Metal detection trolley
By designing a metal detection car equipped with metal detection sensors and autonomous operation capabilities, the problems of cumbersome operation of traditional metal detection equipment and high operating risks in dark environments are solved, and efficient and safe all-weather metal detection capabilities are achieved.
Patent Information
- Application Number
- CN202421762992.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-24
- Publication Date
- 2025-04-22
- Estimated Expiration
- 2034-07-24
AI Technical Summary
Traditional metal detection equipment is cumbersome to operate, and operators need to handheld equipment to pass through the area to be tested, especially in dark environments, which increases operational risks, and long-term operation may lead to fatigue and accuracy reduction.
A metal detection car is designed, equipped with a remote control body, a metal detection sensor, a linear actuator, an angle regulator and a controller, which can achieve autonomous operation and maintain normal and efficient operation in a dark environment.
Through autonomous operation and efficient detection capabilities, the operator's risk in dark environments is significantly reduced, and the all-weather execution capability of metal detection tasks is improved and the practicality of night or low-light conditions is improved.
Smart Images
Figure CN222780510U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to a metal detection trolley. Background Art
[0002] Metal detection equipment is a key tool used to detect and locate metal objects buried underground or at great depths. It plays an important role in many fields, including security, construction, archeology, and resource exploration. Traditional metal detection equipment is often handheld or standing, and operators need to hold the equipment and walk through the area to be tested to find metal objects. This mode of operation has obvious limitations, requiring operators to accurately grasp the movement of the equipment, placing high demands on their skills and endurance, and long hours of work may lead to fatigue and reduced accuracy. Especially in dark environments, the execution of metal detection is not only limited by vision, but also increases the risk of operators in unsafe or dangerous environments. Therefore, there is an urgent need for an autonomous metal detection solution that can adapt to various scenarios to improve the efficiency and accuracy of metal detection tasks while reducing the risks of operators in various environments. Summary of the invention
[0003] The utility model provides a metal detection vehicle to solve the problems existing in the above-mentioned prior art. The utility model can realize the autonomous operation of the metal detection equipment and maintain normal and efficient operation in a dark environment. This feature not only improves the all-weather execution capability of metal detection tasks, but also significantly enhances the practicality at night or in low light conditions, providing a more reliable and flexible solution for metal detection tasks in various application scenarios.
[0004] The technical solutions adopted in this utility model are:
[0005] A metal detection vehicle comprises a remote control vehicle body, a metal detection sensor, a linear actuator, an angle adjuster and a controller. The angle adjuster is arranged on the remote control vehicle body, and is used to drive the linear actuator to rotate in a horizontal direction. The metal detection sensor is arranged at the linear free end of the linear actuator, and the angle of the metal detection sensor on the linear actuator is adjustable. The linear actuator drives the metal detection sensor to move horizontally.
[0006] Furthermore, the angle adjuster includes a first servo motor and a turntable, the first servo motor drives the turntable to rotate, and the first servo motor is connected to the controller.
[0007] Furthermore, the linear actuator is an electric push rod.
[0008] Furthermore, a fixed seat is provided at the linear free end of the linear actuator, and a second servo motor is provided on the fixed seat. The metal detection sensor is rotatably connected to the fixed seat, and the second servo motor drives the metal detection sensor to rotate. The rotation direction of the metal detection sensor is perpendicular to the rotation direction of the angle adjuster, and the second servo motor is connected to the controller.
[0009] Furthermore, a support roller is rotatably connected to the remote control vehicle body, and the linear free end of the linear actuator is supported on the support roller.
[0010] Furthermore, a mounting frame is provided on the remote control vehicle body, and a first ultrasonic sensor and a second ultrasonic sensor are arranged in upper and lower layers on the mounting frame, and the sensing ends of the first ultrasonic sensor and the second ultrasonic sensor are both facing the metal detection sensor side.
[0011] Furthermore, the remote control vehicle body is also provided with an RF radio frequency module, a GPS module, an audible and visual alarm and a display screen connected to the controller.
[0012] The utility model has the following beneficial effects:
[0013] 1) The metal detection vehicle, through autonomous metal detection, effectively reduces the potential risks of operators when performing metal detection tasks in a dark environment, which not only improves the overall safety of metal detection tasks, but also reduces the workload of operators, making the metal detection process safer and more efficient.
[0014] 2) The metal detection trolley is equipped with a metal detection sensor, which is connected to the electric push rod through a rotating structure. This design enables the metal detection sensor to rotate flexibly while detecting metal, adapt to different detection angles and environments, and improve the detection efficiency and accuracy of metal objects.
[0015] 3) The metal detection car can work reliably in a dark environment. Thanks to the obstacle avoidance function provided by the ultrasonic module, the car can reliably perform metal detection tasks in a dark environment, so that the car can also perform metal detection tasks at night or in low-light scenes, enhancing the practicality of the car.
[0016] 4) The utility model can be provided with two working modes, including a wireless remote control mode and an autonomous detection mode. The two working modes can adapt to different tasks and working environments, making the execution of metal detection tasks more comprehensive and efficient.
[0017] 5) The utility model can work collaboratively. Through RF modules, GPS modules, controllers, etc., multiple metal detection vehicles can communicate with each other, establish a wireless network, share detection data and location information in real time, form a collaborative detection system, improve detection efficiency and detection range, verify detection data, reduce false alarms and missed alarms, and improve detection accuracy.
[0018] 6) The utility model can adjust the detection sensitivity of the metal detection sensor by collecting and analyzing detection data to adapt to different environmental conditions and interference sources, and utilize machine learning algorithms to adaptively adjust the detection sensitivity based on historical data and detection experience to improve detection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS
[0019] Figure 1 This is a structural diagram of the utility model.
[0020] Figure 2 This is a structural diagram of the utility model.
[0021] Figure 3 This is the structural diagram of the linear actuator and angle adjuster on the trolley.
[0022] Figure 4 This is the assembly diagram of the metal detection sensor on the push rod shaft.
[0023] Figure 5 This is a structural diagram of a wireless remote control.
[0024] Figure 6 It is a connection block diagram of each module in the utility model.
[0025] Figure 7 It is the work flow chart of the utility model.
[0026] Figure 8 Schematic diagram of the combined use of two ultrasonic sensors. DETAILED DESCRIPTION
[0027] The utility model is further described below in conjunction with the accompanying drawings.
[0028] like Figures 1 to 4 The utility model discloses a metal detection vehicle, comprising a remote control vehicle body 1, a metal detection sensor 2, a linear actuator 3, an angle adjuster 4 and a controller 5. The angle adjuster 4 is arranged on the remote control vehicle body 1, and the angle adjuster 4 is used to drive the linear actuator 3 to rotate horizontally. The metal detection sensor 2 is arranged at the linear free end of the linear actuator 3, and the angle of the metal detection sensor 2 on the linear actuator 3 is adjustable. The linear actuator 3 drives the metal detection sensor 2 to move horizontally.
[0029] The angle adjuster 4 includes a first servo motor and a turntable. The first servo motor drives the turntable to rotate. The first servo motor is connected to the controller 5 .
[0030] The linear actuator 3 in the utility model is an electric push rod. In order to realize the adjustable angle of the metal detection sensor 2 on the linear actuator 3, a fixing seat 31 is provided at the end of the push rod shaft of the electric push rod. The fixing seat 31 and the push rod shaft are fixed by a flange structure. A second servo motor 32 is provided on the fixing seat 31. The metal detection sensor 2 is rotatably connected to the fixing seat 31. The second servo motor 32 drives the metal detection sensor 2 to rotate through gears. The rotation direction of the metal detection sensor 2 is perpendicular to the rotation direction of the angle adjuster 4. The second servo motor 32 is connected to the controller 5.
[0031] Since the metal detection sensor 2 and the second servo motor 32 are both installed at the end of the push rod shaft, in order to ensure the movement stability of the push rod shaft during the extension and retraction process, a support roller 11 is rotatably connected to the remote control vehicle body 1, and an inwardly concave groove is provided on the circumferential surface of the support roller 11, and the push rod shaft is supported in the groove of the support roller 11.
[0032] A mounting frame 12 is provided on the remote control vehicle body 1 , and a first ultrasonic sensor 41 and a second ultrasonic sensor 42 are arranged in layers up and down on the mounting frame. The sensing ends of the first ultrasonic sensor 41 and the second ultrasonic sensor 42 are both facing the metal detection sensor 2 .
[0033] like Figure 6 The remote control vehicle body 1 is also provided with an RF radio frequency module, a GPS module, an audible and visual alarm, a display screen, a motor drive module and a power supply module connected to the controller.
[0034] Based on the above hardware structure, the working process of the utility model is further described below.
[0035] Combination Figure 7 and Figure 8 The utility model has two working modes, including wireless remote control mode and autonomous detection mode. The operator can use the wireless remote control (remote control such as Figure 5 ) Switch the working mode of the trolley. The controller processes and analyzes the signal from the metal detection sensor 2 in real time to determine whether there is a metal object and its approximate position. When a metal object is detected, the trolley will locate the metal object in real time and send the metal object information to the operator.
[0036] The initial state of the metal detection sensor 2 is the standby mode. When the operator sends the deployment command, the controller 5 starts the linear actuator 3 to perform linear motion. The linear actuator 3 extends forward to drive the metal detection sensor 2 to gradually adjust to the predetermined detection position. The first servo motor and the second servo motor start to rotate to adjust the metal detection sensor 2 to a suitable detection angle. When the metal detection sensor 2 is adjusted to a suitable position and angle, the metal detection sensor 2 is turned on for detection. During the detection process, the first servo motor can rotate according to the preset speed and range, driving the linear actuator 3 and the metal detection sensor 2 to rotate synchronously, so as to achieve a wider range of detection.
[0037] During the detection process, the controller 5 processes and analyzes the data of the metal detection sensor 2 in real time to determine whether there is a metal object and determine its approximate position. If a metal object is found, the trolley will locate the metal object and send the metal object information to the operator. When the operator sends a recovery command, the metal detection sensor 2 is turned off, and the first servo motor stops after reaching the appropriate position. Then the second servo motor rotates to rotate the metal detection sensor 2 inward to the appropriate position, and the push rod is retracted backward to recycle the metal detection sensor 2 into the trolley. After the recovery is completed, the metal detection sensor 2 returns to the standby mode and waits for the next detection task.
[0038] The specific process of the wireless remote control mode is that the operator sends instructions through the wireless remote control, the RF module of the car receives and parses the instructions, and the parsed instructions are passed to the controller. The controller controls the motor drive module according to the instructions to realize various precise movements of the car, including forward, backward, left turn, right turn, acceleration, and deceleration.
[0039] During the detection process, when the car detects a metal object, it will locate the metal object and send the metal object information to the operator. At the same time, it will trigger the sound and light alarm and send a warning signal to the surrounding area to remind the operator and other personnel. In this mode, the operator can control the action of the metal detection sensor through the wireless remote control. When encountering uneven roads, the operator can recycle the metal detection sensor into the car or keep the metal detection sensor in a vertical upward state to avoid damage or affect the detection effect. When metal detection is required, the operator can unfold the metal detection sensor. This flexible control method enables the car to adapt to various complex terrains and detection needs. The operator can also set the excitation signal of the metal detection sensor through the wireless remote control. By adjusting the excitation signal, the car can perform differentiated detection for different types of metals, improve the sensitivity and accuracy of detection, and enhance the practicality of the car.
[0040] The specific process of autonomous detection mode is as follows: the operator can switch to autonomous detection mode through the wireless remote control. The car will first perform initialization operations, including self-inspection and calibration of each module to ensure that the car is in normal working condition and load the preset navigation algorithm. The car can autonomously plan the travel path to ensure that it can cover the entire detection area. On the planned path, the car starts to autonomously perform metal detection tasks. The controller continuously monitors the signal of the metal detection sensor and performs real-time processing and analysis on the received metal signal. When the car detects a metal object, the car will stop moving to avoid interfering with the detection results. The detected metal object information will be displayed in real time on the car's display screen, including the position and size of the object. In addition, the car will locate the metal object and send the metal object information, so that the operator can remotely monitor the detection progress and results. During the travel, the ultrasonic module (the first ultrasonic sensor 41 and the second ultrasonic sensor 42) will continuously send ultrasonic signals and receive reflected ultrasonic signals, and determine whether there is an obstacle ahead by measuring the time difference of the signals. The ultrasonic module works in the following way: the first ultrasonic sensor 41 is started first, and when the first ultrasonic sensor 41 receives the reflected ultrasonic signal, the second ultrasonic sensor 42 is started, and when the second ultrasonic sensor 42 receives the reflected ultrasonic signal, the first ultrasonic sensor 41 is started again, and the cycle repeats. After the controller 5 processes the collected data, it adjusts the car to make reasonable movements.
[0041] The processing method of the controller 5 is as follows: assuming that the longitudinal distance between the first ultrasonic sensor 41 and the second ultrasonic sensor 42 is H, the time when the first ultrasonic sensor 41 receives the ultrasonic signal is t1, the time when the second ultrasonic sensor 42 receives the ultrasonic signal is t2, the speed of sound is c, and the half of the path of the ultrasonic signal of the first ultrasonic sensor 41 is L1. The ultrasonic signal of the second ultrasonic sensor 42 passes through half of the path L2. Angle of slope Repeat the above operation until the car moves within the safe distance, and the measurement is completed. N , remove n unreasonable data, and finally get the slope angle: The controller 5 judges the final result. When the final slope angle α is within the range that the car can cross, the metal detection sensor 2 is automatically recovered to the inside of the car, and the car performs obstacle crossing. When the final slope angle is outside the range that the car can cross, the car performs obstacle avoidance. The car comprehensively considers the obstacle information of the surrounding environment to ensure that the selected travel path and the deployment or recovery of the metal detection sensor are safe and feasible. When metal detection tasks need to be performed in a dark environment, selecting the autonomous detection mode can improve the metal detection efficiency.
[0042] The specific implementation method of collaborative operation is as follows: the car is equipped with an RF radio frequency module, which automatically searches for and connects to other cars when the car starts the automatic detection mode to form a wireless network. Each car can communicate with other cars point-to-point and exchange detection data and location information in real time. Through the collaborative operation of multiple cars, the detection area can be quickly expanded and the overall detection time can be reduced. Each car can verify the detection data of each other, eliminate abnormal data, and ensure the reliability of the detection results.
[0043] During the detection process, the car collects detection data in real time and analyzes the data, extracts features and records them. Based on the analysis results, the car automatically adjusts the detection sensitivity of the metal detection sensor to adapt to the current detection environment. For example, in an environment with large interference, the car can reduce the detection sensitivity to reduce false alarms. The car can have a built-in machine learning algorithm, use historical data for training, and continuously optimize the detection model. After each detection task, the car will compare the detection results with the actual situation, update and adjust the detection model. In the long-term use process, the car can continuously improve the detection efficiency and accuracy through adaptive learning.
[0044] The mounting frame 12 leaves appropriate space and interfaces to facilitate the subsequent addition of other modules to achieve functional customization, expand the application field of the vehicle, and better adapt to different usage scenarios.
[0045] The above is only a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements without departing from the principle of the present invention, and these improvements should also be regarded as within the protection scope of the present invention.
Claims
1. A metal detection vehicle, characterized in that: The invention comprises a remote control vehicle body (1), a metal detection sensor (2), a linear actuator (3), an angle adjuster (4) and a controller (5), wherein the angle adjuster (4) is arranged on the remote control vehicle body (1), the angle adjuster (4) is used to drive the linear actuator (3) to rotate in a horizontal direction, the metal detection sensor (2) is arranged at a linear free end of the linear actuator (3), and the angle of the metal detection sensor (2) on the linear actuator (3) is adjustable, and the linear actuator (3) drives the metal detection sensor (2) to move horizontally.
2. The metal detection vehicle according to claim 1, characterized in that: The angle adjuster (4) comprises a first servo motor and a turntable, the first servo motor drives the turntable to rotate, and the first servo motor is connected to a controller (5).
3. The metal detection vehicle according to claim 1, characterized in that: The linear actuator (3) is an electric push rod.
4. The metal detection vehicle according to claim 1, characterized in that: A fixed seat (31) is provided at the linear free end of the linear actuator (3), and a second servo motor (32) is provided on the fixed seat (31). The metal detection sensor (2) is rotatably connected to the fixing seat (31), and the second servo motor (32) drives the metal detection sensor (2) to rotate. The rotation direction of the metal detection sensor (2) is perpendicular to the rotation direction of the angle adjuster (4). The second servo motor (32) is connected to the controller (5).
5. The metal detection vehicle according to claim 1, characterized in that: A support roller (11) is rotatably connected to the remote control vehicle body (1), and a linear free end of the linear actuator (3) is supported on the support roller (11).
6. The metal detection vehicle according to claim 1, characterized in that: The remote-controlled vehicle body (1) is provided with a mounting frame (12), on which a first ultrasonic sensor (41) and a second ultrasonic sensor (42) are arranged in upper and lower layers, and the sensing ends of the first ultrasonic sensor (41) and the second ultrasonic sensor (42) are both directed toward one side of the metal detection sensor (2).
7. The metal detection vehicle according to claim 1, characterized in that: The remote control vehicle body (1) is also provided with an RF radio frequency module, a GPS module, an audible and visual alarm and a display screen which are connected to the controller.