A multifunctional radar-assisted manipulator, system and method for cave detection

Abstract

The invention discloses a multifunctional radar auxiliary mechanical arm, system and method for cave detection. According to the technical scheme, the multifunctional radar auxiliary mechanical arm comprises a clamping mechanism, a buffering mechanism, a fine adjustment mechanism, a rotary lifting mechanism and a magnetic suction fixing seat; the clamping mechanism is provided with a pressure-sensitive sensor for clamping a radar antenna and transmitting the pressure between the radar antenna and a tunnel wall to a control system; the buffering mechanism is mounted below the clamping mechanismand is used for buffering the vibration of the clamping mechanism; the fine adjustment mechanism is rotatably connected with the buffering mechanism and is used for controlling the inclination angleof the buffering mechanism; the rotary lifting mechanism is positioned below the fine adjustment mechanism and used for adjusting the height and angle of the clamping mechanism; and the magnetic suction fixing seat is connected with the rotary lifting mechanism through a plurality of rotary telescopic pieces and is used for the suction fixing with the lifting platform. The full-automatic lifting,fitting and pressing operations of the radar antenna are realized, the working efficiency is improved and the cost is reduced.

Description

technical field [0001] The invention relates to the field of tunnel detection, in particular to a multifunctional radar-assisted mechanical arm, system and method for cave detection. Background technique [0002] Tunnels are engineering constructions buried underground. With the implementation of the western development strategy, a large number of infrastructure projects are being started one after another, and the first is tunnel construction. For tunnel construction in areas where karst caves are developed, according to the requirements of the code, it is necessary to conduct karst cave inspection around the cave. [0003] Cave detection requires multiple survey lines, of which the basic survey lines are one for the vault, two for the waist, and two for the side walls. Some tunnels also need to carry out the detection of the position measurement line of the bottom plate, arch foot, spandrel and so on. Among them, the detection of the base plate measuring line can be comp...

AI Technical Summary

Problems solved by technology

Arch foot measurement line often requires workers to lift the radar antenna and attach it to the wall for mobile scanning, which is time-consuming and laborious, and the scanning quality cannot be guaranteed

For the surveying line with arched feet upward, such as side walls, arches, spandrels, and vaults, it is necessary to use trolleys and lifting mechanisms to move workers to the vicinity of the surveying line, and then lift the radar antenna by the workers. It is time-consuming and labor-intensive to scan the measuring line when the vehicle is moving, the detection effect is greatly disturbed by human factors, and there are potential safety hazards

[0004] Different from the conventional secondary lining detection, the detection of karst caves around the cave generally requires a deeper detection depth, and often requires the use of a 100M radar antenna. This type of antenna has a deeper detection depth, but the corresponding volume is larger and heavier. Lifting is inconvenient and tiring

[0005] The inventors found that at present, most of the radar monitoring of tunnel karst caves is still carried out by manually lifting the radar antenna, which requires a certain amount of strength and endurance. needs

In addition, the accuracy of manual operation cannot be guaranteed accurately, and there are potential safety hazards

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