CN212685540U - Rail mounted radar dolly and three-dimensional scanning quantity monitoring devices - Google Patents
Rail mounted radar dolly and three-dimensional scanning quantity monitoring devices Download PDFInfo
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- CN212685540U CN212685540U CN202021535605.8U CN202021535605U CN212685540U CN 212685540 U CN212685540 U CN 212685540U CN 202021535605 U CN202021535605 U CN 202021535605U CN 212685540 U CN212685540 U CN 212685540U
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Abstract
The utility model relates to a rail mounted radar dolly, including the dolly frame, be provided with dolly running gear on the dolly frame, be provided with radar measuring device on the dolly frame, radar measuring device is including being fixed in the upside device part on the dolly frame and rotating the downside device part of assembling on the upside device part, is provided with drive downside device part pivoted downside device actuating mechanism on the upside device part, and downside device part is including the laser radar who is used for transmitting the laser beam down. Downside device actuating mechanism drive downside device part on the upside device part rotates, and laser radar is rotatory can accomplish the scanning work in an area, and is great in the region of required scanning, and when laser radar can't accomplish other regional scans, corresponding rail-engaging is followed to the dolly frame to enlarge whole three-dimensional scanning quantity monitoring devices's scanning region, need not set up a plurality of laser radar, the effectual use cost who reduces the user.
Description
Technical Field
The utility model relates to a rail mounted radar dolly in the radar measurement technique and use three-dimensional scanning quantity monitoring devices of this dolly.
Background
The laser radar is a radar system which detects the position, size and other characteristics of a target by emitting a laser beam, and the working principle of the radar system is to emit a detection signal (laser beam) to the target, then compare the received signal (target echo) reflected from the target with the emission signal, and after proper processing, the relevant information of the target, such as the parameters of the target distance, the direction, the height, the shape and the like, can be obtained.
Recently, the laser radar is also applied to the grain storage field of the granary, in the grain storage field, grains are stacked in the granary, in order to accurately obtain the volume of the grains, the laser radar is required to be used for scanning the surface of the grain pile so as to obtain the size of the surface of the grain pile, and because the flying dust is large in the use environment in the granary, the traditional three-dimensional scanning quantity monitoring device is not suitable for being used in the granary; in addition, the scanning area of the laser radar is fixed, and for a long granary, one laser radar cannot measure all data of the grain pile, so that a plurality of laser radars need to be arranged in one granary, and the use cost of a user is increased undoubtedly.
Disclosure of Invention
The utility model aims to provide a three-dimensional scanning quantity monitoring device which can enlarge the scanning area of a laser radar; an object of the utility model is also to provide a rail mounted radar dolly that uses among this three-dimensional scanning quantity monitoring devices.
In order to solve the technical problem, the utility model discloses well rail mounted radar dolly's technical scheme as follows:
rail mounted radar dolly, including the dolly frame, be provided with dolly running gear and the drive that is used for following rail-engaging on the dolly frame the running gear drive arrangement of dolly running gear action is provided with radar measuring device on the dolly frame, and radar measuring device is including being fixed in the upside device part on the dolly frame and the downside device part of rotating assembly on upside device part, is provided with drive downside device part pivoted downside device actuating mechanism on the upside device part, and downside device part is including the laser radar that is used for launching the laser beam down.
The trolley travelling mechanism comprises travelling wheels which are arranged on two opposite sides of a trolley frame; or the trolley frame comprises walking wheel mounting plates arranged at intervals, and the trolley walking mechanism comprises walking wheels arranged on two opposite sides of the walking wheel mounting plates.
The trolley frame is provided with a power supply battery, and the tail part of the trolley frame is provided with a charging contact piece which is used for being in plug-in fit with the corresponding fixed charging port in the moving direction of the trolley frame.
The upper side device part comprises a fixed shell, the lower side device part comprises a rotary shell, the rotary shell is rotatably assembled on the fixed shell through a rotating connecting structure, the lower side device driving mechanism is arranged in the fixed shell, the laser radar is arranged in the rotary shell, and a laser beam channel for laser beams of the laser radar to pass through is arranged on the wall of the bottom shell of the rotary shell.
The rotating shell is provided with a channel protection door, and a protection door driving mechanism for driving the channel protection door to act so as to open and close the laser beam channel is arranged in the rotating shell.
The rotating shaft is assembled on the rotating shell in a rotating mode, the axis of the rotating shaft is perpendicular to the rotating shaft in the vertical direction, the two ends of the rotating shaft are installed ends which are worn out of the rotating shell, the two ends of the channel protective door are fixed on the installation ends which are worn out of the rotating shaft respectively, and the protective door driving mechanism is connected with the rotating shaft in the rotating shell in a transmission mode.
The protective door driving mechanism comprises a protective door driving motor, the protective door driving motor is provided with a protective door driving motor shaft which is arranged in parallel with the rotating shaft, a rotating shaft transmission gear is coaxially fixed on the rotating shaft, and a motor shaft gear which is in transmission connection with the rotating shaft transmission gear is coaxially fixed on the protective door driving motor shaft.
The rotary shell comprises a rotary shell bottom plate and a hemispherical shell fixed on the lower side of the rotary shell bottom plate, and the rotary connecting structure is connected between the fixed shell and the rotary shell bottom plate.
The laser radar is fixed on the channel wall of the laser beam channel, and the width of the laser beam channel is matched with the width of the laser radar.
The technical scheme of the three-dimensional scanning quantity monitoring device comprises the following steps:
three-dimensional scanning quantity monitoring devices, including track and rail mounted radar dolly, rail mounted radar dolly includes the dolly frame, is provided with on the dolly frame to be used for along rail mounted's dolly running gear and drive the running gear drive arrangement of dolly running gear action is provided with radar measuring device on the dolly frame, and radar measuring device is including the upside device part that is fixed in on the dolly frame and the downside device part of rotation assembly on upside device part, is provided with drive downside device part pivoted downside device actuating mechanism on the upside device part, and downside device part is including the laser radar who is used for launching the laser beam down.
The trolley travelling mechanism comprises travelling wheels which are arranged on two opposite sides of a trolley frame; or the trolley frame comprises walking wheel mounting plates arranged at intervals, and the trolley walking mechanism comprises walking wheels arranged on two opposite sides of the walking wheel mounting plates.
The trolley frame is provided with a power supply battery, and the tail part of the trolley frame is provided with a charging contact piece which is used for being in plug-in fit with the corresponding fixed charging port in the moving direction of the trolley frame.
The upper side device part comprises a fixed shell, the lower side device part comprises a rotary shell, the rotary shell is rotatably assembled on the fixed shell through a rotating connecting structure, the lower side device driving mechanism is arranged in the fixed shell, the laser radar is arranged in the rotary shell, and a laser beam channel for laser beams of the laser radar to pass through is arranged on the wall of the bottom shell of the rotary shell.
The rotating shell is provided with a channel protection door, and a protection door driving mechanism for driving the channel protection door to act so as to open and close the laser beam channel is arranged in the rotating shell.
The rotating shaft is assembled on the rotating shell in a rotating mode, the axis of the rotating shaft is perpendicular to the rotating shaft in the vertical direction, the two ends of the rotating shaft are installed ends which are worn out of the rotating shell, the two ends of the channel protective door are fixed on the installation ends which are worn out of the rotating shaft respectively, and the protective door driving mechanism is connected with the rotating shaft in the rotating shell in a transmission mode.
The protective door driving mechanism comprises a protective door driving motor, the protective door driving motor is provided with a protective door driving motor shaft which is arranged in parallel with the rotating shaft, a rotating shaft transmission gear is coaxially fixed on the rotating shaft, and a motor shaft gear which is in transmission connection with the rotating shaft transmission gear is coaxially fixed on the protective door driving motor shaft.
The rotary shell comprises a rotary shell bottom plate and a hemispherical shell fixed on the lower side of the rotary shell bottom plate, and the rotary connecting structure is connected between the fixed shell and the rotary shell bottom plate.
The laser radar is fixed on the channel wall of the laser beam channel, and the width of the laser beam channel is matched with the width of the laser radar.
The utility model has the advantages that: the utility model discloses in, downside device actuating mechanism drive downside device part on the upside device part rotates, and laser radar is rotatory can accomplish the scanning work in an area, and is great in the region of required scanning, and when laser radar can't accomplish other regional scans, corresponding rail-bound can be followed to the dolly frame to enlarge whole three-dimensional scanning quantity monitoring devices's scanning region, need not set up a plurality of laser radar, the effectual use cost who reduces the user.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment 1 of a three-dimensional scanning quantity monitoring device according to the present invention;
FIG. 2 is a perspective view of FIG. 1;
FIG. 3 is a schematic structural diagram of the rail-mounted radar dolly in FIG. 1
FIG. 4 is a perspective view of FIG. 3;
FIG. 5 is a schematic diagram of the radar measuring device of FIG. 1;
FIG. 6 is a schematic view of the stationary housing of FIG. 5 with the cartridge removed;
FIG. 7 is a schematic view of the conductive slip ring of FIG. 5 mated with the hollow drive shaft;
FIG. 8 is a schematic view of the protective door drive mechanism of FIG. 5 engaged with a protective door;
FIG. 9 is a schematic view showing a state in which a protective door of the radar measuring device of embodiment 1 is opened;
fig. 10 is a schematic structural diagram of embodiment 2 of the three-dimensional scanning quantity monitoring apparatus according to the present invention;
fig. 11 is a perspective view of fig. 10.
Detailed Description
An embodiment 1 of the three-dimensional scanning amount monitoring device is shown in fig. 1 to 9: comprises a track 47 and a track type radar trolley capable of walking along the track, wherein the track is a linear track in the embodiment, and the track is composed of a pair of C-shaped steel 42 which are oppositely arranged left and right. The rail type radar trolley comprises a trolley frame 43, a trolley travelling mechanism for travelling along a rail is arranged on the trolley frame 43, the trolley travelling mechanism comprises a front travelling wheel set and a rear travelling wheel set, each travelling wheel set comprises a pair of travelling wheels 41 which are arranged on the left and right sides of the trolley frame and face back, a travelling mechanism driving device for driving the trolley travelling mechanism to move is arranged on the trolley frame, in this embodiment, the traveling mechanism driving device includes a first traveling wheel driving motor 53 disposed corresponding to the front set of traveling wheels and a second traveling wheel driving motor 52 disposed corresponding to the rear set of traveling wheels, two traveling wheels of each set of traveling wheels are connected by a traveling wheel axle 46, an axle transmission pulley 50 is coaxially fixed on the traveling wheel axle 46, the motor shaft of the corresponding walking wheel driving motor is in transmission connection with the corresponding wheel shaft transmission belt wheel through a walking wheel transmission belt (not shown in the figure).
The left side and the right side of the trolley frame are also rotatably provided with anti-deviation rollers 40 which are used for being matched with the waist edges of the corresponding C-shaped steel in a rolling way so as to prevent the trolley frame from deviating. The front side of dolly frame is provided with frame push pedal 49, and the afterbody of dolly frame is provided with and is used for charging contact 44 with the corresponding fixed port of charging of pegging graft cooperation in dolly frame moving direction, is provided with the power supply battery on the dolly frame, after charging contact and fixed port of charging electricity connection, can charge to the power supply battery.
Be provided with radar measuring device on the dolly frame, radar measuring device is including being fixed in the upside device part on the dolly frame and the downside device part of rotating assembly on the upside device part, is provided with drive downside device actuating mechanism that downside device part pivoted on the upside device part, and downside device part is including the laser radar that is used for launching the laser beam downwards. In this embodiment, the upper device part includes a fixed housing 23, the lower device part includes a rotating housing 1 rotatably assembled to the fixed housing by a rotating connection structure, the lower device driving mechanism is disposed in the fixed housing, the laser radar 11 is disposed in the rotating housing, and a laser beam passage 33 for passing a laser beam of the laser radar is disposed on a bottom housing wall of the rotating housing.
The fixed shell comprises a fixed shell bottom plate 16 which is horizontally arranged, a fixed shell cylinder body which is vertically arranged is fixed on the upper side of the fixed shell bottom plate 16, the rotary connecting structure comprises a hollow transmission shaft 15 which is rotatably assembled on the fixed shell bottom plate 16 through a bearing seat 17, the axis of the hollow transmission shaft extends along the vertical direction, and a conductive sliding ring 26 which is conductively connected with the laser radar is arranged in the hollow transmission shaft 15. The rotating shell driving mechanism comprises a vertically arranged rotating shell driving motor 31 fixed on the bottom plate of the fixed shell, a motor shaft 19 of the rotating shell driving motor is coaxially fixed with a small belt wheel 22, a hollow transmission shaft 15 is coaxially fixed with a large belt wheel 21, and the small belt wheel 22 is in transmission connection with the large belt wheel 21 through a transmission belt 27. A tilt sensor 20 is also fixed to the upper side of the bottom plate of the fixed housing.
The rotating shell 1 comprises a rotating shell bottom plate 14 arranged on the lower side of a fixed shell bottom plate, the rotating shell bottom plate and the fixed shell bottom plate are arranged in parallel, the rotating shell bottom plate further comprises a hemispherical shell 30 fixed on the lower side of the rotating shell bottom plate, and the rotating shell bottom plate 14 is fixed on the bottom of the hollow transmission shaft 15. The laser beam channel 33 is disposed on the hemispherical shell 30, and in the present embodiment, the laser radar 8 is fixed on a channel wall of one side of the laser beam channel, and the width of the laser beam channel is adapted to the width of the laser radar.
Rotate on the rotatory shell and be equipped with passageway shutter 13, be provided with the drive in the rotatory shell passageway shutter 13 rotates so that passageway shutter opens and closes laser beam passageway 33's shutter actuating mechanism, in this embodiment, rotates on the hemispherical shell and is equipped with axis of rotation 12 of axis perpendicular to upper and lower direction, and the both ends of axis of rotation 12 be by installation end 29 is worn out of rotatory shell wearing out, and the both ends of passageway shutter are fixed in respectively on wearing out the installation end of axis of rotation, and shutter actuating mechanism is connected with the rotation axis transmission in the rotatory shell. The protective door driving mechanism comprises a protective door driving motor 2, the protective door driving motor 2 is provided with a protective door driving motor shaft 6 which is arranged in parallel with the rotating shaft, a rotating shaft transmission gear 4 is coaxially fixed on the rotating shaft, and a motor shaft gear 3 which is in transmission connection with the rotating shaft transmission gear is coaxially fixed on the protective door driving motor shaft.
During the use, install this three-dimensional scanning quantity monitoring devices's track in service environment, say the top of granary, rotatory shell is located the downside of fixed shell, when needing laser three-dimensional scanning quantity monitoring devices work, shutter drive motor drive passageway shutter opens the laser beam passageway, as shown in figure 9, laser radar takes place the laser beam down, the laser beam shoots to the grain heap surface behind the laser beam passageway, rotatory shell drive motor drives whole rotatory shell through hollow transmission shaft and rotates, realize the laser beam to the full scanning of certain regional face, in order to obtain corresponding shape, size parameter. Meanwhile, in order to enlarge the scanning area range of the laser radar, the trolley frame moves along the track while the laser radar scans, and the scanning of the surface of the whole grain pile is realized. To a cuboid granary, in the past, the full scan that will accomplish the grain heap surface probably need arrange three, four or more lidar, and the utility model discloses in, through the setting of rail mounted radar dolly, can realize a lidar to the scan on whole grain heap surface. After scanning, laser beam passageway is closed to the guard gate driving motor drive passageway protection door to make each power consumption part of laser three-dimensional scanning quantity monitoring devices all sheltered from the protection, avoid receiving too much raise dust influence, and reduce life.
In other embodiments of the present invention, the setting form of the track can be selected according to the requirement, the purpose of the track is to transport the laser radar to the area position to be scanned, the track can be an S-shaped curved track, and can also be an annular track; the channel protection door is not needed, because the width of the laser beam channel is not too wide and the opening direction is downward, even if the channel protection door is not arranged, the rotary shell can also isolate most of the dust from polluting the laser radar; the channel protection door may not open and close the laser beam channel by rotation, for example, the channel protection door opens and closes the laser beam channel by translation, and the protection door driving mechanism may be an electric push rod for driving the channel protection door to translate; the hemispherical shell of the rotating shell can also be replaced by a square shell.
An embodiment 2 of the three-dimensional scanning amount monitoring device is shown in fig. 10 to 11: example 2 the difference from example 1 is that in example 2, the rail is not formed of two C-section steels having opposite notches, and the rail 47 includes a square steel 60 and a rail plate 61 fixed to the bottom of the square steel. The trolley frame 43 comprises walking wheel mounting plates 62 arranged at intervals, the trolley walking mechanism comprises walking wheels 41 arranged on two opposite sides of the walking wheel mounting plates, and the walking wheels 41 are in contact rolling fit with the upper plate surfaces of the track plates 61. The anti-deviation rollers 40 on the trolley frame are used for being in contact fit with two side surfaces of the track plate 61 to prevent the trolley from deviating.
The trolley frame is rotatably provided with a front wheel transmission shaft 64 and a rear wheel transmission shaft 68, the axes of the front wheel transmission shaft and the rear wheel transmission shaft extend along the left-right direction, for one pair of walking wheels, one end of the corresponding wheel transmission shaft is in transmission connection with the walking wheel close to the left through a left transmission belt 63, the other end of the wheel transmission shaft is in transmission connection with the walking wheel close to the right through a right transmission belt 65, and the wheel transmission shafts are driven by corresponding motors. Item 23 in the figure represents a fixed housing; item 1 represents a rotating housing; item 43 represents the cart frame; item 13 represents a channel protection gate; item 69 represents a pulley fixed to the rear wheel drive shaft 68; item 48 represents a travel switch; item 67 represents a stop fixed to the rail for cooperating with the travel switch 48.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.
Claims (10)
1. Rail mounted radar dolly, its characterized in that: the laser radar trolley comprises a trolley frame, wherein a trolley travelling mechanism and a driving device are arranged on the trolley frame and used for travelling along a rail, a travelling mechanism driving device for the trolley travelling mechanism to act is arranged on the trolley frame, a radar measuring device is arranged on the trolley frame and comprises an upper side device part and a lower side device part, the upper side device part is fixed on the trolley frame, the lower side device part is rotatably assembled on the upper side device part, a lower side device driving mechanism for driving the lower side device part to rotate is arranged on the upper side device part, and the lower side device part comprises a laser radar used for emitting.
2. The tracked radar trolley according to claim 1, wherein: the trolley travelling mechanism comprises travelling wheels which are arranged on two opposite sides of a trolley frame; or the trolley frame comprises walking wheel mounting plates arranged at intervals, and the trolley walking mechanism comprises walking wheels arranged on two opposite sides of the walking wheel mounting plates.
3. The tracked radar trolley according to claim 1, wherein: the trolley frame is provided with a power supply battery, and the tail part of the trolley frame is provided with a charging contact piece which is used for being in plug-in fit with the corresponding fixed charging port in the moving direction of the trolley frame.
4. The rail-mounted radar trolley according to any one of claims 1 to 3, wherein: the upper side device part comprises a fixed shell, the lower side device part comprises a rotary shell, the rotary shell is rotatably assembled on the fixed shell through a rotating connecting structure, the lower side device driving mechanism is arranged in the fixed shell, the laser radar is arranged in the rotary shell, and a laser beam channel for laser beams of the laser radar to pass through is arranged on the wall of the bottom shell of the rotary shell.
5. The tracked radar trolley according to claim 4, wherein: the rotating shell is provided with a channel protection door, and a protection door driving mechanism for driving the channel protection door to act so as to open and close the laser beam channel is arranged in the rotating shell.
6. The tracked radar trolley according to claim 5, wherein: the rotating shaft is assembled on the rotating shell in a rotating mode, the axis of the rotating shaft is perpendicular to the rotating shaft in the vertical direction, the two ends of the rotating shaft are installed ends which are worn out of the rotating shell, the two ends of the channel protective door are fixed on the installation ends which are worn out of the rotating shaft respectively, and the protective door driving mechanism is connected with the rotating shaft in the rotating shell in a transmission mode.
7. The tracked radar trolley according to claim 6, wherein: the protective door driving mechanism comprises a protective door driving motor, the protective door driving motor is provided with a protective door driving motor shaft which is arranged in parallel with the rotating shaft, a rotating shaft transmission gear is coaxially fixed on the rotating shaft, and a motor shaft gear which is in transmission connection with the rotating shaft transmission gear is coaxially fixed on the protective door driving motor shaft.
8. The tracked radar trolley according to claim 4, wherein: the rotary shell comprises a rotary shell bottom plate and a hemispherical shell fixed on the lower side of the rotary shell bottom plate, and the rotary connecting structure is connected between the fixed shell and the rotary shell bottom plate.
9. The tracked radar trolley according to claim 8, wherein: the laser radar is fixed on the channel wall of the laser beam channel, and the width of the laser beam channel is matched with the width of the laser radar.
10. Three-dimensional scanning quantity monitoring devices, its characterized in that: comprising a rail and a tracked radar bogie as claimed in any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021535605.8U CN212685540U (en) | 2020-07-29 | 2020-07-29 | Rail mounted radar dolly and three-dimensional scanning quantity monitoring devices |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021535605.8U CN212685540U (en) | 2020-07-29 | 2020-07-29 | Rail mounted radar dolly and three-dimensional scanning quantity monitoring devices |
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| CN212685540U true CN212685540U (en) | 2021-03-12 |
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| CN202021535605.8U Active CN212685540U (en) | 2020-07-29 | 2020-07-29 | Rail mounted radar dolly and three-dimensional scanning quantity monitoring devices |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117456107A (en) * | 2023-12-20 | 2024-01-26 | 成都易联易通科技有限责任公司 | Three-dimensional mapping method and device for granary |
-
2020
- 2020-07-29 CN CN202021535605.8U patent/CN212685540U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117456107A (en) * | 2023-12-20 | 2024-01-26 | 成都易联易通科技有限责任公司 | Three-dimensional mapping method and device for granary |
| CN117456107B (en) * | 2023-12-20 | 2024-03-19 | 成都易联易通科技有限责任公司 | Three-dimensional mapping method and device for granary |
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