CN213363810U - Feeler type detection device for detecting deviation of traveling direction of vehicle - Google Patents
Feeler type detection device for detecting deviation of traveling direction of vehicle Download PDFInfo
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- CN213363810U CN213363810U CN202022549821.4U CN202022549821U CN213363810U CN 213363810 U CN213363810 U CN 213363810U CN 202022549821 U CN202022549821 U CN 202022549821U CN 213363810 U CN213363810 U CN 213363810U
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- cross rod
- vehicle
- rod
- horizontal pole
- detection
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Abstract
The utility model discloses a survey car direction of travel incline tentacle formula detection device, which comprises an installation the incline detection mechanism on detection car top, when the vehicle takes place the incline, incline detection mechanism's first tentacle or second tentacle and collision object contact, promote first horizontal pole and second horizontal pole and rotate, drive the encoder spiral shaft on the one hand and rotate, through the rotatory angle of encoder discernment detection car, the other side can drive the connecting rod and rotate, make magnet skew, make the interval between its and two hall sensor change, thereby obtain the direction of surveying the car skew, both combine then can realize the automated inspection of surveying car direction of travel, by microprocessor control wheel in order to correct the direction of travel, realize the automatic adjustment of direction of travel, need not artificial intervention, be applicable to different environment and use.
Description
Technical Field
The utility model relates to a vehicle incline detects technical field, specifically is a survey car direction of travel incline palpus formula detection device.
Background
When detecting a sewer, a detection vehicle with a camera is usually placed into the sewer and walks in the sewer to shoot a video of the internal state of the sewer and transmit the video to a ground display terminal to observe whether the interior of the sewer is smooth or not and whether clogging exists or not; the camera can only shoot far away, and the camera cannot shoot the camera, so that the ground display terminal cannot see whether the advancing direction of the detection vehicle is parallel to the sewer direction, the advancing direction of the detection vehicle is inconvenient to control, the detection vehicle often touches the pipe wall to be incapable of advancing due to the fact that the advancing direction is inclined, and a whisker type detection device for detecting the advancing direction of the detection vehicle is urgently needed to solve the problems.
Disclosure of Invention
The utility model provides an automatic detect and survey car advancing direction need not artificial intervention's car advancing direction incline and touches must formula detection device, solves among the prior art and surveys the car and touch the problem that the pipe wall can't advance because of the advancing direction incline.
In order to achieve the above object, the utility model provides a following technical scheme: a whisker type detection device for the running direction deflection of a probe vehicle comprises the probe vehicle, a deflection detection mechanism is arranged at the top end of the probe vehicle, the deflection detection mechanism comprises a first cross bar and a second cross bar, the first cross bar and the second cross bar are parallel to the traveling direction of the probe vehicle, and are symmetrically arranged at two sides of the top end of the detection car, first tentacles are symmetrically arranged at two ends of the first cross bar, the two ends of the second cross rod are symmetrically provided with second tentacles, the first tentacles and the second tentacles are symmetrically distributed on the two sides of the detection vehicle in the vehicle traveling direction, and both extend out of the edge of the detection vehicle, the centers of the first cross bar and the second cross bar are rotatably connected with the top end of the detection vehicle through shaft pins, an encoder is coaxially arranged on the detection vehicle and a shaft pin of the first cross rod or a shaft pin of the second cross rod, and the first cross rod and the second cross rod rotate around the shaft pins to drive the rotary shaft of the encoder to rotate;
first horizontal pole with be equipped with the connecting rod between the second horizontal pole homonymy one end, the connecting rod both ends rotate with first horizontal pole and second horizontal pole respectively and are connected, connecting rod center department installs magnet, the probe car top surface is along connecting rod major axis direction, and is located magnet both sides symmetry and installs two hall sensor, first horizontal pole with extension spring is all installed to the second horizontal pole other end, probe roof end center department installs the fixed axle, two extension spring all links to each other with the fixed axle, and under two extension spring natural state, magnet is located in the middle of two hall sensor.
Preferably, the first tentacle and the second tentacle both comprise a roller and a connecting rod, one end of the connecting rod is rotatably connected with the roller, and the other end of the connecting rod is connected with the end part of the cross rod.
Preferably, the positions, corresponding to the shaft pins of the first cross rod and the second cross rod, of the top end of the detection vehicle are vertically welded with shaft sleeves, the first cross rod and the second cross rod are rotatably connected with the shaft sleeves through the shaft pins, at least one of the shaft sleeves is internally provided with a jackscrew, and the jackscrew is connected with a rotary shaft of the encoder.
Preferably, the two hall sensors are both located right below the connecting rod.
Preferably, a microprocessor is installed in the detection vehicle, and the two hall sensors and the two encoders are all electrically connected with the microprocessor.
Compared with the prior art, the beneficial effects of the utility model are that: the utility model has the advantages of being scientific and reasonable in structure, convenience safe in utilization, when the vehicle takes place the incline, first palpus or second palpus and collision object contact, promote first horizontal pole and second horizontal pole and rotate, drive the encoder spiral shaft on the one hand and rotate, survey the rotatory angle of car through the encoder discernment, the other side can drive the connecting rod and rotate, make magnet take place the skew, make its and two interval between the hall sensor change, thereby obtain the direction of surveying the car skew, both combine then can realize surveying the automated inspection of car advancing direction, by microprocessor control wheel in order to correct advancing direction, realize advancing direction's automatic adjustment, need not artificial intervention, and the device is suitable for different environment and uses.
Drawings
The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention.
In the drawings:
fig. 1 is a schematic structural view of the probe vehicle and the deflection detecting mechanism of the present invention;
FIG. 2 is a side view of the cross bar of the present invention
FIG. 3 is a diagram showing the state of the probe car after colliding with the wall;
fig. 4 is a torsional state diagram of the probe vehicle of the present invention;
fig. 5 is a route diagram of the probe car diversion of the present invention;
reference numbers in the figures: 1. detecting a vehicle; 2. a first cross bar; 3. a second cross bar; 4. a first whisker; 5. a second whisker; 6. a shaft pin; 7. an encoder; 8. a connecting rod; 9. a magnet; 10. a Hall sensor; 11. an extension spring; 12. a fixed shaft; 13. a roller; 14. a connecting rod; 15. a shaft sleeve; 16. and (5) jacking the screw.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are presented herein only to illustrate and explain the present invention, and not to limit the present invention.
Example (b): as shown in the figure 1-2, a detection device of a feeler type for detecting the deviation of the advancing direction of a probe vehicle comprises a probe vehicle 1, wherein the top end of the probe vehicle 1 is provided with a deviation detection mechanism, the deviation detection mechanism comprises a first cross rod 2 and a second cross rod 3, the first cross rod 2 and the second cross rod 3 are parallel to the advancing direction of the probe vehicle 1 and are symmetrically arranged at two sides of the top end of the probe vehicle 1, the two ends of the first cross rod 2 are symmetrically provided with first feelers 4, the two ends of the second cross rod 3 are symmetrically provided with second feelers 5, wherein each of the first feelers 4 and the second feelers 5 comprises a roller 13 and a connecting rod 14, one end of the connecting rod 14 is rotatably connected with the roller 13, the other end of the connecting rod is connected with the end part of the cross rod, the first feelers 4 and the second feelers 5 are symmetrically distributed at two sides of the advancing direction of the probe vehicle 1 and extend out of the edge of the probe vehicle 1, the centers of the first cross rod 2 and the second cross rod, an encoder 7 is coaxially arranged on the detection vehicle 1 and is coaxial with a shaft pin 6 of the first cross rod 2 or a shaft pin 6 of the second cross rod 3, the first cross rod 2 and the second cross rod 3 rotate around the shaft pin 6 to drive the encoder 7 to rotate in a rotating mode, shaft sleeves 15 are vertically welded at positions, corresponding to the shaft pins 6 of the first cross rod 2 and the second cross rod 3, of the top end of the detection vehicle 1, the first cross rod 2 and the second cross rod 3 are rotatably connected with the shaft sleeves 15 through the shaft pins 6, a jackscrew 16 is arranged in at least one of the shaft sleeves 15, and the jackscrew 16 is connected with the rotating shaft of the encoder 7;
a connecting rod 8 is arranged between one end of the first cross rod 2 and one end of the second cross rod 3 on the same side, two ends of the connecting rod 8 are respectively connected with the first cross rod 2 and the second cross rod 3 in a rotating manner, a magnet 9 is arranged at the center of the connecting rod 8, the top surface of the detection vehicle 1 is along the long axis direction of the connecting rod 8, and two Hall sensors 10 are symmetrically arranged at two sides of the magnet 9, wherein in the embodiment, the two Hall sensors 10 are both arranged under the connecting rod 8 to facilitate the detection of the distance between the magnets 9, extension springs 11 are arranged at the other ends of the first cross rod 2 and the second cross rod 3, a fixed shaft 12 is arranged at the center of the top end of the detection vehicle 1, the two extension springs 11 are both connected with the fixed shaft 12, in a natural state of the two extension springs 11, the magnet 9 is arranged between the two Hall sensors 10, a microprocessor is, the microprocessor is used for receiving signals transmitted by the encoder 7 and the Hall sensor 10 and controlling the probe vehicle 1 to adjust.
In a normal state, the detection vehicle 1 advances along the direction of a pipeline, the first tentacle 4 and the second tentacle 5 do not touch the pipe wall, the connecting rod 8 is centered under the action of equal tension of the two tension springs 11, the magnet 9 on the connecting rod 8 is positioned between the two Hall sensors 10, the left Hall sensor 10 and the right Hall sensor 10 are equidistant from the magnet 9, and at the moment, because the magnet 9 is far away from the two Hall sensors 10, the two Hall sensors 10 do not output signals, and simultaneously, because the rotating shaft of the encoder 7 does not rotate, pulse signals are not output;
when the probe vehicle 1 is deviated:
direction detection: when the detecting vehicle 1 is deviated and approaches a pipe wall at a certain angle, the tentacle at one side can touch the pipe wall firstly, as shown in fig. 3-5, when the detecting vehicle 1 is deviated to the right, the roller 13 of the first tentacle 4 at the front end firstly contacts the right wall of the pipeline, so that the first tentacle 4 drives the first cross bar 2 and the second cross bar 3 to deflect to the left around the shaft pin 6, the magnet 9 moves to the left along with the connecting rod 8, when the magnet 9 moves to the upper part of the hall sensor 10 at the left, the hall sensor 10 at the position has signal output and sends the signal to the microprocessor, otherwise, when the detecting vehicle 1 is deviated to the left, the roller 13 of the second tentacle 5 at the front end firstly contacts the left wall of the pipeline, so that the second tentacle 5 drives the first cross bar 2 and the second cross bar 3 to deflect to the right around the shaft pin 6, the magnet 9 moves to the right along with the connecting rod 8, when the magnet 9, the Hall sensor 10 at the position has signal output and is sent to the microprocessor, and the microprocessor receives the signal transmitted by the Hall sensor 10 in a certain direction to obtain the offset direction of the detection vehicle 1;
angle detection: no matter which side the detection vehicle 1 is deviated to, the first cross rod 2 and the second cross rod 3 rotate to drive the rotating shaft of the encoder 7 to rotate by an angle, the angle is the deviation angle of the detection vehicle 1, because the number of the output pulses of the encoder 7 is in direct proportion to the rotating angle of the encoder, the number of the output pulses of the encoder 7 represents the size of an included angle alpha between the advancing direction of the detection vehicle 1 and the pipeline wall, and the pulse number is received and stored by the microprocessor and is used as the wheel driving pulse for subsequent direction returning.
Direction adjustment: the adjustment of the direction of the probe vehicle 1 is completed in two steps, wherein firstly, the probe vehicle 1 is twisted in the opposite direction when the tentacle touches the pipeline wall, and secondly, the direction returns when the tentacle leaves the pipeline wall, and the method specifically comprises the following steps:
twisting: when the microprocessor receives a signal of the left Hall sensor 10, the microprocessor controls the detection vehicle 1 to turn left, in the turning process, after the first tentacle 4, the second tentacle 5 and the connecting rod 8 gradually return to the right, the roller 13 of the first tentacle 4 close to the rear wheel contacts the right wall of the pipeline, so that the first tentacle 4, the second tentacle 5, the connecting rod 8 and the magnet 9 deflect to the right, when the magnet 9 moves to the upper part of the right Hall sensor 10, the Hall sensor 10 outputs a signal and sends the signal to the microprocessor, the microprocessor controls the wheel to stop turning left, then the microprocessor controls the detection vehicle 1 to move, when the roller 13 of the first tentacle 4 at the rear wheel leaves the right wall of the pipeline, the first tentacle 4, the second tentacle 5, the connecting rod 8 and the magnet 9 return to the right under the action of the tension spring 11, the right Hall sensor 10 stops outputting a signal, and the microprocessor receives the signal to, as shown in fig. 4, it is a left-turning state diagram of the probe car 1;
and (3) aligning: the purpose of the detection vehicle 1 direction return is to make the traveling direction of the detection vehicle consistent with the direction of the pipeline, the microprocessor respectively sends the number of return pulses (the number of pulses is output by the encoder 7 and recorded by the microprocessor) to the stepping motors driven by the wheels of the detection vehicle 1, the left wheels rotate forwards and the right wheels rotate backwards to make the detection vehicle 1 twist rightwards, and the traveling direction of the detection vehicle 1 after return is ensured to be consistent with the direction of the pipeline as the twisting angle of the detection vehicle 1 is the same as the initial deflection angle alpha at the moment, and as shown in fig. 5, a route diagram of the steering process is obtained when the detection vehicle 1 deflects rightwards;
when the probe car 1 deflects to the left, the direction of torsion and return to the positive direction is opposite to the above.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. The utility model provides a probe vehicle direction of travel skew palpus formula detection device, includes probe vehicle, its characterized in that: the detecting vehicle comprises a detecting vehicle body, a detecting vehicle top end and a detecting vehicle top end, wherein the detecting vehicle body is provided with a deflection detecting mechanism, the deflection detecting mechanism comprises a first cross rod and a second cross rod, the first cross rod and the second cross rod are parallel to the traveling direction of the detecting vehicle and are symmetrically installed on two sides of the detecting vehicle top end, first tentacles are symmetrically installed at two ends of the first cross rod, second tentacles are symmetrically installed at two ends of the second cross rod, the first tentacles and the second tentacles are symmetrically distributed on two sides of the traveling direction of the detecting vehicle and extend out of the edge of the detecting vehicle, centers of the first cross rod and the second cross rod are rotatably connected with the detecting vehicle top end through shaft pins, encoders are coaxially installed on the detecting vehicle and on the shaft pins of the first cross rod or the second cross rod, and the first cross rod and the second cross rod rotate around the shaft;
first horizontal pole with be equipped with the connecting rod between the second horizontal pole homonymy one end, the connecting rod both ends rotate with first horizontal pole and second horizontal pole respectively and are connected, connecting rod center department installs magnet, the probe car top surface is along connecting rod major axis direction, and is located magnet both sides symmetry and installs two hall sensor, first horizontal pole with extension spring is all installed to the second horizontal pole other end, probe roof end center department installs the fixed axle, two extension spring all links to each other with the fixed axle, and under two extension spring natural state, magnet is located in the middle of two hall sensor.
2. The device as claimed in claim 1, wherein the device comprises: the first tentacles and the second tentacles comprise idler wheels and connecting rods, one ends of the connecting rods are rotatably connected with the idler wheels, and the other ends of the connecting rods are connected with the end portions of the cross rods.
3. The device as claimed in claim 1, wherein the device comprises: the detection vehicle is characterized in that shaft sleeves are perpendicularly welded at positions, corresponding to shaft pins of the first transverse rod and the second transverse rod, of the top end of the detection vehicle, the first transverse rod and the second transverse rod are rotatably connected with the shaft sleeves through the shaft pins, at least one of the shaft sleeves is internally provided with a jackscrew, and the jackscrew is connected with a rotary shaft of the encoder.
4. The device as claimed in claim 1, wherein the device comprises: and the two Hall sensors are both positioned under the connecting rod.
5. The device as claimed in claim 1, wherein the device comprises: and a microprocessor is installed in the detection vehicle, and the two Hall sensors and the two encoders are all electrically connected with the microprocessor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022549821.4U CN213363810U (en) | 2020-11-06 | 2020-11-06 | Feeler type detection device for detecting deviation of traveling direction of vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022549821.4U CN213363810U (en) | 2020-11-06 | 2020-11-06 | Feeler type detection device for detecting deviation of traveling direction of vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213363810U true CN213363810U (en) | 2021-06-04 |
Family
ID=76134913
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022549821.4U Expired - Fee Related CN213363810U (en) | 2020-11-06 | 2020-11-06 | Feeler type detection device for detecting deviation of traveling direction of vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213363810U (en) |
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2020
- 2020-11-06 CN CN202022549821.4U patent/CN213363810U/en not_active Expired - Fee Related
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210604 Termination date: 20211106 |
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| CF01 | Termination of patent right due to non-payment of annual fee |