Vehicle-mounted integrated radar automatic detection vehicle

Abstract

The invention discloses a vehicle-mounted integrated radar automatic detection vehicle, and belongs to the field of pavement quality detection devices.The detection vehicle comprises a detection mechanism, the detection mechanism comprises a vehicle body, a straight electric telescopic rod is connected to the vehicle body, the output end of the straight electric telescopic rod is connected with a mounting plate, and a plurality of ground penetrating radars are arranged on the lower surface of the mounting plate in a rectangular array mode; when the straight electric telescopic rod extends, the plurality of ground penetrating radars are close to the road surface; the detection vehicle can conveniently carry out carpet-type and full-coverage general survey detection on the road surface in the driving process, the road detection efficiency and accuracy are greatly improved, meanwhile, the labor intensity of detection work and the equipment management cost are reduced, and a more efficient and reliable solution is provided for urban road detection work.

Description

Technical Field

[0001] The invention relates to the technical field of road quality detection devices, in particular to a vehicle-mounted integrated radar automatic detection vehicle. Background Art

[0002] With the rapid development of urban construction, the condition of urban roads has a vital impact on traffic operation, infrastructure maintenance and urban planning. In order to ensure the safety, durability and functionality of roads, accurate inspection of road surfaces has become a necessary task.

[0003] Traditional road detection methods often rely on manual inspections or simple measuring tools. These methods are not only inefficient, but also difficult to guarantee the accuracy and comprehensiveness of the detection results. In the early days of applying radar detection technology to the field of road detection, the radar was usually placed on the vehicle and then hung behind the vehicle for dragging detection when in use. This method has many inconveniences. For example, it takes a lot of time and manpower to install and disassemble the radar equipment, and the stability of the radar is difficult to control during the dragging process. It is easily disturbed by external factors, thus affecting the quality of the detection data. In addition, this split detection method also requires a large space during the transportation and storage of the equipment, which is not conducive to the management and maintenance of the equipment. Summary of the invention

[0004] The purpose of the present invention is to provide a vehicle-mounted integrated radar automatic detection vehicle, which solves the problem that the existing device is inconvenient to use.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a vehicle-mounted integrated radar automatic detection vehicle, comprising a detection mechanism, wherein the detection mechanism comprises a vehicle body, a straight electric telescopic rod is connected to the vehicle body, an output end of the straight electric telescopic rod is connected to a mounting plate, a plurality of ground penetrating radars are arranged in a rectangular array on the lower surface of the mounting plate, and when the straight electric telescopic rod is extended, the plurality of ground penetrating radars are close to the road surface.

[0006] Preferably, it further comprises an obstacle avoidance mechanism, wherein the obstacle avoidance mechanism comprises a plurality of lifting frames, and each row of the ground penetrating radars in the traveling direction of the vehicle body is connected to the same lifting frame;

[0007] The vehicle body is hingedly connected with a first swing plate corresponding to the plurality of lifting frames in a one-to-one manner at the end in the direction of travel. The plurality of first swing plates are located in the same plane and are inclined. When the first swing plate swings, the corresponding lifting frames first rise and then fall.

[0008] Preferably, the obstacle avoidance mechanism further comprises an active oil cylinder connected to the vehicle body, an elastic pull rope is connected to the end of the cylinder rod of the active oil cylinder, a storage wheel is connected to the swing shaft of the first swing plate, and the elastic pull rope is wound and connected to the storage wheel;

[0009] An N-shaped frame is connected to the upper surface of the mounting plate, a passive oil cylinder is connected to the N-shaped frame, a cylinder rod of the passive oil cylinder is connected to the lifting frame, an oil pipe is connected between the active oil cylinder and the passive oil cylinder, a spring is connected between the N-shaped frame and the lifting frame, and when the first swing plate swings, the storage wheel rotates synchronously and stores the elastic pull rope, thereby driving the passive oil cylinder to shorten so that the lifting frame rises.

[0010] Preferably, it also includes a reset mechanism, which includes a plurality of second swing plates hinged to the rear of the vehicle body, and the plurality of second swing plates correspond one to one with the plurality of first swing plates. After the first swing plate swings, when the corresponding second swing plate swings, the hydraulic oil in the passive oil cylinder flows back to the active oil cylinder through the oil pipe, so that the lifting frame descends.

[0011] Preferably, the obstacle avoidance mechanism also includes a control box, which is connected to the oil pipe. The control box is internally slidably connected with a sealing frame and hinged with a sealing plate. When the active oil cylinder is extended, the passive oil cylinder is shortened so that the hydraulic oil pushes the sealing plate to swing and flow to the active oil cylinder.

[0012] Preferably, the control box is connected to a first electric push rod, the output end of the first electric push rod passes through the control box and is connected to the sealing frame, and the tail of the vehicle body is provided with a plurality of proximity switches corresponding to the plurality of second swing plates, and when the second swing plate swings and approaches the corresponding proximity switch, the corresponding first electric push rod is shortened to make the sealing frame move away from the sealing plate, so that the corresponding passive oil cylinder is extended by the spring drive, so that the hydraulic oil pushes the sealing plate to swing toward the sealing frame and flows back into the passive oil cylinder.

[0013] Preferably, the reset mechanism also includes an angle sensor connected to the storage wheel, an arc-shaped electric telescopic rod is connected to the tail of the vehicle body, and the proximity switch is connected to the end of the arc-shaped electric telescopic rod. When the angle sensor detects that the first swing plate swings and the vehicle body does not move the distance between the first swing plate and the second swing plate, the arc-shaped electric telescopic rod is shortened so that the proximity switch is out of the sensing range of sensing the swing of the second swing plate.

[0014] Preferably, it also includes a direction maintaining mechanism, which includes a mounting seat, a steering seat is connected to the mounting seat, and a motor wheel is rotatably connected to the steering seat. When the arc-shaped electric telescopic rod is shortened, the motor wheel returns to the right position so that the vehicle body maintains straight driving.

[0015] Preferably, a steering motor for driving the steering seat to swing is connected to the mounting seat, and when the arc-shaped electric telescopic rod is shortened, the steering motor drives the motor wheel to move forward.

[0016] Preferably, a plurality of groups of second electric push rods corresponding to the plurality of motor wheels are connected to the vehicle body, the number of the second electric push rods in each group is two, the two second electric push rods are symmetrically arranged on both sides of the corresponding steering seat, the ends of the second electric push rods are connected to balls, and when the arc-shaped electric telescopic rod is shortened, each group of the second electric push rods is extended by an equal length so that the balls abut against the motor wheels, thereby the motor wheels are straightened.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. The present invention moves the vehicle body to the required detection position. When the road surface needs to be detected, the vehicle body is controlled to travel on the road surface, and the straight electric telescopic rod is controlled to extend, so that the mounting plate is driven to move downward, so that the ground penetrating radar arranged at the lower part of the mounting plate approaches the road surface and detects the road surface. Multiple ground penetrating radars form an array, which can perform carpet-style, full-coverage census detection of urban roads. By setting a straight electric telescopic rod to drive the mounting plate to move downward so that the ground penetrating radar can be detected, the ground penetrating radar is integrated on the vehicle body. Compared with placing the radar on the vehicle and hanging it behind the vehicle for dragging detection when in use, the present detection vehicle is more convenient to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0020] Figure 2 is a cross-sectional view of the present invention;

[0021] Figure 3 It is a structural schematic diagram of the obstacle avoidance mechanism of the present invention;

[0022] Figure 4 For the present invention Figure 3 The structural diagram of part A in the figure;

[0023] Figure 5 It is a structural schematic diagram of the first swing plate of the present invention;

[0024] Figure 6 It is a structural schematic diagram of the second swing plate of the present invention;

[0025] Figure 7 It is a schematic structural diagram of the motor wheel of the present invention.

[0026] In the figure: 100, detection mechanism; 110, vehicle body; 120, straight electric telescopic rod; 130, mounting plate; 140, ground penetrating radar; 200, obstacle avoidance mechanism; 210, first articulated seat; 211, first swing plate; 212, storage wheel; 213, elastic pull rope; 220, active cylinder; 221, oil pipe; 230, passive cylinder; 231, N-shaped frame; 240, lifting frame; 250, control box; 260 , sealing frame; 270, sealing plate; 300, reset mechanism; 310, second hinged seat; 320, second swing plate; 330, arc-shaped electric telescopic rod; 340, proximity switch; 341, first electric push rod; 350, angle sensor; 400, direction maintaining mechanism; 410, mounting seat; 420, steering seat; 430, steering motor; 440, motor wheel; 450, second electric push rod; 460, ball bearing. DETAILED DESCRIPTION

[0027] 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.

[0028] Example 1, reference Figure 1 , Figure 2 and Figure 3 A vehicle-mounted integrated radar automatic detection vehicle includes a detection mechanism 100, and the detection mechanism 100 includes a vehicle body 110. A straight electric telescopic rod 120 is connected to the vehicle body 110. The output end of the straight electric telescopic rod 120 is connected to a mounting plate 130. A plurality of ground penetrating radars 140 are arranged in a rectangular array on the lower surface of the mounting plate 130. When the straight electric telescopic rod 120 is extended, the plurality of ground penetrating radars 140 are close to the road surface.

[0029] When in use, the vehicle body 110 is moved to the required inspection position. When the road surface needs to be inspected, the vehicle body 110 is controlled to travel on the road surface, and the straight electric telescopic rod 120 is controlled to extend, so that the mounting plate 130 is driven to move downward, so that the ground penetrating radar 140 arranged at the lower part of the mounting plate 130 approaches the road surface and inspects the road surface. Multiple ground penetrating radars 140 form an array, which can conduct a carpet-style, full-coverage survey and detection of urban roads. By setting the straight electric telescopic rod 120 to drive the mounting plate 130 to move downward so that the ground penetrating radar 140 can be inspected, the ground penetrating radar 140 is integrated on the vehicle body 110. Compared with placing the radar on the vehicle and hanging it behind the vehicle for dragging detection when in use, the inspection vehicle is more convenient to use.

[0030] It also includes an obstacle avoidance mechanism 200, which includes multiple lifting frames 240. Each row of ground penetrating radars 140 in the traveling direction of the vehicle body 110 is connected to the same lifting frame 240; the traveling direction end of the vehicle body 110 is hinged with a first swing plate 211 corresponding to the multiple lifting frames 240 one by one, and the multiple first swing plates 211 are located in the same plane and are inclined. When the first swing plate 211 swings, the corresponding lifting frame 240 first rises and then falls. The traveling end of the vehicle body 110 is connected to a first articulated seat 210, and the multiple first swing plates 211 are all articulated to the first articulated seat 210.

[0031] Since the ground penetrating radar 140 needs to be close to the road surface when detecting the road surface, the ground penetrating radar 140 needs to perform obstacle avoidance when there is an obstacle on the road surface. The detection vehicle is provided with a plurality of first swing plates 211 at the near end of the vehicle body 110. Each first swing plate 211 controls the lifting and lowering of a row of lifting frames 240 in the corresponding direction of travel. When a road obstacle blocks the first swing plate 211, the first swing plate 211 is blocked by the obstacle and swings, so that the corresponding lifting frame 240 drives the ground penetrating radar 140 in this row to move upward, so that the ground penetrating radar 140 in this row avoids the obstacle, thereby preventing the ground penetrating radar 140 from being damaged by the collision of the obstacle. After the vehicle body 110 passes the obstacle, the lifted lifting frame 240 then falls down to continue detecting the road surface.

[0032] In addition, since the multiple first swing plates 211 are located in the same plane and are inclined, unstable objects such as stones on the road surface can be pushed by the multiple first swing plates 211 and transferred to the side of the vehicle body 110 along the inclination of the first swing plates 211 .

[0033] The obstacle avoidance mechanism 200 also includes an active cylinder 220 connected to the vehicle body 110, the cylinder rod end of the active cylinder 220 is connected to an elastic pull rope 213, the swing shaft of the first swing plate 211 is connected to a storage wheel 212, and the elastic pull rope 213 is wound around and connected to the storage wheel 212; the upper surface of the mounting plate 130 is connected to an N-shaped frame 231, the N-shaped frame 231 is connected to a passive cylinder 230, the cylinder rod of the passive cylinder 230 is connected to a lifting frame 240, an oil pipe 221 is connected between the active cylinder 220 and the passive cylinder 230, a spring is connected between the N-shaped frame 231 and the lifting frame 240, and when the first swing plate 211 swings, the storage wheel 212 rotates synchronously and stores the elastic pull rope 213, thereby driving the passive cylinder 230 to shorten so that the lifting frame 240 rises.

[0034] When the vehicle body 110 is moving, if the first swing plate 211 is blocked by debris firmly attached to the road surface, or the weight of the debris is too heavy to make the first swing plate 211 unable to remove the debris, the debris will push the first swing plate 211 to swing, and at this time the first swing plate 211 drives the storage wheel 212 to rotate synchronously, so that the storage wheel 212 stores the elastic pull rope 213, so that the elastic pull rope 213 pulls the cylinder rod of the active oil cylinder 220 to extend, so that the active oil cylinder 220 extracts the hydraulic oil in the passive oil cylinder 230 through the oil pipe 221, so that the passive oil cylinder 230 is shortened, and then the passive oil cylinder 230 drives the lifting frame 240 to move up, so that the ground penetrating radar 140 of the corresponding row moves up and away from obstacles to avoid collision. The elastic pull rope 213 has a certain elastic deformation ability, so when the swing amplitude of the first swing plate 211 is not large, it will not trigger the upward movement of the ground penetrating radar 140, thereby ensuring the accuracy of detection;

[0035] In this embodiment, the first swing plate 211 has sufficient weight. After the first swing plate 211 passes over the obstacle, it automatically resets. At this time, the elastic pull rope 213 releases the pull on the cylinder rod of the active cylinder 220, so that the spring elastic recovery causes the passive cylinder 230 to extend, and then the lifting frame 240 drives the corresponding ground penetrating radar 140 to move down and reset. It should be noted here that the extension and retraction of the active cylinder 220 and the passive cylinder 230 both have resistance, so that the falling speed of the ground penetrating radar 140 is not too fast, causing the vehicle body 110 to fall completely before passing over the obstacle, thereby ensuring that the obstacle avoidance effect can be achieved.

[0036] Example 2, reference Figure 1 , Figure 4 , Figure 5 , Figure 6 and Figure 7 On the basis of Example 1, further, it also includes a reset mechanism 300, the reset mechanism 300 includes a plurality of second swing plates 320 hinged to the rear of the vehicle body 110, the plurality of second swing plates 320 correspond one to one to the plurality of first swing plates 211, after the first swing plate 211 swings, when the corresponding second swing plate 320 swings, the hydraulic oil in the passive cylinder 230 flows back to the active cylinder 220 through the oil pipe 221, so that the lifting frame 240 descends, and the rear of the vehicle body 110 is connected to a second articulated seat 310, and the plurality of second swing plates 320 are all articulated to the second articulated seat 310.

[0037] In this embodiment, the ground penetrating radar 140 will only fall when the vehicle body 110 completely passes the obstacle. Specifically, a second swing plate 320 is set at the rear of the vehicle body 110. When the second swing plate 320 is pushed by the obstacle, it means that the vehicle body 110 has passed the obstacle. At this time, the hydraulic oil in the passive cylinder 230 will flow back into the active cylinder 220, thereby causing the lifting frame 240 to fall.

[0038] The obstacle avoidance mechanism 200 also includes a control box 250, which is connected to the oil pipe 221. The control box 250 is internally slidably connected to a sealing frame 260 and hingedly connected to a sealing plate 270. When the active cylinder 220 is extended, the passive cylinder 230 is shortened, so that the hydraulic oil pushes the sealing plate 270 to swing and flow to the active cylinder 220.

[0039] Specifically, the lifting mechanism 240 is raised by setting a control box 250 on the oil pipe 221 to control the flow of hydraulic oil and control when the lifting mechanism 240 falls. In the initial state, the sealing frame 260 is close to the sealing plate 270. At this time, the sealing plate 270 can only swing in one direction, that is, the hydraulic oil can only flow into the active cylinder 220 through the passive cylinder 230, thereby ensuring that the ground penetrating radar 140 can move upward after the first swing plate 211 is pushed by an obstacle, and maintain the upward state without falling, thereby preventing the ground penetrating radar 140 from contacting the obstacle.

[0040] A first electric push rod 341 is connected to the control box 250, and an output end of the first electric push rod 341 passes through the control box 250 and is connected to the sealing frame 260. A plurality of proximity switches 340 corresponding to the plurality of second swing plates 320 are provided at the rear of the vehicle body 110. When the second swing plates 320 swing and approach the corresponding proximity switches 340, the corresponding first electric push rod 341 shortens to make the sealing frame 260 move away from the sealing plate 270, so that the corresponding passive cylinder 230 is extended by the spring drive, so that the hydraulic oil pushes the sealing plate 270 to swing toward the sealing frame 260 and flows back into the passive cylinder 230.

[0041] Specifically, the descending principle of the lifting frame 240 is that when the second swing plate 320 is pushed by the obstacle and swings, it means that the obstacle has moved out of the lower part of the ground penetrating radar 140. At this time, the ground penetrating radar 140 can fall without being hit. When the second swing plate 320 swings, it can approach the proximity switch 340. After the proximity switch 340 senses the approach of the second swing plate 320, it controls the first electric push rod 341 to shorten so that the sealing frame 260 is away from the sealing plate 270, so that the sealing plate 270 can swing in the opposite direction at this time, and the spring acts on the passive cylinder 230 so that the passive cylinder 230 always has a tendency to extract hydraulic oil. When the sealing frame 260 is away from the sealing plate 270, the passive cylinder 230 immediately extends, so that the hydraulic oil refluxes, and at the same time the ground penetrating radar 140 moves down and resets. In this embodiment, the extension and retraction resistance of the active cylinder 220 and the passive cylinder 230 can be reduced.

[0042] The reset mechanism 300 also includes an angle sensor 350 connected to the storage wheel 212. The tail of the vehicle body 110 is connected to an arc-shaped electric telescopic rod 330. The proximity switch 340 is connected to the end of the arc-shaped electric telescopic rod 330. When the angle sensor 350 detects that the first swing plate 211 swings and the vehicle body 110 does not move the distance between the first swing plate 211 and the second swing plate 320, the arc-shaped electric telescopic rod 330 is shortened so that the proximity switch 340 is out of the sensing range of sensing the swing of the second swing plate 320.

[0043] In this embodiment, in order to prevent the ground penetrating radar 140 from falling prematurely and causing damage after the vehicle body 110 passes through continuous obstacles, an angle sensor 350 is further arranged on the first swing plate 211. When the first swing plate 211 swings, the angle sensor 350 swings synchronously with the storage wheel 212. When the angle sensor 350 detects that the first swing plate 211 swings, it transmits a signal to the control system. At this time, the control system controls the arc-shaped electric telescopic rod 330 to shorten, so that the proximity switch 340 is away from the second swing plate 320. Then, the proximity switch 340 cannot sense the swing of the second swing plate 320, so that the first electric push rod 341 will not shorten, and then the passive oil cylinder 230 will not extend, so as to ensure that the ground penetrating radar 140 will not fall prematurely and cause collision damage when the vehicle body 110 passes through continuous obstacles.

[0044] In addition, the arc-shaped electric telescopic rod 330 has a certain time limit for shortening. One method of measuring this time is that if the vehicle body 110 travels at a constant speed, the control system obtains the speed of the vehicle body 110, and then calculates the time required for the vehicle body 110 to pass the obstacle based on the preset distance slightly smaller than the spacing between the first swing plate 211 and the second swing plate 320, thereby obtaining the time for the arc-shaped electric telescopic rod 330 to maintain shortening. It should be noted here that if the time interval between the two swings of the first swing plate 211 is less than the time for the vehicle body 110 to pass a single obstacle, the calculated time should be based on the time point of the last swing of the first swing plate 211 as the starting point. For example, if the first swing plate 211 swings twice, the timing starts from the second swing timing.

[0045] Another measurement method is to set an odometer on the vehicle body 110, record the corresponding odometer value when the first swing plate 211 swings, add this value to a value slightly smaller than the distance between the first swing plate 211 and the second swing plate 320, and when the mileage reaches the aforementioned added value, it is time to extend the arc-shaped electric telescopic rod 330. When the first swing plate 211 swings multiple times, if the vehicle body 110 does not move a distance slightly smaller than the distance between the first swing plate 211 and the second swing plate 320, the mileage value corresponding to the last swing of the first swing plate 211 is recalculated.

[0046] Example 3, reference Figure 1 , Figure 2 and Figure 7 On the basis of Example 2, further, it also includes a direction maintaining mechanism 400, which includes a mounting seat 410, a steering seat 420 is connected to the mounting seat 410, and a motor wheel 440 is rotatably connected to the steering seat 420. When the arc-shaped electric telescopic rod 330 is shortened, the motor wheel 440 returns to the center so that the vehicle body 110 maintains straight driving.

[0047] The motor wheel 440 rotates to drive the vehicle body 110, so that the vehicle body 110 moves. In order to prevent the raised ground penetrating radars 140 adjacent to the raised row of ground penetrating radars 140 from being hit, a direction maintaining mechanism 400 is also provided in the present embodiment. When the arc-shaped electric telescopic rod 330 is not extended, it indicates that the vehicle body 110 is passing through an obstacle. At this time, the motor wheel 440 returns to the center, so that the vehicle body 110 maintains a straight-line driving state, thereby preventing the remaining ground penetrating radars 140 from being hit.

[0048] A steering motor 430 for driving the steering seat 420 to swing is connected to the mounting seat 410 . When the arc-shaped electric telescopic rod 330 is shortened, the steering motor 430 drives the motor wheel 440 to return to the normal position.

[0049] In this embodiment, the return of the motor wheel 440 is controlled by the steering motor 430. When the control system detects that the arc-shaped electric telescopic rod 330 is in a shortened state, the control system controls the steering motor 430 to start and drive the motor wheel 440 to run to the return state.

[0050] Example 4, reference Figure 1 , Figure 2 and Figure 7 , which is different from Example 3, is that a plurality of groups of second electric push rods 450 corresponding to a plurality of motor wheels 440 are connected to the vehicle body 110, and the number of each group of second electric push rods 450 is two. The two second electric push rods 450 are symmetrically arranged on both sides of the corresponding steering seat 420, and the ends of the second electric push rods 450 are connected to balls 460. When the arc-shaped electric telescopic rod 330 is shortened, each group of second electric push rods 450 is extended by an equal length so that the balls 460 abut against the motor wheels 440, thereby returning the motor wheels 440 to the center.

[0051] In this embodiment, the return of the motor wheel 440 is driven by the second electric push rods 450 symmetrically arranged on both sides of the corresponding steering seat 420. When the control system detects that the arc-shaped electric telescopic rod 330 is in a shortened state, the control system controls the steering motor 430 to cut off the power, and at the same time, each group of second electric push rods 450 are extended to an equal length, so that the ball 460 abuts against the motor wheel 440, so that the motor wheel 440 is pushed to return to the center, and at this time, the ball 460 rolls on the motor wheel 440 to reduce the friction between the two.

[0052] The vehicle bodies 110 in the above embodiments are all driven by the motor wheels 440 and are unmanned. The control methods of the moving direction, speed, etc. of the vehicle body 110 can be achieved by existing technical means such as remote control.

[0053] 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. A vehicle-mounted integrated radar automatic detection vehicle, characterized in that: The invention comprises a detection mechanism (100), wherein the detection mechanism (100) comprises a vehicle body (110), a straight electric telescopic rod (120) is connected to the vehicle body (110), an output end of the straight electric telescopic rod (120) is connected to a mounting plate (130), a plurality of ground penetrating radars (140) are arranged in a rectangular array on the lower surface of the mounting plate (130), and when the straight electric telescopic rod (120) is extended, the plurality of ground penetrating radars (140) are close to the road surface.

2. The vehicle-mounted integrated radar automatic detection vehicle according to claim 1 is characterized in that: It also includes an obstacle avoidance mechanism (200), the obstacle avoidance mechanism (200) includes a plurality of lifting frames (240), and each row of the ground penetrating radars (140) in the traveling direction of the vehicle body (110) is connected to the same lifting frame (240); A first swing plate (211) corresponding to a plurality of lifting frames (240) is hingedly connected to the end of the vehicle body (110) in the travel direction; the plurality of first swing plates (211) are located in the same plane and are arranged in an inclined manner; when the first swing plate (211) swings, the corresponding lifting frame (240) first rises and then falls.

3. The vehicle-mounted integrated radar automatic detection vehicle according to claim 2 is characterized in that: The obstacle avoidance mechanism (200) further comprises an active oil cylinder (220) connected to the vehicle body (110), the cylinder rod end of the active oil cylinder (220) being connected to an elastic pull rope (213), the swing shaft of the first swing plate (211) being connected to a storage wheel (212), and the elastic pull rope (213) being wound around and connected to the storage wheel (212); The upper surface of the mounting plate (130) is connected to an N-shaped frame (231), a passive oil cylinder (230) is connected to the N-shaped frame (231), a cylinder rod of the passive oil cylinder (230) is connected to the lifting frame (240), an oil pipe (221) is connected between the active oil cylinder (220) and the passive oil cylinder (230), a spring is connected between the N-shaped frame (231) and the lifting frame (240), and when the first swing plate (211) swings, the storage wheel (212) rotates synchronously and stores the elastic pull rope (213), thereby driving the passive oil cylinder (230) to shorten so that the lifting frame (240) rises.

4. The vehicle-mounted integrated radar automatic detection vehicle according to claim 3 is characterized in that: The vehicle also includes a reset mechanism (300), wherein the reset mechanism (300) includes a plurality of second swing plates (320) hinged to the rear of the vehicle body (110), wherein the plurality of second swing plates (320) correspond one-to-one to the plurality of first swing plates (211), and after the first swing plates (211) swing, when the corresponding second swing plates (320) swing, the hydraulic oil in the passive oil cylinder (230) flows back to the active oil cylinder (220) through the oil pipe (221), thereby lowering the lifting frame (240).

5. The vehicle-mounted integrated radar automatic detection vehicle according to claim 4 is characterized in that: The obstacle avoidance mechanism (200) further comprises a control box (250), the control box (250) being connected to the oil pipe (221), the interior of the control box (250) being slidably connected to a sealing frame (260) and hinged to a sealing plate (270), and when the active oil cylinder (220) is extended, the passive oil cylinder (230) is shortened, so that the hydraulic oil pushes the sealing plate (270) to swing and flow to the active oil cylinder (220).

6. The vehicle-mounted integrated radar automatic detection vehicle according to claim 5, characterized in that: The control box (250) is connected to a first electric push rod (341), the output end of the first electric push rod (341) passes through the control box (250) and is connected to the sealing frame (260), and a plurality of proximity switches (340) corresponding to the plurality of second swing plates (320) are arranged at the rear of the vehicle body (110), and when the second swing plates (320) swing and approach the corresponding proximity switches (340), the corresponding first electric push rod (341) shortens so that the sealing frame (260) moves away from the sealing plate (270), so that the corresponding passive oil cylinder (230) is extended by the spring drive, so that the hydraulic oil pushes the sealing plate (270) to swing in the direction of the sealing frame (260) and flows back into the passive oil cylinder (230).

7. The vehicle-mounted integrated radar automatic detection vehicle according to claim 6, characterized in that: The reset mechanism (300) further comprises an angle sensor (350) connected to the storage wheel (212); the tail of the vehicle body (110) is connected to an arc-shaped electric telescopic rod (330); the proximity switch (340) is connected to the end of the arc-shaped electric telescopic rod (330); when the angle sensor (350) detects that the first swing plate (211) swings and the vehicle body (110) does not move the distance between the first swing plate (211) and the second swing plate (320), the arc-shaped electric telescopic rod (330) shortens, so that the proximity switch (340) is out of the sensing range of sensing the swing of the second swing plate (320).

8. The vehicle-mounted integrated radar automatic detection vehicle according to claim 7, characterized in that: The vehicle also comprises a direction maintaining mechanism (400), the direction maintaining mechanism (400) comprising a mounting seat (410), the mounting seat (410) being connected to a steering seat (420), the steering seat (420) being rotatably connected to a motor wheel (440), and when the arc-shaped electric telescopic rod (330) is shortened, the motor wheel (440) returns to the normal position so that the vehicle body (110) maintains straight travel.

9. The vehicle-mounted integrated radar automatic detection vehicle according to claim 8, characterized in that: The mounting seat (410) is connected to a steering motor (430) for driving the steering seat (420) to swing; when the arc-shaped electric telescopic rod (330) is shortened, the steering motor (430) drives the motor wheel (440) to return to the normal position.

10. The vehicle-mounted integrated radar automatic detection vehicle according to claim 8, characterized in that: The vehicle body (110) is connected to a plurality of groups of second electric push rods (450) corresponding to the plurality of motor wheels (440), each group of the second electric push rods (450) is two in number, the two second electric push rods (450) are symmetrically arranged on both sides of the corresponding steering seat (420), the ends of the second electric push rods (450) are connected to balls (460), and when the arc-shaped electric telescopic rod (330) is shortened, each group of the second electric push rods (450) is extended by an equal length so that the balls (460) abut against the motor wheel (440), thereby returning the motor wheel (440) to the center.

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