Intelligent underground disease detection radar device

Abstract

The utility model discloses an underground disease intelligent detection radar device, which belongs to the technical field of radar detection and comprises a radar detection device, an external antenna, a rotatable camera, an alarm, a control box and a carrier used for fixing and controlling the radar detection device. The carrier comprises a radar vehicle body, a motor, a lead screw lifting device, a detachable fixing support, an anti-collision device and a damping wheel set kit, a rotatable camera is arranged at the front end of the top face of the detachable fixing support, a control box is arranged at the rear end of the inner side of the radar vehicle body, and the radar automatic lifting device is connected with the radar vehicle body through a detachable radar support. And the three parts are fastened through bolts. According to the remote control radar vehicle, the flexibility of remote control operation and the performance safety of detection equipment are improved through the wireless communication and automatic navigation technology, the detachable vehicle body design and the automatic lifting system, meanwhile, the remote control radar vehicle is provided with an optimized heat dissipation and shock absorption system, and stability and efficient detection in complex terrains are guaranteed.

Description

Technical Field

[0001] This utility model relates to the field of ground-penetrating radar detection technology, specifically to an intelligent radar device for detecting underground diseases. Background Technology

[0002] Ground-penetrating radar (GPR) vehicles are key underground detection equipment used in fields such as geological exploration, road maintenance, and military reconnaissance. They utilize electromagnetic waves to detect underground structures, enabling rapid and accurate location of underground cavities and other potential hazards. While GPR's non-destructive testing advantages ensure structural integrity and improve detection efficiency, existing GPR systems are mainly divided into hand-push and vehicle-mounted types. Hand-push systems, although suitable for complex terrain, perform poorly in such conditions. Conversely, vehicle-mounted systems are more suitable for complex terrain but face limitations in such environments.

[0003] While hand-mounted radar is flexible, it is not suitable for detecting large areas or complex terrain. Vehicle-mounted radar vehicles, due to their large size and fixed suspension system, struggle to operate stably in complex or uneven terrain, often being unable to enter specific areas due to terrain limitations. Furthermore, radar vehicles with fixed operating systems require operators to follow closely behind, which is particularly inconvenient in harsh environments, and the reliability of control and data transmission is significantly reduced in areas with weak or severe signal obstruction.

[0004] Therefore, this utility model provides an intelligent radar device for detecting underground diseases to address the challenges posed by traditional equipment. Utility Model Content

[0005] To address the aforementioned problems, this invention proposes an intelligent radar device for detecting underground defects. It comprises a detachable fixed bracket, a rotatable camera, an external antenna, an alarm, and a control box, as well as a screw-lifting device and a front and rear suspension system. These designs make the remote-controlled radar vehicle more convenient to use, enabling omnidirectional target detection and positioning.

[0006] To achieve the above objectives, this utility model provides the following technical solution:

[0007] An intelligent radar device for detecting underground defects includes a radar body, a radar detection device, an external antenna, a rotatable camera, a control box, front and rear suspension systems, an alarm, and a screw-lifting device.

[0008] The radar detection device is installed in the middle slide groove inside the radar vehicle body;

[0009] The detachable mounting bracket is fixedly installed on the top center of the radar vehicle body by bolts;

[0010] The control box is fixedly installed inside the rear end of the radar vehicle body. It includes a main control board with an integrated microprocessor, a motor drive module, a stepper motor management module, a power control module, and a power supply. The motor drive module, stepper motor management module, and power control module need to handle high current and voltage, so they are set as independent modules and connected to the main control board and the power supply.

[0011] The rotatable camera is mounted on the front end of the top of the detachable fixed bracket, and includes a camera and sensor module and is connected to the main control board and power control module in the control box. The sensor module is used for attitude detection and GPS positioning.

[0012] The external antenna is installed on the top left side of the rear of the radar vehicle body. It includes the antenna and the ESP32 Wi-Fi module and is connected to the main control board and power control module in the control box. The ESP32 Wi-Fi module is used to transmit video and remote control signals to the control terminal. The bottom of the external antenna is provided with a mounting base, which is a detachable structure.

[0013] The alarm is installed at the top center of the rear of the radar vehicle and is connected to the main control board and power control module in the control box.

[0014] The front suspension system is fixedly installed at the front of the radar vehicle body; the rear suspension system is fixedly installed at the rear of the radar vehicle body.

[0015] As a preferred embodiment of this invention, the radar detection device includes a ground-penetrating radar and a cooling system. The cooling system comprises cooling fans, copper heat pipes and fins, and a metal base, and is disposed on the surface of the ground-penetrating radar. The cooling fans are connected in series and then connected to the main control board in the control box via cables. Further, the cooling system comprises eight cooling fans, copper heat pipes and fins, and metal bases, and is disposed on the surface of the ground-penetrating radar. A cooling system is provided on the surface of the radar detection device. The cooling system includes four cooling fans, three copper heat pipes and fins, and three metal bases, which are symmetrically fixed to the top surface of the device with screws. For ease of installation and maintenance, handles are provided on both sides of the cooling fans. To enhance the heat dissipation effect on the radar, silicone grease is applied between the metal bases and the ground-penetrating radar.

[0016] As a preferred embodiment of this utility model, the screw jack is fixedly installed on the top of the detachable fixed bracket by bolts, and includes a screw jack, a self-locking stepper motor, and a rainproof housing. The worm gear of the screw jack is connected to the self-locking stepper motor and placed inside the rainproof housing. The screw passes through a pre-reserved hole in the top support plate of the detachable fixed bracket and is fixed to the top of the radar detection device. The self-locking stepper motor is connected to the stepper motor management module and the power control module in the control box and is used to adjust the height of the radar detection device from the ground. The rainproof housing has pre-reserved holes on the top and bottom surfaces for the screw jack's screw protection cylinder and screw to pass through. Furthermore, the self-locking stepper motor is connected to the stepper motor management module and power control module in the control box. The self-locking stepper motor shaft is connected to the worm gear of the screw jack. The screw of the screw jack is fixedly installed on the radar detection device. The vertical height of the radar detection device can be adjusted by remotely controlling the self-locking stepper motor. To better adapt to the outdoor environment, the worm gear of the screw jack is connected to the self-locking stepper motor and placed inside a rainproof housing. The upper and lower ends of the rainproof housing have reserved holes for the screw jack's protective sleeve and screw to pass through.

[0017] In a preferred embodiment of this invention, the automatic lifting device is connected to the radar vehicle body via a detachable radar bracket, and these three parts are fastened together with bolts. The detachable bracket has baffles on its left and right sides to reduce wear and tear on the radar detection device and air-cooling system caused by sand and gravel. The detachable fixed bracket consists of four rods, divided into two pairs, each pair connected by a baffle. One end of each pair is connected to the automatic lifting device, and the other end is fixed to the radar vehicle body.

[0018] As a preferred technical solution of this utility model, the detachable fixed bracket includes two pairs of four rods in total. Each pair of rods is connected to each other by a baffle. One end of each rod is connected to a support plate, and the other end of each rod is fixedly connected to the radar body.

[0019] As a preferred embodiment of this utility model, the front suspension system includes a front wheel, a shock-absorbing suspension system, an anti-collision device, a steering rod, and an electric steering mechanism. The front wheel is mounted on both sides of the shock-absorbing suspension system. The electric steering mechanism is fixedly mounted behind the front suspension system, controls the steering of the front wheel through the steering rod, and is connected to the main control board and power control module in the control box via a cable. One end of the steering rod is connected to the ball joint of the front wheel steering knuckle, and the other end is connected to the electric steering mechanism. The rear suspension system includes a rear wheel, a shock-absorbing suspension system, an anti-collision device, and a drive motor. The rear wheel is mounted on both sides of the shock-absorbing suspension system. The drive motor is fixedly mounted at the front of the shock-absorbing suspension system in the rear suspension system and meshes with its drive shaft, and is connected to the motor drive module in the control box via a cable.

[0020] As a preferred embodiment of this utility model, the shock-absorbing suspension system includes a central metal frame, shock absorbers, rigid control arms, elastic control arms, and a drive shaft. Two identical sets of shock absorbers, rigid control arms, elastic control arms, and drive shafts are symmetrically installed on the left and right sides of the central metal frame. The front and rear wheels are connected to the central metal frame via the rigid control arms, elastic control arms, and drive shafts. The shock absorbers connect the rigid control arms near the tire side and the top of the central metal frame. Two identical sets of the shock-absorbing suspension system are installed in the front and rear suspension systems, respectively. Two identical sets of anti-collision devices are fixedly installed on the outside of the shock-absorbing suspension system.

[0021] As a preferred embodiment of this invention, a lighting lamp is fixedly installed at the end (frontmost) of the radar vehicle body and connected to the main control board in the control box via a cable. The anti-collision device includes an anti-collision beam and an anti-collision beam connecting bridge. The anti-collision beam connecting bridge is fixedly installed on the outside of the central metal frame, and the anti-collision beam is fixedly installed on the anti-collision beam connecting bridge.

[0022] Compared with the prior art, the beneficial effects of this utility model are:

[0023] 1. The intelligent radar device for detecting underground defects proposed in this utility model can improve the operational flexibility of the radar vehicle through the optimized radar body and detachable configuration;

[0024] 2. The intelligent radar device for detecting underground diseases proposed in this utility model can ensure the detection performance and safety of the radar detection device through a wind-cooled heat dissipation system and a screw lifting device, and can remotely adjust the height of the radar detection device above the ground;

[0025] 3. The intelligent underground disease detection radar device proposed in this utility model allows the tires to move up and down with the suspension through a shock-absorbing wheel assembly and anti-collision device, while maintaining the stability of the wheels. This ensures the data quality detected in various road conditions, reduces the impact of vibration on the ground penetrating radar, and enhances its adaptability in complex terrain.

[0026] 4. This utility model proposes an intelligent radar device for detecting underground defects. It uses an external antenna and a rotatable camera with ESP32 Wi-Fi to transmit video and detect images along its driving route. A wireless remote control system and automatic navigation along a predetermined route ensure ease of operation over long distances. The vehicle automatically maintains its direction while driving in a straight line, ensuring the accuracy and repeatability of measurement data. In environments with poor wireless signal coverage, the vehicle can automatically drive along a preset navigation route, enhancing its operational capabilities in remote or signal-restricted areas. Furthermore, when the remote control signal is lost, the vehicle can operate autonomously according to the last instruction or a preset safety protocol, including automatically returning to the starting point or moving to a safe area. This ensures operational safety while reducing labor and time costs and improving detection efficiency.

[0027] 5. The intelligent radar device for detecting underground diseases proposed in this utility model can remind pedestrians to avoid and scare away wild animals through a rotatable camera, an alarm buzzer and flashing headlights;

[0028] 6. The present invention proposes an intelligent radar device for detecting underground diseases, which, through a rotatable camera and a screw lifting device, can identify crossable obstacles such as curbs and uphill slopes, as well as simple shapes, and adjust the detection surface of the radar detection device accordingly. Attached Figure Description

[0029] Figure 1 This is a front structural diagram of an intelligent radar device for detecting underground diseases according to this utility model;

[0030] Figure 2 This is a schematic diagram of the rear structure of an intelligent radar device for detecting underground diseases according to this utility model;

[0031] Figure 3 This is a schematic diagram of the internal structure of the radar vehicle body of an intelligent radar device for detecting underground diseases according to this utility model;

[0032] Figure 4 This is a schematic diagram of the upper structure of an intelligent radar device for detecting underground diseases according to this utility model;

[0033] Figure 5 This is a schematic diagram of the rear suspension system structure of an intelligent radar device for detecting underground diseases according to this utility model.

[0034] Figure 6 This is a schematic diagram of the front suspension system structure of an intelligent radar device for detecting underground diseases according to this utility model.

[0035] Figure 7 This is a schematic diagram of the screw lifting device of an intelligent radar device for detecting underground diseases according to this utility model.

[0036] Figure 8This is a schematic diagram of the screw jack structure of an intelligent radar device for detecting underground diseases according to this utility model.

[0037] Figure 9 This is a schematic diagram of the descent of the radar detection device of this utility model.

[0038] Explanation of reference numerals in the attached diagram: 1. Radar chassis;

[0039] 11. Vehicle lights;

[0040] 12. Radar limit stop

[0041] 2. Radar detection device; 21. Ground penetrating radar; 22. Air-cooled heat dissipation system; 221. Cooling fan; 222. Copper heat dissipation pipes and fins; 223. Metal base;

[0042] 3. Detachable fixed bracket; 31. Rod; 32. Baffle; 33. Support plate.

[0043] 4. Control box;

[0044] 5. Rotatable camera;

[0045] 6. External antenna;

[0046] 7. Front suspension system;

[0047] 71. Front wheel;

[0048] 72. Shock absorption suspension system; 721. Central metal frame; 722. Shock absorber; 723. Rigid control arm; 724. Flexible control arm; 725. Drive shaft;

[0049] 73. Collision protection device; 731. Collision protection beam; 732. Collision protection beam connecting bridge;

[0050] 74. Steering rod;

[0051] 75. Electric power steering mechanism;

[0052] 8. Alarm device;

[0053] 9. Screw lifting device;

[0054] 91. Screw jack;

[0055] 911. Lead screw protective cylinder;

[0056] 912. Bearings and retaining rings;

[0057] 913. Outer shell;

[0058] 914. Thrust bearing;

[0059] 915. Guide sleeve;

[0060] 916. Lead screw;

[0061] 917. Ball screw assembly;

[0062] 918, Turbo;

[0063] 919. Worm gear;

[0064] 92. Self-locking stepper motor;

[0065] 93. Rainproof outer shell;

[0066] 10. Rear suspension system; 101. Rear wheels; 102. Drive motor. Detailed Implementation

[0067] Next, the technical solutions in the embodiments will be described in detail and clearly with reference to the accompanying drawings in this utility model specification. In the drawings, the same components will be marked with the same reference numerals for ease of understanding. It should be particularly noted that in the following description, "front," "rear," "left," "right," "up," and "down" refer to the corresponding directions in the drawings, while "bottom surface" and "top surface," "inner" and "outer" indicate directions facing or away from the geometric center of a specific component.

[0068] like Figure 1 and Figure 2As shown, an intelligent radar device for detecting underground diseases includes a radar body 1; a radar detection device 2, which is installed in a middle groove inside the radar body 1; a detachable fixing bracket 3, which is fixedly installed on the top middle section of the radar body 1 by bolts; a control box 4, which is fixedly installed on the rear inner side of the radar body 1, and includes a main control board with an integrated microprocessor, a motor drive module, a stepper motor management module, a power control module, and a power supply. The motor drive module, stepper motor management module, and power control module need to handle high current and voltage, so they are set as independent modules and connected to the main control board and the power supply; a rotatable camera 5, which is installed on the front top of the detachable fixing bracket 3, includes a camera and a sensor module, and is connected to the main control board and the power control module in the control box 4. The sensor module is used for attitude detection and GPS positioning; and an external antenna 6, which is installed on the top left side of the rear of the radar body 1, includes an antenna and an ESP32 Wi-Fi module, and is connected to the main control board and the power control module in the control box 4. The module is used to transmit video and remote control signals to the control terminal; the front suspension system 7 is fixedly installed at the front of the radar body 1; the rear suspension system 10 is fixedly installed at the rear of the radar body 1; the alarm 8 is installed at the top center of the rear of the radar body 1 and is connected to the main control board and power control module in the control box 4; the screw lifting device 9 is fixedly installed on the top of the detachable fixed bracket 3 by bolts.

[0069] like Figure 3 As shown, an intelligent radar device for detecting underground diseases includes a radar body 1 with a lighting headlight 11 fixedly installed at the front end and connected to the main control board in the control box 4 via a cable. The radar body 1 is equipped with a radar limit block 12 to limit the minimum descent height of the radar detection device 2.

[0070] like Figure 4 As shown, an intelligent radar device for detecting underground diseases includes a detachable fixed bracket 3 comprising two pairs of four rods 31. Each pair of rods 31 is connected to each other by a baffle 32. One end of the rod 31 is connected to a support plate 33, and the other end of the rod 31 is fixedly connected to the radar body 1. The radar detection device 2 includes a ground penetrating radar 21 and a wind-cooled heat dissipation system 22. The wind-cooled heat dissipation system 22 consists of a cooling fan 221, a heat dissipation copper pipe and fins 222, and a metal base 223, and is installed on the surface of the ground penetrating radar 21. The cooling fan is connected in series to the main control board in the control box 4 via a cable.

[0071] like Figure 3 , Figure 5 and Figure 6As shown, the front suspension system 7 includes a front wheel 71, a shock-absorbing suspension system 72, an anti-collision device 73, a steering rod 74, and an electric steering mechanism 75. The front wheel 71 is mounted on both sides of the shock-absorbing suspension system 72. The electric steering mechanism 75 is fixedly mounted behind the front suspension system 72, controls the steering of the front wheel through the steering rod 74, and is connected to the main control board and power control module in the control box 4 through a cable. One end of the steering rod 74 is connected to the ball joint of the steering knuckle of the front wheel 71, and the other end is connected to the electric steering mechanism 75. The rear suspension system 10 includes a rear wheel 101, a shock-absorbing suspension system 72, an anti-collision device 73, and a drive motor 102. The rear wheel 101 is mounted on both sides of the shock-absorbing suspension system 72. The drive motor 102 is fixedly mounted in the front of the shock-absorbing suspension system 72 in the rear suspension system 10 and meshes with its drive shaft 725. It is connected to the motor drive module in the control box 4 through a cable. The shock absorption suspension system 72 includes a central metal frame 721, shock absorbers 722, rigid control arms 723, elastic control arms 724, and a drive shaft 725. Two identical sets of shock absorbers 722, rigid control arms 723, elastic control arms 724, and drive shaft 725 are symmetrically installed on the left and right sides of the central metal frame 721. The front wheel 71 and the rear wheel 101 are connected to the central metal frame 721 via the rigid control arms 723, elastic control arms 724, and drive shaft 725. The shock absorber 722 connects to the rigid control arm 723 near the tire and to the top of the central metal frame 721. Two identical sets of the shock absorption suspension system 72 are installed in the front suspension system 7 and the rear suspension system 10, respectively. Two identical sets of anti-collision devices 73 are fixedly installed on the outside of the shock absorption suspension system 72. The anti-collision device 73 includes an anti-collision beam 731 and an anti-collision beam connecting bridge 732. The anti-collision beam connecting bridge 732 is fixedly installed on the outside of the central metal frame 721, and the anti-collision beam 731 is fixedly installed on the anti-collision beam connecting bridge 732.

[0072] like Figure 7 and Figure 8 As shown, the screw jack 9 is fixedly installed on the top of the detachable fixed bracket 3 by bolts. It includes a screw jack 91, a self-locking stepper motor 92, and a rainproof housing 93. The worm gear of the screw jack 91 is connected to the self-locking stepper motor 92 and placed inside the rainproof housing. The screw passes through the reserved hole in the top support plate of the detachable fixed bracket 3 and is fixed to the top of the radar detection device 2. The self-locking stepper motor 92 is connected to the stepper motor management module and power control module in the control box 4 and is used to adjust the height of the radar detection device 2 from the ground. The rainproof housing 93 has reserved holes on the top and bottom surfaces for the screw jack 91's screw protective sleeve and screw to pass through.

[0073] The screw jack 91 includes a screw guard 911, a bearing and retaining ring 912, a housing 913, a thrust bearing 914, a guide sleeve 915, a screw 916, a ball screw pair 917, a worm gear 918, and a worm 919. A lead screw guard 911 is mounted on top of the housing 913. A thrust bearing 914, guide sleeve 915, ball screw assembly 917, and worm gear 918 are all fitted onto the lead screw 916. The worm gear 918 meshes with the worm 919. Two bearings and retaining rings 912 are provided and installed at both ends of the worm 919. One end of the worm 919 is connected to the shaft of the self-locking stepper motor 92. The thrust bearing 914 is installed in the axial load direction in the screw jack 91. When the lead screw 916 moves up and down, it bears the axial force from the lead screw 916, ensuring stable operation. The guide sleeve 915 maintains the linear motion trajectory of the lead screw 916. The ball screw assembly 917 converts rotary motion into linear motion and changes friction from sliding friction to rolling friction, significantly reducing frictional resistance and wear. The rotation of the worm gear 918 and worm 919 drives the ball screw assembly, enabling the lead screw 916 to perform precise lifting and lowering movements.

[0074] like Figure 9 The diagram shows the descent of radar detection device 2 during the detection by the intelligent radar device for detecting underground diseases.

[0075] The foregoing descriptions represent only some preferred embodiments of the present invention and are not intended to limit it. Within the overall framework of the present invention, those skilled in the art have the right to make appropriate adjustments to the technical solutions mentioned in the foregoing embodiments. However, all other embodiments formed without inventive effort are protected by the present invention. Any equivalent changes made based on the structure, shape, and principle disclosed in this application should be included within the protection scope of the present invention.

Claims

1. An intelligent radar device for detecting underground diseases, characterized in that, include: Radar vehicle body (1); Radar detection device (2), the radar detection device (2) is installed in the middle groove inside the radar body (1); A detachable fixing bracket (3) is fixedly installed on the top of the radar body (1) by bolts; The control box (4) is fixedly installed inside the radar body (1) and includes a main control board with an integrated microprocessor, a motor drive module, a stepper motor management module, a power control module and a power supply. The motor drive module, the stepper motor management module and the power control module are all connected to the main control board and the power supply. A rotatable camera (5) is mounted on the top surface of the detachable fixed bracket (3), and includes a camera and a sensor module for attitude detection and GPS positioning, and is connected to the main control board and power control module in the control box (4); An external antenna (6) is installed at the top rear of the radar vehicle body (1), and includes an antenna and an ESP32 Wi-Fi module for transmitting video and remote control signals to the control terminal and is connected to the main control board and power control module in the control box (4); The screw lifting device (9) is fixedly installed on the top of the detachable fixed bracket (3) by bolts.

2. The intelligent radar device for detecting underground diseases according to claim 1, characterized in that, The aforementioned screw jacking device (9) includes: The screw jack (91), the self-locking stepper motor (92), and the rainproof housing (93) are provided. The worm gear (919) of the screw jack (91) is connected to the self-locking stepper motor (92) and placed inside the rainproof housing (93). The screw (916) of the screw jack (91) passes through the reserved hole in the top support plate of the detachable fixed bracket (3) and is fixed to the top of the radar detection device (2). The self-locking stepper motor (92) is connected to the stepper motor management module and power control module in the control box (4) to adjust the height of the radar detection device (2) from the ground; the rainproof shell (93) has pre-drilled holes on the top and bottom for the screw protection cylinder and screw of the screw jack (91) to pass through.

3. The intelligent underground disease detection radar device according to claim 1, characterized in that, Also includes: A front suspension system (7) is fixedly mounted on the front of the radar vehicle body (1); The rear suspension system (10) is fixedly installed at the rear of the radar body (1).

4. The intelligent detection radar device for underground diseases according to claim 1, characterized in that, Also includes: An alarm (8) is installed at the top of the rear of the radar vehicle body (1) and is connected to the main control board and power control module in the control box (4).

5. The intelligent radar device for detecting underground diseases according to claim 1, characterized in that, The radar body (1) is fixedly equipped with a lighting lamp (11) at the end and is connected to the main control board in the control box (4) via a cable. The radar body (1) is provided with a radar limit block (12) inside to limit the minimum descent height of the radar detection device (2).

6. The intelligent radar device for detecting underground diseases according to claim 1, characterized in that, The radar detection device (2) includes a ground-penetrating radar (21) and an air-cooled heat dissipation system (22).

7. The intelligent radar device for detecting underground diseases according to claim 6, characterized in that, The air-cooled heat dissipation system (22) consists of a cooling fan (221), a copper heat dissipation pipe and fins (222), and a metal base (223) and is installed on the surface of the ground-penetrating radar (21). The cooling fan (221) is connected in series to the main control board in the control box (4) via a cable.

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