Ground penetrating radar detection vehicle, its stabilizing mechanism and use method

Abstract

The application discloses a ground penetrating radar detection vehicle, a stabilizing mechanism thereof and a use method, and belongs to the technical field of ground penetrating radar detection vehicles. The ground penetrating radar detection vehicle comprises a vehicle and a ground penetrating radar antenna; a mechanical damping arm connected to the vehicle; a three-axis stabilizer connected to the mechanical damping arm; a support rod connected to the three-axis stabilizer and the ground penetrating radar antenna respectively; and a laser range finder fixed to the ground penetrating radar antenna and signal connected to the mechanical damping arm and the three-axis stabilizer. The laser range finder is used for monitoring the height of the bottom surface of the ground penetrating radar antenna relative to the road surface and the pitch attitude in real time. The mechanical damping arm adjusts the height thereof according to the height change of the bottom surface of the ground penetrating radar antenna relative to the road surface, so as to eliminate the vibration transmitted to the three-axis stabilizer. The three-axis stabilizer adjusts the angle thereof according to the change of the pitch attitude of the bottom surface of the ground penetrating radar antenna relative to the road surface, so as to keep the horizontal position of the ground penetrating radar antenna in the measurement process.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of road and bridge detection technology, and particularly relates to a ground penetrating radar detection vehicle, a stabilizing mechanism thereof and a use method. BACKGROUND

[0002] The ground penetrating radar is a non-destructive testing technology based on high-frequency electromagnetic waves. The technology is widely used in non-destructive testing and evaluation of large-scale transportation infrastructure such as roads, bridges and tunnels due to its high detection speed, the ability to penetrate the surface of the detection object and a large coverage. The ground penetrating radar excites a super wide bandwidth of high-frequency electromagnetic waves through a controller and transmits them to the detection target by an antenna. Due to the difference in electrical properties, especially the dielectric properties, of different materials inside the detection target, reflected electromagnetic waves are generated. The reflected electromagnetic waves are converted into digital signals after being received by the antenna. In road applications, technicians analyze the differences in echo propagation time, amplitude and waveform between the reflected electromagnetic wave signals from the internal structure of the road surface and the incident waves to determine the internal information and hidden diseases of the road structure.

[0003] The current mainstream ground penetrating radar detection methods include handheld, handcart and vehicle loading. In the detection of road and bridge infrastructure, the vehicle-mounted air-coupled ground penetrating radar can be used for high-speed detection without the need to close the traffic, and therefore has been widely applied. In this method, the ground penetrating radar wire is fixed on the vehicle.

[0004] During the data collection process of the ground penetrating radar in the high-speed running of the vehicle, the height from the ground and the pitch attitude of the air-coupled antenna will appear high-frequency oscillation due to the bumping of the high-speed running vehicle and the vibration generated between the connecting components. According to the principle of electromagnetic wave propagation, for a certain fixed target, the reflected intensity of the electromagnetic wave received by the radar and the distance between the radar and the target are negatively correlated. The changes in the height from the ground and the pitch attitude will cause high-frequency vibration noise in the received electromagnetic wave signals, which will affect the measurement accuracy of the ground penetrating radar on the road surface information.

[0005] The existing vibration noise solving measures include reinforcing the installation structure of the ground penetrating radar antenna and signal processing noise reduction. For the reinforcement of the installation structure, the main difficulties are: the weight of the ground penetrating radar antenna itself is relatively large; the distance between the antenna and the metal anti-collision beam is at least 50 cm to prevent electromagnetic reflection noise generated by the latter; and the reinforcement cannot completely eliminate the high-frequency vibration noise. The signal processing noise reduction can effectively remove the vibration noise, but the noise reduction method based on filter design needs complex programming work, which is not conducive to the development of on-site rapid measurement and evaluation. SUMMARY

[0006] In view of the deficiencies in the prior art, the present application provides a ground penetrating radar detection vehicle, a stabilizing mechanism thereof and a use method to reduce the influence of vehicle bumping on the accuracy of the ground penetrating radar.

[0007] The application provides a ground penetrating radar detection vehicle, comprising:

[0008] a vehicle and a ground penetrating radar antenna;

[0009] a mechanical damping arm connected to the vehicle;

[0010] a three-axis stabilizer connected to the mechanical damping arm;

[0011] a support rod connected to the three-axis stabilizer and the ground penetrating radar antenna respectively;

[0012] a laser range finder fixed to the three-axis stabilizer and signal connected to the mechanical damping arm and the three-axis stabilizer, the laser range finder is used for monitoring the height and the pitch attitude of the bottom surface of the ground penetrating radar antenna relative to the road surface in real time, the mechanical damping arm adjusts its height according to the change of the height of the bottom surface of the ground penetrating radar antenna relative to the road surface to eliminate the vibration transmitted to the three-axis stabilizer, and the three-axis stabilizer adjusts its angle according to the change of the pitch attitude of the bottom surface of the ground penetrating radar antenna relative to the road surface to keep the horizontal position of the ground penetrating radar antenna during the measurement.

[0013] Further, the mechanical damping arm comprises:

[0014] four rigid rods connected head to tail through four rigid rod hinges to form a rhombus structure, adjacent two rigid rods can rotate to a certain extent through the rigid rod hinges, the lower part of the rhombus structure is connected to the vehicle, and the upper part of the rhombus structure is connected to the three-axis stabilizer;

[0015] four springs, each spring is connected to two rigid rod hinges at the two ends of the same rigid rod, and the spring is used for elastically maintaining the angle of the four rigid rods;

[0016] a damping arm motor, a driving rod is connected to one of the rigid rod hinges, the damping arm motor is signal connected to the laser range finder, the damping arm motor outputs torque to the damping arm hinge in real time according to the signal of the height of the bottom surface of the ground penetrating radar antenna relative to the road surface, and the height of the ground penetrating radar antenna is maintained through the stretching and compression of the spring.

[0017] Further, the three-axis stabilizer comprises:

[0018] a column connected to the upper part of the rhombus structure at the bottom end;

[0019] a horizontal support rod rotatably connected to the top end of the column through a stabilizer hinge at one end and connected to the support rod at the other end;

[0020] A stabilizer motor is connected to the stabilizer hinge, the stabilizer motor is connected with the laser range finder signal, the stabilizer motor outputs torque to the stabilizer hinge according to the pitch angle signal of the bottom surface of the ground penetrating radar antenna relative to the road surface in real time, and the bottom surface of the ground penetrating radar antenna is maintained parallel to the road surface.

[0021] Further, the ground penetrating radar antenna is an air-coupled ground penetrating radar.

[0022] Further, the number of the laser range finders is two, which are installed on the horizontal support rods and located on the two sides of the ground penetrating radar antenna, the height and the pitch angle of the bottom surface of the antenna relative to the road surface are calculated according to the geometric size of the antenna by emitting and receiving laser signals to the ground.

[0023] Further, the mechanical damping arm is installed on the bumper in front of or behind the vehicle through the load frame.

[0024] Further, the support rod is made of glass fiber or plastic.

[0025] Further, the ground penetrating radar detection vehicle further comprises:

[0026] A ground penetrating radar controller is used for emitting, receiving and storing the ground penetrating radar signal, and the ground penetrating radar controller is arranged in the vehicle and connected with the ground penetrating radar antenna through the cable passing through the vehicle window;

[0027] A power supply is arranged in the vehicle and electrically connected with the ground penetrating radar controller.

[0028] The application further provides a ground penetrating radar antenna posture stabilizing mechanism, comprising:

[0029] A laser range finder is used for monitoring the height and the pitch angle of the bottom surface of the ground penetrating radar antenna relative to the road surface in real time.

[0030] A mechanical damping arm comprises four rigid rods, which are connected in head-to-tail through four rigid rod hinges to form a rhombus structure, adjacent two rigid rods can rotate to a certain extent through the rigid rod hinge, the lower part of the rhombus structure is used for connecting with the vehicle, and the upper part of the rhombus structure is connected with the three-axis stabilizer.

[0031] Four springs are connected to the two rigid rod hinges at the two ends of the same rigid rod respectively, and the spring is used for elastically maintaining the angle of the four rigid rods.

[0032] A damping arm motor is connected to one of the rigid rod hinges through a driving rod, the damping arm motor is connected with the laser range finder signal, the damping arm motor outputs torque to the damping arm hinge according to the signal of the height of the bottom surface of the ground penetrating radar antenna relative to the road surface in real time, and the height of the ground penetrating radar antenna is maintained through the stretching and compression of the spring.

[0033] a three-axis stabilizer, comprising: a vertical column, a bottom end of which is connected to an upper part of the rhombic structure;

[0034] a horizontal support rod, one end of which is rotatably connected to a top end of the vertical column through a stabilizer hinge;

[0035] a support rod, which is connected to the horizontal support rod and the ground penetrating radar antenna respectively;

[0036] a stabilizer motor, a driving rod of which is connected to the stabilizer hinge, the stabilizer motor being connected to the laser range finder signal, the stabilizer motor outputting a torque to the stabilizer hinge in real time according to the pitch angle attitude signal of the bottom surface of the ground penetrating radar antenna relative to the road surface, so as to maintain the bottom surface of the ground penetrating radar antenna parallel to the road surface.

[0037] The application further provides a use method of the ground penetrating radar detection vehicle, comprising:

[0038] correcting the support rod through the level to maintain it in a horizontal direction, measuring the geometric size and ground clearance of the ground penetrating radar antenna, and calibrating the reading of the laser range finder and the torque of the shock absorbing arm motor and the stabilizer motor;

[0039] driving the vehicle to move and detecting through the ground penetrating radar antenna;

[0040] the laser range finder emitting and receiving reflected laser signals to the road surface, acquiring the height and pitch angle attitude of the bottom surface of the ground penetrating radar antenna relative to the road surface in real time during the ground penetrating radar test through the phase difference of the receiving signals of the two laser range finders and the geometric size of the ground penetrating radar antenna, and transmitting the signals to the motors in the shock absorbing arm and the three-axis stabilizer as input signals;

[0041] when the vehicle bounces and causes high-frequency oscillation of the ground clearance and the pitch attitude of the ground penetrating radar antenna, the shock absorbing arm motor outputs a torque to the shock absorbing arm hinge in real time according to the height signal of the bottom surface of the ground penetrating radar antenna relative to the road surface, and maintains the height of the ground penetrating radar antenna through the stretching and compression of the spring, and the stabilizer motor outputs a torque to the stabilizer hinge in real time according to the pitch angle attitude of the bottom surface of the ground penetrating radar antenna relative to the road surface, so as to maintain the bottom surface of the ground penetrating radar antenna parallel to the road surface.

[0042] The application has the following beneficial effects: (1) the laser range finder detection data are adjusted through the mechanical shock absorbing arm and the three-axis stabilizer to reduce the influence of vehicle vibration.

[0043] (2) One end of the mechanical damping arm is connected with the load frame, and the other end is connected with the three-axis stabilizer for mounting the ground penetrating radar support rod. The inside of the damping arm is composed of a rigid rod and a spring and connected by a metal bolt, forming a rhombus space with rigidity. When the vehicle carrying the ground penetrating radar system is running at high speed, the vehicle bumping and tire-pavement coupling vibration will cause the height and pitch attitude of the air coupled antenna of the ground penetrating radar to oscillate. The laser range finder mounted on both sides of the air coupled antenna obtains the distance from the antenna bottom to the road surface and the pitch attitude in real time, and sends the signals to the motor in the damping arm and the three-axis stabilizer. The motor outputs torque to the damping arm hinge according to the signals in real time, and maintains the height of the antenna through the stretching and compression of the spring inside the damping arm, and maintains the antenna bottom parallel to the road surface through the hinge rotation of the three-axis stabilizer, thereby achieving the effect of maintaining the constant height and pitch attitude of the air coupled antenna of the ground penetrating radar under the influence of vibration noise in the measurement process. BRIEF DESCRIPTION OF DRAWINGS

[0044] Figure 1 is the schematic diagram of the ground penetrating radar mounting device provided by the application, which comprises a load frame (1), a mechanical damping arm (2), a rigid connection column (3), a three-axis stabilizer (4), a horizontal support rod (5), a ground penetrating radar antenna (6), and a laser range finder (7). The signals of the laser range finder 7 are transmitted to the motor mounted in the mechanical damping arm 2 and the three-axis stabilizer 4 as input.

[0045] Figure 2 is the schematic diagram of the mechanical damping arm provided by the application. It comprises a rigid rod (8), a rigid rod hinge (9) and a spring (10). The motor is connected with the rigid rod hinge 9 and outputs torque in real time through the signals provided by the laser range finder 7.

[0046] Figure 3 is the three-axis stabilizer and ground penetrating radar antenna suspension scheme provided by the application. The left drawing is a side view, and the right drawing is a top view. It comprises a column (12), a horizontal support rod (5) (only part of the structure of the horizontal support rod 5 is shown in the drawing) and a stabilizer hinge (11). The motor is connected with the stabilizer hinge 11 and outputs torque in real time through the signals provided by the laser range finder 7. DETAILED DESCRIPTION

[0047] The technical solutions in the embodiments of the application will be described clearly and completely below with reference to the drawings in the embodiments of the application. The described embodiments are only a part of the embodiments of the application, not all the embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor are within the protection scope of the application.

[0048] The application provides a ground penetrating radar detection vehicle, a stabilizing mechanism thereof and a use method.

[0049] See Figures 1-3 The application provides a ground penetrating radar detection vehicle, which comprises:

[0050] a vehicle and a ground penetrating radar antenna 6;

[0051] a mechanical damping arm 2 connected to the vehicle;

[0052] a three-axis stabilizer 4 connected to the mechanical damping arm 2;

[0053] support rods (not shown in the figure) connected to the three-axis stabilizer 4 and the ground penetrating radar antenna 6 respectively;

[0054] a laser range finder 7 fixed to the three-axis stabilizer 4 and signal connected to the mechanical damping arm 2 and the three-axis stabilizer 4, the laser range finder 7 is used for monitoring the height and the pitch angle of the bottom surface of the ground penetrating radar antenna 6 relative to the road surface in real time, the mechanical damping arm 2 adjusts its height according to the change of the height of the bottom surface of the ground penetrating radar antenna 6 relative to the road surface, so as to eliminate the vibration transmitted to the three-axis stabilizer 4, and the three-axis stabilizer 4 adjusts its angle according to the change of the pitch angle of the bottom surface of the ground penetrating radar antenna 6 relative to the road surface, so as to keep the horizontal position of the ground penetrating radar antenna 6 during the measurement.

[0055] Further, the mechanical damping arm 2 comprises:

[0056] four rigid rods 8 connected head to tail to form a rhombus structure through four rigid rod hinges 9, adjacent two rigid rods 8 can rotate to a certain extent through the rigid rod hinges 9, the lower part of the rhombus structure is connected to the vehicle, and the upper part of the rhombus structure is connected to the three-axis stabilizer 4;

[0057] four springs 10, each spring 10 is connected to two rigid rod hinges at two ends of the same rigid rod 8, and the spring 10 is used for elastically maintaining the angle of the four rigid rods 8;

[0058] a damping arm motor, a driving rod of which is connected to one of the rigid rod hinges 9, the damping arm motor is signal connected to the laser range finder 7, the damping arm motor outputs a torque acting on the damping arm hinge according to the signal of the height of the bottom surface of the ground penetrating radar antenna 6 relative to the road surface in real time, and the height of the ground penetrating radar antenna 6 is maintained through the stretching and compression of the spring 10.

[0059] The output torque of the damping arm motor The output torque of the damping arm motor is obtained by the following formula:

[0060]

[0061] wherein, is the rigid rod load torque, is the moment of inertia, is the hinge angular velocity, t is time.

[0062] Further, the three-axis stabilizer 4 comprises:

[0063] a vertical column 12, the bottom end of which is connected to the upper part of the rhombic structure;

[0064] a horizontal support rod 5, one end of which is rotatably connected to the top end of the vertical column 12 through a stabilizer hinge 11, and the other end of which is connected to the support rod;

[0065] a stabilizer motor, the driving rod of which is connected to the stabilizer hinge 11, the stabilizer motor being signal-connected with the laser range finder 7, the stabilizer motor outputting a torque to the stabilizer hinge 11 according to the real-time output of the pitch angle posture signal of the bottom surface of the ground penetrating radar antenna 6 relative to the road surface, so as to maintain the bottom surface of the ground penetrating radar antenna 6 parallel to the road surface.

[0066] The output torque of the stabilizer motor can be obtained by the following formula:

[0067]

[0068] wherein, is the horizontal support rod load torque, is the moment of inertia, is the hinge angular velocity.

[0069] The vertical column 12 is arranged in a vertical direction, and the horizontal support rod 5 is arranged in a horizontal direction. The rotation axis of the horizontal support rod 5 is perpendicular to the vertical column 12 and the horizontal support rod 5.

[0070] Further, the ground penetrating radar antenna 6 is an air-coupled ground penetrating radar.

[0071] Further, the number of the laser range finders 7 is two, which are respectively installed on the horizontal support rod 5 and located on both sides of the ground penetrating radar antenna 6, and the height and pitch angle posture of the bottom surface of the antenna relative to the road surface are calculated according to the geometric size of the ground penetrating radar antenna by emitting and receiving laser signals to the ground. The specific formula is as follows:

[0072]

[0073]

[0074] wherein, and the road surface distance readings of the left and right laser range finders; and the installation pitch angle postures of the left and right laser range finders relative to the antenna direction; the distance between the two laser range finders; the height of the horizontal support rod from the road surface; the height of the top surface of the ground penetrating radar antenna from the bottom surface; except and the rest can be obtained in the calibration stage before the test starts. Further, the mechanical damping arm 2 is installed on the bumper in front of or behind the vehicle through the load frame 1.

[0075] Further, the load frame 1 is connected to one end of the rigid connection column 3, and the mechanical damping arm 2 is arranged at the other end of the rigid connection column 3.

[0076] Further, the support rod is made of glass fiber or plastic. Non-metallic materials can eliminate interference with the antenna transmitting and receiving electromagnetic waves.

[0077] Further, the ground penetrating radar detection vehicle further comprises:

[0078] a ground penetrating radar controller for transmitting, receiving and storing ground penetrating radar signals, the ground penetrating radar controller being arranged inside the vehicle and connected to the ground penetrating radar antenna 6 through a cable passing through the vehicle window;

[0079] a power supply arranged inside the vehicle and electrically connected to the ground penetrating radar controller.

[0080] The application also provides a ground penetrating radar antenna posture stabilizing mechanism, comprising:

[0081] a laser range finder 7 for monitoring the height and pitch angle posture of the bottom surface of the ground penetrating radar antenna 6 relative to the road surface in real time;

[0082] a mechanical damping arm 2 comprising four rigid rods 8 connected end to end to form a rhombus structure through four rigid rod hinges 9, adjacent two rigid rods 8 can rotate to a certain extent through the rigid rod hinges 9, the lower part of the rhombus structure is used for connecting with the vehicle, and the upper part of the rhombus structure is connected with the three-axis stabilizer 4;

[0083] four springs 10, each spring 10 being connected to two rigid rod hinges 9 at both ends of the same rigid rod 8, the spring 10 being used for elastically maintaining the angle of the four rigid rods 8;

[0084] A shock arm motor, a driving rod of which is connected to one of the rigid rod hinges 9, the shock arm motor being connected to the laser range finder 7 in signal, the shock arm motor outputting torque in real time to the shock arm hinge according to the signal of the height of the bottom surface of the ground penetrating radar antenna 6 relative to the road surface, and maintaining the height of the ground penetrating radar antenna 6 through the stretching and compression of the spring 10;

[0085] A three-axis stabilizer 4, comprising: a stand 12, a bottom end of which is connected to the upper part of the rhombic structure;

[0086] A horizontal support rod 5, one end of which is rotatably connected to the top end of the stand 12 through a stabilizer hinge 11;

[0087] Support rods, respectively connected to the horizontal support rod 5 and the ground penetrating radar antenna 6;

[0088] A stabilizer motor, a driving rod of which is connected to the stabilizer hinge 11, the stabilizer motor being connected to the laser range finder 7 in signal, the stabilizer motor outputting torque in real time to the stabilizer hinge 11 according to the signal of the pitch angle posture of the bottom surface of the ground penetrating radar antenna 6 relative to the road surface, and maintaining the bottom surface of the ground penetrating radar antenna 6 parallel to the road surface.

[0089] The application also provides a use method of the ground penetrating radar detection vehicle, comprising:

[0090] The support rods are corrected by the level to maintain in the horizontal direction, the geometric size and the height from the ground of the ground penetrating radar antenna 6 are measured, and the readings of the laser range finders 7 and the torque of the shock arm motor and the stabilizer motor are calibrated;

[0091] The vehicle is driven to move, and the detection is performed by the ground penetrating radar antenna 6;

[0092] The laser range finders 7 emit and receive reflected laser signals to the road surface, the height and the pitch angle posture of the bottom surface of the ground penetrating radar antenna 6 relative to the road surface are acquired in real time during the ground penetrating radar test through the collection of the receiving signals of the two laser range finders 7 and the geometric size of the ground penetrating radar antenna 6, and are transmitted to the motors in the mechanical shock arm 2 and the three-axis stabilizer 4 as input signals;

[0093] When the vehicle bounces and causes the height from the ground and the pitch posture of the ground penetrating radar antenna 6 to oscillate at high frequency, the shock arm motor outputs torque in real time to the shock arm hinge according to the signal of the height of the bottom surface of the ground penetrating radar antenna 6 relative to the road surface, and maintains the height of the ground penetrating radar antenna 6 through the stretching and compression of the spring 10, and the stabilizer motor outputs torque in real time to the stabilizer hinge 11 according to the pitch angle posture of the bottom surface of the ground penetrating radar antenna 6 relative to the road surface, and maintains the bottom surface of the ground penetrating radar antenna 6 parallel to the road surface.

[0094] When installing the ground penetrating radar detection vehicle, first fix the load frame 1 on the front or rear anti-collision rod of the test vehicle, and use rigid connection such as bolts at the connection position. One end of the mechanical damping arm 2 is connected to the load frame 1 through the screw hole reserved on the load frame 1, and the connection of other components (including the rigid rod 8 and the spring 10) is connected by bolts. The specific design is shown in Figure 2 The damping arm motor acts on the hinge connected to the rigid rod 8. The other end of the mechanical damping arm 2 is connected to the three-axis stabilizer 4, which includes a stand 12, a stabilizer hinge 11 and a horizontal support rod 5. The stabilizer motor is connected to the stabilizer hinge 11. The ground penetrating radar antenna 6 is suspended on the horizontal support rod 5, and the laser range finder 7 is installed at both ends of the ground penetrating radar antenna 6. The motors in the mechanical damping arm 2 and the three-axis stabilizer 4 need the laser range finder 7 signal as input. The support rod suspending the ground penetrating radar antenna 6 is made of non-metallic glass fiber or high-strength plastic. The ground penetrating radar controller is fixed inside the ground penetrating radar detection vehicle, connected with the ground penetrating radar antenna through the vehicle window, and the connection material is cable. The power supply is placed in the ground penetrating radar detection vehicle and connected with the ground penetrating radar controller for power supply.

[0095] During the operation of the ground penetrating radar, the height above ground and the pitch attitude of the ground penetrating radar antenna 6 will oscillate at a high frequency due to the bumping of the vehicle and the tire-road coupling. The laser range finder 7 installed on both sides of the ground penetrating radar antenna 6 emits and receives reflected laser signals to the road surface. By collecting the phase difference of the signals received by the two laser range finders 7 and the geometric size of the ground penetrating radar antenna 6, the height and pitch angle of the antenna bottom surface relative to the road surface can be obtained in real time during the ground penetrating radar test, and input signals are transmitted to the motors in the mechanical damping arm 2 and the three-axis stabilizer 4.

[0096] The damping arm motor of the mechanical damping arm 2 acts on the rigid rod hinge 9 connected to the rigid rod 8, and the input signal of the damping arm motor is the antenna height above ground obtained by the laser range finder 7. According to the design principle of the Stanik stabilizer, the vibration of the load frame 1 is transmitted to the mechanical damping arm 2, and the damping arm motor pulls the rigid rod 8 through the rigid rod hinge 9 according to the input signal, so as to control the stretching and compression of the stabilizer internal spring 10, and then eliminate the vibration transmitted to the other side of the mechanical damping arm 2, i.e. the stand 12 of the three-axis stabilizer 4. The mechanical damping arm 2 is rigidly connected to the stand 12 of the three-axis stabilizer 4 through the reserved screw hole, as shown in Figure 1 The mechanical damping arm 2 forms a rhombus structure through four rigid rods 8, and the motor acts on four rotatable rigid rod hinges 9, and the spring 10 is connected to the opposite diagonal hinges of the rigid rod 8 rhombus structure at both ends.

[0097] The motor of the three-axis stabilizer 4 acts on the stabilizer hinge 11, the input signal of the motor being the relative pitch angle of the antenna bottom surface to the road surface, which is acquired by the laser range finder 7. By applying a torque to the stabilizer hinge 11, the support pole can maintain the ground-penetrating radar in a horizontal position during the measurement.

[0098] Before measurement, the support pole needs to be corrected by means of a level to maintain it in a horizontal direction. The geometric dimensions and the height from the ground of the ground-penetrating radar antenna 6 need to be measured and the readings of the laser range finder 7 and the torque of the motor in the three-axis stabilizer 4 need to be calibrated.

[0099] The above is only an embodiment of the present application, and the common knowledge of the specific structure and characteristics in the scheme is not described in detail. The person skilled in the art knows all the common technical knowledge in the field of the present application before the application date or the priority date, can know all the prior art in the field, and has the ability to apply conventional experimental means before that date. The person skilled in the art can improve and implement the present scheme based on the disclosure given in the present application, and some typical known structures or known methods should not be an obstacle to the implementation of the present application. It should be pointed out that, for those skilled in the art, without departing from the structure of the present application, a number of modifications and improvements can be made, which should also be considered as the protection scope of the present application, and these will not affect the effect and practicality of the present application. The protection scope of the present application should be subject to the content of its claims, and the specific implementation mode and the like in the specification can be used to explain the content of the claims.

Claims

1. A ground penetrating radar detection vehicle, comprising: a vehicle and a ground penetrating radar antenna; characterized in that it further comprises: a mechanical damping arm connected to the vehicle; a three-axis stabilizer connected to the mechanical damping arm; a support rod connected to the three-axis stabilizer and the ground penetrating radar antenna respectively; a laser range finder fixed to the three-axis stabilizer, located on both sides of the ground penetrating radar antenna, and signal connected to the mechanical damping arm and the three-axis stabilizer, the laser range finder is used to monitor the height and pitch attitude of the bottom surface of the ground penetrating radar antenna relative to the road surface in real time, the mechanical damping arm adjusts its height according to the change of the height of the bottom surface of the ground penetrating radar antenna relative to the road surface to eliminate the vibration transmitted to the three-axis stabilizer, and the three-axis stabilizer adjusts its angle according to the change of the pitch attitude of the bottom surface of the ground penetrating radar antenna relative to the road surface to keep the ground penetrating radar antenna horizontal during measurement.

2. The ground-penetrating radar truck of claim 1, wherein, The mechanical damping arm comprises: four rigid rods connected head to tail through four rigid rod hinges to form a rhombus structure, adjacent two rigid rods can rotate to a certain extent through the rigid rod hinge, the lower part of the rhombus structure is connected to the vehicle, and the upper part of the rhombus structure is connected to the three-axis stabilizer; four springs connected to the two rigid rod hinges at the two ends of the same rigid rod, the springs are used to elastically maintain the angle of the four rigid rods; a damping arm motor connected to the four hinges near the vehicle side of the damping arm, the damping arm motor is signal connected to the laser range finder, and the damping arm motor outputs torque to the damping arm hinge in real time according to the signal of the height of the bottom surface of the ground penetrating radar antenna relative to the road surface, and maintains the height of the ground penetrating radar antenna through the stretching and compression of the spring.

3. The ground-penetrating radar truck of claim 2, wherein, The three-axis stabilizer comprises: a vertical column connected to the upper part of the rhombus structure at the bottom end; a horizontal support rod rotatably connected to the top end of the vertical column through a stabilizer hinge at one end and connected to the support rod at the other end; a stabilizer motor with a driving rod connected to the stabilizer hinge, the stabilizer motor is signal connected to the laser range finder, and the stabilizer motor outputs torque to the stabilizer hinge in real time according to the pitch attitude signal of the bottom surface of the ground penetrating radar antenna relative to the road surface to maintain the parallelism of the bottom surface of the ground penetrating radar antenna and the road surface.

4. The ground-penetrating radar truck of claim 1, wherein, The ground penetrating radar antenna is an air-coupled ground penetrating radar.

5. The ground-penetrating radar truck of claim 3, wherein, The number of laser range finders is two, which are installed on the horizontal support rod and located on both sides of the ground penetrating radar antenna, and the height and pitch attitude of the antenna bottom surface relative to the road surface are calculated by emitting and receiving laser signals to the ground according to the geometric size of the ground penetrating radar antenna.

6. The ground-penetrating radar truck of claim 1, wherein, The mechanical damping arm is installed on the bumper in front of or behind the vehicle through a load carrier.

7. The ground-penetrating radar truck of claim 1, wherein, The material of the support rod is glass fiber or plastic.

8. The ground-penetrating radar truck of claim 1, wherein, The ground penetrating radar detection vehicle further comprises: a ground penetrating radar controller for transmitting, receiving and storing ground penetrating radar signals, the ground penetrating radar controller is arranged in the vehicle and connected to the ground penetrating radar antenna through a cable passing through the vehicle window; a power supply arranged in the vehicle and electrically connected to the ground penetrating radar controller.

9. A ground penetrating radar antenna attitude stabilization mechanism, characterized by, comprising: a laser range finder, the laser range finder is used to monitor the height and pitch attitude of the bottom surface of the ground penetrating radar antenna relative to the road surface in real time; The mechanical damping arm comprises four rigid rods, which are connected head to tail to form a rhombus structure through four rigid rod hinges, adjacent two rigid rods can rotate to a certain extent through the rigid rod hinges, the lower part of the rhombus structure is used for connecting with the vehicle, and the upper part of the rhombus structure is connected with a three-axis stabilizer; Four springs, each of which is connected to two rigid rod hinges at the two ends of the same rigid rod, and the spring is used for elastically maintaining the angle of the four rigid rods; The damping arm motor is connected to one of the rigid rod hinges through a driving rod, the damping arm motor is connected with the laser range finder signal, and the damping arm motor outputs torque in real time to the damping arm hinge according to the signal of the height of the ground penetrating radar antenna bottom surface relative to the road surface, and maintains the height of the ground penetrating radar antenna through the stretching and compression of the spring; The three-axis stabilizer comprises a stand column connected to the upper part of the rhombus structure at the bottom end; A horizontal support rod is rotatably connected to the top end of the stand column through a stabilizer hinge at one end; Support rods are connected to the horizontal support rod and the ground penetrating radar antenna respectively; The stabilizer motor is connected to the stabilizer hinge through a driving rod, the stabilizer motor is connected with the laser range finder signal, and the stabilizer motor outputs torque in real time to the stabilizer hinge according to the signal of the pitch angle posture of the ground penetrating radar antenna bottom surface relative to the road surface, so as to maintain the ground penetrating radar antenna bottom surface parallel to the road surface.

10. A method of using a ground-penetrating radar detection vehicle as recited in claim 1, wherein, It comprises: The support rod is corrected by the level to maintain it in the horizontal direction, the geometric size and the ground clearance of the ground penetrating radar antenna are measured, and the reading of the laser range finder and the torque of the damping arm motor and the stabilizer motor are calibrated; The vehicle is driven to move, and the ground penetrating radar antenna is used for detection; The laser range finder emits and receives reflected laser signals to the road surface, and the height and pitch angle posture of the ground penetrating radar antenna bottom surface relative to the road surface are obtained in real time during the ground penetrating radar test through the phase difference of the signals received by the two laser range finders and the geometric size of the ground penetrating radar antenna, and are transmitted to the motors in the damping arm and the three-axis stabilizer as input signals; When the vehicle bounces and causes high-frequency oscillation of the ground clearance and the pitch posture of the ground penetrating radar antenna, the damping arm motor outputs torque in real time to the damping arm hinge according to the signal of the height of the ground penetrating radar antenna bottom surface relative to the road surface, and maintains the height of the ground penetrating radar antenna through the stretching and compression of the spring, and the stabilizer motor outputs torque in real time to the stabilizer hinge according to the pitch angle posture of the ground penetrating radar antenna bottom surface relative to the road surface, so as to maintain the ground penetrating radar antenna bottom surface parallel to the road surface.

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