KR101699908B1 - Investigating apparatus for safety test of structure of ground - Google Patents

Abstract

The present invention provides an exploration apparatus for diagnosing safety of the ground, easily used and rapidly and accurately exploring the ground. The exploration apparatus for diagnosing safety of the ground comprises: a frame; a transmission antenna mounted in the frame to radiate an electromagnetic wave to the ground surface while being spaced from the ground surface; a reception antenna mounted in the frame to receive the electromagnetic wave reflected from a target after the electromagnetic wave is radiated from the transmission antenna while being spaced from the ground surface; main wheels coupled to be rotated to the frame; a lifting unit disposed in a front end part of the frame to fixate the front end part of the frame to a vehicle; and a capturing device mounted in the frame to secure image data of a peripheral environment.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [

Embodiments of the present invention relate to a survey apparatus for a ground safety diagnosis, and more particularly, to a survey apparatus for a ground safety diagnosis that can be used easily and promptly and accurately.

Sinks or road depression occur due to aging of facilities, increase in rainfall frequency, leakage of groundwater or leakage of pipeline, and the likelihood of disasters is increasing. In particular, damage to the subsurface structure is one of the main causes of road depression. Therefore, measures for preventive maintenance of roads are urgently needed.

However, in the case of conventional surveying apparatus for ground safety diagnosis, it is impossible to mount a frequency-dependent antenna capable of exploring the ground depth by the irregularity of the surveying apparatus because the speed of exploring the ground along the road is very slow, There is a problem that the ground can not be accurately surveyed according to the target depth and maintenance is not easy.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a survey apparatus for a ground safety diagnosis which can easily use but can accurately survey the ground according to the depth of a survey target. However, these problems are exemplary and do not limit the scope of the present invention.

According to an aspect of the present invention, there is provided an antenna comprising: a frame; a transmission antenna mounted on the frame and capable of radiating an electromagnetic wave toward the ground in a state of being separated from the ground; A receiving antenna rotatably coupled to the frame to receive electromagnetic waves reflected from the target after being radiated; a traction unit disposed at a distal end of the frame and capable of fixing the leading end of the frame to the vehicle; And an imaging device mounted on the frame and capable of securing image data of the surrounding environment.

The image pickup device can secure image data for an axial circumferential environment parallel to the rotational axis of the main wheels and passing between the transmitting antenna and the receiving antenna.

And an auxiliary wheel coupled to the frame so as to be rotatable and rotated in contact with the ground to generate distance data on the movement distance based on the number of rotations. Further, the auxiliary wheel may further include an elastic portion that presses the auxiliary wheel downward.

The transmitting antenna can radiate electromagnetic waves toward the surface of the antenna only while the auxiliary wheel is rotating.

Further comprising a storage medium capable of storing the ground data acquired from the reception antenna, the distance data acquired from the auxiliary wheel, and the image data obtained from the imaging device, and when there is a signal from the user, Can be stored in the storage medium in association with the distance data acquired from the auxiliary wheel.

Further comprising a storage medium capable of storing the ground data acquired from the reception antenna, the distance data acquired from the auxiliary wheel, and the image data acquired from the imaging device, wherein during the rotation of the auxiliary wheel, And the distance data acquired from the auxiliary wheel are continuously stored in the storage medium, and when there is a signal from the user, the distance data acquired from the auxiliary wheel And may be stored in the storage medium.

And a bracket capable of fixing the transmission antenna or the reception antenna to the frame, wherein the bracket includes a first support plate and a second support plate which are in surface contact with the transmission antenna or the reception antenna, A first extending plate connected to the supporting plate and extending in a direction away from the transmitting antenna or the receiving antenna; a first parallel plate having one end connected to the other end of the first extending plate and parallel to the first supporting plate; A second extending plate connected to the other end of the first parallel plate and extending in a direction away from the transmitting antenna or the receiving antenna; a second parallel plate connected at one end to the other end of the second extending plate and parallel to the first supporting plate; And a third extension plate having one end connected to the other end of the second parallel plate and the other end connected to the second support plate.

At this time, the height between the plane of the first parallel plate in the direction of the transmitting antenna or the receiving antenna and the plane of the first supporting plate in the direction of the transmitting antenna or the receiving antenna is set so that the transmitting antenna of the frame or the receiving antenna May be the same as the thickness in the direction of the transmitting antenna or the receiving antenna.

Other aspects, features and advantages of the present invention will become apparent from the following detailed description, claims, and drawings.

According to one embodiment of the present invention as described above, it is possible to implement a survey apparatus for safety diagnosis of the ground, which is easy to use and can quickly and accurately survey the ground. Of course, the scope of the present invention is not limited by these effects.

1 is a side view schematically showing a survey apparatus for a ground safety diagnosis according to an embodiment of the present invention.
2 is a perspective view schematically showing a survey apparatus for ground safety diagnosis of FIG. 1;
Fig. 3 is a side view schematically showing one component of the surveying apparatus for ground safety diagnosis of Fig. 2; Fig.
FIG. 4 is a photograph schematically showing the ground data obtained by using the survey apparatus for the ground safety diagnosis of FIG. 2;
Fig. 5 is a side view schematically showing another component of the surveying apparatus for ground safety diagnosis of Fig. 2; Fig.

BRIEF DESCRIPTION OF THE DRAWINGS The present invention is capable of various modifications and various embodiments, and specific embodiments are illustrated in the drawings and described in detail in the detailed description. The effects and features of the present invention and methods of achieving them will be apparent with reference to the embodiments described in detail below with reference to the drawings. However, the present invention is not limited to the embodiments described below, but may be implemented in various forms.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, wherein like reference numerals refer to like or corresponding components throughout the drawings, and a duplicate description thereof will be omitted .

In the following embodiments, when various components such as layers, films, regions, plates, and the like are referred to as being " on " other components, . Also, for convenience of explanation, the components may be exaggerated or reduced in size. For example, the size and thickness of each component shown in the drawings are arbitrarily shown for convenience of explanation, and thus the present invention is not necessarily limited to those shown in the drawings.

In the following embodiments, the x-axis, the y-axis, and the z-axis are not limited to three axes on the orthogonal coordinate system, but can be interpreted in a broad sense including the three axes. For example, the x-axis, y-axis, and z-axis may be orthogonal to each other, but may refer to different directions that are not orthogonal to each other.

FIG. 1 is a side view schematically showing a survey apparatus for ground safety diagnosis according to an embodiment of the present invention, and FIG. 2 is a perspective view schematically showing a survey apparatus for ground safety diagnosis of FIG. 1.

1 and 2, a survey apparatus for ground safety diagnosis according to the present embodiment includes a frame 10, a transmission antenna 20, a reception antenna 30, a main wheel 40, a traction unit 50 And an image pickup device 60.

The main wheel 40 is rotatably coupled to such a frame 10 and the pulling portion 50 is disposed at the distal end of the frame 10 to form a frame 10 in the -y direction can be fixed to the vehicle. Accordingly, it is possible to move the probe for ground safety diagnosis by connecting the towing unit 50 to the vehicle and dragging the probe for ground safety diagnosis with the vehicle. As a matter of course, it is possible not only to simply move the surveying apparatus for ground safety diagnosis, but also to carry out the ground survey while moving the surveying apparatus for the ground safety diagnosis as described later. As will be described later, the frame 10 can be mounted with an antenna having various frequencies according to the depth of the target, and the height from the ground to the antenna mounted can be adjusted.

The frame 10 may include a main frame 11 and a transverse frame 12 detachably secured thereto and an auxiliary frame 13 detachably fixed to the transverse frame 12 as well. As shown in Figs. 1 and 2, the transverse frame 12 is fixed to the main frame 11 in a state of being substantially perpendicular to the direction (-y direction) in which the survey apparatus for ground safety diagnosis is moved by the vehicle. The auxiliary frame 13 is fixed to the transverse frame 12 so as to have a shape extending in the direction (-y direction) in which the surveying apparatus for ground safety diagnosis is moved by the vehicle, that is, substantially perpendicular to the transverse frame 12 .

Specifically, the frame 10 has a plurality of, e.g., two, transverse frames 12, as shown in Figures 1 and 2, such that the ancillary frames 13 are fixed to the plurality of transverse frames 12, The combination of the auxiliary frame 13 and the plurality of horizontal frames 12 can be made firm. In FIG. 2, each of the three sub-frames 13 is shown coupled to two transverse frames 12. Of course, each of the transverse frames 12 may be fixed to the main frame 11 at a plurality of points, for example at two points, so that the combination of the transverse frames 12 and the main frame 11 can be made rigid have.

The transmission antenna 20 and the reception antenna 30 are fixed to the respective auxiliary frames 13. Each of the transmission antenna 20 and the reception antenna 30 is detachably coupled to the auxiliary frame 13 by a bracket 130. That is, the bracket 130 is fastened to each of the transmission antenna 20 and the reception antenna 30 and the bracket 130 is coupled to the subframe 13, so that the transmission antenna 20 and the reception antenna 30 can be mounted on the frame 10.

The bracket 130 may have a plurality of folded shapes as shown in FIG. Specifically, the bracket 130 includes a first support plate 131, a first extension plate 132, a first parallel plate 133, a second extension plate 134, a second parallel plate 135, A plate 136 and a second support plate 137.

The first support plate 131 and the second support plate 137 may be in surface contact with the upper surface of the transmission antenna 20 or the reception antenna 30. [ The first support plate 131 and the second support plate 137 may be screwed to the upper surface of the transmission antenna 20 or the reception antenna 30, for example. One end of the first extension plate 132 is connected to the first support plate 131 and has a shape extending in the direction (+ z direction) away from the transmission antenna 20 or the reception antenna 30, To form a bent portion. The first parallel plate 133 is connected at one end to the other end of the first extension plate 132 and extends in a direction substantially parallel to the first support plate 131. Accordingly, the first parallel plate 133 forms a bent portion together with the first extending plate 132. The second extension plate 134 has one end connected to the other end of the first parallel plate 133 and extends in the direction away from the transmission antenna 20 or the reception antenna 30 like the first extension plate 132, And the bent portion is formed together with the first parallel plate 133. 3, an auxiliary plate 134a extending in the direction of the transmitting antenna 20 or the receiving antenna 30 may be connected to one end of the second extension plate 134. [ The second parallel plate 135 is connected at one end to the other end of the second extension plate 134 and extends in a direction substantially parallel to the first support plate 131 to form a bent portion together with the second extension plate 134 . Finally, the third extension plate 136 has one end connected to the other end of the second parallel plate 135 and the other end connected to the second support plate 137.

The bracket 130 having a plurality of bent portions in this manner has a first receiving portion formed by the second extending plate 134, the second parallel plate 135, and the third extending plate 136, And a second accommodating portion formed by the plate 132, the first parallel plate 133, and the assisting plate 134a. The first accommodating portion is configured to carry the transmitting antenna 20 or the receiving antenna 30 with the bracket 130 fastened to the transmitting antenna 20 or the receiving antenna 30 or to move the bracket 130 to the auxiliary frame 13, It can serve as a knob that can be used when tightening the fastener. The second receiving portion may serve to receive the auxiliary frame 13 when the bracket 130 and the auxiliary frame 13 are coupled.

The height h1 between the surface of the first parallel plate 133 in the direction of the transmitting antenna 20 or the receiving antenna 30 and the surface of the first supporting plate 131 in the direction of the transmitting antenna 20 or the receiving antenna 30 In the direction of the transmitting antenna 20 or the receiving antenna 30 of the subframe 13, that is, the first thickness in the portion of the subframe 13 where the transmitting antenna 20 or the receiving antenna 30 is attached, The transmitting antenna 20 or the receiving antenna 30 can be accurately mounted on the auxiliary frame 13 without clearance. It is needless to say that the distance d between the mutually opposing surfaces of the first extension plate 132 and the auxiliary plate 134a is set so as to be equal to or smaller than the distance d in the portion where the transmission antenna 20 or the reception antenna 30 of the sub- (The thickness in the direction of the auxiliary plate 134a in the first extending plate 132) in the direction (x-axis direction) intersecting with the direction of the thickness (the z-axis direction) So that the auxiliary frame 13 can be precisely engaged without clearance. Of course, if necessary, the transmission antenna 20 or the reception antenna 30 and the bracket 130 may be additionally screwed together.

The transmitting antenna 20 can radiate electromagnetic waves toward the land surface ES while being mounted on the auxiliary frame 13 and spaced from the land surface ES. The receiving antenna 30 can also receive the electromagnetic waves reflected from the target after being radiated from the transmitting antenna 20 while being mounted on the auxiliary frame 13 and spaced from the surface ES.

If the transmitting antenna 20 emits electromagnetic waves in the range of several MHz to GHz to the inside of the surface ES or the exposed surface of the structure, the receiving antenna 30 receives the reflected signal, Record. When a signal is continuously recorded while moving the transmission antenna 20 and the reception antenna 30 horizontally along a predetermined probe line, a graph showing the horizontal axis of the probe line and the vertical axis of the recorded signal can be obtained. FIG. 4 is a photograph schematically showing the ground data obtained by using the surveying apparatus for the ground safety diagnosis of FIG. 2 with such a principle.

Electromagnetic waves emitted in the form of pulses in the transmission antenna 20 propagate radially downward, and a part of the energy is reflected at the interface between two different media and the other is transmitted through the interface. In the receiving antenna 30, a reflected wave is received. The intensity of the reflected wave is proportional to the reflection coefficient, and the reflection coefficient is proportional to the difference of the square root of the dielectric constant of the two media. Equations (1) and (2) are equations for calculating the reflection coefficient and the transmission coefficient from the dielectric constant of the two media.

[Equation 1]

&Quot; (2) "

T = 1 - R

Where R is the reflection coefficient, T is the transmission coefficient, and e ₁ and e ₂ are the dielectric constants of the two media. The reflection coefficient in Equation (1) means the intensity ratio of the reflection energy to the total energy, and the transmission coefficient in Equation (2) means the intensity ratio of the energy of the wave transmitted and / or dissipated into the medium without returning to the surface .

From this relationship, it can be seen that a material having a large dielectric constant contrast can obtain a clear reflection signal. For example, the contrast of the dielectric constant of a steel pipe, a cavity, or water existing in an underground can be well detected. For reference, the dielectric constant of the asphalt is approximately 2 to 3, the dielectric constant of the concrete is approximately 6 to 12, the dielectric constant of the clay is approximately 9 to 25, and the dielectric constant of the sand is approximately 4. Compared to this, the dielectric constant of reinforcing bars is more than 200, the dielectric constant of air is 1, and the dielectric constant of water is 81. Therefore, the dielectric constants of the bottom of the ground including asphalt, concrete, clay and / or sand, cavity (air) and / or water are different from the dielectric constants of the components of the ground, / RTI > and / or < RTI ID = 0.0 > water, < / RTI >

The transmitting antenna 20 or the receiving antenna 30 can be coupled to the bracket 130 and the transmitting antenna 20 or the receiving antenna 30 can be easily used by using the first receiving portion of the bracket 130, . The transmitting antenna 20 or the receiving antenna 30 can be firmly and easily coupled to the auxiliary frame 13 by allowing the auxiliary frame 13 to pass through the second receiving portion of the bracket 130. [

The auxiliary frame 13 to which the transmitting antenna 20 or the receiving antenna 30 is coupled is connected to the main frame 11 when the transverse frame 12 is coupled to the main frame 11 or when the transverse frame 12 is connected to the main frame 11 After being combined, it is coupled to the transverse frame 12. In Figure 2, three auxiliary frames 13 are shown coupled to two respective horizontal frames 12, for example a centrally located auxiliary frame 13, And may be coupled to the transverse frame 12 in the process of being coupled to the transverse frame 12. At this time, the auxiliary frame 13 may have an opening 13a through which the transverse frame 12 can pass and be coupled to the transverse frame 12. The auxiliary frame 13 in the + x direction and the auxiliary frame 13 in the -x direction among the three auxiliary frames 13 are connected to the horizontal frame 12 after the horizontal frame 12 is coupled to the main frame 11, Lt; / RTI >

By adjusting the distance between the top plate of the opening 13a and the transverse frame 12 through the screws passing through the top plate of the opening 13a after the auxiliary frame 13 and the transverse frame 12 are coupled, (13) can be firmly fixed to the horizontal frame (12). For reference, the main frame 11 may have two openings 11a through which one lateral frame 12 passes. The horizontal frame 12 can be fixed firmly to the main frame 11 by adjusting the distance between the upper plate of the opening 11a and the horizontal frame 12 through screws passing through the upper plate.

On the other hand, the imaging device 60 can be installed in the frame 10 to secure image data of the surrounding environment. More specifically, the image pickup device 60 acquires image data of the circumferential environment in the axial direction which is parallel to the rotation axis (x-axis) of the main wheels 40 and passes between the transmission antenna 20 and the reception antenna 30 can do. Even if the ground data for the ground is acquired using the transmission antenna 20 and the reception antenna 30, the ground data is meaningless data if it can not be confirmed where the ground data is acquired. However, in the case of the surveying apparatus for ground safety diagnosis according to the present embodiment, the image pickup device 60 is arranged in parallel with the rotation axis (x axis) of the main wheels 40 and passing between the transmission antenna 20 and the reception antenna 30 It is possible to accurately grasp where the ground data obtained by using the transmission antenna 20 and the reception antenna 30 are acquired by securing the image data for the surrounding environment in the axial direction.

As shown in FIGS. 1 and 2, the survey apparatus for ground safety diagnosis according to the present embodiment may further include an auxiliary wheel 70. The auxiliary wheel 70 is rotatably coupled to the frame 10 like the main wheels 40. In FIG. 2, the auxiliary wheel 70 is shown coupled to the protruding frame 11b protruding from the main frame 11. However, the main wheels 40 are rotatably coupled to the frame 10 to support and support the frame 10 while the auxiliary wheel 70 serves to generate distance data. That is, the auxiliary wheel 70 rotates in contact with the ground surface ES, thereby generating distance data on the moving distance based on the number of revolutions. Since the length of the circumference of the auxiliary wheel 70 is fixed, by multiplying the number of rotations of the auxiliary wheel 70 by the length of the circumference of the auxiliary wheel 70, Distance data can be obtained.

It is necessary to make the auxiliary wheel 70 always contact the ground surface ES in order to secure the reliability of the distance data with respect to the movement distance generated by the auxiliary wheel 70. [ If the survey apparatus for the ground safety diagnosis is moved in a state where the auxiliary wheel 70 is not in contact with the ground ES, the auxiliary wheel 70 will generate the distance data that the survey apparatus for the ground safety diagnosis has not moved Because. Therefore, as shown in Fig. 5, the elastic portion 74d that presses the auxiliary wheel 70 downward (-z direction) can be provided. Specifically, the auxiliary wheel 70 is coupled to the first shaft 74a of the rod 74 to be rotatable to the rod 74, and the second shaft 74b of the rod 74 is rotatably coupled to the main frame 11 project from the protruding frame 11b. The resilient portion 74d such as a spring exerts a pressure to push the rod 74 out of the protruding frame 11b so that the portion of the rod 74 that receives the pressure is pressed against the second shaft 74b As shown in FIG. The auxiliary wheel 70 is always brought into contact with the ground surface ES by the pressure of the elastic portion 74d so that the auxiliary wheel 70 can generate accurate distance data on the moving distance.

The data generator 74c may be attached to the rod 74. The data generator 74c may generate data on the number of revolutions of the auxiliary wheel 70. [ A sensor capable of sensing pressure or the like may be attached to the data generating unit 74c or the vicinity of the data generating unit 74c so that the auxiliary wheel 70 rotates one time each time the auxiliary wheel 70 rotates, 70 so as to generate data on the number of revolutions of the auxiliary wheel 70. In this case, The data on the number of revolutions of the auxiliary wheel 70 can be understood as the distance data on the moving distance.

The distance data generated by the auxiliary wheel 70 is used to determine whether the ground data obtained by using the transmitting antenna 20 and the receiving antenna 30 together with the image data acquired by the imaging device 60 is ground data . ≪ / RTI > For example, when starting a scan along a predetermined scan line, the image pickup device 60 may acquire image data of the surrounding environment at the start of the scan. The ground data acquired by using the transmission antenna 20 and the reception antenna 30 and the distance data generated by the auxiliary wheel 70 can be continuously stored in the storage medium while the survey is being performed along the survey line. This can be accomplished by a cable 22 connected to the transmit antenna 20 and / or a cable 32 connected to the receive antenna 30. Of course, the image data acquired by the imaging element 60 may also be stored in the storage medium. This can be done by a cable 62 connected to the imaging element 60. Then, at a point where the scanning is terminated along the scanning line, the image pickup device 60 secures the image data of the surrounding environment and can also be stored in the storage medium.

In the section between the start point and the end point, the distance data generated by the auxiliary wheel 70 is used to determine the position of the starting point and the end point of the acquired ground data, And it can be confirmed accurately whether the ground data is obtained from the ground. Of course, when there is a signal from the user even between the start point and the end point, the image data acquired from the image pickup element 60 can be stored in the storage medium in association with the distance data acquired from the auxiliary wheel 70. [ The distance data obtained from the auxiliary wheel 70 can be transmitted to the storage medium via the cable 72. [ The image data acquired at the intermediate point may be used to correct the distance data obtained by the auxiliary wheel 70 when there is an error.

On the other hand, if the auxiliary wheel 70 does not rotate, it means that the survey apparatus for ground safety diagnosis does not move. For example, it is possible to move the surveying device for ground safety diagnosis using a vehicle along a predetermined survey line, acquire the ground data using the transmission antenna 20 and the reception antenna 30, and then move the surveying device for ground safety diagnosis Can be stopped temporarily. In this case, the auxiliary wheel 70 does not rotate. In the state where the survey apparatus for the ground safety diagnosis is stopped as described above, it is not necessary to acquire the ground data by using the transmission antenna 20 and the reception antenna 30. Therefore, the transmitting antenna 20 can cause the electromagnetic wave to be radiated toward the indicator ES only while the auxiliary wheel 70 is rotating, and the receiving antenna 30 can receive the electromagnetic wave only while the auxiliary wheel 70 is rotating . This makes it possible to acquire accurate ground data without unnecessarily wasting power. Of course, the transmitting antenna 20 may cause the electromagnetic wave to continue to be radiated while the auxiliary wheel 70 is not rotating. In this case, it is sufficient that the receiving antenna 30 does not receive electromagnetic waves, or the ground data received by the receiving antenna 30 is not stored in a storage medium or the like.

FIG. 4 is a photograph showing data obtained using the surveying apparatus for ground safety diagnosis according to the present embodiment. In FIG. 4, the abscissa indicates a position based on the distance data acquired by the auxiliary wheel 70, and the ordinate indicates the ground data acquired by the transmitting antenna 20 and the receiving antenna 30. As can be seen from Fig. 4, regardless of the position, the ground data is displayed substantially constant, and the portion (SH) where the data largely shakes can be confirmed clearly. Such a shaking portion (SH) can be understood to mean a high probability that a cavity such as a sink hole immediately exists.

For reference, in FIG. 4, a portion denoted by SFU means a point where a signal from the user exists between the start point and the end point of the ground data acquisition. Therefore, the point at which the ground data of the portion denoted by SFU is acquired can be accurately confirmed through the image acquired by the imaging element 60. [ Then, the distance on the actual search line between the portion denoted SFU, which is visible in Fig. 4, and the portion (SH) where a cavity such as a sink hole is expected to exist, can be confirmed by using the distance data obtained from the auxiliary wheel 70 have. Thereby, the actual location where the ground data of the portion denoted by SFU is obtained through the image acquired by the image pickup device 60 is specified, and from the specified actual location to a point where a cavity such as a sink hole is expected to exist By calculating the actual distance using the distance data obtained from the auxiliary wheel 70, it is possible to very accurately specify a problem point that is expected to have a cavity such as a sinkhole.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is evident that many alternatives, modifications and variations will be apparent to those skilled in the art . Therefore, the true scope of the present invention should be determined by the technical idea of the appended claims.

10: Frame 11: Main frame
12: Horizontal frame 13: Auxiliary frame
20: transmitting antenna 30: receiving antenna
40: main wheel 50: pulling part
60: imaging element 70: auxiliary wheel
130: bracket 131: first support plate
132: first extension plate 133: first parallel plate
134a: auxiliary plate 134: second extended plate
135: second parallel plate 136: third extended plate
137: second support plate

Claims (9)

frame;
A transmitting antenna capable of radiating an electromagnetic wave toward an indicator in a state of being spaced apart from an indicator;
A receiving antenna capable of receiving electromagnetic waves reflected from a target after being radiated from the transmitting antenna, the antenna being spaced apart from an indicator;
A bracket fixing the transmission antenna and the reception antenna to the frame;
Main wheels rotatably coupled to the frame;
A traction unit disposed at a distal end of the frame to fix the leading end of the frame to the vehicle; And
An image pickup element mounted on the frame and capable of securing image data of a surrounding environment;
And,
The bracket
A first support plate and a second support plate in surface contact with the transmission antenna or the reception antenna;
A first extension plate having one end connected to the first support plate and extending in a direction away from the transmission antenna or the reception antenna;
A first parallel plate having one end connected to the other end of the first extension plate and parallel to the first support plate;
A second extension plate connected at one end to the other end of the first parallel plate and extending in a direction away from the transmission antenna or the reception antenna;
A second parallel plate having one end connected to the other end of the second extension plate and parallel to the first support plate;
A third extension plate having one end connected to the other end of the second parallel plate and the other end connected to the second support plate; And
An auxiliary plate connected to one end of the second extending plate and extending in the direction of the transmitting antenna or the receiving antenna but not contacting the transmitting antenna or the receiving antenna;
Wherein the first extending portion, the first parallel plate, and the auxiliary plate form a first accommodating portion serving as a handle by the second extending plate, the second parallel plate, and the third extending plate, And forms a second accommodating portion for accommodating a part of the frame. The method according to claim 1,
Wherein the image pickup device is capable of securing image data of an axial circumferential environment parallel to the rotational axis of the main wheels and passing between the transmitting antenna and the receiving antenna. The method according to claim 1,
Further comprising an auxiliary wheel rotatably coupled to the frame, the auxiliary wheel rotating in contact with the ground to generate distance data on the travel distance based on the number of rotations. The method of claim 3,
And an elastic portion for pressing the auxiliary wheel downward. The method according to claim 3 or 4,
Wherein the transmitting antenna radiates an electromagnetic wave toward the ground surface only while the auxiliary wheel rotates. The method according to claim 3 or 4,
Further comprising a storage medium capable of storing the ground data acquired from the reception antenna, the distance data acquired from the auxiliary wheel, and the image data acquired from the imaging device,
And when there is a signal from the user, the image data acquired from the image pickup element is stored in the storage medium in association with the distance data acquired from the auxiliary wheel. The method according to claim 3 or 4,
Further comprising a storage medium capable of storing the ground data acquired from the reception antenna, the distance data acquired from the auxiliary wheel, and the image data acquired from the imaging device,
While the auxiliary wheel is rotating, continuously storing the ground data acquired from the reception antenna and the distance data acquired from the auxiliary wheel in the storage medium,
And when there is a signal from the user, the image data acquired from the image pickup element is stored in the storage medium in association with the distance data acquired from the auxiliary wheel. The method according to claim 1,
Wherein a distance between mutually opposing surfaces of the first extending plate and the assisting plate is greater than a thickness of the portion of the frame accommodated in the second accommodating portion of the frame in the direction from the first extending plate to the assisting plate, Exploration device. The method according to claim 1,
Wherein a height between a plane of the first parallel plate in the direction of the transmitting antenna or the receiving antenna and a plane of the first supporting plate in the direction of the transmitting antenna or the receiving antenna is a length of a portion of the frame where the transmitting antenna or the receiving antenna is attached And a thickness in the direction of the transmitting antenna or the receiving antenna.

Images