A wheeled device and method for continuous measurement of terrain undulation

Abstract

The present invention discloses a wheeled device and method for continuous measurement of terrain undulations. The device generally adopts a wheeled structure, and the mechanical part consists of six parts: a moving wheel, a tugboat, a wheel axle, a moving wheel clip, a tugboat clip and a push rod; the moving wheel comprises an externally closed hub cavity, including the space between the wheel axle and the wheel rim, and the hub cavity contains a data processing and communication control module, a power module, and a distance measurement module; the wheel axle is made of metal or hard non-metallic material, and a bearing is installed at the end to connect with the moving wheel, and a slope measurement module is installed at the central position of the part located in the hub cavity. The measurement process is that after the device is powered on, under the control of the data processing and communication control module, the distance measurement module and the slope measurement module are started to work; the moving wheel is manually pushed forward to achieve the effect of continuously and completely collecting the terrain surface slope undulations, and can be applied to the fields of surface undulation measurement, field terrain measurement, and well and tunnel geological cataloging.

Description

Technical Field

[0001] The present invention relates to the field of continuous measurement of surface undulation and slope of land objects, and in particular to a wheeled device and method for continuous measurement of terrain undulation. Background Art

[0002] In people's daily life or engineering field, we often encounter situations where we need to continuously measure the surface of objects or the changes in the slope of the surface. For mountain road construction, bridge construction and other occasions, it is of great significance to realize the rapid and continuous mobile measurement of the road surface slope. For example, an important daily work of mine geology and tunnel engineering technicians is to truly record and describe the geological conditions revealed by the shaft and tunnel engineering, and provide a basic geological basis for safe production and construction. This requires engineering geological cataloging (or geological sketching). The traditional approach is to carry tools such as tape measures, steel tape measures, ropes, and compasses, and hang ropes in sections as baselines. Use compasses to measure the slope of the baseline, and use tape measures, steel tape measures and other tools to measure the distance and the roadway height (or mining height) based on the baseline. The segmented hanging baseline measurement completes the data collection, which is a large workload, cumbersome content, and low efficiency. Among them, measuring the roadway slope with the baseline is the most important link. In the Chinese invention patent CN110146058A (substantive examination stage) "A slope measurement method based on an omnidirectional wheeled vehicle", a method for collecting slopes using an omnidirectional wheeled vehicle is disclosed. Although this method can continuously collect terrain slopes, the vehicle is powered by a battery, which consumes a lot of power. At the same time, the chassis of the vehicle is easily affected by steep terrain and cannot pass through. Other slope measurement methods have the disadvantages of complicated detection processes and large limitations. For example, a slope detection device for road and bridge inspection with application number CN201821113872 is suitable for fixed-point detection. For roads with certain slope changes, multiple fixed-point measurements are required. Another example is a high-precision road slope detection vehicle with application number CN201711303814, which uses a dial to read data, making it difficult to achieve fast and continuous mobile measurements. Summary of the invention

[0003] The purpose of the present invention is to provide a wheeled device and method for continuous measurement of terrain undulations, so as to overcome the limitations of continuous measurement of the surface of objects or changes in the slope of surface undulations. In the process of pushing the wheeled device of the present invention forward, the slope and distance of the terrain surface can be continuously measured, so as to achieve the effect of continuously and completely collecting the slope undulations of the terrain surface. It can be applied to the fields of surface undulation measurement, field topographic measurement, well and tunnel geological cataloging, etc.

[0004] To achieve the above object, the present invention provides the following technical solutions:

[0005] A wheeled device for continuous measurement of terrain undulations, comprising a moving wheel, a tugboat, a wheel axle, a moving wheel clip, a tugboat clip and a push rod;

[0006] The interior of the moving wheel is a closed wheel hub cavity, the wheel axle is inserted and arranged at the center of the moving wheel, and the two ends of the wheel axle are connected to the moving wheel through bearings, the end of the push rod is connected to the bearings at both ends of the wheel axle through the moving wheel clip, and the tugboat is fixedly connected to the two free ends of the wheel axle through the tugboat clip;

[0007] A data processing and communication control module and a distance measurement module are arranged in the wheel hub cavity, a slope measurement module is installed at a central position of the bearing in the wheel hub cavity, the output ends of the distance measurement module and the slope measurement module are connected to the input end of the data processing and communication control module, and the distance measurement module, the slope measurement module and the data processing and communication control module are all powered by a power supply module;

[0008] The slope measurement module includes a MEMS three-axis gravity accelerometer chip and a data conditioning circuit; or a three-axis gravity accelerometer and a three-axis gyro angular velocity meter integrated chip and a data conditioning circuit; or a three-axis gravity accelerometer, a three-axis gyro angular velocity meter and a three-axis magnetoresistive sensor integrated chip and a data conditioning circuit, wherein one of the three axes of the three-axis gravity accelerometer is consistent with the direction of travel of the action wheel, and the other of the three axes of the three-axis gravity accelerometer is consistent with the axial direction of the wheel axle.

[0009] Furthermore, the power module is installed in the wheel hub cavity or in the push rod.

[0010] Furthermore, the distance measurement module includes a plurality of magnet blocks installed at equal angles on the inner wall of the hub cavity, and a Hall circuit module fixed on the wheel axle for sensing the magnet blocks.

[0011] Furthermore, the plurality of magnet blocks are located on the same circumference.

[0012] Furthermore, the distance measurement module is a Hall angle sensor installed at the center of the wheel axle, and the Hall angle sensor is installed coaxially with the wheel axle.

[0013] Furthermore, the moving wheel clip and the tugboat clip are made of metal or non-metal material.

[0014] Furthermore, the moving wheel clip and the tugboat clip are U-shaped or L-shaped.

[0015] Furthermore, it also includes a display module, and the display module is connected to the data processing and communication control module in a wireless or wired manner.

[0016] Furthermore, the display module includes a smart phone, or a terminal with wireless communication function, data processing and display, and / or storage function.

[0017] A method for continuous measurement of terrain undulations, after power is turned on, under the control of a data processing and communication control module, a distance measurement module and a slope measurement module are started to work, and the distance data and the slope data are synchronously collected while the action wheels are pushed forward;

[0018] The slope data calculation method is as follows: suppose one of the three axes of the three-axis gravity accelerometer is the Y axis, the angle of the Y axis relative to the horizontal plane in the initial state is θ0, and the angle between the Y axis and the ground at each point during the movement of the moving wheel is θ1, θ2, θ3...θ n , then the ground slope value at any point is: θ n -θ0, where n is any integer.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] The present invention is a wheeled device with the function of continuous distance and slope collection. In the process of pushing the wheeled device forward, by setting a data processing and communication control module, a distance measurement module and a slope measurement module, the slope and distance of the terrain surface can be continuously measured, so as to achieve the effect of continuously and completely collecting the terrain surface slope fluctuation. This technology can be applied to the fields of surface fluctuation measurement, field terrain measurement, well and tunnel geological cataloging, etc.

[0021] Furthermore, the present invention also includes a display module. The data processing and communication control module processes the data and sends it to the display module. After the display module receives the data, it stores and / or draws the surface undulation curve, thereby achieving the purpose of continuously measuring the surface undulation.

[0022] Furthermore, the distance measurement module of the present invention can be implemented by a Hall distance sensor, that is, radial magnet blocks are installed at equal angles on the wall of the wheel hub cavity, and the Hall circuit module of the induction magnet block fixed on the wheel axle cooperates to complete the measurement of distance data; it can also be implemented by a Hall angle sensor coaxially installed in the center of the wheel axle, that is, the Hall angle sensor measures the number of rotations of the moving wheel multiplied by the circumference of the moving wheel, and calculates the travel distance of the moving wheel, that is, the surface distance to be measured. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a structural diagram of the wheeled device of the present invention;

[0024] Figure 2 It is a schematic cross-sectional view of the wheeled device of the present invention.

[0025] In the figure, 1. moving wheel; 2. tugboat; 3. wheel axle; 4. moving wheel clip; 5. tugboat clip; 6. push rod; 7. magnet block; 8. Hall circuit module; 9. slope measurement module. DETAILED DESCRIPTION

[0026] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present disclosure and to be able to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that, in the absence of conflict, the embodiments of the present invention and the features described in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0027] Attached Figure 1 This is the overall structure diagram of the wheel measuring device. Figure 2 It is a cross-sectional schematic diagram of the measuring device, and its mechanical structure consists of six parts: the action wheel 1, the tugboat 2, the axle 3, the action wheel clip 4, the tugboat clip 5 and the push rod 6; the action wheel 1 is a large wheel, which includes an externally closed hub cavity made of metal or non-metal material, and the hub cavity includes the space between the axle 3 and the rim of the action wheel 1. The hub cavity contains a data processing and communication control module, a power module, and a distance measurement module; the axle 3 is made of metal or hard non-metal material, and a bearing is installed at the end to connect with the action wheel 1. The axle 3 is located in the center of the hub cavity and a slope measurement module is installed.

[0028] Among them, the power module includes a battery and a power processing circuit, and can also be replaced by a power supply installed in the push rod 6. It is connected to the wheel axle 3 through a cable inside the push rod 6 and connected to the action wheel clip 4 through the push rod 6, and then to the wheel hub cavity to power each module in the wheel hub cavity.

[0029] The data processing and communication control module, the distance measurement module, the slope measurement module and the power supply module are connected to complete the work control, data communication and data processing of each module and / or external communication functions.

[0030] Among them, the distance measurement module can be implemented by a Hall distance sensor, that is, radial magnet blocks 7 are installed at equal angles on the wall of the hub cavity, and the Hall circuit module of the induction magnet block fixed on the wheel axle 3 cooperates to complete the measurement of distance data; it can also be implemented by a Hall angle sensor coaxially installed in the center of the wheel axle, that is, the Hall angle sensor measures the number of rotations of the moving wheel 1 multiplied by the circumference of the moving wheel 1, and calculates the travel distance of the moving wheel 1, which is the surface distance to be measured.

[0031] The tugboat 2 is a small wheel mounted on the axis of the tugboat clip 5. The tugboat clip 5 is made of metal or non-metal material and is designed to be U-shaped or L-shaped and fixedly connected to the wheel axle 3, so that the tugboat 2 can rotate together with the action wheel 1. When the moving wheel 1 moves forward, the tugboat 2 will rise and fall around the wheel axle 3 as the terrain rises and falls, and at the same time drive the wheel axle 3 to rotate; the slope measurement module installed on the wheel axle includes a MEMS three-axis gravity accelerometer chip, or a three-axis gravity accelerometer and a three-axis gyro angular velocity meter integrated chip, or a three-axis gravity accelerometer, a three-axis gyro angular velocity meter, a three-axis magnetoresistive sensor integrated chip and a data conditioning circuit, wherein one of the three axes of the gravity accelerometer is consistent with the direction of travel of the moving wheel 1. Due to installation errors, the accelerometer axis can be roughly the same as the direction of travel, and the other axis of the three axes is consistent with the axis of the wheel axle. Similarly, due to installation errors, the accelerometer axis direction can be roughly consistent with the axis of the wheel axle. In this way, the rotation angle of one axis of the accelerometer that is consistent with the direction of travel of the moving wheel 1 relative to the axis of the wheel axle can be measured, and the real-time rotation angle of the wheel axle at the current travel distance point can be measured. This angle is equal to the terrain undulation slope.

[0032] The push rod 6 is connected to the action wheel clip 4. The action wheel clip 4 is made of metal or non-metal material, designed in a U shape or an L shape, and connected to the bearing of the wheel axle 3, so that the push rod 6 can push the wheel to rotate forward.

[0033] Slope calculation method: One of the three axes of the three-axis gravity accelerometer is consistent or roughly the same as the direction of travel of the action wheel 1. Let the name of this axis be the Y axis, and its initial state angle relative to the horizontal plane is θ0. This value can be obtained in a static state where the lower edge of the tugboat 2 and the action wheel 1 is consistent with the horizontal plane. Let the angle between the Y axis and the ground at each point during the movement of the action wheel 1 be θ1, θ2, θ3...θ n , then the ground slope value at any point is: θ n -θ0, where n is any integer from 0 to n.

[0034] Methods to improve measurement accuracy: Since the Y-axis acceleration component value is easily affected by the change of the posture of the action wheel 1 during the measurement process, such as left and right swing, or the deviation of the sensor installation position, which may cause measurement errors, the matrix rotation and translation method of linear algebra can be used for correction. In addition, since the measurement process is a dynamic measurement under the motion state of the action wheel, the real-time data will have a certain amplitude jump, and filtering algorithms such as Kalman filtering and smoothing filtering are required for data correction; furthermore, since the use environment of the gravity accelerometer may produce temperature changes, which will have a certain impact on the accelerometer value, it is necessary to perform necessary temperature compensation algorithms for correction.

[0035] The measuring device of the present invention may include a smart phone or a terminal with wireless communication function, data processing and display, and / or storage function as a display module. The display module may also be installed on the push rod 6 or communicate wirelessly to other terminals over long distances; the data processing and communication control module transmits the measured slope data, distance and other data to the display module in real time wirelessly or by wire. Figure 2 No display module is given.

[0036] The measurement process is that after the device is powered on, under the control of the data processing and communication control module, the distance measurement module and the slope measurement module are started to work; the action wheel 1 is manually pushed forward, and the device synchronously collects distance and slope data. The data processing and communication control module processes the data and sends it to the display module. After the display module receives the data, it stores and / or draws the surface undulation curve, thereby achieving the purpose of continuously measuring the surface undulation.

[0037] Finally, it should be noted that the above embodiments are only preferred embodiments of the present invention to illustrate the technical solutions of the present invention, rather than limiting them, and certainly not limiting the patent scope of the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments can still be modified, or some or all of the technical features can be replaced by equivalents. These modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention. In other words, any changes or modifications made to the main design concept and spirit of the present invention that have no substantive significance, and the technical problems they solve are still consistent with the present invention, should be included in the protection scope of the present invention. In addition, the direct or indirect application of the technical solutions of the present invention in other related technical fields is also included in the patent protection scope of the present invention.

Claims

1. A wheeled device for continuous measurement of terrain undulations, characterized in that: It comprises a moving wheel (1), a tugboat (2), a wheel axle (3), a moving wheel clip (4), a tugboat clip (5) and a push rod (6); The interior of the moving wheel (1) is a closed wheel hub cavity, the wheel axle (3) is inserted and arranged at the center position of the moving wheel (1), and the two ends of the wheel axle (3) are connected to the moving wheel (1) through bearings, the end of the push rod (6) is connected to the bearings at the two ends of the wheel axle (3) through the moving wheel clip (5), and the tugboat (2) is fixedly connected to the two free ends of the wheel axle (5) through the tugboat clip (5); A data processing and communication control module and a distance measurement module are arranged in the wheel hub cavity, a slope measurement module is installed at a central position of the bearing in the wheel hub cavity, the output ends of the distance measurement module and the slope measurement module are connected to the input end of the data processing and communication control module, and the distance measurement module, the slope measurement module and the data processing and communication control module are all powered by a power supply module; The tugboat (2) is mounted on the axis of the tugboat clip (5). The tugboat (2) rotates together with the action wheel (1). When the action wheel (1) moves forward, the tugboat (2) drives the wheel axle (3) to rotate. A slope measuring module is mounted on the wheel axle. The slope measurement module comprises a MEMS three-axis gravity accelerometer chip and a data conditioning circuit; or a three-axis gravity accelerometer and a three-axis gyro angular velocity meter integrated chip and a data conditioning circuit; or a three-axis gravity accelerometer, a three-axis gyro angular velocity meter and a three-axis magnetoresistive sensor integrated chip and a data conditioning circuit, wherein one of the three axes of the three-axis gravity accelerometer is consistent with the direction of travel of the action wheel (1), and another of the three axes of the three-axis gravity accelerometer is consistent with the axial direction of the wheel axle (3); The distance measurement module comprises a plurality of magnet blocks (7) mounted at equal angles on the inner wall of the wheel hub cavity, and a Hall circuit module (8) fixed on the wheel axle (3) and used for sensing the magnet blocks (7).

2. A wheeled device for continuous measurement of terrain undulations according to claim 1, characterized in that: The power module is installed in the wheel hub cavity or in the push rod (6).

3. A wheeled device for continuous measurement of terrain undulations according to claim 1, characterized in that: The plurality of magnet blocks (7) are located on the same circumference.

4. A wheeled device for continuous measurement of terrain undulations according to claim 1, characterized in that: The distance measurement module is a Hall angle sensor installed at the center of the wheel axle (3), and the Hall angle sensor is installed coaxially with the wheel axle (3).

5. A wheeled device for continuous measurement of terrain undulations according to claim 1, characterized in that: The moving wheel clip (4) and the tugboat clip (5) are made of metal or non-metal material.

6. A wheeled device for continuous measurement of terrain undulations according to claim 1, characterized in that: The moving wheel clip (4) and the tugboat clip (5) are U-shaped or L-shaped.

7. A wheeled device for continuous measurement of terrain undulations according to claim 1, characterized in that: It also includes a display module, and the display module is connected to the data processing and communication control module in a wireless or wired manner.

8. A wheeled device for continuous measurement of terrain undulations according to claim 7, characterized in that: The display module includes a smart phone, or a terminal with wireless communication function, data processing and display, and / or storage function.

9. A method for continuous measurement of terrain undulations, using a wheeled device for continuous measurement of terrain undulations as claimed in any one of claims 1 to 8, characterized in that: After the power is turned on, under the control of the data processing and communication control module, the distance measurement module and the slope measurement module are started to work, and the moving wheel (1) is pushed forward while simultaneously collecting distance data and slope data; The slope data calculation method is as follows: suppose one of the three axes of the three-axis gravity accelerometer is the Y axis, the angle of the Y axis relative to the horizontal plane in the initial state is θ0, and the angle between the Y axis and the ground at each point during the movement of the moving wheel (1) is θ 1， θ 2， θ 3 …… θ n , then the ground slope value at any point is: θ n -θ0, where n is any integer.

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