CN105599794B - A kind of Ground Penetrating Radar vehicle for being adapted to lining quality of channel - Google Patents
A kind of Ground Penetrating Radar vehicle for being adapted to lining quality of channel Download PDFInfo
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- CN105599794B CN105599794B CN201510980654.XA CN201510980654A CN105599794B CN 105599794 B CN105599794 B CN 105599794B CN 201510980654 A CN201510980654 A CN 201510980654A CN 105599794 B CN105599794 B CN 105599794B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B3/00—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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Abstract
The invention discloses a kind of Ground Penetrating Radar vehicles for being adapted to lining quality of channel, including vehicle frame, bottom of frame is equipped with walking mechanism, vehicle frame is equipped with radar antenna fixed mechanism, elevating mechanism is equipped between radar antenna fixed mechanism and vehicle frame, the bottom of elevating mechanism is equipped with position adjusting mechanism, and the inclination angle recorder at detection elevating mechanism angle of inclination is equipped on vehicle frame.The beneficial effects of the invention are as follows：Radar antenna is clamped by radar antenna fixed mechanism, the adjusting of height of radar antenna is realized by elevating mechanism, the orientation of elevating mechanism or radar antenna fixed mechanism is adjusted by position adjusting mechanism, in moving process, the height of radar antenna is obtained by the inclination angle of inclination angle recorder record elevating mechanism, and pass through pedometer and obtain the distance that radar truck is walked, so as to accurately learn the accurate location of surveyed tunnel-liner.
Description
Technical field
The present invention relates to Tunnel testings, and in particular to a kind of Ground Penetrating Radar vehicle for being adapted to lining quality of channel.
Background technology
Tunnel Engineering plays national economy fast development indispensable effect, and tunnel quality problems and the people
The security of the lives and property is closely bound up.Therefore, the detection work of the tunnel safety quality of efficiently and accurately can be to avoid safety accident
Occur.
Tunnel testing project needs to complete following detection project：Tunnel scar, which whether there is, backbreaks, owes to dig；Scar and just lining
Between, just lining two lining between with the presence or absence of cavity or gap；Just whether the lining thickness of lining and two linings meets design requirement；Steel
Whether the distribution of skeleton and reinforcing bar meets design requirement.In order to realize the detection of above-mentioned Tunnel Project, generally use foreign countries are advanced
Ground Penetrating Radar detection etc. nondestructiving detecting means.However, the complexity of the characteristics of due to tunnel ring-shaped construction and construction environment,
So that Ground Penetrating Radar detection instrument is inconvenient for use in tunnel.Tunnel radar signal often occurs in the process using Ground Penetrating Radar to be done
It disturbs, ground exploring radar antenna can not be close to tunnel metope, it is poor to lack mobility in the portable unit for clamping Ground Penetrating Radar, detection process
Etc. situations.
In view of the above-mentioned problems, there is an urgent need for a kind of completely new rational device and method, Ground Penetrating Radar is enable to be answered suitable for tunnel
Miscellaneous environment improves efficiency and the safety of Tunnel testing operation.
Invention content
The object of the present invention is to provide a kind of adaptations simple in structure, can improving Tunnel testing operating efficiency and safety
In the Ground Penetrating Radar vehicle of lining quality of channel.
In order to achieve the above objectives, the present invention adopts the following technical scheme that：
A kind of Ground Penetrating Radar vehicle for being adapted to lining quality of channel, including vehicle frame, bottom of frame is equipped with walking mechanism,
Vehicle frame is equipped with radar antenna fixed mechanism, and elevating mechanism is equipped between radar antenna fixed mechanism and vehicle frame, elevating mechanism
Bottom is equipped with position adjusting mechanism, and the inclination angle recorder at detection elevating mechanism angle of inclination is equipped on vehicle frame, passes through orientation tune
Mechanism is saved to adjust the horizontal and vertical orientation of elevating mechanism, elevating mechanism movement drives radar antenna movement, that is, realizes
The different direction of radar antenna；The angle of inclination of elevating mechanism is recorded by inclination angle recorder, and pass through conversion to obtain radar
The height that antenna is surveyed.
Another scheme in the present invention is：A kind of Ground Penetrating Radar vehicle for being adapted to lining quality of channel, packet
Vehicle frame is included, bottom of frame is equipped with walking mechanism, and vehicle frame is equipped with radar antenna fixed mechanism, and radar antenna fixes machine
Elevating mechanism is equipped between structure and vehicle frame, radar antenna fixed mechanism bottom is equipped with position adjusting mechanism, and inspection is equipped on vehicle frame
The inclination angle recorder at elevating mechanism angle of inclination is surveyed, the position for directly realizing radar antenna by position adjusting mechanism is adjusted.
Further, driving mechanism is equipped on the vehicle frame, driving mechanism is connect with the walking mechanism.
Further, walking mechanism is three wheels set on bottom of frame, and side is there are two wheel and passes through transmission shaft
Connection is equipped with driving wheel at the both ends of transmission shaft, is fixed with driving mechanism on vehicle frame, and driving mechanism is motor, motor
Transmission shaft is driven to rotate by belt, so as to which driving wheel be driven to rotate, radar truck realizes movement.
Further, the position adjusting mechanism includes pedestal, and longitudinal moving mechanism is equipped on pedestal, is being vertically moved
Mechanism is equipped with transverse moving mechanism, and the top of horizontal mobile mechanism and the bottom of the elevating mechanism are fixed.
Further, the longitudinal moving mechanism includes leading screw with the transverse moving mechanism, and one end of leading screw is equipped with
Rotating disk, leading screw pass through fixed block, and longitudinally fixed piece is fixed on pedestal, and lateral fixed block is fixed on longitudinally fixed piece.
Further, the elevating mechanism for lockable telescopic rod or is hydraulic telescopic rod, and the inclination angle recorder is set
At the telescopic rod, telescopic rod floor space is small.
Further, steering wheel is further included, steering wheel is fixed on by connecting hinge on vehicle frame.
Further, the walking mechanism is equipped with pedometer, and the inclination angle recorder and pedometer pass through wireless or limited
Device is connect with the display device outside tunnel.
Further, the radar antenna fixed mechanism for one be in frame-type anchorage clip, anchorage clip and radar antenna it
Between be equipped with damping spring.
Further, the periphery of the telescopic rod is equipped with control ring, by can between the surrounding of control ring and the vehicle frame
Flexible fixed link connection.
Further, damper is equipped between transmission shaft described in vehicle frame.
The present invention operation principle be：Radar antenna is clamped by radar antenna fixed mechanism, is realized by elevating mechanism
The adjusting of height of radar antenna adjusts the orientation of elevating mechanism or radar antenna fixed mechanism by position adjusting mechanism,
In moving process, the inclination angle that elevating mechanism is recorded by inclination angle recorder obtains the height of radar antenna, and pass through pedometer and obtain
Go out the distance that radar truck is walked, so as to accurately learn the accurate of surveyed tunnel-liner
Relevant information if pop-up lining quality is problematic, can be directly sent in the computer outside tunnel by position,
It can directly be read according to the display device of inclination angle recorder and pedometer by record personnel.
The beneficial effects of the invention are as follows：
（1）Overcome the problem of mobility during detections of radar tunnel-liner is poor.
（2）It avoids personnel in radar detection process and holds radar antenna and ascend a height the danger fallen.
（3）The problem of overcoming signal interference in detections of radar operation process.
（4）It has effectively achieved ground exploring radar antenna and is adjacent to tunnel metope.
（5）This method is not influenced by tunnel construction environment, is adapted to wide.
（6）A kind of portable unit for clamping Ground Penetrating Radar is proposed, high degree of automation method is simple.
（7）It can realize the real-time altitude record of radar in tunnel radar detection process.
Description of the drawings
Fig. 1 is lining quality of channel Ground Penetrating Radar vehicle schematic diagram,
Fig. 2 adjusts schematic diagram for radar truck feeler arm orientation,
Fig. 3 is leading screw schematic diagram,
Wherein：1 radar antenna, 2 anchorage clips, 3 damping springs, 4 telescopic rods, 5 inclination angle recorders, 6 control rings, 7 steering wheels,
8 connection rings, 9 connecting hinges, 10 motor, 11 driven wheels, 12 driving wheels, 13 dampers, 14 pedometers, 15. longitudinal leadscrews, 16.
Pedestal, 17. horizontal leading screws, 18. fixed blocks, 19. rotating disks.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Whole description.
Embodiment 1
As shown in Figure 1, a kind of Ground Penetrating Radar vehicle for being adapted to lining quality of channel, including vehicle frame, bottom of frame is set
There is walking mechanism, vehicle frame is equipped with radar antenna fixed mechanism, and elevating mechanism is equipped between radar antenna fixed mechanism and vehicle frame,
The bottom of elevating mechanism is equipped with position adjusting mechanism, and the inclination angle recorder 5 at detection elevating mechanism angle of inclination is equipped on vehicle frame,
The horizontal and vertical orientation of elevating mechanism is adjusted by position adjusting mechanism, elevating mechanism movement drives radar antenna 1 to move
It is dynamic, that is, realize the different direction of radar antenna 1；The angle of inclination of elevating mechanism is recorded by inclination angle recorder 5, and passes through and changes
Calculation can obtain the height that radar antenna 1 is surveyed.
Walking mechanism is three wheels set on bottom of frame, and side is there are two wheel and passes through transmission axis connection, is passing
The both ends of moving axis are equipped with driving wheel 12, another is driven wheel 11, and driving mechanism is fixed on vehicle frame, and driving mechanism is electronic
Machine 10, motor 10 drives transmission shaft to rotate by belt, and so as to which driving wheel 12 be driven to rotate, radar truck realizes mobile
Elevating mechanism：Radar detection arm is stretched step by step by hydraulic jack, telescopic device is convenient for ground exploring radar antenna
Reach position needed for tunnel.Hydraulic telescopic rod 4 is the highstrenghtpiston of non-metallic material, this design can monitor tunnel to avoid radar
The interference of signal during road lining cutting.
Pedometer 14：Motor drives driving wheel to advance or retreat, and passes through the row of the adjusting control radar truck of connecting hinge 9
Into direction.With pedometer 14 on the transmission shaft of radar car bottom, pedometer 14 both with clocking capability and also with record away from
From function.Pedometer 14 records fare register, and display can record traveler car in the case where driving wheel 12 often advances a stimulation enclosed
The traveling number of turns is taken turns, mileage is then convert into and is shown.
Position adjusting mechanism：As shown in Figures 2 and 3, telescopic rod 4 can be realized in level the adjusting of two layers of leading screw in device
The regulation and control of face all directions so that radar antenna 1 is adjacent to wall work, and two layers of leading screw is mutual indepedent.
Position adjusting mechanism includes pedestal 16, and longitudinal leadscrew 15 is movably equipped on pedestal 16, living on longitudinal leadscrew 15
It is dynamic
Equipped with horizontal leading screw 17, one end of leading screw is equipped with rotating disk 19, and leading screw passes through fixed block, and longitudinally fixed piece is fixed on
On pedestal, lateral fixed block is fixed on longitudinally fixed piece.
1 orientation of radar antenna can accurately be adjusted by hand rotating disk 19.Lead between telescopic rod 4 and leading screw adjustment base
Connection ring 8 is crossed to connect, connection ring 8 can be a spherical hinge, can realize therebetween without connection of the friction without dead angle.
Altitude record device：It detects on wall with inclination angle recorder 5, records the inclination angle of its reading.It is changed by mathematics triangle
It calculates, by known inclination angle and telescopic arm spread length, it can be deduced that ground exploring radar antenna 1 surveys height, and is transferred to outside tunnel
Display device at.
Shock mitigation system：Shock mitigation system between wheel and vehicle frame（Damper 13）Top radar antenna vibrations width can be reduced
Degree, it is ensured that accuracy of detection.Shock mitigation system between radar electric wire and fixture can be risen and fallen to avoid due to tunnel metope height to stretching
The impact of contracting bar 4, effective protection radar antenna safety.
Ground exploring radar antenna is put into the position of Fig. 1, anchorage clip 2 is adjusted and fixes radar antenna 1.Open elevating mechanism,
Radar telescopic rod 4 is stretched over tunnel and formulates position, while record 4 length of telescopic rod.Direction regulator is adjusted as shown in Figure 2,
Regulate and control longitudinal leadscrew 2 respectively and horizontal leading screw 3 arrives designated position.At this point, it beats
Pedometer 14 is opened, and reads inclination angle shown in inclination angle recorder 5.Motor 10 is opened, under the drive of motor 10
Radar truck is advanced, and direction during which is adjusted by steering wheel 7.After detection process receives, travel distance and detection consumption are read
When.Pedometer 14 and motor 10 are closed, telescopic rod 4 is withdrawn, removes radar antenna 1.
Embodiment 2
A kind of Ground Penetrating Radar vehicle for being adapted to lining quality of channel, including vehicle frame, bottom of frame is equipped with walking mechanism,
Vehicle frame is equipped with radar antenna fixed mechanism, and elevating mechanism is equipped between radar antenna fixed mechanism and vehicle frame, and radar antenna is solid
Actuator base is determined equipped with position adjusting mechanism, the inclination angle recorder at detection elevating mechanism angle of inclination is equipped on vehicle frame, directly
The position for realizing radar antenna by position adjusting mechanism is adjusted.
The walking mechanism is equipped with pedometer, and the inclination angle recorder and pedometer pass through wireless or constrained devices and tunnel
Outer display device connection.
Walking mechanism is creeper undercarriage.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (4)
1. a kind of Ground Penetrating Radar vehicle for being adapted to lining quality of channel, which is characterized in that including vehicle frame, bottom of frame is equipped with
Walking mechanism, vehicle frame are equipped with radar antenna fixed mechanism, and elevating mechanism is equipped between radar antenna fixed mechanism and vehicle frame, rise
The bottom of descending mechanism is equipped with position adjusting mechanism, and the inclination angle recorder at detection elevating mechanism angle of inclination, institute are equipped on vehicle frame
It states position adjusting mechanism and includes pedestal, longitudinal moving mechanism is equipped on pedestal, transverse shifting is equipped on longitudinal moving mechanism
Mechanism, the top of transverse moving mechanism and the bottom of the elevating mechanism are fixed, and the elevating mechanism is lockable telescopic rod,
The inclination angle recorder is located at the telescopic rod, further includes steering wheel, and steering wheel is fixed on by connecting hinge on vehicle frame, described
The periphery of telescopic rod is equipped with control ring, is connected between the surrounding of control ring and the vehicle frame by telescopic fixed link, described
Radar antenna fixed mechanism is the anchorage clip that one is in frame-type, and damping spring is equipped between anchorage clip and radar antenna；It is described vertical
Include leading screw to mobile mechanism and the transverse moving mechanism, one end of leading screw is equipped with rotating disk, and leading screw passes through fixed block, indulges
It is fixed on pedestal to fixed block, lateral fixed block is fixed on longitudinally fixed piece；
Walking mechanism is three wheels set on bottom of frame, and side is there are two wheel and passes through transmission axis connection, in transmission shaft
Both ends be equipped with driving wheel, between vehicle frame and the transmission shaft be equipped with damper.
2. a kind of Ground Penetrating Radar vehicle for being adapted to lining quality of channel, which is characterized in that including vehicle frame, bottom of frame is equipped with
Walking mechanism, vehicle frame are equipped with radar antenna fixed mechanism, and elevating mechanism, thunder are equipped between radar antenna fixed mechanism and vehicle frame
Position adjusting mechanism is equipped with up to antenna fixing mechanism bottom, the inclination angle record at detection elevating mechanism angle of inclination is equipped on vehicle frame
Instrument, the position adjusting mechanism include pedestal, and longitudinal moving mechanism is equipped on pedestal, are equipped with laterally on longitudinal moving mechanism
Mobile mechanism, the bottom of the position adjusting mechanism and the top of the elevating mechanism are fixed, and the elevating mechanism is can locking
Telescopic rod, the inclination angle recorder is located at the telescopic rod, further includes steering wheel, steering wheel is fixed on vehicle by connecting hinge
On frame, the periphery of the telescopic rod is equipped with control ring, passes through telescopic fixed link between the surrounding of control ring and the vehicle frame
Connection, the radar antenna fixed mechanism are the anchorage clip that one is in frame-type, and damping bullet is equipped between anchorage clip and radar antenna
Spring；The longitudinal moving mechanism includes leading screw with the transverse moving mechanism, and one end of leading screw is equipped with rotating disk, and leading screw passes through
Fixed block, longitudinally fixed piece is fixed on pedestal, and lateral fixed block is fixed on longitudinally fixed piece；
Walking mechanism is three wheels set on bottom of frame, and side is there are two wheel and passes through transmission axis connection, in transmission shaft
Both ends be equipped with driving wheel, between vehicle frame and the transmission shaft be equipped with damper.
3. Ground Penetrating Radar vehicle as claimed in claim 1 or 2, which is characterized in that driving mechanism, driving are equipped on the vehicle frame
Mechanism is connect with the walking mechanism.
4. Ground Penetrating Radar vehicle as claimed in claim 1 or 2, which is characterized in that the walking mechanism is equipped with pedometer, described to incline
Angle recorder and pedometer are connect by wirelessly or non-wirelessly device with the display device outside tunnel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510980654.XA CN105599794B (en) | 2015-12-23 | 2015-12-23 | A kind of Ground Penetrating Radar vehicle for being adapted to lining quality of channel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510980654.XA CN105599794B (en) | 2015-12-23 | 2015-12-23 | A kind of Ground Penetrating Radar vehicle for being adapted to lining quality of channel |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105599794A CN105599794A (en) | 2016-05-25 |
| CN105599794B true CN105599794B (en) | 2018-06-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510980654.XA Expired - Fee Related CN105599794B (en) | 2015-12-23 | 2015-12-23 | A kind of Ground Penetrating Radar vehicle for being adapted to lining quality of channel |
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| CN105835055A (en) * | 2016-06-04 | 2016-08-10 | 无锡市华鹰移动照明有限公司 | Extending-and-contracting mechanical arm for tunnel detection |
| SE540191C2 (en) * | 2016-07-08 | 2018-04-24 | Reutech Radar Systems Pty Limited | A radar assembly with a rotatable drum |
| CN106501866A (en) * | 2016-12-22 | 2017-03-15 | 山东大学 | A kind of radar installations and using method suitable for lining quality of channel |
| CN106707242A (en) * | 2016-12-27 | 2017-05-24 | 山东大学 | Tunnel secondary lining quality detection radar vehicle device and method |
| CN106855617A (en) * | 2016-12-29 | 2017-06-16 | 山东大学 | A kind of tunnel detection detects radar portable carrier and method |
| CN106970425B (en) * | 2017-04-07 | 2019-02-01 | 长安大学 | A kind of vcehicular tunnel geological radar advanced prediction auxiliary detection vehicle |
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| CN110429372B (en) * | 2019-08-09 | 2024-08-23 | 深圳市威富通讯技术有限公司 | Vehicle-mounted antenna bracket |
| CN110888128A (en) * | 2019-12-20 | 2020-03-17 | 长安大学 | Device for detecting tunnel lining by using geological radar antenna |
| CN112815820B (en) * | 2021-01-05 | 2021-10-26 | 中国矿业大学 | Multi-point top coal thickness detection device capable of automatically adjusting height and aligning and working method |
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