Unmanned vehicle detection device and method for hidden dangers and dangerous conditions on dam slope structures

Abstract

The present invention relates to the field of dam detection technology, and discloses an unmanned vehicle detection device and method for dam slope structure hidden dangers and dangerous conditions, including a chassis, a controller and two radar detectors, wherein two corners of the lower end of the chassis are provided with recessed parts, and the two recessed parts are fixedly connected with sleeves, and a driving mechanism is connected in the sleeves, and the driving mechanism is used to drive the detection device to travel on the dam slope, and the detection device is advanced along a curve through a steering unit during the travel, and a box body is fixedly connected to one side of the chassis, and a rotating shaft is rotatably connected in the box body through a first ball bearing, and a supporting mechanism is connected to the shaft wall of the rotating shaft. The unmanned vehicle detection device and method for dam slope structure hidden dangers and dangerous conditions can be observed and operated by the detection device without manual walking on the dam slope, and the detection device can travel stably on the dam slope by itself, and the detection range is large, and the hidden dangers of the dam can be timely and comprehensively eliminated.

Description

Technical Field

[0001] The present invention relates to the technical field of dam detection, and in particular to an unmanned vehicle detection device and method for hidden dangers and dangerous conditions on a dam slope structure. Background Art

[0002] Due to the different degrees of compaction of the soil used to build the dam, the different media used to build the dam are not in close contact, and the river water flows and erodes in the pores for a long time, eventually forming large cracks and voids, which pose a hidden danger to the safety of the dam. Especially during floods, voids or cracks can cause partial collapse of the dam, posing a serious threat to the structure of the dam. At present, the commonly used technical means to eliminate the hidden dangers of dam safety are mostly manual field surveys to discover and judge the possible hidden dangers inside the dam, and then use ground penetrating radar to perform non-destructive testing on the dam. This detection technology can accurately find the location of hidden dangers on the slope of the dam, and make timely non-destructive diagnosis and evaluation of the degree of harm of the hidden dangers, which is then adopted by management personnel.

[0003] At present, manual observation with the naked eye can only reveal hidden dangers on the surface, and it is impossible to determine the hidden dangers inside the dam. When using ground-penetrating radar to detect on the top of the dam or on a good slope, it is also impossible to completely eliminate the hidden safety hazards of the dam. At the same time, when conducting manual observation and detection work, technicians need to walk on the slope, which is not only slow, but also has a high risk factor and is prone to falling into the water. Summary of the invention

[0004] 1. Technical issues to be resolved

[0005] In view of the shortcomings of the prior art, the present invention provides an unmanned vehicle detection device and method for the hidden dangers of the dam slope structure, which has the advantages of no need for manual walking on the dam slope to observe and operate the detection device, and the detection device can stably drive on the dam slope by itself, and has a large detection range, and can timely and comprehensively eliminate the hidden dangers of the dam. It solves the problem that manual observation with the naked eye can only see the hidden dangers on the surface, and it is impossible to determine the hidden dangers inside the dam. When using ground penetrating radar to detect on the top of the dam or a better slope, it is also impossible to completely eliminate the hidden safety hazards of the dam. At the same time, when manual observation and detection work are carried out, technicians are required to walk on the slope, which is not only slow, but also has a high risk factor and is prone to falling into the water.

[0006] (II) Technical solution

[0007] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an unmanned vehicle detection device for hidden dangers of dam slope structure, comprising a chassis, a controller and two radar detectors, wherein two corners of the lower end of the chassis are provided with recessed parts, and the two recessed parts are fixedly connected with sleeves, and a driving mechanism is connected inside the sleeves;

[0008] The driving mechanism is used to drive the detection device to travel on the slope of the dam, and during the travel, the detection device is moved forward along a curve through the steering unit;

[0009] A box body is fixedly connected to one side of the chassis, a rotating shaft is rotatably connected to the box body via a first ball bearing, and a supporting mechanism is connected to the shaft wall of the rotating shaft;

[0010] The supporting mechanism and the driving mechanism support the chassis in a three-point distribution, so that the detection device is in a horizontal state when moving forward on the slope of the dam.

[0011] Preferably, the driving mechanism comprises a vertical tube, and a transmission shaft is rotatably connected in the vertical tube via a second ball bearing, the tube wall of the vertical tube is rotatably connected in the sleeve via a rolling bearing, a support frame is fixedly connected to the tube wall of the vertical tube, a support shaft is rotatably connected to the side wall of the support frame via a third ball bearing, and driving wheels are fixedly connected to both ends of the support shaft, a gear ring is fixedly connected to the shaft wall of the support shaft, a first gear is meshed on one side of the gear ring, and the first gear is coaxially fixed to the lower end of the transmission shaft;

[0012] A synchronous belt is provided in the chassis, and two first synchronous wheels are wound in the synchronous belt, and the first synchronous wheels are fixed to the upper end of the transmission shaft. A driving motor is fixedly connected to the chassis through a support plate, and a second synchronous wheel is fixedly connected to the output end of the driving motor, and the second synchronous wheel is wound around the inner side of the synchronous belt. The side wall of the support plate is rotatably connected to two positioning rollers through a needle bearing, and the two positioning rollers are in contact with one side of the synchronous belt.

[0013] Preferably, one side of the chassis is provided with a pull rod arranged in parallel, both ends of the pull rod are rotatably connected to a transmission rod through a pin, and the transmission rod is fixedly connected to the pipe wall of the vertical pipe, the upper end of the pull rod is fixedly connected to a rack, one side of the rack is meshed with a gear shaft, a steering motor is fixedly connected inside the chassis, the output end of the steering motor passes through the side wall of the chassis and is fixedly connected to one end of the gear shaft, one side of the chassis is rotatably connected to a roller through a fourth ball bearing, and the roller is in contact with the rod wall of the pull rod.

[0014] Preferably, the side wall of the support frame is rotatably connected to a rotating shaft through two first rolling bearings, one end of the rotating shaft is fixedly connected to a second gear, the second gear is meshed with a gear ring, the other end of the rotating shaft is fixedly connected to a disk, the side wall of the disk is fixedly connected to a plurality of evenly distributed pins, the side wall of the pin is rotatably connected to a ring through a second rolling bearing, and one side of the shaft ring is fixedly connected to a transmission plate, one end of the transmission plate is fixedly connected to two nylon strips, one side of the transmission plate is fixedly connected to a tension spring, one end of the tension spring is fixedly connected to one side of the disk through a connecting block.

[0015] Preferably, the supporting mechanism comprises a cross bar, a notch is formed on one side of the box body, one end of the cross bar passes through the notch and is fixedly connected to the shaft wall of the rotating shaft, the other end of the cross bar is rotatably connected to a sleeve via a third rolling bearing, one end of the sleeve is fixedly connected to a circular plate, the other end of the sleeve is fixedly connected to a rectangular tube, a square tube is sleeved in the rectangular tube, a square block is fixedly connected in the square tube, a screw rod is connected to the side wall of the square block via a threaded hole, the upper end of the circular plate is fixedly connected to the first motor, the output shaft of the first motor is fixedly connected to the upper end of the screw rod, and the lower end of the square tube passes through the rectangular tube and is fixedly connected to a supporting wheel;

[0016] A second motor is fixedly connected to one side of the box body, an output end of the second motor extends into the box body and is fixedly connected to a worm, a worm wheel is meshed with one side of the worm, and the worm wheel is fixed on the shaft wall of the rotating shaft.

[0017] Preferably, a horizontal axis is rotatably connected to the rod wall of the cross rod through a bearing seat, and the two ends of the horizontal axis are respectively connected to a first bevel gear and a second bevel gear, the first bevel gear is meshed with a first bevel gear ring, and the second bevel gear is meshed with a second bevel gear ring, the first bevel gear ring is fixed to the upper end inner wall of the box body, and the second bevel gear ring is fixed to the side wall of the sleeve.

[0018] Preferably, two strip-shaped through holes are symmetrically opened on the side wall of the square tube, and rectangular blocks are provided in the two strip-shaped through holes. The rectangular blocks are fixed to the inner wall of the rectangular tube, and a positioning block with a C-shaped structure is fixedly connected in the box body. The positioning block is sleeved with the shaft wall of the rotating shaft through a shaft sleeve.

[0019] Preferably, the two radar detectors are respectively fixed on both sides of the chassis, the controller is fixed on the upper end of the chassis, the lower end of the chassis is provided with an opening, and a cover plate is fixedly connected to the opening by bolts, and the upper end of the cover plate is fixedly connected to a power battery.

[0020] The present invention also provides a method for detecting hidden dangers of a dam slope structure for a detection device, comprising the following steps:

[0021] Step 1: According to the slope of the dam, selectively tie the cable of the onshore winding device to the body of the detection device, and place the detection device on the dam slope;

[0022] Step 2: unfold the support mechanism of the detection device and adjust the support height of the support mechanism until the chassis of the detection device is in a horizontal state;

[0023] Step 3: Turn on the radar detector and start the driving mechanism to make the detection device move along the curve on the slope of the dam;

[0024] Step 4: When the detection device moves along the curve from the top of the slope to the slope, the detection device is controlled to move along the same path from the bottom of the slope to the top of the slope until the detection of the embankment section is completed.

[0025] (III) Beneficial effects

[0026] Compared with the prior art, the present invention provides an unmanned vehicle detection device for dam slope structure hidden dangers and dangerous conditions, which has the following beneficial effects:

[0027] 1. When the present invention is in use, the detection device is placed on the slope of the dam, and the supporting device is adjusted according to the angle of the slope. The supporting mechanism and the driving mechanism are distributed at three points to support the chassis, so that the chassis is in a horizontal state. The weight of the detection device is concentrated on the driving mechanism and transmitted to the slope, so that there is sufficient friction between the driving mechanism and the slope, and the steering unit of the driving mechanism can change the forward direction of the detection device, so that the detection device can travel along a curve, which can reduce the climbing difficulty of the detection device. At the same time, its curved path is S-shaped, and the hidden dangers on the dam slope can be detected on a large scale through the radar detector during travel, so that there is no need for technical personnel to walk on the slope, reducing the labor intensity and risk factor of the staff at work.

[0028] 2. The present invention is provided with a driving mechanism. When in use, the sleeve driving motor, the second synchronous, the synchronous belt, the first synchronous wheel, the transmission shaft, the first gear, the gear ring and the support shaft drive the driving wheel to rotate, thereby driving the detection device to move. The driving wheel is steered by the steering motor, the gear shaft, the rack, the pull rod, the transmission rod, and the support frame, so that the two driving wheels can swing to the same angle, changing the driving direction of the detection device and making the detection device travel along a curve. At the same time, the second gear, the rotating shaft, the disc and the transmission plate are used to make the nylon strip contact with the slope surface to sweep away particles such as stones and soil on the slope surface, thereby ensuring the friction between the driving wheel and the slope surface and improving the stability of the detection device during movement.

[0029] 3. The support mechanism provided in the present invention, when in use, drives the worm, worm gear, cross bar, rectangular tube and square tube through the second motor to move the support wheel, so as to realize the folding of the support wheel, and when the cross bar drives the horizontal axis to swing, the support wheel is rotated through the first bevel gear, the first bevel gear ring, the second bevel gear, the second bevel gear ring, the sleeve, the rectangular tube and the square tube, so that the support wheel can be parallel to the driving wheel after the support mechanism is unfolded, and the length of the rectangular tube and the square tube can be adjusted through the first motor, the screw rod and the block, that is, the height of the support mechanism can be adjusted, so that the detection device can be suitable for use on dams with different slopes. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a schematic diagram of the structure of the unmanned vehicle detection device for hidden dangers and dangerous conditions on the dam slope structure proposed by the present invention;

[0031] Figure 2 The unmanned vehicle detection device for hidden dangers of dam slope structure proposed by the present invention Figure 1 Left view of

[0032] Figure 3 The unmanned vehicle detection device for hidden dangers of dam slope structure proposed by the present invention Figure 2 A cross-sectional view of

[0033] Figure 4 This is a schematic diagram of the structure of the driving mechanism in the unmanned vehicle detection device for hidden dangers and dangerous conditions on the dam slope structure proposed by the present invention;

[0034] Figure 5 This is a schematic diagram of the structure of the disc in the unmanned vehicle detection device for hidden dangers and dangerous conditions on the dam slope structure proposed by the present invention;

[0035] Figure 6 A schematic diagram of the internal structure of a chassis in the unmanned vehicle detection device for hidden dangers and dangerous conditions on the dam slope structure proposed by the present invention;

[0036] Figure 7 This is a schematic structural diagram of the support mechanism in the unmanned vehicle detection device for hidden dangers and dangerous conditions on the dam slope structure proposed by the present invention;

[0037] Figure 8 The unmanned vehicle detection device for hidden dangers and dangerous conditions of dam slope structure proposed by the present invention Figure 7 A magnified view of the structure at center A;

[0038] Fig. 9 The unmanned vehicle detection device for hidden dangers and dangerous conditions of dam slope structure proposed by the present invention Figure 7 Schematic diagram of the structure of the middle tube and the support wheel;

[0039] Fig.10 It is a schematic structural diagram of the folded support mechanism in the unmanned vehicle detection device for hidden dangers and dangerous conditions on the dam slope structure proposed by the present invention;

[0040] Fig.11 It is a schematic structural diagram of the support mechanism of the unmanned vehicle detection device for hidden dangers and dangerous conditions on the dam slope structure proposed by the present invention after it is deployed;

[0041] Fig.12 A driving route map of the unmanned vehicle detection device for hidden dangers and dangerous conditions on the dam slope structure proposed by the present invention;

[0042] Fig.13 This is a rendering of the effect of the unmanned vehicle detection device for hidden dangers and dangerous conditions on the dam slope structure proposed by the present invention when it is on the dam slope.

[0043] In the figure: 1, chassis; 2, cross bar; 3, rectangular tube; 4, support wheel; 5, square tube; 6, radar detector; 7, drive wheel; 8, vertical tube; 9, box; 10, horizontal axis; 11, first motor; 12, second motor; 13, controller; 14, support frame; 15, transmission rod; 16, pull rod; 17, sleeve; 18, round plate; 19, synchronous belt; 20, positioning roller; 21, second synchronous wheel; 22, drive motor; 23, steering motor; 24, first synchronous wheel; 25, rack; 26. Gear shaft; 27. Roller; 28. Gear ring; 29. ​​Second gear; 30. Rotating shaft; 31. Disc; 32. First gear; 33. Transmission shaft; 34. Transmission plate; 35. Pin; 36. Ring; 37. Tension spring; 38. Nylon strip; 39. Power battery; 40. First bevel gear ring; 41. First bevel gear; 42. Worm; 43. Worm wheel; 44. Screw; 45. Rectangular block; 46. Second bevel gear; 47. Block; 48. Sleeve; 49. Second bevel gear ring. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0045] Embodiment 1:

[0046] See attached Figure 1-13 The unmanned vehicle detection device for hidden dangers of dam slope structure comprises a chassis 1, a controller 13 and two radar detectors 6, the two radar detectors 6 are respectively fixed on both sides of the chassis 1, the controller 13 is fixed on the upper end of the chassis 1, the lower end of the chassis 1 is provided with an opening, and a cover plate is fixedly connected to the opening by bolts, and a power battery 39 is fixedly connected to the upper end of the cover plate, and recessed parts are provided at the two corners of the lower end of the chassis 1, and the two recessed parts are fixedly connected with sleeves 17, and a driving mechanism is connected in the sleeve 17, and the driving mechanism is used to drive the detection device to travel on the dam slope, and the detection device is advanced along a curve through a steering unit during the driving process, and the curved path is S-shaped, and a box body 9 is fixedly connected to one side of the chassis 1, and a rotating shaft is rotatably connected to the box body 9 through a first ball bearing, and a supporting mechanism is connected to the shaft wall of the rotating shaft, and the supporting mechanism and the driving mechanism are distributed at three points to support the chassis 1, so that the detection device is in a horizontal state when it moves on the dam slope.

[0047] When the present invention is in use, the detection device is placed on the slope of the dam, and the supporting device is adjusted according to the angle of the slope. The supporting mechanism and the driving mechanism are distributed in three points to support the chassis 1, so that the chassis 1 is in a horizontal state, and the detection device can be in a horizontal state when moving forward on the slope of the dam. At this time, the center of gravity of the detection device is vertically downward, and its weight is concentrated on the driving mechanism and transmitted to the slope, so that there is sufficient friction between the driving mechanism and the slope, and the steering unit of the driving mechanism can change the forward direction of the detection device, so that the detection device can travel along a curve, which can reduce the climbing difficulty of the detection device. At the same time, its curved path is S-shaped, and the hidden dangers on the dam slope can be detected on a large scale through the radar detector 6 when moving, so that there is no need for technical personnel to walk on the slope, reducing the labor intensity and risk factor of the staff at work.

[0048] Embodiment 2: Based on embodiment 1, the difference is that;

[0049] See attached Figure 2-5 The driving mechanism includes a vertical tube 8, and a transmission shaft 33 is rotatably connected in the vertical tube 8 through a second ball bearing, the tube wall of the vertical tube 8 is rotatably connected in the sleeve 17 through a rolling bearing, the tube wall of the vertical tube 8 is fixedly connected to a support frame 14, the side wall of the support frame 14 is rotatably connected to a support shaft through a third ball bearing, and both ends of the support shaft are fixedly connected to a driving wheel 7, the shaft wall of the support shaft is fixedly connected to a gear ring 28, one side of the gear ring 28 is meshed with a first gear 32, and the first gear 32 is coaxially fixed to At the lower end of the transmission shaft 33, a synchronous belt 19 is provided in the chassis 1, and two first synchronous wheels 24 are wound in the synchronous belt 19. The first synchronous wheel 24 is fixed to the upper end of the transmission shaft 33. A driving motor 22 is fixedly connected to the chassis 1 through a support plate, and a second synchronous wheel 21 is fixedly connected to the output end of the driving motor 22. The second synchronous wheel 21 is wound around the inner side of the synchronous belt 19. The side wall of the support plate is rotatably connected to two positioning rollers 20 through a needle bearing, and the two positioning rollers 20 are in contact with one side of the synchronous belt 19.

[0050] A parallel pull rod 16 is provided on one side of the chassis 1, and both ends of the pull rod 16 are rotatably connected to the transmission rod 15 through pins, and the transmission rod 15 is fixedly connected to the pipe wall of the vertical pipe 8, and the upper end of the pull rod 16 is fixedly connected to the rack 25, and one side of the rack 25 is meshed with a gear shaft 26. A steering motor 23 is fixedly connected in the chassis 1, and the output end of the steering motor 23 passes through the side wall of the chassis 1 and is fixedly connected to one end of the gear shaft 26. A roller 27 is rotatably connected to one side of the chassis 1 through a fourth ball bearing, and the roller 27 contacts the rod wall of the pull rod 16. The side wall of the support frame 14 is rotatably connected to the side wall of the support frame 14 through two first rolling bearings. A rotating shaft 30 is rotatably connected thereto, one end of which is fixedly connected to a second gear 29 which meshes with a gear ring 28, and the other end of which is fixedly connected to a disc 31, a side wall of which is fixedly connected to a plurality of evenly distributed pins 35, a side wall of which is rotatably connected to a ring 36 via a second rolling bearing, and a transmission plate 34 is fixedly connected to one side of the transmission plate 34, one end of which is fixedly connected to two nylon strips 38, a tension spring 37 is fixedly connected to one side of the transmission plate 34, and one end of the tension spring 37 is fixedly connected to one side of the disc 31 via a connecting block.

[0051] The present invention is provided with a driving mechanism. When in use, the driving motor 22 rotates to drive the second synchronous wheel 21 so that the synchronous belt 19 drives the first synchronous wheel 24 to rotate. The first synchronous wheel 24 rotates to drive the transmission shaft 33 to rotate the first gear 32. The first gear 32 rotates to drive the gear ring 28 to rotate the support shaft. The support shaft rotates to drive the driving wheel 7 to rotate, thereby realizing the driving detection device to move. When steering is required, the steering motor 23 is started to drive the gear shaft 26 to rotate and drive the rack 25 to move. When the rack 25 moves, it drives the pull rod 16 to pull the two transmission rods 15 to be stressed. When the transmission rod 15 is stressed, it drives the vertical pipe 8 to rotate. The vertical pipe 8 When rotating, it drives the support frame 14 to turn the driving wheel 7, so that the two driving wheels 7 can swing to the same angle, change the driving direction of the detection device, and make the detection device travel along a curve. At the same time, when the ring gear 28 rotates, it drives the second gear 29 to rotate the rotating shaft 30. When the rotating shaft 30 rotates, it drives the disc 31 to rotate. When the disc 31 rotates, the transmission plate 34 and the nylon strip 38 generate centrifugal force to stretch the tension spring 37. At this time, the rotating nylon strip 38 contacts the slope surface, sweeping away stones, soil blocks and other particles on the slope surface, ensuring the friction between the driving wheel 7 and the slope surface, and improving the stability of the detection device during travel.

[0052] Embodiment 3: Based on embodiment 1, the difference is that;

[0053] See attached Figure 6-8The supporting mechanism includes a cross bar 2, a notch is provided on one side of the box body 9, one end of the cross bar 2 passes through the notch and is fixedly connected to the shaft wall of the rotating shaft, the other end of the cross bar 2 is rotatably connected to a sleeve 48 through a third rolling bearing, one end of the sleeve 48 is fixedly connected to a circular plate 18, the other end of the sleeve 48 is fixedly connected to a rectangular tube 3, a square tube 5 is sleeved in the rectangular tube 3, a square block 47 is fixedly connected in the square tube 5, two strip through holes are symmetrically provided on the side wall of the square tube 5, rectangular blocks 45 are provided in the two strip through holes, the rectangular blocks 45 are fixed to the inner wall of the rectangular tube 3, a positioning block of a C-shaped structure is fixedly connected in the box body 9, the positioning block is sleeved with the shaft wall of the rotating shaft through a sleeve, the side wall of the square block 47 is connected to a screw rod 44 through a threaded hole, the upper end of the circular plate 18 is fixedly connected to the first motor 11, the output shaft of the first motor 11 is fixedly connected to the upper end of the screw rod 44, the lower end of the square tube 5 passes through the rectangular tube 3 and is fixedly connected to the support wheel 4;

[0054] A second motor 12 is fixedly connected to one side of the housing 9, and the output end of the second motor 12 extends into the housing 9 and is fixedly connected to a worm 42. A worm wheel 43 is meshed with one side of the worm 42, and the worm wheel 43 is fixed to the shaft wall of the rotating shaft. A horizontal shaft 10 is rotatably connected to the rod wall of the cross bar 2 through a bearing seat, and the two ends of the horizontal shaft 10 are respectively connected to a first bevel gear 41 and a second bevel gear 46, the first bevel gear 41 is meshed with a first bevel gear ring 40, and the second bevel gear 46 is meshed with a second bevel gear ring 49, the first bevel gear ring 40 is fixed to the upper end inner wall of the housing 9, and the second bevel gear ring 49 is fixed to the side wall of the sleeve 48.

[0055] The supporting mechanism provided in the present invention, when in use, starts the second motor 12 to drive the worm 42 to rotate the worm wheel 43, when the worm wheel 43 rotates, it drives the rotating shaft to swing the cross bar 2, the swing of the cross bar 2 drives the rectangular tube 3 and the square tube 5 to swing, when the square tube 5 swings, it drives the support wheel 4 to move, and when swinging, the cross bar drives the horizontal shaft 10 to make the first bevel gear 41 roll around the first bevel gear ring 40, the rolling of the first bevel gear 41 drives the horizontal shaft 10 to rotate the second bevel gear 46, when the second bevel gear 46 rotates, it drives the second bevel gear ring 49 to rotate the sleeve 48 When the sleeve 48 rotates, it drives the rectangular tube 3 to rotate the square tube 5. When the square tube 5 rotates, it drives the supporting wheel 4 to rotate, so that the supporting mechanism can be unfolded and the supporting wheel 4 is parallel to the driving wheel 7. When the supporting height of the supporting mechanism needs to be adjusted, the first motor 11 is started to drive the screw rod 44 to rotate. The screw rod 44 rotates to drive the block 47 to move the square tube 5 downward. When the square tube 5 moves downward, it moves to the outside of the rectangular tube 3. At this time, the length change of the rectangular tube 3 and the square tube 5 can be used to adjust the height of the supporting mechanism, so that the detection device can be suitable for dams with different slopes.

[0056] Embodiment 4:

[0057] Reference Figure 12-13The present invention also provides a method for detecting hidden dangers of a dam slope structure for a detection device, comprising the following steps:

[0058] Step 1: According to the slope of the dam, selectively tie the cable of the onshore winding equipment to the body of the detection device (the cable is as follows: Fig.13 The detection device is placed on the embankment slope. The onshore reeling device uses a lightweight pull rope, and its reeling speed changes according to the moving speed of the detection device. It is only tied when the embankment slope is large and there is a risk of falling into the water. It does not need to be tied when the slope is small.

[0059] Step 2: unfold the support mechanism of the detection device. The unfolding angle range of the support mechanism is 0° to 90°. When adjusted to 45°, the support wheel 4 of the support mechanism and the drive mechanism are distributed at three points. At this time, the support stability is the highest. The support height of the support mechanism is adjusted until the chassis 1 of the detection device is in a horizontal state. When the support mechanism is at the minimum support height, the support wheel 4 and the drive wheel 7 are in the same horizontal plane. When the support mechanism is at the maximum support height, the support wheel 4 and the drive wheel 7 can stably travel on a slope of up to 40°. Fig.13 As shown;

[0060] Step 3: Turn on the radar detector 6, start the driving mechanism to make the detection device travel along the curve on the slope of the dam. When encountering obstacles during the slope driving process, by adjusting the opening and closing angle of the support, and adjusting the support height of the support mechanism, the detection device can have a certain obstacle crossing performance without changing the route of the detection device. When the obstacle is large, the route of the detection device is changed in time;

[0061] Step 4: When the detection device moves along the curve from the top of the slope to the slope, the detection device is controlled to move along the same path from the bottom of the slope to the top of the slope. Fig.12 As shown, starting from the top of the slope a, start from point b on the slope and drive in the direction indicated by the arrow to point c on the slope, and then reach the bottom of the slope d. That is, the downhill route is abcd, and the uphill route is dcba, and the cycle is repeated in sequence until the detection of the embankment section is completed.

[0062] It should be noted that the term "comprises" or any other variation thereof is intended to cover non-exclusive inclusion, so that a process, method, article, or device that includes a series of elements includes not only those elements, but also includes other elements that are not explicitly listed, or also includes elements inherent to such process, method, article, or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article, or device that includes the element.

[0063] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An unmanned vehicle detection device for dam slope structure hidden dangers and dangerous conditions, comprising a chassis (1), a controller (13) and two radar detectors (6), characterized in that: The two corners at the lower end of the chassis (1) are both provided with recessed parts, and the two recessed parts are both fixedly connected with sleeves (17), and the sleeves (17) are connected with a driving mechanism; The driving mechanism is used to drive the detection device to travel on the slope of the dam, and during the travel, the detection device is moved forward along a curve through the steering unit; A box body (9) is fixedly connected to one side of the chassis (1), a rotating shaft is rotatably connected to the box body (9) via a first ball bearing, and a support mechanism is connected to the shaft wall of the rotating shaft; The support mechanism is capable of adjusting its own height, and is used to support the chassis (1) in a three-point distribution with the drive mechanism, so that the detection device is in a horizontal state when moving forward on the slope of the dam; The support mechanism comprises a cross bar (2), a notch is formed on one side of the box body (9), one end of the cross bar (2) passes through the notch and is fixedly connected to the shaft wall of the rotating shaft, the other end of the cross bar (2) is rotatably connected to a sleeve (48) via a third rolling bearing, one end of the sleeve (48) is fixedly connected to a circular plate (18), the other end of the sleeve (48) is fixedly connected to a rectangular tube (3), a square tube (5) is sleeved inside the rectangular tube (3), a square block (47) is fixedly connected inside the square tube (5), and the side wall of the square block (47) is connected to a A screw rod (44), the upper end of the circular plate (18) is fixedly connected to a first motor (11), the output shaft of the first motor (11) is fixedly connected to the upper end of the screw rod (44), the lower end of the square tube (5) passes through the rectangular tube (3) and is fixedly connected to a support wheel (4), one side of the box body (9) is fixedly connected to a second motor (12), the output end of the second motor (12) extends into the box body (9) and is fixedly connected to a worm (42), one side of the worm (42) is meshed with a worm wheel (43), and the worm wheel (43) is fixed to the shaft wall of the rotating shaft; A horizontal shaft (10) is rotatably connected to the rod wall of the horizontal rod (2) via a bearing seat, and two ends of the horizontal shaft (10) are respectively connected to a first bevel gear (41) and a second bevel gear (46), the first bevel gear (41) is meshed with a first bevel gear ring (40), and the second bevel gear (46) is meshed with a second bevel gear ring (49), the first bevel gear ring (40) is fixed to the inner wall of the upper end of the box body (9), and the second bevel gear ring (49) is fixed to the side wall of the sleeve (48).

2. The unmanned vehicle detection device for dam slope structure hidden dangers and dangerous conditions according to claim 1 is characterized by: The driving mechanism comprises a vertical tube (8), and a transmission shaft (33) is rotatably connected in the vertical tube (8) via a second ball bearing, the tube wall of the vertical tube (8) is rotatably connected in the sleeve (17) via a rolling bearing, a support frame (14) is fixedly connected to the tube wall of the vertical tube (8), a side wall of the support frame (14) is rotatably connected to a support shaft via a third ball bearing, and both ends of the support shaft are fixedly connected to a driving wheel (7), a gear ring (28) is fixedly connected to the shaft wall of the support shaft, a first gear (32) is meshed on one side of the gear ring (28), and the first gear (32) is coaxially fixed to the lower end of the transmission shaft (33); A synchronous belt (19) is provided in the chassis (1), two first synchronous wheels (24) are wound in the synchronous belt (19), the first synchronous wheels (24) are fixed to the upper end of the transmission shaft (33), a driving motor (22) is fixedly connected to the chassis (1) via a support plate, the output end of the driving motor (22) is fixedly connected to a second synchronous wheel (21), the second synchronous wheel (21) is wound around the inner side of the synchronous belt (19), and the side wall of the support plate is rotatably connected to two positioning rollers (20) via a needle bearing, and the two positioning rollers (20) are in contact with one side of the synchronous belt (19).

3. The unmanned vehicle detection device for dam slope structure hidden dangers and dangerous conditions according to claim 2 is characterized by: A pull rod (16) is provided on one side of the chassis (1), and both ends of the pull rod (16) are rotatably connected to a transmission rod (15) via a pin, and the transmission rod (15) is fixedly connected to the tube wall of the vertical tube (8). The upper end of the pull rod (16) is fixedly connected to a rack (25), and one side of the rack (25) is meshed with a gear shaft (26). A steering motor (23) is fixedly connected inside the chassis (1), and the output end of the steering motor (23) passes through the side wall of the chassis (1) and is fixedly connected to one end of the gear shaft (26). A roller (27) is rotatably connected to one side of the chassis (1) via a fourth ball bearing, and the roller (27) is in contact with the rod wall of the pull rod (16).

4. The unmanned vehicle detection device for dam slope structure hidden dangers and dangerous conditions according to claim 2 is characterized by: The side wall of the support frame (14) is rotatably connected to a rotating shaft (30) via two first rolling bearings; one end of the rotating shaft (30) is fixedly connected to a second gear (29), the second gear (29) meshing with a gear ring (28); the other end of the rotating shaft (30) is fixedly connected to a disk (31); the side wall of the disk (31) is fixedly connected to a plurality of evenly distributed pins (35); the side wall of the pin (35) is rotatably connected to a ring (36) via a second rolling bearing; one side of the ring (36) is fixedly connected to a transmission plate (34); one end of the transmission plate (34) is fixedly connected to two nylon strips (38); one side of the transmission plate (34) is fixedly connected to a tension spring (37); one end of the tension spring (37) is fixedly connected to one side of the disk (31) via a connecting block.

5. The unmanned vehicle detection device for dam slope structure hidden dangers and dangerous conditions according to claim 1 is characterized by: The side wall of the square tube (5) is symmetrically provided with two strip-shaped through holes, and rectangular blocks (45) are provided in the two strip-shaped through holes. The rectangular blocks (45) are fixed to the inner wall of the rectangular tube (3). A positioning block with a C-shaped structure is fixedly connected to the box body (9), and the positioning block is sleeved with the shaft wall of the rotating shaft through a shaft sleeve.

6. The unmanned vehicle detection device for dam slope structure hidden dangers and dangerous conditions according to claim 1 is characterized by: The two radar detectors (6) are respectively fixed on both sides of the chassis (1), the controller (13) is fixed on the upper end of the chassis (1), the lower end of the chassis (1) is provided with an opening, and a cover plate is fixedly connected to the opening by bolts, and the upper end of the cover plate is fixedly connected to a power battery (39).

7. A method for detecting hidden dangers and dangerous conditions on dam slope structures by an unmanned vehicle using the detection device described in any one of claims 1 to 6, characterized in that: The following steps are involved: Step 1: Tie the cable of the onshore winding equipment to the body of the detection device, and place the detection device on the slope of the dam; Step 2: unfold the support mechanism of the detection device and adjust the support height of the support mechanism until the chassis (1) of the detection device is in a horizontal state; Step 3, turning on the radar detector (6), and starting the driving mechanism to make the detection device move along the curve on the slope of the dam; Step 4: When the detection device moves along the curve from the top of the slope to the bottom of the slope, the detection device is controlled to move along the same path from the bottom of the slope to the top of the slope until the detection of the embankment section is completed.

Images