Self-propelled crawler-type ground penetrating radar robot for slope detection

Abstract

The utility model provides a self-propelled crawler-type ground penetrating radar robot for slope detection. The self-propelled crawler-type ground penetrating radar robot comprises a main body case, a crawler-type walking unit, a battery, a mainboard and a ground penetrating radar, the crawler-type walking units are symmetrically mounted on the left side and the right side of the main body case respectively; the main case is of a double-layer structure, the mainboard and the battery are installed on the upper layer, and the ground penetrating radar is installed on the lower layer. The main board is connected with the crawler-type walking unit, the battery and the ground penetrating radar. The robot especially can autonomously run and detect on complex terrains such as an inclined plane and a slope surface, underground three-dimensional information with high quality, high precision and high resolution is obtained, detection data can be rapidly, accurately and objectively obtained, and therefore the detection efficiency of the ground penetrating radar is greatly improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of slope detection robots, and in particular relates to a self-propelled crawler type ground penetrating radar robot for slope detection. Background Art

[0002] Ground penetrating radar is an instrument that uses electromagnetic waves to detect underground structures and materials. It can be used to detect underground pipelines, road cavities, loose soil, water-rich soil and other soil disease information, as well as geological disasters, mineral resources, archaeological sites and other fields. The traditional ground penetrating radar detection method is to manually push or drag the ground penetrating radar instrument to detect along a certain survey line on the surface, which has the problems of high labor costs and low ground penetrating radar detection efficiency. Utility Model Content

[0003] In view of the defects in the prior art, the utility model provides a self-propelled crawler type ground penetrating radar robot for slope detection, which can effectively solve the above problems.

[0004] The technical solution adopted by the utility model is as follows:

[0005] The utility model provides a self-propelled crawler-type ground-penetrating radar robot for slope detection, comprising a main body chassis (6), a crawler-type walking unit, a battery (12), a main board (13) and a ground-penetrating radar (18);

[0006] The crawler-type walking units are symmetrically mounted on the left and right sides of the main chassis (6); the main chassis (6) is a double-layer structure, with the main board (13) and the battery (12) mounted on the upper layer and the ground-penetrating radar (18) mounted on the lower layer; the main board (13) is respectively connected to the crawler-type walking unit, the battery (12) and the ground-penetrating radar (18).

[0007] Preferably, the main chassis (6) is rectangular in shape.

[0008] Preferably, the crawler-type walking unit on each side comprises a crawler (4), a driving wheel (5), an upper induction wheel (7), a lower load-bearing wheel (8), a motor (10) and a motor drive module (14);

[0009] The side surface of the main machine case (6) is divided into an upper area and a lower area, and the driving wheel (5) and the upper induction wheel (7) are respectively installed at the left and right ends of the upper area; three lower road wheels (8) are evenly installed in the lower area; and the crawler track (4) is sleeved on the outside of the driving wheel (5), the upper induction wheel (7) and the three lower road wheels (8);

[0010] The motor (10) and the motor drive module (14) are installed inside the main chassis (6); the input end of the motor (10) is connected to the main board (13); and the output end of the motor (10) is connected to the driving wheel (5) through the motor drive module (14).

[0011] Preferably, the crawler (4) is in a trapezoidal shape, and the top side length of the trapezoid is greater than the bottom side length. The height of the crawler (4) is greater than the height of the main chassis (6).

[0012] Preferably, a GPS locator (3) is installed on the top of the main chassis (6); the GPS locator (3) is connected to the mainboard (13).

[0013] Preferably, a camera (1) with a downward collection direction is installed on the front of the main chassis (6); the camera (1) is connected to the mainboard (13).

[0014] Preferably, a WiFi module (16) is installed on the upper side wall of the main chassis (6); the WiFi module (16) is connected to the mainboard (13).

[0015] Preferably, the battery (12) is provided with a charging port (9) with a cover.

[0016] The utility model provides a self-propelled crawler type ground penetrating radar robot for slope detection, which has the following advantages:

[0017] The robot can especially autonomously drive and detect on complex terrains such as slopes and inclines, obtain high-quality, high-precision, and high-resolution underground three-dimensional information, and can quickly, accurately, and objectively obtain detection data, thereby greatly improving the efficiency of ground penetrating radar detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 The upper and lower isometric views of a self-propelled crawler robot for slope detection provided by the utility model;

[0019] Figure 2 Back view of the self-propelled robot for slope detection;

[0020] Figure 3 for Figure 2 A bottom view of the AA section shown;

[0021] Figure 4 for Figure 2 A top view of the section BB shown;

[0022] Figure 5 for Figure 2 Right side view of the CC section shown;

[0023] In the figure: 1. Camera; 2. Power switch; 3. GPS locator; 4. Tracks; 5. Driving wheel; 6. Main chassis; 7. Upper induction wheel; 8. Lower road wheel; 9. Charging port with cover; 10. Motor; 11. Motor fixing plate; 12. Battery; 13. Main board; 14. Motor drive module; 15. Upper induction wheel fixing plate; 16. WiFi module; 17. Lower road wheel fixing plate; 18. Ground penetrating radar. DETAILED DESCRIPTION

[0024] In order to make the technical problems, technical solutions and beneficial effects solved by the utility model more clear, the utility model is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the utility model and are not used to limit the utility model.

[0025] The utility model provides a self-propelled crawler ground-penetrating radar robot for slope detection, which is a self-propelled robot for slope detection equipped with a ground-penetrating radar. The robot can autonomously drive and detect on complex terrains such as slopes and slopes, and obtain high-quality, high-precision, and high-resolution underground three-dimensional information. It can achieve fast, accurate, and objective acquisition of detection data, thereby greatly improving the efficiency of ground-penetrating radar detection. The robot is suitable for flaw detection of slopes such as highway slopes, railway slopes, and dams, and is of great significance for preventing geological disasters and protecting people's lives and property.

[0026] See also Figures 1 to 5 , the utility model provides a self-propelled crawler type ground penetrating radar robot for slope detection, including a main chassis 6, a crawler type walking unit, a battery 12, a main board 13 and a ground penetrating radar 18;

[0027] The main chassis 6 can be made of PBT plastic and can be rectangular. The left and right sides of the main chassis 6 are symmetrically mounted with crawler-type walking units; the main chassis 6 is a double-layer structure, with the main board 13 and the battery 12 mounted on the upper layer, and the battery 12 is provided with a charging port 9 with a cover. The ground penetrating radar 18 is mounted on the lower layer; the main board 13 is connected to the crawler-type walking unit, the battery 12 and the ground penetrating radar 18 respectively.

[0028] The crawler walking unit on each side includes a crawler track 4, a driving wheel 5, an upper inducing wheel 7, a lower road wheel 8, a motor 10 and a motor drive module 14; the side of the main chassis 6 is divided into an upper area and a lower area, and a driving wheel 5 and an upper inducing wheel 7 are respectively installed at the left and right ends of the upper area; three lower road wheels 8 are evenly installed in the lower area; a crawler track 4 is sleeved on the outside of the driving wheel 5, the upper inducing wheel 7 and the three lower road wheels 8; the motor 10 and the motor drive module 14 are installed inside the main chassis 6, and the input end of the motor 10 is connected to the main board 13; the output end of the motor 10 is connected to the driving wheel 5 through the motor drive module 14.

[0029] The crawler belt 4 is in a trapezoidal shape, and the top side length of the trapezoid is greater than the bottom side length. The height of the crawler belt 4 is greater than the height of the main body chassis 6.

[0030] A GPS locator 3 is installed on the top of the main chassis 6; the GPS locator 3 is connected to the mainboard 13. The highest point of the GPS locator 3 is not higher than the crawler 4.

[0031] A camera 1 with a downward collection direction is installed at the front of the main chassis 6; the camera 1 is connected to the mainboard 13 and is used to record photos of the detection position.

[0032] A WiFi module 16 is installed on the upper side wall of the main chassis 6 ; the WiFi module 16 is connected to the mainboard 13 .

[0033] A specific embodiment is described below:

[0034] Power switch 2: The main chassis 6 is provided with a power switch 2. When the power switch 2 is pressed, the self-propelled crawler robot starts;

[0035] Driving wheels 5: Two driving wheels 5 are provided in total. The driving wheels 5 convert the power of the motor 10 into the traction force of the crawler track 4 to drive the crawler robot forward or backward.

[0036] Upper inducer wheels 7: two are provided in total. The upper inducer wheels 7 are driven wheels, supporting the upper section of the crawler track 4.

[0037] Lower road wheels 8: Three pairs are provided in total. The lower road wheels 8 are driven wheels, bearing the weight of the entire robot and providing a continuous rolling track for the crawler track 4.

[0038] GPS locator 3: GPS locator 3 is installed on the upper part of the main chassis 6 to provide the position coordinates of the detection point;

[0039] Camera 1: A high-definition camera is used, installed at the front of the main chassis 6, shooting towards the ground, and can record photos in front of the detection point, which is convenient for recording the location of the detection point;

[0040] Covered charging port 9: The battery 12 can be charged through the covered charging port 9;

[0041] Main chassis 6: The main chassis 6 is divided into two layers, upper and lower layers, including:

[0042] Motor 10: A pair of motors 10 are provided and installed on the upper layer of the main chassis 6. The motor 10 provides driving power. The maximum torque of a single motor is 20 N·m, which meets the requirements of the vehicle for driving on a slope.

[0043] Battery 12: The battery 12 is installed on the upper layer of the main chassis 6 to provide the power required by the motor 10, the mainboard 13, the motor drive module 14, the WiFi module 16 and the ground penetrating radar 18;

[0044] Mainboard 13: specifically including the mainboard and CPU, installed on the upper layer of the main chassis 6, responsible for executing various functions of the radar host and controlling the parameters of transmission and reception;

[0045] The motor drive module 14 is installed on the upper layer of the main chassis 6 to provide power for the driving wheel 5;

[0046] WiFi module 16: installed on the upper side wall of the main chassis 6, transmitting ground penetrating radar detection data and robot operation signals;

[0047] Ground penetrating radar 18: specifically, a 400MHz antenna with a ground penetrating radar installed in the lower layer of the main chassis 6, including a host, a transmitter, a transmitting antenna, a receiver, a receiving antenna, etc., to achieve geological detection.

[0048] The utility model provides a self-propelled crawler type ground penetrating radar robot for slope detection, which has the following characteristics:

[0049] (1) A crawler-type walking structure is set up to ensure that the inspection robot can travel stably on the slope.

[0050] (2) The ground penetrating radar equipped with a 400MHz antenna has a high resolution within the detection depth range of 0-2m, which meets the detection needs of slope structures such as river embankments.

[0051] (3) The track height is greater than the height of the robot body and is trapezoidal in shape to ensure that the robot does not lose its ability to move when it overturns on a working slope.

[0052] (4) It has GPS positioning and camera functions, which can accurately record the location of defects.

[0053] (5) Equipped with WiFi communication module, it can operate and transmit data wirelessly.

[0054] Therefore, the self-propelled crawler ground-penetrating radar robot for slope detection provided by the utility model has a pair of driving wheels, a pair of upper induction wheels, and three pairs of lower road wheels; the robot car has a GPS locator on the top; the front of the robot car has a camera facing the ground; the robot car GPS locator is not higher than the crawlers on both sides. The robot can autonomously drive and detect on complex terrains such as slopes and slopes with an angle not exceeding 45° to obtain high-quality, high-precision, and high-resolution underground three-dimensional information, thereby improving the efficiency of ground-penetrating radar detection.

[0055] The above is only a preferred embodiment of the present invention. It should be pointed out that ordinary technicians in this technical field can make several improvements and modifications without departing from the principle of the present invention. These improvements and modifications should also be considered as the protection scope of the present invention.

Claims

1. A self-propelled crawler ground penetrating radar robot for slope detection, characterized in that: It includes a main chassis (6), a crawler-type walking unit, a battery (12), a main board (13) and a ground penetrating radar (18); The crawler-type walking units are symmetrically mounted on the left and right sides of the main chassis (6); the main chassis (6) is a double-layer structure, with the main board (13) and the battery (12) mounted on the upper layer and the ground-penetrating radar (18) mounted on the lower layer; the main board (13) is respectively connected to the crawler-type walking unit, the battery (12) and the ground-penetrating radar (18).

2. The self-propelled crawler ground penetrating radar robot for slope detection according to claim 1, characterized in that: The main chassis (6) is in a rectangular shape.

3. The self-propelled crawler ground penetrating radar robot for slope detection according to claim 1, characterized in that: The crawler-type walking unit on each side comprises a crawler (4), a driving wheel (5), an upper induction wheel (7), a lower load-bearing wheel (8), a motor (10) and a motor drive module (14); The side surface of the main machine case (6) is divided into an upper area and a lower area, and the driving wheel (5) and the upper induction wheel (7) are respectively installed at the left and right ends of the upper area; three lower road wheels (8) are evenly installed in the lower area; and the crawler track (4) is sleeved on the outside of the driving wheel (5), the upper induction wheel (7) and the three lower road wheels (8); The motor (10) and the motor drive module (14) are installed inside the main chassis (6); the input end of the motor (10) is connected to the main board (13); and the output end of the motor (10) is connected to the driving wheel (5) through the motor drive module (14).

4. The self-propelled crawler ground penetrating radar robot for slope detection according to claim 3, characterized in that: The crawler (4) is in a trapezoidal shape, with the top side length of the trapezoid being greater than the bottom side length; the height of the crawler (4) is greater than the height of the main machine case (6).

5. The self-propelled crawler ground penetrating radar robot for slope detection according to claim 1, characterized in that: A GPS locator (3) is installed on the top of the main chassis (6); the GPS locator (3) is connected to the mainboard (13).

6. The self-propelled crawler ground penetrating radar robot for slope detection according to claim 1, characterized in that: A camera (1) with a downward collecting direction is installed at the front of the main chassis (6); the camera (1) is connected to the mainboard (13).

7. The self-propelled crawler ground penetrating radar robot for slope detection according to claim 1, characterized in that: A WiFi module (16) is installed on the upper side wall of the main chassis (6); the WiFi module (16) is connected to the mainboard (13).

8. The self-propelled crawler ground penetrating radar robot for slope detection according to claim 1, characterized in that: The battery (12) is provided with a charging port (9) with a cover.

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