KR102571537B1 - Vehicle-mounted underground exploration device capable of automatic storage and setting - Google Patents

Abstract

The present invention relates to an apparatus mounted on a vehicle and capable of exploring the ground, and more particularly, when moving, it moves while stored inside the vehicle, is automatically pulled out from the exploration site, and is set to an inspection position to explore the underground. In addition, after the exploration is completed, it relates to a vehicle-mounted underground exploration device capable of automatic storage and setting that can be automatically stored inside the vehicle.
To this end, a vehicle-mounted underground exploration device capable of automatic storage and setting according to an embodiment of the present invention includes an underground scanner for exploring the ground, and a scanner rotation unit that is combined with the underground scanner in a frame shape to rotate the underground scanner. , An elevating unit capable of moving the underground scanner up and down, and a pull-in/out driving unit capable of retracting and receiving the underground scanner into the vehicle or withdrawing it to a scanning position.

Description

Vehicle-mounted underground exploration device capable of automatic storage and setting

The present invention relates to an apparatus mounted on a vehicle and capable of exploring the ground, and more particularly, when moving, it moves while stored inside the vehicle, is automatically pulled out from the exploration site, and is set to an inspection position to explore the underground. In addition, after the exploration is completed, it relates to a vehicle-mounted underground exploration device capable of automatic storage and setting that can be automatically stored inside the vehicle.

In general, if the soil condition is not good on the ground, the corresponding location may sink and a sinkhole may occur.

When a sinkhole occurs, a pedestrian may fall or a moving vehicle may fall without finding the sinkhole, resulting in a human accident.

Accordingly, the condition or cavity of the ground is detected and repaired in advance on the passage or road. At this time, a radar-type underground scanner is used as a device capable of exploring the ground.

As for the underground scanner, a method in which an operator can directly move and explore the ground and a method in which an operator can move and explore the ground by installing it in a vehicle are used.

When an operator directly moves equipment and explores, a problem arises in that the exploration section is restricted according to the fatigue of the operator.

Accordingly, when the underground scanner is installed in the vehicle and the exploration is performed, long-term exploration is possible.

However, in the case of a device installed in a vehicle, it is difficult to install heavy exploration equipment in the vehicle at the time of exploration, and it is necessary to store it back in the vehicle after completing the exploration, which increases worker fatigue. It happens.

In relation to this, Prior Document 1 (Registered Patent No. 10-1241313 Pavement Safety Diagnosis System and Method Using Underground Search Radar) discloses a configuration that can be installed at the rear of a vehicle to explore underground.

However, since Prior Document 1 proceeds with the exploration while installed in the vehicle, it is necessary to install the equipment in the vehicle, and after the exploration is completed, the device must be stored and transported back to the vehicle. Problems arise that require work.

Prior Document 1 (Registered Patent No. 10-1241313 Paved road safety diagnosis system and method using underground search radar)

The present invention has been made to solve the above problems, and the operation of accommodating the underground scanner in the vehicle and the operation of withdrawing it to the outside and setting it to the exploration position can be automatically performed, thereby minimizing operator's fatigue and preparing for exploration. An object of the present invention is to provide a vehicle-mounted underground exploration device capable of automatic storage and setting, which can reduce time and storage time for an underground scanner after completion of exploration.

In order to solve the above problems, a vehicle-mounted underground exploration device capable of automatic storage and setting according to an embodiment of the present invention is an underground scanner that explores the ground, and is combined with the underground scanner in a frame form to store the underground scanner in a storage direction. A scanner rotation unit that can be rotated so that the longitudinal direction coincides with or is drawn out and rotated in the transverse direction of the exploration path to be set to the exploration position, a scanner buffer provided on the upper part of the scanner rotation unit to cushionably support the underground scanner, An elevating unit capable of moving the underground scanner up and down, a pull-out driving unit capable of drawing the underground scanner into and storing it into the vehicle or withdrawing it to an exploration position, and provided on the upper part of the vehicle to slide and drive to the rear of the vehicle. It is characterized in that it includes a feature capture unit capable of photographing the ground and surrounding features.

Here, the elevating unit includes an elevating frame that moves up and down while supporting the underground scanner, and an elevating support frame that is connected to the elevating frame and supports the elevating frame to move up and down in the vehicle. to be characterized

At this time, the pull-out drive unit is connected to the elevating support frame and slides into the vehicle to provide a pull-out frame that is drawn in and out and power to draw the pull-out frame into or out of the vehicle It is characterized in that it includes a pull-out motor.

The vehicle-mounted underground exploration device capable of automatic storage and setting according to an embodiment of the present invention has an effect of being easy to use because it can be stored and set automatically.

In addition, there is an effect of enabling smooth exploration even when the ground is uneven due to the buffer function during underground exploration with the underground scanner.

In addition, there is an effect of accurately grasping the common location according to the exploration result by photographing the ground being explored and surrounding features, and confirming the location by GPS.

1 is an overall perspective view of a vehicle-mounted underground exploration device capable of automatic storage and setting according to an embodiment of the present invention.
2 is an exploded perspective view of a vehicle-mounted underground exploration device capable of automatic storage and setting according to an embodiment of the present invention;
3 is a perspective view showing in detail a rotating part of a scanner in a vehicle-mounted underground exploration device capable of automatic storage and setting according to an embodiment of the present invention;
4 is a partially enlarged view showing in detail the configuration of a scanner buffer unit in a vehicle-mounted underground exploration device capable of automatic storage and setting according to an embodiment of the present invention.
5 is a perspective view showing in detail the configuration of an elevating unit in a vehicle-mounted underground exploration device capable of automatic storage and setting according to an embodiment of the present invention.
6 is a perspective view showing in detail the configuration of a pull-out driving unit in a vehicle-mounted underground exploration device capable of automatic storage and setting according to an embodiment of the present invention.
7 is a perspective view showing in detail the configuration of a feature capture unit in a vehicle-mounted underground exploration device capable of automatic storage and setting according to an embodiment of the present invention.
8 is a perspective view showing a state in which a leveling unit is further provided in a feature capturing unit in a vehicle-mounted underground exploration device capable of automatic storage and setting according to an embodiment of the present invention.
9 is a perspective view showing in detail an angle confirmation unit of a feature capture unit in a vehicle-mounted underground exploration device capable of automatic storage and setting according to an embodiment of the present invention.

The present invention relates to an apparatus capable of exploring underground cavities, and is characterized in that it can explore underground cavities while minimizing operator's fatigue as it is installed in a vehicle and can be automatically stored and set.

Hereinafter, a vehicle-mounted underground exploration device capable of automatic storage and setting according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

1 is an overall perspective view of a vehicle-mounted underground exploration device capable of automatic storage and setting according to an embodiment of the present invention, and FIG. 2 is a vehicle-mounted underground exploration device capable of automatic storage and setting according to an embodiment of the present invention. An exploded perspective view of the device.

Referring to FIGS. 1 and 2, the present invention provides an underground scanner 20 that is installed in a vehicle 10 to be accommodated and detectable to explore the ground, and a ground scanner 20 provided on top of the ground scanner 20 ) is configured to include a scanner rotation unit 100 capable of rotating so that the direction is changed during exploration and storage.

In addition, the elevating unit 300 and the underground scanner 20 that can be raised and lowered to the storage position of the vehicle 10 when the underground scanner 20 is stored, and lowered to the exploration position during exploration, and the underground scanner 20 into the vehicle 10 It is configured to include a pull-out driving unit 400 that draws in and out to be stored or set to the exploration position.

Here, between the scanner rotation unit 100 and the elevating unit 300, a scanner buffer unit 200 is provided to support the space between the vehicle 10 and the underground scanner 20 during underground exploration using the underground scanner 20.

On the other hand, the top of the vehicle 10 is provided with a feature capture unit 500 capable of more accurately grasping the explored location by identifying the location being explored using GPS and capturing surrounding features using a camera. do.

The feature capture unit 500 slides on the upper part of the vehicle 10 and captures the ground and side features explored by the underground scanner 20 so that the location of the cavity can be accurately identified.

Due to this, it is possible to minimize the fatigue of the operator due to the installation and storage of the underground scanner during underground exploration, and it is possible to determine the exact location of the cavity by using the geographic features and location information of the exploration location.

3 is a perspective view showing in detail a rotating part of a scanner in a vehicle-mounted underground exploration device capable of automatic storage and setting according to an embodiment of the present invention.

Referring to FIG. 3 , the scanner rotating unit 100 is provided in a scanner frame 110 in which the underground scanner 20 is accommodated and supporting the underground scanner 20, and is provided in the upper center of the scanner frame 110, It is configured to include a rotating shaft 120 for rotatably supporting the frame 110 .

Here, a rotary actuator 130 capable of rotating the scanner frame 110 in an appropriate direction during scanning and storage is provided on one side of the rotating shaft 120 .

In addition, a rotation link 140 is provided at an end of the shaft driven by the rotation actuator 130 to rotate the scanner frame 110 by the operation of the rotation actuator 130 by interlocking with the scanner frame 110. do.

At this time, one side of the rotary shaft 120 is provided with a rotary drive piece 121 connected to the rotary link 140 and interlocked with the linear motion of the rotary link 140 to rotate the scanner frame 110 .

On the other hand, the scanner frame 110 is provided with a loading fixture 111 that can be fixed so that the underground scanner 20 is not moved in a state accommodated in the vehicle 10 on one side.

Due to this, during underground exploration, the underground scanner 20 is located long in the transverse direction in the exploration direction, so that a wide range of underground can be explored, and when stored, the loading box of the vehicle 10 and the longitudinal direction form a straight line 90 It is rotated at an angle so that it can be easily accommodated in the vehicle 10 .

4 is a partially enlarged view showing in detail the configuration of a scanner buffer unit in a vehicle-mounted underground exploration device capable of automatic storage and setting according to an embodiment of the present invention.

Referring to FIG. 4 , the scanner buffer 200 is provided to be spaced apart from the rotating part support frame 210 supporting the scanner rotating part 100 and the upper part of the rotating part supporting frame 210, and the rotating part supporting frame 210 ) and a buffer frame 220 connected by a buffer server 221.

The rotary part support frame 210 is provided outside the rotary shaft 120, and the rotary actuator 130 is rotatably installed.

And the buffer frame 220 is provided to be spaced apart from the upper part of the rotating part support frame 210, and a plurality of buffer links 230 are rotatably connected along the outer circumference between the rotating part supporting frame 210. During underground exploration, it is possible to perform a buffering action according to the unevenness or shape of the ground.

5 is a perspective view showing in detail the configuration of an elevating unit in a vehicle-mounted underground exploration device capable of automatic storage and setting according to an embodiment of the present invention.

Referring to FIG. 5 , the elevating unit 300 is coupled with the buffer frame 220 to move up and down, and the elevating frame 310 coupled with the elevating frame 310 to move up and down. It is configured to include an elevating support frame 320 for guiding the upward and downward moving path and supporting the elevating frame 310 .

Here, the elevating frame 310 includes an elevating motor 311 that provides power so that the elevating frame 310 moves up and down in the elevating support frame 320, and the elevating motor 311 It is provided on the rotating shaft and is configured to include an elevating pinion 312 for transmitting power of the elevating motor 311 .

At this time, the elevating support frame 0 has an elevating rack 321 engaged with the elevating pinion 312 and supporting the elevating frame 310 to be moved up and down by the rotational driving force of the elevating pinion 312. are provided

Due to this, in a state where the elevating pinion 312 and the elevating rack 321 are engaged, the elevating frame 310 is moved up and down by the rotational drive of the elevating pinion 312, and accordingly the elevating frame ( 310), the scanner buffer 200 can also be moved up and down together.

On the other hand, the elevating frame 310 is fastened to the loading fixing part 111 provided in the scanner frame 110 to fix the loading fixing part 111 so that the underground scanner 20 can be moved while being accommodated in the vehicle. A loading fixing chain 313 is provided so as not to move inside the vehicle when the vehicle is loaded.

Here, the loading fixing chain 313 is provided with a fixing hook 313a and fastening the fixing hook 313a to the loading fixing part 111 to minimize the movement of the underground scanner 20 while the vehicle 10 is moving. You can do it.

6 is a perspective view showing in detail the configuration of a pull-out driving unit in a vehicle-mounted underground exploration device capable of automatic storage and setting according to an embodiment of the present invention.

Referring to FIG. 6 , when the pull-in/out drive unit 400 draws the underground scanner 20 into the vehicle and stores it or pulls it out and sets it to a scanning position, the scanner frame 110 in which the underground scanner 20 is stored A pull-out frame 410 capable of moving the frame 410 into or out of the vehicle 10, and a pull-out frame 410 provided at the bottom of the frame 410 to slide and move the frame 410 to the outside of the vehicle 10. ) It is configured to include a pull-out motor 420 that provides power to be drawn into or drawn out.

Here, a pull-out rack 411 is provided at the bottom of the pull-out frame 410 along the pull-out direction, and the pull-out motor 420 is engaged with the pull-out rack 411 to form a pull-out rack 411. It is configured to include a pull-out pinion 421 that reciprocates.

At this time, the pull-out frame 410 is provided to extend parallel to both sides in the pull-out direction in the path through which the underground scanner 20 is pulled in or pulled out.

The take-out motor 420 is installed at an intermediate point between where the take-out frames 410 are installed, and is driven in a right angle direction by a take-out reducer 422 capable of changing the driving direction and reducing the rotational speed. , and the rotation axis is extended to both sides thereof, and the withdrawal/intake pinion 421 is installed at a position engaged with the withdrawal/intake rack 411 on the extended rotation axis.

Due to this, it is possible to automatically withdraw and withdraw the frame 410 in an electric manner.

In addition, a scanner support roller 430 is provided inside the pull-in/out frame 410 to support the lower part of the underground scanner 20 on the bottom surface of the loading part of the vehicle 10 when the underground scanner 20 is drawn in and out. do.

The scanner support roller 430 can support the underground scanner 20 so as not to be damaged by friction when the underground scanner 20 is stored or taken out from the lower part where the underground scanner 20 is stored.

In addition, a pull-out frame support roller 440 is provided below the pull-out frame 410 to support the pull-out frame 410 so that it can be drawn in and out while minimizing friction.

Here, a pull-out rail 450 for guiding the pull-out frame 410 to be drawn in and out while maintaining a straight direction is provided at the lower part where the pull-out frame 410 is drawn in and out.

In addition, a pull-out guide 460 coupled to the pull-out rail 450 and moving in the pull-out direction along the pull-out rail 450 is provided below the pull-out frame 410 .

Due to this, the pull-out frame 410 slides in the pull-out direction by the pull-out rail 450 and the pull-out guide, and the underground scanner 20 can be drawn in and stored or drawn out to be set to a scanning position.

On the other hand, in the elevating portion 300, at a position where the elevating support frame 320 and the withdrawal frame 410 are coupled to each other, between the elevating support frame 410 and the elevating support frame 320 ( 320) is provided with a scanner position adjusting unit 470 capable of adjusting the position.

The scanner position control unit 470 includes a position control rail 471 provided inside the pull-out frame 410 and guiding a path for individually adjusting the elevating support frame 320 in the pull-out direction and the It is configured to include a positioning guide 472 coupled to the positioning rail 471 and moved along the positioning rail 471 .

Here, the position adjusting guide 472 and the position fixing bolt 473 capable of fixing and releasing the frame 410 are provided on both sides of the elevating support frame 320 .

For this reason, the position of the elevating support frame 320 is individually adjusted in the state where the take-out frame 410 is drawn out or drawn in from the pull-in/out drive unit 400 to more accurately set the exploration position, or when stored in an underground scanner ( 20) can be stored stably.

7 is a perspective view showing in detail the configuration of a feature capture unit in a vehicle-mounted underground exploration device capable of automatic storage and setting according to an embodiment of the present invention.

Referring to FIG. 7 , the feature capture unit 500 includes a camera installation unit 510 in which a camera capable of capturing a feature is installed and a camera sliding camera capable of moving the shooting position by sliding the camera installation unit 510 It is configured to include a portion 520.

The camera installation unit 510 has a lower camera installation hole 511 in which a camera lens part is installed toward the ground and can photograph the ground, and a camera lens part is installed in both directions in which the exploration proceeds. It is configured to include a side camera installation hole 512 capable of photographing both sides of the feature.

In addition, a GPS 513 capable of checking the location information of the shooting place in real time is built-in.

The camera sliding part 520 is provided on both sides of the upper part of the roof of the vehicle 10, and the sliding frame 521 slides on the roof of the vehicle 10 in a state where the camera installation part 510 is installed at the end. , It is configured to include a sliding rail 522 provided in the lower part where the sliding frame slides to guide the sliding direction.

A sliding guide 523 coupled to the sliding rail 522 and moved along the sliding rail 522 is provided at a lower portion of the sliding frame 521 .

A sliding rack 521a is provided below the sliding frame 521 along the sliding direction of the sliding frame 521 .

Here, a sliding driver 524 for sliding and driving the sliding frame 521 in the forward and backward directions is provided on the roof of the vehicle 10 .

The sliding drive part 524 is provided between the sliding frame 521 and provides driving power for the sliding frame 521. It is configured to include a sliding pinion 524b provided at the bottom of the rack 521a to engage with the sliding rack 521a and drive the sliding frame 521 by driving the sliding motor 524a.

At this time, the sliding motor 524a is provided with a sliding reducer 524c capable of converting the driving direction of the sliding motor 524a to a vertical direction and rotating the sliding pinion 524b at an appropriate speed.

In addition, a driving unit cover 524d is provided on the outside of the sliding motor 524a and the sliding reducer 524c to prevent the sliding driving unit 524 from malfunctioning due to external environmental factors such as rain or heavy snow during vehicle operation. do.

Meanwhile, a sliding frame support roller 525 supporting the lower portion of the sliding frame 521 while minimizing friction is provided at a lower portion where the sliding frame 521 slides.

Due to this, when the sliding frame 521 is driven, it minimizes noise and slides stably, taking pictures of the ground shape and surrounding features in the ground detection process, and storing location information to view the location of the point where the cavity is formed. to be able to accurately understand

8 is a perspective view showing a state in which a leveling unit is further provided in a feature capturing unit in a vehicle-mounted underground exploration device capable of automatic storage and setting according to an embodiment of the present invention, and FIG. 9 is an embodiment of the present invention. It is a perspective view showing in detail the angle checking unit of the feature capture unit in the vehicle-mounted underground exploration device capable of automatic storage and setting according to .

Referring to FIGS. 8 and 9 , a leveling unit 530 may be further provided in the feature capturing unit 500 .

The leveling unit 530 rotates the camera installation unit 510 according to the slope of the terrain being explored and keeps it level, and rotates while maintaining the camera installation unit 510 horizontally by the weight of the camera. It is configured to include a camera rotation support 531 for supporting it.

And it is provided on the outside of the side camera installation hole 512 and transmits the feature of the terrain being explored to be projected toward the side camera, and includes an angle checking unit 532 that can check the angle according to the slope of the terrain.

Here, the camera rotation support 531 extends from the camera installation unit 510 in the opposite direction to which the camera is installed, so that the camera installation unit 510 can rotate according to the slope of the terrain. The camera rotation axis 531a and a rotation support shaft 531b coupled to the outside of the camera rotation shaft 531a in a concentric circle and rotatably supporting the camera rotation shaft 531a by a bearing 531c.

In addition, the angle checking unit 532 is provided outside the side camera installation hole 512 and transmits the feature through a feature transmission window 532a through which the feature is transmitted toward the camera installed in the side camera installation hole 512 and the feature transmission. It is configured to include an angle display scale 532b that is displayed on the window 532a and can check the slope of the terrain being photographed.

As a result, when exploring a sloped terrain while shooting the surrounding features at the same time as the underground exploration, it is possible to check the slope of the terrain being explored through the camera, so that it is possible to devise more specific countermeasures such as a ground recovery method in case of joint detection. there will be

In the present invention made as described above, in detecting an underground cavity, the underground scanner can be stored in a vehicle or set to a detection position automatically, and the ground and surrounding features of the detection position can be photographed and GPS and It is possible to determine the location of the cavity more accurately through the photographed feature while checking the location of the part where the cavity was detected using the GPS signal in conjunction with each other.

10: vehicle 20: underground scanner
100: scanner rotating part 110: scanner frame
111: loading fixture 120: rotation shaft
121: rotary drive piece 130: rotary actuator
140: rotation link 200: scanner buffer
210: rotating part support frame 220: buffer frame
221: Buffer Sober 230: Buffer Link
300: elevating unit 310: elevating frame
311: lifting motor 312: lifting pinion
313: loading fixing chain 313a: fixing hook
320: elevating support frame 321: elevating rack
400: pull-out driving unit 410: pull-out frame
411: withdrawal rack 420: withdrawal motor
421: draw-out pinion 422: draw-out reducer
430: scanner support roller 440: pull-out frame support roller
450: pull-out rail 460: pull-out guide
470: scanner position control unit 471: position control rail
472: position adjustment guide 473: position fixing bolt
500: feature capturing unit 510: camera installation unit
511: lower camera installation hole 512: side camera installation hole
513: GPS 520: camera sliding unit
521: sliding frame 521a: sliding rack
522: sliding rail 523: sliding guide
524: sliding drive unit 524a: sliding motor
524b: sliding pinion 524c: sliding reducer
524d: drive unit cover 525: sliding frame support roller
530: leveling unit 531: camera rotation support unit
531a: camera rotation shaft 531b: rotation support shaft
531c: bearing 532: angle confirmation unit
532a: feature transmission window 532b: angle display scale

Claims (3)

an underground scanner 20 that explores the ground;
A scanner rotation unit that can be combined with the underground scanner 20 in the form of a frame so that the storage direction and the longitudinal direction of the underground scanner 20 coincide, or rotated in the transverse direction of the exploration path to be rotated to be set in the exploration position ( 100);
a scanner buffer 200 provided above the scanner rotation unit 100 to support the underground scanner 20 in a buffer manner;
a lifting unit 300 capable of moving the underground scanner 20 up and down;
a pull-in/out drive unit 400 capable of retracting and storing the underground scanner 20 into the vehicle 10 or withdrawing the underground scanner 20 to a scanning position; And a feature capture unit 500 provided on the top of the vehicle 10 and slidingly driven to the rear of the vehicle 10 and capable of capturing the ground being explored and surrounding features,
The scanner rotation unit 100 is provided in the upper center of the scanner frame 110 in which the underground scanner 20 is accommodated and supports the underground scanner 20, and the scanner frame 110 is rotated. A rotational shaft 120 that can be supported, a rotational actuator 130 provided on one side of the rotational shaft 120 to rotate the scanner frame 110 in a vertical direction, and a shaft driven by the rotational actuator 130 It is provided at the end and interlocks with the scanner frame 110 to rotate the scanner frame 110 by the operation of the rotary actuator 130, characterized in that it includes a rotation link 140 that can be automatically stored and set. Vehicle-mounted underground exploration device.
The method of claim 1,
The elevating unit 300 is connected to the elevating frame 310 that moves up and down while supporting the underground scanner 20 and the elevating frame 310, so that the elevating frame in the vehicle 10 ( 310), a vehicle-mounted underground exploration device capable of automatic storage and setting, characterized in that it includes an elevating support frame 320 for supporting elevating and descending.
The method of claim 2,
The pull-out driving unit 400 is connected to the elevating support frame 320 and slides into and out of the vehicle 10. 10) A vehicle-mounted underground exploration device capable of automatic storage and setting, characterized in that it includes a pull-out motor 420 that provides power to draw it into or take it out.

Images