Automatic geological radar roadbed detection vehicle and detection method

Abstract

The invention provides an automatic geological radar roadbed detection vehicle and a detection method, the automatic geological radar roadbed detection vehicle comprises a remote control system and an automatic detection vehicle, and the automatic detection vehicle comprises a vehicle body and a moving assembly arranged at the bottom of the vehicle body; the vehicle body comprises a flatness detection assembly, a gravity balance block arranged above the flatness detection assembly, a geological radar receiving and transmitting assembly arranged behind the flatness detection assembly, a buffer assembly arranged behind the geological radar receiving and transmitting assembly and a control receiving and transmitting assembly arranged behind the buffer assembly. The signal processing host is arranged above the control transceiving assembly; the marking assembly is arranged behind the control transceiving assembly; the moving assembly comprises wheels, a crawler belt and a transmission belt, wherein the crawler belt and the transmission belt are arranged on the wheels. The wheels are composed of front wheels and rear wheels connected with the transmission belt. By optimizing the equipment design and remote equipment control, the detection precision, the automation degree, the environmental adaptability and the reliability of the detection equipment are remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of roadbed detection, and in particular to an automated geological radar roadbed detection vehicle and a detection method. Background Art

[0002] In infrastructure construction, the quality of the roadbed, as a key bearing structure, directly affects the stability and service life of the project. Traditional detection methods are inefficient, limited in coverage and destructive, and can hardly meet the needs of modern projects for efficient and high-quality detection. Moreover, with the expansion of project scale and the acceleration of construction progress, traditional methods often cannot meet existing construction needs, especially under complex soil and terrain conditions. The poor adaptability of existing equipment affects the reliability of the detection results. At the same time, traditional detection methods lack real-time data processing capabilities, and data needs to be manually collected and analyzed. It is impossible to detect problems and take timely repair measures in the first place, which delays the construction progress and decision-making. Therefore, existing roadbed detection faces challenges in efficiency, accuracy, environmental adaptability and real-time data acquisition. Summary of the invention

[0003] In order to overcome the shortcomings of the prior art, the purpose of the present invention is to provide an automated geological radar roadbed detection vehicle and detection method, which significantly improves the detection accuracy, degree of automation, environmental adaptability and reliability of the detection equipment by optimizing equipment design and remote equipment control.

[0004] To achieve the above object, the present invention provides the following solution: an automated geological radar roadbed inspection vehicle, comprising a remote control system and an automatic inspection vehicle connected to the remote control system, wherein the automatic inspection vehicle comprises a vehicle body and a mobile component arranged at the bottom of the vehicle body;

[0005] The vehicle body includes a flatness detection component, a gravity balance block arranged above the flatness detection component, a geological radar transceiver component arranged behind the flatness detection component, a buffer component arranged behind the geological radar transceiver component, a control transceiver component arranged behind the buffer component, a signal processing host arranged above the control transceiver component, and a marking component arranged behind the control transceiver component;

[0006] The moving assembly comprises wheels and tracks and a transmission belt arranged on the wheels, wherein the wheels consist of a front wheel and a rear wheel connected to the transmission belt.

[0007] Optionally, the remote control system includes a display screen for inputting and displaying data, a control module for receiving and sending control instructions, a sensor module for environmental perception and positioning, a communication module for data transmission, a data processing module for controlling the path and driving behavior of the automatic detection vehicle, and a security module for regular updates;

[0008] Wherein, the display screen, the control module, the sensor module, the communication module, the data processing module and the security module are interconnected.

[0009] Optionally, the flatness detection assembly includes a first fixing bracket arranged on the front wheel, a first connecting block arranged on the front side of the first fixing bracket, a pressure sensor arranged inside the first connecting block, a connecting rod arranged on the pressure sensor, and a roller arranged on the connecting rod;

[0010] Wherein, the pressure sensor and the roller are respectively arranged at two ends of the connecting rod, and the gravity balance block is movably arranged on the upper surface of the first fixed bracket.

[0011] Optionally, the geological radar transceiver assembly includes a support plate arranged on the rear side of the first fixed bracket, a geological radar transceiver integrated device arranged inside the support plate, and buckles arranged on both sides of the support plate for fixing the geological radar transceiver integrated device.

[0012] Optionally, the buffer assembly is composed of a plurality of buffer springs, and both ends of the buffer springs are respectively connected to the rear of the geological radar transceiver and the rear of the support plate.

[0013] Optionally, the control transceiver component includes a second fixed bracket with a hollow square structure arranged behind the pallet, a transceiver arranged inside the second fixed bracket, and a motor arranged inside the transceiver and connected to the transmission belt, and the signal processing host is arranged on the upper surface of the second fixed bracket.

[0014] Optionally, the marking assembly is connected to the motor, the marking assembly is arranged behind the second fixing bracket, and the marking assembly includes a second connecting block, a gas tank arranged inside the second connecting block, a spray paint can, and a compression transmission pipe connected to the gas tank and the spray paint can;

[0015] The compression transmission pipe comprises a compression pipe communicated with the gas tank, a spray head communicated with the paint spray tank, and a delivery pipe connected between the compression pipe and the spray head.

[0016] The present invention also provides an automated geological radar roadbed detection method applied to an automated geological radar roadbed detection vehicle, comprising the following steps:

[0017] According to the terrain of the roadbed to be inspected, a gravity balance block is selected, and the driving path of the automatic inspection vehicle is set on the remote control system, and then the automatic inspection vehicle is started to start the roadbed inspection;

[0018] The internal structure of the roadbed is detected by using the geological radar transceiver component to obtain radar signals, which are transmitted to the signal processing host for real-time signal analysis to obtain collected data, and the surface flatness of the roadbed is monitored by using the flatness detection component to obtain surface data;

[0019] Using the control transceiver component, the collected data and the surface data are transmitted to the remote control system for data processing to obtain the roadbed detection results, roadbed quality assessment report and roadbed defect locations;

[0020] According to the locations of the roadbed defects, the marking components are used for automatic spray painting marking for on-site verification and analysis.

[0021] Optionally, a geological radar transceiver component is used to detect the internal structure of the roadbed to obtain a radar signal, which is transmitted to a signal processing host for real-time signal analysis to obtain collected data, and a flatness detection component is used to monitor the flatness of the roadbed surface to obtain surface data, including:

[0022] According to the geological conditions of the roadbed to be detected, geological radars with different frequency ranges are selected to send and receive signals to obtain radar signals;

[0023] Transmitting the radar signal to the signal processing host for time window adjustment, gain control, filtering, signal enhancement and noise removal to obtain collected data;

[0024] Using rollers and pressure sensors to sense the height change of the road surface, obtaining sensor signals, transmitting the sensor signals to the signal processing host for signal processing, and obtaining surface data;

[0025] According to the surface data, the ground flatness information is obtained by using the remote control system, and then according to the ground flatness information, a ground flatness waveform curve and defect areas are obtained.

[0026] The present invention discloses the following technical effects by providing an automated geological radar roadbed detection vehicle and a detection method:

[0027] 1. The present invention is equipped with a geological radar transceiver, which can scan the underground structure in real time (obtain real-time data), analyze signal characteristics, detect defects in the roadbed, and determine the type and location of defects, including abnormal conditions such as voids, uneven density or cracks. This enables the present invention to use its high-sensitivity waveform acquisition technology to achieve accurate and efficient detection of the roadbed.

[0028] 2. The present invention sets a flatness detection component. During the movement of the detection vehicle, the roller rolls along the ground, senses the height changes of the ground in real time, and converts the changes into electrical signals through pressure sensors for real-time transmission and data analysis. It can obtain the ground flatness waveform curve (visualize the flatness) and automatically mark the uneven areas, providing accurate reference for construction adjustment and quality control. At the same time, through the marking component, it can automatically spray paint and mark according to the defective area, providing an intuitive and clear reference for subsequent maintenance and optimization work.

[0029] 3. The present invention can preset the driving path of the trolley by setting up a remote control system, so that the trolley can complete the automated detection process according to the preset path. And by changing the weight of the gravity balance block, it can adapt to complex terrain, so that the trolley can always maintain its own balance, ensuring a more accurate detection process.

[0030] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0032] Figure 1 A schematic diagram of the structure of a device provided in an embodiment of the present invention;

[0033] Figure 2 A top view of the device structure provided by an embodiment of the present invention;

[0034] Figure 3 A schematic diagram of the structure of a flatness detection assembly provided by an embodiment of the present invention;

[0035] Figure 4 A schematic diagram of the device structure of a marking assembly provided in an embodiment of the present invention;

[0036] Figure 5 A schematic diagram of a method flow chart provided by an embodiment of the present invention;

[0037] Explanation of the reference numerals in the accompanying drawings: 1. Flatness detection assembly; 11. First fixed bracket; 12. First connecting block; 13. Pressure sensor; 14. Connecting rod; 15. Roller; 2. Gravity balance block; 31. Support plate; 32. Geological radar transceiver; 33. Buckle; 4. Buffer spring; 51. Second fixed bracket; 52. Transceiver; 6. Signal processing host; 7. Marking assembly; 71. Second connecting block; 72. Gas tank; 73. Paint spray can; 741. Compression tube; 742. Nozzle; 743. Delivery pipe; 81. Track; 82. Drive belt; 83. Front wheel; 84. Rear wheel. DETAILED DESCRIPTION

[0038] 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.

[0039] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0040] 1. If Figure 1-2 As shown, the present invention provides an automated geological radar roadbed inspection vehicle, including a remote control system and an automatic inspection vehicle connected to the remote control system, wherein the automatic inspection vehicle includes a vehicle body and a mobile component arranged at the bottom of the vehicle body.

[0041] The remote control system includes a display screen for inputting and displaying data, a control module for receiving and sending control instructions, a sensor module for environmental perception and positioning, a communication module for data transmission, a data processing module for controlling the path and driving behavior of the automatic detection vehicle, and a security module for regular updates; wherein the display screen, the control module, the sensor module, the communication module, the data processing module and the security module are interconnected.

[0042] like Figure 1-2 As shown, the vehicle body includes a flatness detection component 1, a gravity balance block 2 arranged above the flatness detection component 1, a geological radar transceiver component arranged behind the flatness detection component 1, a buffer component arranged behind the geological radar transceiver component, a control transceiver component arranged behind the buffer component, a signal processing host 6 arranged above the control transceiver component, and a marking component 7 arranged behind the control transceiver component.

[0043] like Figure 1As shown, the mobile assembly includes wheels and tracks 81 and transmission belts 82 arranged on the wheels, and the wheels are composed of front wheels 83 and rear wheels 84 connected to the transmission belts 82. The automatic inspection vehicle can significantly improve its off-road capability and terrain adaptability through the track 81, especially in soft soil, muddy ground or uneven terrain. The track 81 is designed to disperse the weight, reduce the ground pressure, reduce the depression on the soft foundation, and at the same time provide a larger ground contact area, enhance the stability of the vehicle, and ensure the accuracy of the inspection data. In addition, the track 81 can effectively avoid the risk of slipping or getting stuck, and smoothly pass through obstacles, thereby improving the operating efficiency and reliability of the inspection vehicle in complex environments.

[0044] like Figure 3 As shown, the flatness detection assembly 1 includes a first fixed bracket 11 arranged on the front wheel 83, a first connecting block 12 arranged on the front side of the first fixed bracket 11, a pressure sensor 13 arranged inside the first connecting block 12, a connecting rod 14 arranged on the pressure sensor 13, and a roller 15 arranged on the connecting rod 14. The pressure sensor 13 and the roller 15 are respectively arranged at both ends of the connecting rod 14. During the movement of the detection vehicle, the roller 15 rolls along the ground, senses the height changes of the ground in real time, and converts the changes into electrical signals through the pressure sensor 13. After the electrical signals are processed, they are transmitted to the remote control system for data analysis, and the ground flatness waveform curve can be obtained, and the uneven areas are automatically marked, and the detection results are recorded and stored at the same time. After the detection task is completed, the data is exported and a flatness assessment report is generated, which can be superimposed and analyzed with the geological radar data to provide an accurate reference for construction adjustment and quality control.

[0045] like Figure 1 As shown, the gravity balance block 2 is movably arranged on the upper surface of the first fixed bracket 11. The gravity balance block 2 can be adjusted according to the terrain conditions of the detection area (blocks of different weights can be replaced) to ensure that the device can adapt to different terrains and operate stably.

[0046] like Figure 1 As shown, the geological radar transceiver assembly includes a support plate 31 arranged on the rear side of the first fixed bracket 11, a geological radar transceiver 32 arranged inside the support plate 31, and buckles 33 arranged on both sides of the support plate 31 for fixing the geological radar transceiver 32. The geological radar transceiver 32 can select geological radars of different frequency ranges according to different geological conditions, and the signal processing host 6 adopts accessories matched with the geological radar transceiver 32. The geological radar transceiver 32 and the signal processing host 6 are connected through matching connecting lines for data transmission.

[0047] The buffer assembly is composed of a plurality of buffer springs 4 , and two ends of the buffer spring 4 are respectively connected to the rear of the geological radar transceiver 32 and the rear of the support plate 31 .

[0048] The geological radar transceiver 32 is installed in the middle of the vehicle body and is firmly fixed by the support plate 31. It can accurately detect the internal structure of the roadbed and ensure data stability. And through the design of the buckle 33 and the buffer spring 4, the equipment operation is more stable and durable. Combined with the gravity balance block 2, the detection accuracy and reliability under complex terrain conditions are further improved.

[0049] like Figure 1 As shown, the control transceiver assembly includes a second fixed bracket 51 of a hollow square structure arranged behind the support plate 31, a transceiver 52 (electronic device, mainly used to transmit data between different devices) arranged inside the second fixed bracket 51, and a motor connected to the transmission belt 82 arranged inside the transceiver 52, and the signal processing host 6 is arranged on the upper surface of the second fixed bracket 51. The signal processing host 6 is a microprocessor, which is optimized for digital signal processing tasks and can efficiently execute various signal processing algorithms such as filtering, spectrum analysis, convolution, phase adjustment, etc.

[0050] like Figure 4 As shown, the marking assembly 7 is connected to the motor, and the marking assembly 7 is arranged behind the second fixed bracket 51. The marking assembly 7 includes a second connecting block 71, a gas tank 72 arranged inside the second connecting block 71, a paint can 73, and a compression transmission pipe connected to the gas tank 72 and the paint can 73; the compression transmission pipe includes a compression pipe 741 connected to the gas tank 72, a nozzle 742 connected to the paint can 73, and a delivery pipe 743 connected between the compression pipe 741 and the nozzle 742. During the inspection process, when a defect is found, the gas tank 72 provides pressure to transmit through the compression pipe 741, pressing the paint can 73 to mark the defect of the roadbed.

[0051] 2. Figure 5 As shown, the present invention also provides an automated geological radar roadbed detection method applied to an automated geological radar roadbed detection vehicle, comprising the following steps:

[0052] 1. Before use, check whether the components of the automatic detection vehicle are complete and ensure that the geological radar transceiver 32 is firmly fixed by the buckle 33 and the buffer spring 4. According to the terrain of the roadbed to be detected, select the gravity balance block 2, set the driving path of the automatic detection vehicle on the remote control system, and then start the automatic detection vehicle to start the roadbed detection.

[0053] 2. Use the geological radar transceiver component to detect the internal structure of the roadbed to obtain radar signals, transmit the radar signals to the signal processing host 6 for real-time signal analysis to obtain collected data, and use the flatness detection component 1 to monitor the surface flatness of the roadbed to obtain surface data. Specifically include:

[0054] 2.1 According to the geological conditions of the roadbed to be detected, select geological radars with different frequency ranges to send and receive signals to obtain radar signals;

[0055] 2.2 The radar signal is transmitted to the signal processing host 6 for time window adjustment, gain control, filtering, signal enhancement and noise removal, etc., to obtain collected data; wherein:

[0056] Gain Control: Time Gain Control (TGC) is used to compensate for the attenuation of radar signals with depth. Gain is usually expressed in exponential form:

[0057] G(t)=G0·e αt

[0058] G(t): is the gain value at time t, G0: is the initial gain, α: is the gain constant, t: is the signal propagation time;

[0059] Filtering algorithms: Filtering processes include high-pass, low-pass, and band-pass filters. For example, the ideal response of a low-pass filter is:

[0060]

[0061] H(f): is the filter response at frequency f, f c : is the cut-off frequency;

[0062] Denoising and signal enhancement algorithms:

[0063] Mean filtering: For a signal sequence of length N {x1,x2····,x N}, the output of its mean filter is:

[0064]

[0065] y i : is the signal value after filtering, m: is the half width of the filtering window, x j : is the input signal value.

[0066] 2.3 Using the roller 15 and the pressure sensor 13 to sense the height change of the road base surface, obtaining a sensor signal, transmitting the sensor signal to the signal processing host 6 for signal processing, and obtaining surface data;

[0067] 2.4 Based on the surface data, the remote control system is used to obtain ground flatness information, and then based on the ground flatness information, a ground flatness waveform curve and defect areas are obtained.

[0068] 3. Using the control transceiver component, the collected data and the surface data are transmitted to the remote control system for data processing to obtain the roadbed detection results, roadbed quality assessment report and roadbed defect locations.

[0069] 4. According to the location of the roadbed defect, the marking component 7 is used to automatically spray paint and mark for on-site verification and analysis. According to the test results and the defect location marks, a specific repair and optimization plan is formulated to ensure that the roadbed quality meets the design requirements. After the relevant problems in the test area are dealt with, retesting can be carried out to ensure that the quality meets the standards.

[0070] 5. After the inspection task is completed, clean the various components of the equipment, check whether the key components such as the buffer spring 4 and the buckle 33 are worn, replace the aging components in time, and regularly update the relevant software of the remote control system to ensure the long-term stable operation of the equipment.

[0071] Therefore, the present invention provides an automated geological radar roadbed inspection vehicle and inspection method, which significantly improves the inspection accuracy, automation level, environmental adaptability and reliability of the inspection equipment by optimizing equipment design and remote equipment control.

[0072] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0073] The principles and implementation methods of the present invention are described in this article using specific examples. The description of the above embodiments is only used to help understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. An automated geological radar roadbed inspection vehicle, characterized in that: It includes a remote control system and an automatic inspection vehicle connected to the remote control system, wherein the automatic inspection vehicle includes a vehicle body and a mobile component arranged at the bottom of the vehicle body; The vehicle body includes a flatness detection component, a gravity balance block arranged above the flatness detection component, a geological radar transceiver component arranged behind the flatness detection component, a buffer component arranged behind the geological radar transceiver component, a control transceiver component arranged behind the buffer component, a signal processing host arranged above the control transceiver component, and a marking component arranged behind the control transceiver component; The moving assembly comprises wheels and tracks and a transmission belt arranged on the wheels, wherein the wheels consist of a front wheel and a rear wheel connected to the transmission belt.

2. The automatic geological radar roadbed detection vehicle according to claim 1 is characterized in that: The remote control system includes a display screen for inputting and displaying data, a control module for receiving and sending control instructions, a sensor module for environmental perception and positioning, a communication module for data transmission, a data processing module for controlling the path and driving behavior of the automatic detection vehicle, and a security module for regular updates; Wherein, the display screen, the control module, the sensor module, the communication module, the data processing module and the security module are interconnected.

3. The automatic geological radar roadbed detection vehicle according to claim 2 is characterized in that: The flatness detection assembly includes a first fixing bracket arranged on the front wheel, a first connecting block arranged on the front side of the first fixing bracket, a pressure sensor arranged inside the first connecting block, a connecting rod arranged on the pressure sensor, and a roller arranged on the connecting rod; Wherein, the pressure sensor and the roller are respectively arranged at two ends of the connecting rod, and the gravity balance block is movably arranged on the upper surface of the first fixed bracket.

4. The automatic geological radar roadbed detection vehicle according to claim 3 is characterized in that: The geological radar transceiver assembly includes a support plate arranged on the rear side of the first fixed bracket, a geological radar transceiver integrated machine arranged inside the support plate, and buckles arranged on both sides of the support plate for fixing the geological radar transceiver integrated machine.

5. The automatic geological radar roadbed detection vehicle according to claim 4 is characterized in that: The buffer assembly is composed of a plurality of buffer springs, and the two ends of the buffer springs are respectively connected to the rear of the geological radar transceiver and the rear of the support plate.

6. The automatic geological radar roadbed detection vehicle according to claim 5, characterized in that: The control transceiver assembly includes a second fixed bracket with a hollow square structure arranged behind the support plate, a transceiver arranged inside the second fixed bracket, and a motor arranged inside the transceiver and connected to the transmission belt. The signal processing host is arranged on the upper surface of the second fixed bracket.

7. The automatic geological radar roadbed detection vehicle according to claim 6, characterized in that: The marking assembly is connected to the motor, the marking assembly is arranged behind the second fixing bracket, and the marking assembly includes a second connecting block, a gas tank arranged inside the second connecting block, a spray paint can, and a compression transmission pipe connected to the gas tank and the spray paint can; The compression transmission pipe comprises a compression pipe communicated with the gas tank, a spray head communicated with the paint spray tank, and a delivery pipe connected between the compression pipe and the spray head.

8. An automated geological radar roadbed detection method applied to an automated geological radar roadbed detection vehicle, characterized in that: The following steps are involved: According to the terrain of the roadbed to be inspected, a gravity balance block is selected, and the driving path of the automatic inspection vehicle is set on the remote control system, and then the automatic inspection vehicle is started to start the roadbed inspection; The internal structure of the roadbed is detected by using the geological radar transceiver component to obtain radar signals, which are transmitted to the signal processing host for real-time signal analysis to obtain collected data, and the surface flatness of the roadbed is monitored by using the flatness detection component to obtain surface data; Using the control transceiver component, the collected data and the surface data are transmitted to the remote control system for data processing to obtain the roadbed detection results, roadbed quality assessment report and roadbed defect locations; According to the locations of the roadbed defects, the marking components are used for automatic spray painting and marking for on-site verification and analysis.

9. The method for automatic geological radar roadbed detection according to claim 8, characterized in that: The geological radar transceiver component is used to detect the internal structure of the roadbed to obtain radar signals, which are transmitted to the signal processing host for real-time signal analysis to obtain collected data, and the flatness detection component is used to monitor the flatness of the roadbed surface to obtain surface data, including: According to the geological conditions of the roadbed to be detected, geological radars with different frequency ranges are selected to send and receive signals to obtain radar signals; Transmitting the radar signal to the signal processing host for time window adjustment, gain control, filtering, signal enhancement and noise removal to obtain collected data; Using rollers and pressure sensors to sense the height change of the road surface, obtaining sensor signals, transmitting the sensor signals to the signal processing host for signal processing, and obtaining surface data; According to the surface data, the ground flatness information is obtained by using the remote control system, and then according to the ground flatness information, a ground flatness waveform curve and defect areas are obtained.

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