Dam termite detection device based on robot dog

Abstract

The invention relates to the field of robot dogs, and particularly discloses a robot dog-based dam termite detection device which comprises a robot dog, a moving plate is arranged on the abdomen of the robot dog in a lifting manner, a spherical sealing tank is arranged on the moving plate, blocking liquid is arranged in the spherical sealing tank, and a sealing opening is formed in the position, away from the abdomen of the robot dog, of the spherical sealing tank. An anti-collision ring is arranged on the hole wall of the sealing opening, a round spring steel sheet attached to the inner wall of the spherical sealing tank is arranged in the spherical sealing tank, a plurality of holes are formed in the round spring steel sheet, a connecting rod is fixedly connected to the circle center of the round spring steel sheet, and a containing frame is arranged at the bottom end of the connecting rod. A telescopic sealing pipe is fixedly connected to the connecting position of the connecting rod and the sealing opening, a radar antenna module is arranged in the containing frame, a radar host module is arranged on the back of the robot dog, and an adjusting mechanism for adjusting the inclination angle of the radar antenna module is arranged on the containing frame. The robot dog has the effect of improving the stability of the ground penetrating radar installed on the robot dog.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of termite detectors, and particularly to a dam termite detection device based on a robot dog. BACKGROUND

[0002] Termites are a kind of social insects, and their nest structure is complex, usually composed of main nests, auxiliary nests and ant paths. The nest poses a serious threat to dam safety. Termites build a network of ant paths and a large nest system inside the dam. These nests and ant paths not only weaken the structural strength of the dam, but also damage the dam's anti-seepage performance. When the rainy season comes, the water level rises, and the water flow will seep along the ant path and nest gap, forming a pipe gushing, leakage and other dangerous situations. In severe cases, it may even cause the dam to collapse, causing catastrophic consequences to the lives and property of people downstream and the ecological environment.

[0003] Currently, the main methods for termite control are physical control, chemical control and biological control. Before controlling termites, it is necessary to detect termite nests. Currently, ground penetrating radar, infrared thermal imaging and sonar detectors are mainly used to detect whether there are termite nests. Ground penetrating radar emits high-frequency electromagnetic pulses, receives underground reflection waves from different media, generates images, and visually presents the location and shape of termite nests and ant paths. Its detection depth can reach several meters, and it can effectively find hidden hazards deep in the dam. The infrared thermal imaging instrument uses the temperature difference between the heat generated by termite activity and the surrounding environment to scan the dam surface at night, marking temperature abnormal areas with different colors to help technicians locate termite activity and locate the nest. The sonar detector can emit sound waves to the underground, analyze the underground structure according to the time and intensity of the reflected waves, and locate the nest. After discovering the termite nest, physical control, chemical control and biological control methods are used to treat termites. Physical control mainly removes termite nests and manually cleans termites. Chemical control uses drug spraying and toxic soil grouting to evenly spray drugs on the surface of the dam or inject them into the dam to kill termites and achieve the purpose of repelling and eliminating termites. Biological control uses termite natural enemies such as pangolins and ants, or uses microbial agents such as white muscadine fungus to control termite population through natural enemy predation and microbial infection.

[0004] According to the related technology in the above, the inventors believe that the following defects exist: The terrain of the dam is usually complex, and the dam occupies a wide area. When using conventional ground penetrating radar to detect the dam, the ground penetrating radar is easily affected by the terrain and shakes, resulting in low accuracy of the detection results. SUMMARY

[0005] In order to improve the problem that the detection device of termites is easy to shake when detecting the dam with complex terrain, and the detection structure is inaccurate, the application provides a dam termite detection device based on a robot dog.

[0006] The dam termite detection device based on the robot dog provided by the application adopts the following technical scheme: A dam termite detection device based on a robot dog, comprising a robot dog, characterized in that: a moving plate is arranged on the abdomen of the robot dog and is lifted and lowered, a spherical sealing tank is arranged on the moving plate, a barrier liquid is arranged in the spherical sealing tank, a sealing opening is arranged on the position of the spherical sealing tank away from the abdomen of the robot dog, an anti-collision ring is arranged on the hole wall of the sealing opening, a circular spring steel sheet is arranged in the spherical sealing tank and is attached to the inner wall of the spherical sealing tank, a plurality of holes are arranged on the circular spring steel sheet, a connecting rod is fixedly connected to the center position of the circular spring steel sheet, a placing frame is arranged at the bottom end of the connecting rod, a telescopic sealing pipe is fixedly connected to the position where the connecting rod is connected with the sealing opening, a radar antenna module is arranged in the placing frame, a radar host module is arranged on the back of the robot dog, and an adjusting mechanism for adjusting the inclination angle of the radar antenna module is arranged on the placing frame.

[0007] When the robot dog detects the dam, the moving plate is lifted according to different types of ground on the dam, the spherical sealing tank moves up and down with the moving plate, the connecting rod arranged in the spherical sealing tank is connected with the placing frame, the radar antenna module in the placing frame moves up and down, so that the height of the radar antenna module from the ground is changed; when the robot dog walks and shakes up and down, the radar antenna module placed in the placing frame generates a downward pulling force on the connecting rod under the action of gravity, the connecting rod generates a downward pulling force on the circular spring steel sheet through the sealing opening on the spherical sealing tank, the circular spring steel sheet is deformed, the barrier liquid arranged in the spherical sealing tank flows through the hole opened on the circular spring steel sheet when the circular spring steel sheet is deformed, and generates a viscous resistance on the circular spring steel sheet, so that the up-and-down shaking of the connecting rod is reduced, and the up-and-down shaking of the placing frame is reduced; when the robot dog walks and shakes left and right, the connecting rod abuts against the anti-collision ring, the circular spring steel sheet is offset in the spherical sealing tank, the barrier liquid in the spherical sealing tank flows through the hole opened on the circular spring steel sheet when the circular spring steel sheet is offset, and generates a viscous resistance on the circular spring steel sheet, so that the left-and-right shaking of the placing frame is reduced, and direct collision of the connecting rod and the hole wall of the sealing opening is prevented; the telescopic sealing pipe can prevent the barrier liquid from leaking from the sealing opening; when the robot dog walks on the slope of the dam, the adjusting mechanism can adjust the angle of the radar antenna module, so that the radar antenna module is parallel to the slope, the radar antenna module emits high-frequency electromagnetic pulses to the ground of the dam, and corresponding data is transmitted to the radar host module, so that the detection of the dam is completed; the device can reduce the influence of the shaking of the robot dog on the radar antenna module, effectively improve the stability of the radar antenna module, and improve the accuracy of the detection result.

[0008] Optionally, the spherical sealing tank is fixed with an elastic barrier plate, the elastic barrier plate is located above the circular spring steel sheet, and the barrier plate and the top of the spherical sealing tank form a cavity filled with air.

[0009] Through the above technical scheme, when the robot dog walks and shakes left and right, the connecting rod is deflected, the connecting rod drives the circular spring steel sheet to be deflected, the barrier liquid flows through the hole on the circular spring steel sheet at a slow speed due to the large viscosity, the barrier liquid extrudes the elastic barrier plate under the action of the circular spring steel sheet, so that the elastic barrier plate is deformed, the deflection angle of the connecting rod is slowed down, and the amplitude of the left-and-right shaking of the placing frame is reduced.

[0010] Optionally, the adjusting mechanism comprises three stepping motors, a driving rod, a driven rod, a fixed disc and an inclination sensor, the fixed disc is coaxially fixed on the connecting rod, the bottom end of the connecting rod is ball-jointed with the placing frame, the three stepping motors are uniformly fixed on one end of the fixed disc close to the placing frame, the output end of the stepping motor is perpendicularly fixed with the driving rod, the two ends of the driven rod are rotationally connected with the driving rod and the placing frame respectively, the inclination sensor is arranged on the placing frame, and the inclination sensor is electrically connected with the stepping motor.

[0011] By adopting the above technical scheme, when the robot dog walks on the dam slope, the inclination sensor identifies that the placing frame is not parallel to the dam slope, the three stepping motors fixed on the fixed disc are started, the direction and the rotation amplitude of the three stepping motors are adjusted according to the inclination angle of the placing frame, the driving rod is rotated along the output end of the stepping motor, the driving rod drives the driven rod to rotate, the driven rod rotationally connects the placing frame, and the placing frame is rotated along the connecting rod, so that the placing frame is kept horizontal to the slope of the dam, and the accuracy of the detection result of the ground penetrating radar on the termite nest of the dam is effectively improved.

[0012] Optionally, the moving plate is provided with a mounting hole matched with the spherical sealing tank, the moving plate is divided into two parts along the diameter of the mounting hole, the side walls of the two parts of the moving plate are threadedly connected, and the spherical sealing tank is provided with a groove matched with the mounting hole.

[0013] By adopting the above technical scheme, when the spherical sealing tank is installed, the groove on the spherical sealing tank is aligned with the mounting hole on the moving plate, and the two parts of the moving plate are fixed by screws, so that the moving plate plays a fastening role on the spherical sealing tank, and the loosening of the connection between the spherical sealing tank and the moving plate when the robot dog walks is prevented.

[0014] Optionally, the placing frame comprises a buckle type cover plate, an elastic member and a bottom plate, the cover plate is ball-jointed with the connecting rod, the bottom of the placing frame is provided with the bottom plate, the elastic member is arranged between the bottom plate and the bottom of the placing frame, and the placing frame is provided with a fixing assembly for fixing the radar antenna module.

[0015] By adopting the above technical scheme, when the radar antenna module is installed into the placing frame, the buckle type cover plate is opened, the other part of the placing frame is separated from the connecting rod, the radar antenna module is placed into the placing frame, the fixing assembly fixes the radar antenna module in the placing frame, the left and right shaking of the radar antenna module in the placing frame is prevented, the cover plate is buckled tightly on the placing frame through the buckle, the cover plate abuts against the radar antenna module, and the elastic member is compressed through the bottom plate, the up and down shaking of the radar antenna module is slowed down, and the accuracy of the detection result of the ground penetrating radar on the termite nest is improved.

[0016] Optionally, the fixing assembly comprises a sliding groove, an angle plate, a fixing hole and a fixing rod, the bottom plate is provided with the sliding groove along the diagonal line, the fixing hole is arranged in the sliding groove, the angle plate is fixedly connected with the fixing rod, and the fixing rod is slidably connected with the sliding groove.

[0017] By adopting the above technical scheme, when the radar antenna module is placed in the placing frame, the angle plate is pulled, the fixing rod is moved along the sliding groove, the position of the angle plate is adjusted, the shock pad fixedly connected with the angle plate is tightly abutted against the four corners of the radar antenna module, the fixing rod is aligned with the fixing hole in the sliding groove, and one end of the fixing rod is inserted into the fixing hole; the left and right shaking of the radar antenna module in the placing frame is reduced, and different models of radar antenna modules can be selected by adjusting the position of the angle plate in the placing frame.

[0018] Optionally, a shielding layer is fixedly connected to one end of the cover plate close to the inside of the placing frame, and the shielding layer is also fixedly connected to the side wall of the placing frame.

[0019] By adopting the above technical scheme, the shielding layers fixedly connected to the cover plate and the side wall of the placing frame reduce the interference between the battery of the robot dog and the radar antenna module.

[0020] Optionally, a pigment rack is arranged on the abdomen of the robot dog, a pigment tank is arranged in the pigment rack, a pressing plate is slidably connected in the inside of the pigment rack, an electric push rod is fixedly connected to the abdomen of the robot dog, the telescopic end of the electric push rod is fixedly connected with the pressing plate, and the electric push rod is electrically connected with the radar host module.

[0021] By adopting the above technical scheme, when the radar host module identifies that there is a termite nest in the dam, the electric push rod is started, the electric push rod moves the pressing plate in the pigment rack, the pressing plate compresses the pigment tank arranged in the pigment rack, and the pigment in the pigment tube is sprayed on the position of the termite nest on the dam, so that the termite nest can be further processed.

[0022] Optionally, an arc-shaped anti-collision plate is fixedly connected to the bottom of the placing frame.

[0023] By adopting the above technical scheme, when there are protruding stones and soil blocks on the surface of the dam, the arc-shaped anti-collision plate can avoid the damage of the protruding stones and soil blocks to the placing frame, and when the robot dog walks on the grassland, the anti-collision plate can also reduce the water attached to the grassland from entering the placing frame.

[0024] Optionally, an annular groove is arranged in the telescopic end of the electric telescopic rod, and a clamping block matched with the annular groove is fixedly connected to the moving plate.

[0025] By adopting the technical scheme, when the movable plate is installed, the annular grooves on the telescopic ends of the electric telescopic rod are respectively aligned with the clamping blocks on the two movable plates, so that the movable plate is fixed to the telescopic ends of the electric telescopic rod.

[0026] Optionally, the robot dog is provided with a laser radar module at the back, and an infrared camera module at the front.

[0027] By adopting the technical scheme, the laser radar module on the robot dog can identify obstacles on the detection route of the robot dog, and make the robot dog bypass the obstacles for detection; the infrared camera module can identify whether there are termites in the termite nest, which can assist the ground penetrating radar in detecting the termite nest, and facilitate subsequent targeted treatment of whether there are termites in the termite nest.

[0028] In summary, the present application has at least one of the following beneficial technical effects: 1. When the robot dog walks on different terrains of the dam, the robot dog shakes up and down, the radar antenna module placed in the placing frame generates a downward pulling force on the connecting rod under the action of gravity, the connecting rod generates a pulling force on the circular spring steel sheet, and the circular spring steel sheet deforms, the circular spring steel sheet is tightly attached to the inner circumferential wall of the spherical sealing tank, and the liquid is blocked from flowing through the holes on the circular spring steel sheet, under the action of the viscous resistance of the blocking liquid, the deformation process of the circular spring steel sheet is slowed down, the amplitude of the up and down shaking of the connecting rod is reduced, and the amplitude of the up and down shaking of the radar antenna module arranged on the connecting rod is reduced, thereby effectively improving the stability of the ground penetrating radar installed on the robot dog.

[0029] 2. When the robot dog walks on different terrains of the dam, the robot dog shakes left and right, the connecting rod abuts against the anti-collision ring of the sealing tank, the connecting rod is offset, the connecting rod drives the circular spring steel sheet to deflect in the spherical sealing tank, the blocking liquid flows through the holes on the circular spring steel sheet, under the action of the viscous resistance of the blocking liquid, the deflection process of the circular spring steel sheet is slowed down, the amplitude of the left and right shaking of the connecting rod is reduced, and due to the high viscosity of the blocking liquid, the blocking liquid exerts pressure on the elastic blocking plate, the elastic blocking plate deforms, and the speed of the blocking liquid flowing through the holes on the circular spring steel sheet is slowed down, thereby reducing the amplitude of the left and right shaking of the radar antenna module arranged on the connecting rod, and effectively improving the stability of the ground penetrating radar installed on the robot dog.

[0030] 3. When the robot dog walks on different types of terrain on the dam, the electric telescopic rod fixed to the abdomen of the robot dog can adjust the height of the radar antenna module from the ground according to the terrain. When the robot dog walks on a slope, the inclination sensor on the placing frame controls the step motor on the fixed disc to start. The rotation direction and amplitude of the three step motors change according to the inclination angle of the slope. When the step motor starts, the driving rod rotates along the output end of the step motor, the driving rod drives the driven rod to rotate, the driven rod drives the placing frame to rotate along the connecting rod, and the placing frame is parallel to the slope, thereby improving the accuracy of the radar antenna module in detecting termite nests on the dam.

[0031] 4. When placing the radar antenna module in the placing frame, loosen the buckle on the cover plate, put the radar antenna module into the placing frame, adjust the position of the angle plate in the sliding groove, make the four corners of the radar antenna module abut against the angle plate, then insert the fixed column on the angle plate into the fixed hole of the sliding groove, fix the radar antenna module in the placing frame, tighten the cover plate, under the condition of the gravity of the radar antenna module and the downward pressure generated by the cover plate, the spring is compressed, and the radar antenna module is tightly abutted against the cover plate and the floor respectively, which reduces the shaking of the radar antenna module. By adjusting the position of the angle plate in the sliding groove, different types of radar antenna modules can be installed, and the adaptability of the placing frame is enhanced. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 is a schematic diagram of the overall structure of the embodiment of the present application; Figure 2 is a schematic diagram of part of the structure of the embodiment of the present application; Figure 3 is a schematic diagram of the cross-sectional structure along line A-A in the embodiment; Figure 2 Figure 4 is an enlarged schematic diagram of part B in the embodiment; Figure 2 Figure 5 is a schematic diagram of the cross-sectional structure of the embodiment of the present application for showing the placing frame.

[0033] Reference signs: 1, robot dog; 21, radar antenna module; 22, radar host module; 23, laser radar module; 3, moving plate; 31, mounting hole; 4, spherical sealing tank; 41, sealing port; 42, circular spring steel sheet; 43, telescopic sealing tube; 44, elastic barrier plate; 5, connecting rod; 6, placing frame; 61, cover plate; 62, bottom plate; 621, sliding groove; 622, angle plate; 623, fixed hole; 63, arc-shaped anti-collision plate; 64, shielding layer; 65, elastic member; 71, step motor; 72, driving rod; 73, driven rod; 74, fixed disc; 75, inclination sensor; 8, pigment rack; 81, pressing plate; 82, electric push rod. DETAILED DESCRIPTION ​​

[0034] The application will be further described below in conjunction with the accompanying drawings. Figures 1-5 The application will be further described below in conjunction with the accompanying drawings.

[0035] The application discloses a dam termite detection device based on a robot dog. Referring to Figures 1-4 The dam termite detection device based on the robot dog comprises a robot dog 1 body, a moving plate 3 arranged on the abdomen of the robot dog 1, the moving plate 3 can be lifted and lowered through an electric telescopic rod, a ring-shaped groove is formed in the telescopic end of the electric telescopic rod, the two ends of the moving plate 3 are fixedly connected to clamping blocks matched with the ring-shaped groove, a mounting hole 31 is formed in the central position of the moving plate 3, the moving plate 3 is divided into two parts along the center, the two parts of the moving plate 3 are connected through screws or buckled through a locking buckle, a spherical sealing tank 4 is installed on the moving plate 3, a recess matched with the mounting hole 31 is formed in the spherical sealing tank 4, a rubber ring is arranged on the hole wall of the mounting hole 31, a sealing opening 41 is formed in the end of the spherical sealing tank 4 away from the abdomen of the robot dog 1, a circular spring steel sheet 42 and an elastic barrier plate 44 are slidably arranged in the spherical sealing tank 4, the circular spring steel sheet 42 and the elastic barrier plate 44 are made of the same material, the circular spring steel sheet 42 is attached to the inner peripheral wall of the spherical sealing tank 4, barrier liquid is filled between the bottom of the spherical sealing tank 4 and the elastic barrier plate 44, air is filled between the top of the spherical sealing tank 4 and the elastic barrier plate 44, or a gas hole for communicating air is formed in the top of the spherical sealing tank 4, the barrier liquid can be glycerin, silicone oil and synthetic oil-based liquid, a hole for liquid circulation is formed in the circular spring steel sheet 42, the elastic barrier plate 44 is located above the circular spring steel sheet 42, a connecting rod 5 is connected to the center of the circular spring steel sheet 42, one end of the connecting rod 5 passes through the sealing opening 41 and is connected to a placing frame 6, a radar antenna module 21 is placed in the placing frame 6, a radar host module 22 is arranged on the back of the robot dog 1, a telescopic sealing pipe 43 is fixedly connected to the connecting rod 5 and the sealing opening 41, an anti-collision ring is attached to the hole wall of the sealing opening 41, and an adjusting mechanism for adjusting the radar antenna module 21 is arranged on the placing frame 6.

[0036] The machine dog 1 can adjust the height of the placing frame 6 from the ground when detecting termite nests under the dam, for example, in flat and gentle slope areas, the height of the placing frame 6 from the ground can be adjusted to less than 10 cm by the electric telescopic rod, in grassy and gravel slope areas, the height of the placing frame 6 from the ground can be adjusted to between 10 cm and 15 cm, and in steep and stepped areas, the height of the placing frame 6 from the ground can be adjusted to between 15 cm and 30 cm; when the machine dog 1 walks on the road and shakes up and down, the radar antenna module 21 placed in the placing frame 6 generates a downward pulling force on the connecting rod 5 under the action of gravity, the connecting rod 5 generates a downward pulling force on the circular spring steel sheet 42 in the spherical sealing tank 4, the circular spring steel sheet 42 deforms, the barrier liquid in the spherical sealing tank 4 flows through the hole on the circular spring steel sheet 42, the barrier liquid generates viscous resistance on the circular spring steel sheet 42, slows down the deformation process of the circular spring steel sheet 42, reduces the up-and-down shaking amplitude of the connecting rod 5, and thus reduces the up-and-down shaking of the radar antenna module 21; when the machine dog 1 walks and shakes left and right, the connecting rod 5 deflects, the connecting rod 5 abuts against the anti-collision ring of the sealing port 41, the connecting rod 5 drives the circular spring steel sheet 42 to deflect in the spherical sealing tank 4, and the barrier liquid in the spherical sealing tank 4 flows through the hole during the deflection of the circular spring steel sheet 42. Due to the high viscosity of the barrier liquid, the barrier liquid cannot flow quickly through the hole, the barrier liquid generates extrusion on the elastic barrier plate 44, the elastic barrier plate 44 deforms, and thus the flow speed of the barrier liquid is slowed down, and the deflection process of the circular spring steel sheet 42 is slowed down; when the spherical sealing tank 4 is installed on the moving plate 3, the two parts of the moving plate 3 are loosened by twisting the screw, the clamping block is moved away from the annular groove on the telescopic end of the electric telescopic rod, the recess on the spherical sealing tank 4 is aligned with the mounting hole 31 on the moving plate 3, the screw is tightened, and the spherical sealing tank 4 is fixed on the moving plate 3; when the machine dog 1 goes uphill and downhill on the dam slope, the adjusting structure can change the inclination angle of the radar antenna module 21, so that the radar antenna module 21 is kept horizontal with the slope; compared with directly using the electric telescopic rod and the sensor to cooperate to reduce the shaking of the radar antenna module 21, the device reduces the interference of the shaking of the machine dog 1 on the radar antenna module 21 when the machine dog 1 walks, ensures the accuracy of the detection result of the ground penetrating radar on the dam, has a lower cost, consumes less energy of the machine dog 1, and is more conducive to the long-term detection operation of the machine dog 1 on the dam.

[0037] Referring to Figure 1 , Figure 3 and Figure 4The adjusting structure comprises a fixed disc 74, three stepping motors 71, a driving rod 72, a driven rod 73 and an inclination sensor 75, the fixed disc 74 is coaxially fixedly connected with the connecting rod 5, the bottom end of the connecting rod 5 is ball-jointedly connected with the placing frame 6, three stepping motors 71 are uniformly fixedly connected on the end of the fixed disc 74 close to the placing frame 6, the output end of the stepping motor 71 is perpendicularly fixedly connected with the driving rod 72, the two ends of the driven rod 73 are rotationally connected with the driving rod 72 and the placing frame 6 respectively, the inclination sensor 75 is arranged on the placing frame 6, and the inclination sensor 75 is electrically connected with the stepping motor 71.

[0038] When the robot dog 1 walks on the dam slope, the inclination sensor 75 controls the rotation of the three stepping motors 71, the stepping motor 71 on the fixed disc 74 drives the driving rod 72 to rotate along the output shaft of the stepping motor 71, the driving rod 72 drives the driven rod 73 to rotate, and the driven rod 73 drives the placing frame 6 to rotate along the connecting rod 5, the rotation direction and rotation amplitude of the three stepping motors 71 can be changed according to the angle of the slope, so that the height between the connecting position of the placing frame 6 and the driven rod 73 and the fixed disc 74 is changed, thereby the placing frame 6 is kept parallel to the slope, and it is ensured that the radar antenna module 21 in the placing frame 6 is parallel to the slope.

[0039] Referring to Figure 1 , Figure 3 and Figure 5 , the placing frame 6 comprises a buckle type cover plate 61, the top of the cover plate 61 is ball-jointedly connected with the connecting rod 5, the bottom of the placing frame 6 is provided with a bottom plate 62 in a lifting mode, an elastic member 65 is arranged between the bottom plate 62 and the bottom of the placing frame 6, the elastic member 65 can be a rubber spring or an air spring, and the elastic member 65 can reduce the interference on the detection of the radar antenna module 21; diagonal sliding grooves 621 are formed on the bottom plate 62, a plurality of fixing holes 623 are uniformly formed on the bottom of each sliding groove 621, a corner plate 622 matched with the sliding groove 621 is slidingly connected to the bottom plate 62, a shockproof pad is attached to the corner plate 622, and the corner plate 622 is integrally formed with a fixing rod matched with the fixing hole 623; the end face of the cover plate 61 close to the inside of the placing frame 6 and the periphery of the placing frame 6 are fixedly connected with shielding layers 64, the shielding layers 64 can be copper foil layers or aluminum foil layers, and an arc-shaped anti-collision plate 63 is fixedly connected to the bottom of the placing frame 6, and the materials of the bottom plate 62, the cover plate 61 and the arc-shaped anti-collision plate 63 are plastic.

[0040] When the radar antenna module 21 is installed in the placement frame 6, the buckle is opened, the other parts of the placement frame 6 except the cover plate 61 are separated from the connecting rod 5, the radar antenna module 21 is placed in the placement frame 6, the position of the angle plate 622 in the sliding groove 621 is adjusted, the radar antenna module 21 abuts against the angle plate 622, the fixing rod is inserted into the fixing hole 623, the angle plate 622 fixes the radar antenna module 21, the number of shockproof pads on the angle plate 622 can be increased or decreased, so that the angle plate 622 abuts against the radar antenna module 21 tightly, then the buckle is fastened, the cover plate 61 generates downward pressure on the radar antenna module 21, and the pressure is transmitted to the bottom plate 62, the elastic piece 65 is compressed under the action of the pressure and the gravity of the radar antenna module 21, so that the bottom and top of the radar antenna module 21 abut against the bottom plate 62 and the top plate of the placement frame 6 respectively, the shaking of the radar antenna module 21 in the placement frame 6 when the robot dog 1 walks is reduced, and the accuracy of the detection result is ensured; the shielding layer 64 can reduce the interference of the power supply of the robot dog 1 on the radar antenna module 21, and the plastic arc-shaped anti-collision plate 63 fixed at the bottom of the placement frame 6 avoids the damage of the raised stones and soil blocks on the road to the placement frame 6.

[0041] Referring to Figure 1 and Figure 3 , the robot dog 1 is provided with a pigment rack 8, the pigment rack 8 is provided with a pigment bottle, the pigment bottle contains degradable pigment, a pressing plate 81 is slidably connected in the pigment rack 8, an electric push rod 82 is fixed to the abdomen of the robot dog 1, the extension end of the electric push rod 82 is fixed to the pressing plate 81, and the electric push rod 82 is electrically connected with the radar host module 22; the robot dog 1 is provided with a laser radar module 23 on the back, and is provided with an infrared camera module on the head.

[0042] When the radar antenna module 21 identifies the termite nest, the electric push rod 82 is started, the extension end of the electric push rod 82 is elongated, the pressing plate 81 moves in the pigment rack 8 and presses the pigment bottle, the place where the termite nest exists is marked, and the position of the termite nest is directly identified by subsequent personnel; the laser radar module 23 of the robot dog 1 can identify various terrains on the dam, and can directly avoid the obstacles existing on the route; the infrared camera module arranged on the head of the robot dog 1 can judge whether there are termites in the termite nest, and the subsequent personnel can take corresponding measures.

[0043] The implementation principle of the dam termite detection device based on the robot dog is as follows: when the robot dog 1 is detecting on the dam, when the robot dog 1 shakes up and down when walking on different terrains, the radar antenna module 21 placed in the placing frame 6 generates a downward pulling force on the connecting rod 5 under the influence of gravity, the connecting rod 5 generates a downward pulling force on the circular spring steel sheet 42, the circular spring steel sheet 42 deforms under the action of the pulling force, the barrier liquid in the spherical sealing tank 4 flows through the hole on the circular spring steel sheet 42, the barrier liquid generates a viscous drag force on the circular spring steel sheet 42, thereby reducing the deformation amplitude of the circular spring steel sheet 42, and the shaking of the radar antenna module 21 is reduced; when the robot dog 1 shakes left and right when walking on different terrains, the connecting rod 5 abuts against the anti-collision ring, the connecting rod 5 is offset, the circular spring steel sheet 42 is offset in the spherical sealing tank 4, the barrier liquid extrudes the elastic barrier plate 44, the elastic barrier plate 44 deforms, the flow rate of the barrier liquid through the hole is slowed down, and the barrier liquid slows down the deflection speed of the circular spring steel sheet 42, thereby reducing the shaking amplitude of the radar antenna module 21 left and right; when the robot dog 1 walks on the slope of the dam, the placing frame 6 is inclined to the slope surface, the tilt sensor 75 controls the three stepping motors 71 to start, the stepping motor 71 drives the driving rod 72 to rotate along the output shaft of the stepping motor 71, the driving rod 72 drives the driven rod 73 to rotate, the driven rod 73 drives the placing frame 6 to rotate along the connecting rod 5, so that the placing frame 6 is parallel to the slope of the dam, and the accuracy of the ground penetrating radar detection result is ensured; the device reduces the influence of the shaking of the robot dog 1 on the radar antenna module 21 when walking on different terrains of the dam, and effectively improves the accuracy of the ground penetrating radar detection result of the dam termite nest.

[0044] The above are preferred embodiments of the present application, and do not limit the protection scope of the present application, therefore: any equivalent changes made on the structure, shape, principle of the present application should be covered within the protection scope of the present application.

Claims

1. A dam termite detection device based on a robot dog, comprising a robot dog (1), characterized in that: The machine dog (1) abdomen lifting is provided with the moving plate (3), the moving plate (3) is provided with the spherical sealed tank (4), the spherical sealed tank (4) is provided with the barrier liquid, the spherical sealed tank (4) is away from the position of the machine dog (1) abdomen and is provided with the sealed mouth (41), the hole wall of the sealed mouth (41) is provided with the anti-collision ring, the spherical sealed tank (4) is provided with the circular spring steel sheet (42) that is attached with the spherical sealed tank (4) inner wall, the circular spring steel sheet (42) is provided with a plurality of holes, the center of the circular spring steel sheet (42) is fixedly connected with the connecting rod (5), the bottom of the connecting rod (5) is provided with the placing frame (6), the connecting rod (5) is fixedly connected with the position of the sealed mouth (41) and is provided with the telescopic sealing tube (43), the placing frame (6) is provided with the radar antenna module (21), the machine dog (1) back is provided with the radar host module (22), the placing frame (6) is provided with the adjusting mechanism for adjusting the inclination of the radar antenna module (21).

2. The dam termite detecting device based on the robot dog according to claim 1, wherein: The spherical sealed tank (4) is fixedly connected with the elastic barrier plate (44), the elastic barrier plate (44) is located above the circular spring steel sheet (42), and the barrier plate (44) and the top of the spherical sealed tank (4) form a cavity filled with air.

3. The dam termite detecting device based on the robot dog according to claim 1, wherein: The adjusting mechanism includes three stepper motors (71), a driving rod (72), a driven rod (73), a fixed disc (74) and an inclination sensor (75), the fixed disc (74) is coaxially fixedly connected to the connecting rod (5), the bottom of the connecting rod (5) is spherically connected to the placing frame (6), three stepper motors (71) are uniformly fixed to one end of the fixed disc (74) close to the placing frame (6), the output end of the stepper motor (71) is perpendicularly fixed to the driving rod (72), the two ends of the driven rod (73) are rotatably connected to the driving rod (72) and the placing frame (6) respectively, the inclination sensor (75) is arranged on the placing frame (6), and the inclination sensor (75) is electrically connected to the stepper motor (71).

4. The dam termite detecting apparatus based on the robot dog according to claim 1, wherein: The moving plate (3) is provided with a mounting hole (31) matched with the spherical sealed tank (4), the moving plate (3) is divided into two parts along the diameter of the mounting hole (31), and the side walls of the two parts of the moving plate (3) are threadedly connected, the spherical sealed tank (4) is provided with a recess matched with the mounting hole (31).

5. The dam termite detecting apparatus based on the robot dog according to claim 1, wherein: The placing frame (6) includes a buckle type cover plate (61), an elastic member (65) and a bottom plate (62), the cover plate (61) is spherically connected to the connecting rod (5), the bottom plate (62) is arranged on the bottom of the placing frame (6), the elastic member (65) is arranged between the bottom plate (62) and the bottom of the placing frame (6), and the placing frame (6) is provided with a fixing assembly for fixing the radar antenna module (21).

6. The dam termite detecting apparatus based on the robot dog according to claim 5, wherein: The fixed assembly includes a sliding groove (621), an angle plate (622), a fixed hole (623) and a fixed rod, the bottom plate (62) is provided with the sliding groove (621) along the diagonal line, the fixed hole (623) is arranged in the sliding groove (621), the angle plate (622) is fixedly connected with the fixed rod, and the fixed rod is slidably connected with the sliding groove (621).

7. The dam termite detecting apparatus based on the robot dog according to claim 4, wherein: The cover plate (61) is fixedly connected with a shielding layer (64) at one end close to the inside of the placing frame (6), and the side wall of the placing frame (6) is also fixedly connected with a shielding layer (64).

8. The dam termite detecting apparatus based on the robot dog according to claim 1, wherein: The machine dog (1) is provided with a pigment rack (8) on the abdomen, a pigment tank is arranged in the pigment rack (8), a pressing plate (81) is slidably connected in the pigment rack (8), the machine dog (1) is fixedly connected with an electric push rod (82), the telescopic end of the electric push rod (82) is fixedly connected with the pressing plate (81), and the electric push rod (82) is electrically connected with the radar host module (22).

9. The dam termite detecting apparatus based on the robot dog according to claim 1, wherein: The placing frame (6) is fixedly connected with an arc-shaped anti-collision plate (63) at the bottom.

10. The dam termite detecting apparatus based on the robot dog according to claim 1, wherein: The machine dog (1) is provided with a laser radar module (23) on the back, and the head of the machine dog (1) is provided with an infrared camera module.

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