above problem, an object of the utility model is to provide an automatic full coverage of three-dimensional geological radar sweeps and looks into device, the utility model discloses a technical scheme as follows:
an automatic full-coverage scanning device for three-dimensional geological radar comprises a transverse mechanism fixed at the tail of a vehicle, a monitoring camera arranged at the end part of the transverse mechanism and used for shooting images of lane lines, a connecting plate fixed on the transverse mechanism, a loop bar fixed on the vertical central axis of the connecting plate, a distance measuring wheel arranged at the bottom of the loop bar, an encoder arranged on the shaft of the distance measuring wheel and used for measuring mileage information and providing data acquisition trigger pulses, two inclined support bars with one ends respectively fixed on the connecting plate and symmetrically arranged along the vertical central axis of the connecting plate and parallel to each other, the three-dimensional geological radar hinged with the other end of the inclined support bar, two nylon belts with one ends fixed on the three-dimensional geological radar and the other ends arranged on the connecting plate, and a GPS antenna symmetrically arranged along the transverse central axis of the three-dimensional geological radar and used for measuring the GPS coordinate of the central point and the azimuth angle of the transverse, a transverse level meter, a longitudinal level meter and a gyroscope which are respectively arranged on the three-dimensional geological radar.
Furthermore, the transverse mechanism further comprises a transverse slide rail, and a transverse slide block which is sleeved on the transverse slide rail and moves along the direction of the transverse slide rail.
Furthermore, a connecting plate fixing hole is fixedly connected between the connecting plate and the transverse sliding block; and the connecting plate is provided with ratchet wheels which are correspondingly connected with the nylon belts one by one.
Furthermore, the three-dimensional geological radar also comprises two U-shaped pieces which are symmetrically arranged along the transverse central axis of the three-dimensional geological radar and have the same structure, and an inclined strut rotating hole and a nylon belt fixing hole which are sequentially arranged on any one U-shaped piece from front to back; the inclined support rods are correspondingly connected with the inclined support rotating holes one by one through pins; the nylon belts are fixedly connected with the nylon belt fixing holes in a one-to-one correspondence mode through pins.
Further, an implementation method of the three-dimensional geological radar automatic full-coverage scanning device comprises the following steps:
compared with the prior art, the utility model discloses following beneficial effect has:
(1) the utility model discloses a two GPS antennas, gyroscope, encoder information fusion developments acquire the accurate GPS coordinate of three-dimensional geological radar and attitude angle, are suitable for the short-term condition of losing or the signal is more weak, and fuse and improve the frequency that the GPS coordinate refreshed, satisfy the geological radar data developments for each passageway constantly and give the GPS coordinate, improve data positioning stability and precision.
(2) The utility model discloses a relative transverse distance of surveillance camera control vehicle and lane marking utilizes the three-dimensional geological radar lateral position of lateral slide rail dynamic adjustment, and the compensation leads to the random error that the route regularity was introduced because of the man-made driving vehicle, improves the regularity of data acquisition route.
(3) The utility model discloses a rotation of diagonal bracing pole is supported, utilizes the length in ratchet adjustment nylon area and guarantees three-dimensional geological radar and ground level, improves on-the-spot preparation efficiency.
(4) The utility model discloses a three-dimensional geological radar lateral position of horizontal slide rail adjustment is put to different times data acquisition for three-dimensional geological radar gathers data many times, the all standing lane.
The utility model discloses a drive three-dimensional geological radar of vehicle drive, guaranteed the high efficiency of data collection, the stability and the degree of accuracy of data location, data acquisition's the full coverage nature, the convenience of on-the-spot assembly, had very high practical value and spreading value in geological radar detection area.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as a limitation of the scope of protection, and for those skilled in the art, other related drawings may be obtained from these drawings without inventive effort.
Fig. 1 is a schematic structural diagram of the present invention.
In the drawings, the names of the parts corresponding to the reference numerals are as follows:
1-transverse mechanism, 2-connecting plate, 3-monitoring camera, 4-loop bar, 5-distance measuring wheel, 6-encoder, 7-oblique supporting rod, 8-GPS antenna, 9-gyroscope, 10-nylon belt, 11-longitudinal level meter, 12-transverse level meter, 13-three-dimensional geological radar, 101-transverse sliding block, 102-transverse sliding rail, 201-connecting plate fixing hole, 202-ratchet wheel, 131-U-shaped part, 132-oblique supporting rotating hole and 133-nylon belt fixing hole.
Detailed Description
To make the objectives, technical solutions and advantages of the present application more clear, 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 derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Examples
As shown in fig. 1, in the present embodiment, an automatic full coverage scanning device for a three-dimensional geological radar is disclosed, and it should be noted that the terms of "first", "second", and the like in the present embodiment are only used for distinguishing similar components, and cannot be understood as a specific limitation on the protection range. In the present embodiment, the terms of orientation such as "bottom", "top", "peripheral edge", "center", and the like are explained based on the drawings. In addition, the transverse mechanism compensation and the robot navigation described in this embodiment are both in the prior art, and the three-dimensional geological radar is obtained by purchasing, which is not described herein again.
Specifically, the automatic full-coverage scanning device for the three-dimensional geological radar comprises a transverse mechanism 1 fixed at the tail of a vehicle, a monitoring camera 3 arranged at the end of the transverse mechanism 1 and used for shooting images of a lane line, a connecting plate 2 fixed on the transverse mechanism 1, a loop bar 4 fixed on a vertical central axis of the connecting plate 2, a distance measuring wheel 5 arranged at the bottom of the loop bar 4, an encoder 6 arranged on a shaft of the distance measuring wheel 5 and used for measuring mileage information and providing data acquisition trigger pulses, two inclined support rods 7, one ends of which are respectively fixed on the connecting plate 2 and symmetrically arranged along the vertical central axis of the connecting plate 2 and parallel to each other, a three-dimensional geological radar 13 hinged with the other ends of the inclined support rods 7, two nylon belts 10, one ends of which are fixed on the three-dimensional geological radar 13 and the other ends of which are arranged on the connecting plate 2, and two nylon belts 10 symmetrically arranged, A GPS antenna 8 for measuring the central point GPS coordinate of the three-dimensional geological radar 13 and the azimuth angle of the transverse axis in the ground coordinate system, a longitudinal level meter 11, a transverse level meter 12 and a gyroscope 9 which are respectively arranged on the three-dimensional geological radar 13.
The transverse mechanism 1 further comprises a transverse slide rail 102, a transverse slide block 101 which is sleeved on the transverse slide rail 102 and moves along the direction of the transverse slide rail 102, a connecting plate fixing hole 201 which is fixedly connected is formed between the connecting plate 2 and the transverse slide block 101, ratchet wheels 202 which are connected with the nylon belts 10 in a one-to-one correspondence mode are arranged on the connecting plate 2, the three-dimensional geological radar 13 further comprises two U-shaped pieces 131 which are symmetrically arranged along the transverse central axis of the three-dimensional geological radar 13 and are identical in structure, and a diagonal bracing rotating hole 132 and a nylon belt fixing hole 133 which are sequentially formed in any one of the U-shaped pieces 131 from front to back, the diagonal bracing rods 7 are connected with the diagonal bracing rotating holes 132 in a one-to-one correspondence mode, and the nylon belts 10 are fixedly connected with the nylon belt.
The working principle of the device is briefly explained as follows:
firstly, fixing the device at the tail of a vehicle, and adjusting equipment to enable the equipment to be horizontal and detect a road surface;
secondly, driving the vehicle to drive to the starting point of the target lane, enabling the axle line to be along the direction of the center line of the road, and then driving the three-dimensional geological radar 13 to be level with the marking line on the left side of the lane through the transverse mechanism 1;
thirdly, driving the vehicle to run along the direction of the center of the road, and acquiring radar data by the three-dimensional geological radar 13 according to the output pulse of the encoder 6 on the shaft of the ranging wheel 5 and the fixed advancing distance according to the process requirement;
fourthly, calculating the GPS coordinate of the center of the three-dimensional geological radar 13 and the angle of the axis of the three-dimensional geological radar 13 under a geodetic coordinate system in real time by the GPS antenna 8, and measuring the attitude angle of the three-dimensional geological radar by the gyroscope 9 in real time;
fifthly, calculating GPS coordinates of all channels of the geological radar according to the GPS coordinates and the axis angles of the center of the three-dimensional geological radar 13 measured by the GPS antenna 8, the attitude angles measured by the gyroscope 9, the mileage information measured by the distance measuring wheel 5 and the distribution and fusion of all channels of the three-dimensional geological radar 13 on the radar structure, and providing the GPS coordinates for data of each channel radar at each moment;
sixthly, dynamically adjusting the movement of the transverse sliding block 101 according to the information of the road marking shot by the monitoring camera 3 in an inclined mode, so that the relative distance between the three-dimensional geological radar and the road marking is kept fixed;
seventhly, driving to a target end point, stopping collecting, returning to the initial starting point of the lane again, driving the transverse sliding block 101 to move rightwards to collect the effective width distance L, and repeating the third step to the sixth step;
and eighthly, repeating the third step to the seventh step until the whole lane is completely detected.
The utility model discloses can guarantee effective, accurate aassessment road internal damage condition, compare with prior art, have outstanding substantive characteristics and the progress that is showing, have very high practical value and spreading value in geological radar detection area.
The above-mentioned embodiments are merely preferred embodiments of the present invention, and are not limitations on the protection scope of the present invention, but all the changes made by adopting the design principle of the present invention and performing non-creative work on this basis shall fall within the protection scope of the present invention.
Claims (4)
1. The utility model provides an automatic full coverage of three-dimensional geological radar sweeps and looks into device, a serial communication port, including fixing transverse mechanism (1) at the vehicle afterbody, the setting is in transverse mechanism (1) tip, monitoring camera (3) for taking the image of lane line, fix connecting plate (2) on transverse mechanism (1), fix loop bar (4) on the vertical axis of connecting plate (2), install ranging wheel (5) in the bottom of loop bar (4), install on the axle of ranging wheel (5), an encoder (6) for measuring mileage information and providing data acquisition trigger pulse, one end is fixed respectively on connecting plate (2), set up along connecting plate (2) vertical axis symmetry, and two diagonal bracing pieces (7) that are parallel to each other, three-dimensional geological radar (13) with the other end articulated of diagonal bracing piece (7), one end is fixed in three-dimensional geological radar (13), Two nylon belts (10) with the other ends installed on the connecting plate (2), a GPS antenna (8) which is symmetrically arranged along the horizontal central axis of the three-dimensional geological radar (13) and is used for measuring the central point GPS coordinate of the three-dimensional geological radar (13) and the azimuth angle of the horizontal axis in the ground coordinate system, and a longitudinal level meter (11), a horizontal level meter (12) and a gyroscope (9) which are respectively arranged on the three-dimensional geological radar (13).
2. The automatic full-coverage scanning device for the three-dimensional geological radar according to claim 1, characterized in that the transverse mechanism (1) further comprises a transverse slide rail (102), and a transverse slide block (101) which is sleeved on the transverse slide rail (102) and moves along the direction of the transverse slide rail (102).
3. The automatic full-coverage scanning device for the three-dimensional geological radar as claimed in claim 2, wherein a connecting plate fixing hole (201) for fixed connection is arranged between the connecting plate (2) and the transverse sliding block (101); ratchet wheels (202) which are connected with the nylon belts (10) in a one-to-one corresponding mode are arranged on the connecting plate (2).
4. The automatic full-coverage scanning device for the three-dimensional geological radar as claimed in claim 1, wherein the three-dimensional geological radar (13) further comprises two U-shaped members (131) which are symmetrically arranged along a transverse central axis of the three-dimensional geological radar (13) and have the same structure, and a diagonal brace rotating hole (132) and a nylon belt fixing hole (133) which are sequentially arranged on any one U-shaped member (131) from front to back; the inclined support rods (7) are correspondingly connected with the inclined support rotating holes (132) one by one through pins; the nylon belts (10) are fixedly connected with the nylon belt fixing holes (133) in a one-to-one corresponding mode through pins.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202020243426.0U CN211878177U (en) | 2020-03-03 | 2020-03-03 | Automatic full-coverage scanning device for three-dimensional geological radar |
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| CN202020243426.0U CN211878177U (en) | 2020-03-03 | 2020-03-03 | Automatic full-coverage scanning device for three-dimensional geological radar |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111142104A (en) * | 2020-03-03 | 2020-05-12 | 上海圭目机器人有限公司 | Automatic full-coverage scanning device for three-dimensional geological radar |
| CN117607864A (en) * | 2024-01-15 | 2024-02-27 | 江西核工业工程地质勘察院有限公司 | Scanning positioning device for three-dimensional radar comprehensive detection vehicle |
-
2020
- 2020-03-03 CN CN202020243426.0U patent/CN211878177U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111142104A (en) * | 2020-03-03 | 2020-05-12 | 上海圭目机器人有限公司 | Automatic full-coverage scanning device for three-dimensional geological radar |
| CN117607864A (en) * | 2024-01-15 | 2024-02-27 | 江西核工业工程地质勘察院有限公司 | Scanning positioning device for three-dimensional radar comprehensive detection vehicle |
| CN117607864B (en) * | 2024-01-15 | 2024-03-29 | 江西核工业工程地质勘察院有限公司 | Scanning positioning device for three-dimensional radar comprehensive detection vehicle |
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